WO2021189595A1 - 一种多自由度磁场调制式磁力丝杠作动器及其集成设计方法 - Google Patents

一种多自由度磁场调制式磁力丝杠作动器及其集成设计方法 Download PDF

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WO2021189595A1
WO2021189595A1 PCT/CN2020/087571 CN2020087571W WO2021189595A1 WO 2021189595 A1 WO2021189595 A1 WO 2021189595A1 CN 2020087571 W CN2020087571 W CN 2020087571W WO 2021189595 A1 WO2021189595 A1 WO 2021189595A1
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spiral
magnetic
permanent magnet
rotor
iron ring
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French (fr)
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赵文祥
凌志健
吉敬华
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Jiangsu University
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Jiangsu University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K49/00—Dynamo-electric clutches; Dynamo-electric brakes
    • H02K49/10—Dynamo-electric clutches; Dynamo-electric brakes of the permanent-magnet type
    • H02K49/104—Magnetic couplings consisting of only two coaxial rotary elements, i.e. the driving element and the driven element
    • H02K49/106—Magnetic couplings consisting of only two coaxial rotary elements, i.e. the driving element and the driven element with a radial air gap

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  • the present invention relates to a multi-degree-of-freedom magnetic field modulation type magnetic screw and its integrated design method, especially designed to spiral magnetic drive and magnetic field modulation technology, as well as an integrated integrated design method, which is suitable for multi-degree-of-freedom compound motion, and belongs to a new type of multi- The technical field of design and manufacture of degree-of-freedom magnetic actuators.
  • Multi-degree-of-freedom actuators have the characteristics of multi-dimensional movement and simple maintenance. They have strong application prospects in industrial drive fields such as robotics, medical equipment, aerospace and other fields. Single-degree-of-freedom actuators can only achieve motion in a single direction. In order to obtain linear-rotational multi-degree-of-freedom motion, a mechanical combination of linear actuator and rotary actuator can be used to obtain multi-degree-of-freedom motion through an intermediate transmission mechanism. However, the combined actuator has complex structure, large volume and weight, low operating efficiency, and poor operating accuracy.
  • the linear-rotating permanent magnet motor is adopted, through the interaction between the stator winding and the permanent magnet of the mover, by controlling the current phase sequence, a rotating magnetic field and a traveling wave magnetic field are generated, thereby driving the mover to achieve rotation and linear multi-degree-of-freedom operation.
  • this structure has a low power and energy density, a large amount of permanent magnets in a long stroke, and high cost, and the application range is greatly restricted.
  • Chinese Invention Patent Application No. 201610821273.1 discloses a magnetic field-modulated magnetic screw, which is actually a magnetic gear structure that satisfies a single linear magnetic field modulation.
  • the permanent magnets of the rotor are alternately distributed in N and S pole spirals, and the number of pole pairs in the linear direction Is p r ;
  • the mover is composed of a spiral electric iron ring, and the number of pole pairs in the linear direction is n t ;
  • the mover can only achieve linear reciprocating motion, which limits its application background with multiple degrees of freedom.
  • Chinese Invention Patent Application No. 201610821273.1 discloses a linear rotating permanent magnet motor with multiple stator units, which generates a rotating magnetic field and a traveling wave magnetic field by controlling the current phase sequence, thereby driving the mover to achieve multi-degree-of-freedom operation.
  • the thrust density and torque density of this structure are insufficient.
  • the purpose of the present invention is to overcome the defects of the prior art and propose a multi-degree-of-freedom magnetic field modulation type magnetic screw actuator and an integrated design method thereof. Under the premise of ensuring reliability and economy, it solves the existing problems.
  • the magnetic screw has a single degree of freedom in operation, a short movement stroke, and low utilization of permanent magnets, and significantly improves the force and energy density of the existing linear-rotating permanent magnet actuators.
  • the multi-degree-of-freedom magnetic field modulation type magnetic screw actuator of the present invention is realized by adopting the following technical solutions:
  • the stator (3), the mover spiral iron ring (2), the spiral magnetic rotor (1), and the rotating electric machine (4) are placed coaxially; wherein, the spiral magnetic stator (3) and the mover spiral iron ring ( 2) There is an air gap between the mover spiral iron ring (2) and the spiral magnetic rotor (1); the rotating electrical machine rotor (5) and the spiral magnetic rotor (5) of the rotating electrical machine (4) 1) There is no air gap in the middle; the thickness of the air gap is selected according to the requirements;
  • the mover spiral iron ring (2) is alternately arranged by spiral magnetic conductive electric iron ring A (7-1) and spiral non-magnetic material B (7-2), and is surface-mounted on the outer surface of the stainless steel sleeve (15)
  • the lead of the spiral iron ring is ⁇
  • the lead ⁇ is consistent with the lead of permanent magnet C (8-1) and permanent magnet D (8-2)
  • the axial lengths of the spiral magnetic rotor (1) and the spiral magnetic stator (3) are kept consistent, which maximizes the utilization of permanent magnets.
  • the axial length of the mover spiral iron ring (2) is longer than that of the spiral magnetic rotor (1) and the spiral magnetic stator (3), and the specific length is determined according to the stroke requirement.
  • the rotating electric machine (4) is composed of a rotating electric machine rotor (5) and a rotating electric machine stator; the rotating electric machine rotor (5) of the rotating electric machine (4) is integrated with the spiral magnetic rotor (1) to form a composite rotor (13-1)
  • the rotating electric machine rotor (5) consists of permanent magnets E (14-1) and permanent magnets F (14-2), permanent magnet G (14-3), permanent magnet H (14-4) arranged in an arrangement, in which the magnetizing direction of permanent magnet F (14-2) is radially outward, permanent magnet H (14 -4) The magnetizing direction is radially inward, the permanent magnet E (14-1) and permanent magnet G (14-3) are magnetized axially, and the magnetizing direction points to the permanent magnet F (14-2), Form a concentrating magnetic structure.
  • the rotating electric machine rotor (5) of the rotating electric machine (4) and the spiral magnetic rotor (1) are integrated to form a composite rotor (13-1), and the rotating bearing (10-1) of the composite rotor (13-1) is fixed on On the base shaft (9), the rotating electric machine stator of the rotating electric machine (4) is fixed on the base shaft (9).
