Primary-secondary three-area V-shaped hybrid permanent magnet linear stepping motor

Abstract

The invention discloses a primary-secondary three-area V-shaped hybrid permanent magnet linear stepping motor, which adopts a bilateral flat structure with a middle secondary and two side primary, air gaps exist among a first mover, a stator and a second mover, and the first mover and the second mover are symmetrical about the stator; the first mover and the second mover are the same in structure and each comprise a plurality of T-shaped iron cores, and a V-shaped hybrid permanent magnet structure is arranged between every two adjacent T-shaped iron cores. The stator comprises a salient pole iron core with a plurality of small teeth, a V-shaped permanent magnet structure C is arranged in the salient pole iron core, neodymium iron boron permanent magnets O are embedded in small grooves of the salient pole iron core at intervals, and the neodymium iron boron permanent magnets O on the upper side and the lower side are distributed in a staggered mode. The motor is of a five-phase hybrid permanent magnet structure, and has the advantages of being large in thrust density, high in thrust quality, high in power density, high in positioning precision, high in loading capacity, high in efficiency, high in reliability and the like. The thrust density and the loading capacity can be further improved by changing the magnetization level of the aluminum-nickel-cobalt permanent magnet and adjusting the air-gap magnetic field.

Description

Technical Field

[0001] The invention belongs to the technical field of stepper motors, and in particular relates to a primary-secondary three-zone V-type hybrid permanent magnet linear stepper motor. Background Art

[0002] A stepper motor is an actuator that performs digital / analog conversion. It converts electrical pulse signals into corresponding angular displacement or linear displacement. Due to its high reliability, fast dynamic response, high positioning accuracy, and good control performance, it is widely used in automation instruments, CNC machine tools, industrial robots, semiconductor processing equipment, medical equipment, automotive industry, printing industry, automated production lines, electronic equipment and other fields.

[0003] The linear stepper motor can be regarded as a rotary stepper motor cut and flattened along the radial direction. It has a simple structure, small inertia, no cumulative positioning error, and has the characteristics of high speed and high positioning accuracy. It can be used in automatic plotters, printers, intelligent instruments, computer equipment, medical instruments, machine tool workbenches and other precision equipment. With the development of high-precision industries, higher requirements are placed on the thrust density, accuracy, efficiency, reliability and other aspects of linear stepper motors. Traditional linear stepper motors can no longer meet the requirements in terms of accuracy and reliability, and have disadvantages such as large unilateral radial magnetic pull, difficult heat dissipation, and difficult magnetic field adjustment. Summary of the invention

[0004] The purpose of the present invention is to provide a primary-secondary three-zone V-shaped hybrid permanent magnet linear stepper motor to solve the problems of low thrust density and low positioning accuracy of existing linear stepper motors; and to improve power density and load capacity.

[0005] The technical solution adopted by the present invention is: a primary-secondary three-zone V-type hybrid permanent magnet linear stepper motor adopts a double-sided flat structure with a middle secondary and two primary sides, wherein the primary is used as a short-side mover, including a first mover and a second mover; the secondary is used as a long-side stator; there are air gaps between the first mover, the stator, and the second mover, and the first mover and the second mover are symmetrical about the stator; The first mover and the second mover have the same structure, both comprising a plurality of T-shaped iron cores, and a V-shaped hybrid permanent magnet structure is arranged between two adjacent T-shaped iron cores; The stator comprises a salient pole core with a plurality of small teeth, a V-shaped permanent magnet structure C is arranged in the salient pole core, NdFeB permanent magnets O are embedded in the small slots of the salient pole core at intervals, and the NdFeB permanent magnets O on the upper and lower sides are staggered.

[0006] The present invention is also characterized in that: The first mover includes a plurality of T-shaped iron cores A, a V-shaped permanent magnet structure A is arranged between two adjacent T-shaped iron cores A, and a centralized control winding A, a ring-shaped magnetic adjustment winding A and a drum-shaped magnetic adjustment winding A are wound on each T-shaped iron core A; The second mover includes a plurality of T-shaped iron cores B, a V-shaped permanent magnet structure B is arranged between two adjacent T-shaped iron cores B, and each T-shaped iron core B is wound with a centralized control winding B, a ring-shaped magnetic adjustment winding B and a drum-shaped magnetic adjustment winding B; Among them, the centralized control winding A of the first mover constitutes a five-phase structure, and the centralized control winding B of the second mover also constitutes a five-phase structure. The centralized control winding A of the first mover and the centralized control winding B of the second mover can be controlled individually, or can be connected in series or in parallel for control.

[0007] The number of T-cores A and B is the same, both are 5 N indivual, N is an integer.

