WO2022047939A1 - 直线电机 - Google Patents

直线电机 Download PDF

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Publication number
WO2022047939A1
WO2022047939A1 PCT/CN2020/123425 CN2020123425W WO2022047939A1 WO 2022047939 A1 WO2022047939 A1 WO 2022047939A1 CN 2020123425 W CN2020123425 W CN 2020123425W WO 2022047939 A1 WO2022047939 A1 WO 2022047939A1
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WO
WIPO (PCT)
Prior art keywords
primary
linear motor
permanent magnet
seat
tooth portion
Prior art date
Application number
PCT/CN2020/123425
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English (en)
French (fr)
Inventor
郭顺
史卫领
王洪兴
Original Assignee
瑞声声学科技(深圳)有限公司
瑞声科技（南京）有限公司
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Publication date
Application filed by 瑞声声学科技(深圳)有限公司, 瑞声科技（南京）有限公司 filed Critical 瑞声声学科技(深圳)有限公司
Publication of WO2022047939A1 publication Critical patent/WO2022047939A1/zh

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Classifications

    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
    • H02K3/28—Layout of windings or of connections between windings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors

Definitions

  • the invention relates to the technical field of motors, and in particular, to a linear motor.
  • a linear motor is a power device that directly converts electrical energy into mechanical energy of linear motion without any intermediate conversion mechanism.
  • the linear motor not only greatly reduces the weight and volume, but also can eliminate various positioning errors caused by the intermediate links, so that it has higher positioning accuracy; therefore, the linear motor has faster response speed and higher sensitivity. It is higher and has better follow-up performance.
  • the linear motor can achieve frictionless force transmission between the secondary and the primary during the working process. Therefore, the linear motor has the advantages of safe work, high reliability and long service life.
  • a linear motor in the related art includes a primary and a secondary that forms an air gap with the primary, the primary includes an iron core and a winding wound around one end of the iron core near the air gap, and a permanent magnet is embedded in the iron core .
  • the volume of permanent magnets embedded in existing structures is limited, resulting in a relatively low thrust density of linear motors.
  • the purpose of the present invention is to provide a linear motor, which can effectively increase the volume of the embedded permanent magnets so that the magnetic field on the air gap side is significantly increased, thereby increasing the thrust density of the linear motor.
  • the linear motor provided by the present invention includes a housing with a receiving space, a primary housed in the housing, and a secondary that forms an air gap with the primary, and the housing includes a primary seat for fixing the primary and a fixing place
  • the secondary seat of the secondary, the primary seat and the secondary seat can slide relative to each other along the sliding direction
  • the primary includes an iron core and a winding wound around one end of the iron core close to the air gap
  • the iron core includes a yoke fixed to the primary seat and a plurality of teeth extending from the yoke in a direction close to the air gap, the plurality of teeth are arranged at intervals along the sliding direction
  • the A permanent magnet is embedded in the tooth portion, and the magnetic poles of two adjacent permanent magnets are opposite
  • the permanent magnet includes a first permanent magnet and a second permanent magnet arranged at an included angle, and the angle bisector of the included angle is It extends from the vertex of the included angle to the secondary and is perpendicular to the plane where the secondary is
  • the angle bisector divides the tooth portion into two equal parts.
  • the first permanent magnet and the second permanent magnet have the same magnetic field strength.
  • At least two primary stages are provided, and at least two primary stages are arranged at intervals along the sliding direction.
  • the secondary is provided on opposite sides of the primary, respectively.
  • the primary is provided on opposite sides of the secondary, respectively.
  • the plurality of tooth portions are respectively a first tooth portion located at one end of the yoke portion, a second tooth portion located at an end of the yoke portion away from the first tooth portion, and a first tooth portion located at an end of the yoke portion and A plurality of third tooth parts are arranged between the second tooth parts, and the wire group is wound around the third tooth parts.
  • a winding tooth is formed on a side of the third tooth portion close to the air gap, and the wire group is wound on the winding tooth.
  • the linear motor further comprises a scale accommodated in the housing and a scale read head opposite to the scale and arranged at intervals, and one of the scale and the scale read head is fixed. It is installed on the primary seat, and the other is fixed on the secondary seat.
  • the primary seat and the secondary seat are slidably connected through guide rails.
  • the linear motor provided by the present invention includes the first permanent magnet and the second permanent magnet arranged at an included angle by arranging the permanent magnet embedded in the tooth portion, and by arranging the included angle.
  • the angle bisector is set to extend from the apex of the included angle to the secondary and is perpendicular to the plane where the secondary is located, and the first permanent magnet and the second permanent magnet are set to bisect about the angle
  • the lines are symmetrically distributed and the magnetic poles of the two near the secondary side are the same, and the angle of the included angle is set between 0° and 180°, so as to increase the volume of the permanent magnet embedded in the teeth, so that all The magnetic field on the air gap side is significantly increased, thereby effectively increasing the thrust density of the linear motor.
  • FIG. 1 is an exploded view of Embodiment 1 of the linear motor provided by the present invention.
  • FIG. 2 is a schematic structural diagram of the primary stage of the linear motor shown in FIG. 1 .
  • FIG. 3 is a schematic structural diagram of the secondary in the linear motor shown in FIG. 1 .
  • FIG. 4 is a perspective view of the linear motor shown in FIG. 1 after being assembled.
  • FIG. 5 is a cross-sectional view of the linear motor shown in FIG. 4 along the direction A-A.