  • the mover spiral iron ring (2) is installed between the spiral magnetic rotor (1) and the spiral magnetic stator (3), and the mover spiral iron ring (2) is equipped with end caps (12) at both ends, and the end caps (12)
  • a rotary bearing installation port is reserved on the installation port, and a rotary bearing (10-2) is provided at the rotary bearing installation port; in order to realize the spiral motion, linear motion, and rotary motion of the mover spiral iron ring (2),
  • the base shaft (9) is equipped with a spline groove (9-1), a linear spline sleeve (11) is also installed on the base shaft (9) to realize linear motion, and a rotary bearing is installed on the spline sleeve (11) (10-2), the two cooperate to realize spiral movement and rotation movement.
  • the mover spiral iron ring (2), spiral magnetic permeable electrical iron ring A (7-1) and spiral non-magnetic material B (7-2) are alternately arranged, and the spiral magnetic permeable electrical iron ring A (7-2) is arranged alternately.
  • the segmented electrical iron ring 16 is alternately surface-applied on the outer surface of the stainless steel sleeve 15 along the circumferential direction to form a spiral magnetic conductive electrical iron ring A (7-1).
  • Step 1 Make sure that the spiral lead ⁇ of the spiral permanent magnet A (6-1) and spiral permanent magnet B (6-2) is the same as the spiral magnetic iron ring A (7-1) and spiral non-magnetic material
  • the number of pole pairs p s because the length of the spiral lead is consistent, the number of pole pairs in the circumferential direction and the number of pole pairs in the linear direction remain the same, so as to meet the modulation mechanism in the linear direction and the modulation mechanism in the circumferential direction. ;
  • Step 4 In the case of determining the number of pole pairs of each component, verify the three-dimensional spiral magnetic field and its magnetic field modulation effect.
  • the number of pole pairs of the spiral magnetic rotor (1) is p r , which is The air gap flux density in the straight line direction and the circumferential air gap flux density distribution are both p r pair magnetic pole distribution;
  • a magnetic field in the three-dimensional spiral coil magnetic rotor (1) introducing a pole pair number n t mover helical hoop (2), due to the helical magnetic Electrical hoop A (7-1) and non-conducting coil magnetic material B (7-2) configured, the presence of n t pole number of linear components and the circumferential components of the gap permeance distributions, respectively, to prepare a n t ⁇ p r times the magnetic field distribution in the linear and circumferential directions, thereby determining the coil
  • the number of pole pairs of the magnetic stator (3) is n t -p r which is a suitable value;
  • Step 6 by performing Fourier harmonic analysis on the air gap flux density in the circumferential and linear directions before and after modulation to verify the feasibility of the above modulation principle and verify the relationship between torque and thrust.
  • the spiral iron ring of the mover is located between the spiral magnetic rotor and the spiral magnetic stator. Through the rotation of the spiral magnetic rotor, a three-dimensional helical rotating magnetic field is formed, and then the spiral mover iron ring is driven to realize linear, rotational and screw movement;
  • the present invention significantly improves the thrust density and torque density, and significantly reduces the amount of permanent magnets in the field of long strokes, and reduces the cost of materials;
  • the present invention obtains a suitable design method for the magnetic field modulation ratio, increases the utilization rate of the spiral permanent magnet, and then obtains the maximum thrust density and torque density;
  • the present invention integrates the external rotor rotating electric machine and the multi-degree-of-freedom magnetic field modulation type magnetic screw actuator, and adopts the method of superimposing spline linear bearings and rotating bearings to realize the spiral bearing design with the smallest friction force, and through Turn on and turn off the rotary and linear bearings to realize linear and rotary single-degree-of-freedom motions respectively.
  • the multi-degree-of-freedom magnetic field modulation type magnetic screw actuator of the present invention is rotated by a three-dimensional spiral magnetic field, which not only satisfies the magnetic field modulation in the axial and linear direction, but also satisfies the magnetic field modulation in the radial and circumferential direction, and drives the spiral mover.
  • the iron ring realizes multi-degree-of-freedom motion.
  • the spiral magnetic field modulation of this structure is adopted. While ensuring high power and energy density transmission, the utilization rate of permanent magnets is further improved, and in the field of long-stroke linear applications, the consumption of permanent magnet materials is significantly reduced and material costs are reduced.
  • Figure 1 is a schematic diagram of the structure of an actuator according to a first embodiment of the present invention
  • Figure 2 is an axial and radial cross-sectional view of the structure of the present invention
  • Figure 3 is a schematic diagram of the permanent magnet spiral of the spiral rotor of the present invention.
  • Figure 4 is a schematic diagram of the permanent magnet spiral of the spiral stator of the present invention.
  • Fig. 5 is a schematic diagram of the helix of the helical mover iron ring of the present invention.
  • Figure 6 is a schematic diagram of the three-dimensional spiral magnetic field of the spiral rotor of the present invention.
  • Fig. 7 is a schematic diagram of the magnetic field of the spiral rotor of the present invention after being modulated by the helical mover iron ring;
  • Fig. 8 is a harmonic spectrum analysis diagram of the air gap magnetic density of the present invention.
  • (a) is the magnetic density circumferential component;
  • (b) is the magnetic density linear component;
  • Figure 9 is a schematic diagram of the torque and thrust waveforms of each component; (a) is the torque waveform; (b) is the thrust waveform;
  • Figure 10 is a schematic diagram of assembling the spiral mover iron ring
  • the spiral magnetic rotor 1 consists of a spiral permanent magnet A6-1 and a spiral permanent magnet B6. -2 structure, the magnetization direction of the spiral permanent magnet A6-1 is radially outward, and the magnetization direction of the spiral permanent magnet B6-2 is radially inward, and the two are alternately surface-mounted on the outer surface of the electric iron ring;
  • the mover spiral iron ring 2 is composed of a spiral magnetic permeable electrical iron ring A7-1 and a spiral non-magnetic material B7-2.
