CN211151791U - Stator permanent magnet type annular winding two-degree-of-freedom motor - Google Patents
Stator permanent magnet type annular winding two-degree-of-freedom motor Download PDFInfo
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- CN211151791U CN211151791U CN201922284042.3U CN201922284042U CN211151791U CN 211151791 U CN211151791 U CN 211151791U CN 201922284042 U CN201922284042 U CN 201922284042U CN 211151791 U CN211151791 U CN 211151791U
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Abstract
The utility model relates to a two-degree-of-freedom motor with a stator permanent magnet type annular winding, which belongs to the technical field of motors and comprises a rotary motion stator, a rotor and a linear motion stator; the rotary motion stator is sleeved outside the linear motion stator, a rotor is nested between the rotary motion stator and the linear motion stator, and the rotary motion stator, the linear motion stator and the linear motion stator are nested to form a double-layer air gap; the rotary motion stator, the rotor and the linear motion stator are all of salient pole structures. The magnetic field coupling between the linear motion traveling wave magnetic field and the rotary motion magnetic field is effectively weakened, and the motor has the advantages of high torque density, easiness in decoupling control, convenience in processing and assembling and the like, so that the performance problem of the motor in the prior art is solved.
Description
Technical Field
The utility model relates to the technical field of electric machines, concretely relates to stator permanent magnetism type annular winding two degree of freedom motors.
Background
In real life, two-degree-of-freedom motion devices are widely seen, for example, devices such as a spiral drilling machine, a spiral compressor and a manipulator need a driving shaft to do two-degree-of-freedom motion. The existing two-degree-of-freedom motion device mainly adopts a mode of matching a plurality of motors to realize two-degree-of-freedom motion, and the mode of realizing the two-degree-of-freedom motion not only has a complex control method, but also needs a mechanical transmission device with high price and large volume. Furthermore, since both the transmission assembly and the bearings are subjected to large axial forces, the mechanical wear of these components is considerable, causing severe equipment losses. However, the drawbacks of the above-described method can be solved by a two-degree-of-freedom motor. At present, two-degree-of-freedom motors are mainly classified into an induction type, a switched reluctance type, and a permanent magnet type, but compared with the induction type and the switched reluctance type, the permanent magnet type two-degree-of-freedom motor has the advantage of high power density, and has led researches of numerous scholars.
The utility model patent of utility model publication No. CN109742874A, a linear rotation two-degree-of-freedom flux switching motor, discloses a linear rotation two-degree-of-freedom flux switching motor, which can directly realize rotation, linear or spiral motion. However, considering that the linear permanent magnet and the rotary permanent magnet are both positioned on the stator, the magnetic field coupling of the linear permanent magnet and the rotary permanent magnet is serious, the mutual influence is caused, the decoupling is difficult, and the output characteristic of the motor is influenced.
The utility model patent "integrated position detection device and method of double-stator linear rotating permanent magnet motor" with publication number CN105762991A discloses a linear rotating two-degree-of-freedom motor capable of realizing rotation, linear or spiral motion. However, considering that the outer permanent magnet and the inner permanent magnet are both fixed on the rotor, the linear permanent magnet field and the rotary permanent magnet field are coupled seriously, which affects the output characteristics of the motor.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to prior art's defect and not enough, provide a reasonable in design's stator permanent magnetism type ring winding two degree of freedom motor, effectively weaken the magnetic field coupling between linear motion travelling wave magnetic field and the rotatory motion magnetic field, have high torque (power) density, easily decoupling control, be convenient for advantage such as processing assembly to the performance problem of motor among the prior art has been solved.
