WO2016173293A1

WO2016173293A1 - Stator and rotor mechanism of spiral stepper motor, and spiral stepper motor

Info

Publication number: WO2016173293A1
Application number: PCT/CN2016/000228
Authority: WO
Inventors: 俞富春
Original assignee: 俞富春
Priority date: 2015-04-30
Filing date: 2016-04-28
Publication date: 2016-11-03
Also published as: CN104795960A; CN104795960B

Abstract

A spiral stepper motor and a stator and rotor mechanism thereof. A rotor comprises a central shaft (1) and a plurality of rotor blocks (2), wherein the rotor blocks (2) are continuously or separately uniformly arranged on the circumference of the central shaft (1) by adopting a cylindrical helix, adopting the central shaft (1) as a shaft centre, as a reference line; and a stator comprises a plurality of stator blocks (3), a barrier layer (5) and a cover plate (4), wherein the stator blocks (3) and the rotor blocks (2) are equally distanced to each other in the radial direction, the axial width of a working surface of the stator block (3) is equal to that of the rotor block (2), and the stator blocks are aligned to the rotor blocks. When the motor works, a dynamic spiral magnetic field is generated between the stator blocks (3) and the rotor blocks (2), and under the action of the spiral magnetic field, a friction-free relative rectilinear and circular motion is produced between the stator blocks (3) and the rotor blocks (2). According to the spiral stepper motor, one of two parts can make the circular motion, while the other one makes the rectilinear motion, or one part simultaneously makes the circular motion and the rectilinear motion.

Description

Stator, rotor mechanism and spiral stepping motor of spiral stepping motor

Technical field

The invention relates to an electric motor, in particular to a stator, a rotor mechanism and a spiral stepping motor of a spiral stepping motor capable of simultaneously performing different modes of movement of a stator and a rotor.

Background technique

The existing electric motors are mostly single moving parts. When the two parts in the system can simultaneously perform different modes of motion or the same part has both circular motion and linear motion, it must be transformed by the intermediate mechanism, resulting in complicated structure and volume of the equipment. Huge and costly. The rotary motor must reach its linear drive capability through the intermediate link. Although the linear motor has advantages in linear drive, it is expensive. Moreover, they have one thing in common: there is only one moving part.

Although the electric motor can not only meet the two parts at the same time, but also integrates the power and the transmission mechanism, the positioning precision is low and the production cost is high.

Therefore, it is known that the structure of the motor has such a problem that it is not possible to have two moving parts while having high positioning accuracy, low production cost, and a combination of power and transmission mechanism.

Summary of the invention

The technical problem to be solved by the present invention is to overcome the problems of the above-mentioned electric motor. The object of the present invention is to provide a stator, a rotor mechanism and a corresponding spiral stepping motor of a spiral stepping motor, so that the spiral stepping motor has two movements. Parts do different movements at the same time or one part performs two different movements at the same time.

The technical solution adopted by the present invention to solve the above technical problem is: the stator and rotor mechanism of the spiral stepping motor, including a stator, a rotor and a cover plate, characterized in that:

The rotor includes a central shaft and a plurality of rotor blocks, wherein the rotor blocks are uniformly or continuously spaced on the circumference of the central axis along a cylindrical spiral as a reference line, and the axis line of the cylindrical spiral is at the axis of the central axis On the same center line;

The stator includes a plurality of stator blocks and a spacer, wherein each stator block and the rotor block maintain the same distance in a radial direction, the working face axial width of the stator block is equal to the axial width of the rotor block and aligned with the rotor block;

When the motor is working, a dynamic spiral magnetic field is generated between the stator block and the rotor block. Under the action of the spiral magnetic field, a straight line and a circular motion without friction are generated between the stator block and the rotor block.

The terms of the above rotor and stator are conventionally used, and the materials and windings of the stator and the rotor are the same as those of the stator and rotor of the existing motor.

Preferably, the two axial stator blocks are separated by a partition and connected by a fixing pin, and the two sides of the stator are composed of two blocks. The cover is fixed.