  • the spiral magnetic permeable electrical iron ring A7-1 and the spiral non-magnetic material B7-2 in turn Alternately arranged, at both ends of the mover spiral iron ring 2, an end cover 12 is installed, and on the end cover 12, a bearing mounting hole is reserved, and the rotary bearing 10-2 is installed in the reserved hole, and
  • the rotary bearing 10-2 is fixed on the linear spline sleeve 11, and the linear spline sleeve 11 cooperates with the spline groove 9-1 on the base shaft 9 to realize linear motion;
  • the helical magnetic stator 3 is composed of a permanent magnet C8-1 and a permanent magnet D 8-2.
  • the magnetization direction of the permanent magnet C 8-1 is radially outward, and the magnetization direction of the permanent magnet D8-2 is radially inward.
  • Alternate surfaces are affixed to the inner surface of the electrician iron ring;
  • the outer rotor rotating electric machine is composed of the inner stator 4 and the rotating electric machine rotor 5; the rotating electric machine rotor 5 and the spiral magnetic rotor 1 are integrated to form a compound integrated rotor 13-1.
  • the two end covers of the compound integrated rotor 13-1 are reserved There is a mounting hole for the rotating bearing 10-1, and the rotating bearing 10-1 is fixed on the base shaft 9 to realize the rotating movement;
  • Step 1 Ensure the spiral lead ⁇ of the spiral permanent magnet A6-1 and the spiral permanent magnet B6-2, and the spiral lead ⁇ of the spiral magnetically permeable electric iron ring A7-1 and spiral non-magnetic material B7-2, And the spiral lead ⁇ of the spiral permanent magnet C8-1 and the spiral permanent magnet D8-2, the length of the spiral lead ⁇ of the three is the same;
  • Step 2 Under the condition that the length of the spiral lead ⁇ is consistent, the number of pole pairs p r and the dynamic The pole pair number n t of the sub-spiral iron ring 2 and the pole pair number p s of the helical magnetic stator 3, so as to satisfy the air gap magnetic field modulation mechanism in the linear direction;
  • the lead length is consistent, the number of pole pairs in the circumferential direction and the number of pole pairs in the linear direction remain the same, so as to satisfy both the modulation mechanism in the linear direction and the modulation mechanism in the circumferential direction;
  • Step 4 In the case of determining the number of pole pairs of each component, verify the three-dimensional spiral magnetic field and its magnetic field modulation effect.
  • the number of pole pairs of the spiral magnetic rotor 1 is p r , in the linear direction and the circumferential direction, the linear direction
  • the air gap flux density and the circumferential air gap flux density distribution are both p r pair magnetic pole distribution;
  • Step 5 After introducing the mover spiral iron ring 2 with n t pole pairs in the three-dimensional spiral magnetic field of the spiral magnetic rotor 1, since the spiral magnetic conductive electrical iron ring A7-1 and the spiral non-magnetic material B7-2 are formed, n t exist pole gap permeance number of linear components and the circumferential distribution of the components, respectively, to prepare a n t ⁇ p r times the magnetic field distribution in the circumferential direction and a straight direction, so as to determine the magnetic pole of the stator coil 3 to the number n t -p r is a suitable value;
  • Step 6 by performing Fourier harmonic analysis on the air gap flux density in the circumferential and linear directions before and after modulation to verify the feasibility of the above modulation principle and verify the relationship between torque and thrust.
  • the magnetic field modulation type magnetic screw proposed by the present invention is viewed from different viewing angle directions.
  • the proposed magnetic field modulation type magnetic screw can be equivalent to a concentric rotating magnetic gear.
  • the proposed magnetic field modulation type magnetic screw can be equivalent to a cylindrical linear magnetic gear at the same time.
  • the permanent magnets of the spiral magnetic rotor 1 used are composed of spiral permanent magnets 6-1 and 6-2 whose magnetizing directions are radially inward and radially outward, and the two magnetizing directions are opposite.
  • the spiral permanent magnets are arranged in a spiral alternating form.
  • the mover spiral iron ring 2 used is composed of a spiral magnetic permeable electrical iron ring A7-1 and a spiral non-magnetic material B7-2.
  • the above-mentioned spiral magnetoelectric iron ring has an axial length of l t and a circumferential radian of ⁇ t , and the size needs to be optimized to achieve the optimal magnetic field modulation effect, but the specific optimization range needs to be around 3.84 mm and 13.8 degrees.
  • the permanent magnets of the spiral magnetic stator 3 used are composed of spiral permanent magnets 8-1 and 8-2 whose magnetization directions are radially inward and radially outward.
  • a three-dimensional finite element analysis is performed on the spiral magnetic field of the spiral magnetic rotor 1.
  • the harmonic analysis of the air gap flux density of the radial air gap flux density circumferential component B ⁇ i and the radial air gap flux density linear component B zi is performed, as shown in Fig. 8.
  • the spiral magnetic rotor 1 is partially rotated, the spiral magnetic stator 3 is partially fixed, and the spiral mover iron ring 2 serves as the rotation-linear motion output port.
  • the 4-pole helical magnetic rotor 1 rotates 360 degrees mechanically at the speed of ⁇ r
  • the corresponding two-degree-of-freedom thrust torque angle characteristic is shown in Figure 9.
