WO2020244275A1 - 一种具有多维度往复运动的微型电机 - Google Patents

一种具有多维度往复运动的微型电机 Download PDF

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Publication number
WO2020244275A1
WO2020244275A1 PCT/CN2020/079416 CN2020079416W WO2020244275A1 WO 2020244275 A1 WO2020244275 A1 WO 2020244275A1 CN 2020079416 W CN2020079416 W CN 2020079416W WO 2020244275 A1 WO2020244275 A1 WO 2020244275A1
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WIPO (PCT)
Prior art keywords
axial
tooth
iron core
circumferential
rotating shaft
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PCT/CN2020/079416
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English (en)
French (fr)
Inventor
张振建
邱传松
刘�东
Original Assignee
深圳市仓兴达科技有限公司
深圳市德达兴驱动科技有限公司
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Publication of WO2020244275A1 publication Critical patent/WO2020244275A1/zh

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H02K1/28—Means for mounting or fastening rotating magnetic parts on to, or to, the rotor structures
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K33/00—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K33/00—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
    • H02K33/16—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system with polarised armatures moving in alternate directions by reversal or energisation of a single coil system
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H02K5/16—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields
    • H02K5/161—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields radially supporting the rotary shaft at both ends of the rotor

Definitions

  • the invention relates to the field of reciprocating motors, in particular to a micromotor with multi-dimensional reciprocating motion.
  • reciprocating action motors/devices are mainly divided into circular reciprocating action and axial reciprocating action, but the two generally exist separately in a certain kind of motor.
  • the present invention provides a micro-motor with multi-dimensional reciprocating motion.
  • a micro-motor with multi-dimensional reciprocating motion including a cylindrical shell, the shell is provided with a stator and a rotor, the key is that the rotor includes an axially arranged rotor A rotating shaft, on which an axial actuation iron core and a circumferential actuation iron core are installed;
  • the stator includes a cylindrical bobbin arranged coaxially with the rotating shaft, the bobbin is located between the axially actuated iron core and the circumferentially actuated iron core, and a coil is wound on the bobbin along its circumference ,
  • the corresponding axial actuating iron core and circumferential actuating iron core in the housing are respectively provided with an axial actuating component and a circumferential actuating component with magnetic properties.
  • the axial The actuating iron core and the circumferential actuating iron core produce alternating induction magnetic poles.
  • the induction magnetic poles interact with the magnetic poles on the axial actuation assembly and the circumferential actuation assembly, thereby pushing the rotating shaft to double in the axial and circumferential directions. Reciprocating motion.
  • the axial actuating iron core and the circumferential actuating iron core at the two ends of the coil respectively produce alternating induction magnetic poles.
  • This additional induction magnetic pole and the corresponding A mutual repulsive force or attractive force will be generated between the magnetic poles on the magnetic axial actuation assembly and the circumferential actuation assembly, thereby pushing the rotating shaft to reciprocate toward one end while also performing circumferential reciprocating rotation, thereby using a coil It promotes the two superimposed movements of the axis of rotation and the circumferential direction, filling the gap in the market.
  • the above-mentioned axially actuated iron core includes two sets of first rotor tooth assemblies distributed along the axial direction of the rotating shaft, and there is a reset gap between the two sets of first rotor tooth assemblies.
  • the axial actuation assembly includes two sets of first stator tooth assemblies.
  • the two sets of first stator tooth assemblies correspond to the two sets of first rotor tooth assemblies.
  • the reset gap faces the middle of the two sets of stator tooth assemblies.
  • the first stator tooth assembly includes M first stator teeth, the M first stator teeth are evenly distributed around the circumference of the corresponding first rotor tooth assembly, M is a natural number, and all the first stator teeth are The inner walls of the housing are fixedly connected, the magnetic poles of all the first stator teeth of the same group of the first stator tooth components are the same, and the magnetic poles of the first stator teeth of the two groups of first stator tooth components are opposite.
  • N poles will be generated on the two sets of first rotor teeth of the axially actuated core at the same time, and the inherent magnetic poles on the two sets of first stator teeth are S poles.
  • One is an N pole.
  • the N pole on the first rotor tooth repels the N pole on the first stator tooth and attracts the S pole on the first stator tooth. Since the two sets of first stator tooth components are axially distributed, This pushes the shaft to move toward one end. When the coil is supplied with reverse current, the shaft moves toward the other end.
  • the above-mentioned circumferential actuating iron core includes a cylindrical second mounting portion, which is fixedly sleeved on the rotating shaft, and P second rotor teeth are uniformly provided on the second mounting portion along the circumferential direction thereof, P Is a natural number
  • the circumferential actuation assembly includes 2P second stator teeth with magnetism, 2P second stator teeth are evenly distributed around the circumference of the P second rotor teeth and are respectively fixedly connected to the inner wall of the housing, adjacent to the The magnetic poles of the second stator teeth are opposite, and the second rotor teeth face between adjacent second stator teeth.
  • the same induced magnetic pole (such as S pole) is generated on each rotor tooth of the circumferentially actuated iron core at the same time, because the second rotor tooth is located facing two adjacent second Between the stator teeth, the magnetic poles generated on the second rotor teeth interact with the magnetic poles on the adjacent second stator teeth to generate a circumferential push-pull force that drives the shaft to rotate.
  • the shaft Reverse rotation as the energizing direction of the coil changes periodically, the circumferentially actuated iron core carries the rotating shaft to make corresponding periodic reciprocating actions along the circumferential direction.
