Primary and secondary double permanent magnet type two-degree-of-freedom flux reversal machine

Abstract

The present invention discloses a primary and secondary dual-permanent-magnet two-degree-of-freedom flux-reversal motor, belonging to the technical field of motor manufacturing. It includes a rotary stator, a mover, and a linear stator, and all three are salient-pole permanent-magnet structures. By adopting a primary and secondary dual-permanent-magnet topology structure, while realizing the flux-reversal working principle, the torque density and thrust density of the motor are effectively increased. The mover adopts a modular triangular structure and is fixed on the non-magnetic support of the mover without a mover yoke. The rotating permanent-magnet field and the armature field only close along the rotating module of the mover, and the linear permanent-magnet field and the armature field only close along the linear module of the mover, effectively suppressing the coupling between the linear traveling-wave field and the rotating magnetic field of the rotary motion, reducing the coupling influence between the magnetic fields under the two-degree-of-freedom motion condition, and facilitating decoupling control, thus solving the performance problems of existing motors.

Description

Technical Field

[0001] The present invention belongs to the technical field of motor manufacturing, and in particular relates to a primary and secondary dual-permanent-magnet type two-degree-of-freedom flux-reversal motor capable of driving a load to perform rotational, linear or spiral motion. Background Art

[0002] In real life, the requirements for the complexity and driving accuracy of industrial drive systems are getting higher and higher. For example, devices such as robot joints, high-end machine tools, ship propulsion, and screw pumps all require the drive shaft to perform two-degree-of-freedom motion. One of the traditional methods for realizing two-degree-of-freedom drive is to perform spatial motion on multiple single-degree-of-freedom motors through an auxiliary mechanical transmission device. This way of realizing two-degree-of-freedom motion not only has a complex control method, but also requires an expensive and bulky mechanical transmission device. These combined systems have multiple transmission clearances, low system positioning accuracy, large system volume, large weight and cost, and low system reliability. However, the defects of the above methods can be solved by a two-degree-of-freedom motor.

[0003] Currently, two-degree-of-freedom motors are mainly divided into induction type, switched reluctance type and permanent magnet type. However, compared with induction type and switched reluctance type two-degree-of-freedom motors, permanent magnet type two-degree-of-freedom motors have the advantage of high power density, which has attracted the research of many scholars. Although many structural types of two-degree-of-freedom motors have been proposed continuously at present, there are still many places to be optimized in the structure and performance of existing linear-rotary two-degree-of-freedom motors. The invention patent "A Linear-Rotary Two-Degree-of-Freedom Permanent Magnet Motor" with the publication number CN109660100A discloses a linear-rotary two-degree-of-freedom flux-switching motor, which can directly realize rotational, linear or spiral motion. However, windings are arranged on the stator tooth unit, and permanent magnet blocks are only arranged on the mover. The linear motion magnetic field and the rotational motion magnetic field of this motor are coupled in the stator core and the rotor core, affecting each other, and thus weakening the two-degree-of-freedom operation characteristics of the motor. The invention patent "Stator and Rotating-Linear Two-Degree-of-Freedom Permanent Magnet Motor with Modular Structure" with the publication number CN211063425U discloses a linear-rotary two-degree-of-freedom motor. The stator adopts a modular design. The rotating armature winding is wound along the axial direction on the stator teeth and the linear armature winding is wound along the circumferential direction on the same stator teeth. The rotating armature magnetic field and the linear armature magnetic field inevitably generate coupling in the stator teeth, resulting in magnetic field distortion, which is not conducive to the precise control of linear motion and rotational motion. Summary of the Invention

[0004] The problem to be solved by the present invention is to provide a stator-rotor permanent magnet type annular winding two-degree-of-freedom motor capable of driving a load to perform rotational, linear or spiral motion, effectively weakening the magnetic field coupling between the linear motion traveling wave magnetic field and the rotational motion magnetic field, and having the advantages of high torque (power) density, easy decoupling control, and convenient processing and assembly.

[0005] To solve the above technical problems, the technical solution adopted by the present invention is as follows: A primary and secondary dual permanent magnet type two-degree-of-freedom flux reversal motor, comprising a rotary stator, a mover, and a linear stator. The rotary stator, the mover, and the linear stator are all salient pole structures. The rotary stator is located on the outer layer, and the linear stator is located on the inner layer. The rotary stator and the linear stator are nested. The mover is of an annular structure and is located between the rotary stator and the linear stator, and forms a double-layer air gap.