  • the spiral magnetic conductive electric iron ring A7-1 of the mover spiral iron ring 2 is alternately surface-applied to the outer surface of the stainless steel sleeve 15 by the segmented electric iron ring 16 in the circumferential direction, forming a spiral lead Electrician iron ring A7-1, as shown in Figure 10.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Permanent Magnet Type Synchronous Machine (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

一种多自由度磁场调制式磁力丝杠作动器及其集成设计方法，包括螺旋磁定子(3)、动子螺旋铁环(2)、螺旋磁转子(1)、旋转电机(4)，四者同轴放置；依据螺旋结构的特性，使得螺旋磁转子(1)、动子螺旋铁环(2)、螺旋磁定子(3)之间的磁极对数不仅满足直线方向的调制机理，又满足圆周方向的调制机理，在保证可靠性和经济性的前提下，解决了现有磁力丝杠直线作动器运行自由度单一、磁场调制单一、运动行程短，永磁体利用率低的问题，并且显著提升了多自由度作动器的力能密度。

Description

一种多自由度磁场调制式磁力丝杠作动器及其集成设计方法 技术领域
本发明涉及到多自由度的磁场调制式磁力丝杠及其一体化设计方法，特别设计到螺旋磁力传动和磁场调制技术，以及一体化集成设计方法，适用于多自由度复合运动，属于新型多自由度磁力作动器设计制造的技术领域。
背景技术
多自由度作动器具有多维运动、维护简单等特点，在工业驱动领域诸如机器人、医疗设备、航空航天等领域具有很强的应用前景。单自由度作动器只能实现单一方向的运动，为了获得直线-旋转多自由度运动，可以采用直线作动器和旋转作动器机械组合得到，通过中间传动机构输出多自由度运动。但是，组合式作动器结构复杂、体积重量大、运行效率低、运行精度差。
采用直线-旋转永磁电机，通过将定子绕组和动子永磁体之间的相互作用，通过控制电流相序，产生旋转磁场和行波磁场，从而驱动动子实现旋转和直线多自由度运行。然而，该结构存在力能密度低，长行程时永磁体用量多、成本高，应用面受到了极大的限制。
文献Analysis of a magnetic screw for high force density linear electromagnetic actuators IEEE TRANSACTIONS ON MAGNETICS,47(10):4477-4480,2011介绍了一种表贴式磁力丝杠，将径向充磁的螺旋形永磁体N、S极交替的表贴在电工铁棒上。相比于其他的直线驱动器，虽然这种结构可以极大的提升推力密度，增加气隙磁感应强度，但所介绍的磁力丝杠的磁场调制单一，直线运动行程短，若要增加行程，只有增加永磁体的用量。随着永磁材料的价格不断上涨，从而限制了磁力丝杠的应用进展。
中国发明专利申请号201610821273.1公开了一种磁场调制式磁力丝杠，实则是一种满足单一直线磁场调制的磁齿轮结构，转子永磁体以N、S极螺旋交替分布，在直线方向的极对数为p r；动子由螺旋形电工铁环构成，在直线方向的极对数为n t；定子永磁体以N、S极螺旋交替分布，在直线方向的极对数为p s；并且满足p s＝n t-p r的直线磁场调制关系。在该结构中动子仅能实现直线往复运动，限制了其多自由度的应用背景。文献Designing and experimentally testing a magnetically geared lead screw,IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS,54(6):5736-5747,2018，设计并制造了一台理论样机，实验验 证直线运动磁场调制效应。
中国发明专利申请号201610821273.1公开了一种多定子单元的直线旋转永磁电机，通过控制电流相序，产生旋转磁场和行波磁场，从而驱动动子实现多自由度运行。但是相比与永磁磁力传动，该结构推力密度、转矩密度不足。
发明内容
本发明的目的是为了克服现有技术的缺陷，提出了一种多自由度磁场调制式磁力丝杠作动器及其集成设计方法，在保证可靠性和经济性的前提下，解决了现有磁力丝杠运行自由度单一，运动行程短，永磁体利用率低的问题，并且显著提升了现有直线-旋转永磁作动器的力能密度。
具体地说，本发明的多自由度磁场调制式磁力丝杠作动器是采取以下的技术方案来实现的：一种多自由度磁场调试磁力丝杠作动器，由外向内依次包括螺旋磁定子(3)、动子螺旋铁环(2)、螺旋磁转子(1)、旋转电机(4)，四者同轴放置；其中，所述螺旋磁定子(3)和动子螺旋铁环(2)之间有气隙、所述动子螺旋铁环(2)和螺旋磁转子(1)之间有气隙；所述旋转电机(4)的旋转电机转子(5)和螺旋磁转子(1)中间无气隙；气隙厚度根据要求选取；
所述螺旋磁定子(3)由交替设置的两块充磁方向相反的螺旋形永磁体C(8-1)、永磁体D(8-2)组成，其中一个充磁方向为径向向内，另一个径向向外；永磁体C(8-1)和永磁体D(8-2)的导程为λ，则单块永磁体的轴向长度为l s＝λ/(2·p s)，其中p s为螺旋磁定子永磁体在一个导程λ内的极对数，同理基于永磁体的螺旋效应，单块永磁体的径向弧度为α s＝2π/(2·p s)；