[0008] The V-shaped permanent magnet structure A is a V-shaped structure composed of a NdFeB permanent magnet A and an AlNiCo permanent magnet A, and is embedded in the first mover yoke; Both the NdFeB permanent magnet A and the AlNiCo permanent magnet A are distributed in three sections, the middle section of the permanent magnet is magnetized to the left along the direction of movement, and the other two sections of the permanent magnet are magnetized in a direction perpendicular to and pointing to the middle section of the permanent magnet; the magnetization directions of adjacent V-shaped permanent magnet structures A are opposite; The V-shaped permanent magnet structure B is a V-shaped structure composed of a NdFeB permanent magnet B and an AlNiCo permanent magnet B, and is embedded in the yoke of the second mover; Both the NdFeB permanent magnet B and the AlNiCo permanent magnet B are distributed in three sections. The middle section is magnetized to the left along the direction of movement, and the other two sections are magnetized in a direction perpendicular to and pointing to the middle section. The magnetization directions of adjacent V-shaped permanent magnet structures B are opposite.

[0009] Three small teeth are arranged at the large teeth of each T-shaped core, and AlNiCo permanent magnets M are alternately attached to the small teeth on both sides of the T-shaped core A, wherein the AlNiCo permanent magnets M attached to the surface of the T-shaped core A are magnetized along the first air gap direction, and the AlNiCo permanent magnets attached to the surface of the other adjacent T-shaped core A are magnetized vertically upward, that is, the AlNiCo permanent magnets on the small teeth of the two adjacent T-shaped cores A have opposite magnetization directions and are arranged alternately; Alnico permanent magnets N are alternately attached to the small teeth on both sides of the T-shaped core B, wherein the Alnico permanent magnets N attached to the surface of the T-shaped core B are magnetized along the second air gap direction, and the Alnico permanent magnets attached to the surface of another adjacent T-shaped core B are magnetized vertically downward, that is, the Alnico permanent magnets on the small teeth of two adjacent T-shaped cores B are magnetized in opposite directions and are arranged alternately; The magnetization directions of the AlNiCo permanent magnets on the T-shaped core small teeth on both sides of the first mover and the second mover symmetrically with respect to the stator are opposite; The small tooth pitch on the stator is the same as the small tooth pitch of the T-type iron core, wherein a plurality of NdFeB permanent magnets magnetized horizontally to the right are alternately placed near the slot of the first air gap, and a plurality of NdFeB permanent magnets magnetized horizontally to the left are alternately placed near the slot of the second air gap, and the phases of the NdFeB permanent magnets on the upper and lower sides differ by 1 / 2 pitch.

[0010] There are ten T-type cores A of the first mover, and the centralized control windings A wound on the large teeth of the T-type cores A are A11, B11, C11, D11, E11, A12, B12, C12, D12, and E12 in sequence; among which, the control windings A11 and A12 constitute the A1 phase winding, B11 and B12 constitute the B1 phase winding, C11 and C12 constitute the C1 phase winding, D11 and D12 constitute the D1 phase winding, and E11 and E12 constitute the E1 phase winding, thereby forming a five-phase structure, and the adjacent windings are energized with opposite polarities; The second mover has ten T-type cores B, and the centralized control windings B wound on the large teeth of the T-type cores B are A21, B21, C21, D21, E21, A22, B22, C22, D22, and E22 in sequence; among which, the control windings A21 and A22 constitute the A2 phase winding, B21 and B22 constitute the B2 phase winding, C21 and C22 constitute the C2 phase winding, D21 and D22 constitute the D2 phase winding, and E21 and E22 constitute the E2 phase winding, thereby forming a five-phase structure, and the adjacent windings are energized with opposite polarities; The winding A1 of the first mover and the centralized control winding A2 of the second mover can be controlled individually, or can be connected in series or in parallel.

[0011] The annular magnetic-adjusting winding is wound in the small slot of the yoke of the T-shaped iron core, and the drum-shaped magnetic-adjusting winding is wound on the small teeth in the middle of the T-shaped iron core where no AlNiCo permanent magnet is placed; The annular magnetic tuning winding A is used to adjust the working state of the AlNiCo permanent magnet A, and the annular magnetic tuning winding B is used to adjust the working state of the AlNiCo permanent magnet B; the drum-shaped magnetic tuning winding A is used to adjust the working state of the AlNiCo permanent magnet M, and the drum-shaped magnetic tuning winding B is used to adjust the working state of the AlNiCo permanent magnet N.

[0012] The V-shaped permanent magnet structure C is evenly distributed in the stator. The V-shaped structure is composed of NdFeB permanent magnets C and is embedded in the stator yoke. The NdFeB permanent magnets C are distributed in three sections, among which the middle section permanent magnet is magnetized in the rightward movement direction, and the other two sections of permanent magnets are magnetized in a direction perpendicular to and pointing to the middle section permanent magnet.

