A two-degree-of-freedom permanent magnet motor with a rotary-linear compound structure

Abstract

The present invention discloses a two-degree-of-freedom permanent magnet motor with a compound rotary and linear motion, belonging to the technical field of electromechanical equipment. It includes a rotary rotor, a rotary stator, and a compound linear motor. By providing a special rotary motion mechanism composed of a stationary stator, a telescopic stator of the rotary stator, and a slider with a permanent magnet layer, the linear motion trajectory generated by the telescopic stator relative to the stationary stator can be conducted to complete the rotary motion of the slider. Through the cooperation between the permanent magnet layer on the slider and the permanent magnets on the rotary rotor, the rotary motion of the motor can be realized. By providing a compound linear motor, the mutual cooperation between the external linear motor and the internal linear motor can complete the linear movement of the motor. The internal linear motor can assist the telescopic stator to complete the linear telescopic motion relative to the stationary stator, thereby realizing the linear movement of the motor. The novel two-degree-of-freedom permanent magnet motor of the present invention has the advantages of working in two degrees of freedom directions, and has the characteristics of large output torque and high precision.

Description

Technical Field

[0001] The present invention belongs to the technical field of electromechanical equipment, relates to an electric motor, and particularly relates to a two-degree-of-freedom permanent magnet motor with a rotary-linear compound structure. Background Art

[0002] An electric motor is an electromagnetic device used to achieve the energy conversion between mechanical energy and electrical energy. Traditional electric motors are mostly single-degree-of-freedom motors, that is, the motor only moves in one direction during operation. In recent years, due to the advantages of motion precision, integration, and flexibility during operation, multi-degree-of-freedom motors have been widely used in fields such as aerospace vehicles, radars, mechanical joints, and intelligent robots, and multi-degree-of-freedom motors have become a research hotspot.

[0003] Improving the torque density and power density of electric motors is the development goal of multi-degree-of-freedom motors. Currently, the industrial design requirements for multi-degree-of-freedom motors in terms of control accuracy and output torque are gradually increasing. As an existing multi-degree-of-freedom motor, although the permanent magnet spherical motor has been greatly developed due to its large magnetic energy product and good control effect, the output torque of the permanent magnet spherical motor is small and the accuracy is low, which cannot meet the requirements of industrial design for multi-degree-of-freedom motors. Summary of the Invention

[0004] The purpose of the present invention is to provide a two-degree-of-freedom permanent magnet motor with a rotary-linear compound structure to solve the problems of small output torque and low accuracy existing in the above-mentioned existing multi-degree-of-freedom motors, which cannot meet the requirements of industrial design for multi-degree-of-freedom motors.

[0005] To achieve the above purpose, the present invention provides the following solutions:

[0006] The present invention provides a two-degree-of-freedom permanent magnet motor with a rotary-linear compound structure, including:

[0007] A rotary rotor, the rotary rotor includes a first mounting frame and a plurality of rotary rotor permanent magnets mounted on the first mounting frame, all the rotary rotor permanent magnets are evenly distributed in a circumferential manner, and the magnetic poles between any two adjacent rotary rotor permanent magnets are arranged in opposite directions;

[0008] A rotating stator is provided, which is located on one side of the rotating rotor. The rotating stator includes a stationary stator, a telescopic stator, and a slider. The stationary stator includes a second mounting bracket and a plurality of stationary stator bumps mounted on the second mounting bracket. The telescopic stator includes a third mounting bracket and a plurality of telescopic stator bumps mounted on the third mounting bracket. The number of the telescopic stator bumps is the same as that of the stationary stator bumps. All the stationary stator bumps and all the telescopic stator bumps are alternately distributed in a circle in sequence. The sum of the number of the telescopic stator bumps and the number of the stationary stator bumps is equal to the number of the permanent magnets of the rotating rotor. The surface of any one of the stationary stator bumps close to the rotating rotor is set as a stationary stator inclined surface. The surface of any one of the telescopic stator bumps close to the rotating rotor is set as a telescopic stator inclined surface with the same inclined direction as the stationary stator inclined surface. A slider is arranged between any one of the stationary stator bumps and the rotating rotor. The side surface of the slider close to the stationary stator bump is set as a slider inclined surface slidably matched with the stationary stator inclined surface. A permanent magnet layer is arranged on the side surface of the slider close to the rotating rotor. A stationary stator permanent magnet is embedded in the end face of any one of the stationary stator bumps at the high end of the stationary stator inclined surface. A telescopic stator permanent magnet is embedded in the end face of any one of the telescopic stator bumps at the high end of the telescopic stator inclined surface. A material that can be adsorbed by the telescopic stator permanent magnet and the stationary stator permanent magnet is arranged on the end face of any one of the sliders at the high end of the slider inclined surface;

[0009] A composite linear motor, which includes an internal linear motor and an external linear motor. The external linear motor includes an external hollow cylindrical permanent magnet mover surrounded by a stator coil. The internal linear motor is sleeved in the inner ring of the external hollow cylindrical permanent magnet mover. The internal linear motor includes an internal cylindrical permanent magnet mover surrounded by a stator coil. The internal cylindrical permanent magnet mover and the external hollow cylindrical permanent magnet mover are coaxially arranged. The internal cylindrical permanent magnet mover is connected to the third mounting bracket to control the telescopic movement of the telescopic stator relative to the stationary stator.