  • the axial actuating iron core is cylindrical, and the cylindrical surface of the axial actuating iron core is provided with an annular separation groove, and the separation groove forms the reset gap, and the reset gap
  • the upper and lower axial actuation cores respectively form one of the rotor teeth
  • the axial actuating iron core is in the shape of a long strip, and the two end faces of the axial actuating iron core are respectively provided with separation grooves, and the two separation grooves jointly constitute the reset gap, and
  • the axial actuating iron cores above and below the partition slots respectively form one rotor tooth;
  • the axial actuating iron core includes a cylindrical first mounting portion and a "T"-shaped tooth block, wherein the first mounting portion is fixedly mounted on the rotating shaft and surrounds the N tooth blocks are uniformly provided in the circumferential direction of the first mounting part, the vertical part of the tooth block is fixedly connected with the mounting part, the transverse part of the tooth block is arc-shaped, and the side surface of the tooth block Separating grooves are formed, and all the separating grooves jointly constitute the reset gap, and the tooth blocks above and below each of the separating grooves respectively form one of the first rotor teeth.
  • the axially actuated iron core can be in many different forms, and different axially actuated iron cores can be selected according to actual needs.
  • the above-mentioned second rotor tooth is composed of a bar-shaped tooth root part and an arc-shaped tooth top part, wherein the tooth root part is fixedly connected with the second mounting part, the convex part of the tooth top faces the housing, and the middle part of the tooth top part
  • a positioning groove is provided along the axial direction of the rotating shaft, and there is a positioning gap between the adjacent second stator teeth, and the positioning groove faces the positioning gap between the adjacent second stator teeth.
  • the circumferential actuating iron core is equivalent to a piece of iron, and there is only a simple magnet attraction force between it and the circumferential actuating component.
  • the second rotor tooth Through the positioning of the positioning groove, the second rotor tooth always faces the adjacent The positioning gap between the two second stator teeth.
  • the positioning groove exerts a good magnetic force on the magnetic field lines emitted by the second stator tooth.
  • the second rotor teeth can automatically return to the original position.
  • the positioning gap between the second stator teeth is beneficial to positioning. Accurate, on the other hand can effectively prevent magnetic leakage.
  • the rotating shaft between the two axial actuating iron cores and the circumferential actuating iron core is also sleeved with a cylindrical magnetic steel sleeve which is located inside the bobbin and the guide
  • the two ends of the magnetic steel sleeve are respectively in contact with the axial actuation core and the circumferential actuation core. Adopting this structure is conducive to enhancing the magnetic permeability, so that even when a thinner shaft is used, there can be enough magnetic force. It has been verified that even when the diameter of the shaft is reduced to half of the conventional diameter (4mm), it can also have Enough magnetic field strength.
  • Both ends of the above-mentioned housing are closed by end caps, the inner wall of the end cap is provided with a shaft sleeve chamber, the shaft sleeve is installed in the shaft sleeve chamber, and the two ends of the rotating shaft pass through the corresponding shaft sleeve.
  • the shaft sleeve is made of soft plastic material.
  • the end cover at the outer end of the shaft sleeve is also provided with a limiting hole around the rotating shaft.
  • the limiting hole is connected to the shaft sleeve chamber.
  • the hole diameter of the limiting hole is larger than the diameter of the rotating shaft and smaller than the shaft.
  • the outer diameter of the sleeve With this structure, when the rotating shaft is subjected to a relatively large radial pressure, the rotating shaft will abut the inner wall of the limiting hole, thereby protecting the shaft sleeve.
  • the above-mentioned soft plastic material is graphite nylon or Teflon.
  • the shaft sleeve itself has a better lubricating effect, which can further reduce noise and reduce the wear of the rotating shaft.
  • the rotating shaft makes a double reciprocating movement synchronously in the axial and circumferential directions;
  • the rotating shaft makes an asynchronous double reciprocating movement in axial and circumferential directions.
  • the actuation component and the circumferential actuation component act to drive the shaft to produce axial and circumferential movement at the same time; when the two coils have independent current inputs and the alternating frequencies of the input currents are different, the axial and circumferential movement of the shaft
  • the direction movement will not be synchronized.
  • the frequency of the circumferential coil is twice the frequency of the axial coil, there will be a combination of 1 axial oscillation and 2 circumferential oscillations.
  • the beneficial effect of adopting the present invention is: when the coil is periodically energized, the axially actuated iron core and the circumferentially actuated iron core will produce periodically changing induction magnetic poles, and the induction magnetic poles and the corresponding axial actuation components It interacts with the inherent magnetic poles of the circumferential actuation component, thereby pushing the rotating shaft to perform periodic axial and circumferential superimposed reciprocating motion; when there is no power, if there is an external force to push or twist the rotating shaft, after removing the external force, the gap and positioning Under the action of the groove, the shaft can quickly return to the initial position.
  • Figure 1 is a schematic structural diagram of Embodiment 1;
  • Figure 2 is a cross-sectional view of A-A' in Figure 1;
  • Figure 3 is a B-B' sectional view of Figure 1;
  • Figure 4 is a C-C' cross-sectional view of Figure 1;
  • Figure 5 is an example diagram of an axially actuated iron core
  • Figure 6 is another example diagram of an axially actuated iron core
  • Figure 7 is a third example diagram of an axially actuated iron core
  • Embodiment 8 is a schematic diagram of the structure of Embodiment 3.
  • a micro-motor with multi-dimensional reciprocating motion includes a cylindrical housing 1 in which a stator and a rotor are arranged, and the rotor includes an axis along the housing 1
  • An axially actuating iron core 12 and a circumferentially actuating iron core 7 are mounted on the rotating shaft 3 provided in the direction of the rotation;
  • the stator includes a cylindrical bobbin 5 coaxially arranged with the rotating shaft 3.