[0006] The rotary stator includes a rotary stator core, a rotary armature winding, and a rotary stator permanent magnet. The rotary stator permanent magnet is surface-mounted in the tooth slots of the rotary stator core to form rotary armature teeth. The rotary stator permanent magnet is radially magnetized, and the magnetization directions of the rotary stator permanent magnets are the same. The rotary armature winding adopts a concentrated winding structure and is wound on the rotary armature teeth.

[0007] The linear stator includes a linear stator core, a linear annular armature winding, and a linear stator permanent magnet. The linear stator permanent magnet is surface-mounted in the tooth slots of the linear stator core. The linear stator permanent magnet is radially magnetized, and the magnetization directions of the linear stator permanent magnets are the same. The linear annular armature winding adopts an annular winding structure and is arranged in the slots of the linear stator core.

[0008] Both the inner and outer sides of the mover have salient pole teeth. The outer mover rotary salient pole teeth are of a triangular structure and are distributed along the circumference. The mover rotary permanent magnet is surface-mounted in the slots of the mover rotary salient pole teeth, is radially magnetized, and the magnetization direction is consistent with that of the rotary stator permanent magnet. The inner mover linear salient pole teeth are also of a triangular structure and are distributed along the axial direction. The mover linear permanent magnet is surface-mounted in the slots of the mover linear salient pole teeth, is radially magnetized, and the magnetization direction is consistent with that of the linear stator permanent magnet. The mover rotary salient pole teeth and the mover linear salient pole teeth are jointly (embedded) fixed on a non-magnetic support member.

[0009] Preferably, the mover rotary salient pole teeth of the mover can adopt a skewed pole structure.

[0010] Preferably, the rotary stator core, the linear stator core, the mover rotary salient pole teeth, and the mover linear salient pole teeth are all made of magnetic conductive materials such as silicon steel sheets.

[0011] Preferably, the rotary stator permanent magnet, the mover rotary permanent magnet, the linear stator permanent magnet, and the mover linear permanent magnet are permanent magnetic materials such as neodymium iron boron, samarium cobalt, and ferrite.

[0012] Due to the above technical solution, the present invention adopts a primary and secondary dual permanent magnet topology, which effectively increases the torque density and thrust density of the motor while realizing the flux reversal working principle. The mover adopts a modular triangular structure and is fixed on the non-magnetic support of the mover without a mover yoke. The rotating permanent magnet field and the armature field are only closed along the rotating module of the mover, and the linear permanent magnet field and the armature field are only closed along the linear module of the mover, effectively suppressing the coupling between the linear traveling wave magnetic field and the rotating magnetic field of the rotational motion, reducing the coupling effect between the magnetic fields under the two-degree-of-freedom motion condition, and facilitating decoupling control, thus solving the performance problems of existing motors. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The present invention will be specifically described below with reference to the drawings and in conjunction with examples. The advantages and implementation manners of the present invention will become more obvious. The content shown in the drawings is only used for the explanation of the present invention and does not constitute any limitation to the present invention. In the drawings:

[0014] Figure 1 is a cross-sectional schematic view of the present invention

[0015] Figure 2 is a cross-sectional schematic view of the rotating stator of the present invention

[0016] Figure 3 is a cross-sectional schematic view of the linear stator of the present invention

[0017] Figure 4 is a schematic diagram of the distribution of the rotating armature winding of the present invention

[0018] Figure 5 is a schematic diagram of the distribution of the linear armature winding of the present invention

[0019] In the figure

[0020] 1. Rotating stator, 2. Mover, 3. Linear stator, 4. Rotating stator core, 5. Rotating armature winding, 6. Rotating stator permanent magnet, 7. Linear stator core, 8. Linear ring armature winding, 9. Linear stator permanent magnet, 10. Linear permanent magnet of the mover, 11. Rotating permanent magnet of the mover, 12. Rotating salient pole teeth of the mover, 13. Linear salient pole teeth of the mover, 14. Non-magnetic support. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] As Figures 1 to 3As shown in the figure, a primary and secondary dual permanent magnet type two-degree-of-freedom flux-reversal motor of the present invention includes a rotary stator 1, a rotor 2, and a linear stator 3. The rotary stator 1, the rotor 2, and the linear stator 3 are all salient pole structures. The rotary stator 1 is located on the outer layer, and the linear stator 3 is located on the inner layer. The rotary stator 1 and the linear stator 3 are nested. The rotor 2 is of an annular structure and is located between the rotary stator 1 and the linear stator 3, and forms a double-layer air gap.