Preferably, the stator blocks are all laminated by a plurality of non-planar single-piece silicon steel sheets, and the axial projection of all the stator blocks is preferably a central symmetrical pattern, and the center of symmetry is: the center of the circle where the central axis cross section is located And the axial distance between two adjacent stator blocks on the same side of the central axis is preferably equal to one pitch of the spiral and separated by a spacer.

Preferably, the rotor block is formed by laminating a plurality of single-piece silicon steel sheets, or made of a permanent magnet, or laminated by a silicon steel sheet and a permanent magnet.

The axial length after placement of all rotor blocks is preferably an integer multiple of the pitch of the helix.

Preferably, the stator blocks on both sides of the central shaft are connected by a stator fixing pin, and the stator fixing pin functions as a magnetic flux.

Preferably, the wires come in and out from the opening of the stator fixing pin.

The rotor can be a conductive liquid or a conductive gas.

In another aspect of the invention, there is also provided a spiral stepping motor comprising the stator and rotor mechanism according to the spiral stepping motor described above.

In order to provide work efficiency, the two cover plates are spatially symmetrical and have a false pole shoe on the cover plate, which does not wrap around the coil, only serves as the first pole piece on the first stator block and finally The path of the last pole shoe flux on one stator block, the dummy pole shoes respectively correspond to the first pole piece of the first stator block and the last pole piece of the last stator block, and the dummy pole shoe acts as a magnetic circuit The role of the pathway.

During operation, due to the energization, a dynamic spiral magnetic field is generated between the stator block and the rotor block, and the spiral magnetic field causes a frictionless relative straight line and a circular motion between the stator block and the rotor block. At this time, according to the positioning of the stator block and the rotor block, The following movement modes: a. If the rotor is fixed, the stator makes a circular linear motion; b. Conversely, if the stator is fixed, the rotor makes a linear circular motion; c. If both ends of the rotor are fixed by bearings, the stator is mounted on the guide rail, Then the rotor moves in a circular motion, and the stator moves in a straight line; d. On the contrary, if the rotor is mounted on the guide rail and the stator is fixed at a certain position in the axial direction and is rotatable, the rotor moves linearly and the stator moves in a circular motion. All of the above four motion modes generate thrust in the axial direction and generate torque in the radial direction. This allows rotary and linear motion to be achieved on the same motor.

The advantages of the present invention over the prior art are:

The spiral stepping motor can simultaneously perform one circular motion and another linear motion or one component simultaneously performs circumferential and linear motion, and has high positioning accuracy, low production cost, and power and transmission are integrated; the stator and the rotor are generated. Friction-free circumferential and linear motion can greatly simplify the structure of the equipment and reduce the cost of the equipment. Due to the modular structure of the stator block and the compartment, it can be easily produced and cost-saving, and can also meet the needs of users for expansion; There are many working windings, which brings convenience to the control and can greatly improve some performance of the motor. The large area of the stator and the rotor in the axial direction can also greatly improve the torque and thrust and accuracy.

DRAWINGS

FIG. 1 is a schematic structural view of an embodiment of the present invention applied to a three-phase spiral reactive stepping motor.

2 is a schematic view showing the internal structure of a three-phase spiral reaction type stepping motor after removing a cover plate according to an embodiment of the present invention.

3 is a schematic view showing a cross section of a three-phase spiral reaction type stepping motor according to an embodiment of the present invention.

4 is a structural schematic view showing the connection of a rotor of a three-phase spiral reactive stepping motor to a central shaft according to an embodiment of the present invention.

FIG. 5 is a schematic view showing a state in which a stator and a rotor are combined in a three-phase helical reaction type stepping motor according to an embodiment of the present invention.

FIG. 6 is a structural schematic view showing the combination of a stator and a spacer of a three-phase spiral reactive stepping motor according to an embodiment of the present invention.

FIG. 7 is a structural schematic view showing the combination of a stator, a spacer and a stator fixing pin of a three-phase spiral reactive stepping motor according to an embodiment of the present invention.

FIG. 8 is a schematic structural view of a three-phase spiral reactive stepping motor according to an embodiment of the present invention.

FIG. 9 is a schematic view showing the partial decomposition of the cover plate and the stator block in the three-phase spiral reaction type stepping motor according to the embodiment of the present invention.

