Moving coil permanent magnet linear rotary motor stator

Abstract

The present invention discloses a moving-coil permanent magnet linear rotary motor stator, comprising a sleeve-shaped outer stator core yoke. A first permanent magnet capable of generating a magnetic field that achieves linear motion is positioned at one end of the outer stator core yoke, a second permanent magnet capable of generating a magnetic field that achieves rotational motion is positioned at another end of the outer stator core yoke, and a third permanent magnet capable of generating magnetic fields that achieve both linear and rotational motion is positioned within the inner cavity of the outer stator core yoke. This moving-coil permanent magnet linear rotary motor stator not only effectively achieves two-degree-of-freedom motion of the rotor, but also achieves high thrust / torque and high-precision control operation of the motor.

Description

Technical Field

[0001] The present invention relates to the technical field of permanent magnet linear rotary motors, and in particular provides a moving coil type permanent magnet linear rotary motor stator. Background Art

[0002] Conventional motors can generally only provide single-degree-of-freedom motion, such as linear or rotational motion, and are unable to achieve two-degree-of-freedom motion, which is a combination of linear and rotational motion. However, in systems such as semiconductor processing equipment and automated assembly, it is often necessary to achieve two-degree-of-freedom motion, which is a combination of linear and rotational motion. To achieve this two-degree-of-freedom motion, an external transmission mechanism is usually used to convert the single-degree-of-freedom motion into two-degree-of-freedom motion. However, this operation brings some problems, such as: ① The accuracy of the actuator will be subject to more processing restrictions, resulting in insufficient actuator accuracy; ② The addition of intermediate transmission links will result in poor response and dynamic performance of the entire mechanism, poor reliability, and increased maintenance costs. Therefore, the above operation is difficult to apply to occasions with small spaces and high precision.

[0003] To overcome the aforementioned technical problems, Chinese patent ZL201020582357.2 provides a high-frequency linear rotary motor that eliminates the intermediate transmission mechanism and instead utilizes a voice coil motor and a rotary motor to achieve linear and rotary motion, respectively. However, this essentially involves installing two single-degree-of-freedom motors together, making the overall device bulky and unfavorable for installation and layout. To achieve a compact layout, Chinese patent 201510282204.3 provides a linear rotary permanent magnet actuator with an interleaved pole structure. While the entire mechanism consists of a single stator and rotor, it achieves both linear and rotary motion. However, the complex electronic control requirements of this linear rotary permanent magnet actuator make it difficult to use in high-response, high-precision applications.

[0004] In view of this, the present invention is proposed. Summary of the Invention

[0005] In order to overcome the above-mentioned defects, the present invention provides a moving coil permanent magnet linear rotary motor stator, which not only well realizes the two-degree-of-freedom motion of the rotor, but also well realizes the high thrust / high torque and high-precision control operation of the motor.

[0006] The technical solution adopted by the present invention to solve its technical problems is: a moving coil permanent magnet linear rotary motor stator, including a sleeve-shaped outer stator core yoke, wherein a first permanent magnet capable of generating a magnetic field for realizing linear motion is positioned in one port of the outer stator core yoke, a second permanent magnet capable of generating a magnetic field for realizing rotational motion is positioned in the other port of the outer stator core yoke, and a third permanent magnet capable of generating a magnetic field for realizing linear motion and rotational motion is positioned in the inner cavity of the outer stator core yoke.

[0007] As a further improvement of the present invention, the outer stator core yoke, the first permanent magnet, the second permanent magnet and the third permanent magnet are coaxially arranged.

[0008] As a further improvement of the present invention, a circle of first embedded grooves is concavely provided on the inner wall of one end of the yoke of the outer stator core;

[0009] The first permanent magnet is a radially magnetized unipolar magnetic ring structure, and the first permanent magnet is adhesively fixed in the first embedding groove.

[0010] As a further improvement of the present invention, a circle of second embedded grooves is concavely provided on the inner wall of the other end of the yoke of the outer stator core;

[0011] The second permanent magnet is composed of a plurality of arc-shaped and radially magnetized permanent magnet blocks A. The plurality of permanent magnet blocks A are tightly arranged in a ring in the second embedding groove, and the polarities of two adjacent permanent magnet blocks A are opposite.

