Unit complementary magnetic flux reverse rotation linear motor

Abstract

The application relates to the motor technical field, in particular to a unit complementary type magnetic flux reverse rotation linear motor, which comprises a rotor assembly and a stator assembly, and an air gap is formed between the stator assembly and the rotor assembly; the rotor assembly comprises a plurality of rotors which are arranged in a stacked mode along an axial direction, the outer periphery of each rotor is uniformly distributed with a plurality of salient pole teeth, and the salient pole teeth of two adjacent rotors are arranged in a staggered mode; the stator assembly comprises a plurality of annular stator units which are arranged in the axial direction, and two adjacent stator units are arranged in a staggered mode; and each stator unit comprises a magnetic isolation block, a stator core assembly, a permanent magnet and an armature coil. The application realizes natural decoupling of rotation and linear freedom, can reduce manufacturing difficulty and simplify control strategy while ensuring high torque density and high thrust density.

Description

Technical Field

[0001] This invention relates to the field of motor technology, and specifically to a unit complementary magnetic flux reverse rotation linear motor. Background Technology

[0002] Traditional multi-degree-of-freedom drive technologies mostly employ combinations of multiple single-degree-of-freedom motors or complex motion conversion mechanical devices, which suffer from problems such as large size, numerous parts, high maintenance requirements, inconvenience in integration, and complex control methods. Compared with traditional single-degree-of-freedom motors, this type of motor has significant advantages in terms of integration, space utilization, and motion flexibility. Therefore, it shows broad application prospects in the fields of machine tool processing, precision positioning, aerospace, and robot joints, and is gradually becoming a research hotspot in the current motor field.

[0003] Traditional discrete systems struggle to achieve both high output and high precision within a limited space. While partially integrated structures can improve material utilization to some extent, their rotational and linear magnetic field coupling is severe, and the magnetic circuits are complex, leading to control difficulties and reduced electromagnetic efficiency. Furthermore, the manufacturing process is constrained by the three-dimensional magnetic field distribution. Therefore, achieving modular expansion and magnetic field decoupling while ensuring high power density and high efficiency has become a key technological requirement driving the development of two-degree-of-freedom motors towards high performance and high reliability.

[0004] Therefore, there is a need to provide a unit complementary flux reverse rotary linear motor to solve the above problems. Summary of the Invention

[0005] This invention provides a unit complementary magnetic flux reverse rotation linear motor to solve existing problems.

[0006] The present invention provides a unit complementary flux-reversing rotary linear motor with the following technical solution, comprising: The rotor assembly includes multiple rotors stacked along the axial direction, with multiple salient pole teeth evenly distributed on the outer periphery of the rotors, and the salient pole teeth of adjacent rotors being staggered. And a stator assembly, which forms an air gap with the rotor assembly, comprising a plurality of annular stator units arranged axially, with adjacent stator units staggered. Each stator unit includes: Multiple magnetic shielding blocks are evenly distributed around the axial direction; The stator core assembly has a fan-shaped axial cross-section. A stator core assembly is arranged between every two adjacent magnetic isolation blocks to form a ring structure. The inner ring of the stator core assembly is provided with five permanent magnet teeth, including three first permanent magnet teeth and two second permanent magnet teeth distributed axially. The two second permanent magnet teeth are located on both sides of the three first permanent magnet teeth. The first permanent magnet teeth are used to concentrate the main magnetic flux to form a high magnetic flux density region. The second permanent magnet teeth are used to guide the magnetic flux transition. Two permanent magnets are arranged circumferentially on the inner surface of each permanent magnet tooth. The two permanent magnets on the same permanent magnet tooth are magnetized in opposite radial directions and have opposite polarities. The two permanent magnets that are axially adjacent have the same polarity. An armature coil is wound on the first permanent magnet tooth.

[0007] A further technical solution of the present invention is to set the number of salient pole teeth on each rotor to Nr, then the difference between two adjacent rotors along the circumferential direction is π / Nr angles.