FIG. 10 is a schematic structural view of a cover plate of a three-phase spiral reaction type stepping motor according to an embodiment of the present invention.

FIG. 11 is a three-phase schematic diagram of a three-phase helical reactive stepping motor in an axial forward projection according to an embodiment of the present invention.

12 to FIG. 14 are schematic diagrams showing a pitch cycle of a three-phase helical reaction type stepping motor according to the present invention.

15 to 16 are schematic views of a control system of the present invention.

detailed description

The invention will be further described in detail below with reference to the embodiments of the drawings.

1 to FIG. 14 for an application of a three-phase helical reactive stepping motor in accordance with a preferred embodiment of the present invention, and an embodiment of the present invention will be described below by taking a three-phase helical reactive stepping motor as an example, and a stator is assumed Fixed, the rotor can perform circumferential and linear motion, unipolar pulse drive power.

Among them, Figure 1 is an overview of the whole after assembly. Figure 8 is an overall longitudinal cross-sectional view in which a plurality of stator blocks 3 and rotor blocks 2 are regularly placed in the axial direction and held in a spiral alignment.

Viewed from the axial direction (see Fig. 3), all of the stator block 3 and the rotor block 2 are evenly distributed on a circle, and a certain distance between the stator block 3 and the working surface of the rotor block 2 is maintained, and they are connected with the central axis 1 concentric.

1) Structure of an embodiment of the present invention.

The stator and rotor mechanism of the spiral stepping motor comprises a stator, a rotor and a cover plate 4;

The rotor comprises a central shaft 1 and a plurality of rotor blocks 2, wherein the rotor block 2 is uniformly or continuously spaced on the circumference of the central axis 1 along a cylindrical spiral as a reference line, the axis of the cylindrical helix and the central axis 1 The axis lines are on the same center line;

The stator comprises a plurality of stator blocks 3 and a spacer 5, wherein each stator block 3 and the rotor block 2 are maintained at the same distance in the radial direction, the axial width of the working face of the stator block 3 is equal to the axial width of the rotor block 2 and Aligned with the rotor block 2;

When the motor is in operation, a dynamic spiral magnetic field is generated between the stator block 3 and the rotor block 2, and a linear or circular motion without friction is generated between the stator block 3 and the rotor block 2 under the action of the spiral magnetic field.

First, determine a cylindrical spiral that is concentric with the central axis 1 (the cylinder here is the stator block 3 and the rotor block) 2, the center circle of the air gap is a cylindrical bottom surface), and the subsequent placement of the stator block 3 and the rotor block 2 is based on the aforementioned cylindrical spiral line. FIG. 1 is a schematic diagram of the assembly of the embodiment of the present invention, and FIG. 2 is a schematic view. A schematic diagram of the interior of the inventive embodiment.

A plurality of rotor blocks 2 are continuously placed around the central axis 1 along the aforementioned cylindrical spiral and a plurality of stator blocks 3 are regularly placed. Here, the rotor block 2 is placed on the outer peripheral surface of the center shaft, and all the stator blocks 3 are kept in the same spatial distance and spirally aligned with all of the aforementioned rotor blocks 2.

All of the aforementioned rotor blocks 2 have an orthographic projection of 40 small teeth in the axial direction, the teeth are the same size and the pitch of each tooth is also equal: the angle between the center lines of the adjacent two teeth is 9 degrees. After all the rotor blocks 2 are placed, their length in the axial direction is greater than the sum of the axial widths of all the stator blocks 3 and the spacers 5. The central angle formed by the two sides of the rotor block 2 in the axial forward projection profile is 45 degrees.

Figure 5 is a schematic view of the assembled rotor and stator. Eight stator blocks 3 are placed at intervals in the axial direction, and the orthographic projections of the eight stator blocks in the axial direction are the same. The axial spacing of the adjacent two stator blocks 3 on the same side of the central axis is a pitch of the aforementioned cylindrical helix, and the axial spacing of the two consecutive stator blocks 3 along any of the aforementioned spirals is smaller than a pitch of the aforementioned spiral. The eight stator blocks 3 are divided into two equal numbers, one on each side of the central shaft 1, and separated by a partition 5. Each stator block 3 has three field windings and three pole pieces, each of which has five small teeth. The size and pitch of the small teeth are the same as the teeth on the rotor and the pitch is the same. The working faces of the 3 pole pieces and the working faces of all the rotor blocks 2 remain concentric with the central axis 1.

