A linear rotary permanent magnet motor applied to a drilling robot

Abstract

The application relates to a linear-rotary permanent magnet motor applied to a drilling robot, which mainly comprises a stator, a rotor, a mover and related accessories, the stator part is composed of a stator core and a rotary armature winding, the rotor part is composed of an aluminum support frame, rotary motion iron poles, linear motion iron poles, an axially magnetized N-pole permanent magnet and an S-pole permanent magnet, and the mover part is composed of a mover pole, a linear motion ring-shaped armature winding, a mover yoke and a shaft; the motor only adopts one set of permanent magnets, which simultaneously serves as a rotary and linear motion permanent magnet excitation source; by changing the rotor core structure and the permanent magnet magnetic circuit, N and S poles alternately along the axial and circumferential directions are formed on the linear and rotary motion iron poles on the inner and outer sides of the rotor, thereby establishing a linear and rotary motion permanent magnetic field; the linear motion ring-shaped armature winding moves together with the mover to form a moving coil structure; the motor reduces the permanent magnet usage, thereby reducing the production cost and expanding the practical application value.

Description

Technical Field

[0001] This invention relates to the field of electric motors, specifically to an electric motor capable of linear, rotary, and helical motion. Background Technology

[0002] Coal mine robots are crucial equipment for achieving intelligent mining and energy conservation and emission reduction in the coal mining industry. They also represent a significant revolution in coal mining technology, and encouraging the development and application of coal mine robots is key to realizing intelligent coal mining technology. Drilling is a common operation for coal mine robots, enabling them to perform tasks such as advanced gas and water detection. Linear rotary permanent magnet motors, characterized by high torque density and high reliability, have become an indispensable core component for coal mine robots in drilling operations. The utility model patent "Stator of Moving-Coil Permanent Magnet Linear Rotary Motor" (application number: CN201821153377) discloses a stator for a moving-coil permanent magnet linear rotary motor. Permanent magnets that generate linear and rotary magnetic fields are placed at both ends of the outer stator core yoke, while permanent magnets capable of generating both linear and rotary magnetic fields are placed inside the outer stator core yoke. This stator enables two degrees of freedom of motor movement and high thrust / torque, high-precision control operation. The invention patent "Linear Rotary Motor and Vehicle-Mounted Image Stabilization Camera Device" (application number: CN2022103485672) includes two drive groups in both the stator and rotor, realizing linear and rotary motion of the rotor. This motor can also reduce the radial dimension. When this motor is installed in a vehicle-mounted image stabilization camera device, it can counteract axial movement and acceleration, enabling the camera device to have image stabilization function. The invention patent "Linear Rotary Motor for SMD Pickup and Placement" (authorization number: CN202011041162) provides a linear rotary voice coil motor for SMD pickup and placement. The rotary motor is installed inside the mover of the voice coil motor. The voice coil motor and the rotary motor share a set of permanent magnets, reducing the weight and size of the motor, simplifying the motor structure, and improving the positioning accuracy of the linear rotary motor. The invention patent "A Steering Energy Feeding Suspension Based on a Switched Reluctance Linear Rotary Motor" (application number: CN2019106079344) applies a switched reluctance linear rotary motor to the suspension system, realizing the steering of the suspension system, eliminating the original steering system, simplifying the chassis structure of the car, and eliminating structural interference during large-scale steering. Summary of the Invention

[0003] The purpose of this invention is to provide a linear rotary permanent magnet motor for use in drilling robots, which features high torque density and low linear positioning force.

[0004] The present invention achieves its objective using the following technical solution:

[0005] A linear rotary permanent magnet motor for use in drilling robots is mainly composed of a stator, a rotor, a mover, and related accessories. The stator consists of a stator core (2) and a rotary motion armature winding (3). The rotor consists of an aluminum support frame (6), rotary motion poles (8), linear motion poles (11), an axially magnetized N-pole permanent magnet (9), and an axially magnetized S-pole permanent magnet (10). The mover includes a mover pole (12), a linear motion annular armature winding (13), a mover yoke (14), and a shaft (7). The rotor core is connected to the extended ball bearings sleeved on the shaft (7) via the aluminum support frame (6). The linear bearing (4) is connected, and the rotary bearing (5) is sleeved on the extended ball linear bearing (4) and connected to the explosion-proof housing (1). This motor uses only one set of permanent magnets to realize rotation, linear and helical motion. By changing the rotor core structure and changing the permanent magnet circuit, the linear motion iron pole (11) and the rotary motion iron pole (8) on the inner and outer sides of the rotor are respectively formed with alternating polarities of N and S poles along the axial and circumferential directions, thus establishing the air gap magnetic field for linear and rotary motion. The same set of permanent magnets serves as both the permanent magnet excitation source for rotary motion and the permanent magnet excitation source for linear motion, simplifying the motor structure and reducing the difficulty of motor processing and production costs.