[0013] The beneficial effects of the present invention are: (1) It adopts an open flat topology with a simple structure, easy installation, high reliability, high positioning accuracy, high sensitivity, convenient heat dissipation, long life, high-speed operation, low mechanical loss and high transmission efficiency; (2) It adopts a five-phase structure, with strong output thrust capacity, small thrust fluctuation, high positioning accuracy, strong fault tolerance and high reliability; (3) Both the primary and secondary stages use a V-shaped permanent magnet structure, and are arranged in three sections, which has a good magnetic field concentration effect, further improving the power density and thrust density, with strong load capacity and high efficiency; (4) The primary mover adopts a modular hybrid permanent magnet structure with high thrust density, high positioning accuracy, low cost, and the ability to flexibly adjust the stroke according to the secondary length, adapting to multi-stroke applications and easy to install and maintain; (5) AlNiCo permanent magnets and NdFeB permanent magnets are placed at the teeth of the primary mover and the slots of the secondary stator respectively to enhance the air gap magnetic field and effectively improve the thrust density and load capacity; (6) The magnetic adjustment structure is adopted. By applying pulse current to the magnetic adjustment winding, the magnetization state and level of the AlNiCo permanent magnet are changed, so that the air gap magnetic field can be adjusted efficiently and flexibly. The magnetic adjustment loss is small and the efficiency is high, which further improves the load capacity. (7) The double air gap structure consisting of a secondary stator and two primary movers can balance the unilateral radial magnetic pull, while increasing the thrust capacity and improving the running stability and reliability; (8) The two primary units can be controlled separately, which is simple and convenient and can improve the fault-tolerant operation capability. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the primary and secondary three-zone V-type hybrid permanent magnet linear stepping motor of the present invention; Figure 2 It is an enlarged schematic diagram of the first mover T-shaped core A of the present invention; Figure 3 It is a permanent magnet operation principle diagram of the primary and secondary three-zone V-type hybrid permanent magnet linear stepping motor of the present invention; Figure 4 It is a single five-beat power-on principle diagram of the primary-secondary three-zone V-type hybrid permanent magnet linear stepping motor of the present invention.

[0015] In the figure, 1. the first mover, 2. the secondary stator, 3. the second mover, 4. the first air gap, 5. the second air gap, 6. the V-type permanent magnet structure A, 16. the V-type permanent magnet structure B, 26. the V-type permanent magnet structure C, 31. the T-type core A, 41. the T-type core B, 51. the small teeth, 52. the small grooves of the yoke, 53. the NdFeB permanent magnet A, 55. the NdFeB permanent magnet B, 57. the AlNiCo permanent magnet Magnet A, 59. Alnico permanent magnet B, 61. Alnico permanent magnet M, 62. Alnico permanent magnet N, 63. NdFeB permanent magnet O, 65. Centralized control winding A, 66. Centralized control winding B, 67. Ring-shaped magnetic tuning winding A, 68. Ring-shaped magnetic tuning winding B, 69. Drum-shaped magnetic tuning winding A, 70. Drum-shaped magnetic tuning winding B, 71. Salient pole core, 72. NdFeB permanent magnet C. DETAILED DESCRIPTION

[0016] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0017] Example 1 The primary and secondary three-zone V-type hybrid permanent magnet linear stepping motor of the present invention is as follows: Figure 1 As shown, a bilateral flat structure with a secondary in the middle and primary on both sides is adopted, wherein the primary serves as the short-side mover, including a first mover 1 and a second mover 3; the secondary serves as a long-side stator 2; there is an air gap 4 between the first mover 1 and the stator 2, there is an air gap 5 between the second mover 3 and the stator 2, the first mover 1 and the second mover 3 are symmetrical about the stator 2, and the structure is simple.

[0018] The first mover 1 is composed of ten T-shaped iron cores A31, ten V-shaped permanent magnet structures A6, twenty straight AlNiCo permanent magnets M61, ten centralized control windings A65, ten annular magnetic adjustment windings A67 and ten drum-shaped magnetic adjustment windings A69.

[0019] The second mover 3 is composed of ten T-shaped iron cores B41, ten V-shaped permanent magnet structures B16, twenty straight-line AlNiCo permanent magnets N62, ten centralized control windings B66, ten annular magnetic adjustment windings B68 and ten drum-shaped magnetic adjustment windings B70.