Figure 6 is a schematic view of the continuation of the installation of all of the barrier layers 5, and Figure 3 is a schematic cross-sectional view of an embodiment of the present invention. From the cross-section of the embodiment of the present invention, the two stator blocks 3 on both sides of the rotor are center-symmetrical, and the center of symmetry is the center of the circle of the central axis 1 on the same cross-section, which is called a pair of stator blocks, and thus is axially There are four pairs of stator blocks. The two magnetic poles with a space difference of 180 degrees on each pair of stator blocks are called: one phase. Therefore, each pair of stator blocks has three phases. The method of aligning the teeth of each pair of stator blocks with the rotor block 2 is such that when the teeth of one phase are aligned with the teeth of the rotor, the center line of the first small tooth on the other phase is different from the center line of the teeth on the opposite rotor. degree.

All of the stator blocks 3 and the spacers 5 are connected and combined by a stator fixing pin 6. Figure 7 is a schematic view of the embodiment of the present invention after the stator fixing pin 6 is mounted. Each rotor block 2 is fixed to the center shaft by a rotor fixing pin 7 and an epoxy resin. The stator block 3 and the rotor block 2 of the embodiment of the present invention are all formed by laminating silicon steel sheets.

The orthographic projection in the axial direction of the embodiment of the present invention is the same as the cross section of the corresponding rotary three-phase stepping motor.

Figure 8 is a schematic longitudinal cross-sectional view of an embodiment of the present invention, and Figure 9 is a schematic exploded view of an embodiment of the present invention.

2) Description of motion control of an embodiment of the present invention.

In this embodiment, a total of 8 stator blocks are divided into 4 pairs, and 12 phases have a total of 24 windings. The phases according to different positions on the stator block 3 are divided into three different sets of phases. Each phase group has 4 phases, which are identical in position on the stator block 3. Each time a plurality of combinations can be energized from one to four phases of a phase group, which brings convenience to the control. In fact, these twenty-four windings can be controlled independently. Here we only use the three windings on the stator block 3 for the description of the forward control (three-phase three-shot).

Single shot execution process, see Figure 11 ~ Figure 14:

Initial state: After the winding A is pulsed, according to the principle of minimum reluctance (magnetic circuit: pole piece - air gap - rotor - adjacent air gap - adjacent pole piece - original pole shoe), the rotor does not move at this time See Figure 12.

While the front phase winding A is de-energized, after the next phase winding B is pulsed, according to the principle of minimum reluctance, the rotor is rotated over the circumference by a step angle of 3 degrees, and also advances in the axial direction. One hundred and twenty-oneth of the pitch of the aforementioned spiral (120 pulses turn the rotor through one week), see Figure 13.

Then, while the front phase winding B is de-energized, the third phase is wound around the C group by a pulse, and according to the principle of minimum reluctance, the rotor is again rotated over the circumference by a step angle: 3 degrees, while in the axial direction. The pitch of the aforementioned spiral is further advanced by one hundred and twenty-one (120 pulses make the rotor rotate one week), see Figure 14.

Then, after the front phase winding C is de-energized, after the next phase winding A is pulsed, according to the principle of minimum reluctance, the rotor is rotated over the circumference by a step angle: 3 degrees, while in the axial direction. It also advances the pitch of the aforementioned spiral of one hundred and twenty-oneth (120 pulses rotate the rotor for one week) and returns to the initial state, see Figure 12.

After a series of energization of the three phase windings A, B, and C, a small cycle is completed; the rotor rotates a pitch of 9 degrees on the circumference while advancing one-fourth of the aforementioned spiral in the axial direction. Pitch. So the ring: A-B-C-A... is energized in turn, after a pulse of 120 completes a large smooth ring: the rotor rotates one revolution while pushing a pitch in the axial direction.