In order to achieve the above purpose, the utility model adopts the following technical proposal: the linear motion stator comprises a rotary motion stator, a rotor and a linear motion stator; the rotary motion stator is sleeved outside the linear motion stator, a rotor is nested between the rotary motion stator and the linear motion stator, and the rotary motion stator, the linear motion stator and the linear motion stator are nested to form a double-layer air gap; the rotary motion stator, the rotor and the linear motion stator are all of salient pole structures;
the rotary motion stator consists of a rotary motion stator U-shaped iron core, a rotary motion armature winding and a rotary motion permanent magnet; the U-shaped iron cores of the rotary motion stators are distributed in the circumferential direction, rotary motion permanent magnets are clamped between the adjacent U-shaped iron cores of the rotary motion stators, the U-shaped iron cores of the rotary motion stators and the rotary motion permanent magnets form a motion armature tooth, and a rotary motion armature winding is wound on the motion armature tooth; the rotating motion permanent magnets are tangential magnetizing permanent magnets, and the magnetizing directions of two adjacent rotating motion permanent magnets are opposite;
the linear motion stator consists of a linear motion stator U-shaped iron core, a linear motion armature winding and a linear motion permanent magnet; the linear motion stator U-shaped iron cores are axially distributed, a linear motion permanent magnet is clamped between every two adjacent linear motion stator U-shaped iron cores, and a linear motion armature winding is wound in a groove in each linear motion stator U-shaped iron core; the linear motion permanent magnet is a permanent magnet magnetized along the axial direction, and the magnetizing directions of two adjacent linear motion permanent magnets are opposite.
Further, the three-phase flux linkage in the rotating motion armature winding is 120 degrees in phase difference.
Further, the three-phase flux linkage in the linear motion armature winding has a phase difference of 120 degrees.
Furthermore, salient pole teeth are integrally formed on the inner side surface and the outer side surface of the rotor, wherein the salient pole teeth positioned on the outer side are distributed along the circumference, and the salient pole teeth positioned on the inner side are distributed along the axial direction; and the salient pole teeth are all in a non-oblique pole structure.
After the structure is adopted, the beneficial effects of the utility model are that:
1. the device has the advantages of being capable of driving the load to do rotation, linear or spiral motion, high in torque density and power density, convenient to machine and assemble and the like;
2. the rotor is only silicon steel sheets, and has no winding or permanent magnet, so that magnetic field isolation is easy to realize;
3. the rotary motion permanent magnet and the linear motion permanent magnet are respectively positioned on the outer stator and the inner stator, and the rotor is only a silicon steel sheet; a rotating magnetic field generated by the rotating motion permanent magnet penetrates through an outer layer air gap and is closed through outer layer salient pole teeth of the rotor; the traveling wave magnetic field generated by the linear motion permanent magnet penetrates through the inner-layer air gap and forms a closed loop through the inner-layer salient pole teeth of the rotor, so that the coupling of the traveling wave magnetic field and the rotating magnetic field is effectively weakened, decoupling control is easy to realize, and the output characteristic of the motor is further improved;
4. because the rotary motion armature winding and the linear motion armature winding respectively adopt the concentrated winding and the annular winding, the length of the end winding is effectively reduced; the end copper consumption is reduced, and the motor efficiency is improved;
5. the rotary motion armature winding is matched with the rotary motion permanent magnet to form a rotary motion magnetic field; the linear motion armature winding is matched with the linear motion permanent magnet to form a linear motion magnetic field; the rotary motion magnetic field and the linear motion magnetic field act independently or jointly and can directly drive the rotor to do rotary, linear or spiral motion.
Description of the drawings:
fig. 1 is a sectional structure view of the present invention.
Fig. 2 is a sectional structure view of the stator for rotating motion in the present invention.
Fig. 3 is a sectional structure view of the linear motion stator of the present invention.
Fig. 4 is a schematic diagram of the distribution of the armature windings for rotary motion in the present invention.
Fig. 5 is a schematic diagram of the distribution of linear motion armature windings according to the present invention.
Description of reference numerals:
the device comprises a rotary motion stator 1, a rotor 2, a linear motion stator 3, a rotary motion stator U-shaped iron core 4, a rotary motion armature winding 5, a rotary motion permanent magnet 6, a linear motion stator U-shaped iron core 7, a linear motion armature winding 8, a linear motion permanent magnet 9 and motion armature teeth 10.
