An autonomous commutated motor

Abstract

The application relates to an autonomous commutated motor, which comprises a mover, a left stator and a right stator; the left stator comprises a left stator straight section, a left stator left-turn section and a left stator right-turn section; and the right stator comprises a right stator straight section, a right stator left-turn section and a right stator right-turn section. The autonomous commutated motor does not have permanent magnets, the normal attraction between the mover and the left stator and the right stator can be adjusted by changing the current of the stator coil, the mover can be adsorbed on one side of the left stator or the right stator and run along the laying direction of the stator. By adjusting the combination mode of the left stator straight section, the left stator left-turn section, the left stator right-turn section, the right stator straight section, the right stator left-turn section and the right stator right-turn section, a straight section stator module, a left-turn bifurcated stator module and a right-turn bifurcated stator module can be formed, the mover can autonomously run in multiple directions such as straight lines, left turns and right turns, the whole process can be actively controlled, the air gap between the mover and the stator is also a normal value, and the traction and the efficiency of the motor are ensured.

Description

Technical Field

[0001] The present invention relates to the field of electric motors, and in particular relates to a self-commutating electric motor. Background Art

[0002] With the continuous development of the national economy, the traditional manufacturing industry is facing a series of new challenges. For example, there are higher requirements for more types of produced products with smaller batches, the product life cycle is getting shorter and shorter, and changes in market demand are increasingly difficult to predict. The existing rigid transmission and distribution system relies on standardization and mass production, featuring long production line switching time and poor flexibility, and is difficult to adapt to the market demand for multi-variety, small-batch and fast delivery.

[0003] To solve the above problems, flexible transmission and distribution systems have emerged as the times require. They usually adopt a modular design scheme, which can flexibly adjust the scale and structure of the production line, quickly adapt to the production demands of different products, significantly improve production efficiency and equipment utilization, become the key support for realizing "mass customization" and "zero-inventory production", and promote the transformation and upgrading of the traditional manufacturing industry. Among various flexible transmission and distribution systems, linear magnetic drive systems equipped with linear motors have received extensive attention by virtue of their advantages such as high speed, high precision, high response and high efficiency.

[0004] In response to the demand of the linear magnetic drive system to change the running direction at a fork, in addition to adopting a mechanical track switching scheme, the electromagnetic structure of the motor can also be improved, so that the motor can independently change its running direction only through electromagnetic control. For example, the utility model patent with the publication number CN222966770U discloses a multi-directional electric motor, which includes a stator and a mover moving along the upper surface of the stator. The mover includes permanent magnets and a magnetically conductive back iron, and the mover has a flat linear structure. The stator includes a plurality of linear segment stator modules and a plurality of curved segment stator modules. The linear segment stator module includes a magnetically conductive stator core and a linear segment armature winding, the magnetically conductive stator core has a linear structure, and the linear segment armature winding is wound on the magnetically conductive stator core. The curved segment stator module includes a non-magnetic coil support and a curved segment armature winding, the non-magnetic coil support has a curved structure, and the curved segment armature winding is wound on the non-magnetic coil support. The central axis of the linear segment armature winding and the central axis of the curved segment armature winding both coincide with the movement path of the mover, a gap is arranged between two adjacent linear segment stator modules, one end of the curved segment stator module is located in the gap, and the curved segment stator module and the two adjacent linear segment stator modules are combined to form a shape like the Chinese character "亻".

[0005] The aforementioned multi-directional motor includes a stator module with an iron core in the straight section and a stator module without an iron core in the curved section. The stator module in the straight section is energized to accelerate the mover, which then uses inertia to achieve straight-line movement. The stator module in the curved section is energized to guide the mover to turn, thus enabling autonomous switching of the mover's direction of motion. However, within the inertial running range of the straight section, active control of the motor cannot be applied. If the mover stops due to obstruction or other reasons, it cannot autonomously resume operation. In the curved section, to avoid interference from normal attraction on the mover's trajectory, a stator without an iron core is used. This significantly increases the motor's electromagnetic air gap, requiring a substantial increase in energy consumption to generate sufficient traction, thus reducing motor efficiency. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide an autonomous commutation motor. The autonomous commutation motor can actively control the mover throughout the entire operation process while realizing the motor autonomously changing the running direction, and the electromagnetic air gap between the mover and the stator remains unchanged, thus ensuring the traction force and efficiency of the motor.

[0007] The technical solution adopted in this invention is an autonomous commutation motor, comprising a left stator, a right stator, and a mover located between the left stator and the right stator; The left stator includes a straight segment, a left-turning segment, and a right-turning segment. Each segment consists of a salient pole iron core and a coil wound on it. The outer envelope of the straight segment is a straight line, the outer envelope of the left-turning segment is an arc curving to the left, and the outer envelope of the right-turning segment is an arc curving to the right. The right stator includes a straight section, a left-turning section, and a right-turning section. Each section consists of a salient pole iron core and a coil wound on it. The outer envelope of the straight section is a straight line, the outer envelope of the left-turning section is an arc curving to the left, and the outer envelope of the right-turning section is an arc curving to the right. The left stator straight segment and the right stator straight segment extend side by side in the same direction to form a straight segment stator module; A bifurcation point is formed at the extension end of the straight segment stator module, and a left-turning bifurcation stator module or a right-turning bifurcation stator module is provided at the bifurcation point. In the left-turning bifurcated stator module, the right stator straight segment continues to extend in a straight line after passing the bifurcation point, the left stator straight segment breaks at the bifurcation point, one end of the left stator left-turning segment is connected to the break point of the left stator straight segment, the left stator left-turning segment (22) and the right stator left-turning segment are arranged opposite to each other and bend to the left as a whole. In the right-turn bifurcated stator module, when the left stator straight segment continues to extend in a straight line after passing the bifurcation point, the right stator straight segment breaks at the bifurcation point, and one end of the stator right-turn segment connects with the break point of the right stator straight segment. The left stator right-turn segment and the right stator right-turn segment are arranged opposite to each other and bend to the right as a whole.

[0008] The beneficial effects of this invention are as follows: The electromagnetic part of the aforementioned autonomous commutation motor consists of a salient pole iron core and coils, and there are no permanent magnets. The stator on the unenergized side does not generate electromagnetic force on the mover, and the main magnetic circuits of the left stator and the right stator are independent of each other. Therefore, during the bifurcation stroke, when the right stator is not energized, it does not generate normal attraction or traction force on the mover. At this time, by adjusting the current of the left stator coil, the normal attraction and traction force of the left stator on the mover can be adjusted, causing the mover to run along the laying direction of the left stator. Conversely, when the left stator is not energized, it does not generate normal attraction or traction force on the mover. At this time, by adjusting the current of the right stator coil, the normal attraction and traction force of the right stator on the mover can be adjusted, causing the mover to run along the laying direction of the right stator. Thus, throughout the entire operation, whether the mover is in a straight line or turning stroke, the running state of the mover can be actively controlled by real-time adjustment of the stator coil current, eliminating the inertia-dependent coasting range. Meanwhile, since the left and right stators are located on both sides of the mover and are both composed of salient pole iron cores, sufficient normal attraction can be generated when either side is energized to attract the mover to the energized side. This ensures that the electromagnetic air gap between the mover and the energized stator during the turning stroke remains at the same normal design value as in the straight section, avoiding the problems of increased electromagnetic air gap, decreased traction force, and reduced efficiency in the curved section caused by the use of a coreless stator in the prior art.