  • FIG. 6 is an enlarged view of part D of the linear motor shown in FIG. 5 .
  • FIG. 7 is a perspective view of Embodiment 2 of the linear motor provided by the present invention.
  • FIG. 8 is a cross-sectional view of Embodiment 3 of the linear motor provided by the present invention.
  • FIG. 9 is an enlarged view of part E of the linear motor shown in FIG. 8 .
  • FIG. 10 is a schematic structural diagram of Embodiment 4 of the linear motor provided by the present invention.
  • FIG. 11 is a schematic structural diagram of Embodiment 5 of the linear motor provided by the present invention.
  • FIG. 12a is a schematic structural diagram of an embodiment of the secondary in the linear motor shown in FIG. 11 .
  • FIG. 12b is a schematic structural diagram of another embodiment of the secondary in the linear motor shown in FIG. 11 .
  • FIG. 13 is a schematic structural diagram of Embodiment 6 of the linear motor provided by the present invention.
  • FIG. 14a is a schematic structural diagram of an embodiment of the primary in the linear motor shown in FIG. 13 .
  • FIG. 14b is a schematic structural diagram of another embodiment of the primary in the linear motor shown in FIG. 13 .
  • the linear motor includes a housing 1 having a accommodating space 1A, a primary 3 accommodated in the housing 1 , and a secondary 7 forming an air gap 5 with the primary 3 .
  • the housing 1 includes a primary seat 11 for fixing the primary 3 and a secondary seat 13 for fixing the secondary 7 .
  • the primary seat 11 and the secondary seat 13 can slide relative to each other along the sliding direction X. Specifically, an interaction force along the sliding direction X may be generated between the primary 3 and the secondary 7. If the primary seat 11 is fixed, the secondary 7 will be under the action of the interaction force. Make a linear motion along the sliding direction X and drive the secondary seat 13 to make a linear motion; if the secondary seat 13 is fixed, the primary 3 moves along the sliding direction X under the action of the interaction force. Linear motion and drive the primary seat 11 to do linear motion.
  • the secondary seat 13 is fixed.
  • the primary seat 11 and the secondary seat 13 are slidably connected through the guide rail 15 , so that the primary seat 11 and the secondary seat 13 can slide relative to each other along the sliding direction X.
  • the primary seat 11 has a flat plate-like structure
  • the secondary seat 13 includes a base plate 131 disposed opposite to the primary seat 11 and spaced apart from the base plate 13 and approaching the primary seat from two sides of the base plate 131 .
  • the side plate 133 is bent and extended vertically in the direction 11 , the secondary 7 is fixed on the base plate 131 , and the guide rail 15 is fixed on the side plate 133 .
  • the primary 3 includes an iron core 31 fixed to the primary seat 11 and a winding 33 wound around one end of the iron core 31 close to the air gap 5 .
  • the iron core 31 and the secondary 7 are soft magnetic bodies, and the soft magnetic bodies are usually made of silicon steel sheets.
  • the iron core 31 includes a yoke 311 fixed to the primary seat 11 and a plurality of teeth 313 extending from the yoke 311 toward the air gap 5 .
  • the sliding directions X are arranged at intervals, the teeth 313 are embedded with permanent magnets 35 , and the magnetic poles of two adjacent permanent magnets 35 are opposite to each other.
  • the permanent magnet 35 induces a magnetic field in the secondary 7, so that an air gap magnetic field is generated in the air gap 5 between the primary 3 and the secondary 7, when the winding 33
  • the primary 3 When a suitable current is supplied, the primary 3 generates a traveling wave magnetic field so that an interaction force along the sliding direction X is generated between the primary 3 and the secondary 7 .
  • the permanent magnet 35 includes a first permanent magnet 351 and a second permanent magnet 353 arranged at an included angle, and the angle bisector a of the included angle extends from the vertex b of the included angle to the secondary 7 and is vertical. in the plane where the secondary 7 is located, and the first permanent magnet 351 and the second permanent magnet 353 are symmetrically distributed about the angle bisector a, wherein the first permanent magnet 351 and the second permanent magnet 353 The magnetic poles of the permanent magnet 353 on the side close to the secondary 7 are the same, and the angle of the included angle is ⁇ , and 0° ⁇ 180°.
  • the first permanent magnet 351 and the second permanent magnet 353 have a "V"-shaped structure, and the opening of the "V"-shaped structure faces one side of the air gap 5 .
  • the volume of the permanent magnet embedded in the teeth 313 can be increased, so that the magnetic field on the side of the air gap 5 can be significantly increased, thereby effectively increasing the thrust density of the linear motor.
  • first permanent magnet 351 and the second permanent magnet 353 may be made of ferrite material or NdFeB material.
  • the first permanent magnet 351 and the second permanent magnet 353 have the same magnetic field strength.
  • the angle bisector a divides the tooth portion 313 into two identical parts.
  • the plurality of tooth portions 313 are respectively a first tooth portion 313A at one end of the yoke portion 311 , a second tooth portion 313B at an end of the yoke portion 311 away from the first tooth portion 313A, and a second tooth portion 313B at an end of the yoke portion 311 away from the first tooth portion 313A.
  • a plurality of third tooth portions 313C between the tooth portion 313A and the second tooth portion 313B, and the wire group 33 is wound around the third tooth portion 313C.