[0020] Among them, the ten control windings A65 of the first mover 1 constitute a five-phase structure, and the ten control windings B66 of the second mover 3 also constitute a five-phase structure. The ten control windings of the first mover 1 and the ten control windings of the second mover 3 can be controlled separately, or connected in series or in parallel. The ten annular magnetic adjustment windings A67 are used to adjust the working state of the ten aluminum nickel cobalt permanent magnets A57, and the ten annular magnetic adjustment windings B68 are used to adjust the working state of the ten aluminum nickel cobalt permanent magnets B59; the ten drum-shaped magnetic adjustment windings A69 are used to adjust the working state of the twenty aluminum nickel cobalt permanent magnets M61, and the ten drum-shaped magnetic adjustment windings B70 are used to adjust the working state of the twenty aluminum nickel cobalt permanent magnets N62. The secondary stator 2 is composed of a salient pole core 71 with sixty small teeth, five V-shaped permanent magnet structures C26, and sixty straight-shaped neodymium iron boron permanent magnets O63.

[0021] The three regions of the primary and secondary are all V-shaped permanent magnet structures, that is, three-region V-shaped, and are distributed in three sections. Among them, the V-shaped permanent magnet structure A6 of the first mover 1 is composed of NdFeB permanent magnets A53 and AlNiCo permanent magnets A57, and is embedded in the yoke. Both NdFeB permanent magnets A53 and AlNiCo permanent magnets A57 are distributed in three sections, the middle section permanent magnet is magnetized to the left along the direction of movement, and the other two sections of permanent magnets are magnetized in a direction perpendicular to and pointing to the middle section permanent magnet; the magnetization directions of adjacent V-shaped permanent magnet structures A6 are opposite, that is, the middle section permanent magnet of the V-shaped permanent magnet adjacent to the above-mentioned V-shaped permanent magnet structure A6 is magnetized to the right along the direction of movement, and the other two sections of permanent magnets are magnetized in a direction perpendicular to and pointing to the middle section permanent magnet. The V-shaped permanent magnet structure B16 of the second mover 3 is composed of NdFeB permanent magnets B55 and AlNiCo permanent magnets B59, and is embedded in the yoke. Both NdFeB permanent magnets B55 and AlNiCo permanent magnets B59 are distributed in three sections, the middle section permanent magnet is magnetized to the left along the direction of movement, and the other two sections of permanent magnets are magnetized in a direction perpendicular to and pointing to the middle section permanent magnet. The magnetization directions of adjacent V-shaped permanent magnet structures B16 are opposite. The V-shaped permanent magnet structure C26 is evenly distributed in the stator 2, composed of NdFeB permanent magnets C72, and is embedded in the yoke of the stator 2, and is distributed in three sections. Among them, the middle section permanent magnet is magnetized in the direction of movement to the right, and the other two sections of permanent magnets are magnetized in a direction perpendicular to and pointing to the middle section permanent magnet.

[0022] The structures of the ten T-shaped cores of the first mover 1 are completely identical, wherein the enlarged view of the T-shaped core A31 is shown in FIG. Figure 2As shown. Three small teeth 51 are arranged at each large tooth of the T-type core, and AlNiCo permanent magnets M61 are alternately attached to the small teeth on both sides. The AlNiCo permanent magnets M61 attached to the surface of the T-type core A31 are magnetized along the direction of the first air gap 4, and the AlNiCo permanent magnets attached to the surface of the other adjacent T-type core A are magnetized vertically upward, that is, the AlNiCo permanent magnets on the small teeth of the two adjacent T-type cores A31 are magnetized in opposite directions and are arranged alternately; the AlNiCo permanent magnets M61 attached to the small teeth on both sides of the T-type core B41 are alternately attached to the small teeth on both sides of the T-type core B41. The AlNiCo permanent magnet N62 is mounted on the surface, wherein the AlNiCo permanent magnet N62 mounted on the surface of the T-core B41 is magnetized along the direction of the second air gap 5, and the AlNiCo permanent magnet mounted on the surface of the other adjacent T-core B is magnetized vertically downward, that is, the AlNiCo permanent magnets on the small teeth of the two adjacent T-cores B41 are magnetized in opposite directions and are arranged alternately; the AlNiCo permanent magnets on the small teeth of the T-cores on both sides of the first mover 1 and the second mover 3 symmetrically with respect to the stator 2 are magnetized in opposite directions. The annular magnetic adjustment winding is wound in the small slot of the T-core yoke, and the drum-shaped magnetic adjustment winding is wound on the small teeth of the T-core where no AlNiCo permanent magnets are placed.

[0023] The small tooth pitch on the stator 2 is the same as the small tooth pitch of the T-type iron core, wherein a plurality of NdFeB permanent magnets magnetized horizontally to the right are alternately placed near the slot of the first air gap 4, and a plurality of NdFeB permanent magnets magnetized horizontally to the left are alternately placed near the slot of the second air gap 5, and the phases of the NdFeB permanent magnets on the upper and lower sides differ by 1 / 2 pitch.

