CN211063425U - Stator and rotating linear two-degree-of-freedom permanent magnet motor with modular structure - Google Patents
Stator and rotating linear two-degree-of-freedom permanent magnet motor with modular structure Download PDFInfo
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- CN211063425U CN211063425U CN202020126410.1U CN202020126410U CN211063425U CN 211063425 U CN211063425 U CN 211063425U CN 202020126410 U CN202020126410 U CN 202020126410U CN 211063425 U CN211063425 U CN 211063425U
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Abstract
The utility model provides a stator and modular structure's rotatory straight line two degree of freedom permanent-magnet machine. The rotary linear two-degree-of-freedom permanent magnet motor with the modular structure comprises a stator and a rotor, wherein the stator comprises a stator core, a rotary motion winding and a linear motion winding; the stator core is formed by a plurality of same modular core units in a three-phase mode on the circumference; stator slots are simultaneously formed in the axial direction and the circumferential direction of the inner surface of the stator core, so that stator teeth are distributed in an array manner and are uniformly distributed on each modular core unit; the rotary motion winding is wound on the stator teeth axially arranged along the inner surface of the stator core along the linear motion direction to form a phase group centralized winding for driving the rotary motion; the linear motion winding is wound on the stator teeth arranged along the circumferential direction of the inner surface of the stator core along the circumferential direction to form a phase group concentrated winding for driving linear motion. The structure is simple, the manufacture is easy, and the utilization rate of materials is improved.
Description
Technical Field
The utility model belongs to motor manufacturing and designing field especially relates to a stator and modular structure's two degree of freedom permanent-magnet machine of rotatory straight line.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
With the further development of materials and equipment manufacturing technology, the requirement of the industry for multidimensional driving is more and more urgent, wherein motors driven by two degrees of freedom have very wide application prospects, such as robot joints, multidimensional machining platforms, ship electric propulsion systems, artillery turntables, offshore wave power generation, electric gyroscopes, screw pumps, automatic office platforms and the like.
One of the traditional two-degree-of-freedom driving methods is to perform spatial motion combination on a plurality of single-degree-of-freedom motors through an auxiliary mechanical transmission device. However, these combined systems have a plurality of transmission gaps, and have low positioning accuracy, large system size, heavy weight, high cost and low system reliability. The linear rotating permanent magnet motor with two degrees of freedom can effectively solve the problems.
The inventor finds that the linear rotating two-degree-of-freedom permanent magnet motor is still in a laboratory research and development stage at the present stage, and has the following problems: 1) the coaxial rotating linear two-degree-of-freedom motor adopts an axial series connection structure, so that the whole motor is slender, and the stroke of linear motion is limited; 2) the off-axis type rotary linear two-degree-of-freedom motor still adopts an auxiliary transmission device, the integration level is not high, the structure of the auxiliary transmission device is complex, and the reliability of the system is low; 3) the spiral rotating linear two-degree-of-freedom motor can only do spiral motion in the axial direction, and the screw pitch is fixed, so the application is limited; 4) the magnetic coupling type rotating linear two-degree-of-freedom motor generally adopts a reluctance motor structure, has low torque/thrust density, and has cross coupling of a rotating magnetic field and a traveling wave magnetic field in part of the structure, which is not beneficial to independently controlling the motion of a single degree of freedom.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem, the utility model provides a stator, its simple structure easily makes, adopts the centralized winding of phase group, improves motor winding coefficient and reduces end winding, and the back electromotive force sine degree is high, is showing improvement torque thrust density, and the coil coiling is easy and do benefit to and realize the modularized design, easily realizes linear motion and rotary motion decoupling control.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a stator comprises a stator core, a rotary motion winding and a linear motion winding;
the stator core is formed by a plurality of same modular core units in a three-phase mode on the circumference;
stator slots are simultaneously formed in the axial direction and the circumferential direction of the inner surface of the stator core, so that stator teeth are distributed in an array manner and are uniformly distributed on each modular core unit;
the rotary motion winding is wound on the stator teeth axially arranged along the inner surface of the stator core along the linear motion direction to form a phase group centralized winding for driving the rotary motion; the linear motion winding is wound on the stator teeth arranged along the circumferential direction of the inner surface of the stator core along the circumferential direction to form a phase group concentrated winding for driving linear motion.
As an embodiment, the stator slots opened along the circumferential direction of the inner surface of the stator core are divided into circumferentially inner-phase stator slots and circumferentially alternate stator slots, and the circumferentially alternate stator slots are regularly distributed at intervals of several circumferentially inner-phase stator slots.