  • the wire set 33 is only provided on the third tooth portion 313C, and the first tooth portion 313A and the second tooth portion 313B located at both ends of the yoke portion 311 are not provided with any
  • the winding 33 can compensate the magnetic circuits at both ends of the primary so that the flux linkage of the linear motor changes uniformly, so that the end positioning force can be effectively reduced, and the reduction of the end positioning force can effectively reduce the thrust fluctuation.
  • the first tooth portion 313A, the second tooth portion 313B and the third tooth portion 313C are all formed with winding teeth 315 on one side of the first tooth portion 313A, the second tooth portion 313B and the third tooth portion 313C close to the air gap 5 , and the wire group 33 is wound around the air gap 5 . Winding teeth 315 .
  • the first tooth portion 313A, the second tooth portion 313B and the third tooth portion 313C are all provided with three of the winding teeth 315 (that is, each tooth portion 313 has three winding teeth 315 ).
  • the secondary 7 includes a main body portion 71 fixed to the secondary seat 13 and a plurality of protruding teeth 73 extending from the main body portion 71 toward the air gap 5 .
  • the plurality of protruding teeth 73 are formed. They are arranged at intervals along the sliding direction X.
  • non-magnetic conductive material may be filled between two adjacent protruding teeth 73 and between adjacent teeth 313 and between adjacent two winding teeth 315, so that the The surfaces of the primary 3 and the secondary 7 facing each other are smooth and slotless structures, and the non-magnetic conductive material filled between two adjacent winding teeth 315 also plays a role of fixing the winding 33 .
  • the linear motor further includes a scale 8 accommodated in the housing 1 and a scale read head 9 arranged opposite to the scale 8 and spaced apart from the scale 8 .
  • One of the scale reading heads 9 is fixed on the primary seat 11 , and the other is fixed on the secondary seat 13 .
  • the sensing end of the scale read head 9 faces the scale 8 correspondingly, and the primary seat 11 and the secondary seat 13 slide relatively along the sliding direction X. At this time, relative displacement will also occur between the scale 8 and the scale read head 9.
  • the scale read head 9 can read the measured value on the scale 8, so as to obtain
  • the displacement change of the primary seat 11 and the secondary seat 13 can be used to judge the working status of the linear motor according to the information result fed back by the scale reading head 9 .
  • a Hall sensor can also be used to detect the relative displacement value generated when the primary seat 11 and the secondary seat 13 slide relatively along the sliding direction X.
  • the scale 8 is fixed on the primary base 11
  • the scale reading head 9 is fixed on the base plate 131 of the secondary base 13 .
  • the scale 8 can also be set to be fixed on the base plate 131 of the secondary base 13 , and correspondingly, the scale read head 9 is fixed to the primary base 11 .
  • the difference between the second embodiment and the first embodiment is only that: the primary seat 11 is fixed; the secondary seat 13 has a flat plate-like structure, and the primary seat 11 includes a space relative to the secondary seat 13
  • the base plate 111 is provided and the side plates 113 are vertically bent and extended from both sides of the base plate 111 toward the secondary seat 13 .
  • the primary 3 is fixed on the base plate 111 of the primary seat 11 .
  • the guide rail 15 is fixed on the side plate 113 .
  • the scale 8 is fixed on the base plate 111 of the primary base 11
  • the scale reading head 9 is fixed on the secondary base 13 .
  • the scale 8 can also be set to be fixed on the secondary base 13
  • the scale read head 9 is fixed on the base plate 111 of the primary base 11 .
  • the difference between the third embodiment and the first embodiment is only that: there are at least two primary stages 3 , and at least two primary stages 3 are arranged at intervals along the sliding direction X.
  • non-magnetic conductive material can be filled between two adjacent primary 3, so that there is no slot structure between two adjacent primary 3, and the two adjacent primary 3 are filled with non-magnetic material.
  • the non-magnetic conductive material between them also plays the role of fixing the primary 3 .
  • the number of the primary 3 is two.
  • the only difference between the fourth embodiment and the third embodiment is that the primary seat 11 is fixed; the secondary seat 13 has a flat plate-like structure, and the primary seat 11 includes a space relative to the secondary seat 13
  • the base plate 111 is provided and the side plates 113 are vertically bent and extended from both sides of the base plate 111 toward the secondary seat 13 .
  • the primary 3 is fixed on the base plate 111 of the primary seat 11 .
  • the guide rail 15 is fixed on the side plate 113 .
  • the scale 8 is fixed on the base plate 111 of the primary base 11
  • the scale reading head 9 is fixed on the secondary base 13
  • the scale 8 can also be set to be fixed on the secondary base 13
  • the scale read head 9 is fixed on the base plate 111 of the primary base 11 .
  • the difference between the fifth embodiment and the second embodiment is only that the primary 3 is respectively provided on opposite sides of the secondary 7 .
  • the primary 3 respectively disposed on the opposite sides of the secondary 7 are specifically defined as a first primary 3a and a second primary 3b.
  • the secondary seat 13 includes a plate body 131 and a fixing portion 133 extending from the plate body 131 into the receiving space 1A.
  • the fixing portion 133 is fixedly connected to the secondary 7 .
  • the primary seat 11 includes a base plate 111 opposite to the plate body 131 and spaced apart, side plates 113 extending vertically from two sides of the base plate 111 toward the plate body 131 , and a side plate 113 extending from the side plate 111 .
  • the secondary 7 includes a main body 71 and a plurality of protruding teeth 73 extending from the main body 71 toward the air gap 5 , wherein the main body 71 is integrally formed Structure, the plurality of protruding teeth 73 are divided into first protruding teeth 73a extending from the main body 71 toward the first primary 3a and second protruding teeth 73 extending from the main body 71 toward the second primary 3b Teeth 73b.