[0008] A further technical solution of the present invention is that every two adjacent stator units are separated by an angle of π / 2Nr along the circumferential direction, and the two adjacent stator units are separated by a length of four times the number of rotors in the axial direction.

[0009] A further technical solution of the present invention is that the stator core assembly includes: a stator core, two stator cores arranged axially between every two adjacent magnetic isolation blocks, two axially distributed toothed slots are opened on the inner side of the stator core, and a first permanent magnet tooth is formed between the two toothed slots, and a second permanent magnet tooth is formed between the two toothed slots and the axial surface of the stator core, wherein the axial width of the first permanent magnet tooth is equal to the axial width of the two second permanent magnet teeth, and the second permanent magnet teeth of two axially adjacent stator cores are fitted together to form the first permanent magnet tooth.

[0010] A further technical solution of the present invention is that the stator core assembly includes: a stator core, a stator core is provided between every two adjacent magnetic isolation blocks, and four axially distributed tooth slots are opened on the inner side of the stator core, and a first permanent magnet tooth is formed between every two tooth slots, and a second permanent magnet tooth is formed between the two tooth slots and the axial surface of the stator core.

[0011] A further technical solution of the present invention is that the core is made of a magnetically conductive material and the permanent magnet is made of neodymium iron boron material.

[0012] A further technical solution of the present invention is that a gap is provided between the end faces of two permanent magnets on the same permanent magnet tooth.

[0013] A further technical solution of the present invention is that the magnetic shielding block is a shell structure with an opening on one side, and the opening is located on the inner side of the magnetic shielding block.

[0014] A further technical solution of the present invention is that the magnetic isolation block is made of non-magnetic material, which is used to weaken the leakage magnetic coupling between adjacent magnetic circuits and ensure that the magnetic flux of each pole is independently conductive.

[0015] The beneficial effects of this invention are: 1. The unit complementary flux-reversing rotary linear motor proposed in this invention consists of a three-phase rotating armature winding formed by armature coils wound around the first permanent magnet teeth and arranged circumferentially, which generates a rotating magnetic field. The three armature coils on the three first permanent magnet teeth arranged axially in the stator core assembly form a three-phase linear armature winding, which generates a traveling wave magnetic field. That is, the circumferentially distributed three-phase rotating winding and the axially distributed three-phase linear winding form mutually independent rotating and traveling wave magnetic fields in the same stator unit, thereby improving the motor's integration, torque density, and thrust density. Through reasonable stator and rotor assembly design and a composite arrangement of permanent magnets, a natural decoupling of rotational and linear degrees of freedom is achieved, reducing manufacturing difficulty and simplifying control strategies while ensuring high torque and thrust density. In other words, this invention achieves independent control of two degrees of freedom in a highly integrated structure, effectively solving the problems of high energy loss, severe mechanical wear, and complex processing caused by the three-dimensional magnetic field in some integrated motors.

[0016] 2. Secondly, the stator unit is modularly designed in this invention, which allows the stator unit to be expanded as needed, and the output space and thrust and torque can be controlled and adjusted. The stroke length and torque output can be flexibly adjusted at the structural level to match the performance requirements under different working conditions. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of a unit complementary magnetic flux reverse rotation linear motor according to the present invention; Figure 2 This is a schematic diagram of the rotor structure of a unit complementary flux reverse rotation linear motor according to the present invention; Figure 3 This is a schematic diagram of the stator assembly of a unit complementary flux reverse rotary linear motor according to the present invention; Figure 4 This is a schematic diagram of the stator core of a unit complementary flux reverse rotary linear motor according to the present invention. Figure 5 This is a first state diagram of a unit complementary magnetic flux reverse rotary linear motor during operation according to the present invention; Figure 6 This is a second state diagram of a unit complementary magnetic flux reverse rotary linear motor during operation according to the present invention; Figure 7 This is a cross-sectional view of a unit complementary flux reverse rotary linear motor according to the present invention.