The technical scheme has the advantages that the winding coefficient of the motor can be improved, the end winding is reduced, the coil winding of the phase group centralized winding for driving the rotary motion formed by the rotary motion winding is easy to wind, and the realization of modular design is facilitated.
As an embodiment, the stator teeth circumferential width is equal to the circumferentially inter-phase stator slot width and equal to 3/5 times the circumferentially inter-phase stator slot width.
The technical scheme has the advantages that the stator core can be divided into the single-phase module in a three-phase mode on the physical structure, and the modular design is realized.
As an embodiment, the stator slots opened along the axial direction of the inner surface of the stator core are divided into axial in-phase stator slots and axial inter-phase stator slots, and the axial inter-phase stator slots are regularly distributed at intervals of a plurality of axial in-phase stator slots.
The technical scheme has the advantages that the winding coefficient of the motor can be improved, the end winding is reduced, the coil winding of the phase group centralized winding for driving the rotary motion formed by the linear motion winding is easy to wind, and the realization of modular design is facilitated.
In one embodiment, the stator teeth axial width is equal to the axially inter-phase stator slot width and equal to 3/5 times the axially inter-phase stator slot width.
The technical scheme has the advantages that the stator core can be divided into the single-phase module in a three-phase mode on the physical structure, and the modular design is realized.
In order to solve the problem, the utility model provides a two degree of freedom permanent-magnet machine of rotatory straight line of modular structure, its simple structure easily makes, adopts the centralized winding of phase group, improves motor winding coefficient and reduces end winding, and the back electromotive force sine is high, is showing improvement torque thrust density, and the coil coiling is easy and do benefit to and realize the modularized design, easily realizes linear motion and rotary motion decoupling control.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a modular structure permanent magnet motor with two degrees of freedom in rotation and linear comprises:
a stator as described above;
and a mover.
As an embodiment, the mover comprises a plurality of first permanent magnet ring, second permanent magnet ring and mover yoke ring; the first permanent magnet block ring, the second permanent magnet block ring and the rotor iron yoke ring are sequentially and alternately assembled along the axial direction;
the first permanent magnet block ring and the second permanent magnet block ring are formed by sequentially and alternately assembling axially magnetized permanent magnet blocks and radially magnetized permanent magnet blocks along the circumference; the magnetizing directions of the permanent magnet blocks axially magnetized on the first permanent magnet block ring are opposite to the magnetizing directions of the permanent magnet blocks axially magnetized on the second permanent magnet block ring.
The technical scheme has the advantages that the magnetizing directions of the permanent magnet blocks axially magnetized on the first permanent magnet block ring are opposite to the magnetizing directions of the permanent magnet blocks axially magnetized on the second permanent magnet block ring, so that magnetic flux polymerization is realized on the rotor iron yoke ring, and the air gap magnetic flux density is improved.
In one embodiment, the inner diameter and the outer diameter of the first permanent magnet ring, the inner diameter and the outer diameter of the second permanent magnet ring and the inner diameter and the outer diameter of the rotor yoke ring are the same; the axial length of the first permanent magnet block ring, the axial length of the second permanent magnet block ring, the axial length of the rotor iron yoke ring, the axial length of the stator teeth and the axial width of the stator groove in phase are the same.
The technical scheme has the advantages that the first permanent magnet block ring, the second permanent magnet block ring and the rotor iron yoke ring structure are matched with the axial stator slot width, the motor winding coefficient is improved, the end winding is reduced, and the realization of modular design is facilitated.
In one embodiment, the circumferential width of the stator teeth and the circumferential inner stator slot width are equal to the circumferential width of the axially magnetized permanent magnet blocks and the radially magnetized permanent magnet blocks.
The technical scheme has the advantages that the circumferential width of the permanent magnet blocks on the rotor is matched with the circumferential stator slot width, so that the winding coefficient of the motor is improved, the end windings are reduced, and the realization of modular design is facilitated.
In one embodiment, the axial width of the stator teeth and the axial width of the stator slots in the same phase are equal to the axial width of the stator iron yoke rings.
The utility model has the advantages that:
(1) the stator core is composed of a plurality of modularized stator core units, so that the modularized structural design is realized, the structure is simple, the manufacturing is easy, and the utilization rate of materials is improved.
