Primary and secondary three-zone V-type hybrid permanent magnet linear stepper motor

Abstract

The application discloses a primary-secondary three-zone V-shaped hybrid permanent magnet linear stepping motor, adopts a double-sided flat structure with a middle secondary and two sides primary, gaps exist between 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 of the same structure and each include a plurality of T-shaped cores, a V-shaped hybrid permanent magnet structure is arranged between adjacent two T-shaped cores; the stator includes a salient pole core with a plurality of small teeth, the salient pole core is internally provided with a V-shaped permanent magnet structure C, neodymium iron boron permanent magnets O are embedded in small grooves of the salient pole core at intervals, and the neodymium iron boron permanent magnets O on the upper and lower sides are staggered. The motor is of a five-phase hybrid permanent magnet structure, has the characteristics of large thrust density, high thrust quality, high power density, high positioning accuracy, strong load carrying capacity, high efficiency and high reliability, etc.; by changing the magnetization level of the aluminum-nickel-cobalt permanent magnet, the air gap magnetic field is adjusted, and the thrust density and the load carrying capacity can be further improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of stepping motors, and in particular relates to a primary-secondary three-zone V-type hybrid permanent magnet linear stepping 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 various fields such as automation instruments, CNC machine tools, industrial robots, semiconductor processing equipment, medical equipment, the automotive industry, the printing industry, automated production lines, and electronic equipment.

[0003] A linear stepper motor can be thought of as a rotary stepper motor cut radially and flattened. Its simple structure, low inertia, and zero cumulative positioning error contribute to its high speed and high positioning accuracy. It is suitable for use in precision equipment such as automatic plotters, printers, intelligent instrumentation, computers, medical equipment, and machine tool workbenches. The development of high-tech industries is placing higher demands on the thrust density, accuracy, efficiency, and reliability of linear stepper motors. Traditional linear stepper motors no longer meet these requirements in terms of accuracy and reliability, and they also suffer from drawbacks such as high unilateral radial magnetic pull, difficulty dissipating heat, and difficulty adjusting the magnetic field. 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-shaped hybrid permanent magnet linear stepper motor adopts a double-sided flat structure with a middle secondary and two primary stages. The primary stage serves as the short-side mover, including the first mover and the second mover; the secondary stage serves as the long-side stator; there is an air gap between the first mover, the stator, and the second mover, and the first mover and the second mover are symmetrical about the stator;

[0006] The first mover and the second mover have the same structure, both comprising a plurality of T-shaped iron cores, with a V-shaped hybrid permanent magnet structure provided between two adjacent T-shaped iron cores;

[0007] The stator includes a salient pole core with multiple small teeth, a V-shaped permanent magnet structure C is provided in the salient pole core, and neodymium iron boron permanent magnets O are embedded in the small slots of the salient pole core at intervals, and the neodymium iron boron permanent magnets O on the upper and lower sides are staggered.

[0008] The present invention is also characterized in that:

[0009] 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;

[0010] 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 tuning winding B and a drum-shaped magnetic tuning winding B;

[0011] 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.

[0012] The number of T-cores A and B is the same, both are 5 N indivual, N is an integer.

[0013] 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 yoke of the first mover;

[0014] Both the NdFeB permanent magnet A and the AlNiCo permanent magnet A 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 toward the middle section. The magnetization directions of adjacent V-shaped permanent magnet structures A are opposite.

[0015] The V-shaped permanent magnet structure B is a V-shaped structure composed of a neodymium iron boron permanent magnet B and an alnico permanent magnet B, and is embedded in the yoke of the second mover;

[0016] 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 toward the middle section. The magnetization directions of adjacent V-shaped permanent magnet structures B are opposite.

[0017] Each large tooth of the T-shaped core is provided with three small teeth. Alnico permanent magnets M are alternately attached to the small teeth on both sides of the T-shaped core A. The Alnico permanent magnets M attached to the surface of the T-shaped core A are magnetized along the first air gap direction, while 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 are magnetized in opposite directions and are arranged alternately.

[0018] Alnico permanent magnets N are alternately attached to the small teeth on both sides of the T-shaped core B. 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 the other adjacent T-shaped core B are magnetized vertically downward. That is, the Alnico permanent magnets on the small teeth of the two adjacent T-shaped cores B are magnetized in opposite directions and are arranged alternately.

[0019] The magnetization directions of the AlNiCo permanent magnets on the T-shaped iron core teeth on both sides of the first mover and the second mover, which are symmetrical with respect to the stator, are opposite;

[0020] The small tooth pitch on the stator is the same as the small tooth pitch of the T-type iron core. Among them, multiple NdFeB permanent magnets magnetized horizontally to the right are alternately placed near the slot of the first air gap, and multiple NdFeB permanent magnets magnetized horizontally to the left are alternately placed near the slot of the second air gap, and the phase difference between the NdFeB permanent magnets on the upper and lower sides is 1 / 2 tooth pitch.