[0009] The operating principle of the motor of the present invention will be explained by taking the straight segment stator module, the left-turn bifurcated stator module, and the right-turn bifurcated stator module as examples.

[0010] When the mover moves to the stator module in the straight section, the air gap between the mover and the two stators is at the normal value. At this time, when the left stator and the right stator are energized at the same time, the mover can move forward in a straight line due to the traction force generated by the two stators. Furthermore, the normal suction force generated by the two stators on the mover cancels each other out, which can reduce the friction force on the mover.

[0011] When the mover reaches the left-turning bifurcated stator module, that is, when the mover head just enters the left-turning arc-shaped channel (bifurcation), only the left-turning section of the left stator is energized, and not the straight section of the right stator. At this time, the mover will only be subject to the normal suction and traction force generated by the left stator. Therefore, the air gap between the mover and the left stator will remain at the normal value. The mover turns left along the laying direction of the left-turning section of the left stator. At this time, although the left-turning section of the right stator is not energized, it is set opposite to the left-turning section of the left stator, forming an arc-shaped channel with a constant width, providing the mover with physical running space and air gap reference. When the mover fully enters the left-turning arc-shaped channel, the left-turning sections of the right stator and the left stator are energized at the same time. The mover will be subject to the traction force of the left-turning sections of the right stator and the left stator at the same time, so that the mover continues to move along the arc-shaped channel. Conversely, when the mover reaches the left-turning bifurcated stator module, if only the right stator straight section is energized and not the left stator, the mover will only be subjected to the normal suction and traction forces generated by the right stator straight section. Therefore, the air gap between the mover and the right stator straight section will remain at the normal value, and the mover will move straight along the laying direction of the right stator straight section.

[0012] When the mover reaches the right-turn bifurcated stator module, that is, when the mover head just enters the right-turn arc-shaped channel, only the right-turn section of the right stator is energized, and not the straight section of the left stator. At this time, the mover will only be subject to the normal attraction and traction force generated by the right stator. Therefore, the air gap between the mover and the right stator will remain at the normal value. The mover turns right and moves forward along the laying direction of the right-turn section of the right stator. At this time, although the right-turn section of the left stator is not energized, it is set opposite to the right-turn section of the right stator, forming an arc-shaped channel with a constant width, providing the mover with physical running space and air gap reference. When the mover fully enters the right-turn arc-shaped channel, the right-turn sections of the left stator and the right stator are energized at the same time. The mover will be subject to the traction force of the right-turn sections of the left stator and the right stator at the same time, so that the mover continues to move along the arc-shaped channel. Conversely, when the mover just reaches the right-turn bifurcated stator module, only the left stator straight section is energized, and the right stator is not energized. The mover will only be subjected to the normal suction and traction force generated by the left stator straight section. Therefore, the air gap between the mover and the left stator straight section will remain at the normal value, and the mover will move straight along the laying direction of the left stator straight section.

[0013] Preferably, the left stator straight segment includes a left stator straight segment salient pole core and a left stator straight segment coil; the left stator left-turning segment includes a left stator left-turning segment salient pole core and a left stator left-turning segment coil; the left stator right-turning segment includes a left stator right-turning segment salient pole core and a left stator right-turning segment coil; the right stator straight segment includes a right stator straight segment salient pole core and a right stator straight segment coil; the right stator left-turning segment includes a right stator left-turning segment salient pole core and a right stator left-turning segment coil; the right stator right-turning segment includes a right stator right-turning segment salient pole core and a right stator right-turning segment coil.

[0014] With this structure, the left stator straight section, left stator left-turning section, left stator right-turning section, right stator straight section, right stator left-turning section, and right stator right-turning section are all composed of independent salient pole iron cores and coils. Each section can be independently energized and controlled. By selectively energizing the stator coils of different sections, the running direction of the mover can be flexibly switched, realizing autonomous commutation of straight, left-turn, and right-turn. At the same time, each section adopts a salient pole iron core structure, which can generate sufficient normal attraction to attract the mover to that side when any section is energized. This keeps the electromagnetic air gap between the mover and the stator at the same normal design value as the straight section, avoiding the problem of increased air gap and reduced efficiency caused by the use of a coreless structure in the curved section in the traditional scheme. It takes into account both active controllability and high efficiency in all running directions.

[0015] Preferably, the left stator linear segment coil includes a left stator excitation coil and a left stator armature coil, and the right stator linear segment coil includes a right stator excitation coil and a right stator armature coil.

[0016] With this structure, since the motor does not contain permanent magnets, a direct current needs to be supplied to the excitation coil to generate the main magnetic field, and an alternating current needs to be supplied to the armature coil to generate the armature magnetic field. The interaction between the main magnetic field and the armature magnetic field is necessary to generate traction force and normal attraction force. Furthermore, arranging both the excitation coil and the armature coil in the stator has the advantage of eliminating the need to energize the mover, thus saving the mover battery or cables and making it easier to load and unload goods and operate the motor.

[0017] Preferably, the left stator linear segment coil includes a left stator composite coil, and the right stator linear segment coil includes a right stator composite coil.

[0018] Unlike the discrete excitation coil and armature coil described above, this composite coil integrates the excitation winding and armature winding into a single coil winding, resulting in a more compact structure and simplified stator fabrication and winding processes. By applying an AC current with DC bias to the composite coil, both the main magnetic field and the armature magnetic field can be generated simultaneously, achieving the same traction force and normal attraction force output as the discrete scheme. This also reduces the amount of coil frame and insulation material used, thus helping to lower the cost and size of the motor.

[0019] Preferably, the left stator straight segment salient pole core includes multiple left stator main teeth, each of which has multiple left stator split teeth at its top, and the left stator split teeth are spaced apart along the width direction of the left stator main teeth; the right stator straight segment salient pole core includes multiple right stator main teeth, each of which has multiple right stator split teeth at its top, and the right stator split teeth are spaced apart along the width direction of the right stator main teeth.

[0020] By adopting this structure, the number of teeth of the mover salient pole core can be increased accordingly. Within the same length range, the number of teeth of the mover salient pole core is approximately the same as the number of teeth of the stator split teeth. This helps to further reduce the traction force fluctuation caused by the cogging effect and ensure the smooth operation of the motor.

[0021] Preferably, the mover includes a mover salient pole core and a mover coil.

[0022] With this structure, the mover core is a salient pole structure, resulting in wasted space between adjacent core teeth. Adding a mover coil to the salient pole core allows the magnetic field generated by the mover coil to interact with the magnetic field generated by the stator coil, further increasing the motor's traction force and power density. Simultaneously, when the stator coil fails, the traction force generated by the mover coil can guide the mover to a non-faulty range, improving the motor's reliability.