[0010] Optionally, the first mounting bracket is a circular mounting frame, and six columns evenly distributed along its circumferential direction are arranged on its inner ring. Any one of the columns is arranged along the radial direction of the first mounting bracket, and a rotating rotor permanent magnet is mounted between any two adjacent columns;

[0011] The second mounting bracket is a circular mounting frame with the same inner diameter as the first mounting bracket, and the stationary stator bumps are evenly distributed on the inner ring of the second mounting bracket;

[0012] The third mounting bracket is a circular connecting piece, which is arranged in the hollow circle formed by enclosing the stationary stator bumps, and the telescopic stator bumps are evenly distributed on the outer periphery of the third mounting bracket;

[0013] The first mounting bracket, the second mounting bracket, and the third mounting bracket are all coaxially arranged with the internal cylindrical permanent magnet mover.

[0014] Optionally, the rotating rotor permanent magnet, the stationary stator bump, and the telescopic stator bump are all sector block structures; among them, six rotating rotor permanent magnets are provided, and three stationary stator bumps and three telescopic stator bumps are respectively provided.

[0015] Optionally, the stator coil of the external linear motor includes an external cylindrical frame and a coil body arranged on the inner wall of the external cylindrical frame, and the external cylindrical frame is coaxially arranged with the external hollow cylindrical permanent magnet mover;

[0016] The stator coil of the internal linear motor includes an internal cylindrical frame and a coil body arranged on the internal cylindrical frame, and the internal cylindrical frame is coaxially arranged with the internal cylindrical permanent magnet mover.

[0017] Optionally, a plurality of external motor coil grooves are arranged at intervals along the axial direction of the inner wall of the external cylindrical frame, and all the external motor coil grooves are arranged in multiple groups. Except for two groups of external motor coil grooves located at both ends of the external cylindrical frame, each of which only contains one external motor coil groove, the remaining groups of external motor coil grooves are provided with two external motor coil grooves; the coil body of the external linear motor is embedded in any one of the external motor coil grooves;

[0018] A plurality of internal motor coil grooves are arranged at intervals along the axial direction in the side wall of the internal cylindrical frame, and all the internal motor coil grooves are arranged in multiple groups. Except for two groups of internal motor coil grooves located at both ends of the internal cylindrical frame, each of which only contains one internal motor coil groove, the remaining groups of internal motor coil grooves are provided with two internal motor coil grooves; the coil body of the internal linear motor is embedded in any one of the internal motor coil grooves.

[0019] Optionally, both the external hollow cylindrical permanent magnet mover and the internal cylindrical permanent magnet mover are formed by stacking a plurality of hollow ring permanent magnets, and the magnetic poles between any two adjacent hollow ring permanent magnets are arranged in opposite directions.

[0020] Optionally, a cylindrical mover support is arranged in the annular cavity of the internal cylindrical permanent magnet mover, and the outer wall of the cylindrical mover support is fixedly connected to the inner wall of the internal cylindrical permanent magnet mover.

[0021] Optionally, sliding grooves are provided on any one of the stationary stator inclined surfaces and any one of the telescopic stator inclined surfaces; on the inclined surface of any one of the sliders, balls that cooperate with the sliding grooves are movably embedded.

[0022] Optionally, two of the balls are movably embedded on the inclined surface of any one of the sliders.

[0023] Optionally, the material that can be adsorbed is a permanent magnet.

[0024] The present invention has achieved the following technical effects compared with the prior art:

[0025] The proposed rotary-linear compound two-degree-of-freedom permanent magnet motor of the present invention has two degrees of freedom of linear movement and rotary movement, and mainly consists of a rotary rotor, a rotary stator, and a compound linear motor. Through a special rotary motion mechanism composed of a stationary stator, a telescopic stator of the rotary stator, and a slider with a permanent magnet layer, it can conduct the linear motion trajectory generated by the telescopic stator relative to the stationary stator to complete the rotary motion of the slider, so as to realize the rotary motion of the motor through the cooperation between the permanent magnet layer on the slider and the permanent magnet on the rotary rotor; in this two-degree-of-freedom permanent magnet motor, by setting a compound linear motor, the mutual cooperation between the external linear motor and the internal linear motor can complete the linear movement of the motor, and the internal linear motor can assist the telescopic stator to complete the linear movement relative to the stationary stator, thereby realizing the linear movement of the motor. The linear movement direction of the motor is the direction of the rotation axis when the motor rotates.