[0022] The rotary stator 1 includes a rotary stator core 4, a rotary armature winding 5, and a rotary stator permanent magnet 6. The rotary stator permanent magnet 6 is surface-mounted in the tooth slots of the rotary stator core 4 to form rotary armature teeth. The rotary stator permanent magnet 6 is radially magnetized, and the magnetization directions of the rotary stator permanent magnets 6 are the same. The rotary armature winding 5 adopts a concentrated winding structure and is wound on the rotary armature teeth.

[0023] The linear stator 3 includes a linear stator core 7, a linear annular armature winding 8, and a linear stator permanent magnet 9. The linear stator permanent magnet 9 is surface-mounted in the tooth slots of the linear stator core 7. The linear stator permanent magnet 9 is radially magnetized, and the magnetization directions of the linear stator permanent magnets 9 are the same. The linear annular armature winding 8 adopts an annular winding structure and is arranged in the slots of the linear stator core 7.

[0024] Both the inner and outer sides of the rotor 2 have salient pole teeth. The outer rotor rotary salient pole teeth 12 are of a triangular structure and are distributed along the circumference. The rotor rotary permanent magnet 11 is surface-mounted in the slots of the rotor rotary salient pole teeth 12, is radially magnetized, and the magnetization direction is the same as that of the rotary stator permanent magnet 6. The inner rotor linear salient pole teeth 13 are also of a triangular structure and are distributed along the axis. The rotor linear permanent magnet 10 is surface-mounted in the slots of the rotor linear salient pole teeth 13, is radially magnetized, and the magnetization direction is the same as that of the linear stator permanent magnet 9. The rotor rotary salient pole teeth 12 and the rotor linear salient pole teeth 13 are jointly fixed (embedded) on the non-magnetic support 14.

[0025] The rotor rotary salient pole teeth 12 of the rotor 2 adopt a skewed pole structure. The rotary stator core 4, the linear stator core 7, the rotor rotary salient pole teeth 12, and the rotor linear salient pole teeth 13 are all made of magnetic conductive material silicon steel sheets. The rotary stator permanent magnet 6, the rotor rotary permanent magnet 11, the linear stator permanent magnet 9, and the rotor linear permanent magnet 10 are permanent magnetic materials neodymium iron boron, samarium cobalt, and ferrite.

[0026] The present invention adopts two sets of armature windings. When only the rotating-armature winding 5 is energized, the load can be driven to perform a rotational motion; when only the linear-armature winding 8 is energized, the load can be driven to perform an axial linear motion; when both are energized simultaneously, the electromagnetic torque generated for driving the rotational motion and the electromagnetic thrust generated for driving the linear motion act together to realize the helical motion of the mover of the two-degree-of-freedom motor.

[0027] The present invention adopts a primary and secondary dual-permanent-magnet topology structure. While realizing the flux-reversal working principle, it effectively increases the torque density and thrust density of the motor. The mover adopts a modular triangular structure, which are all fixed on the non-magnetic support of the mover. There is no mover yoke. The rotating permanent-magnet field and the armature field only close along the rotating module of the mover, and the linear permanent-magnet field and the armature field only close along the linear module of the mover, effectively suppressing the coupling between the linear traveling-wave magnetic field and the rotational magnetic field of the rotational motion, reducing the coupling influence between the magnetic fields under the two-degree-of-freedom motion conditions, and being easy to realize decoupling control, thus solving the performance problems of the existing motors.

[0028] As Figure 4 and Figure 5 shown, the distributions of the rotating-armature winding and the linear-armature winding in this embodiment are as follows:

[0029] For the rotating-armature winding 5, the coil 511 and the coil 513 of the A-phase armature winding are radially opposite, the coil 512 and the coil 514 are radially opposite, the coil 511 and the coil 512 are 90° apart in the spatial position. The coil 511 and the coil 512 under the A-phase are connected in series in the same direction to form a coil group. Similarly, the coil 513 and the coil 514 are connected in series in the same direction to form another coil group. The two coil groups are connected in series in the same direction to form the A-phase armature winding; the settings of the coils in the spatial positions of the B-phase (coils 521, 523, 522, and 524) and the C-phase (coils 531, 533, 532, and 534) are the same as those of the A-phase. The spatial positions of the three-phase armature windings are 60° apart, making the phases of the three-phase magnetic fluxes differ by 120°.