  • the bobbin 5 is located between the axial actuating iron core 12 and the circumferential actuating iron core 7, and the bobbin 5 extends along the A coil 6 is wound in the circumferential direction, and the housing 1 is respectively fixedly installed with a magnetic axial actuation assembly 9 and a circumferential actuation assembly 11 corresponding to the axial actuation core 12 and the circumferential actuation core 7 ;
  • alternating induction magnetic poles are generated on the axial actuating iron core 12 and the circumferential actuating iron core 7.
  • the induction magnetic poles and the axial actuating assembly 9 and The magnetic poles on the circumferential actuating assembly 11 interact, thereby pushing the rotating shaft 3 to perform an axial and circumferential synchronous overlapping double reciprocating movement.
  • the axially actuating iron core 12 includes two sets of first rotor tooth assemblies 12a distributed along the axial direction of the rotating shaft 3. There is a reset gap 12b between the two sets of first rotor tooth assemblies 12a.
  • a rotor tooth assembly 12a includes N first rotor teeth 12a0 evenly distributed along the circumferential direction of the rotating shaft 3. N is a natural number, and all the first rotor teeth 12a0 are fixedly connected to the rotating shaft 3;
  • the axial actuation assembly 9 includes two sets of first stator tooth assemblies 9a, the two sets of first stator tooth assemblies 9a correspond to the two sets of first rotor tooth assemblies 12a, and the reset gap 12b faces the two sets of stator teeth.
  • the first stator tooth assembly 9a includes M first stator teeth 9a0, the M first stator teeth 9a0 are evenly distributed around the circumference of the corresponding first rotor tooth assembly 12a, and M is a natural number , All the first stator teeth 9a0 are fixedly connected to the inner wall of the housing 1, all the first stator teeth 9a0 of the same group of the first stator tooth assembly 9a have the same magnetic poles, and the two groups of first stators The magnetic poles of the first stator teeth 9a0 of the tooth assembly 9a are opposite.
  • the first stator tooth 9a0 is a first magnetic steel
  • the side of the first magnetic steel close to the axial actuation iron core 12 and the side close to the housing 1 are respectively two poles.
  • All the first stator teeth 9a0 of the stator tooth assembly 9a have the same magnetic poles on the side facing the axial actuating core 12, and the two sets of first stator tooth assemblies 9a have opposite magnetic poles on the side facing the axial actuating core 12.
  • the axially actuating core 12 can have many different shapes. As shown in FIG. 5, when N is 1, the axial actuating iron core is cylindrical, and the cylindrical surface of the axial actuating iron core is provided with an annular separation groove, and the separation groove forms the reset gap 12b, the axial actuation iron cores 12 above and below the reset gap 12b respectively form one rotor tooth 12a0;
  • the axial actuation core 12 is elongated, and the two ends of the axial actuation core 12 are respectively provided with separation grooves, and the two separation grooves share a common shape.
  • the axial actuating iron cores 12 above and below the two separating grooves respectively form one rotor tooth 12a0;
  • the axial actuating core 12 includes a cylindrical first mounting portion and a "T"-shaped tooth block, wherein the first mounting portion is fixedly sleeved on the On the rotating shaft 3, N tooth blocks are evenly arranged around the circumference of the first mounting part, the vertical part of the tooth block is fixedly connected with the mounting part, and the transverse part of the tooth part is in an arc shape ,
  • the concave surface of the tooth block faces the first mounting portion, the side surface of the tooth block is provided with a separation groove, all the separation grooves together constitute the reset gap 12b, and the tooth blocks above and below each separation groove are respectively
  • the tooth block can also be elongated, or any other shape.
  • N can also be any other natural number, and M and N can be equal or not equal.
  • an annular bracket 9b is sandwiched between the two sets of first stator tooth assemblies 9a.
  • the outer ring of the bracket 9b is fixedly connected to the inner wall of the housing 1.
  • the first stator teeth 9a0 of the stator tooth assembly 9a respectively contact the bracket 9b.
  • the thickness of the bracket 9b is greater than the width of the reset gap 12b, and the reset gap 12b faces the inner wall of the bracket 9b.
  • the middle part of the bobbin 5 is recessed toward the rotating shaft 3 to form a winding part, and the coil 6 is wound on the winding part along its circumference.
  • the bobbin 5 at both ends of the winding part is connected to the winding part respectively.
  • the inner wall of the housing 1 is fixedly connected to strengthen the magnetic permeability.
  • the rotating shaft 3 between the two axial actuating iron cores and the circumferential actuating iron core 7 is also covered with a cylindrical magnetically conductive steel sleeve 10,
  • the magnetically conductive steel sleeve 10 is located inside the wire frame 5, and two ends of the magnetically conductive steel sleeve 10 are in contact with the axial actuation iron core 12 and the circumferential actuation iron core 7 respectively.
  • the circumferential actuating iron core 7 includes a cylindrical second mounting portion 7a, which is fixedly sleeved on the rotating shaft 3, and the second mounting portion 7a is evenly provided with P along its circumference.
  • P is a natural number
  • the circumferential actuation assembly 11 includes 2P magnetic second stator teeth 11a, 2P second stator teeth 11a are evenly distributed around the circumference of the P second rotor teeth 7b and fixedly connected to the inner wall of the housing 1, The magnetic poles of the adjacent second stator teeth 11a are opposite, and the second rotor teeth 7b face between the adjacent second stator teeth 11a.
  • the second stator tooth 11a is a long strip of second magnetic steel, and the second magnetic steel has two poles on the side close to the second rotor tooth 7b and the side close to the housing 1 respectively.