The specific implementation mode is as follows:
the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in fig. 1 to 5, the following technical solutions are adopted in the present embodiment: the linear motion stator comprises a rotary motion stator 1, a rotor 2 and a linear motion stator 3; the rotary motion stator 1 is sleeved outside the linear motion stator 3, a rotor 2 is nested between the rotary motion stator 1 and the linear motion stator 3, and the rotary motion stator, the linear motion stator and the rotor are nested to form a double-layer air gap; the rotary motion stator 1, the rotor 2 and the linear motion stator 3 are all salient pole structures; salient pole teeth are integrally formed on the inner side surface and the outer side surface of the rotor 2, wherein the salient pole teeth positioned on the outer side are distributed along the circumference, and the salient pole teeth positioned on the inner side are distributed along the axial direction; the salient pole teeth are all in a non-oblique pole structure;
the rotary motion stator 1 consists of a rotary motion stator U-shaped iron core 4, a rotary motion armature winding 5 and a rotary motion permanent magnet 6; each U-shaped iron core 4 of the rotary motion stator is formed by axially laminating a plurality of U-shaped silicon steel sheets, the U-shaped iron cores 4 of the rotary motion stator are circumferentially distributed, a rotary motion permanent magnet 6 is clamped between the adjacent U-shaped iron cores 4 of the rotary motion stator, the U-shaped iron cores 4 of the rotary motion stator and the rotary motion permanent magnet 6 form a motion armature tooth 10, a rotary motion armature winding 5 is wound on the motion armature tooth 10, and the rotary motion armature winding 5 adopts a concentrated winding type structure; the rotary motion permanent magnets 6 are tangential magnetizing permanent magnets, and the magnetizing directions of two adjacent rotary motion permanent magnets 6 are opposite;
the linear motion stator 3 consists of a linear motion stator U-shaped iron core 7, a linear motion armature winding 8 and a linear motion permanent magnet 9; each linear motion stator U-shaped iron core 7 is formed by circumferentially laminating a plurality of U-shaped silicon steel sheets, the plurality of linear motion stator U-shaped iron cores 7 are axially distributed, a linear motion permanent magnet 9 is clamped between every two adjacent linear motion stator U-shaped iron cores 7, a linear motion armature winding 8 is wound in a groove in each linear motion stator U-shaped iron core 7, and the linear motion armature winding 8 is of an annular winding structure; the linear motion permanent magnets 9 are axially magnetized permanent magnets, and the magnetizing directions of two adjacent linear motion permanent magnets 9 are opposite;
the rotary motion stator core 4, the linear motion stator core 7 and the rotor 2 are made of magnetic conductive materials such as silicon steel sheets;
the rotary motion permanent magnet 6 and the linear motion permanent magnet 9 are made of permanent magnet materials such as neodymium iron boron, samarium cobalt, ferrite and the like;
the No. 511 coil and the No. 513 coil in the rotary motion armature winding 5 are arranged in a radial direction opposite mode, the No. 512 coil and the No. 514 coil are arranged in a radial direction opposite mode, the difference between the spatial positions of the No. 511 coil and the No. 512 coil is 90 degrees, the No. 511 coil and the No. 512 coil are connected in series in the forward direction to form a coil group, similarly, the No. 513 coil and the No. 514 coil are connected in series in the forward direction to form another coil group, and the two coil groups are connected in series in the forward direction to form an A-phase armature winding in the rotary motion armature winding 5; the 521-phase coil and the 523-phase coil in the rotary motion armature winding 5 are arranged in a radial opposite mode, the 522-phase coil and the 524-phase coil are arranged in a radial opposite mode, the difference between the spatial positions of the 521-phase coil and the 522-phase coil is 90 degrees, the 521-phase coil and the 522-phase coil are connected in series in the forward direction to form a coil group, similarly, the 523-phase coil and the 524-phase coil are connected in series in the forward direction to form another coil group, and the two coil groups are connected in series in the forward direction to form a B-phase armature winding in the rotary motion armature winding 5; the No. 531 coil and the No. 533 coil in the rotary motion armature winding 5 are arranged in a radial opposite mode, the No. 532 coil and the No. 534 coil are arranged in a radial opposite mode, the difference between the spatial positions of the No. 531 coil and the No. 532 coil is 90 degrees, the No. 531 coil and the No. 532 coil are connected in series in the forward direction to form a coil group, similarly, the No. 533 coil and the No. 534 coil are connected in series in the forward direction to form another coil group, and the two coil groups are connected in series in the forward direction to form a C-phase armature winding in the rotary motion armature winding 5; the spatial position difference between the three-phase armature windings is 60 degrees, so that the phase difference of the three-phase flux linkage is 120 degrees;