[0019] In the diagram: 1. Rotor assembly; 11. Rotor; 12. Salient pole tooth; 121. First salient pole tooth; 122. Second salient pole tooth; 123. Third salient pole tooth; 2. Stator assembly; 21. Stator unit; 22. Magnetic shielding block; 23. Stator core assembly; 24. Stator core; 25. Permanent magnet tooth; 251. First permanent magnet tooth; 252. Second permanent magnet tooth; 26. Permanent magnet; 261. First permanent magnet; 262. Second permanent magnet; 263. Magnetization direction of permanent magnet; 27. Armature coil. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] An embodiment of the present invention is a unit complementary flux-reversing rotary linear motor, such as... Figure 1 and Figure 7As shown, it includes: rotor assembly 1 and stator assembly 2, with an air gap formed between stator assembly 2 and rotor assembly 1. The rotor assembly 1 includes multiple rotors 11 stacked axially. Multiple salient pole teeth 12 are evenly distributed around the outer periphery of each rotor 11, with the salient pole teeth 12 of adjacent rotors 11 staggered. The stator assembly 2 includes multiple annular stator units 21 arranged axially, with adjacent stator units 21 staggered. Each stator unit 21 includes multiple axially evenly distributed magnetic isolation blocks 22. A stator core assembly 23 is disposed between every two adjacent magnetic isolation blocks 22. The stator core assembly 23 and the magnetic isolation blocks 22 form an annular structure. The axial cross-section of the stator core assembly 23 is fan-shaped. The inner ring of the stator core assembly 23 is provided with five permanent magnet teeth 25. The five permanent magnet teeth 25 include three axially distributed first permanent magnet teeth 251 and two second permanent magnet teeth 252. The two second permanent magnet teeth 252 are located on both sides of the three first permanent magnet teeth 251. The first permanent magnet teeth 251 are used for... The main magnetic flux is concentrated to form a high magnetic flux density region; the second permanent magnet tooth 252 is used to guide the magnetic flux transition; two permanent magnets 26 are arranged on the inner side of each permanent magnet tooth 25 along the circumferential direction. The two permanent magnets 26 on the same permanent magnet tooth 25 are magnetized in opposite radial directions and with opposite polarities. This arrangement makes the magnetic flux form the shortest magnetic path between the stator assembly 2 and the air gap; the polarities of two axially adjacent permanent magnets 26 are the same. An armature coil 27 is wound on the first permanent magnet tooth 251. It should be noted that the armature coil 27 is wound around the first permanent magnet tooth 251 and arranged circumferentially to form a three-phase rotating armature winding. The three-phase rotating armature winding is used to generate a rotating magnetic field; the three armature coils 27 corresponding to the three first permanent magnet teeth 251 arranged axially on the stator core assembly 23 form a three-phase straight armature winding. The three-phase straight armature winding is used to generate a traveling wave magnetic field.

[0022] For example, in one specific embodiment, such as Figure 6 As shown, the rotor assembly 1 has a cylindrical structure and includes multiple rotors 11 stacked along the axial direction. Multiple salient pole teeth 12 are evenly distributed around the outer periphery of each rotor 11, and the salient pole teeth 12 of adjacent rotors 11 are staggered. For example, in this embodiment, as... Figure 2 As shown, each rotor 11 has five salient pole teeth 12 evenly arranged along the circumference to form a magnetic flux modulation unit for rotating magnetic circuit. The number of salient pole teeth Nr of two adjacent rotors 11 is 5 each, and the two rotors 11 are staggered. According to the fact that the two adjacent rotors 11 differ by π / Nr angles along the circumference, the position of the two rotors 11 in this embodiment is 36° apart. Through this staggered arrangement design, the magnetic flux in the winding changes alternately, thereby inducing an alternating back electromotive force in the winding.