[0023] Preferably, the mover salient pole core includes mover main teeth, the number of teeth of the mover main teeth is denoted as M, the number of teeth of the left stator main teeth of the left stator straight segment salient pole core is denoted as L, and the number of teeth of the right stator main teeth of the right stator straight segment salient pole core is denoted as R, satisfying: L=R=3k, 2k≤M≤4k and M≠3k, where k is a positive integer.

[0024] With this structure, the number of teeth on the rotor and stator cores is relatively close, which is beneficial for improving the winding factor of the concentrated winding. When the stator coil adopts a concentrated winding structure, each stator tooth and the coil wound on it can be produced as a basic unit, and then arranged sequentially to form the entire stator. This helps simplify the motor manufacturing process and reduce motor maintenance costs. On the other hand, the relatively close number of teeth on the rotor and stator cores also helps reduce traction force fluctuations caused by cogging effect, ensuring smooth motor operation. It should be noted that M cannot be the same as L and R; otherwise, the motor becomes a single-phase motor, with extremely large traction force fluctuations, making stable operation impossible.

[0025] Preferably, the mover coil includes a mover excitation coil and a mover armature coil.

[0026] With this structure, since the core structures of the mover and stator are identical, differing only in the number of teeth, the energizing strategies for the mover and stator coils can be the same. A direct current is supplied to the mover excitation coil to strengthen the main magnetic field generated by the stator excitation coil, while an alternating current is supplied to the mover armature coil to generate the mover armature magnetic field. The interaction between the mover armature magnetic field and the main magnetic field produces additional traction force.

[0027] Preferably, the mover coil includes a mover composite coil.

[0028] Similar to the stator, the mover coil can also be a composite coil using this structure. Since the stator coil already generates a main magnetic field and an armature magnetic field, the mover composite coil can have various energizing methods. First, a direct current can be supplied to the mover composite coil to strengthen the main magnetic field generated by the stator excitation coil. The interaction between the stator armature magnetic field and the strengthened main magnetic field increases the traction force on the mover. Second, an alternating current can be supplied to the mover composite coil to generate the mover armature magnetic field. The interaction between the mover armature magnetic field and the main magnetic field generated by the stator excitation coil produces additional traction force. Finally, an alternating current with a direct current bias can be supplied to the mover composite coil simultaneously, which not only strengthens the main magnetic field generated by the stator excitation coil but also generates the mover armature magnetic field, further increasing the traction force on the mover.

[0029] Preferably, the mover further includes an upper top plate, a lower bottom plate, a main wheel located below the lower bottom plate, a left guide wheel located on the left side of the upper top plate and the lower bottom plate, and a right guide wheel located on the right side of the upper top plate and the lower bottom plate; the mover's salient pole core is clamped and fixed between the upper top plate and the lower bottom plate; the autonomous commutation motor further includes a base, and the left stator and the right stator are respectively fixedly installed on the base; the left side of the base is provided with a left guide wheel guard rail extending along the laying direction of the left stator, and the right side of the base is provided with a right guide wheel guard rail extending along the laying direction of the right stator, the left guide wheel guard rail rollingly engaging with the left guide wheel, and the right guide wheel guard rail rollingly engaging with the right guide wheel; the base is also provided with a main wheel guard rail, the main wheel guard rail being located below the main wheel and rollingly engaging with the main wheel.

[0030] With this structure, the mover clamps and fixes the salient pole core through the upper top plate and lower bottom plate, ensuring a stable and reliable operation and guaranteeing the structural strength of the mover. The main wheel and the main wheel guard rail roll together, bearing the weight of the mover and guiding it along the track direction. The left and right guide wheels roll together with the guide wheel guard rails on both sides of the base. When the mover is subjected to normal attraction, the mechanical limiting effect of the guide wheels and guard rails constrains the air gap between the mover and the left and right stators within a preset safe range, preventing the mover from colliding with the stator due to normal attraction and ensuring that the electromagnetic air gap remains at a normal value. At the same time, the guard rails extend continuously along the stator laying direction, providing reliable guidance in both straight and curved sections, thereby ensuring the safe, stable, and efficient operation of the motor.

[0031] It should be noted that the electromagnetic structures of the left stator linear segment, the left stator left-turning segment, and the left stator right-turning segment of the motor of the present invention are basically the same, differing only in the shape of the outer envelope; that is, the electromagnetic principles are completely identical. Therefore, the preferred structure of the left stator linear segment described above is also applicable to the left stator left-turning segment and the left stator right-turning segment. The same applies to the right stator. Attached Figure Description

[0032] Figure 1 This is a top view of an autonomous commutation motor as described in Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the structure of the straight segment stator module described in Embodiment 1 of the present invention; Figure 3 This is a diagram showing the magnetic field distribution of the linear segment of the stator module of the motor in Embodiment 1 of the present invention when the left stator is energized; Figure 4 This is a waveform diagram of the electromagnetic force of the stator module in the straight section when the left stator of the motor is energized, according to Embodiment 1 of the present invention. Figure 5 This is a magnetic field distribution diagram of the linear segment of the stator module of the motor in Embodiment 1 of the present invention when the right stator is energized; Figure 6 This is a waveform diagram of the electromagnetic force of the stator module in the straight section when the right stator of the motor is energized, according to Embodiment 1 of the present invention. Figure 7 This is a waveform diagram of the electromagnetic force of the stator module in the straight section when both stators of the motor are energized, according to Embodiment 1 of the present invention. Figure 8 This is a side view of an autonomous commutation motor as described in Embodiment 1 of the present invention; Figure 9 This is a schematic diagram of the linear segment stator module of an autonomous commutation motor as described in Embodiment 2 of the present invention; Figure 10 This is a waveform diagram of the stator coil current of the motor in Embodiment 2 of the present invention; Figure 11 This is a schematic diagram of the linear segment stator module of an autonomous commutation motor as described in Embodiment 3 of the present invention; Figure 12 This is a waveform diagram of the stator coil current of the motor in Embodiment 3 of the present invention; Figure 13 This is a schematic diagram of the linear segment stator module of an autonomous commutation motor as described in Embodiment 4 of the present invention; Figure 14 This is a schematic diagram of the linear segment stator module of an autonomous commutation motor as described in Embodiment 5 of the present invention; Figure 15 This is a schematic diagram of the linear segment stator module of an autonomous commutation motor as described in Embodiment Six of the present invention; As shown in the figure: 1. Mover; 2. Left stator; 3. Right stator; 4. Straight segment stator module; 5. Left-turning bifurcated stator module; 6. Right-turning bifurcated stator module; 7. Base; 11. Mover salient pole core; 12. Mover coil; 13. Upper top plate; 14. Lower bottom plate; 15. Main wheel; 16. Left guide wheel; 17. Right guide wheel; 121. Mover excitation coil; 122. Mover armature coil; 123. Mover composite coil; 21. Left stator straight segment; 22. Left stator left-turning segment; 23. Left stator right-turning segment; 211. Left stator straight segment salient pole core; 212. Left stator straight segment coil; 221. Left stator left-turning segment salient pole core; 222. Left stator left-turning segment coil; 231. Left stator 232. Right stator right-turn segment salient pole iron core; 2111. Left stator right-turn segment coil; 2121. Left stator split small tooth; 2122. Left stator excitation coil; 2122. Left stator armature coil; 2123. Left stator composite coil; 31. Right stator straight segment; 32. Right stator left-turn segment; 33. Right stator right-turn segment; 311. Right stator straight segment salient pole iron core; 312. Right stator straight segment coil; 321. Right stator left-turn segment salient pole iron core; 322. Right stator left-turn segment coil; 331. Right stator right-turn segment salient pole iron core; 332. Right stator right-turn segment coil; 3111. Right stator split small tooth; 3121. Right stator excitation coil; 3122. Right stator armature coil; 3123. Right stator composite coil. Detailed Implementation

[0033] The invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can implement it based on the description. The scope of protection of the invention is not limited to these specific embodiments.