[0030] For the linear-armature winding 8, the coils 811, 812, 813, and 814 of the A-phase armature winding are 2 slot pitches apart in the spatial position respectively. The coil 811 and the coil 812 under the A-phase form a coil group, and the coil 813 and the coil 814 are connected in series in the same direction to form another coil group. The two coil groups are connected in series in the same direction to form the A-phase armature winding; the settings of the coils in the B-phase (coils 821, 822, 823, and 824) and the C-phase (coils 831, 832, 833, and 834) are the same as those of the A-phase, and the spatial positions of the three phases are 1 slot pitch apart respectively, making the phases of the three-phase magnetic fluxes differ by 120°.

[0031] The above has described the embodiments of the present invention in detail, but the above content is only the preferred embodiments of the present invention and cannot be considered as defining the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention shall still fall within the scope covered by this patent.

Claims

1. A primary and secondary dual permanent magnet type two-degree-of-freedom flux-reversal motor, Characterized in that: It includes a rotary stator (1), a rotor (2) and a linear stator (3). The rotary stator (1), the rotor (2) and the linear stator (3) are all salient pole structures; the rotary stator (1) is located on the outer layer, and the linear stator (3) is located on the inner layer. The rotary stator (1) and the linear stator (3) are nested; the rotor (2) is of an annular structure and is located between the rotary stator (1) and the linear stator (3), and forms a double-layer air gap. The rotary stator (1) includes a rotary stator core (4), a rotary armature winding (5) and a rotary stator permanent magnet (6); the rotary stator permanent magnet (6) is surface-mounted in the tooth slots of the rotary stator core (4) to form rotary armature teeth. The rotary stator permanent magnet (6) is radially magnetized, and the magnetization directions of the rotary stator permanent magnets (6) are the same. The rotary armature winding (5) adopts a concentrated winding structure and is wound on the rotary armature teeth. The linear stator (3) includes a linear stator core (7), a linear annular armature winding (8) and a linear stator permanent magnet (9); the linear stator permanent magnet (9) is surface-mounted in the tooth slots of the linear stator core (7). The linear stator permanent magnet (9) is radially magnetized, and the magnetization directions of the linear stator permanent magnets (9) are the same. The linear annular armature winding (8) adopts an annular winding structure and is arranged in the slots of the linear stator core (7). Both the inner and outer sides of the rotor (2) have salient pole teeth. The outer rotor rotary salient pole teeth (12) are of a triangular structure and are distributed along the circumference. The rotor rotary permanent magnet (11) is surface-mounted in the slots of the rotor rotary salient pole teeth (12), is radially magnetized, and the magnetization direction is the same as that of the rotary stator permanent magnet (6); the inner rotor linear salient pole teeth (13) are also of a triangular structure and are distributed along the axis. The rotor linear permanent magnet (10) is surface-mounted in the slots of the rotor linear salient pole teeth (13), is radially magnetized, and the magnetization direction is the same as that of the linear stator permanent magnet (9). The rotor rotary salient pole teeth (12) and the rotor linear salient pole teeth (13) are jointly fixed on a non-magnetic support (14); The rotor rotary salient pole teeth (12) of the rotor (2) adopt a skewed pole structure.

2. The primary and secondary dual permanent magnet type two-degree-of-freedom flux-reversal motor according to claim 1, Characterized in that: The rotary stator core (4), the linear stator core (7), the rotor rotary salient pole teeth (12) and the rotor linear salient pole teeth (13) are all made of silicon steel sheets, which are magnetic conductive materials.

3. The primary and secondary dual permanent magnet type two-degree-of-freedom flux-reversal motor according to claim 1, Characterized in that: The rotary stator permanent magnet (6), the rotor rotary permanent magnet (11), the linear stator permanent magnet (9) and the rotor linear permanent magnet (10) are made of permanent magnetic materials such as neodymium iron boron, samarium cobalt and ferrite.

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