vernier motor

Abstract

A Vernier motor (1) comprising: - a first primary part (100) and a second primary part (101), both aligned, each of the primary parts (100, 101) comprising a plurality of teeth (105) and a plurality of slots (107), the teeth and slots being distributed in an alternating arrangement; - a first multi-phase winding (103) and a second multi-phase winding (113), the first multi-phase winding (103) being wound around the first primary part (100), the second multi-phase winding (113) being wound around the second primary part (101); - a secondary (102) comprising a plurality of permanent magnets (104), the permanent magnets being arranged mutually parallel, tilted and with alternating polarity, the secondary (102) being interposed between the first primary part (100) and the second primary part (101).

Description

Technical Field

[0001] This invention relates to vernier motors. In particular, this invention has great potential in low-speed applications.

[0002] This invention can be applied to multiple fields, such as automobiles, industrial automation, ventilation, pumping, elevators, earthmoving, heavy agriculture, horticulture, and marine machinery.

[0003] This invention is well-suited for use in the food industry, particularly the dairy industry, or in the chemical, pharmaceutical, or cosmetic industries. It can also be applied to manufacturing processes where homogenization is a step in the production process.

[0004] For example, consider the production of carbon-based nanostructure materials, such as graphene and carbon nanotubes, or cell disruption of yeast, algae, or microorganisms used to produce intracellular substances. Background Technology

[0005] Despite the variety of models available on the market, motors are basically divided into two categories: linear motors and rotary motors.

[0006] A linear motor consists of a fixed part (stator, also known as a "guide rail" or "track") and a movable part (called a "mover" or "slider") that can slide along the fixed part.

[0007] A rotary electric motor consists of a stationary part (stator) and a part that can rotate about its axis (rotor).

[0008] According to established terminology, the two parts of an electric motor can also be identified using the following terms:

[0009] - Primary stage, which includes windings;

[0010] - Secondary stage, carrying permanent magnets.

[0011] It is generally convenient to set the primary as a fixed component (i.e., the stator) and the secondary as a movable component (i.e., the mover or rotor).

[0012] However, in some designs, the primary is movable (i.e., a mover or rotor), while the secondary is fixed (i.e., a stator).

[0013] Among various types of motors, permanent magnet vernier motors (PMVMs) have gained widespread attention over the past few decades. This is mainly due to their high torque density achieved through the magnetic gear effect.

[0014] The following two exemplary documents can be consulted in scientific literature:

[0015] - A. Toba and TA Lipo, “Generic torque-maximizing design methodology of surface permanent-magnet vernier machine”, IEEE Transactions on Industry Applications, Vol. 36, No. 6, pp. 1539-1546, Nov-December 2000, doi:10.1109 / 28.887204;

[0016] - C. Shi, R. Qu, Y. Gao, D. Li, L. Jing and Y. Zhou, “Design and Analysis of an Interior Permanent Magnet Linear Vernier Machine”, IEEE Transactions on Magnetics, Vol. 54, No. 11, pp. 1-5, November 2018, Document No. 8106805, doi: 10.1109 / TMAG.2018.2840832.

[0017] Regarding patent literature, US Patent 9,595,858 discloses a rotating structure of a dual-stator spoke-type permanent magnet vernier motor, which has a rotor core, a rotor made of permanent magnets, and two stators. Each of the two stators is separated from the rotor by an air gap.

[0018] The two stators are offset by half a slot pitch to concentrate the magnetic flux from the permanent magnet in the inner or outer stator.

[0019] US Patent 10,871,141 discloses a linear structure for a dual-stator spoke-type permanent magnet vernier motor, which has multiple vertically arrayed mover modules. Although it is arranged linearly, its principle is the same as that of US 9,595,858, namely, it requires an offset of half a slot pitch to operate.

[0020] There is a need to increase the magnetic flux concentration effect. Summary of the Invention

[0021] Against this backdrop, the purpose of this invention is to provide a vernier motor that overcomes the prominent problems existing in the prior art.

[0022] In particular, the present invention aims to provide a vernier motor that can enhance the magnetic flux concentration effect.