By continuously performing the above-described cycle, the rotor can be continuously advanced in the axial direction while performing the circular motion. If you want to reverse, just change the execution order. The direction control is exactly the same as that of the rotary stepper motor. The process of other beats is similar and will not be repeated.

b) Description of the motor control system.

According to different types of motors, the present invention can select different control methods: open loop control and closed loop control.

a) Open loop control.

In this embodiment, open loop control can be used.

15 is a block diagram of open loop control including a power source 44, a controller 43, a driver 45, and a motor body 46. The controller 43 controls the operation mode of the direction, speed, torque, and thrust of the motor, and the controller 43 outputs Information is driven by driver 45 to motor body 46, which provides electrical power to the overall system.

b) Closed loop control.

Motor control can also be controlled in closed loop.

Figure 16 is a block diagram of closed loop control including a power supply 44, a controller 43, a driver 45, an information feedback 48, and a motor body 46; wherein the controller 43 is a mode of operation that controls the direction, speed, torque, and thrust of the motor. The information output by the controller 43 drives the motor body 46 via the driver 45. The motor operating state 48 feeds back the real-time operating state information of the motor to the controller 43 for comparison control, and the power source 44 supplies power to the entire system.

Claims

A stator and rotor mechanism of a spiral stepping motor, comprising a stator, a rotor and a cover plate (4), characterized in that:

The rotor comprises a central shaft (1) and a plurality of rotor blocks (2), wherein the rotor block (2) is uniformly or continuously spaced on the circumference of the central axis (1) along a cylindrical spiral as a reference line, the cylindrical spiral The axis line is on the same center line as the axis line of the central axis (1);

The stator comprises a plurality of stator blocks (3) and a compartment (5), wherein each stator block (3) and the rotor block (2) are kept at the same distance in the radial direction, and the working surface of the stator block (3) is axially The width is equal to the axial width of the rotor block (2) and aligned with the rotor block (2);

When the motor is working, a dynamic spiral magnetic field is generated between the stator block (3) and the rotor block (2), and a frictionless magnetic field is generated between the stator block (3) and the rotor block (2). Circular motion.
The stator and rotor mechanism of a spiral stepping motor according to claim 1, characterized in that: the axial two stator blocks (3) are separated by a partition (5), and all the stator blocks (3) and the partition ( 5) Connected by the stator fixing pin (6), the cover plate (4) is disposed on the outermost two sides of the stator.
The stator and rotor mechanism of a spiral stepping motor according to claim 1, wherein the stator blocks (3) are formed by laminating a plurality of non-planar single-piece silicon steel sheets, and all the stator blocks (3) are on the shaft. The orthographic projection of the direction is a central symmetry figure whose center of symmetry is: the center of the circle where the cross section of the central axis (1) is located, and the axial distance of the two stator blocks (3) adjacent to the same side of the central axis (1) is A pitch of the spiral is separated by a barrier (5).
The stator and rotor mechanism of a spiral stepping motor according to claim 1, wherein the rotor block (2) is formed by laminating a plurality of single-piece silicon steel sheets, or made of permanent magnets, or by silicon steel sheets and The permanent magnet is laminated.
The stator and rotor mechanism of a spiral stepping motor according to claim 1, characterized in that the axial length of all the rotor blocks (2) after placement is preferably an integral multiple of the pitch of the spiral.
The stator and rotor mechanism of the spiral stepping motor according to claim 1, wherein the two cover plates (4) are symmetrically disposed on the left and right sides, and the cover plate (4) has a false pole shoe which does not wrap around the coil. Only acts as a passage for the last pole piece of the first pole piece on the first stator block (3) and the last pole piece on the last stator block (3).
The stator and rotor mechanism of a spiral stepping motor according to claim 1, characterized in that the stator blocks (3) on both sides of the central shaft (1) are connected and positioned by a stator fixing pin (6), and the stator fixing pin (6) ) and act as a magnetic flux.
A stator or rotor mechanism for a spiral stepping motor according to claim 1, wherein the wire is guided in and out from the opening of the stator fixing pin (6).
A stator or rotor mechanism for a spiral stepping motor according to claim 1, wherein the rotor is a conductive liquid or a conductive gas.
A spiral stepping motor comprising the stator and rotor mechanism according to any one of claims 1-9.