[0024] The first mover 1 has ten T-cores A31, and the centralized control windings 65 wound on the large teeth of the ten T-cores A31 are A11, B11, C11, D11, E11, A12, B12, C12, D12, and E12 respectively; wherein the control windings A11 and A12 constitute the A1 phase winding, B11 and B12 constitute the B1 phase winding, C11 and C12 constitute the C1 phase winding, D11 and D12 constitute the D1 phase winding, and E11 and E12 constitute the E1 phase winding, thereby forming a five-phase structure, and the energization polarities of adjacent windings are opposite; the second mover 3 has ten T-cores B41, and the large teeth of the T-cores B41 are The ten wound centralized control windings B66 are windings A21, B21, C21, D21, E21, A22, B22, C22, D22, and E22 respectively; among them, the control windings A21 and A22 constitute the A2 phase winding, B21 and B22 constitute the B2 phase winding, C21 and C22 constitute the C2 phase winding, D21 and D22 constitute the D2 phase winding, and E21 and E22 constitute the E2 phase winding, thereby forming a five-phase structure, and the adjacent windings have opposite energization polarities; among them, the winding A1 of the first mover 1 and the winding A2 of the second mover 3 can be controlled individually, and can also be connected in series or in parallel, and the same is true for other windings.

[0025] based on Figure 3The permanent magnet operation principle of the primary and secondary three-zone V-type hybrid permanent magnet linear stepper motor is analyzed. The solid line with arrows represents the flux path of the NdFeB permanent magnet, and the dotted line represents the flux path of the AlNiCo permanent magnet. When the motor is in the permanent magnet operation state, in the V-type permanent magnet structure A6 of the first mover 1, part of the magnetic flux of the NdFeB permanent magnet A53 enters the AlNiCo permanent magnet M61 on the small tooth on the left side of the T-type core A31, passes through the first air gap 4 and reaches the salient pole core 71, then passes through the NdFeB permanent magnet O63 and the NdFeB permanent magnet C72, passes through the first air gap 4 and reaches the adjacent T-type core, then passes through the AlNiCo permanent magnet A57 and then reaches the adjacent T-type core. Return to the NdFeB permanent magnet A53; the other part enters the AlNiCo permanent magnet M61 on the small tooth on the right side of the T-shaped iron core A31, and passes through the first air gap 4, the salient pole core 71, the NdFeB permanent magnet O63, the NdFeB permanent magnet C72, the NdFeB permanent magnet O63, the first air gap 4, the vertically upward magnetized AlNiCo permanent magnet M61, the adjacent T-shaped iron core, and the AlNiCo permanent magnet A57, and then returns to the NdFeB permanent magnet A53. The magnetic flux of the AlNiCo permanent magnet A57 is also divided into two parts. One part passes through the NdFeB permanent magnet A53, the T-shaped iron core A31, the AlNiCo permanent magnet M61 on the left small tooth, the first air gap 4, the salient pole core 71, the NdFeB permanent magnet O63, the NdFeB permanent magnet C72, the first air gap 4, and the adjacent T-shaped iron core, and then returns to the AlNiCo permanent magnet A57; the other part passes through the NdFeB permanent magnet A53, the T-shaped iron core A31, the AlNiCo permanent magnet M61 on the right small tooth, the first air gap 4, the salient pole core 71, the NdFeB permanent magnet O63, the NdFeB permanent magnet C72, the NdFeB permanent magnet O63, the first air gap 4, the vertically upward magnetized AlNiCo permanent magnet M61, and the adjacent T-shaped iron core, and then returns to the AlNiCo permanent magnet A57.