[0012] As a further improvement of the present invention, a plurality of third embedded grooves are formed in a circular arrangement on the inner wall of the middle portion of the outer stator core yoke, the plurality of third embedded grooves are symmetrically distributed around the center line of the outer stator core yoke, and a protruding portion between two adjacent third embedded grooves is defined as an outer stator core tooth portion;

[0013] The third permanent magnet is composed of a plurality of unipolar permanent magnet blocks B, and the polarity of the plurality of permanent magnet blocks B is the same. The plurality of permanent magnet blocks B are respectively adhered and fixed in the plurality of third slots. In addition, a surface of the plurality of permanent magnet blocks B facing the center line of the outer stator core yoke also smoothly transitions to a surface of the plurality of outer stator core teeth facing the center line of the outer stator core yoke.

[0014] As a further improvement of the present invention, the circumferential cross-sections of the plurality of third embedded slots are all arc-shaped, and accordingly, the plurality of permanent magnet blocks B are all arc-shaped blocks that match the third embedded slots.

[0015] As a further improvement of the present invention, the permanent magnet block B is magnetized radially or parallely.

[0016] As a further improvement of the present invention, the ratio of the central angle of the outer stator core teeth to the central angle of the permanent magnet block B is 0.8 to 1.2.

[0017] The beneficial effects of the present invention are as follows: ① The present invention innovates the stator structure of the motor, and coaxially arranges a first permanent magnet for linear motion, a second permanent magnet for rotational motion, and a third permanent magnet for linear motion and rotational motion, thereby generating a large torque for driving the rotor to rotate, a large linear thrust for driving the rotor to move linearly, and simultaneously generating a large torque for driving the rotor to rotate and a linear thrust for driving the rotor to move linearly, thereby effectively realizing the two-degree-of-freedom motion of the rotor and the high-thrust / high-torque operation of the motor. ② While realizing the high-thrust / high-torque operation of the motor, the mutual influence between the linear thrust and the rotational torque is small, thereby conveniently realizing the decoupling control of rotation and linear motion, that is, realizing the high-precision control of the motor. ③ The motor stator structure described in the present invention not only solves the many problems of low efficiency, easy wear, and difficult lubrication caused by the multi-degree-of-freedom motion mode achieved by relying on mechanical component conversion and multiple motors in the prior art, but also further improves the torque density and thrust density of the motor, effectively improving the accuracy and efficiency of the entire production operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of the axial cross-section structure of the stator of the moving coil permanent magnet linear rotating motor of the present invention;

[0019] Figure 2 Schematic diagram of the circumferential cross-sectional structure of the stator of the moving coil permanent magnet linear rotating motor of the present invention at a first position;

[0020] Figure 3 Schematic diagram of the circumferential cross-sectional structure of the stator of the moving coil permanent magnet linear rotating motor according to the present invention at a second position;

[0021] Figure 4 This is a schematic diagram of the circumferential cross-sectional structure at the third position of the stator of the moving coil permanent magnet linear rotating motor according to the present invention.

[0022] The following description is made with reference to the accompanying drawings:

[0023] 1——Outer stator core yoke 2——First permanent magnet

[0024] 3——Second permanent magnet 4——Third permanent magnet

[0025] 10——External stator core teeth DETAILED DESCRIPTION

[0026] The preferred embodiments of the present invention are described in detail below with reference to the drawings.

[0027] Example 1:

[0028] Please see the attached Figure 1, which is a schematic diagram of the axial cross-sectional structure of the stator of the moving coil permanent magnet linear rotary motor according to the present invention. The stator of the moving coil permanent magnet linear rotary motor comprises a sleeve-shaped outer stator core yoke 1, wherein a first permanent magnet 2 capable of generating a magnetic field for achieving linear motion is positioned at one end of the outer stator core yoke 1, a second permanent magnet 3 capable of generating a magnetic field for achieving rotational motion is positioned at the other end of the outer stator core yoke 1, and a third permanent magnet 4 capable of generating magnetic fields for achieving both linear and rotational motion is positioned within the inner cavity of the outer stator core yoke 1. As a result, a large torque for driving the rotor to rotate is generated, a large linear thrust for driving the rotor to move linearly is generated, and both a large torque for driving the rotor to rotate and a large linear thrust for driving the rotor to move linearly are generated simultaneously, thereby effectively achieving two-degree-of-freedom motion of the rotor and high-thrust / high-torque operation of the motor. In addition, while achieving high thrust / high torque operation of the motor, the mutual influence between linear thrust and rotational torque is small, which makes it easy to achieve decoupling control of rotation and linear motion, that is, to achieve high-precision control of the motor.

[0029] In this embodiment, preferably, the outer stator core yoke 1 , the first permanent magnet 2 , the second permanent magnet 3 and the third permanent magnet 4 are coaxially arranged.