(2) The stator adopts a phase group centralized winding, so that the winding coefficient of the motor is improved, the end winding is reduced, the sine degree of counter electromotive force is high, the torque/thrust density is obviously improved, the coil winding is easy, the modular design is favorably realized, and the decoupling control of linear motion and rotary motion is easy to realize;
(3) the linear motion part adopts a spoke type magnetism-gathering permanent magnet motor structure, the magnetism-gathering function is strong, the air gap flux density is large, the output thrust is large, and meanwhile, a ferrite permanent magnet material can be adopted, so that the cost is low, and the fault-tolerant performance is good.
(4) The rotating part adopts a radial built-in permanent magnet motor structure, and has the advantages of high torque density, simple control and good fault tolerance.
(5) The rotary motion magnetic circuit and the linear motion magnetic circuit are basically independent, the magnetic field coupling degree is small, and the independent control is easy.
(6) The rotor is formed by alternately assembling a plurality of permanent magnet block rings and iron yoke rings, and is simple in structure and easy to manufacture.
Drawings
The accompanying drawings, which form a part of the specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without unduly limiting the scope of the invention.
Fig. 1 is a three-dimensional cross-sectional view of a rotating linear two-degree-of-freedom permanent magnet motor with a modular structure according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a rotor of a rotary linear two-degree-of-freedom permanent magnet motor with a modular structure according to an embodiment of the present invention.
Fig. 3 is a schematic view of a circumferential driving portion of a rotating linear two-degree-of-freedom permanent magnet motor with a modular structure according to an embodiment of the present invention.
Fig. 4 is a schematic view of a linear driving portion of a rotary linear two-degree-of-freedom permanent magnet motor with a modular structure according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a stator core module unit according to an embodiment of the present invention.
Fig. 6 is an exploded view of the stator core structure assembly according to an embodiment of the present invention.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present invention, the terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, and are only the terms determined for convenience of describing the structural relationship of each component or element of the present invention, and are not specific to any component or element of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and may be fixedly connected, or may be integrally connected or detachably connected; may be directly connected or indirectly connected through an intermediate. The meaning of the above terms in the present invention can be determined according to specific situations by persons skilled in the art, and should not be construed as limiting the present invention.
Example one
A stator of the present embodiment includes a stator core, a rotational movement winding, and a linear movement winding;
the stator core is formed by a plurality of same modular core units in a three-phase mode on the circumference;
stator slots are simultaneously formed in the axial direction and the circumferential direction of the inner surface of the stator core, so that stator teeth are distributed in an array manner and are uniformly distributed on each modular core unit;
the rotary motion winding is wound on the stator teeth axially arranged along the inner surface of the stator core along the linear motion direction to form a phase group centralized winding for driving the rotary motion; the linear motion winding is wound on the stator teeth arranged along the circumferential direction of the inner surface of the stator core along the circumferential direction to form a phase group concentrated winding for driving linear motion.
As shown in fig. 3, the stator core 1 is formed circumferentially of a core module unit a, a core module unit B, a core module unit C, a core module unit a, a core module unit B, and a core module unit C in three phases. And each core unit module has the same structural size and contains 4 stator teeth. The rotary-motion winding 2 employs a phase-group concentrated winding in which each coil is wound around a tooth portion of the core module unit, respectively. The coil wrapped on the iron core module unit A and the coil wrapped on the iron core module unit a are connected in series on a circuit to form a U-phase group coil; the coil wrapped on the iron core module unit B and the coil wrapped on the iron core module unit B are connected in series on a circuit to form a V-phase group coil; and the coils wound on the iron core module unit C and the coils wound on the iron core module unit C are connected in series on a circuit to form a W-phase-group coil. The U, V, W phase group coil forms a phase group concentrated winding for driving rotation, so that the end length is reduced, and the torque density is improved. Stator slots formed in the stator core 1 along the circumferential direction are divided into circumferential in-phase stator slots and circumferential inter-phase stator slots. The circumferentially spaced stator slots are regularly distributed with a plurality of circumferentially spaced stator slots in phase.
As shown in fig. 4, the stator core 1 is formed of a core module unit X, a core module unit Y, a core module unit Z, a core module unit X, a core module unit Y, and a core module unit Z in a three-phase manner in the axial direction. And each core unit module has the same structural size and comprises 3 stator teeth. The linear motion winding 3 adopts a phase group concentrated winding in which each coil is wound around the teeth of the respective core module unit. The coil wrapped on the iron core module unit X and the coil wrapped on the iron core module unit X are connected in series on a circuit to form a U-phase group coil; the coil wrapped on the iron core module unit Y and the coil wrapped on the iron core module unit Y are connected in series on a circuit to form a V-phase group coil; the coils wound on the core module unit Z and the coils wound on the core module unit Z are connected in series on a circuit to form a W-phase-group coil. The U, V, W phase group coils constitute a phase group concentrated winding driving linear motion. The stator slots of the stator core 1, which are axially opened, are divided into axial in-phase stator slots and axial inter-phase stator slots. The axial interphase stator slots are regularly distributed at intervals of a plurality of axial in-phase stator slots.