[0026] The above-mentioned novel two-degree-of-freedom permanent magnet motor proposed by the present invention has the advantages of working in two degrees of freedom directions, and has the characteristics of large output torque and high precision, and can meet the current requirements of industrial design for high torque density and high power density of multi-degree-of-freedom motors. In real life, the present invention can realize the function of automatic telescopic drilling, and can complete the work of the drill bit rotating and drilling while automatically adjusting and advancing the drilling depth, and can achieve the drilling effect of a specified point and a specified depth without relying on technical workers. Description of the Drawings

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the following described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0028] Figure 1 It is a schematic diagram of the overall structure of the rotary-linear compound two-degree-of-freedom permanent magnet motor disclosed in the embodiments of the present invention;

[0029] Figure 2 Schematic cross-sectional structure diagram of the rotary-linear compound two-degree-of-freedom permanent magnet motor disclosed in the embodiment of the present invention;

[0030] Figure 3 is Figure 2 front view of the cross-sectional structure of the motor shown;

[0031] Figure 4 Schematic structure diagram of the internal linear motor disclosed in the embodiment of the present invention;

[0032] Figure 5 Schematic structure diagram of the external linear motor disclosed in the embodiment of the present invention;

[0033] Figure 6 Schematic structure diagram of the telescopic stator disclosed in the embodiment of the present invention;

[0034] Figure 7 Schematic structure diagram of the stationary stator disclosed in the embodiment of the present invention;

[0035] Figure 8 Schematic structure diagram of the slider disclosed in the embodiment of the present invention;

[0036] Figure 9 Rotary principle diagram of the rotary rotor disclosed in the embodiment of the present invention;

[0037] Figure 10 Schematic diagram of the position conversion of the slider disclosed in the embodiment of the present invention (the straight arrows in the figure represent the position conversion process of the slider);

[0038] Figure 11 Control flowchart of the rotary-linear compound two-degree-of-freedom permanent magnet motor disclosed in the embodiment of the present invention.

[0039] Among them, the reference numerals are:

[0040] 1 Rotary rotor, 101 First mounting bracket, 102 Rotary rotor permanent magnet;

[0041] 2 Compound linear motor, 200 Internal linear motor, 201 External linear motor, 202 Internal cylindrical permanent magnet mover, 203 Cylindrical mover bracket, 204 Internal motor coil groove, 205 External motor coil groove, 206 External hollow cylindrical permanent magnet mover, 207 Internal cylindrical frame, 208 External cylindrical frame;

[0042] 3 Rotating stator, 300 Third mounting bracket, 301 Telescopic stator, 302 Stationary stator, 303 Telescopic stator bump, 304 Telescopic stator inclined chute, 305 Telescopic stator cylindrical groove, 306 Second mounting bracket, 307 Stationary stator bump, 308 Stationary stator inclined chute, 309 Stationary stator cylindrical groove, 310 Slide block, 311 Slide block cylindrical groove, 312 Ball. Detailed implementation mode

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0044] One of the purposes of the present invention is to provide a rotary-linear compound two-degree-of-freedom permanent magnet motor to solve the problems of small output torque and low accuracy existing in existing multi-degree-of-freedom motors, which cannot meet the requirements for multi-degree-of-freedom motors in industrial design.

[0045] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation modes.

[0046] Embodiment 1

[0047] As Figures 1 to 3 shown, this embodiment provides a new type of two-degree-of-freedom permanent magnet motor, specifically a rotary-linear compound two-degree-of-freedom permanent magnet motor, which mainly includes a rotating rotor 1, a compound linear motor 2 and a rotating stator 3. Among them:

[0048] The rotating rotor 1 includes a first mounting bracket 101 and a rotating rotor permanent magnet 102 arranged on the first mounting bracket 101. The rotating rotor 1 is in the shape of a hollow disc as a whole, the area of the disc is the same as the upper surface area of the rotating stator 3, the edge of the rotating rotor 1 is completely superposed on the rotating stator 3, and the compound linear motor 2 is installed below the center position of the rotating stator 3.

[0049] The composite linear motor 2 includes an internal linear motor 200 and an external linear motor 201. The external linear motor is composed of an external linear stator and an external linear mover. The aforementioned external linear stator includes an external cylindrical frame 208 and coils provided on its inner wall. The external linear mover is an external hollow cylindrical permanent magnet mover 206, which is sleeved in the coils on the external cylindrical frame 208, arranged coaxially with the external cylindrical frame 208, and there is a certain air gap between the inner wall of the external cylindrical frame 208 and the outer wall of the external hollow cylindrical permanent magnet mover 206 to ensure that the external hollow cylindrical permanent magnet mover 206 can move axially relative to the external cylindrical frame 208. The inner ring of the external hollow cylindrical permanent magnet mover 206 mounts the internal linear motor 200. The internal linear motor 200 includes an internal linear stator and an internal linear mover. The internal linear stator includes an internal cylindrical frame 207 and coils provided on the inner wall of the internal cylindrical frame 207. The internal linear mover is an internal cylindrical permanent magnet mover 202, which is sleeved in the coils on the internal cylindrical frame 207, arranged coaxially with the internal cylindrical frame 207. At the same time, there is a certain air gap between the outer wall of the internal cylindrical permanent magnet mover 202 and the inner wall of the internal cylindrical frame 207 to ensure that the internal cylindrical permanent magnet mover 202 can move axially relative to the internal cylindrical frame 207. Among them, the outer wall of the internal cylindrical frame 207 and the inner wall of the external hollow cylindrical permanent magnet mover 206 can be fixedly connected through forms such as interference fit, bonding, and clamping to ensure that the internal cylindrical frame 207 can move axially relative to the external cylindrical frame 208 along with the external hollow cylindrical permanent magnet mover 206. Substantially, the internal cylindrical frame 207 and the external hollow cylindrical permanent magnet mover 206 together serve as the mover part of the external linear motor 201.