所述动子螺旋铁环(2)由螺旋导磁电工铁环A(7-1)和螺旋非导磁材料B(7-2)交替排列，表贴在不锈钢套筒(15)的外表面上，其螺旋铁环的导程为λ，导程λ与永磁体C(8-1)、永磁体D(8-2)的导程一致，则单个螺旋导磁电工铁环的轴向长度为l t＝λ/(2·n t)，其中n t为螺旋铁环在一个导程λ内的极对数，同理基于螺旋铁环的螺旋效应，单个电工铁材料径向弧度为α t＝2π/(2·n t)；
所述螺旋磁转子(1)由交替设置的两块充磁方向相反的螺旋形永磁体A(6-1)、永磁体B(6-2)组成，其中一个充磁方向为径向向内，另一个径向向外；永磁体A(6-1)和永磁体B(6-2)的导程为λ，导程λ与永磁体C(8-1)、永磁体D(8-2)的导程一致，则单块永磁体的轴向长度为l r＝λ/(2·p r)，其中p r为转子螺旋永磁体在一个导程λ内的极对数；同理基于永磁体的螺旋效应，单块永磁体的径向弧度为α r＝2π/(2·p r)；
上述螺旋磁转子(1)、螺旋磁定子(3)和动子螺旋铁环(2)的螺旋导程一定要保持相同，均为导程为λ，则螺旋磁转子(1)的极对数p r、螺旋磁定子(3)的极对数p s，和动子螺旋铁环(2)的极对数n t，不仅满足p s＝n t-p r的轴向直线磁场调制关系，而且也满足p s＝n t-p r的径向旋转磁场调制关系。
进一步，螺旋磁转子(1)和螺旋磁定子(3)的轴向长度保持一致，最大限度的提升永磁体的利用率。所述动子螺旋铁环(2)，其轴向长度比螺旋磁转子(1)和螺旋磁定子(3)要长，具体长度根据行程需求确定。
进一步，旋转电机(4)由旋转电机转子(5)和旋转电机定子组成；所述旋转电机(4)的旋转电机转子(5)与螺旋磁转子(1)集成形成复合转子(13-1)，为了避免复合转子(13-1)中的旋转电机转子(5)与螺旋磁转子(1)之间的磁场耦合，旋转电机转子(5)由永磁体E(14-1)、永磁体F(14-2)、永磁体G(14-3)、永磁体H(14-4)排列组成，其中永磁体F(14-2)的充磁方向为径向向外，永磁体H(14-4)的充磁方向为径向向内，永磁体E(14-1)和永磁体G(14-3)的为轴向充磁，充磁方向指向永磁体F(14-2)，形成聚磁式结构。
进一步，所述旋转电机(4)的旋转电机转子(5)与螺旋磁转子(1)集成形成复合转子(13-1)，复合转子(13-1)的旋转轴承(10-1)固定在基轴(9)上，旋转电机(4)的旋转电机定子固定在基轴(9)上。
进一步，动子螺旋铁环(2)安装在螺旋磁转子(1)和螺旋磁定子(3)之间，动子螺旋铁环(2)两端安装有端盖(12)，并在端盖(12)上预留有旋转轴承安装口，旋转轴承安装口处设置有旋转轴承(10-2)；为了实现所述动子螺旋铁环(2)的螺旋运动、直线运动、旋转运动，在基轴(9)上配置有花键槽(9-1)，在基轴(9)上还安装有直线花键套(11)实现直线运动，并在花键套(11)上安装有旋转轴承(10-2)，两者配合实现螺旋运动和旋转运动。
进一步，所述动子螺旋铁环(2)，螺旋导磁电工铁环A(7-1)和螺旋非导磁材料B(7-2)交替排列构成，螺旋导磁电工铁环A(7-1)由分段电工铁环16沿圆周方向依次交替表贴在不锈钢套筒15的外表面上，形成螺旋导磁电工铁环A(7-1)。
一种多自由度磁场调试磁力丝杠作动器的集成设计方法，包括如下步骤：
步骤1，确保螺旋形永磁体A(6-1)和螺旋形永磁体B(6-2)的螺旋导程λ，与螺旋导磁电工铁环A(7-1)和螺旋非导磁材料B(7-2)的螺旋导程λ，以及螺旋形永磁体C(8-1)和螺旋形永磁体D(8-2)的螺旋导程λ，三者螺旋导程λ长度保持一致；
步骤2，在满足螺旋导程λ长度一致的情况下，通过调整磁体的轴向长度l，l＝λ/(极对数×2)，来确定螺旋磁转子(1)的极对数p r、动子螺旋铁环(2)的极对数n t、和螺旋磁定子3的极 对数p s，从而满足直线方向的气隙磁场调制机理；
步骤3，在满足直线方向气隙磁场调制机理的情况下，对螺旋磁转子(1)、动子螺旋铁环(2)、和螺旋磁定子(3)的圆周方向进行剖视，通过圆周弧度α，α＝2π/(极对数×2)，来验证螺旋磁转子(1)的极对数p r、动子螺旋铁环(2)的极对数n t、和螺旋磁定子(3)的极对数p s，由于确保了螺旋导程长度的一致，圆周方向的极对数和直线方向的极对数保持一致，从而既满足直线方向的调制机理，又满足圆周方向的调制机理；
步骤4，在确定各个部件的极对数的情况下，对三维螺旋磁场，以及其磁场调制效果进行验证，螺旋磁转子(1)的极对数为p r，在直线方向和圆周方向，其直线方向气隙磁密和圆周方向气隙磁密分布均为p r对磁极分布；
步骤5，在螺旋磁转子(1)的三维螺旋磁场中，引入n t极对数的动子螺旋铁环(2)后，由于螺旋导磁电工铁环A(7-1)和螺旋非导磁材料B(7-2)构成，存在n t极对数的直线分量和圆周分量的气隙磁导分布，分别在直线方向和圆周方向调制出n t±p r次磁场分布，从而确定螺旋磁定子(3)的极对数为n t-p r为合适的取值；
步骤6，通过对调制前后的圆周方向和直线方向的气隙磁密进行傅里叶谐波分析，验证上述调制原则的可行性，并验证转矩与推力之间的关系。
本发明具有以下收益效果：
1、本发明中动子螺旋铁环位于螺旋磁转子和螺旋磁定子之间，通过螺旋磁转子的旋转，形成三维螺旋旋转磁场，进而驱动螺旋动子铁环实现直线、旋转和螺进运动；