[0026] In the V-shaped permanent magnet structure B16 of the second mover 3, a part of the magnetic flux of the NdFeB permanent magnet B55 passes through the AlNiCo permanent magnet B59 and enters the AlNiCo permanent magnet N62 on the small tooth on the left side of the T-shaped iron core B41, passes through the second air gap 5, the salient pole core 71, the NdFeB permanent magnet C72, the second air gap 5 in turn, reaches the adjacent T-shaped iron core, and then returns to the NdFeB permanent magnet B55; the other part passes through the AlNiCo permanent magnet B59 and enters the AlNiCo permanent magnet N62 on the small tooth on the right side of the T-shaped iron core B41, passes through the second air gap 5, the salient pole core 71, the NdFeB permanent magnet O63, the NdFeB permanent magnet C72, the NdFeB permanent magnet O63, the second air gap 5, the AlNiCo permanent magnet N62 magnetized vertically downward, the adjacent T-shaped iron core in turn, and returns to the NdFeB permanent magnet B55. Part of the magnetic flux of the Alnico permanent magnet B59 passes through the Alnico permanent magnet N62 on the small tooth on the left side of the T-shaped iron core B41, the second air gap 5, the salient pole core 71, the NdFeB permanent magnet C72, the second air gap 5, and then reaches the adjacent T-shaped iron core and the NdFeB permanent magnet B55, and then returns to the Alnico permanent magnet B59; the other part passes through the Alnico permanent magnet N62 on the small tooth on the right side of the T-shaped iron core B41, the second air gap 5, the salient pole core 71, the NdFeB permanent magnet O63, the NdFeB permanent magnet C72, the NdFeB permanent magnet O63, the second air gap 5, the Alnico permanent magnet N62 magnetized vertically downward, the adjacent T-shaped iron core, and the NdFeB permanent magnet B55, and then returns to the Alnico permanent magnet B59. The magnetic flux path of the straight AlNiCo permanent magnet M61 on the first mover 1 is the same as the magnetic flux path of the AlNiCo permanent magnet A57; the magnetic flux path of the straight AlNiCo permanent magnet N62 on the second mover 3 is the same as the magnetic flux path of the AlNiCo permanent magnet B59. The magnetic flux of the NdFeB permanent magnet C72 on the V-shaped permanent magnet structure C26 of the secondary stator 2 is also divided into two parts. One part passes through the first air gap 4 and forms a magnetic flux loop with the first mover 1. The path is the same as the magnetic flux path of the NdFeB permanent magnet A53; the other part passes through the second air gap 5 and forms a magnetic flux loop with the second mover 3. The path is the same as the magnetic flux path of the NdFeB permanent magnet B55.

[0027] Example 2 like Figure 4 The figure shows the single five-beat power-on principle diagram of the primary and secondary three-zone V-type hybrid permanent magnet linear stepper motor. Single five-beat power-on means that when one phase winding is powered on alone, the other four phase windings are not powered on. When the A phase winding is powered on, based on the minimum magnetic resistance theorem, the small teeth on the first mover 1 and the second mover 3 move to a position aligned with the small teeth of the secondary stator 2, and the first mover 1 and the second mover 3 are symmetrical along the stator 2. At this time, the movers are in a balanced position; when the B phase winding is powered on, the A, C, D, and E phase windings are not powered, and the primary mover moves to the right. ; Continue to energize the C phase winding, and de-energize the A, B, D, and E phase windings. The primary mover moves to the right. ; Then energize the D phase winding, de-energize the A, B, C, and E phase windings, and the primary mover moves to the right ; Continue to energize the E phase winding, the A, B, C, and D phase windings are not energized, and the primary mover moves to the right ; Finally, the A phase winding is energized, the B, C, D, and E phase windings are not energized, and the primary mover moves to the right , at this time the power supply mode is A→B→C→D→E→A, and the mover moves to the right , completes an electrical cycle. Among them, is the stator tooth pitch.

[0028] Example 3 The magnetic field adjustment method of the primary-secondary three-zone V-type hybrid permanent magnet linear stepping motor of the present invention is specifically as follows: By passing pulse current through the annular magnetic adjustment winding A67 of the first mover 1, the annular magnetic adjustment winding B68 of the second mover 3, or the drum magnetic adjustment winding A69 of the first mover 1, and the drum magnetic adjustment winding B70 of the second mover 3, the magnetization state and level of the AlNiCo permanent magnet A57, AlNiCo permanent magnet B59, or the AlNiCo permanent magnet M61, AlNiCo permanent magnet N62 are changed, magnetization is performed, and the air gap magnetic field is enhanced; pulse current can also be applied to the annular magnetic adjustment winding A67, the drum magnetic adjustment winding A69 of the first mover 1, and the annular magnetic adjustment winding B68, and the drum magnetic adjustment winding B70 of the second mover 3 at the same time, so as to change the magnetization state and level of each AlNiCo permanent magnet at the same time, form a variety of magnetic adjustment modes, and realize flexible magnetic adjustment. The principle of magnetization operation is exactly the same as that of permanent magnet operation. In the state of magnetization operation, the air gap magnetic field is enhanced, and the motor output thrust and thrust density increase.