[0034] Those skilled in the art should understand that, in the disclosure of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting this invention.

[0035] Furthermore, the terms "first," "second," and "third" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0036] In the description of the embodiments of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0037] Example 1: This invention relates to an autonomous commutation motor, such as... Figure 1 As shown, it includes a mover 1, a left stator 2, and a right stator 3. The mover 1 includes a mover salient pole core 11 but does not include the permanent magnet, and is located between the left stator 2 and the right stator 3. Figure 8 As shown, the mover 1 is held between the left stator 2 and the right stator 3, meaning that the mover 1 is horizontally sandwiched between the left stator 2 and the right stator 3. The mover 1 is supported by the main wheel guard rail 71 of the base 7 via the main wheel 15 at its bottom, and can roll freely along the track direction, rather than sliding above the stator. The left stator 2 and the right stator 3 are located on the left and right sides of the mover 1, respectively. The left stator 2 includes a straight section 21, a left-turning section 22, and a right-turning section 23, but does not include a permanent magnet. The right stator 3 includes a straight section 31, a left-turning section 32, and a right-turning section 33, but does not include a permanent magnet. There is no ferromagnetic magnetic connection structure or magnetic yoke between the mover and the left and right stators, therefore the main magnetic circuits of the left and right stators are independent of each other.

[0038] The left stator straight segment 21 includes a left stator straight segment salient pole iron core 211 and a left stator straight segment coil 212, and the outer envelope of the left stator straight segment 21 is a straight line; the left stator left-turning segment 22 includes a left stator left-turning segment salient pole iron core 221 and a left stator left-turning segment coil 222, and the outer envelope of the left stator left-turning segment 22 is an arc curving to the left; the left stator right-turning segment 23 includes a left stator right-turning segment salient pole iron core 231 and a left stator right-turning segment coil 232, and the outer envelope of the left stator right-turning segment 23 is an arc curving to the right.

[0039] The right stator straight segment 31 includes a right stator straight segment salient pole iron core 311 and a right stator straight segment coil 312, and the outer envelope of the right stator straight segment 31 is a straight line; the right stator left-turning segment 32 includes a right stator left-turning segment salient pole iron core 321 and a right stator left-turning segment coil 322, and the outer envelope of the right stator left-turning segment 32 is an arc curving to the left; the right stator right-turning segment 33 includes a right stator right-turning segment salient pole iron core 331 and a right stator right-turning segment coil 332, and the outer envelope of the right stator right-turning segment 33 is an arc curving to the right.

[0040] like Figure 1As shown, the electromagnetic structures of the left stator straight segment 21, the left stator left-turning segment 22, and the left stator right-turning segment 23 are basically the same, all consisting of a salient pole iron core and a coil, differing only in the shape of the outer envelope. Therefore, the electromagnetic principles of the left stator straight segment 21, the left stator left-turning segment 22, and the left stator right-turning segment 23 are all the same, and the same applies to the right stator straight segment 31, the right stator left-turning segment 32, and the right stator right-turning segment 33.

[0041] The left stator straight segment 21, the left stator left-turning segment 22, the left stator right-turning segment 23, the right stator straight segment 31, the right stator left-turning segment 32, and the right stator right-turning segment 33 are combined in different ways to form the straight segment stator module 4, the left-turning bifurcated stator module 5, and the right-turning bifurcated stator module 6.

[0042] The straight stator module 4 includes a left stator straight segment 21 and a right stator straight segment 31, both of which are laid along a straight direction.

[0043] The left-turning bifurcated stator module 5 includes a left stator left-turning segment 22, a right stator straight segment 31, and a right stator left-turning segment 32. The right stator straight segment 31 is laid continuously along a straight line. The left stator straight segment 21 is laid along a straight line to the left of the right stator straight segment 31, but is broken at the bifurcation point. The left stator left-turning segment 22 and the right stator left-turning segment 32 are laid only to the left of the left stator straight segment 21 and are connected to the break point of the left stator straight segment 21.

[0044] The right-turn bifurcated stator module 6 includes a left stator straight section 21, a left stator right-turn section 23, and a right stator right-turn section 33. The left stator straight section 21 is laid continuously along a straight line. The right stator straight section 31 is laid along a straight line to the right of the left stator straight section 21, but is broken at the bifurcation point. The left stator right-turn section 23 and the right stator right-turn section 33 are laid only to the right of the right stator straight section 31 and are connected to the break point of the right stator straight section 31.

[0045] Taking the left stator straight segment 21 and the right stator straight segment 31 as examples, the electromagnetic principle of the motor of the present invention is explained. Figure 2 As shown, the left stator straight segment 21 includes a left stator straight segment salient pole iron core 211 and a left stator straight segment coil 212. The left stator straight segment coil 212 includes a left stator excitation coil 2121 and a left stator armature coil 2122. The right stator straight segment 31 includes a right stator straight segment salient pole iron core 311 and a right stator straight segment coil 312. The right stator straight segment coil 312 includes a right stator excitation coil 3121 and a right stator armature coil 3122.

[0046] Both the left stator excitation coil 2121 and the left stator armature coil 2122 adopt a concentrated winding structure, meaning each coil is wound on a single iron core tooth. On the same iron core tooth, the left stator excitation coil 2121 and the left stator armature coil 2122 are coaxially stacked (both wound on the same axis of the same iron core tooth, distributed radially inwards and outwards or axially side-by-side), forming a double-layer winding structure. The winding directions of the left stator excitation coil 2121 on adjacent iron core teeth are opposite. When a direct current is applied, adjacent teeth generate main magnetic fields of opposite polarities (N pole and S pole alternately distributed). The winding direction of the left stator armature coil 2122 remains consistent on each tooth. When a multi-phase alternating current is applied, the armature coils on adjacent teeth are connected to different phase lines (e.g., three phases A, B, and C) according to the phase sequence. The currents of each phase differ by 120° electrical degrees in time, forming a traveling wave magnetic field in a straight line in space, which interacts with the main magnetic field to generate traction force.