the coil 811, the coil 812, the coil 813 and the coil 814 in the linear motion armature winding 8 respectively have two slot pitches in space positions, the coil 811 and the coil 812 are connected in series in the forward direction to form a coil group, the coil 813 and the coil 814 are connected in series in the forward direction to form another coil group, and the two coil groups are connected in series in the forward direction to form an A-phase armature winding in the linear motion armature winding 8; the No. 821 coil, the No. 822 coil, the No. 823 coil and the No. 824 coil in the linear motion armature winding 8 respectively have two slot pitches in space positions, the No. 821 coil and the No. 822 coil are connected in series in the forward direction to form one coil group, the No. 823 coil and the No. 824 coil are connected in series in the forward direction to form another coil group, and the two coil groups are connected in series in the forward direction to form a B-phase armature winding in the linear motion armature winding 8; 831 coils, 832 coils, 833 coils and 834 coils in the linear motion armature winding 8 respectively have two slot pitches in spatial positions, the 831 coils and the 832 coils are connected in series in the forward direction to form a coil group, the 833 coils and the 834 coils are connected in series in the forward direction to form another coil group, and the two coil groups are connected in series in the forward direction to form a C-phase armature winding in the linear motion armature winding 8; the spatial positions of the three phases are respectively different by 1 slot pitch, so that the phase difference of the three-phase flux linkage is 120 degrees.
The working principle of the specific embodiment is as follows: a rotating magnetic field generated by the rotating motion permanent magnet 6 penetrates through an outer layer air gap and is closed through salient pole teeth on the outer side of the rotor 2; the traveling wave magnetic field generated by the linear motion permanent magnet 9 penetrates through the inner-layer air gap and forms a closed loop through the salient pole teeth on the inner side of the rotor 2, the coupling of the traveling wave magnetic field and the rotating magnetic field is weakened through the arrangement, decoupling control is easy to realize, and the output characteristic of the motor is improved; the rotary motion armature winding 5 is matched with the rotary motion permanent magnet 6 to form a rotary motion magnetic field; the linear motion armature winding 8 is matched with the linear motion permanent magnet 9 to form a linear motion magnetic field; the rotary motion magnetic field and the linear motion magnetic field act independently or jointly to directly drive the rotor to do rotary, linear or spiral motion; when only the armature winding 5 for rotary motion is electrified, the load is driven to do rotary motion; when only the linear motion armature winding 8 is electrified, the load is driven to do axial linear motion; when the two motors are electrified simultaneously, the generated electromagnetic torque for driving the rotary motion and the generated electromagnetic thrust for driving the linear motion act together to realize the spiral motion of the two-freedom-degree motor rotor.
After adopting above-mentioned structure, this embodiment's beneficial effect is: the embodiment provides a stator permanent magnet type ring winding two-degree-of-freedom motor with reasonable design, effectively weakens the magnetic field coupling between a linear motion traveling magnetic field and a rotary motion magnetic field, and has the advantages of high torque (power) density, easiness in decoupling control, convenience in processing and assembling and the like, so that the performance problem of the motor in the prior art is solved.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (4)
1. Stator permanent magnetism type annular winding two degree of freedom motors which characterized in that: the device comprises a rotary motion stator (1), a rotor (2) and a linear motion stator (3); the rotary motion stator (1) is sleeved outside the linear motion stator (3), a rotor (2) is nested between the rotary motion stator and the linear motion stator, and the rotary motion stator, the linear motion stator and the linear motion stator form a double-layer air gap by nesting; the rotary motion stator (1), the rotor (2) and the linear motion stator (3) are all of salient pole structures;
the rotary motion stator (1) is composed of a rotary motion stator U-shaped iron core (4), a rotary motion armature winding (5) and a rotary motion permanent magnet (6); the U-shaped iron cores (4) of the rotary motion stators are circumferentially distributed, rotary motion permanent magnets (6) are clamped between the adjacent U-shaped iron cores (4) of the rotary motion stators, the U-shaped iron cores (4) of the rotary motion stators and the rotary motion permanent magnets (6) form moving armature teeth (10), and rotary motion armature windings (5) are wound on the moving armature teeth (10); the rotary motion permanent magnets (6) are tangentially magnetized permanent magnets, and the magnetizing directions of two adjacent rotary motion permanent magnets (6) are opposite;
the linear motion stator (3) is composed of a linear motion stator U-shaped iron core (7), a linear motion armature winding (8) and a linear motion permanent magnet (9); the linear motion stator U-shaped iron cores (7) are axially distributed, a linear motion permanent magnet (9) is clamped between every two adjacent linear motion stator U-shaped iron cores (7), and a linear motion armature winding (8) is wound in a groove in each linear motion stator U-shaped iron core (7); the linear motion permanent magnets (9) are axially magnetized permanent magnets, and the magnetizing directions of two adjacent linear motion permanent magnets (9) are opposite.