[0021] The first mover has ten T-shaped cores A. The centralized control windings A wound on the large teeth of the T-shaped cores A are A11, B11, C11, D11, E11, A12, B12, C12, D12, and E12, in order. Control windings A11 and A12 form the A1-phase winding, B11 and B12 form the B1-phase winding, C11 and C12 form the C1-phase winding, D11 and D12 form the D1-phase winding, and E11 and E12 form the E1-phase winding, forming a five-phase structure. Adjacent windings have opposite energization polarities.

[0022] The second mover has ten T-shaped iron cores B. The centralized control windings B wound on the large teeth of the T-shaped iron cores B are A21, B21, C21, D21, E21, A22, B22, C22, D22, and E22, in order. 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, thus forming a five-phase structure. Adjacent windings have opposite energization polarities.

[0023] 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.

[0024] The ring-shaped magnetic tuning winding is wound in the small slot of the T-shaped iron core yoke, and the drum-shaped magnetic tuning winding is wound on the small teeth in the middle of the T-shaped iron core where no AlNiCo permanent magnets are placed.

[0025] 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.

[0026] 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. The middle section is magnetized in the rightward movement direction, and the other two sections are magnetized in a direction perpendicular to and pointing to the middle section.

[0027] The beneficial effects of the present invention are:

[0028] (1) It adopts an open flat topology with 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;

[0029] (2) It adopts a five-phase structure, with strong output thrust capability, small thrust fluctuation, high positioning accuracy, strong fault tolerance and high reliability;

[0030] (3) Both the primary and secondary stages adopt a V-shaped permanent magnet structure, and are arranged in three sections, which has a good magnetic concentration effect, further improving the power density and thrust density, with strong load capacity and high efficiency;

[0031] (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;

[0032] (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;

[0033] (6) A magnetic adjustment structure is adopted. By applying a pulse current to the magnetic adjustment winding, the magnetization state and level of the AlNiCo permanent magnet are changed, thereby achieving efficient and flexible adjustment of the air gap magnetic field. The magnetic adjustment loss is small and the efficiency is high, further improving the load capacity.

[0034] (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;

[0035] (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

[0036] Figure 1 This is a schematic diagram of the structure of the primary-secondary three-zone V-type hybrid permanent magnet linear stepping motor of the present invention;

[0037] Figure 2 It is an enlarged schematic diagram of the first mover T-shaped core A of the present invention;

[0038] Figure 3This is a diagram showing the permanent magnet operation principle of the primary-secondary three-zone V-type hybrid permanent magnet linear stepping motor of the present invention;

[0039] Figure 4 This 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.

[0040] In the figure, 1. First mover, 2. Secondary stator, 3. Second mover, 4. First air gap, 5. Second air gap, 6. V-type permanent magnet structure A, 16. V-type permanent magnet structure B, 26. V-type permanent magnet structure C, 31. T-type core A, 41. T-type core B, 51. Small teeth, 52. Small slots in the yoke, 53. NdFeB permanent magnet A, 55. NdFeB permanent magnet B, 57. 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

[0041] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] Example 1

[0043] 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 primaries on both sides is adopted, wherein the primary serves as the short-side mover, including the first mover 1 and the second mover 3; the secondary serves as the long-side stator 2; there is an air gap 4 between the first mover 1 and the stator 2, and 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.

[0044] The first mover 1 is composed of ten T-shaped iron cores A31, ten V-shaped permanent magnet structures A6, twenty straight-line AlNiCo permanent magnets M61, ten centralized control windings A65, ten annular magnetic tuning windings A67 and ten drum-shaped magnetic tuning windings A69.

[0045] 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 tuning windings B68 and ten drum-shaped magnetic tuning windings B70.

[0046] The ten control windings A65 of the first mover 1 form a five-phase structure, and the ten control windings B66 of the second mover 3 also form 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 independently, or can be connected in series or in parallel. The ten annular field-shaping windings A67 are used to adjust the working state of the ten Al-Ni-Co permanent magnets A57, and the ten annular field-shaping windings B68 are used to adjust the working state of the ten Al-Ni-Co permanent magnets B59. The ten drum-shaped field-shaping windings A69 are used to adjust the working state of the twenty Al-Ni-Co permanent magnets M61, and the ten drum-shaped field-shaping windings B70 are used to adjust the working state of the twenty Al-Ni-Co permanent magnets N62. The secondary stator 2 is composed of a salient pole core 71 provided with sixty-one small teeth, five V-shaped permanent magnet structures C26, and sixty one-letter Nd-Fe-B permanent magnets O63.