[0050] The rotating stator 3 mainly consists of a telescopic stator 301, a stationary stator 302, and a slider 310 with a permanent magnet layer. The stationary stator 302 includes a second mounting bracket 306 and a plurality of stationary stator bumps 307 disposed on the second mounting bracket 306. The second mounting bracket 306 is preferably an annular frame structure. The stationary stator bumps 307 are evenly arranged in a circle on the inner wall of the second mounting bracket 306. The central position of the stationary stator 302 is a hollow circle formed by enclosing the stationary stator bumps 307. The stationary stator bumps 307 are metal blocks, and their upper surfaces are set as inclined planes at a certain angle, that is, the stationary stator inclined planes. A stationary stator inclined plane chute 308 penetrating the stationary stator bump 307 is opened on the stationary stator inclined plane. On the end face of the thickest end of the stationary stator bump 307, there is a stationary stator cylindrical groove 309, which is located directly below the aforementioned stationary stator inclined plane chute 308. A stationary stator permanent magnet is embedded in the stationary stator cylindrical groove 309. Correspondingly, the telescopic stator 301 is a fan-shaped cube. The center of the telescopic stator 301 is a cylindrical frame, that is, the third mounting bracket 300. The outer side of the cylindrical third mounting bracket 300 is evenly provided with the same number of telescopic stator bumps 303 as the aforementioned stationary stator bumps 307. The shape and size of the telescopic stator bumps 303 are exactly the same as those of the stationary stator bumps 307. The telescopic stator bumps 303 are metal blocks, and their upper surfaces are set as inclined planes at a certain angle, that is, the telescopic stator inclined planes. A telescopic stator inclined plane chute 304 penetrating the telescopic stator bump 303 is opened on the telescopic stator inclined plane. On the end face of the thickest end of the telescopic stator bump 303, there is a telescopic stator cylindrical groove 305, which is located directly below the aforementioned telescopic stator inclined plane chute 304. A telescopic stator permanent magnet is embedded in the telescopic stator cylindrical groove 305. The slider 310 is placed on the inclined plane of the stationary stator bump 307. The bottom surface of the slider 310 completely fits the stationary stator inclined plane of the stationary stator bump 307. The upper surface of the slider 310 is horizontal and is provided with a permanent magnet layer structure to cooperate with the rotating rotor permanent magnet 102.

[0051] Furthermore, preferably, six rotating rotor permanent magnets 102 are arranged on the rotating rotor 1 of this embodiment. Each rotating rotor permanent magnet 102 is a sector block. The six rotating rotor permanent magnets 102 are alternately arranged in the order of N pole and S pole around the inner circle of the annular first mounting frame 101. The six rotating rotor permanent magnets 102 are surrounded by the first mounting frame 101. Six metal cylinders protruding radially are arranged at intervals on the inner side of the circular first mounting frame 101 to fix the rotating rotor permanent magnets 102. The metal cylinders equally divide the annular first mounting frame 101 at an angle of 60°. Correspondingly, both the telescopic stator bump 303 and the stationary stator bump 307 are preferably sector block structures with the same shape and size as the rotating rotor permanent magnets 102, and three of each are provided.

[0052] Furthermore, in the composite linear motor 2 of this embodiment, a plurality of external motor coil grooves 205 are evenly formed on the inner wall of the external cylindrical frame 208. Every two of the external motor coil grooves 205 are evenly and equidistantly distributed in groups on the cylindrical inner wall of the external cylindrical frame 208. Each external motor coil groove 205 surrounds the inner wall of the external cylindrical frame 208 at 360°. Among them, the external motor coil grooves 205 at the highest and lowest positions of the external cylindrical frame 208 are set in single groups. Correspondingly, a plurality of internal motor coil grooves 204 are evenly formed on the inner wall of the internal cylindrical frame 207. The internal motor coil grooves 204 are also evenly and equidistantly distributed in groups of two on the cylindrical inner wall of the internal cylindrical frame 207. Each internal motor coil groove 204 surrounds the inner wall of the internal cylindrical frame 207 at 360°. Among them, the internal motor coil grooves 204 at the highest and lowest positions of the internal cylindrical frame 207 are set in single groups.