2、本发明在实现多自由度运行的同时，显著提升了推力密度和转矩密度，并且在长行程领域显著减少了永磁体的用量，降低了材料成本；
3、本发明获得了合适的磁场调制比值的设计方法，增加螺旋永磁体利用率，进而得到最大的推力密度和转矩密度；
4、本发明将外转子旋转电机与多自由度磁场调制式磁力丝杠作动器集成设计，并采用花键直线轴承和旋转轴承叠加的方法，实现了摩擦力最小的螺旋轴承设计，并且通过开通关断旋转、直线轴承，分别实现直线、旋转的单一自由度运动。
综上，本发明的多自由度磁场调制式磁力丝杠作动器，由三维螺旋磁场旋转运动，不仅满足轴向直线方向的磁场调制，也满足径向圆周方向的磁场调制，驱动螺旋动子铁环实现多自由度运动，与传统旋转-直线永磁作动器相比，可以显著提升推力、转矩密度；并且相比与传统的磁力传动作动器，采用该结构的螺旋磁场调制，在保证高力能密度传输的同时，进一步提高永磁体的利用率，并且在长行程直线应用领域，显著减少永磁材料的消耗，降低材料成本。
附图说明
图1为本发明第一实施例作动器的结构示意图；
图2为本发明结构轴向、径向剖视图；
图3为本发明螺旋转子永磁体螺旋示意图；
图4为本发明螺旋定子永磁体螺旋示意图；
图5为本发明螺旋动子铁环螺旋示意图；
图6为本发明螺旋转子三维螺旋磁场示意图；
图7为本发明螺旋转子被螺旋动子铁环调制后的磁场示意图；
图8为本发明气隙磁密谐波频谱分析图；(a)为磁密圆周分量；(b)为磁密直线分量；
图9为各部件转矩和推力波形示意图；(a)为转矩波形；(b)为推力波形；
图10为螺旋动子铁环的拼装示意图；
图中：1、螺旋磁转子，2、动子螺旋铁环，3、螺旋磁定子，4、旋转电机，5、旋转电机转子，6-1、永磁体A，6-2、永磁体B，7-1、螺旋导磁电工铁环A，7-2、螺旋非导磁材料B，8-1、永磁体C，8-2、永磁体D，9、基轴，10-1、内转子旋转轴承，10-2、动子螺旋铁环旋转轴承，11、花键套，12、端盖，13-1、复合转子，14、旋转电机转子永磁体，15、不锈钢套筒，16、分段电工铁环。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述。在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，除非另有说明“多个”的含义是两个或两个以上。
如图1所示，本发明公开了一种多自由度磁场调制式磁力丝杠作动器及其集成设计的方法，螺旋磁转子1，由螺旋形永磁体A6-1和螺旋形永磁体B6-2构成，所述螺旋形永磁体A6-1充磁方向径向向外、螺旋形永磁体B6-2充磁方向径向向内，两者交替的表贴在电工铁环外 表面上；
动子螺旋铁环2，由螺旋导磁电工铁环A7-1和螺旋非导磁材料B7-2构成，所述螺旋导磁电工铁环A7-1和螺旋非导磁材料B7-2，依次交替排布，在动子螺旋铁环2的两端，安装有端盖12，并在端盖12上，预留有轴承安装孔，将旋转轴承10-2安装在预留孔内，并将旋转轴承10-2固定在直线花键套11上，直线花键套11与基轴9上的花键槽9-1配合，实现直线运动；
螺旋磁定子3，由永磁体C8-1和永磁体D 8-2，所述永磁体C 8-1充磁方向径向向外、永磁体D8-2充磁方向径向向内，两者交替的表贴在电工铁环内表面上；
外转子旋转电机，由内定子4和旋转电机转子5构成；旋转电机转子5和螺旋磁转子1集成，形成复合集成转子13-1，复合集成转子13-1的两端端盖上，预留有旋转轴承10-1的安装孔，并将旋转轴承10-1固定在基轴9上，实现旋转运动；
获得多自由度磁场调制效应的磁力丝杠设计方法包括如下步骤：
步骤1，确保螺旋形永磁体A6-1和螺旋形永磁体B6-2的螺旋导程λ，与螺旋导磁电工铁环A7-1和螺旋非导磁材料B7-2的螺旋导程λ，以及螺旋形永磁体C8-1和螺旋形永磁体D8-2的螺旋导程λ，三者螺旋导程λ长度保持一致；
步骤2，在满足螺旋导程λ长度一致的情况下，通过调整磁体的轴向长度l，l＝λ/(极对数×2)，来确定螺旋磁转子1的极对数p r、动子螺旋铁环2的极对数n t、和螺旋磁定子3的极对数p s，从而满足直线方向的气隙磁场调制机理；
步骤3，在满足直线方向气隙磁场调制机理的情况下，对螺旋磁转子1、动子螺旋铁环2、和螺旋磁定子3的圆周方向进行剖视，通过圆周弧度α，α＝2π/(极对数×2)，来验证螺旋磁转子1的极对数p r、动子螺旋铁环2的极对数n t、和螺旋磁定子3的极对数p s，由于确保了螺旋导程长度的一致，圆周方向的极对数和直线方向的极对数保持一致，从而既满足直线方向的调制机理，又满足圆周方向的调制机理；
步骤4，在确定各个部件的极对数的情况下，对三维螺旋磁场，以及其磁场调制效果进行验证，螺旋磁转子1的极对数为p r，在直线方向和圆周方向，其直线方向气隙磁密和圆周方向气隙磁密分布均为p r对磁极分布；
步骤5，在螺旋磁转子1的三维螺旋磁场中，引入n t极对数的动子螺旋铁环2后，由于螺旋导磁电工铁环A7-1和螺旋非导磁材料B7-2构成，存在n t极对数的直线分量和圆周分量的气隙磁导分布，分别在直线方向和圆周方向调制出n t±p r次磁场分布，从而确定螺旋磁定子3的极对数为n t-p r为合适的取值；
步骤6，通过对调制前后的圆周方向和直线方向的气隙磁密进行傅里叶谐波分析，验证上述调制原则的可行性，并验证转矩与推力之间的关系。
实施例1
为了清楚阐述本发明的具体实施方式，下面将结合附图中的多自由度磁场调制式磁力丝杠作动器对本发明加以说明。如图1所示，可以看到，螺旋磁转子1、动子螺旋铁环2、螺旋磁定子3、外转子旋转电机同轴放置，动子螺旋铁环2放置在螺旋磁转子1和螺旋磁定子3之间，并且之间存在气隙。螺旋磁转子1与旋转电机转子5采用集成设计，中间无气隙，从而螺旋磁转子1实现旋转运动。螺旋磁定子3保持固定不动，依据螺旋磁场调制原理，实现螺旋动子铁环2的多自由度运动。