[0047] When a direct current is applied to the left stator excitation coil 2121, a main magnetic field is generated; when an alternating current is applied to the left stator armature coil 2122, an armature magnetic field is generated. When both the left stator excitation coil 2121 and the left stator armature coil 2122 are energized simultaneously, the main magnetic field and the armature magnetic field superimpose in the electromagnetic air gap, interacting to generate a traction force and a normal attraction force. When the left stator excitation coil 2121 and the left stator armature coil 2122 are not energized, the left stator straight segment 21 does not generate an electromagnetic force on the rotor 1. The winding method and energizing strategy of the left stator left-turning segment 22 and the left stator right-turning segment 23 are the same as those of the left stator straight segment 21, the only difference being the shape of the outer envelope.

[0048] The structure of the right stator straight segment 31 is the same as that of the left stator straight segment 21. The right stator excitation coil 3121 and the right stator armature coil 3122 also employ a concentrated winding structure, with each coil wound on a single core tooth of the salient-pole core 311 of the right stator straight segment. On the same core tooth, the right stator excitation coil 3121 and the right stator armature coil 3122 are coaxially stacked, forming a double-layer winding structure. The winding directions of the right stator excitation coil 3121 on adjacent core teeth are opposite. When a direct current is applied, adjacent teeth generate main magnetic fields of opposite polarities (N poles and S poles alternately distributed). The right stator armature coil 3122 is wound in the same direction on each tooth. When a multiphase alternating current is applied, the armature coils on adjacent teeth are connected to different phase lines (such as phases A, B, and C) according to the phase sequence. The currents of each phase differ by 120° electrical angle in time and form a traveling wave magnetic field in a straight line in space, which interacts with the main magnetic field to generate traction force.

[0049] When a direct current is applied to the right stator excitation coil 3121, a main magnetic field is generated; when an alternating current is applied to the right stator armature coil 3122, an armature magnetic field is generated. When both the right stator excitation coil 3121 and the right stator armature coil 3122 are energized simultaneously, the main magnetic field and the armature magnetic field superimpose in the electromagnetic air gap, interacting to generate a traction force and a normal attraction force. When the right stator excitation coil 3121 and the right stator armature coil 3122 are not energized, the right stator straight segment 31 does not generate an electromagnetic force on the rotor 1. The winding method and energizing strategy of the right stator left-turning segment 32 and the right stator right-turning segment 33 are the same as those of the right stator straight segment 31, the only difference being the shape of the outer envelope.

[0050] On the other hand, within the same path length along the running direction, the left stator straight section salient pole core 211 has 6 teeth, the right stator straight section salient pole core 311 has 6 teeth, and the mover salient pole core 11 has 5 teeth. Since the number of teeth on the mover and stator cores is relatively close, the left stator armature coil 2122 and the right stator armature coil 3122 are suitable for using a concentrated winding structure to obtain a larger winding coefficient, improve the motor's power density and efficiency, and also reduce processing difficulty.

[0051] When a direct current is applied to the left stator excitation coil 2121 and an alternating current is applied to the left stator armature coil 2122, and the right stator excitation coil 3121 and right stator armature coil 3122 are not energized, the magnetic field distribution of the motor is as follows: Figure 3 As shown in the figure, the magnetic fields generated by the left stator excitation coil 2121 and the left stator armature coil 2122 hardly pass through the right stator straight section 31. Therefore, under this energizing condition, the right stator straight section 31 hardly exerts any electromagnetic force on the mover 1. The waveform of the electromagnetic force on the mover 1 at this time is as follows: Figure 4 As shown, when the traction force is positive, it indicates that the mover 1 is subjected to a force in the positive direction of the running direction; when the traction force is negative, it indicates that the mover 1 is subjected to a force in the opposite direction of the running direction; when the normal suction force is positive, it indicates that the mover 1 is subjected to a force towards the left stator straight segment 21; when the normal suction force is negative, it indicates that the mover 1 is subjected to a force towards the right stator straight segment 31. Figure 4 It can be seen that under this energized condition, the mover 1 will be firmly attached to one side of the left stator straight section 21 and will run along the laying direction of the left stator straight section 21.

[0052] When a direct current is applied to the right stator excitation coil 3121 and an alternating current is applied to the right stator armature coil 3122, and the left stator excitation coil 2121 and left stator armature coil 2122 are not energized, the magnetic field distribution of the motor is as follows: Figure 5As shown in the figure, the magnetic fields generated by the right stator excitation coil 3121 and the right stator armature coil 3122 hardly pass through the straight section 21 of the left stator. Therefore, under this energizing condition, the straight section 21 of the left stator hardly exerts any electromagnetic force on the mover 1. The waveform of the electromagnetic force on the mover 1 at this time is as follows. Figure 6 As shown, the mover 1 will be firmly attached to one side of the right stator straight section 31 and will run along the laying direction of the right stator straight section 31.

[0053] When the same DC current is applied to the left stator excitation coil 2121 and the right stator excitation coil 3121, and the same AC current is applied to the left stator armature coil 2122 and the right stator armature coil 3122, the electromagnetic force waveform experienced by the mover 1 is as follows: Figure 7 As shown in the figure, the normal suction forces generated by the left stator straight segment 21 and the right stator straight segment 31 on the mover 1 cancel each other out, while the traction forces are superimposed, and the mover will run along the laying direction of the left stator straight segment 21 and the right stator straight segment 31.

[0054] The mechanical support structure of the motor of the present invention is as follows: Figure 8 As shown. The mover 1 also includes an upper top plate 13, a lower bottom plate 14, a main wheel 15, a left guide wheel 16, and a right guide wheel 17. The upper top plate 13 is fixedly disposed on the top of the mover salient pole core 11, and the lower bottom plate 14 is fixedly disposed on the bottom of the mover salient pole core 11. The mover salient pole core 11 is clamped and fixed between the upper top plate 13 and the lower bottom plate 14. The main wheel 15 is rotatably disposed below the lower bottom plate 14 to support the mover 1 and roll along the track. The left guide wheel 16 is rotatably disposed at the left end of the upper top plate 13 and the lower bottom plate 14, and the right guide wheel 17 is rotatably disposed at the right end of the upper top plate 13 and the lower bottom plate 14. The axis of rotation of the left guide wheel 16 and the right guide wheel 17 both extend in the vertical direction.

[0055] Furthermore, the motor of the present invention also includes a base 7, which is disposed below the mover 1, the left stator 2, and the right stator 3, with the left stator 2 and the right stator 3 respectively fixedly mounted on the base 7. A left guide wheel guard rail 72 extending along the laying direction of the left stator 2 is provided on the left side of the base 7, and a right guide wheel guard rail 73 extending along the laying direction of the right stator 3 is provided on the right side of the base 7. The left guide wheel guard rail 72 has a vertical inner surface facing the mover 1, and the outer circumferential surface of the left guide wheel 16 is attached to this vertical inner surface and rolls in engagement; the right guide wheel guard rail 73 has a vertical inner surface facing the mover 1, and the outer circumferential surface of the right guide wheel 17 is attached to this vertical inner surface and rolls in engagement. A main wheel guard rail 71 is also provided on the base 7, located below the main wheel 15 and rolling in engagement with the main wheel 15, for guiding the mover 1 to move along the running direction.