[0053] Furthermore, the external hollow cylindrical permanent magnet mover 206 of this embodiment is formed by stacking a plurality of hollow ring permanent magnets with N and S poles alternately distributed. The shape of the hollow ring permanent magnet is a hollow cylinder, and they are arranged and fixed in sequence on the cylindrical outer side wall of the internal cylindrical frame 207. Correspondingly, the internal cylindrical permanent magnet mover 202 is formed by stacking a plurality of hollow ring permanent magnets with N and S poles alternately distributed. Its hollow inner side is a cylindrical mover support 203; the shape of the cylindrical mover support 203 is a cylinder with the same height as the overall height of the composite linear motor. The cylindrical mover support 203 is closely attached and fixed to the inner wall of the internal cylindrical permanent magnet mover 202, and the two cannot move relative to each other. Substantially, the cylindrical mover support 203 and the internal cylindrical permanent magnet mover 202 together form the mover of the internal linear motor 200.

[0054] Furthermore, among the three stationary stator bumps 307 of this embodiment, the height of the top position of the stationary stator inclined surface is equal to the height of the annular second mounting bracket 306, and the three stationary stator bumps 307 are mounted on the inner wall of the annular second mounting bracket 306 at an angle of 120° to each other.

[0055] Furthermore, for the slider 310 of this embodiment, a slider cylindrical groove 311 for placing a slider permanent magnet is provided on the end face at the thickest end. The shape and size of the slider cylindrical groove 311 are exactly the same as those of the telescopic stator cylindrical groove 305 on the telescopic stator 301. When the position of the slider cylindrical groove 311 is at the same horizontal plane as the telescopic stator 301, it exactly corresponds to the position of the telescopic stator cylindrical groove 305 on the telescopic stator 301; the shape and size of the slider cylindrical groove 311 are exactly the same as those of the stationary stator cylindrical groove 309 on the stationary stator 302. When the position of the slider cylindrical groove 311 is at the same horizontal plane as the stationary stator 302, it exactly corresponds to the position of the stationary stator cylindrical groove 309 on the stationary stator 302.

[0056] Furthermore, for the slider 310 of this embodiment, two balls 312 are movably and embeddedly installed on the bottom inclined surface, and the positions of the balls 312 correspond to the stationary stator inclined surface chutes 308 on the upper surface of the stationary stator 302.

[0057] Furthermore, the central hollow position of the stationary stator 302 of this embodiment exactly embeds the central cylinder of the telescopic stator 301, that is, the third mounting bracket 300. The third mounting bracket 300 is connected to the internal cylindrical permanent magnet rotor 202 and the cylindrical rotor bracket 203, so as to drive the entire telescopic stator 301 to perform axial telescopic movement relative to the stationary stator 302 under the driving action of the internal cylindrical permanent magnet rotor 202. The third mounting bracket 300 and the slider 310 are on the same horizontal line.

[0058] Furthermore, the upper surfaces of the three stationary stator bumps 307 of this embodiment are smooth metal surfaces, which is beneficial for the slider 310 to slide on its surface; the side ear surfaces of the stationary stator bumps 307 are also smooth surfaces, which facilitate the telescopic stator 301 to perform axial telescopic linear motion.

[0059] Furthermore, a cylindrical slider permanent magnet is fixed in the slider cylindrical groove 311, and its size exactly fills the slider cylindrical groove 311. A cylindrical telescopic stator permanent magnet with the opposite polarity to the slider permanent magnet is fixed in the telescopic stator cylindrical groove 305. Correspondingly, a cylindrical stationary stator permanent magnet with the opposite polarity to the slider permanent magnet is fixed in the stationary stator cylindrical groove 309.

[0060] Furthermore, when the bottom surfaces of the stationary stator 302 and the telescopic stator 301 of this embodiment are on the same horizontal line, the two are completely fitted together without any gap when viewed from the bottom.

[0061] Furthermore, the third mounting frame 300 of this embodiment is consistent in height from the bottom surface to the highest point with the telescopic stator 301 and the stationary stator 302 .