[0029] Through the above-mentioned method, the primary and secondary three-zone V-type hybrid permanent magnet linear stepper motor of the present invention solves the problems of low thrust density and low positioning accuracy of existing linear stepper motors, improves power density and load capacity, and meets the requirements of high positioning accuracy, high thrust density, high efficiency, high reliability, large thrust output capacity, high power density, and strong load capacity of linear stepper motors in high-tech fields. The present invention adopts an open flat topology, which has a simple structure, convenient installation, high positioning accuracy, high reliability, good thermal management performance, high sensitivity, and can achieve high-speed operation, with small mechanical loss, high transmission efficiency, and long life; adopts a five-phase structure, with strong output thrust capacity, small thrust fluctuation, high positioning accuracy, strong fault tolerance, and high reliability; the primary and secondary both adopt a V-shaped permanent magnet structure, and are arranged in three sections, with good magnetic concentration effect, which further improves the power density and thrust density, strong load capacity, and high efficiency; the primary mover adopts a modular hybrid permanent magnet structure, with high thrust density, high positioning accuracy, and low cost, and can flexibly adjust the stroke according to the secondary length to adapt to It is suitable for multi-stroke applications and is easy to install and maintain. Alnico permanent magnets and NdFeB permanent magnets are placed on the small teeth of the primary mover and the slots of the secondary stator, respectively, which effectively improve the thrust density and load capacity. At the same time, a magnetic adjustment structure is adopted to change the magnetization state and level of the Alnico permanent magnet by applying an instantaneous pulse current, so as to achieve efficient and flexible adjustment of the air gap magnetic field, and the magnetic adjustment loss is small and the efficiency is high, which further improves the load capacity. The double air gap structure composed of a single stator and a double mover can balance the unilateral radial magnetic pull, while increasing the thrust capacity, improving the running stability and reliability. The two primary movers can be controlled separately, which is simple and convenient, and can improve the fault-tolerant operation capability.

Claims

1. A three-zone primary and secondary V-type hybrid permanent magnet linear stepper motor, characterized in that: A double-sided flat structure with a secondary in the middle and primary on both sides is adopted, wherein the primary is used as a short-side mover, including a first mover (1) and a second mover (3); the secondary is used as a long-side stator (2); air gaps exist between the first mover (1), the stator (2), and the second mover (3), and the first mover (1) and the second mover (3) are symmetrical with respect to the stator (2); The first mover (1) and the second mover (3) have the same structure and both include a plurality of T-shaped iron cores, and a V-shaped hybrid permanent magnet structure is provided between two adjacent T-shaped iron cores; The stator (2) comprises a salient pole core (71) having a plurality of small teeth, a V-shaped permanent magnet structure C (26) being arranged in the salient pole core (71), neodymium iron boron permanent magnets O (63) being embedded in the small slots of the salient pole core (71) at intervals, and the neodymium iron boron permanent magnets O (63) on the upper and lower sides being arranged in an alternating manner.

2. The primary-secondary three-zone V-type hybrid permanent magnet linear stepper motor according to claim 1, characterized in that: The first mover (1) comprises a plurality of T-shaped iron cores A (31), a V-shaped permanent magnet structure A (6) is arranged between two adjacent T-shaped iron cores A (31), and each T-shaped iron core A (31) is wound with a centralized control winding A (65), a ring-shaped magnetic adjustment winding A (67) and a drum-shaped magnetic adjustment winding A (69); The second mover (3) comprises a plurality of T-shaped iron cores B (41), a V-shaped permanent magnet structure B (16) is arranged between two adjacent T-shaped iron cores B (41), and a centralized control winding B (66), a ring-shaped magnetic adjustment winding B (68) and a drum-shaped magnetic adjustment winding B (70) are wound around each T-shaped iron core B (41); The centralized control winding A (65) of the first mover (1) forms a five-phase structure, and the centralized control winding B (66) of the second mover (3) also forms a five-phase structure. The centralized control winding A (65) of the first mover (1) and the centralized control winding B (66) of the second mover (3) can be controlled individually, or can be connected in series or in parallel for control.

3. The primary-secondary three-zone V-type hybrid permanent magnet linear stepper motor according to claim 2, characterized in that: The number of the T-type cores A (31) and the number of the T-type cores B (41) are the same, both being 5. N indivual, N is an integer.

4. The primary-secondary three-zone V-type hybrid permanent magnet linear stepper motor according to claim 2, characterized in that: The V-shaped permanent magnet structure A (6) is a V-shaped structure composed of a neodymium iron boron permanent magnet A (53) and an aluminum nickel cobalt permanent magnet A (57), and is embedded in the yoke of the first mover (1); The NdFeB permanent magnets A (53) and AlNiCo permanent magnets A (57) are both distributed in three sections, the middle section of the permanent magnet is magnetized to the left along the direction of movement, and the other two sections of the permanent magnets are magnetized in a direction perpendicular to and pointing to the middle section of the permanent magnet; the magnetization directions of adjacent V-shaped permanent magnet structures A (6) are opposite; The V-shaped permanent magnet structure B (16) is a V-shaped structure composed of a neodymium iron boron permanent magnet B (55) and an aluminum nickel cobalt permanent magnet B (59), and is embedded in the yoke of the second mover (3); The NdFeB permanent magnets B (55) and AlNiCo permanent magnets B (59) are both distributed in three sections, the middle section of the permanent magnet is magnetized to the left along the direction of movement, and the other two sections of the permanent magnets are magnetized in a direction perpendicular to and pointing to the middle section of the permanent magnet; the magnetization directions of adjacent V-shaped permanent magnet structures B (16) are opposite.