[0023] For example, in one specific embodiment, every two adjacent stator units 21 differ in circumferential direction by an angle of π / 2Nr, and the two adjacent stator units 21 differ in axial direction by four times the number of rotors 11 divided by the length of a single stator unit. Figure 1 As shown, this embodiment uses two stator units 21, with an axial length of 73.5 mm, and the space contains 7 rotors 11. Two adjacent stator units 21 are 18° apart along the circumferential direction, causing the spatial phase of the rotating magnetic field to be offset by 90° electrical angles. Furthermore, two adjacent stator units 21 are 2.625 mm apart along the axial direction, meaning the spatial phase of the traveling wave magnetic field of the two stator units 21 is offset by 90° electrical angles, achieving the effect of orthogonal magnetic fields and motion decoupling. In this embodiment, the stator units 21 can be expanded to several, as long as two adjacent stator units 21 satisfy the relationship of being 18° apart along the circumferential direction and 2.625 mm apart along the axial direction. This modular design expands the number of stator units while maintaining magnetic flux continuity, thereby effectively improving rotational torque and linear thrust.

[0024] For example, in one specific embodiment, such as Figure 3 and Figure 4 As shown, the stator core assembly 23 includes: a stator core 24, with two stator cores 24 arranged axially between every two adjacent magnetic isolation blocks 22. The inner surface of the stator core 24 has two axially distributed toothed slots, and a first permanent magnet tooth 251 is formed between the two toothed slots. A second permanent magnet tooth 252 is formed between the two toothed slots and the axial surface of the stator core 24. The second permanent magnet teeth 252 of two axially adjacent stator cores 24 fit together to form the first permanent magnet tooth 251. That is, in this embodiment, the axial width of the first permanent magnet tooth 251 is equal to the axial width of the two second permanent magnet teeth 252.

[0025] For example, in one specific embodiment, the stator core assembly 23 includes: a stator core 24, wherein a stator core 24 is disposed between every two adjacent magnetic isolation blocks 22, and four axially distributed toothed slots are opened on the inner side of the stator core 24, and a first permanent magnet tooth 251 is formed between every two toothed slots, and a second permanent magnet tooth 252 is formed between the two toothed slots and the axial surface of the stator core 24.

[0026] It should be noted that, in this embodiment, the stator core assembly 23 of the stator assembly 2 features three first permanent magnet teeth 251 in the middle and two second permanent magnet teeth 251 on both sides along the axial direction. The first permanent magnet teeth 251 are used to concentrate the main magnetic flux and form a high magnetic flux density area; the second permanent magnet teeth 251 are used to guide the magnetic flux transition and realize the flexible distribution of the magnetic field, which plays a role in reducing the sudden change of air gap magnetic flux density and torque pulsation; the stator core 24 is made of silicon steel or other magnetically conductive materials to reduce magnetic circuit loss and improve magnetic flux coupling efficiency, ensuring that the motor can still maintain low iron loss and stable magnetic performance under high frequency excitation.

[0027] For example, in one specific embodiment, the permanent magnet 26 is made of neodymium iron boron material, which has high remanence and high coercivity, and can maintain stable magnetic properties under high temperature and high frequency excitation conditions.

[0028] For example, in one specific embodiment, a gap is provided between the end faces of the two permanent magnets 26 on the same permanent magnet tooth 25, and only one of the two permanent magnets 26 on the same permanent magnet tooth 25 is opposite to one of the salient pole teeth 12 of its inner ring.

[0029] For example, in one specific embodiment, in order to house the winding formed by the armature coil 27 wound on the first permanent magnet tooth 251, the magnetic shielding block 22 is a housing structure with an opening on one side, and the opening of the magnetic shielding block 22 is provided on the inner side surface of the magnetic shielding block 22.

[0030] Working principle When rotor assembly 1 is in Figure 5 At the position shown, from Figure 5 The magnetic flux of the first permanent magnet 261 forms a closed path along the first salient pole tooth 121, the second salient pole tooth 122, the first permanent magnet tooth 251 and the second permanent magnet tooth 252 of the wound iron core 24, and finally returns to the first permanent magnet 261. At this time, the magnetic flux in the armature coil 27 reaches its maximum positive value; subsequently, as... Figure 6 As shown, when the rotor assembly 1 rotates through half the pole pitch, the magnetic flux from the second permanent magnet 262 forms a closed path along the second permanent magnet tooth 252 of the iron core 24, the first permanent magnet tooth 251 of the iron core 24 wound with the winding, the third salient pole tooth 123, and the first salient pole tooth 121, and finally returns to the first permanent magnet 261; at this position, the magnetic flux of the armature coil 27 reaches its maximum negative value; therefore, as the rotor assembly 1 rotates, the magnetic flux in the armature coil 27 changes alternately, thereby generating an alternating back electromotive force in the winding.