2. The stator permanent magnet type ring winding two-degree-of-freedom motor according to claim 1, characterized in that: the three-phase flux linkage in the rotary motion armature winding (5) has a phase difference of 120 degrees.
3. The stator permanent magnet type ring winding two-degree-of-freedom motor according to claim 1, characterized in that: the three-phase flux linkage in the linear motion armature winding (8) has a phase difference of 120 degrees.
4. The stator permanent magnet type ring winding two-degree-of-freedom motor according to claim 1, characterized in that: salient pole teeth are integrally formed on the inner side surface and the outer side surface of the rotor (2), wherein the salient pole teeth positioned on the outer side are distributed along the circumference, and the salient pole teeth positioned on the inner side are distributed along the axial direction; and the salient pole teeth are all in a non-oblique pole structure.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922284042.3U CN211151791U (en) | 2019-12-18 | 2019-12-18 | Stator permanent magnet type annular winding two-degree-of-freedom motor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201922284042.3U CN211151791U (en) | 2019-12-18 | 2019-12-18 | Stator permanent magnet type annular winding two-degree-of-freedom motor |
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| CN211151791U true CN211151791U (en) | 2020-07-31 |
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| CN201922284042.3U Expired - Fee Related CN211151791U (en) | 2019-12-18 | 2019-12-18 | Stator permanent magnet type annular winding two-degree-of-freedom motor |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN113131702A (en) * | 2021-04-21 | 2021-07-16 | 郑州大学 | Double-salient-pole hybrid excitation motor for industrial robot and control system thereof |
| CN114583918A (en) * | 2021-12-03 | 2022-06-03 | 郑州大学 | Stator permanent magnet type annular winding two-degree-of-freedom motor |
| WO2022261995A1 (en) * | 2021-06-17 | 2022-12-22 | 江苏大学 | Steering suspension integrated five-phase permanent-magnet fault-tolerant actuator and two-phase open-circuit fault-tolerant direct torque control method therefor |
| NL2029706A (en) * | 2021-08-31 | 2023-03-09 | Univ Chongqing Jiaotong | Modularized double-stator switched reluctance linear motor |
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- 2019-12-18 CN CN201922284042.3U patent/CN211151791U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN113131702A (en) * | 2021-04-21 | 2021-07-16 | 郑州大学 | Double-salient-pole hybrid excitation motor for industrial robot and control system thereof |
| CN113131702B (en) * | 2021-04-21 | 2022-04-26 | 郑州大学 | Double-salient-pole hybrid excitation motor for industrial robot and control system thereof |
| WO2022261995A1 (en) * | 2021-06-17 | 2022-12-22 | 江苏大学 | Steering suspension integrated five-phase permanent-magnet fault-tolerant actuator and two-phase open-circuit fault-tolerant direct torque control method therefor |
| GB2610788A (en) * | 2021-06-17 | 2023-03-15 | Univ Jiangsu | Steering suspension integrated five-phase permanent-magnet fault-tolerant actuator and two-phase open-circuit fault-tolerant direct torque control method |
| GB2610788B (en) * | 2021-06-17 | 2023-12-27 | Univ Jiangsu | Steering suspension integrated five-phase permanent-magnet fault-tolerant actuator and two-phase open-circuit fault-tolerant direct torque control method |
| NL2029706A (en) * | 2021-08-31 | 2023-03-09 | Univ Chongqing Jiaotong | Modularized double-stator switched reluctance linear motor |
| CN114583918A (en) * | 2021-12-03 | 2022-06-03 | 郑州大学 | Stator permanent magnet type annular winding two-degree-of-freedom motor |
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