  • the magnetic poles of the side of the second magnet steel close to the second rotor tooth 7b are opposite, and the second rotor tooth 7b is composed of a bar-shaped tooth root portion and an arc-shaped tooth top, wherein the tooth root portion and the second mounting portion 7a is fixedly connected, the protruding part of the tooth top faces the housing 1, the middle part of the tooth top is provided with a positioning groove 7c along the axial direction of the rotating shaft 3, between the adjacent second stator teeth 11a There is a positioning gap 11b, and the positioning groove 7c faces the positioning gap 11b between the adjacent second stator teeth 11a.
  • both ends of the housing 1 are closed by an end cover 8.
  • the inner wall of the end cover 8 is provided with a shaft sleeve chamber, and the shaft sleeve 2 is installed in the shaft sleeve chamber.
  • the two ends of 3 respectively pass through the corresponding shaft sleeve 2 and then extend out of the casing 1.
  • the shaft sleeve 2 is made of soft plastic material, and the soft plastic material is preferably graphite nylon or Teflon.
  • the end cover 8 at the outer end of the shaft sleeve is also provided with a limiting hole 4 around the rotating shaft 3, and the limiting hole 4 is in communication with the shaft sleeve chamber.
  • the hole 4 of the limiting hole 4 is larger than that of the rotating shaft 3.
  • the diameter is smaller than the outer diameter of the sleeve 2, and the sleeve 2 is made of soft plastic material.
  • Embodiment 2 as shown in FIG. 8, a micromotor with multi-dimensional reciprocating motion.
  • the bobbin 5 is provided with two coils around its circumference. 6.
  • the two coils 6 are separated by an annular iron core 13.
  • the outer ring of the annular iron core 13 is fixedly connected to the casing 1.
  • the two coils 6 are connected in parallel (or in series).
  • the rotating shaft 3 makes a double reciprocating movement synchronously in the axial and circumferential directions.
  • Embodiment 3 is a micromotor with multi-dimensional reciprocating motion.
  • the bobbin 5 is provided with two coils along its circumference. 6.
  • the two coils 6 are separated by a toroidal iron core 13.
  • the outer ring of the toroidal iron core 13 is fixedly connected to the casing 1.
  • the two coils 6 have independent current inputs, and the two coils 6