[0006] As a preferred embodiment, the present invention provides a linear rotary permanent magnet motor for use in drilling robots, characterized in that: by flexibly designing the width, thickness, pole pitch, and distance between the rotating poles on the outer side of the rotor core and the outer diameter of the permanent magnet body, the magnetic flux density of the air gap during rotation is increased, thereby increasing the torque density. The magnetic flux density of the air gap during rotation is approximately sinusoidally distributed along the axial direction, which reduces the magnetic flux density of the stator core, increases the current density under motor load, further increases the torque density, and the magnetic flux density of the air gap at the rotating end is low, reducing the influence of end effect.

[0007] As a preferred embodiment, the present invention provides a linear rotary permanent magnet motor for use in drilling robots, characterized in that: the linear motion annular armature winding is embedded in the mover slot and moves together with the mover to form a moving coil structure, and the axial movement distance of the motor is equal to the difference between the axial length of the stator and the axial length of the mover.

[0008] Beneficial effects:

[0009] Compared with existing technologies, the advantages of this invention are as follows: This motor achieves rotational, linear, and helical motion using only one set of permanent magnets. By changing the rotor core structure and the permanent magnet circuit, alternating N and S poles are formed on the linear and rotational poles on both the inner and outer sides of the rotor, respectively, thus establishing air gap magnetic fields for both linear and rotational motion. The same set of permanent magnets serves as both the permanent magnet excitation source for rotational and linear motion, simplifying the motor structure. The air gap magnetic flux density for rotational motion is approximately sinusoidally distributed along the axial direction, reducing the stator core magnetic flux density, increasing the current density under load, and further improving the torque density. Furthermore, the lower air gap magnetic flux density at the rotational motion ends reduces the impact of end effects. The linear motion annular winding is embedded in the inner mover slot and moves with the mover, forming a moving-coil structure. The axial movement distance of the motor is equal to the difference between the axial length of the stator and the axial length of the mover. Attached Figure Description

[0010] Figure 1 This is a structural diagram of a linear rotary permanent magnet motor.

[0011] It includes a housing (1), a stator core (2), a rotary armature winding (3), an extended ball linear bearing (4), a rotary bearing (5), an aluminum support frame (6), a shaft (7), a rotary iron pole (8), an axially magnetized N-pole permanent magnet (9), an axially magnetized S-pole permanent magnet (10), a linear iron pole (11), a mover pole (12), a linear annular armature winding (13), and a mover yoke (14).

[0012] Figure 2 This is a structural diagram of the stator section of a linear rotary permanent magnet motor.

[0013] It includes a stator core (2), a rotating armature winding (3), a stator yoke (16), and a stator pole (17). Figure 3 This is a structural diagram of the rotor part of a linear rotating permanent magnet motor.

[0014] It includes a rotating iron pole (8), an axially magnetized N-pole permanent magnet (9), an axially magnetized S-pole permanent magnet (10), and a linear iron pole (11).

[0015] Figure 4 This is a structural diagram of the aluminum support frame for a linear rotary permanent magnet motor.

[0016] Includes an aluminum support frame (6).

[0017] Figure 5 This is a structural diagram of the mover of a linear rotating permanent magnet motor.

[0018] It includes a mover pole (12), a linear motion toroidal armature winding (13), and a mover yoke (14).

[0019] Figure 6 This is a structural diagram of the topology I of a linear rotary permanent magnet motor.

[0020] It includes a stator core (2), a rotating armature winding (3), a mover pole (12), a linear motion ring armature winding (13), a stator yoke (16), a stator pole (17), a circumferentially magnetized permanent magnet N pole (18), a circumferentially magnetized permanent magnet S pole (19), and a linear motion iron pole (20).

[0021] Figure 7 This is a structural diagram of the linear rotary permanent magnet motor topology II.

[0022] It includes a stator core (2), a rotating armature winding (3), an axially magnetized N-pole permanent magnet (9), an axially magnetized S-pole permanent magnet (10), a linear motion pole (11), a mover pole (12), a linear motion ring armature winding (13), a mover yoke (14), a stator yoke (16), and a stator pole (17).

[0023] Figure 8 This is a structural diagram of the linear rotary permanent magnet motor topology III.

[0024] It includes a stator core (2), a rotating armature winding (3), a mover pole (12), a linear ring armature winding (13), a mover yoke (14), a stator yoke (16), a stator pole (17), a circumferentially magnetized N-pole permanent magnet (18), and a circumferentially magnetized S-pole permanent magnet (19). Detailed Implementation

[0025] The overall structure diagram of the linear rotary permanent magnet motor used in drilling robots is as follows: Figure 1 As shown, the motor includes a housing (1), a stator core (2), a rotary armature winding (3), an extended ball linear bearing (4), a rotary bearing (5), an aluminum support frame (6), a shaft (7), a rotary iron pole (8), an axially magnetized N-pole permanent magnet (9), an axially magnetized S-pole permanent magnet (10), a linear iron pole (11), a mover pole (12), a linear annular armature winding (13), and a mover yoke (14).

[0026] Figure 2 This is a structural diagram of the stator part of a linear rotary permanent magnet motor, which includes a stator core (2), a rotary motion armature winding (3), a stator yoke (16), and a stator pole (17).