The stator core of the embodiment is composed of a plurality of modularized stator core units, so that the modularized structural design is realized, the structure is simple, the manufacturing is easy, and the utilization rate of materials is improved; the stator adopts a phase group centralized winding, so that the winding coefficient of the motor is improved, the end winding is reduced, the sine degree of counter electromotive force is high, the torque/thrust density is obviously improved, the coil winding is easy, the modular design is favorably realized, and the decoupling control of linear motion and rotary motion is easy to realize; the linear motion part adopts a spoke type magnetism-gathering permanent magnet motor structure, the magnetism-gathering function is strong, the air gap flux density is large, the output thrust is large, and meanwhile, a ferrite permanent magnet material can be adopted, so that the cost is low, and the fault-tolerant performance is good; the rotating part adopts a radial built-in permanent magnet motor structure, and has the advantages of high torque density, simple control and good fault tolerance.
Example two
As shown in fig. 1, the rotational-linear two-degree-of-freedom permanent magnet motor with a modular structure according to this embodiment includes:
the stator of embodiment one;
and a mover.
In the concrete implementation, the iron core parts of the stator and the rotor can be made of SMC soft magnetic materials in a die casting mode, and the iron core loss is small.
For example: the stator comprises a stator core 1, a rotary motion winding 2 and a linear motion winding 3, wherein the rotary motion winding and the linear motion winding both adopt phase group centralized windings; the stator core 1 is formed from 36 stator core module units 1.1. The stator core module unit 1.1 is shown in fig. 5.
As shown in fig. 4, the first permanent magnet ring 4, the mover yoke ring 5 and the second permanent magnet ring 6 are sequentially and alternately assembled in the axial direction on the mover, and the mover yoke ring 5 presents different polarities through the magnetic convergence of the spoke type structure in the permanent magnet ring array, so that the air gap magnetic flux density is improved, and the torque density is improved.
The first permanent magnet block ring and the second permanent magnet block ring are formed by combining 52 permanent magnet blocks with the same size. The rotor is formed by sequentially and alternately assembling a first permanent magnet ring, a rotor iron yoke ring and a second permanent magnet ring along the axial direction.
Specifically, as shown in fig. 2, the first permanent magnet ring 4 of the mover is formed by sequentially assembling a radial magnetizing permanent magnet 7, a first axial magnetizing permanent magnet 8, and a radial magnetizing permanent magnet 9 along the circumferential direction. The second ring of permanent magnets 6 differs from the first ring of permanent magnets 4 only in that the first axial charging permanent magnets 8 of the first ring of permanent magnets 4 are opposite in axial charging direction to the second axial charging permanent magnets 10 of the second ring of permanent magnets 6. The first axial magnetizing permanent magnet 8 and the second axial magnetizing permanent magnet 10 are opposite in magnetizing direction, so that magnetic flux aggregation is realized on the rotor iron yoke ring 5, and the air gap magnetic flux density is improved.
In specific implementation, stator tooth circumferential width α, circumferential intra-stator slot width β, circumferential inter-stator slot width γ, and rotor permanent magnet circumferential width θ satisfy
The phase group centralized winding is combined with the iron core module unit, so that the electromagnetic coupling degree between three phases is reduced, the modularization of a magnetic circuit is realized, the winding coefficient is improved, and the torque density is improved. The radial magnetizing permanent magnets on the rotor are alternately assembled on the circumference of the rotor in an N-S-N mode, and therefore the rotor poles forming the circular motion are achieved. Axial width w of stator teeth2Axial phase inner stator slot width w1Width w of stator slot in axial direction3Axial width w of iron yoke ring of stator4Satisfy the requirement of
The rotary motion magnetic circuit and the linear motion magnetic circuit of the embodiment are basically independent, the magnetic field coupling degree is small, and the independent control is easy; the rotor is formed by alternately assembling a plurality of permanent magnet block rings and iron yoke rings, and is simple in structure and easy to manufacture.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A stator is characterized by comprising a stator iron core, a rotary motion winding and a linear motion winding;
the stator core is formed by a plurality of same modular core units in a three-phase mode on the circumference;
stator slots are simultaneously formed in the axial direction and the circumferential direction of the inner surface of the stator core, so that stator teeth are distributed in an array manner and are uniformly distributed on each modular core unit;
the rotary motion winding is wound on the stator teeth axially arranged along the inner surface of the stator core along the linear motion direction to form a phase group centralized winding for driving the rotary motion; the linear motion winding is wound on the stator teeth arranged along the circumferential direction of the inner surface of the stator core along the circumferential direction to form a phase group concentrated winding for driving linear motion.