[0047] The three regions of the primary and secondary stators all adopt V-shaped permanent magnet structures, that is, three-zone V-shaped permanent magnet structures, and are distributed in three sections. The V-shaped permanent magnet structure A6 of the first mover 1 is composed of Nd-Fe-B permanent magnets A53 and Al-Ni-Co permanent magnets A57, and is embedded in the yoke portion. The Nd-Fe-B permanent magnets A53 and the Al-Ni-Co permanent magnets A57 are distributed in three sections, the middle section permanent magnet is magnetized to the left along the movement direction, and the other two section 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 V-shaped permanent magnet structure A6 described above is magnetized to the right along the movement direction, and the other two section 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 Nd-Fe-B permanent magnets B55 and Al-Ni-Co permanent magnets B59, and is embedded in the yoke portion. The Nd-Fe-B permanent magnets B55 and the Al-Ni-Co permanent magnets B59 are distributed in three sections, the middle section permanent magnet is magnetized to the left along the movement direction, and the other two section 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 structures C26 are uniformly distributed in the stator 2, are composed of Nd-Fe-B permanent magnets C72, and are embedded in the yoke portion of the stator 2, and are distributed in three sections. Among them, the middle section permanent magnets are magnetized to the right along the movement direction, and the other two section permanent magnets are magnetized in a direction perpendicular to and pointing to the middle section permanent magnet.

[0048] The ten T-shaped cores of the first mover 1 are completely the same in structure, and an enlarged view of the T-shaped core A31 is as shown in Figure 2As shown. Each T-shaped core has three small teeth 51 on its large teeth. Alnico permanent magnets M61 are alternately attached to the small teeth on both sides. The Alnico permanent magnet M61 attached to the surface of T-shaped core A31 is magnetized along the direction of the first air gap 4, while the Alnico permanent magnet attached to the surface of the other adjacent T-shaped core A is magnetized vertically upward. That is, the Alnico permanent magnets on the small teeth of the two adjacent T-shaped cores A31 are magnetized in opposite directions and are arranged alternately. The small teeth on both sides of the T-shaped core B41 are alternately attached to the small teeth. Alnico permanent magnets N62 are surface-mounted. The Alnico permanent magnet N62 on the T-core B41 is magnetized along the second air gap 5, while the Alnico permanent magnet on the adjacent T-core B is magnetized vertically downward. This means the Alnico permanent magnets on the adjacent teeth of the T-cores B41 are magnetized in opposite directions and arranged alternately. The Alnico permanent magnets on the T-core teeth symmetrically located about the stator 2 of the first and second movers 1 and 3 are magnetized in opposite directions. A ring-shaped magnetic flux-regulating winding is wound in the small slots of the T-core yoke, while a drum-shaped magnetic flux-regulating winding is wound on the T-core teeth that do not contain Alnico permanent magnets.

[0049] The small tooth pitch on the stator 2 is the same as the small tooth pitch of the T-type iron core. Among them, multiple NdFeB permanent magnets magnetized horizontally to the right are alternately placed near the slot of the first air gap 4, and multiple 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 tooth pitch.

[0050] 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; 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 energized 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.

[0051] based on Figure 3The permanent magnet operation principle of the primary-secondary three-zone V-type hybrid permanent magnet linear stepper motor is analyzed. The solid line with arrows represents the magnetic flux path of the NdFeB permanent magnet, and the dotted line represents the magnetic 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, a 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 iron 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, crosses the first air gap 4, reaches the adjacent T-type iron core, and then passes through the AlNiCo permanent magnet A57. 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.

[0052] In the V-shaped permanent magnet structure B16 of the second mover 3, 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, and the second air gap 5 in sequence, 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 vertically downward magnetized AlNiCo permanent magnet N62, and the adjacent T-shaped iron core in sequence, 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 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 vertically downward magnetized alnico permanent magnet N62, 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 inline AlNiCo permanent magnet M61 on the first mover 1 is the same as that of AlNiCo permanent magnet A57. The magnetic flux path of the inline AlNiCo permanent magnet N62 on the second mover 3 is the same as that of AlNiCo permanent magnet B59. The magnetic flux of the NdFeB permanent magnet C72 in the V-shaped permanent magnet structure C26 of the secondary stator 2 is similarly divided into two parts. One part passes through the first air gap 4, forming a magnetic flux loop with the first mover 1, following the same path as the magnetic flux path of the NdFeB permanent magnet A53. The other part passes through the second air gap 5, forming a magnetic flux loop with the second mover 3, following the same path as the magnetic flux path of the NdFeB permanent magnet B55.