  • the alternating frequencies of the input current are T 1 and T 2 respectively , and T 1 ⁇ T 2
  • the rotating shaft 3 performs axial and circumferential asynchronous double reciprocating motion, for example, T 1 can be 100 Hz, T 2 can be 200 Hz, etc. , As long as the two frequencies are not equal.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)
  • Iron Core Of Rotating Electric Machines (AREA)

Abstract

本发明公开了一种具有多维度往复运动的微型电机，包括圆筒状的壳体，该壳体内设有定子和转子，转子包括沿壳体轴向设置的转轴，转轴上安装有轴向致动铁芯和周向致动铁芯，定子包括与转轴同轴设置的圆筒状的线架，线架位于轴向致动铁芯和周向致动铁芯之间，线架上沿其周向绕设有线圈，壳体内对应轴向致动铁芯和周向致动铁芯分别设有具有磁性的轴向致动组件和周向致动组件，采用本发明当给予线圈周期性的通电变化时，轴向致动铁芯和周向致动铁芯上就会产生周期性变化的感应磁极，感应磁极与对应的轴向致动组件和周向致动组件固有的磁极之间相互作用，从而推动转轴做周期性的轴向和周向叠加往复运动。

Description

一种具有多维度往复运动的微型电机 技术领域
本发明涉及往复运动的电机领域，具体涉及一种具有多维度往复运动的微型电机。
背景技术
随着社会的不断发展，人们越来越重视生活的质量，因此，个人健康护理产品、美容保健品，如电动牙刷、电动洁面仪、电动剃须刀等相关产品的运用越来越普及，这些产品都离不开往复动作电机。
目前往复性动作电机/装置，主要分为圆周向往复动作及轴向往复动作两种，但二者一般单独存在于某一种电机中，为了让用户的体验更加丰富，有必要研制一种兼具两种往复动作的新型微型往复动作电机。
发明内容
有鉴于此，本发明提供了一种具有多维度往复运动的微型电机。
其技术方案如下：一种具有多维度往复运动的微型电机，包括圆筒状的壳体，该壳体内设有定子和转子，其关键在于：所述转子包括沿所述壳体轴向设置的转轴，所述转轴上安装有轴向致动铁芯和周向致动铁芯；
所述定子包括与所述转轴同轴设置的圆筒状的线架，该线架位于轴向致动铁芯和周向致动铁芯之间，所述线架上沿其周向绕设有线圈，所述壳体内对应轴向致动铁芯和周向致动铁芯分别设有具有磁性的轴向致动组件和周向致动组件，给所述线圈通正反交替变化的电流后，所述轴向致动铁芯和周向致动铁芯上产生交替变化的感应磁极，该感应磁极与所述轴向致动组件和周向致动组件上的磁极相互作用，从而推动所述转轴作轴向和周向双重往复运动。
采用上述技术方案，给线圈通正、反交替变化的电流后，线圈两端的轴向致动铁芯和周向致动铁芯上分别产生交替变化的感应磁极，这种额外产生的感应磁极与对应的具有磁性的轴向致动组件和周向致动组件上的磁极之间会产生相互排斥力或吸引力，从而推动转轴朝一端往复运动的同时还能进行周向的往复旋转运动，由此利用一个线圈推动了转轴的轴向和周向两种叠加运动，填补了市场空白。
作为优选：
上述轴向致动铁芯包括两组沿所述转轴的轴向分布的第一转子齿组件，两组第一转子齿组件之间具有复位间隙，所述第一转子齿组件包括N个沿所述转轴的周向均匀分布的第一转子齿，N为自然数，所有所述第一转子齿与所述转轴固定连接；
所述轴向致动组件包括两组第一定子齿组件，两组第一定子齿组件分别与两组第一转子齿组件对应，所述复位间隙朝向两组定子齿组件的中间，所述第一定子齿组件包括M个第一定子齿，M个第一定子齿围绕对应的第一转子齿组件的周向均匀分布，M为自然数，所有所述第一定子齿与所述壳体的内壁固定连接，同一组所述第一定子齿组件的所有第一定子齿的磁极相同，两组第一定子齿组件的第一定子齿的磁极相反。
采用上述技术方案，如给线圈通正向电流后，轴向致动铁芯的两组第一转子齿上会同时产生N极，而两组第一定子齿上固有的磁极一个为S极一个为N极，第一转子齿上的N极与第一定子齿上的N极相排斥并与其上的S极相吸引，由于两组第一定子齿组件是呈轴向分布的，由此就推动了转轴朝一端移动，当给线圈通反向电流时，则转轴朝另一端移动，当线圈的电流正反交替变化时，则转轴呈现出轴向的往复运动；当不给线圈通电时，轴向致动铁芯就相当于铁块，此时如有外力作用于转轴，将其朝某一端推动一定距离 后，由于复位间隙的磁阻作用，撤去外力后，其就能自动恢复到原始位置。
上述周向致动铁芯包括圆筒状的第二安装部，该第二安装部固定套装在所述转轴上，所述第二安装部上沿其周向均匀设置有P个第二转子齿，P为自然数；
所述周向致动组件包括2P个具有磁性的第二定子齿，2P个第二定子齿围绕P个第二转子齿的周向均匀分布并分别与所述壳体的内壁固定连接，相邻所述第二定子齿的磁极相反，所述第二转子齿朝向相邻的所述第二定子齿之间。
采用上述技术方案，如给线圈通正向电流后，周向致动铁芯的各个转子齿上同时产生一样的感应磁极(如S极)，由于第二转子齿是位于面向相邻的两个第二定子齿之间的，第二转子齿上产生的磁极与相邻的第二定子齿上的磁极相互作用，从而产生圆周向推拉力，带动转轴转动，当给线圈通反向电流后，则转轴反向转动，随着线圈周期性的通电方向变化，周向致动铁芯带着转轴沿圆周向做相应周期性往复动作。
N或为1，此时所述轴向致动铁芯呈圆柱状，所述轴向致动铁芯的柱面上开有环形分隔槽，该分隔槽形成所述复位间隙，所述复位间隙上方和下方的所述轴向致动铁芯分别形成1个所述转子齿；