[0062] Furthermore, in this embodiment, the N pole or S pole of the permanent magnet layer is arranged toward the rotating rotor 1, and the slider 310 provided with the permanent magnet layer can be regarded as a sliding permanent magnet. As a preferred solution, in this embodiment, the N pole of the permanent magnet layer is arranged toward the rotating rotor 1, that is, the N pole of the sliding permanent magnet is arranged toward the rotating rotor 1. Under the telescopic drive of the composite linear motor 2, the telescopic stator realizes the connection and stagger of the telescopic stator protrusion inclined surface and the static stator protrusion inclined surface. Figure 10 As shown in Figure (a), when the telescopic stator 301 extends outward toward the direction close to the rotating rotor 1, the high end of the inclined surface of the telescopic stator protrusion 303 is higher than the low end of the inclined surface of the stationary stator protrusion 307. At this time, the slider 310 on the stationary stator protrusion 307 is blocked by the telescopic stator protrusion 303 and cannot slide to the adjacent telescopic stator protrusion 303. Figure 10 The circled portion in the middle (a) figure indicates the structural state in which the slider 310 is blocked by the telescopic stator protrusion 303; thereafter, the telescopic stator 301 can be driven by the composite linear motor 2 to retract in a direction away from the rotating rotor 1 until the high end of the inclined surface of the telescopic stator protrusion 303 is connected with the low end of the inclined surface of the stationary stator protrusion 307, and the slider 310 can slide from the stationary stator protrusion 307 to the adjacent telescopic stator protrusion 303 along the trend of the connected inclined surface, as shown in FIG. Figure 10 The curved arrow shown in Figure (b) is the sliding direction of the slider 310, and the area circled by the black circle indicates that the telescopic stator protrusion 303 has released the blocking state of the slider 310. Figure 10 As shown in Figure (c), when the slider 310 is located on the telescopic stator protrusion 303, the slider 310 is blocked by the high end of the stationary stator protrusion 307 located on the lower end side of the telescopic stator protrusion 303 and stops moving. At this time, the telescopic stator 301 can be driven by the composite linear motor 2 to extend toward the direction close to the rotating rotor 1 until the lower end of the inclined surface of the telescopic stator protrusion 303 is connected with the upper end of the inclined surface of the adjacent stationary stator protrusion 307. Figure 10As shown in Figure (d), the slider 310 can slide from the telescopic stator bump 303 to the adjacent stationary stator bump 307 along the trend of the connecting inclined plane. Thus, the circumferential rotation of the slider 310, i.e., the sliding permanent magnet, is realized. The rotation process mainly consists of two parts: moving the slider from the stationary stator part to the telescopic stator part and moving the slider from the telescopic stator part to the stationary stator part. By periodically changing the telescopic length of the telescopic stator, the continuous rotational motion of the slider can be achieved (a directional rotation, and the rotation direction is determined by the inclination direction of the inclined plane on the stationary stator bump and the inclination direction of the inclined plane on the telescopic stator bump). During this process, the mutual attraction or repulsion between the sliding permanent magnet and different rotating rotor permanent magnets 102 in the rotating rotor 1 is realized, and the overall rotation drive of the rotating rotor 1 is completed by using the principle of like poles repelling and opposite poles attracting between permanent magnets. As Figure 9 shown, the magnetic change between the rotating rotor 1 and the permanent magnet layer on the slider 310 is a feasible way to achieve the rotation of the rotating rotor 1.

[0063] In this embodiment, when the telescopic stator bump 303 is connected to the adjacent stationary stator bump 307 to form a sliding inclined plane, for example, the lower end of the stationary stator bump 307 is connected to the upper end of the telescopic stator bump 303. At this time, the telescopic stator inclined plane chute 304 on the telescopic stator bump 303 will be docked and connected to the stationary stator inclined plane chute 308 on the adjacent stationary stator bump 307 to form an inclined slideway. At this time, the slider 310 can move along this slideway under the action of two forces. One of the two forces is the gravity of the slider 310 itself, and the other is the attraction between the magnetizable permanent magnetic material in the cylindrical groove 311 of the slider and the stationary stator permanent magnet. Under the action of the two forces, the slider 310 slides from the stationary stator bump 307 to the telescopic stator bump 303 along the inclined slideway. The magnetizable permanent magnetic material in the above-mentioned cylindrical groove 311 of the slider is preferably a cylindrical permanent magnet, which can attract each other with the stationary stator permanent magnet and the stationary stator permanent magnet, so as to provide power for the rotational sliding of the slider 310.

[0064] In actual use, a controller and sensors can be configured to control the operation of the two-degree-of-freedom permanent magnet motor. Among them, the sensors and the driver of the composite linear motor are both communicatively connected to the controller. The driver of the composite linear motor is an energized coil. As Figure 11 shown, the controller can control the magnitude and direction of the current in the energized coil, so as to adjust the telescopic frequency and telescopic rate of the internal linear motor in the composite linear motor, and then realize the control of the sliding rate of the slider, and finally realize the regulation of the rotation rate of the rotating rotor. The rotating rotor is communicatively connected to the sensor, and the sensor transmits the rotation parameters of the rotating rotor to the controller in real time. The controller controls the magnitude and direction of the current in the energized coil according to the rotation parameters of the rotating rotor in real time.