[0023] The technical task and designated purpose are mainly achieved through a vernier motor, which includes:

[0024] - Primary component, comprising a first primary component and a second primary component, each of the primary components comprising a plurality of teeth and a plurality of slots, the teeth and slots being arranged in an alternating manner;

[0025] - A first multiphase winding and a second multiphase winding, the first multiphase winding being wound around a first primary component, and the second multiphase winding being wound around a second primary component;

[0026] - The secondary stage includes a plurality of permanent magnets, each of which is inclined relative to the generating line of the secondary stage. The permanent magnets are equidistantly distributed and arranged with alternating polarities. The secondary stage is located between the first primary component and the second primary component (101). A first air gap is obtained between the secondary stage and the first primary component, and a second air gap is obtained between the secondary stage and the second primary component.

[0027] In particular, all permanent magnets have the same tilt angle relative to the generating line.

[0028] According to one aspect of the invention, the secondary comprises a plurality of grooves. Each groove accommodates one of the permanent magnets.

[0029] Preferably, the permanent magnet is embedded in the groove.

[0030] Preferably, each groove has an elongated extension to receive the corresponding permanent magnet.

[0031] In particular, each permanent magnet is composed of parallelepiped blocks.

[0032] Preferably, the number of teeth s of each primary component, the number of pole pairs p of the corresponding multiphase winding, and the number of pole pairs m of the permanent magnet in the secondary are selected according to the following conditions:

[0033] .

[0034] Preferably, the first multiphase winding and the second multiphase winding are wound with the same construction and orientation.

[0035] According to one aspect of the invention, the first multiphase winding and the second multiphase winding are connected in series or in parallel.

[0036] Preferably, the first multiphase winding and the second multiphase winding are three-phase windings.

[0037] The first and second primary components are made of ferromagnetic materials. For example, the first and second primary components are made of iron-based laminated iron cores.

[0038] The secondary is also made of ferromagnetic materials. For example, the secondary is made of an iron-based laminated iron core.

[0039] Permanent magnets are made of one of the following materials: neodymium iron boron, samarium cobalt, or ferrite.

[0040] In the linear construction of a vernier motor, the secondary winding has a basically parallelepiped shape, and its main development axis coincides with the generating line.

[0041] In a linear construction, each primary component has an elongated extension whose main linear development direction is parallel to the main development axis of the secondary component.

[0042] The primary components are aligned, and the permanent magnets are parallel to each other.

[0043] The vernier motor further includes a support device for the secondary winding.

[0044] Specifically, the support device includes at least two side rods and a threaded rod, with the at least two side rods arranged on opposite sides of the secondary and the threaded rod passing through the section of the secondary located between the permanent magnets.

[0045] Preferably, the threaded rods are electrically isolated from each other.

[0046] In the rotating structure of the vernier motor, the primary and secondary components are hollow cylindrical symmetrical and coaxially arranged. The generating line coincides with the middle circumference of the secondary.

[0047] In a preferred embodiment of the present invention, the primary stage is a stator, wherein the first primary component is a first stator component, the second primary component is a second stator component, and the secondary stage is a mover or rotor.

[0048] In another embodiment of the invention, the primary stage is a mover or rotor, wherein the first primary component is a first mover component, the second primary component is a second mover component, and the secondary stage is a stator. Attached Figure Description

[0049] Further features and advantages of the invention will become more apparent from the following non-limiting description of preferred, but not exclusive, embodiments of the vernier motor, as illustrated in the accompanying drawings, wherein:

[0050] - Figure 1 A perspective view of a vernier motor according to an embodiment of the present invention is shown;

[0051] - Figure 2 It shows Figure 1 A vernier motor, in which one of the shafts has been removed for ease of understanding;

[0052] - Figure 3 It shows Figure 1 The vernier motor, in which one of the shafts and one of the side rods have been removed for ease of understanding;

[0053] - Figure 4 It shows Figure 1 Partial 3D exploded view of the primary and secondary windings of the vernier motor;

[0054] - Figure 5 It shows Figure 1 Longitudinal cross-sectional view of the primary, secondary and windings of a vernier motor;

[0055] - Figure 6 and Figure 5 The same, with the relevant parameters indicated;

[0056] - Figure 7 A cross-sectional view of a vernier motor according to another embodiment of the present invention is shown. Detailed Implementation

[0057] Referring to the attached figures, reference numeral 1 indicates a vernier motor, which includes a primary 100, a primary 101, and a secondary 102.

