Axial modular combined magnetic flux switching type linear rotating motor

Abstract

The invention relates to an axial modular combined magnetic flux switching type linear rotating motor, which comprises a rotor assembly and a stator assembly, the stator assembly comprises a plurality of groups of stator units arranged circumferentially, and each stator unit comprises a plurality of stator modules, tooth-shaped permanent magnets connected among the stator modules and armature windings wound on the stator modules. The rotor assembly comprises a plurality of rotor modules, a plurality of rows of rotor teeth are arranged on the outer circumference of each rotor module, and the rotor teeth in the adjacent rows are distributed in a staggered mode. According to the invention, the mechanical dynamic performance is optimized while the energy conversion efficiency is maintained, the innovative stator system adopts a distributed module architecture, the fault-tolerant capability of the system is effectively improved through redundancy design, the modular construction not only simplifies the production process, but also is more beneficial to large-scale manufacturing, the mover part adopts a full-magnetic-conductive material topology, and the energy conversion efficiency is improved. The mechanical strength is ensured, meanwhile, light weight of moving parts is achieved, and the stability requirement under the high-speed operation working condition is met.

Description

Technical Field

[0001] The present invention relates to the technical field of motor manufacturing, and particularly relates to an axial modular combined flux-switching linear rotary motor. Background Art

[0002] Currently, in the context of the era of deep integration of technology and economy, promoting intelligent equipment technologies with energy-saving characteristics, high operating efficiency, and high integration has become the core task of industrial upgrading. Among them, the innovative research and development of motors and drive systems, as the key support for the intelligent equipment industry, is focusing on breaking through multi-dimensional technical bottlenecks - while continuously improving the energy conversion efficiency, efforts are being made to strengthen the reliability index of system operation, deepen the application of intelligent control algorithms, and optimize the mechatronics integrated design. These technical research directions have risen to the key areas of the national key scientific research layout and industrial strategic development.

[0003] As a new type of mechatronics actuator, the linear-rotary two-degree-of-freedom motor can achieve precise decoupling control of rotary, linear, and helical compound motions with its unique motion characteristics. The traditional solution relies on the superimposed architecture of "rotary motor + mechanical transmission chain", which exposes three major technical pain points: First, multi-stage transmission causes cumulative nonlinear errors, resulting in deterioration of system positioning accuracy; second, the parasitic mass accounts for more than 40%, severely restricting the improvement of power density; third, mechanical wear causes the operating efficiency decay rate to reach 0.8% per thousand hours. Under the background of the rapid advancement of Industry 4.0 and intelligent manufacturing, on the premise that high-dynamic precision operation scenarios put forward revolutionary requirements for the drive unit, the two-degree-of-freedom drive technology has evolved towards the innovative direction of a compact topological structure.

[0004] At present, many scholars have proposed different types of two-degree-of-freedom motors and carried out related research, including two-degree-of-freedom induction motors, two-degree-of-freedom permanent magnet motors, two-degree-of-freedom switched reluctance motors, etc. However, how to improve reliability and power density, increase torque and reduce torque ripple, improve efficiency and reduce losses, etc. are still the key problems to be solved in the development of the two-degree-of-freedom motor topological structure, so further improvement is still needed. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art and provide an axial modular combined flux-switching linear rotary motor.

[0006] The present invention is realized through the following technical solutions:

[0007] An axial modular combined flux-switching linear rotary motor, comprising a mover assembly and multiple sets of stator assemblies with the same structure located outside the mover assembly. There is an air gap between the stator assembly and the mover assembly. The stator assembly includes multiple sets of stator units arranged circumferentially and having the same structure. The stator unit includes multiple stator modules arranged along the axial direction of the mover assembly, tooth-shaped permanent magnets connected between the stator modules, and armature windings wound on each stator module. There is a spacing between each stator module, and the tooth structure of the tooth-shaped permanent magnet is adapted to the stator tooth structure of each stator module. Adjacent stator units form the stator assembly in a ring shape through linear permanent magnets. The mover assembly includes multiple mover modules arranged coaxially. Multiple rows of mover teeth are arranged circumferentially on the outer ring of the mover module, and each row of mover teeth is evenly arranged outside the mover module. In the mover assembly, the mover teeth of adjacent rows are staggeredly distributed.

[0008] According to the above technical solution, preferably, the stator module includes two C-shaped stator cores, and the tooth-shaped permanent magnet is connected between the two C-shaped stator cores of each stator module.

[0009] According to the above technical solution, preferably, the C-shaped stator core includes two stator teeth, and the armature windings are respectively wound outside the stator teeth of the two C-shaped stator cores of each stator module, that is, each stator module includes 2 sets of concentrated armature windings wound in opposite directions.