[0053] Example 2

[0054] like Figure 4 The figure shows the single five-step power-on principle diagram of the primary and secondary three-zone V-type hybrid permanent magnet linear stepper motor. Single five-step power-on means that when one phase winding is energized alone, the other four phase windings are not energized. When the A phase winding is energized, 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 energized, the A, C, D, and E phase windings are not energized, and the primary mover moves to the right. ; Continue to energize the C phase winding, de-energize the A, B, D, and E phase windings, and 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, de-energize the A, B, C, and D phase windings, 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.

[0055] Example 3

[0056] 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:

[0057] By applying pulse current to the annular magnetic tuning winding A67 of the first mover 1, the annular magnetic tuning winding B68 of the second mover 3, or the drum magnetic tuning winding A69 of the first mover 1, and the drum magnetic tuning winding B70 of the second mover 3, the magnetization state and level of the alnico permanent magnets A57 and B59, or the alnico permanent magnets M61 and N62, are altered, thereby increasing magnetization and enhancing the air gap magnetic field. Alternatively, pulse current can be applied simultaneously to the annular magnetic tuning winding A67 and A69 of the first mover 1, and the annular magnetic tuning winding B68 and B70 of the second mover 3, thereby simultaneously altering the magnetization state and level of each alnico permanent magnet, creating multiple magnetic tuning modes and achieving flexible magnetic tuning. The principle of magnetization operation is identical to that of permanent magnet operation. In magnetization operation, the air gap magnetic field is enhanced, increasing the motor's output thrust and thrust density.

[0058] 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-tech fields for 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. The present invention adopts an open flat topology with 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, low cost, and the ability to flexibly adjust the stroke according to the secondary length to adapt 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 teeth of the primary mover and the slots of the secondary stator respectively, which effectively improves 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 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, further improving the load capacity; the double air gap structure consisting of a single stator and double movers can balance the unilateral radial magnetic pull, while increasing the thrust capacity, improving the running smoothness 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. The primary and secondary three-zone V-type hybrid permanent magnet linear stepper motor is characterized by: A bilateral flat structure with a middle secondary and two primary stages is adopted, wherein the primary stage serves as a short-side mover, including a first mover (1) and a second mover (3); the secondary stage serves 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, with a V-shaped hybrid permanent magnet structure provided between two adjacent T-shaped iron cores; The stator (2) includes a salient pole core (71) having a plurality of small teeth, a V-shaped permanent magnet structure C (26) is provided in the salient pole core (71), neodymium iron boron permanent magnets O (63) are embedded in the small slots of the salient pole core (71), and the neodymium iron boron permanent magnets O (63) are staggered on the upper and lower sides; The first mover (1) comprises a plurality of T-shaped iron cores A (31), a V-shaped permanent magnet structure A (6) is provided between two adjacent T-shaped iron cores A (31), and a centralized control winding A (65), a ring-shaped magnetic adjustment winding A (67) and a drum-shaped magnetic adjustment winding A (69) are wound on each T-shaped iron core A (31); The second mover (3) comprises a plurality of T-shaped iron cores B (41), a V-shaped permanent magnet structure B (16) is provided 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 on 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 connected in series or in parallel.

2. The primary-secondary three-zone V-type hybrid permanent magnet linear stepper motor according to claim 1, characterized in that: The number of the T-type cores A (31) and B (41) is the same, both 5. N indivual, N is an integer.

3. 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 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, with the middle section magnetized to the left along the direction of movement, and the other two sections magnetized in a direction perpendicular to and pointing toward the middle section 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, with the middle section magnetized to the left along the direction of movement, and the other two sections magnetized in a direction perpendicular to and pointing toward the middle section permanent magnet; the magnetization directions of adjacent V-shaped permanent magnet structures B (16) are opposite; The V-shaped permanent magnet structure C (26) is evenly distributed in the stator (2), and is composed of a V-shaped structure 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 permanent magnets are magnetized in a direction perpendicular to and pointing to the middle section permanent magnet.

4. The primary-secondary three-zone V-type hybrid permanent magnet linear stepper motor according to claim 1, 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 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 the 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 the other adjacent T-shaped core B are magnetized vertically downward, that is, the Alnico permanent magnets on the small teeth of the 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 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.

5. 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 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 have opposite polarities when energized; 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 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 polarities when energized; 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.

6. The primary-secondary three-zone V-type hybrid permanent magnet linear stepper motor according to claim 1, 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 magnets are 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).

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