5. The primary-secondary three-zone V-type hybrid permanent magnet linear stepper motor according to claim 2, characterized in that: Each T-shaped core has three small teeth (51) at its large teeth. Alnico permanent magnets M (61) are alternately attached to the small teeth on both sides of the T-shaped core A (31), wherein the Alnico permanent magnets M (61) attached to the surface of the T-shaped core A (31) are magnetized along the direction of the first air gap (4), and the Alnico permanent magnets M (61) attached to the surface of another adjacent T-shaped core A are magnetized vertically upward, that is, the Alnico permanent magnets on the small teeth of two adjacent T-shaped cores A (31) are magnetized in opposite directions and are arranged alternately; Alnico permanent magnets N (62) are alternately attached to the small teeth on both sides of the T-shaped core B (41), wherein the Alnico permanent magnets N (62) attached to the surface of the T-shaped core B (41) are magnetized along the direction of the second air gap (5), and the Alnico permanent magnets attached to the surface of another adjacent T-shaped core B are magnetized vertically downward, that is, the Alnico permanent magnets on the small teeth of two adjacent T-shaped cores B (41) are magnetized in opposite directions and are arranged alternately; The magnetization directions of the AlNiCo permanent magnets on the T-shaped iron core small teeth on both sides of the first mover (1) and the second mover (3) symmetrically with respect to the stator (2) are opposite; The small tooth pitch on the stator (2) is the same as the small tooth pitch of the T-type iron core, wherein a plurality of NdFeB permanent magnets magnetized horizontally to the right are alternately placed near the slot of the first air gap (4), and a plurality of NdFeB permanent magnets magnetized horizontally to the left are alternately placed near the slot of the second air gap (5), and the phase difference between the NdFeB permanent magnets on the upper and lower sides is 1 / 2 of the tooth pitch.

6. The primary-secondary three-zone V-type hybrid permanent magnet linear stepper motor according to claim 1, characterized in that: The first mover (1) has ten T-shaped cores A (31), and the centralized control windings A (65) wound on the large teeth of the T-shaped cores A (31) are A11, B11, C11, D11, E11, A12, B12, C12, D12, and E12 in sequence; wherein the control windings A11 and A12 constitute an A1 phase winding, B11 and B12 constitute a B1 phase winding, C11 and C12 constitute a C1 phase winding, D11 and D12 constitute a D1 phase winding, and E11 and E12 constitute an E1 phase winding, thereby forming a five-phase structure, and adjacent windings are energized with opposite polarities; The second mover (3) has ten T-shaped cores B (41), and the centralized control windings B (66) wound on the large teeth of the T-shaped cores B (41) are A21, B21, C21, D21, E21, A22, B22, C22, D22, and E22 in sequence; wherein the control windings A21 and A22 constitute an A2 phase winding, B21 and B22 constitute a B2 phase winding, C21 and C22 constitute a C2 phase winding, D21 and D22 constitute a D2 phase winding, and E21 and E22 constitute an E2 phase winding, thereby forming a five-phase structure, and adjacent windings are energized with opposite polarities; The winding A1 of the first mover (1) and the winding A2 of the second mover (3) can be controlled individually, or can be connected in series or in parallel.

7. The primary-secondary three-zone V-type hybrid permanent magnet linear stepper motor according to claim 2, characterized in that: The annular magnetic adjustment winding is wound in the small slot (52) of the yoke of the T-shaped iron core, and the drum-shaped magnetic adjustment winding is wound on the small teeth in the middle of the T-shaped iron core where no AlNiCo permanent magnet is placed; The annular magnetic adjustment winding A (67) is used to adjust the working state of the AlNiCo permanent magnet A (57), and the annular magnetic adjustment winding B (68) is used to adjust the working state of the AlNiCo permanent magnet B (59); the drum-shaped magnetic adjustment winding A (69) is used to adjust the working state of the AlNiCo permanent magnet M (61), and the drum-shaped magnetic adjustment winding B (70) is used to adjust the working state of the AlNiCo permanent magnet N (62).

8. The primary-secondary three-zone V-type hybrid permanent magnet linear stepper motor according to claim 1, characterized in that: The V-shaped permanent magnet structure C (26) is evenly distributed in the stator (2), and is a V-shaped structure composed of neodymium iron boron permanent magnets C (72), and is embedded in the yoke of the stator (2). The neodymium iron boron permanent magnets C (72) are distributed in three sections, wherein the middle section permanent magnet is magnetized in a rightward movement direction, and the other two sections of permanent magnets are magnetized in a direction perpendicular to and pointing to the middle section permanent magnet.

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