  • the main body portion 71 includes a first main body portion 711 and a second main body portion 713, the first protruding teeth 73a extend from the first main body portion 711 toward the first primary 3a, the The second protruding teeth 73b extend from the second body portion 713 toward the second primary portion 3b.
  • the scale 8 is fixed on the base plate 111 of the primary base 11
  • the scale reading head 9 is fixed on the fixing portion 133 of the secondary base 13 .
  • the scale 8 can also be fixed on the fixing portion 133 of the secondary base 13
  • the scale reading head 9 is fixed on the base plate of the primary base 11 . 111 on.
  • each of the first primary 3 a and the second primary 3 b may be provided with only one primary 3 , or may each be provided with at least two.
  • the secondary 7 are respectively provided on opposite sides of the primary 3 .
  • the secondary 7 respectively disposed on the opposite sides of the primary 3 are specifically defined as a first secondary 7a and a second secondary 7b.
  • the primary seat 11 includes a plate body 111 and a fixing portion 113 extending from the plate body 111 into the accommodating space 1A.
  • the fixing portion 113 is fixedly connected to the primary 3 .
  • the secondary seat 13 includes a base plate 131 opposite to the plate body 111 and arranged at intervals, side plates 133 extending vertically from two sides of the base plate 131 toward the plate body 111 , and extending from the base plate 131 .
  • the primary 3 includes an iron core 31 and a winding 33 wound around one end of the iron core 31 close to the air gap 5 .
  • the iron core 31 includes a yoke portion 311 and a plurality of tooth portions 313 extending from the yoke portion 311 toward the air gap 5 .
  • the first teeth 313a extending from the first secondary 7a and the second teeth 313b extending from the yoke 311 toward the second secondary 7b.
  • the yoke portion 311 includes a first yoke portion 313 and a second yoke portion 315, and the first tooth portion 313a extends from the first yoke portion 313 toward the first secondary 7a, so The second tooth portion 313b extends from the second yoke portion 315 toward the second secondary 7b.
  • the scale 8 is fixed on the base plate 131 of the secondary base 13 , and the scale reading head 9 is fixed on the fixing portion 113 of the primary base 11 .
  • the scale 8 can also be fixed on the fixing portion 113 of the primary base 11 , and correspondingly, the scale reading head 9 is fixed on the base plate of the secondary base 13 . 131 on.
  • only one primary 3 may be provided, or at least two may be provided.