[0056] The main wheel 15 ensures the smooth operation of the mover 1 on the track. The left guide wheel 16 and right guide wheel 17, when the mover 1 is subjected to normal suction, use rolling contact with the corresponding guide wheel guard rails to constrain the air gap between the mover 1 and the left stator 2 or right stator 3 within a preset normal range, preventing the mover 1 from colliding with the left stator 2 or right stator 3 due to normal suction. The main wheel guard rail 71, left guide wheel guard rail 72, and right guide wheel guard rail 73 constrain the relative position between the mover 1 and the left stator 2 or right stator 3, preventing the mover 1 from leaving the track due to vibration, malfunction, or other reasons, ensuring the safe operation of the motor. In addition, the main wheel guard rail 71 is only laid in the straight section of the stator module 4, the left guide wheel guard rail 72 is laid along the left stator 2, and the right guide wheel guard rail 73 is laid along the right stator 3. The left guide wheel guard rail 72 is not laid at the discontinuity of the left stator 2, and the right guide wheel guard rail 73 is not laid at the discontinuity of the right stator 3. This can prevent the mover 1 from colliding with the guard rail.

[0057] Finally, the control strategies for mover 1 under different positions and different directions of operation are summarized as follows: When the mover 1 reaches the straight section of the stator module 4, the same current flows through the left stator straight section coil 212 and the right stator straight section coil 312. The left stator straight section 21 and the right stator straight section 31 each generate a traction force on the mover 1, and these traction forces are superimposed. Simultaneously, the normal attraction forces generated by the stators on both sides on the mover 1 are opposite in direction and equal in magnitude, canceling each other out. This reduces the friction force during the movement of the mover 1 and improves operating efficiency. The mover 1 moves forward in a straight line under the action of the traction force. The left guide wheel 16 and the left guide wheel guard rail 72 roll together to ensure that the air gap between the mover 1 and the left stator 2 is at a normal value. The right guide wheel 17 and the right guide wheel guard rail 73 roll together to ensure that the air gap between the mover 1 and the right stator 3 is at a normal value. The left guide wheel guard rail 72 and the right guide wheel guard rail 73 ensure that the mover 1 does not jump up and down due to vibration or other factors.

[0058] When the mover 1 reaches the left-turning bifurcation stator module 5, if the mover 1 needs to turn left, only the left stator left-turning section coil 222 is energized, while the right stator straight section coil 312 is not energized. The left stator left-turning section 22 generates a normal attraction and traction force on the mover 1, causing the mover 1 to adhere to one side of the left stator left-turning section 22 and turn left along its laying direction. At this time, although the right stator left-turning section 32 is not energized, it is positioned opposite to the left stator left-turning section 22, together forming an arc-shaped channel of constant width, providing the mover 1 with physical running space and air gap reference. After the mover 1 passes through the bifurcation, the left stator left-turning section coil 222 and the right stator left-turning section coil 322 are energized simultaneously, causing the mover 1 to continue running in the left-turning direction. At the bifurcation, the cooperation of the left guide wheel 16 and the left guide wheel guard rail 72 ensures that the air gap between the mover 1 and the left stator left-turning section 22 is at the normal value.

[0059] Conversely, if the mover 1 needs to move in a straight line at the left-turning bifurcation stator module 5, only the right stator straight section coil 312 is energized, and the left stator left-turning section coil 222 is not energized. The mover 1 attaches to one side of the right stator straight section 31 and moves in a straight line along its laying direction. After the mover 1 passes through the bifurcation, the left stator straight section coil 212 and the right stator straight section coil 312 are energized simultaneously, causing the mover 1 to continue moving in a straight line. At the bifurcation, the cooperation of the right guide wheel 17 and the right guide wheel guard rail 73 ensures that the air gap between the mover 1 and the right stator straight section 31 is at the normal value.

[0060] When the mover 1 reaches the right-turn bifurcation stator module 6, if the mover 1 needs to turn right, only the right stator right-turn section coil 332 is energized, and the left stator straight section coil 212 is not energized. The mover 1 attaches to one side of the right stator right-turn section 33 and moves rightward along its laying direction. At this time, although the left stator right-turn section 23 is not energized, it is positioned opposite to the right stator right-turn section 33, forming a constant-width arc-shaped channel together, providing the mover 1 with physical running space and air gap reference. After the mover 1 passes through the bifurcation, the left stator right-turn section coil 232 and the right stator right-turn section coil 332 are energized simultaneously, causing the mover 1 to continue moving in the right-turn direction. At the bifurcation, the cooperation of the right guide wheel 17 and the right guide wheel guard rail 73 ensures that the air gap between the mover 1 and the right stator right-turn section 33 is at the normal value.

[0061] Conversely, if the mover 1 needs to move in a straight line at the right-turn bifurcation stator module 6, only the left stator straight section coil 212 is energized, and the right stator right-turn section coil 332 is not energized. The mover 1 attaches to one side of the left stator straight section 21 and moves in a straight line along its laying direction. After the mover 1 passes through the bifurcation, the left stator straight section coil 212 and the right stator straight section coil 312 are energized simultaneously, causing the mover 1 to continue moving in a straight line. At the bifurcation, the cooperation of the left guide wheel 16 and the left guide wheel guard rail 72 ensures that the air gap between the mover 1 and the left stator straight section 21 is at the normal value.

[0062] In this invention, full-process active control means that at any position (including linear and turning strokes) of the mover along the stator's laying direction, the drive controller actively regulates the magnitude and direction of the traction force on the mover by adjusting the current flowing through the left and / or right stator coils in real time. This ensures that the mover does not experience either an inertial coasting range or a passive loss-of-control range due to the absence of a core structure, thus guaranteeing that the motor system is always in a real-time controllable dynamic operating state. It should be noted that the control subject of the "active control" described in this invention is the drive control system (including controllers, inverters, sensors, etc.), and the controlled object is the current in the stator coils and the electromagnetic force (including traction force and normal attraction force) it generates.

[0063] In this invention, since there is no ferromagnetic magnetic connection structure between the left stator 2 and the right stator 3, and they are located on the left and right sides of the mover 1 respectively, the main magnetic circuits of the left stator and the right stator are independent of each other. When only one stator coil is energized, the magnetic flux generated by that stator forms a closed loop only between that stator and the mover, and basically does not pass through the other stator. Therefore, the other stator does not generate electromagnetic force on the mover. Figure 3 and Figure 5 The simulation results of the magnetic field distribution verified this characteristic.

[0064] Example 2: The autonomous commutation motor provided in Embodiment 2 differs from the autonomous commutation motor provided in Embodiment 1 only in the composition of the left stator linear segment 21 and the right stator linear segment 31. For example... Figure 9 As shown, the left stator straight segment 21 includes a left stator straight segment salient pole iron core 211 and a left stator straight segment coil 212, and the left stator straight segment coil 212 includes a left stator composite coil 2123. The right stator straight segment 31 includes a right stator straight segment salient pole iron core 311 and a right stator straight segment coil 312, and the right stator straight segment coil 312 includes a right stator composite coil 3123.