[0058] The primary stage includes a first primary component 100 and a second primary component 101.

[0059] Each primary component 100 and primary component 101 includes a plurality of teeth 105 and a plurality of slots 107, with the teeth and slots arranged alternately. In other words, in each primary component 100 and primary component 101, the slots 107 are located between pairs of consecutive teeth 105. Each slot 107 has a slot width. Each tooth 105 has a tooth width .like Figure 6 As shown.

[0060] The first multiphase winding 103 is wound around the first primary component 100, and the second multiphase winding 113 is wound around the second primary component 101.

[0061] Preferably, the first winding 103 is a three-phase winding, and the second winding 113 is a three-phase winding.

[0062] Specifically, the first multiphase winding 103 and the second multiphase winding 113 are wound with the same construction and orientation.

[0063] The first multiphase winding 103 and the second multiphase winding 113 can be connected in series or in parallel.

[0064] Secondary component 102 is arranged between primary component 100 and primary component 101.

[0065] Specifically, a first air gap 106 is obtained between the secondary component 102 and the first primary component 100, and a second air gap 116 is obtained between the secondary component 102 and the second primary component 101.

[0066] The two air gaps 106 and 116 preferably have the same thickness in order to achieve a balance between magnetic force and physical force.

[0067] In alternative variations, air gaps 106 and 116 with different thicknesses can be used.

[0068] The secondary 102 includes multiple permanent magnets 104, with the permanent magnets arranged in alternating polarities.

[0069] Each permanent magnet 104 is tilted relative to the generation line G of the secondary 102.

[0070] In particular, all permanent magnets 104 have the same tilt angle relative to the generating line G.

[0071] The generating line G of secondary 102 is an imaginary symmetry line of secondary 102. The permanent magnets 104 are equidistant from the generating line G.

[0072] Preferably, each permanent magnet 104 is composed of a block in the shape of a parallelepiped. For example, each permanent magnet 104 is a plate-like body.

[0073] Alternatively, each permanent magnet 104 includes multiple components.

[0074] Alternatively, each permanent magnet 104 can have a different shape, such as an "S" shape.

[0075] Advantageously, the secondary 102 includes a plurality of recesses 109 for receiving permanent magnets 104. In particular, each recess 109 of the secondary 102 receives one of the permanent magnets 104.

[0076] Preferably, the grooves 109 are equidistantly distributed, so that the permanent magnets 104 are also equidistantly distributed. In this context, "equidistantly distributed" means relative to the generating line G or in a direction parallel to the generating line G.

[0077] According to one aspect of the invention, the groove 109 is inclined relative to the generating line G.

[0078] In particular, all grooves 109 have the same inclination angle relative to the generating line G.

[0079] Preferably, each groove 109 has an elongated extension to receive a corresponding permanent magnet 104.

[0080] Preferably, the permanent magnet 104 is embedded in the groove 109.

[0081] This means that the permanent magnet 104 does not protrude outside the secondary 102, but is completely integrated into the secondary 102.

[0082] according to Figures 1 to 6 In one embodiment shown, the vernier motor 1 has a linear configuration.

[0083] In particular, secondary 102 has a substantially parallelepiped shape, and its main development axis A-A is the generating line G.

[0084] Each primary component 100, primary component 101 has a yoke 108, which has an elongated extension whose main straight development direction is parallel to the main development axis A-A of the secondary component 102.

[0085] Advantageously, the first primary component 100 and the second primary component 101 are aligned. This means that the two primary components 100 and 101 are not offset or misaligned with each other.

[0086] Preferably, the first primary component 100 and the second primary component 101 are identical, particularly in shape and size. In particular, they have the same number of teeth 105 and slots 107.

[0087] Specifically, in each primary component 100 and primary component 101, the tooth 105 begins from the yoke 108.

[0088] According to one aspect of the invention, the groove 109 is inclined relative to the main unfolding axis A-A.

[0089] The inclination angle α is defined here as the angle α between the main straight development direction of the groove 109 (which is inclined) and the line perpendicular to the main development axis AA. The inclination angle α is as follows: Figure 6 As shown.

[0090] The grooves 109 are parallel to each other, so the permanent magnets 104 are also parallel to each other.