[0030] In this embodiment, preferably, a circle of first embedded grooves is concavely provided on the inner wall of one end of the outer stator core yoke 1; the first permanent magnet 2 is a radially magnetized unipolar magnetic ring structure, and the first permanent magnet 2 is glued and fixed in the first embedded groove (for details, please refer to the attached Figure 1 and attached Figure 2 shown).

[0031] In this embodiment, preferably, a circle of second embedded grooves is concavely provided on the inner wall of the other end of the outer stator core yoke 1; the second permanent magnet 3 is composed of a plurality of arc-shaped and radially magnetized permanent magnet blocks A, and the plurality of permanent magnet blocks A are tightly arranged in a ring in the second embedded grooves, and the polarities of two adjacent permanent magnet blocks A are opposite (for details, please refer to the attached Figure 1 and attached Figure 3 shown).

[0032] In this embodiment, preferably, a plurality of third embedded grooves are formed in a circular arrangement on the inner wall of the middle portion of the outer stator core yoke 1. The plurality of third embedded grooves are symmetrically distributed around the center line of the outer stator core yoke 1, and the protruding portion between two adjacent third embedded grooves is defined as the outer stator core tooth portion 10.

[0033] The third permanent magnet 4 is composed of a plurality of unipolar permanent magnet blocks B, the polarity of the plurality of permanent magnet blocks B being the same, and being respectively adhered and fixed in the plurality of third embedding slots, and a surface of the plurality of permanent magnet blocks B facing the center line of the outer stator core yoke 1 is also smoothly connected with a surface of the plurality of outer stator core teeth 10 facing the center line of the outer stator core yoke 1 (for details, please refer to the attached Figure 1 and attached Figure 4 shown).

[0034] Further preferably, the circumferential cross-sections of the plurality of third embedded slots are all arc-shaped, and correspondingly, the plurality of permanent magnet blocks B are all arc-shaped blocks that match the third embedded slots.

[0035] Further preferably, the permanent magnet block B is magnetized radially or parallely.

[0036] The ratio of the central angle of the outer stator core tooth portion 10 to the central angle of the permanent magnet block B is 0.8 to 1.2.

[0037] The above description is only a preferred embodiment of the present invention, but is not intended to limit the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A moving coil permanent magnet linear rotating motor stator, characterized in that: include: A sleeve-shaped outer stator core yoke (1) is provided with a circle of first embedded grooves on the inner wall of one end thereof, a circle of second embedded grooves on the inner wall of the other end thereof, and a plurality of third embedded grooves are provided in a circular pattern on the inner wall of the middle portion thereof, wherein the plurality of third embedded grooves are symmetrically distributed around the center line of the outer stator core yoke (1), and a protruding portion between two adjacent third embedded grooves is defined as an outer stator core tooth portion (10); A first permanent magnet (2) is a radially magnetized unipolar magnetic ring structure and is adhesively fixed in the first embedding slot to generate a magnetic field for achieving linear motion; A second permanent magnet (3) is composed of a plurality of arc-shaped and radially magnetized permanent magnet blocks A, which are used to generate a magnetic field for achieving rotational motion. The plurality of permanent magnet blocks A are tightly arranged in a ring in the second embedded slot, and the polarities of two adjacent permanent magnet blocks A are opposite; a third permanent magnet (4), which is composed of a plurality of unipolar permanent magnet blocks B and is used to generate a magnetic field for realizing linear motion and rotational motion, wherein the plurality of permanent magnet blocks B have the same polarity and are respectively glued and fixed in the plurality of third slots, and a surface of the plurality of permanent magnet blocks B facing the center line of the outer stator core yoke (1) is smoothly transitioned to a surface of the plurality of outer stator core teeth (10) facing the center line of the outer stator core yoke (1), and a ratio between a central angle angle occupied by the outer stator core teeth (10) and a central angle angle occupied by the permanent magnet blocks B is 0.8 to 1.2; The outer stator core yoke (1), the first permanent magnet (2), the second permanent magnet (3) and the third permanent magnet (4) are arranged coaxially.

2. The moving coil permanent magnet linear rotating motor stator according to claim 1, characterized in that: The circumferential cross-sections of the plurality of third embedded slots are all arc-shaped. Accordingly, the plurality of permanent magnet blocks B are all arc-shaped blocks that match the third embedded slots.

3. The moving coil permanent magnet linear rotating motor stator according to claim 1, characterized in that: The permanent magnet block B is magnetized radially or parallely.

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