  • at least two primary stages 3 at least two primary stages 3 are arranged at intervals along the sliding direction X, and the length of the primary primary 3 along the sliding direction X is the same as that of two adjacent primary stages 3 .
  • the linear motor provided by the present invention includes the first permanent magnet 351 and the second permanent magnet 353 arranged at an included angle by arranging the permanent magnet 35 embedded in the tooth portion 313, and through The angle bisector a of the included angle is set to extend from the vertex b of the included angle to the secondary 7 and perpendicular to the plane where the secondary 7 is located, the first permanent magnet 351 and the first permanent magnet 351 .
  • the two permanent magnets 353 are arranged to be symmetrically distributed with respect to the angle bisector a and the magnetic poles of the two are the same on the side close to the secondary 7 and the angle of the included angle is arranged to be between 0° and 180°, so as to increase the embeddedness
  • the volume of the permanent magnets of the teeth 313 significantly increases the magnetic field on the side of the air gap 5, thereby effectively increasing the thrust density of the linear motor.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electromagnetism (AREA)
  • Linear Motors (AREA)

Abstract

一种直线电机，其包括壳体（1）、初级（3）及与初级（3）形成气隙（5）的次级（7），初级（3）包括铁芯（31）及绕设于铁芯（31）靠近气隙（5）一端的绕组（33），铁芯（31）包括轭部（311）及自轭部（311）延伸形成的多个齿部（313），齿部（311）内嵌设有永磁体（35），且相邻两永磁体（35）的磁极相反，永磁体（35）包括呈一夹角设置的第一永磁体（351）和第二永磁体（353），夹角的角平分线a自夹角的顶点向次级延伸并垂直于次级所在的平面，且第一永磁体（351）和第二永磁体（353）关于角平分线a对称分布，其中，第一永磁体（351）和第二永磁（353）体靠近次级一侧的磁极相同，夹角的角度为α，且0°＜α＜180°。该直线电机可以有效增加嵌入的永磁体的体积以使得气隙侧的磁场显著增大，从而增加直线电机的推力密度。

Description

直线电机 技术领域
本发明涉及电机技术领域，尤其涉及一种直线电机。
 背景技术
直线电机是一种将电能直接转换成直线运动的机械能的动力装置，其无需任何中间转换机构。相较于传统的旋转电机，直线电机不仅重量和体积大大降低，而且能消除中间环节带来的各种定位误差，从而具有较高的定位精度；也因此，直线电机的反应速度更快、灵敏度更高、随动性更好，同时，直线电机在工作过程中可实现次级与初级之间无摩擦传力，因此，直线电机具有工作安全、可靠性高及使用寿命长的优点。
相关技术中的直线电机，包括初级以及与所述初级形成气隙的次级，所述初级包括铁芯及绕设于铁芯靠近气隙一端的绕组，所述铁芯内嵌设有永磁体。然而，现有结构嵌入的永磁体体积有限，导致直线电机推力密度相对较低。
因此，实有必要提供一种新的直线电机解决上述问题。
 技术问题
本发明的目的在于提供一种直线电机，该直线电机可以有效增加嵌入的永磁体的体积以使得气隙侧的磁场显著增大，从而增加直线电机的推力密度。
 技术解决方案
本发明提供的直线电机，包括具有收容空间的壳体以及收容于所述壳体内的初级及与所述初级形成气隙的次级，所述壳体包括固定所述初级的初级座及固定所述次级的次级座，所述初级座和所述次级座可沿滑动方向发生相对滑动，所述初级包括铁芯及绕设于所述铁芯靠近所述气隙一端的绕组，所述铁芯包括固定于所述初级座的轭部及自所述轭部向靠近所述气隙方向延伸形成的多个齿部，多个所述齿部沿所述滑动方向间隔设置，所述齿部内嵌设有永磁体，且相邻两所述永磁体的磁极相反，所述永磁体包括呈一夹角设置的第一永磁体和第二永磁体，所述夹角的角平分线自所述夹角的顶点向所述次级延伸并垂直于所述次级所在的平面，且所述第一永磁体和所述第二永磁体关于所述角平分线对称分布，其中，所述第一永磁体和所述第二永磁体靠近所述次级一侧的磁极相同，所述夹角的角度为α，且0°＜α＜180°。
优选地，沿所述滑动方向上，所述角平分线将所述齿部划分为相同的两个部分。
优选地，所述第一永磁体和所述第二永磁体具有相同的磁场强度。
优选地，所述初级设有至少两个，且至少两个所述初级沿所述滑动方向间隔设置。