[0010] According to the above technical solution, preferably, the linear permanent magnet and the tooth-shaped permanent magnet are made of neodymium iron boron, samarium cobalt, or ferrite permanent magnet materials, the magnetization direction is tangential, and the magnetization directions are opposite.

[0011] According to the above technical solution, preferably, the number of mover teeth in each row outside the mover module is N, and the mover teeth of adjacent rows are staggered by (π / N)° along the circumference.

[0012] According to the above technical solution, preferably, the C-shaped stator core and the mover assembly are made of silicon steel sheet magnetic conductive materials.

[0013] According to the above technical solution, preferably, single rotation, single linear, or spiral motion can be formed between the mover assembly and the stator assembly.

[0014] According to the above technical solution, preferably, when alternating currents with equal magnitudes and opposite directions are applied to the two armature windings wound on each stator module in the stator assembly, the mover assembly performs a single rotational motion; when alternating currents with a phase difference of 120° are sequentially applied to the armature windings wound on the three stator modules in the stator unit and the current directions are the same, the mover assembly performs a single linear motion; when alternating currents with a phase difference of 120° are sequentially applied to the armature windings wound on the three stator modules in the stator unit and the currents applied to the two armature windings wound on each stator module are in opposite directions, the mover assembly performs a helical motion.

[0015] The beneficial effects of the present invention are as follows:

[0016] The present invention is constructed based on the flux-switching principle. While maintaining the energy conversion efficiency, it significantly optimizes the mechanical dynamic performance. Its innovative stator system adopts a distributed module architecture, and through redundant design, effectively improves the system fault tolerance ability. The modular structure not only simplifies the production process but also is more conducive to large-scale manufacturing. The mover part innovatively abandons the traditional permanent magnet and winding structure and adopts a fully permeable material topology, which realizes the lightweight of moving parts while ensuring mechanical strength, especially meeting the stability requirements under high-speed operating conditions and having high application and promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a three-dimensional structure schematic diagram of the present invention.

[0018] Figure 2 is a sectional three-dimensional structure diagram of the present invention.

[0019] Figure 3 is a front view structure schematic diagram of the stator assembly part of the present invention.

[0020] Figure 4 is a three-dimensional structure schematic of the stator unit part of the present invention Figure 1 .

[0021] Figure 5 is a three-dimensional structure schematic of the stator unit part of the present invention Figure 2 .

[0022] Figure 6 is a three-dimensional structure schematic diagram of the tooth-shaped permanent magnet part of the present invention.

[0023] Figure 7 is a three-dimensional structure schematic diagram of the mover assembly part of the present invention.

[0024] In the figure: 1. C-shaped stator core; 2. Tooth-shaped permanent magnet; 3. Armature winding; 311. Armature winding a; 312. Armature winding b; 321. Armature winding c; 322. Armature winding d; 331. Armature winding e; 332. Armature winding f; 4. Linear permanent magnet; 5. Rotor assembly; 6. Rotor tooth group; 61. Rotor tooth a; 62. Rotor tooth b; 63. Rotor tooth c; 7. Stator module; 8. Axial stator slot; 9. Circumferential stator slot. Detailed implementation mode

[0025] In order to enable those skilled in the art of the present technology to better understand the technical solution of the present invention, the present invention will be further described in detail below in conjunction with the attached drawings and the best embodiments. Based on the embodiments in the invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the invention.

[0026] In the description of the invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the attached drawings. It is only for the convenience of describing the invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the invention.

[0027] In addition, it should also be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installation", "setting", "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and can also be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0028] As shown in the figure, the present invention includes a rotor assembly 5 and multiple groups of stator assemblies with the same structure located outside the rotor assembly 5. There is an air gap between the stator assembly and the rotor assembly 5, and there is an angular difference in the circumferential position of adjacent stator assemblies. The radian by which adjacent stator assemblies are staggered along the circumferential direction is where α is the angle by which adjacent two stator assemblies are staggered along the circumferential direction. By adopting the cooperation mode of staggering adjacent stator assemblies by a certain angle along the circumferential direction, the amplitude of the rotating magnetic flux can be kept constant, and then the control mode of a traditional three-phase motor can be adopted.

[0029] Among them, the stator assembly includes multiple groups of stator units arranged circumferentially and having the same structure. The stator unit includes a plurality of stator modules 7 arranged along the axial direction of the mover assembly 5, a toothed permanent magnet 2 connected between the stator modules 7, and an armature winding 3 wound around each stator module 7. There is a spacing between the stator modules 7, and adjacent stator units are surrounded by linear permanent magnets 4 to form a ring to form the stator assembly. In this example, a spacing is provided between the three stator modules arranged along the axial direction of each stator unit, so that the amplitude of the linear magnetic flux can remain constant during rotational motion, and thus the control method of a traditional three-phase linear motor can be adopted. In this example, the linear permanent magnet 4 and the toothed permanent magnet 2 are made of neodymium iron boron, samarium cobalt, and ferrite permanent magnet materials, and the magnetization directions are all tangential and opposite to each other, effectively improving the permanent magnet magnetic circuit, forming a magnetic concentration effect, and increasing the power density.