[0065] In this case, only one coil is wound on each core tooth, which simplifies the manufacturing process. Unlike the scheme in Embodiment 1 where the excitation coil and armature coil are set separately, the composite coil integrates the excitation winding and armature winding into a single coil winding, resulting in a more compact structure. In the field of motors, the composite coil has a well-known meaning, referring to a winding structure in which a single coil simultaneously undertakes the two electrical functions of excitation and armature.

[0066] For the motor to function properly, the left stator composite coil 2123 and the right stator composite coil 3123 need to be supplied with an alternating current biased with DC to simultaneously generate the main magnetic field and the armature magnetic field. The current waveform is as follows: Figure 10 As shown, taking six iron core teeth as an example, the coils are arranged sequentially along a straight line. In the figure, A1 represents the A-phase composite coil on the first iron core tooth from bottom to top, and A2 represents the A-phase composite coil on the fourth iron core tooth from bottom to top. Since the excitation currents on adjacent iron core teeth are in opposite directions (opposite DC bias polarities), the armature current of the same phase (phase A) repeats every three tooth pitches (i.e., 360° electrical angle) in space. Therefore, A1 and A2 belong to the same phase, and their armature currents are the same (the phase, amplitude, and frequency of the AC components are all the same), but their excitation currents are opposite (the DC components are opposite numbers). Similarly, the composite coils of phases B and C are also distributed according to the same pattern. After passing an AC current with DC bias, the composite coil simultaneously generates the main magnetic field (generated by the DC component) and the armature magnetic field (generated by the AC component). The two are superimposed in the electromagnetic air gap, interacting to generate traction force and normal attraction force.

[0067] Since the electromagnetic principles of the left stator straight segment 21, the left stator left-turning segment 22, and the left stator right-turning segment 23 are all the same, and the electromagnetic principles of the right stator straight segment 31, the right stator left-turning segment 32, and the right stator right-turning segment 33 are all the same, the composite coil structure of the left stator straight segment 21 in this embodiment can be extended to the left stator left-turning segment 22 and the left stator right-turning segment 23, and the composite coil structure of the right stator straight segment 31 can be extended to the right stator left-turning segment 32 and the right stator right-turning segment 33.

[0068] Example 3: The autonomous commutation motor provided in Embodiment 3 differs from the autonomous commutation motor provided in Embodiment 2 only in the number of teeth on the mover salient pole core 11. For example... Figure 11 As shown, within the same length range, the number of teeth on the left stator straight segment salient pole core 211 is 6, the number of teeth on the right stator straight segment salient pole core 311 is 6, and the number of teeth on the mover salient pole core 11 is 4. Because the number of teeth on the mover salient pole core 11 changes, the phases of the left stator straight segment coil 212 and the right stator straight segment coil 312 also change. The current waveforms that need to be applied to the left stator composite coil 2123 and the right stator composite coil 3123 at this time are as follows... Figure 12 As shown, A, B, and C represent the three phases of the armature. Figure 12 As can be seen, the armature current and excitation current of each phase coil are the same at this time, reducing the control difficulty. In addition, the stator-to-moving tooth ratio of the motor in Embodiment 3 meets the requirements of a traditional switched reluctance motor. Therefore, when a three-phase square wave current is applied to the left stator composite coil 2123 and the right stator composite coil 3123, the motor can also operate normally, which helps to further simplify the control difficulty of the motor.

[0069] Since the electromagnetic principles of the left stator straight segment 21, the left stator left-turning segment 22, and the left stator right-turning segment 23 are all the same, and the electromagnetic principles of the right stator straight segment 31, the right stator left-turning segment 32, and the right stator right-turning segment 33 are all the same, the tooth ratio and energizing strategy of the left stator straight segment 21 in this embodiment can be extended to the left stator left-turning segment 22 and the left stator right-turning segment 23, and the tooth ratio and energizing strategy of the right stator straight segment 31 can be extended to the right stator left-turning segment 32 and the right stator right-turning segment 33.

[0070] Example 4: The motor in Example 4 differs from the motor in Example 2 only in the number of teeth on the rotor salient pole core 11 and the structure of the left stator linear segment salient pole core 211 and the right stator linear segment salient pole core 311. For example... Figure 13As shown, the left stator linear segment salient pole core 211 includes multiple left stator main teeth, each of which has multiple left stator split teeth 2111 at its top, and the left stator split teeth 2111 are spaced apart along the width direction of the left stator main teeth. The right stator linear segment salient pole core 311 includes multiple right stator main teeth, each of which has multiple right stator split teeth 3111 at its top, and the right stator split teeth 3111 are spaced apart along the width direction of the right stator main teeth.

[0071] Within the same length range, the left stator split tooth 2111 has 24 teeth, the right stator split tooth 3111 has 24 teeth, and the mover salient pole core 11 has 23 teeth. Within one mechanical cycle, the number of traction force fluctuation cycles caused by the cogging effect is equal to the least common multiple of the stator and mover tooth counts. A larger number of traction force fluctuation cycles results in a smaller traction force fluctuation amplitude. Therefore, adding the left stator split tooth 2111 and right stator split tooth 3111 helps reduce traction force fluctuations and ensures smooth motor operation. Furthermore, the addition of this split tooth structure is independent of the coil type, as the function of the split teeth is based on the physical principle of the cogging effect and is unrelated to the type of current flowing through the coil.

[0072] Since the electromagnetic principles of the left stator straight segment 21, the left stator left-turning segment 22, and the left stator right-turning segment 23 are all the same, and the electromagnetic principles of the right stator straight segment 31, the right stator left-turning segment 32, and the right stator right-turning segment 33 are all the same, the split tooth structure of the left stator straight segment 21 in this embodiment can be extended to the left stator left-turning segment 22 and the left stator right-turning segment 23, and the split tooth structure of the right stator straight segment 31 can be extended to the right stator left-turning segment 32 and the right stator right-turning segment 33.

[0073] Example 5: The motor in Example 5 differs from the motor in Example 1 only in the composition of the mover 1. For example... Figure 14 As shown, the mover 1 includes a mover salient pole core 11 and a mover coil 12. The mover coil 12 includes a mover excitation coil 121 and a mover armature coil 122. To further improve the power density of the motor, a mover coil 12 is added to the mover salient pole core 11 of the mover 1. Since the mover salient pole core 11 has the same structure as the left stator linear segment salient pole core 211 and the right stator linear segment salient pole core 311, only the number of teeth is different, the energizing strategy of the mover coil 12 is the same as that of the left stator linear segment coil 212 and the right stator linear segment coil 312, only the frequency of the alternating current is different.

[0074] After adding a mover coil 12 to the mover salient pole core 11, the mover coil 12 can participate in electromagnetic energy conversion together with the stator coil, generating additional traction force, thereby significantly improving the power density and thrust density of the motor, enabling the motor to output greater power within the same volume. Simultaneously, the mover coil 12 can serve as a redundant power source. When a partial fault occurs in the stator coil, the mover coil 12 can be energized independently to generate traction force, driving the mover to a safe position or completing the current stroke, thus improving the system's fault-tolerant operation capability and reliability. When the mover excitation coil 121 and the mover armature coil 122 are supplied with a current of the same amplitude as the stator coil, the traction force on the mover 1 can be increased by approximately 50%.