[0031] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A unit complementary flux-reversing rotary linear motor, characterized in that, include: The rotor assembly includes multiple rotors stacked along the axial direction, with multiple salient pole teeth evenly distributed on the outer periphery of the rotors, and the salient pole teeth of adjacent rotors being staggered. And a stator assembly, which forms an air gap with the rotor assembly, comprising a plurality of annular stator units arranged axially, with adjacent stator units staggered. Each stator unit includes: Multiple magnetic shielding blocks are evenly distributed around the axial direction; The stator core assembly has a fan-shaped axial cross-section. A stator core assembly is arranged between every two adjacent magnetic isolation blocks to form a ring structure. The inner ring of the stator core assembly is provided with five permanent magnet teeth, including three first permanent magnet teeth and two second permanent magnet teeth distributed axially. The two second permanent magnet teeth are located on both sides of the three first permanent magnet teeth. The first permanent magnet teeth are used to concentrate the main magnetic flux to form a high magnetic flux density region. The second permanent magnet teeth are used to guide the magnetic flux transition. Two permanent magnets are arranged circumferentially on the inner surface of each permanent magnet tooth. The two permanent magnets on the same permanent magnet tooth are magnetized in opposite radial directions and have opposite polarities. The two permanent magnets that are axially adjacent have the same polarity. An armature coil, which is wound on the first permanent magnet tooth; If the number of salient pole teeth on each rotor is set to Nr, then the difference between two adjacent rotors along the circumferential direction is π / Nr angles; the difference between two adjacent stator units along the circumferential direction is π / 2Nr angles, and the difference between two adjacent stator units along the axial direction is four times the number of rotors divided by the length of a single stator unit.

2. The unit complementary flux reverse rotary linear motor according to claim 1, characterized in that, The stator core assembly includes: a stator core, with two stator cores arranged axially between every two adjacent magnetic isolation blocks, and two axially distributed toothed slots on the inner surface of the stator core, forming a first permanent magnet tooth between the two toothed slots, and forming a second permanent magnet tooth between the two toothed slots and the axial surface of the stator core, wherein the axial width of the first permanent magnet tooth is equal to the axial width of the two second permanent magnet teeth, and the second permanent magnet teeth of two axially adjacent stator cores fit together to form the first permanent magnet tooth.

3. A unit complementary flux-reversing linear motor according to claim 1, characterized in that, The stator core assembly includes: a stator core, with one stator core disposed between every two adjacent magnetic isolation blocks, and four axially distributed toothed slots on the inner side of the stator core, with a first permanent magnet tooth formed between every two toothed slots, and a second permanent magnet tooth formed between the two toothed slots and the axial surface of the stator core.

4. A unit complementary flux-reversing linear motor according to claim 3, characterized in that, The stator core is made of magnetically conductive material, and the permanent magnet is made of neodymium iron boron material.

5. A unit complementary flux-reversing linear motor according to claim 1, characterized in that, A gap is provided between the end faces of the two permanent magnets on the same permanent magnet tooth.

6. A unit complementary flux-reversing linear motor according to claim 1, characterized in that, The magnetic shielding block is a shell structure with an opening on one side, and the opening is located on the inner side of the magnetic shielding block.

7. A unit complementary flux-reversing linear motor according to claim 1, characterized in that, The magnetic shielding block is made of non-magnetic material, which is used to weaken the leakage magnetic coupling between adjacent magnetic circuits and ensure that the magnetic flux of each pole is independently conductive.

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