[0091] Preferably, the grooves 109 are equidistantly distributed, so that the permanent magnets 104 are also equidistantly distributed.

[0092] In particular, the permanent magnets 104 are arranged with alternating polarities in parallel inclined grooves 109, which results in a magnetic flux concentration effect between two adjacent permanent magnets 104.

[0093] Figure 6 The other parameters of the linear vernier motor 1 shown are defined as follows:

[0094] - Permanent magnet offset It is the distance between the two ends of one of the grooves 109 that accommodate the permanent magnet 104, along a direction parallel to the main development axis A-A.

[0095] - Slot spacing It is the distance between two consecutive slots 107 of one of the primary components 100 and 101;

[0096] - The height h of secondary 102.

[0097] The number of teeth s of each primary component 100 and primary component 101, the number of pole pairs p of the corresponding windings 103 and windings 113, and the number of pole pairs m of the permanent magnet 104 in the secondary 102 are selected according to the following conditions:

[0098] .

[0099] exist Figure 5 In the illustrated embodiment, for each primary component 100, primary component 101, a distributed three-phase winding 103, winding 113 with p=1 is shown, which is arranged in six slots 107, and the secondary 102 has ten permanent magnets 104, i.e., m=5.

[0100] The illustrated embodiments are merely examples and can be considered as a basic case. In particular, multiple versions of this basic case can be aligned in a modular manner, depending on performance requirements.

[0101] Discover tooth width With slot width The ratio is optimal under the following conditions:

[0102] .

[0103] The choice of tilt angle α ensures that the magnetic flux linked by the two multiphase windings 103 and 113 at each position is in phase.

[0104] When the permanent magnet deflects With slot spacing The condition is satisfied when the ratio is within the following range:

[0105] .

[0106] Therefore, the tilt angle α can be calculated as:

[0107] .

[0108] Where h is the height of secondary 102.

[0109] In other words, the tilt angle α is selected based on the height h of the secondary winding 102 so that the back electromotive forces induced in the two multiphase windings 103 and 113 are aligned.

[0110] In a linear configuration, the vernier motor 1 preferably includes a support device for the secondary 102, which is capable of distributing thrust to the external load and guiding it in the direction of motion.

[0111] exist Figures 1 to 3 In the illustrated embodiment, the support device includes two side rods 403, which are arranged on opposite long sides of the secondary 102.

[0112] The two side rods 403 are fixed in sequence to the two flanges 400 at the two opposite ends near the secondary 102.

[0113] Each flange 400 preferably houses a pair of bushings / bearings 402 to support and guide the secondary 102 via two shafts 401.

[0114] Flange 400, bushing / bearing 402 and shaft 401 are also considered support devices.

[0115] Furthermore, the support device includes a threaded rod 500 passing through each section of the secondary 102 located between the two permanent magnets 104. The threaded rod 500 is secured to the side rod 403, for example, by a nut. Figure 2 As shown.

[0116] It is recommended to electrically isolate the threaded rods 500 from each other to prevent low-resistance current paths.

[0117] It is extremely important that the secondary 102 is properly supported to ensure mechanical reliability and sufficient rigidity to prevent bending. Placing the secondary 102 at the center of the two primary components 100 and 102 is critical, as magnetic imbalance caused by eccentricity can be a key issue.

[0118] According to a preferred embodiment, the vernier motor 1 is a double-stator type.

[0119] Specifically, in this embodiment, primary 100 and primary 101 are stators, and secondary 102 is a mover.

[0120] Therefore, the first primary component 100 is the first stator component, and the second primary component 101 is the second stator component.

[0121] In fact, the first stator component 100 and the second stator component 101 constitute the stator. This is why the vernier motor 1 is referred to herein as a "dual-stator" vernier motor.

[0122] Stator components 100 and 101 are fixed components, while the mover 102 can move relative to stator components 100 and 101.

[0123] Referring to the linear structure of the vernier motor 1, the mover 102 can slide relative to the stator component 100 and the stator component 101 along the main unfolding axis A-A.

[0124] According to an alternative embodiment, the vernier motor 1 is a double-acting type.