N或为2，此时所述轴向致动铁芯呈长条状，所述轴向致动铁芯的两端面上分别开设有分隔槽，两个分隔槽共同构成所述复位间隙，两个分隔槽上方和下方的所述轴向致动铁芯分别形成1个所述转子齿；
N或为≥3的自然数，此时所述轴向致动铁芯包括圆柱状的第一安装部和“T”形的齿块，其中第一安装部固定安装在所述转轴上，围绕所述第一安装部的周向均匀设置有N个所述齿块，所述齿块的竖部与所述安装部固定连接，所述齿块的横部呈弧形状，所述齿块的侧面开设有分隔槽，所有所述分隔槽 共同构成所述复位间隙，每个所述分隔槽上方和下方的所述齿块分别形成1个所述第一转子齿。
采用此结构，轴向致动铁芯可以是多种不同的形式，可根据实际需要选择不同的轴向致动铁芯。
上述第二转子齿由条状的齿根部和弧形的齿顶部组成，其中齿根部与所述第二安装部固定连接，齿顶部的凸起部分朝向所述壳体，所述齿顶部的中部沿所述转轴的轴向设有定位凹槽，相邻的所述第二定子齿之间具有定位间隙，所述定位凹槽朝向相邻的所述第二定子齿之间的定位间隙。
采用此结构，线圈不通电时，周向致动铁芯相当于一块铁，其与周向致动组件之间只存在单纯的磁铁吸合作用力，通过定位凹槽的定位，第二转子齿始终面向相邻的两个第二定子齿之间的定位间隙，当有外力作用于转轴时，定位凹槽朝任一个第二定子齿偏转后，定位凹槽对第二定子齿发出的磁力线起到很好的磁阻作用，当外力撤去后，第二转子齿能自动恢复到原始位置，而与第二定子齿之间不具有间隙的定位结构相比，第二定子齿之间设置定位间隙一方面有利于定位准确，另一方面还能有效防止漏磁。
两个所述轴向致动铁芯和周向致动铁芯之间的所述转轴上还套装有圆筒状的导磁钢套，该导磁钢套位于所述线架内部，且所述导磁钢套的两端分别与轴向致动铁芯和周向致动铁芯接触。采用此结构，有利于增强导磁作用，这样即便在采用更细转轴的时候也能有足够的磁力，经验证即便是转轴的直径减小到常规直径(4mm)的一半时，其也能具有足有的磁场强度。
上述壳体的两端通过端盖封闭，所述端盖的内壁上设有轴套室，所述轴套室内安装有轴套，所述转轴的两端分别穿过对应的所述轴套后伸出所述机壳，所述轴套采用软塑材质制成。采用此结构，转轴在进行往复运动时，轴套能自动适应转轴的运动，电机工作时噪音小。
上述轴套室外端的所述端盖上围绕所述转轴还设有限位孔，该限位孔与所述轴套室连通，所述限位孔的孔径大于所述转轴的直径且小于所述轴套的外径。采用此结构，当转轴受到较大的径向压力时，转轴会抵触到限位孔的内壁上，从而起到保护轴套的作用。
上述软塑材料为石墨尼龙或铁氟龙。采用此结构，轴套本身具有较好的润滑效果，可进一步降低噪音，减小转轴的磨损。
当所述线架上绕设有一个所述线圈时，所述转轴作轴向和周向同步叠合双重往复运动；
或当线架上绕设有两个所述线圈时，两个线圈之间通过环形铁芯分隔开来，且两个线圈并联或串联，所述转轴作轴向和周向同步叠合双重往复运动；
或当线架上绕设有两个所述线圈时，两个线圈之间通过环形铁分隔开来，两个所述线圈输入的电流的交变频率分别为T1和T2，且T1≠T2，所述转轴作轴向和周向非同步双重往复运动。
采用上述结构，当两个线圈串联或并联时，二者输入的电流的交变频率相同，两个线圈在轴向致动铁芯和周向致动铁芯上产生的感应磁场分别与对应的轴向致动组件和周向致动组件作用，从而驱动转轴同时产生轴向和周向运动；当两个线圈分别具有独立的电流输入，且输入的电流的交变频率不同时，转轴的轴向运动和周向运动就会不同步，比如周向线圈频率是轴向线圈频率2倍时，就会出现轴向摆动1次，周向摆动2次的组合，通过控制两个线圈输入的电流信号的频率，甚至可以将转轴的动作设计为“8”字型。
采用本发明的有益效果是：当给予线圈周期性的通电变化时，轴向致动铁芯和周向致动铁芯上就会产生周期性变化的感应磁极，感应磁极与对应的轴向致动组件和周向致动组件固有的磁极之间相互作用，从而推动转轴做周期性的轴向和周向叠加的往复运动；在不通电时，若有外力推动或扭转转轴， 撤去外力后在复位间隙和定位凹槽的作用下，转轴能迅速恢复到初始位置。
附图说明
图1为实施例1的结构示意图；
图2为图1的A-A’剖视图；
图3为图1的B-B’剖视图；
图4为图1的C-C’剖视图；
图5为轴向致动铁芯的一种示例图；
图6为轴向致动铁芯的另一种示例图；
图7为轴向致动铁芯的第三种示例图；
图8为实施例3的结构示意图。
具体实施方式
以下结合实施例和附图对本发明作进一步说明。
如图1-4所示，一种具有多维度往复运动的微型电机，包括圆筒状的壳体1，该壳体1内设有定子和转子，所述转子包括沿所述壳体1轴向设置的转轴3，所述转轴3上安装有轴向致动铁芯12和周向致动铁芯7；
所述定子包括与所述转轴3同轴设置的圆筒状的线架5，该线架5位于轴向致动铁芯12和周向致动铁芯7之间，所述线架5上沿其周向绕设有1个线圈6，所述壳体1内对应所述轴向致动铁芯12和周向致动铁芯7分别固定安装有具有磁性的轴向致动组件9和周向致动组件11；
给所述线圈6通正反交替变化的电流后，所述轴向致动铁芯12和周向致动铁芯7上产生交替变化的感应磁极，该感应磁极与所述轴向致动组件9和周向致动组件11上的磁极相互作用，从而推动所述转轴3作轴向和周向同步叠合双重往复运动。
具体地，所述轴向致动铁芯12包括两组沿所述转轴3的轴向分布的第一 转子齿组件12a，两组第一转子齿组件12a之间具有复位间隙12b，所述第一转子齿组件12a包括N个沿所述转轴3的周向均匀分布的第一转子齿12a0，N为自然数，所有所述第一转子齿12a0与所述转轴3固定连接；