[0027] Figure 3 This is a structural diagram of the rotor part of a linear rotating permanent magnet motor, which includes a rotating iron pole (8), an axially magnetized N-pole permanent magnet (9), an axially magnetized S-pole permanent magnet (10), and a linear iron pole (11).

[0028] Figure 4This is a structural diagram of the aluminum support frame for a linear rotary permanent magnet motor, including the aluminum support frame (6).

[0029] Figure 5 This is a structural diagram of the mover of a linear rotating permanent magnet motor, which includes the mover iron pole (12), the linear motion ring armature winding (13), and the mover yoke (14).

[0030] Figure 6 This is a topology diagram of a linear rotary permanent magnet motor, which includes a stator core (2), a rotary armature winding (3), a mover pole (12), a linear motion ring armature winding (13), a stator yoke (16), a stator pole (17), a circumferentially magnetized permanent magnet N pole (18), a circumferentially magnetized permanent magnet S pole (19), and a linear motion iron pole (20).

[0031] Figure 7 This is a topology diagram of a linear rotary permanent magnet motor, which includes a stator core (2), a rotary armature winding (3), an axially magnetized N-pole permanent magnet (9), an axially magnetized S-pole permanent magnet (10), a linear pole (11), a mover pole (12), a linear ring armature winding (13), a mover yoke (14), a stator yoke (16), and a stator pole (17).

[0032] Figure 8 This is a topology diagram of a linear rotary permanent magnet motor, which includes a stator core (2), a rotary armature winding (3), a mover pole (12), a linear ring armature winding (13), a mover yoke (14), a stator yoke (16), a stator pole (17), a circumferentially magnetized N-pole permanent magnet (18), and a circumferentially magnetized S-pole permanent magnet (19).

[0033] Figure 1-5 This is a structural diagram of a linear rotary permanent magnet motor. The outer stator and inner mover cores are made of stacked silicon steel sheets, while the rotor core is made of pure iron. During rotational motion, the rotor and inner mover rotate together. During linear motion, the inner mover achieves axial reciprocating motion. The axial lengths of the outer stator and rotor cores are equal, and the linear motion distance is equal to the difference between the axial lengths of the rotor core and the inner mover. Therefore, the axial lengths of the outer stator, rotor, and inner mover can be flexibly designed according to requirements, facilitating motor expansion. This motor uses a 6-stator-pole, 8-pole structure with alternating N and S polarities for rotational motion. It is equally applicable if other pole-slot combinations are used.

[0034] Figure 6-8 These are three different topological diagrams of linear rotary permanent magnet motors. Figure 6 It employs a circumferentially magnetized permanent magnet with alternating N and S poles. By changing the rotor core structure, the permanent magnet circuit is altered, forming iron poles with alternating N and S polarities on both the inner and outer sides of the rotor. Figure 7It adopts an external mover, rotor and internal stator structure, with the N and S poles of the axially magnetized permanent magnets arranged alternately. Figure 8 It adopts an external mover, rotor and internal stator structure, with circumferentially magnetized permanent magnets having alternating N and S poles. Figure 6-8 It is a basic topology. By designing different stator, mover, rotor structures and different permanent magnet arrangements, various linear rotary motors can be developed. For example, based on this motor, it can be combined with a vernier motor, and the stator poles can adopt a multi-tooth structure to design various motor topologies.

[0035] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0036] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A linear rotary permanent magnet motor for use in drilling robots, characterized in that: The motor mainly consists of a stator, a rotor, and a mover. The stator consists of a stator core (2) and a rotating armature winding (3). The rotor consists of an aluminum support frame (6), rotating iron poles (8), linear iron poles (11), an axially magnetized N-pole permanent magnet (9), and an axially magnetized S-pole permanent magnet (10). The mover consists of a mover pole (12), a linear annular armature winding (13), a mover yoke (14), and a shaft (7). The rotating iron poles (8) and linear iron poles (11) are connected to an extended ball linear bearing (4) mounted on the shaft (7) via the aluminum support frame (6). Multiple linear iron poles (11) are arranged sequentially along the axial direction. The axially magnetized N-pole permanent magnet... (9) Axially magnetized S-pole permanent magnets (10) are arranged alternately and any two adjacent linear motion iron poles (11) are connected by an axially magnetized N-pole permanent magnet (9) or an axially magnetized S-pole permanent magnet (10); multiple rotating motion iron poles (8) are arranged circumferentially on the outside of multiple linear motion iron poles (11); a rotating bearing (5) is sleeved on an extended ball linear bearing (4) and connected to an explosion-proof housing (1). On the inner and outer sides of the rotor, the linear motion iron poles (11) and the rotating motion iron poles (8) form alternating polarities of N and S poles along the axial and circumferential directions, respectively, thereby establishing a linear and rotating motion air gap magnetic field. The same set of permanent magnets serves as both a rotating motion permanent magnet excitation source and a linear motion permanent magnet excitation source.

2. The linear rotary permanent magnet motor for a drilling robot according to claim 1, characterized in that: The linear motion ring armature winding is embedded in the mover slot and moves together with the mover, forming a moving coil structure. The axial movement distance of the motor is equal to the difference between the axial length of the stator and the axial length of the mover.

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