[0125] Specifically, in this embodiment, primary 100 and primary 101 are movers, and secondary 102 is a stator. Therefore, the first primary component 100 is a first mover component, and the second primary component 101 is a second mover component.

[0126] In fact, the first mover component 100 and the second mover component 101 constitute the mover. This is why the vernier motor 1 is referred to herein as a "double-mover" vernier motor.

[0127] The stator 102 is a fixed component, while the moving component 100 and the moving component 101 can move relative to the stator 102.

[0128] Referring to the linear structure of the vernier motor 1, the moving part 100 and the moving part 101 can slide relative to the stator 102.

[0129] Specifically, the moving part 100 and the moving part 101 can slide in a direction parallel to the main unfolding axis A-A.

[0130] The proposed vernier motor 1 can also have a rotating structure, such as Figure 7 As shown.

[0131] In this case, primary component 100, primary component 101 and secondary component 102 have hollow cylindrical symmetry.

[0132] For example, the first primary component 100 is an outer hollow cylinder with teeth 105 and grooves 107, the second primary component 101 is an inner hollow cylinder with teeth 105 and grooves 107, and the secondary component 102 is a hollow cylinder between the two and separated by corresponding annular air gaps 106 and air gaps 116.

[0133] Primary component 100, primary component 101, and secondary component 102 are coaxial and have the same axis of symmetry. In fact, the linear structure of the motor can be obtained by unfolding the vernier motor 1 with its rotating configuration. In the rotating configuration, the generating line G coincides with the mid-circumference of the secondary component 102.

[0134] The parameter selection for the rotational construction is similar to that disclosed for the linear construction.

[0135] The rotating structure can be of the "double stator" type or the "double rotor" type, similar to the linear structure.

[0136] In the "dual stator" type, primary 100 and primary 101 are stators composed of first primary component 100 and second primary component 101, and secondary 102 is the rotor.

[0137] The rotor 102 can rotate relative to the stator component 100 and the stator component 101.

[0138] In the "dual rotor" type, primary 100 and primary 101 are rotors, and secondary 102 is a stator. Therefore, the first primary component 100 is the first rotor component, and the second primary component 101 is the second rotor component.

[0139] These rotor components 100 and 101 can move relative to the stator 102.

[0140] Specifically, the first primary component 100 and the second primary component 101 are made of ferromagnetic materials, such as iron, nickel or cobalt, so that magnetic flux can be conducted through the teeth 105 and the yoke 108.

[0141] Preferably, both primary components 100 and 101 are made of iron-based laminated iron cores to improve manufacturability and performance.

[0142] The secondary 102 is also made of ferromagnetic material. Preferably, the secondary 102 is made of an iron-based laminated iron core.

[0143] The permanent magnet 104 is made of one of the following materials: neodymium iron boron, samarium cobalt, or ferrite. Alternatively, any other hard magnetic material that allows permanent magnetization may be used.

[0144] The characteristics of the vernier motor proposed in this paper are clearly evident from the above description and its advantages.

[0145] In particular, due to the specific arrangement and manner of the permanent magnets in the secondary (e.g., rotor or mover) grooves, an enhanced flux concentration effect is achieved compared to the known schemes discussed in the background art.

[0146] In particular, in the linear configuration of the motor, the arrangement of inclined magnets in the mover / rotor increases the surface area, thereby enhancing the flux concentration effect at the same mover / rotor height.

[0147] Furthermore, by redirecting the magnetic flux between the stators, the iron yoke of the mover / rotor is avoided.

[0148] As described in the background section, known patent solutions present a spoke version that requires an offset of half a slot pitch to function, while the solution proposed in this invention solves the offset problem between the two stators, allowing them to be aligned.

[0149] In particular, aligning the two primary components (e.g., the stator), including the teeth and windings, while still keeping the two back electromotive forces in phase, allows for the optimal winding factor for series connection and permits parallel connection.

[0150] In summary, the vernier motor proposed in this patent application exhibits high torque / thrust density and is particularly attractive for low-speed direct drive applications.