所述轴向致动组件9包括两组第一定子齿组件9a，两组第一定子齿组件9a分别与两组第一转子齿组件12a对应，所述复位间隙12b朝向两组定子齿组件9a的中间，所述第一定子齿组件9a包括M个第一定子齿9a0，M个第一定子齿9a0围绕对应的第一转子齿组件12a的周向均匀分布，M为自然数，所有所述第一定子齿9a0与所述壳体1的内壁固定连接，同一组所述第一定子齿组件9a的所有第一定子齿9a0的磁极相同，两组第一定子齿组件9a的第一定子齿9a0的磁极相反。具体地，所述第一定子齿9a0为第一磁钢，所述第一磁钢靠近轴向致动铁芯12的一面和靠近壳体1的一面分别为两极，同一组所述第一定子齿组件9a的所有第一定子齿9a0面向轴向致动铁芯12的一面的磁极相同，两组第一定子齿组件9a面向轴向致动铁芯12的一面的磁极相反。
轴向致动铁芯12可以有多种不同的形状。如图5所示，当N为1时，所述轴向致动铁芯呈圆柱状，所述轴向致动铁芯的柱面上开有环形分隔槽，该分隔槽形成所述复位间隙12b，所述复位间隙12b上方和下方的所述轴向致动铁芯12分别形成1个所述转子齿12a0；
如图6所示，当N为2时，所述轴向致动铁芯12呈长条状，所述轴向致动铁芯12的两端面上分别开设有分隔槽，两个分隔槽共同构成所述复位间隙12b，两个分隔槽上方和下方的所述轴向致动铁芯12分别形成1个所述转子齿12a0；
如图7所示，当N为≥3的自然数时，所述轴向致动铁芯12包括圆柱状的第一安装部和“T”形的齿块，其中第一安装部固定套装在所述转轴3上， 围绕所述第一安装部的周向均匀设置有N个所述齿块，所述齿块的竖部与所述安装部固定连接，所述齿部的横部呈弧形状，其凹面朝向所述第一安装部，所述齿块的侧面开设有分隔槽，所有所述分隔槽共同构成所述复位间隙12b，每个所述分隔槽上方和下方的所述齿块分别形成1个所述第一转子齿12a0，另外所述齿块还可以是长条状的，还可以是其他的任何形状的。
N还可以是其他任何自然数，M和N可以相等也可以不相等。
为加强支撑和隔离，两组第一定子齿组件9a之间夹设有圆环状的支架9b，所述支架9b的外圈与所述壳体1的内壁固定连接，两组所述第一定子齿组件9a的第一定子齿9a0分别与所述支架9b接触，所述支架9b的厚度大于所述复位间隙12b的宽度，所述复位间隙12b朝向所述支架9b的内壁。
所述线架5的中部向转轴3凹陷形成绕线部，所述绕线部上沿其周向绕设有所述线圈6，所述绕线部两端的所述线架5分别与所述壳体1的内壁固定连接，为加强导磁，两个所述轴向致动铁芯和周向致动铁芯7之间的所述转轴3上还套装有圆筒状的导磁钢套10，该导磁钢套10位于所述线架5内部，且所述导磁钢套10的两端分别与轴向致动铁芯12和周向致动铁芯7接触。
所述周向致动铁芯7包括圆筒状的第二安装部7a，该第二安装部7a固定套装在所述转轴3上，所述第二安装部7a上沿其周向均匀设置有P个第二转子齿7b，P为自然数；
所述周向致动组件11包括2P个具有磁性的第二定子齿11a，2P个第二定子齿11a围绕P个第二转子齿7b的周向均匀分布并与所述壳体1的内壁固定连接，相邻所述第二定子齿11a的磁极相反，所述第二转子齿7b朝向相邻的所述第二定子齿11a之间。
优选地，所述第二定子齿11a为长条状的第二磁钢，该第二磁钢，靠近所述第二转子齿7b的一面和靠近壳体1的一面分别为两极，相邻所述第二磁 钢靠近所述第二转子齿7b的一面的磁极相反，所述第二转子齿7b由条状的齿根部和弧形的齿顶部组成，其中齿根部与所述第二安装部7a固定连接，齿顶部的凸起部分朝向所述壳体1，所述齿顶部的中部沿所述转轴3的轴向设有定位凹槽7c，相邻的所述第二定子齿11a之间具有定位间隙11b，所述定位凹槽7c朝向相邻的所述第二定子齿11a之间的定位间隙11b。
从图中还可以看出，所述壳体1的两端通过端盖8封闭，所述端盖8的内壁上设有轴套室，所述轴套室内安装有轴套2，所述转轴3的两端分别穿过对应的所述轴套2后伸出所述机壳1，所述轴套2采用软塑材质制成，所述软塑材料优选为石墨尼龙或铁氟龙，所述轴套室外端的所述端盖8上围绕所述转轴3还设有限位孔4，该限位孔4与所述轴套室连通，所述限位孔4的孔径大于所述转轴3的直径且小于所述轴套2的外径，所述轴套2采用软塑材质制成。
实施例2，如图8所示，一种具有多维度往复运动的微型电机，本实施例与实施例1的不同之处在于：所述线架5上沿其周向绕设有2个线圈6，两个线圈6之间被环形铁芯13间隔开来，环形铁芯13的外圈与机壳1固定连接，两个线圈6并联(也可以是串联)，当给所述线圈6通正反交替变化的电流后，转轴3作轴向和周向同步叠合双重往复运动。
实施例3，如图8所示，一种具有多维度往复运动的微型电机，本实施例与实施例1的不同之处在于：所述线架5上沿其周向绕设有2个线圈6，两个线圈6之间通过环形铁芯13分隔开来，环形铁芯13的外圈与机壳1固定连接，两个所述线圈6分别具有独立的电流输入，两个所述线圈6输入的电流的交变频率分别为T 1和T 2，且T 1≠T 2，所述转轴3作轴向和周向非同步双重往复运动，例如T 1可以为100Hz，T 2可以为200Hz等，只要二者频率不相等即可。
最后需要说明的是，上述描述仅仅为本发明的优选实施例，本领域的普通技术人员在本发明的启示下，在不违背本发明宗旨及权利要求的前提下，可以做出多种类似的表示，这样的变换均落入本发明的保护范围之内。

Claims (10)

  1. 一种具有多维度往复运动的微型电机，包括圆筒状的壳体(1)，该壳体(1)内设有定子和转子，其特征在于：所述转子包括沿所述壳体(1)轴向设置的转轴(3)，所述转轴(3)上安装有轴向致动铁芯(12)和周向致动铁芯(7)；
    所述定子包括与所述转轴(3)同轴设置的圆筒状的线架(5)，该线架(5)位于轴向致动铁芯(12)和周向致动铁芯(7)之间，所述线架(5)上沿其周向绕设有线圈(6)，所述壳体(1)内对应轴向致动铁芯(12)和周向致动铁芯(7)分别设有具有磁性的轴向致动组件(9)和周向致动组件(11)；