优选地，所述次级包括固定于所述次级座的主体部及自所述主体部向靠近所述气隙的方向延伸形成的多个凸齿，多个所述凸齿沿所述滑动方向间隔设置，所述初级沿所述滑动方向的长度与相邻两个所述初级的间距之和为d，d=（N+1/m） *p，其中，N为正整数，m为所述初级的个数，p为相邻两个所述凸齿之间的间距。
优选地，所述初级的相对两侧分别设有所述次级。
优选地，所述次级的相对两侧分别设有所述初级。
优选地，多个所述齿部分别为位于所述轭部一端的第一齿部、位于所述轭部远离所述第一齿部一端的第二齿部及位于所述第一齿部和所述第二齿部之间的多个第三齿部，所述第三齿部绕设有所述线组。
优选地，所述第三齿部靠近所述气隙的一侧形成有绕线齿，所述线组绕设于所述绕线齿。
优选地，所述直线电机还包括收容于所述壳体内的栅尺及与所述栅尺相对且间隔设置的栅尺读头，所述栅尺与所述栅尺读头中的其中一方固设于所述初级座，另一方固设于所述次级座。
优选地，所述初级座与所述次级座通过导轨滑动连接。
 有益效果
与相关技术相比，本发明提供的直线电机通过将嵌设于所述齿部内的永磁体设置成包括呈一夹角设置的第一永磁体和第二永磁体，且通过将所述夹角的角平分线设置成自所述夹角的顶点向所述次级延伸并垂直于所述次级所在的平面、所述第一永磁体和所述第二永磁体设置成关于所述角平分线对称分布且二者靠近所述次级一侧的磁极相同以及所述夹角的角度设置成0°至180°之间，以增大嵌入所述齿部的永磁体的体积，从而使得所述气隙侧的磁场显著增大，进而可以达到有效增加直线电机的推力密度的目的。
 附图说明
图1为本发明提供的直线电机实施例一的分解图。
图2为图1所示直线电机中初级的结构示意图。
图3为图1所示直线电机中次级的结构示意图。
图4为图1所示直线电机组装后的立体图。
图5为图4所示直线电机沿A-A方向的剖视图。
图6为图5所示直线电机中D部分的放大图。
图7为本发明提供的直线电机实施例二的立体图。
图8为本发明提供的直线电机实施例三的剖视图。
图9为图8所示直线电机中E部分的放大图。
图10为本发明提供的直线电机实施例四的结构示意图。
图11为本发明提供的直线电机实施例五的结构示意图。
图12a为图11所示直线电机中次级的一实施方式的结构示意图。
图12b为图11所示直线电机中次级的另一实施方式的结构示意图。
图13为本发明提供的直线电机实施例六的结构示意图。
图14a为图13所示直线电机中初级的一实施方式的结构示意图。
图14b为图13所示直线电机中初级的另一实施方式的结构示意图。
 本发明的实施方式
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，显然，所描述的实施例仅仅是本发明一部份实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
实施例一
请结合参阅图1至图6，所述直线电机包括具有收容空间1A的壳体1以及收容于所述壳体1内的初级3及与所述初级3形成气隙5的次级7。
所述壳体1包括固定所述初级3的初级座11及固定所述次级7的次级座13，所述初级座11和所述次级座13可沿滑动方向X发生相对滑动。具体地，所述初级3与所述次级7之间可产生沿所述滑动方向X的相互作用力，如果所述初级座11固定，则所述次级7在该相互作用力的作用下沿所述滑动方向X做直线运动并带动所述次级座13做直线运动；如果所述次级座13固定，则所述初级3在该相互作用力的作用下沿所述滑动方向X做直线运动并带动所述初级座11做直线运动。
在本实施例中，所述次级座13固定。
在本实施例中，所述初级座11与所述次级座13通过导轨15滑动连接，从而可以使得所述初级座11和所述次级座13可沿所述滑动方向X发生相对滑动。
如图1所示，所述初级座11呈平板状结构，所述次级座13包括与所述初级座11相对间隔设置的基板131及自所述基板131的两侧向靠近所述初级座11方向垂直弯折延伸出的侧板133，所述次级7固设于所述基板131，所述导轨15固定于所述侧板133上。
所述初级3包括固定于所述初级座11的铁芯31及绕设于所述铁芯31靠近所述气隙5一端的绕组33。其中，所述铁芯31和所述次级7为软磁体，该软磁体通常由硅钢片制成。
所述铁芯31包括固定于所述初级座11的轭部311及自所述轭部311向靠近所述气隙5方向延伸形成的多个齿部313，多个所述齿部313沿所述滑动方向X间隔设置，所述齿部313内嵌设有永磁体35，且相邻两所述永磁体35的磁极相反。具体地，所述永磁体35在所述次级7中感应出磁场，以使得所述初级3和所述次级7之间的所述气隙5内产生气隙磁场，当所述绕组33通入合适的电流时，所述初级3产生行波磁场以使得所述初级3和所述次级7之间产生沿所述滑动方向X的相互作用力。
所述永磁体35包括呈一夹角设置的第一永磁体351和第二永磁体353，所述夹角的角平分线a自所述夹角的顶点b向所述次级7延伸并垂直于所述次级7所在的平面，且所述第一永磁体351和所述第二永磁体353关于所述角平分线a对称分布，其中，所述第一永磁体351和所述第二永磁体353靠近所述次级7一侧的磁极相同，所述夹角的角度为α，且0°＜α＜180°。也就是说，所述第一永磁体351和所述第二永磁体353呈“V”字形结构，且“V”字形结构的开口朝向所述气隙5的一侧。这样可以增大嵌入所述齿部313的永磁体的体积，以使得所述气隙5侧的磁场显著增大，从而可以有效增加直线电机的推力密度。
其中，所述第一永磁体351和所述第二永磁体353可以采用铁氧体材料或钕铁硼材料制成。
在本实施例中，所述第一永磁体351和所述第二永磁体353具有相同的磁场强度。
所述角平分线a越靠近所述齿部313的中心，越有利于增大嵌入的所述第一永磁体351和所述第二永磁体353的体积，以使得所述气隙5侧的磁场进一步增大，从而可以进一步增加直线电机的推力密度。在本实施例中，沿所述滑动方向X上，所述角平分线a将所述齿部313划分为相同的两个部分。
可以理解的是，在所述夹角的角度一定的情况下，所述第一永磁体351和所述第二永磁体353越靠近所述角平分线a，也越有利于增大嵌入的所述第一永磁体351和所述第二永磁体353的体积，以使得所述气隙5侧的磁场进一步增大，从而可以进一步增加直线电机的推力密度。