[0065] As can be seen from the above, the two-degree-of-freedom permanent magnet motor proposed in this technical solution belongs to the structural design of a new type of two-degree-of-freedom permanent magnet motor, including a rotating stator part, a rotating rotor part, and a composite linear motor part. The rotating stator part is composed of a stationary stator, a telescopic stator, and a slider. The stationary stator is relatively stationary during the operation of the motor. The stationary stator has a slotted inclined plane with an inclination and a special permanent magnet embedded in the stator cross-section. The telescopic stator is relatively movable during the operation of the motor, but the surface structure of the telescopic stator is basically the same as that of the stationary stator, consisting of a slotted inclined plane with an inclination and a permanent magnet embedded in the stator cross-section. The slider is composed of a slider body, sliding balls, and a material that can be adsorbed by the permanent magnets in the stator. The surface of the slider body is covered with a certain amount of magnetic material, and the bottom surface has an inclined plane with the same inclination as the stator inclined plane. There are two grooves for placing balls on the bottom surface, and a groove for placing the adsorbable material is provided in the cross-section. The sliding balls are arranged at the grooves on the bottom surface of the slider, and the adsorbable material is arranged in the cross-section of the slider, corresponding to the position of the permanent magnets in the stator cross-section. A number of permanent magnets with alternating magnetic poles are embedded in the frame of the rotating rotor part, similar to the structure of a magnetic gear. The composite linear motor part is composed of an internal permanent magnet linear motor and an external permanent magnet linear motor. The internal permanent magnet linear motor is formed by surrounding the permanent magnet mover with a coil and then placing the whole inside the permanent magnet mover of the external permanent magnet linear motor. The external permanent magnet linear motor is surrounded by the coil of the external permanent magnet linear motor. The permanent magnet mover is in the shape of a hollow column formed by overlapping different magnetic poles in a staggered manner. The hollow center of the mover of the internal permanent magnet linear motor is a mover support. Compared with the prior art, this technical solution has the following beneficial effects:

[0066] 1. This new type of two-degree-of-freedom permanent magnet motor is composed of three different motor main parts. Through the magnetic gear transmission mechanism between the permanent magnets of the rotating rotor part and the permanent magnets of the rotating stator part, the rotational motion of the motor around the Z-axis can be realized. The so-called "rotational motion around the Z-axis" is actually the final motion state of the rotating rotor. The reason for its motion is the rotational sliding of the slider with a permanent magnet layer below. The rotating rotor does not rotate spontaneously. Its rotation is carried out according to the attraction of the permanent magnet layer on the slider in the rotating stator below. The specific motion process is as Figure 9 shown. The rotating rotor realizes the corresponding motion under the influence of the permanent magnet layer on the slider below. The sliding process of the slider needs to be jointly completed by the telescopic stator and the stationary stator. By periodically changing the telescopic length of the telescopic stator through the composite linear motor, the continuous rotational motion of the slider (a directional rotation, and the rotation direction is determined by the inclination direction of the inclined plane on the convex block of the stationary stator and the inclination direction of the inclined plane on the convex block of the telescopic stator) can be realized, and then the rotation of the rotating rotor part can be realized.

[0067] 2. For this new type of two-degree-of-freedom permanent magnet motor, by setting a special rotating motion part composed of a stationary stator, a telescopic stator, and a slider (with a permanent magnet layer), the linear motion trajectory of the telescopic stator can be conducted to complete the rotational motion of the slider, and then drive the rotation of the rotating rotor.

[0068] 3. For this new type of two-degree-of-freedom permanent magnet motor, by setting a composite linear motor, the mutual cooperation of the external linear motor and the internal linear motor can complete the linear motion of the motor. The internal linear motor can assist the telescopic stator to complete the linear motion, so as to achieve the movement of the motor along the Z-axis, and then assist in driving the rotating rotor.

[0069] It should be noted that for those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention, and any reference signs in the claims should not be regarded as limiting the claims involved.

[0070] In the present invention, specific examples are used to elaborate on the principles and implementation manners of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A two-degree-of-freedom permanent magnet motor with a rotary-linear compound structure, characterized in that, Comprising: A rotating rotor, the rotating rotor includes a first mounting bracket and a plurality of rotating rotor permanent magnets mounted on the first mounting bracket. All the rotating rotor permanent magnets are evenly distributed in a circle, and the magnetic poles between any two adjacent rotating rotor permanent magnets are arranged in opposite directions; A rotating stator, the rotating stator is located on one side of the rotating rotor. The rotating stator includes a stationary stator, a telescopic stator and a slider. The stationary stator includes a second mounting bracket and a plurality of stationary stator bumps mounted on the second mounting bracket. The telescopic stator includes a third mounting bracket and a plurality of telescopic stator bumps mounted on the third mounting bracket. The number of the telescopic stator bumps is the same as the number of the stationary stator bumps. All the stationary stator bumps and all the telescopic stator bumps are alternately distributed in a circle in sequence. The sum of the number of the telescopic stator bumps and the number of the stationary stator bumps is equal to the number of the rotating rotor permanent magnets; The surface of any stationary stator bump close to the rotating rotor is set as a stationary stator inclined surface, and the surface of any telescopic stator bump close to the rotating rotor is set as a telescopic stator inclined surface with the same inclination direction as the stationary stator inclined surface; A slider is arranged between the stationary stator inclined surface of any stationary stator bump and the rotating rotor, and the side surface of the slider close to the stationary stator bump is set as a slider inclined surface slidably matched with the stationary stator inclined surface. A permanent magnet layer is arranged on the side surface of the slider close to the rotating rotor; A stationary stator permanent magnet is embedded in the end face of any stationary stator bump at the high end of the stationary stator inclined surface, a telescopic stator permanent magnet is embedded in the end face of any telescopic stator bump at the high end of the telescopic stator inclined surface, and an adsorbable material capable of being adsorbed by the telescopic stator permanent magnet and the stationary stator permanent magnet is arranged on the end face of any slider at the high end of the slider inclined surface; A composite linear motor, the composite linear motor includes an internal linear motor and an external linear motor. The external linear motor includes an external hollow cylindrical permanent magnet mover surrounded by a stator coil on the outside. The internal linear motor is sleeved on the inner ring of the external hollow cylindrical permanent magnet mover. The internal linear motor includes an internal cylindrical permanent magnet mover surrounded by a stator coil on the outside. The internal cylindrical permanent magnet mover and the external hollow cylindrical permanent magnet mover are coaxially arranged. The internal cylindrical permanent magnet mover is connected to the third mounting bracket to control the telescopic stator to make a telescopic movement relative to the stationary stator.