[0030] The stator module 7 includes two C-shaped stator cores 1. The toothed permanent magnet 2 is connected between the two C-shaped stator cores 1 of each stator module 7 at the same time, and the tooth structure of the toothed permanent magnet 2 is adapted to the stator tooth structure of each stator module 7. The C-shaped stator core 1 includes two stator teeth, and the armature windings 3 are respectively wound outside the stator teeth of the two C-shaped stator cores 1 of each stator module 7, that is, each stator module 7 includes 2 sets of concentrated armature windings wound in opposite directions. Specifically, the two stator teeth included in the C-shaped stator core 1 and the toothed permanent magnet 2 are axially matched to form a circumferential stator slot 9, and the stator teeth of the two C-shaped stator cores 1 in the same stator module 7 form a combined tooth, and adjacent two stator modules 7 cooperate with the linear permanent magnet 4 to form an axial stator slot 8. The two sets of armature windings 3 arranged in each stator module 7 are arranged in layers along the axial direction, respectively wound outside the two combined teeth, and pass through the axial stator slot 8 and the circumferential stator slot 9 to form a double flat ring nested winding structure.

[0031] In addition, the mover assembly 5 includes a plurality of mover modules arranged coaxially. A key structure is provided on the inner wall of the mover assembly 5, and the key structure axially penetrates the inner wall of the mover assembly 5. In this example, the C-shaped stator core 1 and the mover assembly 5 preferably but not limited to select silicon steel sheet magnetic conductive materials. There are neither armature windings nor permanent magnets on the mover assembly 5, and it is only composed of magnetic conductive materials, with a simple structure and suitable for high-speed operation.

[0032] The outer circumference of the mover module is provided with multiple rows of mover teeth. Each row of mover teeth is evenly arranged outside the mover module. The mover teeth with the same axial position form a mover tooth group 6. In the mover assembly 5, the mover teeth of adjacent rows are staggeredly distributed. Specifically, the number of mover teeth in each row outside the mover module is N, and the mover teeth of adjacent rows are staggered by (π / N)° along the circumference. For example, the mover tooth b62 is staggered by (π / N)° in the circumferential direction compared with the mover tooth a61, and the mover tooth c63 is staggered by (π / N)° in the circumferential direction compared with the mover tooth b62. It should be noted that if one end of the stator unit is aligned with the mover tooth, the other end of the stator unit is aligned with the middle position of the mover tooth. The design of aligning one end of the stator unit with the mover tooth and staggering the other end can make the magnetic field form a complementary path at both ends of the stator unit, thereby reducing magnetic leakage and improving the utilization rate of magnetic energy. At the same time, the staggered design also makes the magnetic field changes at both ends of the stator unit form a phase difference, thereby weakening the harmonic magnetic field generated by the cogging effect and reducing the vibration and noise generated during the operation of the motor.

[0033] A single rotation, single linear or spiral motion can be formed between the mover assembly and the stator assembly. The working principle of the axial modular flux-switching two-degree-of-freedom motor disclosed in this application is as follows:

[0034] In terms of rotational motion, the mover teeth are arranged axially in sequence and staggeredly distributed at circumferential intervals. There is a flux path along the axial direction of the motor in the formed flux path. As the mover rotates, the flux path alternates, thereby generating an alternating induced electromotive force. Two armature windings wound on a stator module in the stator assembly are passed through alternating current with equal magnitude and opposite directions. That is, when the current direction of one winding is clockwise along the tangent, the current direction of the other winding is counterclockwise along the tangent. The alternating current interacts with the magnetic flux generated by the permanent magnet to generate a torque to make the mover perform a rotational motion. Similarly, the remaining stator modules are respectively matched with the mover teeth at corresponding positions. There will be magnetic flux flowing into or out of each mover tooth, and the structural utilization rate is high. The multi-stator-module structure greatly improves the reliability of the rotational motion.

[0035] In terms of linear motion, the mover teeth can be considered to be arranged sequentially in the circumferential direction and staggeredly distributed axially. As the mover moves axially, the flux path alternates. The armature windings on three stator modules in the same stator unit are sequentially passed through alternating current with a phase difference of 120° (when making a linear motion alone, the current directions of the two sets of armature windings in each stator module are the same), and interact with the magnetic flux generated by the permanent magnet to generate a thrust to make the mover perform a linear motion.