如图2所示，可以看到，本发明提出的磁场调制型磁力丝杠从不同的视角方向的视图。根据视角方向1的侧视图，所提出的磁场调制式磁力丝杠可以等效为一个同心式旋转磁齿轮。同理，根据其螺旋形的设计，根据视角方向2的侧视图，可以看到所提出的磁场调制型磁力丝杠可以同时等效为一个圆筒式直线磁齿轮。
在本实施例中，所采用的螺旋磁转子1的永磁体，由充磁方向为径向向内和径向向外的螺旋永磁体6-1和6-2构成，两种充磁方向相反的螺旋形永磁体以螺旋交替的形式排列放置，其螺旋永磁体的导程为λ＝100mm，在一个导程为λ内，分为4对极的磁极结构，则单块永磁体的轴向长度为l r＝λ/(2·p r)＝12.5mm，其中p r为转子螺旋永磁体在一个导程λ内的极对数。同理基于永磁体的螺旋效应，单块永磁体的圆周弧度为α r＝2π/(2·p r)＝45度，如图3所示。
所采用的动子螺旋铁环2，由螺旋导磁电工铁环A7-1和螺旋非导磁材料B7-2构成，所述螺旋导磁电工铁环A7-1和螺旋非导磁材料B7-2，依次交替排布，其螺旋导磁电工铁环的导程长度λ＝100mm与螺旋永磁体A6-1和B6-2相同，在一个导程λ内，分为13对极的磁极结构，则螺旋导磁电工铁环的轴向长度为l t＝λ/(2·n t)＝3.84mm，其中n t为动子螺旋铁环2在一个导程λ内的极对数。同理基于螺旋效应，螺旋导磁电工铁环圆周弧度为α t＝2π/(2·n t)＝13.8度，如图4所示。上述螺旋导磁电工铁环的轴向长度为l t和圆周弧度为α t，需要进行尺寸的优化，达到最优的磁场调制效果，但具体优化范围需要在3.84mm和13.8度附近。
所采用的螺旋磁定子3的永磁体，由充磁方向为径向向内和径向向外的螺旋永磁体8-1和8-2构成，两种充磁方向相反的螺旋形永磁体以螺旋交替的形式排列放置，其螺旋永磁体的导程为λ＝100mm，在一个导程为λ内，分为9对极的磁极结构，则单块永磁体的轴向长度为l r＝λ/(2·p s)＝5.55mm，其中p s为定子螺旋永磁体在一个导程λ内的极对数。同理基于永磁体的螺旋效应，单块永磁体的圆周弧度为α s＝2π/(2·p s)＝20度，如图5所示。
在本实施例中，螺旋磁转子1的极对数p r＝4、螺旋磁定子3的极对数p s＝9，和动子螺旋铁环2的极对数n t＝13，不仅满足p s＝n t-p r的轴向直线磁场调制关系，而且也满足p s＝n t-p r的圆周旋转磁场调制关系。
在本实施例中，对螺旋磁转子1的螺旋磁场进行三维有限元分析，螺旋磁转子1的极对数p r＝4，由于磁场采用螺旋形分布，因此存在径向气隙磁密圆周分量B θi和径向气隙磁密直线分量B zi，如图6所示。其圆周分布气隙磁场和直线分布气隙磁场中均主要包含的4对极的谐波含量，以及4的奇数倍。
当引入极对数n t＝13的动子螺旋铁环2后，由于存在调磁环在气隙中的磁导与无调制环时气隙磁导的圆周分量和直线分量Λ θ和Λ z。螺旋磁转子1的螺旋磁场的径向气隙磁密圆周分量Λ θ·B θi和径向气隙磁密直线分量Λ z·B zi产生对应的螺旋磁场调制，出现了明显的9对极的谐波含量，如图7所示。为了满足磁场调制式磁力丝杠的工作原理，则螺旋磁定子3的极对数应选取9对极，即p s＝n t-p r。并对径向气隙磁密圆周分量B θi和径向气隙磁密直线分量B zi的气隙磁密进行谐波分析，如图8所示。
在本实施例中，螺旋磁转子1部分转动，将螺旋磁定子3部分固定，螺旋动子铁环2部分作为旋转-直线运动输出端口。当4对极螺旋磁转子1以ω r的转速，旋转360度机械角度，依据螺旋磁场的转动效应，会使螺旋磁转子的螺旋磁场形成一个螺旋导程λ＝100mm的直线运动，其传动比为G＝λ/2π。依据螺旋磁场调制效应，螺旋磁场作用在13对极的螺旋动子铁环2上，形成一个λ·4/13的直线位移，其直线速度为v t＝(λ/2π)·(4/13)·ω r。同理，依据螺旋磁场的调制效应，螺旋磁场作用在13对极的动子螺旋铁环2上，形成一个2π·4/13的旋转角度，其转动速度为ω t＝(4/13)·ω r。则对应的两自由度推力转矩角特性如图9所示。
在本实施例中，动子螺旋铁环2的螺旋导磁电工铁环A7-1由分段电工铁环16沿圆周方向依次交替表贴在不锈钢套筒15的外表面上，形成螺旋导程电工铁环A7-1，如图10所示。

Claims (7)

  1. 一种多自由度磁场调试磁力丝杠作动器，其特征在于，由外向内依次包括螺旋磁定子(3)、动子螺旋铁环(2)、螺旋磁转子(1)、旋转电机(4)，四者同轴放置；其中，所述螺旋磁定子(3)和动子螺旋铁环(2)之间有气隙、所述动子螺旋铁环(2)和螺旋磁转子(1)之间有气隙；所述旋转电机(4)的旋转电机转子(5)和螺旋磁转子(1)中间无气隙；气隙厚度根据要求选取；
    所述螺旋磁定子(3)由交替设置的两块充磁方向相反的螺旋形永磁体C(8-1)、永磁体D(8-2)组成，其中一个充磁方向为径向向内，另一个径向向外；永磁体C(8-1)和永磁体D(8-2)的导程为λ，则单块永磁体的轴向长度为l s＝λ/(2·p s)，其中p s为螺旋磁定子永磁体在一个导程λ内的极对数，同理基于永磁体的螺旋效应，单块永磁体的径向弧度为α s＝2π/(2·p s)；