多个所述齿部313分别为位于所述轭部311一端的第一齿部313A、位于所述轭部311远离所述第一齿部313A一端的第二齿部313B及位于所述第一齿部313A和所述第二齿部313B之间的多个第三齿部313C，所述第三齿部313C绕设有所述线组33。也就是说，所述线组33仅设于所述第三齿部313C上，而位于所述轭部311两端的所述第一齿部313A和所述第二齿部313B上均不设置所述绕组33，这样可以补偿初级两端的磁路以使得所述直线电机的磁链变化一致，从而可以有效降低端部定位力，而端部定位力的降低可以有效降低推力波动。
如图6所示，所述齿部313共设有六个，则所述第三齿部313C为四个。
所述第一齿部313A、所述第二齿部313B及所述第三齿部313C靠近所述气隙5的一侧均形成有绕线齿315，所述线组33绕设于所述绕线齿315。
如图6所示，所述第一齿部313A、所述第二齿部313B及所述第三齿部313C均设有三个所述绕线齿315（即每个所述齿部313上均设有三个所述绕线齿315），所述第三齿部313C的每个所述绕线齿315分别一一对应的绕设有一个所述线组33。也就是说，所述线组33共设有十二个。
所述次级7包括固定于所述次级座13的主体部71及自所述主体部71向靠近所述气隙5的方向延伸形成的多个凸齿73，多个所述凸齿73沿所述滑动方向X间隔设置。
在本实施例中，优选地，相邻两所述凸齿73之间以及相邻所述齿部313之间以及相邻两所述绕线齿315之间可以填充非导磁材料，从而使得所述初级3与所述次级7相向的表面均为光滑无槽结构，而且填充于相邻两所述绕线齿315之间的非导磁材料还起到固定所述绕组33的作用。
在本实施例中，所述直线电机还包括收容于所述壳体1内的栅尺8及与所述栅尺8相对且间隔设置的栅尺读头9，所述栅尺8与所述栅尺读头9中的其中一方固设于所述初级座11，另一方固设于所述次级座13。具体地，所述直线电机组装时，所述栅尺读头9的感应端对应朝向所述栅尺8，所述初级座11与所述次级座13在沿所述滑动方向X发生相对滑动时，所述栅尺8和所述栅尺读头9之间也会产生相对位移，此时，所述栅尺读头9可以通过所述栅尺8上的测量值进行读取，从而获得所述初级座11和所述次级座13的位移变化情况，即可以根据所述栅尺读头9所反馈的信息结果判断所述直线电机的工作情况。这仅仅是其中一种实施方式，例如：还可以利用霍尔传感器来检测所述初级座11与所述次级座13在沿所述滑动方向X发生相对滑动时产生的相对位移值。
如图4所示，所述栅尺8固设于所述初级座11，所述栅尺读头9固设于所述次级座13的所述基板131上。当然，所述栅尺8也可以设置成固设于所述次级座13的所述基板131上，相应地，所述栅尺读头9固设于所述初级座11。
实施例二
请参阅图7，实施例二与实施例一的区别仅在于：所述初级座11固定；所述次级座13呈平板状结构，所述初级座11包括与所述次级座13相对间隔设置的基板111及自所述基板111的两侧向靠近所述次级座13方向垂直弯折延伸出的侧板113，所述初级3固设于所述初级座11的所述基板111上，所述导轨15固定于所述侧板113上。
如图7所示，所述栅尺8固设于所述初级座11的所述基板111上，所述栅尺读头9固设于所述次级座13。当然，所述栅尺8也可以设置成固设于所述次级座13，相应地，所述栅尺读头9固设于所述初级座11的所述基板111上。
实施例三
请参阅图8和图9，实施例三与实施例一的区别仅在于：所述初级3设有至少两个，且至少两个所述初级3沿所述滑动方向X间隔设置。
所述初级3沿所述滑动方向X的长度与相邻两个所述初级3的间距之和为d，d=（N+1/m） *p，其中，N为正整数，m为所述初级3的个数，p为相邻两个所述凸齿73之间的间距与所述凸齿73沿所述滑动方向X上的宽度之和。通过调整d值的大小，可以补偿初级两端的磁路以使得所述直线电机的磁链变化一致，从而可以有效降低端部定位力，而端部定位力的降低可以有效降低推力波动。
在本实施例中，优选地，相邻两所述初级3之间可以填充非导磁材料，从而使得相邻两所述初级3之间无槽结构，而且填充于相邻两所述初级3之间的非导磁材料还起到固定所述初级3的作用。
如图8所示，所述初级3的数量为两个。
实施例四
请参阅图10，实施例四与实施例三的区别仅在于：所述初级座11固定；所述次级座13呈平板状结构，所述初级座11包括与所述次级座13相对间隔设置的基板111及自所述基板111的两侧向靠近所述次级座13方向垂直弯折延伸出的侧板113，所述初级3固设于所述初级座11的所述基板111上，所述导轨15固定于所述侧板113上。
如图10所示，所述栅尺8固设于所述初级座11的所述基板111上，所述栅尺读头9固设于所述次级座13。当然，所述栅尺8也可以设置成固设于所述次级座13，相应地，所述栅尺读头9固设于所述初级座11的所述基板111上。
实施例五
请参阅图11，实施例五与实施例二的区别仅在于：所述次级7的相对两侧分别设有所述初级3。为了清楚地说明本实施例，特定义分别设于所述次级7的相对两侧的所述初级3分别为第一初级3a和第二初级3b。
所述次级座13包括板体131及自所述板体131向所述收容空间1A内延伸形成的固定部133，所述固定部133与所述次级7固定连接。
所述初级座11包括与所述板体131相对且间隔设置的基板111、自所述基板111的两侧向靠近所述板体131方向垂直弯折延伸出的侧板113及自所述侧板113向所述收容空间1A内延伸形成的连接板114，所述连接板114位于所述板体131和所述次级7之间，所述第一初级3a固定于所述连接板114，所述第二初级3b固定于所述基板111，所述导轨15固定于所述侧板113上并与所述板体131连接。
如图12a所示，所述次级7包括主体部71及自所述主体部71向靠近所述气隙5的方向延伸形成的多个凸齿73，其中，所述主体部71为一体成型结构，多个所述凸齿73分为自所述主体部71朝向所述第一初级3a延伸的第一凸齿73a以及自所述主体部71朝向所述第二初级3b延伸的第二凸齿73b。
如图12b所示，所述主体部71包括第一主体部711和第二主体部713，所述第一凸齿73a自所述第一主体部711朝向所述第一初级3a延伸，所述第二凸齿73b自所述第二主体部713朝向所述第二初级3b延伸。
如图11所示，所述栅尺8固设于所述初级座11的所述基板111上，所述栅尺读头9固设于所述次级座13的所述固定部133上。当然，所述栅尺8也可以设置成固设于所述次级座13的所述固定部133上，相应地，所述栅尺读头9固设于所述初级座11的所述基板111上。