    给所述线圈(6)通正反交替变化的电流后，所述轴向致动铁芯(12)和周向致动铁芯(7)上产生交替变化的感应磁极，该感应磁极与所述轴向致动组件(9)和周向致动组件(11)上的磁极相互作用，从而推动所述转轴(3)作轴向和周向双重往复运动。
  2. 根据权利要求1所述一种具有多维度往复运动的微型电机，其特征在于：所述轴向致动铁芯(12)包括两组沿所述转轴(3)的轴向分布的第一转子齿组件(12a)，两组第一转子齿组件(12a)之间具有复位间隙(12b)，所述第一转子齿组件(12a)包括N个沿所述转轴(3)的周向均匀分布的第一转子齿(12a0)，N为自然数，所有所述第一转子齿(12a0)与所述转轴(3)固定连接；
    所述轴向致动组件(9)包括两组第一定子齿组件(9a)，两组第一定子齿组件(9a)分别与两组第一转子齿组件(12a)对应，所述复位间隙(12b)朝向两组定子齿组件(9a)的中间，所述第一定子齿组件(9a)包括M个第一定子齿(9a0)，M个第一定子齿(9a0)围绕对应的第一转子齿组件(12a)的周向均匀分布，M为自然数，所有所述第一定子齿(9a0)与所述壳体(1)的内壁固定连接，同一组所述第一定子齿组件(9a)的所有第一定子齿(9a0) 的磁极相同，两组第一定子齿组件(9a)的第一定子齿(9a0)的磁极相反。
  3. 根据权利要求1或2所述的一种具有多维度往复运动的微型电机，其特征在于：所述周向致动铁芯(7)包括圆筒状的第二安装部(7a)，该第二安装部(7a)固定套装在所述转轴(3)上，所述第二安装部(7a)上沿其周向均匀设置有P个第二转子齿(7b)，P为自然数；
    所述周向致动组件(11)包括2P个具有磁性的第二定子齿(11a)，2P个第二定子齿(11a)围绕P个第二转子齿(7b)的周向均匀分布并与所述壳体(1)的内壁固定连接，相邻所述第二定子齿(11a)的磁极相反，所述第二转子齿(7b)朝向相邻的所述第二定子齿(11a)之间。
  4. 根据权利要求2所述的一种具有多维度往复运动的微型电机，其特征在于：N或为1，此时所述轴向致动铁芯(12)呈圆柱状，所述轴向致动铁芯(12)的柱面上开有环形分隔槽，该分隔槽形成所述复位间隙(12b)，所述复位间隙(12b)上方和下方的所述轴向致动铁芯(12)分别形成1个所述转子齿(12a0)；
    N或为2，此时所述轴向致动铁芯(12)呈长条状，所述轴向致动铁芯(12)的两端面上分别开设有分隔槽，两个分隔槽共同构成所述复位间隙(12b)，两个分隔槽上方和下方的所述轴向致动铁芯(12)分别形成1个所述转子齿(12a0)；
    N或为≥3的自然数，此时所述轴向致动铁芯(12)包括圆柱状的第一安装部和“T”形的齿块，其中第一安装部固定安装在所述转轴(3)上，围绕所述第一安装部的周向均匀设置有N个所述齿块，所述齿块的竖部与所述安装部固定连接，所述齿块的横部呈弧形状，所述齿块的侧面开设有分隔槽，所有所述分隔槽共同构成所述复位间隙(12b)，每个所述分隔槽上方和下方的所述齿块分别形成1个所述第一转子齿(12a0)。
  5. 根据权利要求3所述的一种具有多维度往复运动的微型电机，其特征在于：所述第二转子齿(7b)由条状的齿根部和弧形的齿顶部组成，其中齿根部与所述第二安装部(7a)固定连接，齿顶部的凸起部分朝向所述壳体(1)，所述齿顶部的中部沿所述转轴(3)的轴向设有定位凹槽(7c)，相邻的所述第二定子齿(11a)之间具有定位间隙(11b)，所述定位凹槽(7c)朝向相邻的所述第二定子齿(11a)之间的定位间隙(11b)。
  6. 根据权利要求3所述的一种具有多维度往复运动的微型电机，其特征在于：两个所述轴向致动铁芯(12)和周向致动铁芯(7)之间的所述转轴(3)上还套装有圆筒状的导磁钢套(10)，该导磁钢套(10)位于所述线架(5)内部，且所述导磁钢套(10)的两端分别与轴向致动铁芯(12)和周向致动铁芯(7)接触。
  7. 根据权利要求6所述的一种具有多维度往复运动的微型电机，其特征在于：所述壳体(1)的两端通过端盖(8)封闭，所述端盖(8))的内壁上设有轴套室，所述轴套室内安装有轴套(2)，所述转轴(3)的两端分别穿过对应的所述轴套(2)后伸出所述机壳(1)，所述轴套(2)采用软塑材质制成。
  8. 根据权利要求7所述的一种具有多维度往复运动的微型电机，其特征在于：所述轴套室外端的所述端盖(8)上围绕所述转轴(3)还设有限位孔(4)，该限位孔(4)与所述轴套室连通，所述限位孔(4)的孔径大于所述转轴(3)的直径且小于所述轴套(2)的外径。
  9. 根据权利要求7所述的一种具有多维度往复运动的微型电机，其特征在于：所述软塑材料为石墨尼龙或铁氟龙。
  10. 根据权利要求1所述一种具有多维度往复运动的微型电机，其特征在于：当所述线架(5)上绕设有一个所述线圈(6)时，所述转轴(3)作轴 向和周向同步叠合双重往复运动；
    或当线架上绕设有两个所述线圈(6)时，两个线圈(6)之间通过环形铁芯(13)分隔开来，且两个线圈(6)并联或串联，所述转轴(3)作轴向和周向同步叠合双重往复运动；
    或当线架(5)上绕设有两个所述线圈(6)时，两个线圈(6)之间通过环形铁芯(13)分隔开来，两个所述线圈(6)输入的电流的交变频率分别为T1和T2，且T1≠T2，所述转轴(3)作轴向和周向非同步双重往复运动。
PCT/CN2020/079416 2019-06-05 2020-03-15 一种具有多维度往复运动的微型电机 WO2020244275A1 (zh)

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