    所述动子螺旋铁环(2)由螺旋导磁电工铁环A(7-1)和螺旋非导磁材料B(7-2)交替排列，表贴在不锈钢套筒(15)的外表面上，其螺旋铁环的导程为λ，导程λ与永磁体C(8-1)、永磁体D(8-2)的导程一致，则单个螺旋导磁电工铁环的轴向长度为l t＝λ/(2·n t)，其中n t为螺旋铁环在一个导程λ内的极对数，同理基于螺旋铁环的螺旋效应，单个电工铁材料径向弧度为α t＝2π/(2·n t)；
    所述螺旋磁转子(1)由交替设置的两块充磁方向相反的螺旋形永磁体A(6-1)、永磁体B(6-2)组成，其中一个充磁方向为径向向内，另一个径向向外；永磁体A(6-1)和永磁体B(6-2)的导程为λ，导程λ与永磁体C(8-1)、永磁体D(8-2)的导程一致，则单块永磁体的轴向长度为l r＝λ/(2·p r)，其中p r为转子螺旋永磁体在一个导程λ内的极对数；同理基于永磁体的螺旋效应，单块永磁体的径向弧度为α r＝2π/(2·p r)；
    上述螺旋磁转子(1)、螺旋磁定子(3)和动子螺旋铁环(2)的螺旋导程一定要保持相同，均为导程为λ，则螺旋磁转子(1)的极对数p r、螺旋磁定子(3)的极对数p s，和动子螺旋铁环(2)的极对数n t，不仅满足p s＝n t-p r的轴向直线磁场调制关系，而且也满足p s＝n t-p r的径向旋转磁场调制关系。
  2. 根据权利要求1所述的一种多自由度磁场调试磁力丝杠作动器，其特征在于，螺旋磁转子(1)和螺旋磁定子(3)的轴向长度保持一致，最大限度的提升永磁体的利用率。所述动子螺旋铁环(2)，其轴向长度比螺旋磁转子(1)和螺旋磁定子(3)要长，具体长度根据行程需求确定。
  3. 根据权利要求1所述的一种多自由度磁场调制式磁力丝杠作动器，其特征在于，旋 转电机(4)由旋转电机转子(5)和旋转电机定子组成；所述旋转电机(4)的旋转电机转子(5)与螺旋磁转子(1)集成形成复合转子(13-1)，为了避免复合转子(13-1)中的旋转电机转子(5)与螺旋磁转子(1)之间的磁场耦合，旋转电机转子(5)由永磁体E(14-1)、永磁体F(14-2)、永磁体G(14-3)、永磁体H(14-4)排列组成，其中永磁体F(14-2)的充磁方向为径向向外，永磁体H(14-4)的充磁方向为径向向内，永磁体E(14-1)和永磁体G(14-3)的为轴向充磁，充磁方向指向永磁体F(14-2)，形成聚磁式结构。
  4. 根据权利要求1所述的一种多自由度磁场调试磁力丝杠作动器，其特征在于，所述旋转电机(4)的旋转电机转子(5)与螺旋磁转子(1)集成形成复合转子(13-1)，复合转子(13-1)的旋转轴承(10-1)固定在基轴(9)上，旋转电机(4)的旋转电机定子固定在基轴(9)上。
  5. 根据权利要求1所述的一种多自由度磁场调试磁力丝杠作动器，其特征在于，动子螺旋铁环(2)安装在螺旋磁转子(1)和螺旋磁定子(3)之间，动子螺旋铁环(2)两端安装有端盖(12)，并在端盖(12)上预留有旋转轴承安装口，旋转轴承安装口处设置有旋转轴承(10-2)；为了实现所述动子螺旋铁环(2)的螺旋运动、直线运动、旋转运动，在基轴(9)上配置有花键槽(9-1)，在基轴(9)上还安装有直线花键套(11)实现直线运动，并在花键套(11)上安装有旋转轴承(10-2)，两者配合实现螺旋运动和旋转运动。
  6. 根据权利要求1所述的一种多自由度磁场调试磁力丝杠作动器，其特征在于，所述动子螺旋铁环(2)，螺旋导磁电工铁环A(7-1)和螺旋非导磁材料B(7-2)交替排列构成，螺旋导磁电工铁环A(7-1)由分段电工铁环16沿圆周方向依次交替表贴在不锈钢套筒15的外表面上，形成螺旋导磁电工铁环A(7-1)。
  7. 根据权利要求1所述的一种多自由度磁场调试磁力丝杠作动器的集成设计方法，其特征在于，包括如下步骤：
    步骤1，确保螺旋形永磁体A(6-1)和螺旋形永磁体B(6-2)的螺旋导程λ，与螺旋导磁电工铁环A(7-1)和螺旋非导磁材料B(7-2)的螺旋导程λ，以及螺旋形永磁体C(8-1)和螺旋形永磁体D(8-2)的螺旋导程λ，三者螺旋导程λ长度保持一致；
    步骤2，在满足螺旋导程λ长度一致的情况下，通过调整磁体的轴向长度l，l＝λ/(极对数×2)，来确定螺旋磁转子(1)的极对数p r、动子螺旋铁环(2)的极对数n t、和螺旋磁定子3的极对数p s，从而满足直线方向的气隙磁场调制机理；
    步骤3，在满足直线方向气隙磁场调制机理的情况下，对螺旋磁转子(1)、动子螺旋铁环(2)、和螺旋磁定子(3)的圆周方向进行剖视，通过圆周弧度α，α＝2π/(极对数×2)，来验证螺 旋磁转子(1)的极对数p r、动子螺旋铁环(2)的极对数n t、和螺旋磁定子(3)的极对数p s，由于确保了螺旋导程长度的一致，圆周方向的极对数和直线方向的极对数保持一致，从而既满足直线方向的调制机理，又满足圆周方向的调制机理；
    步骤4，在确定各个部件的极对数的情况下，对三维螺旋磁场，以及其磁场调制效果进行验证，螺旋磁转子(1)的极对数为p r，在直线方向和圆周方向，其直线方向气隙磁密和圆周方向气隙磁密分布均为p r对磁极分布；
    步骤5，在螺旋磁转子(1)的三维螺旋磁场中，引入n t极对数的动子螺旋铁环(2)后，由于螺旋导磁电工铁环A(7-1)和螺旋非导磁材料B(7-2)构成，存在n t极对数的直线分量和圆周分量的气隙磁导分布，分别在直线方向和圆周方向调制出n t±p r次磁场分布，从而确定螺旋磁定子(3)的极对数为n t-p r为合适的取值；
    步骤6，通过对调制前后的圆周方向和直线方向的气隙磁密进行傅里叶谐波分析，验证上述调制原则的可行性，并验证转矩与推力之间的关系。
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