在本实施例中，所述第一初级3a和所述第二初级3b可以均仅设置一个所述初级3，也可以均设置至少两个。当所述第一初级3a和所述第二初级3b均设置至少两个时，至少两个所述第一初级3a和至少两个所述第二初级3b均沿所述滑动方向X间隔设置，且所述初级3沿所述滑动方向X的长度与相邻两个所述初级3的间距之和为d，d=（N+1/m） *p。
实施例六
请参阅图13，实施例六与实施例二的区别仅在于：所述初级3的相对两侧分别设置所述次级7。为了清楚地说明本实施例，特定义分别设于所述初级3的相对两侧的所述次级7分别为第一次级7a和第二次级7b。
所述初级座11包括板体111及自所述板体111向所述收容空间1A内延伸形成的固定部113，所述固定部113与所述初级3固定连接。
所述次级座13包括与所述板体111相对且间隔设置的基板131、自所述基板131的两侧向靠近所述板体111方向垂直弯折延伸出的侧板133及自所述侧板133向所述收容空间1A内延伸形成的连接板134，所述连接板134位于所述板体111和所述初级3之间，所述第一次级7a固定于所述连接板134，所述第二次级7b固定于所述基板131，所述导轨15固定于所述侧板133上并与所述板体111连接。
如图14a所示，所述初级3包括铁芯31及绕设于所述铁芯31靠近所述气隙5一端的绕组33。
所述铁芯31包括轭部311及自所述轭部311向靠近所述气隙5方向延伸形成的多个齿部313，多个所述齿部313分为自所述轭部311朝向所述第一次级7a延伸的第一齿部313a以及自所述轭部311朝向所述第二次级7b延伸的第二齿部313b。
如图14b所示，所述轭部311包括第一轭部313和第二轭部315，所述第一齿部313a自所述第一轭部313朝向所述第一次级7a延伸，所述第二齿部313b自所述第二轭部315朝向所述第二次级7b延伸。
如图13所示，所述栅尺8固设于所述次级座13的所述基板131上，所述栅尺读头9固设于所述初级座11的所述固定部113上。当然，所述栅尺8也可以设置成固设于所述初级座11的所述固定部113上，相应地，所述栅尺读头9固设于所述次级座13的所述基板131上。
在本实施例中，所述初级3可以仅设置一个，也可以设置至少两个。当所述初级3设置成至少两个时，至少两个所述初级3沿所述滑动方向X间隔设置，且所述初级3沿所述滑动方向X的长度与相邻两个所述初级3的间距之和为d，d=（N+1/m） *p。
与相关技术相比，本发明提供的直线电机通过将嵌设于所述齿部313内的永磁体35设置成包括呈一夹角设置的第一永磁体351和第二永磁体353，且通过将所述夹角的角平分线a设置成自所述夹角的顶点b向所述次级7延伸并垂直于所述次级7所在的平面、所述第一永磁体351和所述第二永磁体353设置成关于所述角平分线a对称分布且二者靠近所述次级7一侧的磁极相同以及所述夹角的角度设置成0°至180°之间，以增大嵌入所述齿部313的永磁体的体积，从而使得所述气隙5侧的磁场显著增大，进而可以达到有效增加直线电机的推力密度的目的。
以上所述的仅是本发明的实施方式，在此应当指出，对于本领域的普通技术人员来说，在不脱离本发明创造构思的前提下，还可以做出改进，但这些均属于本发明的保护范围。

Claims (11)

  1. 一种直线电机，包括具有收容空间的壳体以及收容于所述壳体内的初级及与所述初级形成气隙的次级，所述壳体包括固定所述初级的初级座及固定所述次级的次级座，所述初级座和所述次级座可沿滑动方向发生相对滑动，所述初级包括铁芯及绕设于所述铁芯靠近所述气隙一端的绕组，所述铁芯包括固定于所述初级座的轭部及自所述轭部向靠近所述气隙方向延伸形成的多个齿部，多个所述齿部沿所述滑动方向间隔设置，所述齿部内嵌设有永磁体，且相邻两所述永磁体的磁极相反，其特征在于：所述永磁体包括呈一夹角设置的第一永磁体和第二永磁体，所述夹角的角平分线自所述夹角的顶点向所述次级延伸并垂直于所述次级所在的平面，且所述第一永磁体和所述第二永磁体关于所述角平分线对称分布，其中，所述第一永磁体和所述第二永磁体靠近所述次级一侧的磁极相同，所述夹角的角度为α，且0°＜α＜180°。
  2. 根据权利要求1所述的直线电机，其特征在于：沿所述滑动方向上，所述角平分线将所述齿部划分为相同的两个部分。
  3. 根据权利要求1所述的直线电机，其特征在于：所述第一永磁体和所述第二永磁体具有相同的磁场强度。
  4. 根据权利要求1所述的直线电机，其特征在于：所述初级设有至少两个，且至少两个所述初级沿所述滑动方向间隔设置。
  5. 根据权利要求4所述的直线电机，其特征在于：所述次级包括固定于所述次级座的主体部及自所述主体部向靠近所述气隙的方向延伸形成的多个凸齿，多个所述凸齿沿所述滑动方向间隔设置，所述初级沿所述滑动方向的长度与相邻两个所述初级的间距之和为d，d=（N+1/m） *p，其中，N为正整数，m为所述初级的个数，p为相邻两个所述凸齿之间的间距与所述凸齿沿所述滑动方向上的宽度之和。
  6. 根据权利要求1或4或5所述的直线电机，其特征在于：所述初级的相对两侧分别设有所述次级。
  7. 根据权利要求1或4或5所述的直线电机，其特征在于：所述次级的相对两侧分别设有所述初级。
  8. 根据权利要求1或5所述的直线电机，其特征在于：多个所述齿部分别为位于所述轭部一端的第一齿部、位于所述轭部远离所述第一齿部一端的第二齿部及位于所述第一齿部和所述第二齿部之间的多个第三齿部，所述第三齿部绕设有所述线组。
  9. 根据权利要求8所述的直线电机，其特征在于：所述第三齿部靠近所述气隙的一侧形成有绕线齿，所述线组绕设于所述绕线齿。
  10. 根据权利要求1所述的直线电机，其特征在于：所述直线电机还包括收容于所述壳体内的栅尺及与所述栅尺相对且间隔设置的栅尺读头，所述栅尺与所述栅尺读头中的其中一方固设于所述初级座，另一方固设于所述次级座。
  11. 根据权利要求1所述的直线电机，其特征在于：所述初级座与所述次级座通过导轨滑动连接。
PCT/CN2020/123425 2020-09-03 2020-10-23 直线电机 WO2022047939A1 (zh)

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