[0075] Example 6: The autonomous commutation motor provided in Embodiment Six differs from the autonomous commutation motor provided in Embodiment Five only in the composition of the mover coil 12, the left stator linear segment coil 212, and the right stator linear segment coil 312. For example... Figure 15 As shown, the mover coil 12 includes a mover composite coil 123, the left stator linear segment coil 212 includes a left stator composite coil 2123, and the right stator linear segment coil 312 includes a right stator composite coil 3123. In this case, only one coil is wound on each core tooth, which simplifies the manufacturing process. On the other hand, when an AC current with DC bias is applied to the left stator composite coil 2123 and the right stator composite coil 3123, a main magnetic field and an armature magnetic field exist in the motor. At this time, the mover composite coil 123 has three energizing strategies: first, only DC current is applied to strengthen the main magnetic field of the motor, thereby increasing the traction force; second, only AC current is applied to generate an additional armature magnetic field, which interacts with the main magnetic field to generate additional traction force; third, both DC and AC currents are applied simultaneously, which not only strengthens the main magnetic field of the motor but also generates an additional armature magnetic field, further increasing the traction force by approximately 50%.

[0076] It should be noted that since the electromagnetic principles of the left stator straight segment 21, the left stator left-turning segment 22, and the left stator right-turning segment 23 are all the same, and the electromagnetic principles of the right stator straight segment 31, the right stator left-turning segment 32, and the right stator right-turning segment 33 are also the same, the structure of the left stator straight segment 21 in Embodiments 2 to 6 can be extended to the left stator left-turning segment 22 and the left stator right-turning segment 23, and the structure of the right stator straight segment 31 can be extended to the right stator left-turning segment 32 and the right stator right-turning segment 33.

Claims

1. An autonomous commutator motor, characterized in that: It includes a left stator (2), a right stator (3) and a mover (1) located between the left stator (2) and the right stator (3), the mover including a mover salient pole core (11); The left stator (2) includes the left stator straight section (21), the left stator left-turning section (22) and the left stator right-turning section (23), each of which is composed of a salient pole iron core and the coil wound on it; The right stator (3) includes the right stator straight section (31), the right stator left-turning section (32) and the right stator right-turning section (33), each of which is composed of a salient pole iron core and the coil wound on it; The left stator straight segment (21) and the right stator straight segment (31) extend side by side in the same direction to form a straight segment stator module (4); A bifurcation point is formed at the extension end of the straight segment stator module (4), and a left-turning bifurcation stator module (5) or a right-turning bifurcation stator module (6) is provided at the bifurcation point. In the left-turning bifurcated stator module (5), the right stator straight segment (31) continues to extend in a straight line after passing the bifurcation point, the left stator straight segment (21) breaks at the bifurcation point, one end of the left stator left-turning segment (22) is connected to the break point of the left stator straight segment (21), the left stator left-turning segment (22) and the right stator left-turning segment (32) are arranged opposite to each other and bend to the left as a whole; In the right-turn bifurcated stator module (6), when the left stator straight segment (21) continues to extend in a straight line after passing the bifurcation point, the right stator straight segment (31) breaks at the bifurcation point, and one end of the stator right-turn segment (33) connects with the break point of the right stator straight segment (31). The left stator right-turn segment (23) and the right stator right-turn segment (33) are arranged opposite to each other and bend to the right as a whole.

2. The autonomous commutation motor according to claim 1, characterized in that: The left stator straight segment (21) includes a left stator straight segment salient pole iron core (211) and a left stator straight segment coil (212); the left stator left-turning segment (22) includes a left stator left-turning segment salient pole iron core (221) and a left stator left-turning segment coil (222); the left stator right-turning segment (23) includes a left stator right-turning segment salient pole iron core (231) and a left stator right-turning segment coil (232); the right stator straight segment (31) includes a right stator straight segment salient pole iron core (311) and a right stator straight segment coil (312); the right stator left-turning segment (32) includes a right stator left-turning segment salient pole iron core (321) and a right stator left-turning segment coil (322); the right stator right-turning segment (33) includes a right stator right-turning segment salient pole iron core (331) and a right stator right-turning segment coil (332).

3. The autonomous commutation motor according to claim 2, characterized in that: The left stator linear segment coil (212) includes a left stator excitation coil (2121) and a left stator armature coil (2122); the right stator linear segment coil (312) includes a right stator excitation coil (3121) and a right stator armature coil (3122).

4. The autonomous commutation motor according to claim 2, characterized in that: The left stator linear segment coil (212) includes a left stator composite coil (2123); the right stator linear segment coil (312) includes a right stator composite coil (3123).

5. An autonomous commutation motor according to claim 2, 3 or 4, characterized in that: The left stator straight segment salient pole iron core (211) includes multiple left stator main teeth, and each left stator main tooth has multiple left stator split teeth (2111) at its top. The left stator split teeth (2111) are spaced apart along the width direction of the left stator main teeth. The right stator straight segment salient pole iron core (311) includes multiple right stator main teeth, and each right stator main tooth has multiple right stator split teeth (3111) at its top. The right stator split teeth (3111) are spaced apart along the width direction of the right stator main teeth.

6. The autonomous commutation motor according to claim 5, characterized in that: The mover (1) includes a mover salient pole iron core (11) and a mover coil (12).

7. The autonomous commutation motor according to claim 6, characterized in that: The moving salient pole iron core (11) includes moving main teeth, the number of teeth of the moving main teeth is denoted as M, the number of teeth of the left stator main teeth of the left stator straight segment salient pole iron core (211) is denoted as L, and the number of teeth of the right stator main teeth of the right stator straight segment salient pole iron core (311) is denoted as R, satisfying: L=R=3k, 2k≤M≤4k, and M≠3k, where k is a positive integer.

8. An autonomous commutation motor according to claim 6 or 7, characterized in that: The mover coil (12) includes a mover excitation coil (121) and a mover armature coil (122).

9. An autonomous commutation motor according to claim 6 or 7, characterized in that: The moving coil (12) includes a moving composite coil (123).

10. The autonomous commutation motor according to claim 1, characterized in that: The mover (1) also includes an upper top plate (13), a lower bottom plate (14), a main wheel (15) located below the lower bottom plate (14), a left guide wheel (16) located on the left side of the upper top plate (13) and the lower bottom plate (14), and a right guide wheel (17) located on the right side of the upper top plate (13) and the lower bottom plate (14); the mover salient pole iron core (11) is clamped and fixed between the upper top plate (13) and the lower bottom plate (14); the autonomous commutation motor also includes a base (7), and the left stator (2) and the right stator (3) are respectively fixedly installed on the base (7); The base (7) has a left guide wheel guard rail (72) extending along the laying direction of the left stator (2) on the left side, and a right guide wheel guard rail (73) extending along the laying direction of the right stator (3) on the right side. The left guide wheel guard rail (72) is in rolling cooperation with the left guide wheel (16), and the right guide wheel guard rail (73) is in rolling cooperation with the right guide wheel (17). The base (7) also has a main wheel guard rail (71), which is located below the main wheel (15) and is in rolling cooperation with the main wheel (15).

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