[0036] In the helical motion, it can be regarded as the synthesis of the above two motions. Specifically, two sets of armature windings in each stator module are supplied with currents in opposite directions, and the armature windings on the three stator modules in each stator unit are sequentially supplied with alternating currents with a phase difference of 120° (the current directions of armature windings a311 and b312, armature windings c321 and d322, and armature windings e331 and f332 are opposite; armature windings a311, c321, and e331 are sequentially supplied with alternating currents with a phase difference of 120°). In this way, the linear motion and the rotational motion can be superimposed, and under the combined action of torque and thrust, the mover can perform a two-degree-of-freedom helical motion.

[0037] In summary, the present application provides an axial modular combined flux-switching linear rotary motor, which can achieve efficient single rotation, single linear or two-degree-of-freedom helical motion. Since the rotating component and the linear component share the stator core, armature windings and rotor core, and at the same time the rotating magnetic circuit and the linear magnetic circuit are shared, the volume of the motor is reduced and the power density is increased. By adopting a modular design, multiple modules of the motor cooperate with each other, thereby reducing torque ripple and thrust ripple. At the same time, in the present invention, the stator assembly adopts a multi-modular design, and the high redundancy ensures the reliability of the motor operation, and the modular design is convenient for processing and manufacturing. The mover assembly is only composed of magnetic conductive materials, without permanent magnets and windings, and has a simple and strong structure, which is suitable for high-speed operation.

[0038] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. An axial modular combined flux switching linear rotary motor, characterized in that: It comprises a moving assembly (5) and a plurality of groups of stator assemblies with the same structure located outside the moving assembly (5), wherein an air gap is provided between the stator assembly and the moving assembly (5). The stator assembly comprises a plurality of groups of stator units which are arranged circumferentially and have the same structure, the stator units comprising a plurality of stator modules (7) arranged along the axial direction of the mover assembly (5), toothed permanent magnets (2) connected between the stator modules (7), and armature windings (3) wound on the stator modules (7), there being a spacing between the stator modules (7), and adjacent stator units are surrounded by linear permanent magnets (4) to form a ring to form the stator assembly, The mover assembly (5) comprises a plurality of coaxially arranged mover modules, a plurality of rows of mover teeth are arranged on the outer circumference of the mover modules, each row of mover teeth is evenly arranged outside the mover module, and in the mover assembly (5), the mover teeth in adjacent rows are staggered.

2. According to claim 1, an axial modular combined flux switching linear rotary motor is characterized in that: The stator module (7) comprises two C-shaped stator cores (1), and the toothed permanent magnet (2) is simultaneously connected between the two C-shaped stator cores (1) of each stator module (7).

3. The axial modular combined flux switching linear rotary motor according to claim 2, characterized in that: The C-shaped stator core (1) comprises two stator teeth, and the armature winding (3) is respectively wound outside the stator teeth of the two C-shaped stator cores (1) of each stator module (7).

4. The axial modular combined flux switching linear rotary motor according to claim 1, characterized in that: The linear permanent magnet (4) and the toothed permanent magnet (2) are made of neodymium iron boron, samarium cobalt, or ferrite permanent magnet materials, and their magnetization directions are both tangential and opposite.

5. The axial modular combined flux switching linear rotary motor according to any one of claims 1 to 4, characterized in that: The number of each row of mover teeth outside the mover module is N, and the mover teeth in adjacent rows are staggered by (π / N)° along the circumference.

6. The axial modular combined flux switching linear rotary motor according to claim 5, characterized in that: The C-shaped stator core (1) and the mover assembly (5) are made of magnetically conductive silicon steel sheets.

7. The axial modular combined flux switching linear rotary motor according to claim 1, characterized in that: The mover assembly (5) and the stator assembly can form a single rotation, a single linear or a spiral motion.

8. The axial modular combined flux switching linear rotary motor according to claim 7, characterized in that: When alternating currents of equal magnitude and opposite directions flow through the two armature windings wound on each stator module (7) in the stator assembly, the mover assembly (5) performs single rotational motion.

9. The axial modular combined flux switching linear rotary motor according to claim 7, characterized in that: When alternating currents with phase differences of 120° and the same current direction are sequentially supplied to the armature windings wound on the three stator modules (7) in the stator unit, the mover assembly (5) moves in a single straight line.

10. The axial modular combined flux switching linear rotary motor according to claim 7, characterized in that: When alternating currents with a phase difference of 120° are sequentially supplied to the armature windings wound on the three stator modules (7) in the stator unit, and currents with opposite directions are supplied to the two armature windings wound on each stator module (7), the mover assembly (5) moves in a spiral motion.

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