2. The two-degree-of-freedom permanent magnet motor with a rotary-linear composite type according to claim 1, characterized in that The first mounting bracket is a circular mounting frame, and six columns evenly distributed along its circumference are arranged on its inner ring. Any one of the columns is arranged along the radial direction of the first mounting bracket, and a rotating rotor permanent magnet is mounted between any two adjacent columns; The second mounting bracket is a circular mounting frame with the same inner diameter as the first mounting bracket, and the stationary stator bumps are evenly distributed on the inner ring of the second mounting bracket; The third mounting bracket is a circular connecting piece, which is arranged in the hollow circle formed by surrounding the stationary stator bumps, and the telescopic stator bumps are evenly distributed on the outer periphery of the third mounting bracket; The first mounting bracket, the second mounting bracket, and the third mounting bracket are all coaxially arranged with the internal cylindrical permanent magnet mover.

3. The two-degree-of-freedom permanent magnet motor with a combined rotary and linear structure according to claim 1 or 2, characterized in that The rotating rotor permanent magnet, the stationary stator bump, and the telescopic stator bump are all sector block structures; among them, six rotating rotor permanent magnets are provided, and three stationary stator bumps and three telescopic stator bumps are respectively provided.

4. The two-degree-of-freedom permanent magnet motor with a combined rotational and linear motion according to claim 1 or 2, characterized in that, The stator coil of the external linear motor includes an external cylindrical frame and a coil body arranged on the inner wall of the external cylindrical frame, and the external cylindrical frame is coaxially arranged with the external hollow cylindrical permanent magnet mover; The stator coil of the internal linear motor includes an internal cylindrical frame and a coil body arranged on the internal cylindrical frame, and the internal cylindrical frame is coaxially arranged with the internal cylindrical permanent magnet mover.

5. The two-degree-of-freedom permanent magnet motor with a rotational and linear compound structure according to claim 4, wherein A plurality of external motor coil grooves are arranged at intervals along the axial direction on the inner wall of the external cylindrical frame, and all the external motor coil grooves are arranged in multiple groups. Except for two groups of the external motor coil grooves located at both ends of the external cylindrical frame, each group only contains one external motor coil groove, and the remaining groups of the external motor coil grooves are each provided with two external motor coil grooves; the coil body of the external linear motor is embedded in any one of the external motor coil grooves; A plurality of internal motor coil grooves are arranged at intervals along the axial direction in the side wall of the internal cylindrical frame, and all the internal motor coil grooves are arranged in multiple groups. Except for two groups of the internal motor coil grooves located at both ends of the internal cylindrical frame, each group only contains one internal motor coil groove, and the remaining groups of the internal motor coil grooves are each provided with two internal motor coil grooves; the coil body of the internal linear motor is embedded in any one of the internal motor coil grooves.

6. The two-degree-of-freedom permanent magnet motor with a rotary-linear compound structure according to claim 4, wherein, The external hollow cylindrical permanent magnet mover and the internal cylindrical permanent magnet mover are both formed by stacking a plurality of hollow ring permanent magnets, and the magnetic poles between any two adjacent hollow ring permanent magnets are arranged in reverse.

7. The two-degree-of-freedom permanent magnet motor with a rotary-linear composite type according to claim 6, characterized in that, A cylindrical mover bracket is arranged in the annular cavity of the internal cylindrical permanent magnet mover, and the outer wall of the cylindrical mover bracket is fixedly connected to the inner wall of the internal cylindrical permanent magnet mover.

8. The two-degree-of-freedom permanent magnet motor with a combined rotation and linear movement according to claim 1, characterized in that, Chute grooves are provided on any one of the stationary stator inclined surfaces and any one of the telescopic stator inclined surfaces; on the inclined surface of any one of the sliders, balls that cooperate with the chute grooves are movably embedded.

9. The two-degree-of-freedom permanent magnet motor with a rotary-linear compound structure according to claim 8, characterized in that, Two balls are movably embedded on the inclined surface of any one of the sliders.

10. The two-degree-of-freedom permanent magnet motor with a combined rotary and linear structure according to claim 1, characterized in that, The material that can be adsorbed is a permanent magnet.

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