2. The stator as claimed in claim 1, wherein the stator slots provided along the circumferential direction of the inner surface of the stator core are divided into circumferentially inner stator slots and circumferentially spaced stator slots, the circumferentially spaced stator slots being regularly spaced by a plurality of circumferentially inner stator slots.
3. The stator of claim 2 wherein the stator teeth circumferential width is equal to the circumferentially-spaced stator slot width and equal to 3/5 times the circumferentially-spaced stator slot width.
4. A stator according to claim 1, characterized in that the stator slots provided in the axial direction of the inner surface of the stator core are divided into axially inter-phase stator slots and axially inter-phase stator slots, said axially inter-phase stator slots being regularly distributed with a number of axially inter-phase stator slots.
5. The stator of claim 4 wherein the stator teeth axial width is equal to the axially spaced stator slot width and equal to 3/5 times the axially spaced stator slot width.
6. The utility model provides a two degree of freedom permanent-magnet machine of rotatory straight line of modular structure which characterized in that includes:
the stator of any one of claims 1-5;
and a mover.
7. The modular-structured rotary linear two-degree-of-freedom permanent magnet motor according to claim 6, wherein the mover comprises a plurality of first permanent magnet ring, second permanent magnet ring and mover yoke ring; the first permanent magnet block ring, the second permanent magnet block ring and the rotor iron yoke ring are sequentially and alternately assembled along the axial direction;
the first permanent magnet block ring and the second permanent magnet block ring are formed by sequentially and alternately assembling axially magnetized permanent magnet blocks and radially magnetized permanent magnet blocks along the circumference; the magnetizing directions of the permanent magnet blocks axially magnetized on the first permanent magnet block ring are opposite to the magnetizing directions of the permanent magnet blocks axially magnetized on the second permanent magnet block ring.
8. The modular configuration rotary linear two degree of freedom permanent magnet machine of claim 7 wherein said first permanent magnet ring, second permanent magnet ring and mover yoke ring are all the same size.
9. The modular rotary linear two degree of freedom permanent magnet machine according to claim 7 wherein the stator teeth circumferential width, circumferential phase inner stator slot width are equal to the circumferential width of the axially and radially magnetized permanent magnet blocks.
10. The modular rotary linear two-degree-of-freedom permanent magnet motor according to claim 7, wherein the axial width of the stator teeth, the axial width of the stator slots in phase are equal to the axial width of the stator iron yokes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020126410.1U CN211063425U (en) | 2020-01-19 | 2020-01-19 | Stator and rotating linear two-degree-of-freedom permanent magnet motor with modular structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020126410.1U CN211063425U (en) | 2020-01-19 | 2020-01-19 | Stator and rotating linear two-degree-of-freedom permanent magnet motor with modular structure |
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| CN211063425U true CN211063425U (en) | 2020-07-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202020126410.1U Withdrawn - After Issue CN211063425U (en) | 2020-01-19 | 2020-01-19 | Stator and rotating linear two-degree-of-freedom permanent magnet motor with modular structure |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111082551A (en) * | 2020-01-19 | 2020-04-28 | 山东大学 | Stator and rotating linear two-degree-of-freedom permanent magnet motor with modular structure |
| CN111786528A (en) * | 2020-07-06 | 2020-10-16 | 湖南大学 | Linear rotation voice coil motor |
-
2020
- 2020-01-19 CN CN202020126410.1U patent/CN211063425U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111082551A (en) * | 2020-01-19 | 2020-04-28 | 山东大学 | Stator and rotating linear two-degree-of-freedom permanent magnet motor with modular structure |
| CN111082551B (en) * | 2020-01-19 | 2023-04-07 | 山东大学 | Stator and rotating linear two-degree-of-freedom permanent magnet motor with modular structure |
| CN111786528A (en) * | 2020-07-06 | 2020-10-16 | 湖南大学 | Linear rotation voice coil motor |
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