Claims

1. A vernier motor (1), comprising: - Primary (100, 101), including a first primary component (100) and a second primary component (101), each of the primary components (100, 101) including a plurality of teeth (105) and a plurality of slots (107), the teeth and the slots being arranged alternately; - A first multiphase winding (103) and a second multiphase winding (113), the first multiphase winding (103) being wound around the first primary component (100), and the second multiphase winding (113) being wound around the second primary component (101); - Secondary stage (102) includes a plurality of permanent magnets (104), each permanent magnet (104) being inclined relative to the generating line (G) of the secondary stage (102), the permanent magnets (104) being equidistantly distributed and arranged with alternating polarities, the secondary stage (102) being located between the first primary component (100) and the second primary component (101), a first air gap (106) being obtained between the secondary stage (102) and the first primary component (100), and a second air gap (116) being obtained between the secondary stage (102) and the second primary component (101).

2. The vernier motor (1) according to claim 1, wherein all of the permanent magnets (104) have the same tilt angle relative to the generating line (G).

3. The vernier motor (1) according to claim 1 or 2, wherein the secondary (102) includes a plurality of grooves (109), each groove (109) accommodating one of the permanent magnets (104).

4. The vernier motor (1) according to claim 3, wherein the permanent magnet (104) is embedded in the groove (104).

5. The vernier motor (1) according to claim 3 or 4, wherein each groove (109) has an elongated extension to accommodate a corresponding permanent magnet (104).

6. The vernier motor (1) according to any one of the preceding claims, wherein each permanent magnet (104) is composed of a parallelepiped block.

7. The vernier motor (1) according to any one of the preceding claims, wherein the number of teeth s of each primary component (100, 101) and the number of pole pairs p of the corresponding multiphase winding (103, 113), and the number of pole pairs m of the permanent magnet (104) in the secondary (102) are selected according to the following conditions: 。 8. The vernier motor (1) according to any one of the preceding claims, wherein the secondary (102) has a substantially parallelepiped shape, its main development axis (AA) coincides with the generating line (G), each primary component (100, 101) has an elongated extension whose main linear development direction is parallel to the main development axis (AA) of the secondary (102), the primary components (100, 101) are aligned, and the permanent magnets (104) are parallel to each other.

9. The vernier motor (1) according to claim 8, further comprising a support device for the secondary (102).

10. The vernier motor (1) according to claim 9, wherein the support device comprises at least two side rods (403) and a threaded rod (500), the at least two side rods being arranged on opposite sides of the secondary (102), and the threaded rod passing through a section of the secondary (102) between the permanent magnets (104).

11. The vernier motor (1) according to claim 10, wherein the threaded rods (500) are electrically isolated from each other.

12. The vernier motor (1) according to any one of claims 2 to 7, wherein the primary component (100, 101) and the secondary component (102) have hollow cylindrical symmetry and are arranged coaxially, and the generating line (G) is the middle circumference of the secondary component (102).

13. The vernier motor (1) according to any one of the preceding claims, wherein the primary (100, 101) is a stator, wherein the first primary component (100) is a first stator component, and the second primary component (101) is a second stator component, and the secondary (102) is a mover or rotor.

14. The vernier motor (1) according to any one of claims 1 to 12, wherein the primary (100, 101) is a mover or a rotor, wherein the first primary component (100) is a first mover component, and the second primary component (101) is a second mover component, and the secondary (102) is a stator.

15. The vernier motor (1) according to any one of the preceding claims, wherein the first multiphase winding (103) and the second multiphase winding (113) are wound with the same construction and orientation.

16. The vernier motor (1) according to any one of the preceding claims, wherein the first multiphase winding (103) and the second multiphase winding (113) are connected in series or in parallel.

17. The vernier motor (1) according to any one of the preceding claims, wherein the first multiphase winding (103) and the second multiphase winding (113) are three-phase windings.

18. The vernier motor (1) according to any one of the preceding claims, wherein the first primary component (100) and the second primary component (101) are made of ferromagnetic material.

19. The vernier motor (1) according to claim 18, wherein the first primary component (100) and the second primary component (101) are made of iron-based laminated iron core.

20. The vernier motor (1) according to any one of the preceding claims, wherein the secondary (102) is made of ferromagnetic material.

21. The vernier motor (1) according to claim 19, wherein the secondary (102) is made of an iron-based laminated iron core.

22. The vernier motor (1) according to any one of the preceding claims, wherein the permanent magnet (104) is made of one of the following materials: neodymium iron boron, samarium cobalt, ferrite.

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