Flat plate type permanent magnet linear motor adopting alternately changing tooth shapes

Abstract

The utility model discloses a flat plate type permanent magnet linear motor adopting alternating tooth profiles, and belongs to the technical field of motors. Stator teeth of a stator core of the flat plate type permanent magnet linear motor are combined teeth, the combined teeth are composed of straight teeth and tooth-shaped teeth, and the straight teeth and the tooth-shaped teeth are alternately arranged in the Z-axis direction and are manufactured into a whole. The structures of two adjacent combined teeth of the stator core are the same or different; or, two adjacent stator teeth of the stator core are different in structure and adopt an alternately changing tooth-shaped structure, one stator tooth is a straight tooth, and the other stator tooth is a tooth-shaped tooth. According to the utility model, the stator tooth structure of which the tooth forms are alternately changed is adopted, and different tooth structures are integrated; wherein one part of teeth with tooth shapes can make up for the defect of low thrust density of straight teeth when a magnetic circuit is not saturated, the other part of straight tooth structures can make up for the defect of poor overload capacity of tooth structures with tooth shapes when the magnetic circuit is saturated, and the two tooth structures complement each other, so that the thrust characteristic of the motor is well balanced.

Description

Technical Field

[0001] The utility model belongs to the technical field of motors, and in particular relates to a flat-plate permanent magnet linear motor with an alternately changing tooth shape. Background Art

[0002] Flat permanent magnet linear motors have the characteristics of high thrust density, high control accuracy and maintenance-free, and are widely used in aerospace, national defense weapons, high-tech ships, robots and other fields.

[0003] For traditional flat permanent magnet linear motors, the stator core usually adopts a structure with equal tooth width and tooth shape (such as Figure 1 As shown in the figure). Due to the existence of the tooth shape, the slot width is small, the motor has less leakage magnetic flux, and the no-load main magnetic flux is large. Therefore, in the linear section where the magnetic circuit has not reached saturation, the motor thrust characteristics are good and the thrust density is high. However, in the thrust high overload area, due to the small slot width, the armature reaction makes the motor magnetic circuit over-saturated, the thrust-current characteristic curve shows serious nonlinearity, and the nonlinearity surges. Therefore, under the limited peak current, the peak thrust often fails to meet the requirements.

[0004] The flat-type permanent magnet linear motor is a special type of permanent magnet motor, which is characterized by large thrust output, so the overload capacity (i.e. the ratio of overload thrust to rated thrust) is an important performance indicator. In order to improve the overload capacity, the flat-type permanent magnet linear motor mostly adopts a straight tooth structure with equal tooth width and no tooth shape (such as Figure 2 As shown). Since the structure has a large slot width, it can effectively suppress the magnetic circuit saturation caused by the armature reaction under high overload, thereby significantly improving the peak thrust of the flat permanent magnet linear motor and improving the overload capacity of the linear motor. However, if the slot is too wide, the leakage magnetic flux generated by the permanent magnet of the motor rotor will be large, and the no-load main magnetic flux will be reduced. Therefore, in the linear section of the motor thrust-current characteristic curve, the thrust performance is relatively poor, which reduces the thrust density of the motor. Specifically, the thrust-current characteristic curve of the traditional flat permanent magnet linear motor is as follows: Figure 3 As shown:

[0005] (1) In the non-saturated magnetic circuit region (magnetic circuit unsaturated region), the toothed flat-type permanent magnet linear motor has a larger thrust / current ratio and thrust density, while the thrust density of the straight-toothed flat-type permanent magnet linear motor is relatively low;

[0006] (2) In the magnetic circuit saturation region (i.e., the winding current is large), the toothed flat-plate permanent magnet linear motor exhibits severe saturation characteristics, and the thrust / current ratio decreases sharply; in contrast, the straight-toothed flat-plate permanent magnet linear motor exhibits a superior overload capacity.

[0007] At present, the stator tooth structure of flat-type permanent magnet linear motors either has a tooth shape or is a straight tooth structure without a tooth shape. It is impossible to take into account both the thrust density in the unsaturated zone and the overload capacity in the high saturation zone. This limits the application of flat-type permanent magnet linear motors in special fields to a certain extent. Utility Model Content

[0008] The utility model aims to combine the performance advantages of a flat permanent magnet linear motor with a toothed structure and a flat permanent magnet linear motor with a straight toothed structure without a toothed structure, so as to form a flat permanent magnet linear motor with an alternating toothed structure.

[0009] The utility model proposes a flat-plate permanent magnet linear motor with an alternating tooth shape, and adopts a stator tooth structure with an alternating tooth shape, and integrates different tooth structures; wherein, a part of the tooth structure with a tooth shape can make up for the deficiency of low thrust density of the straight tooth when the magnetic circuit is not saturated, and the other part of the straight tooth structure can make up for the deficiency of poor overload capacity of the tooth structure with a tooth shape when the magnetic circuit reaches saturation, and the two tooth structures complement each other. Therefore, the stator tooth structure with an alternating tooth shape can make the thrust characteristics of the flat-plate permanent magnet linear motor in the case of saturated and unsaturated magnetic circuits better balanced.

[0010] In order to achieve the above-mentioned purpose, the utility model adopts the following technical solutions:

[0011] A flat-plate permanent magnet linear motor with an alternately changing tooth shape, wherein a single stator tooth of a stator core of the flat-plate permanent magnet linear motor is a combined tooth, the combined tooth is composed of a spur tooth and a toothed tooth, and the spur teeth and the toothed teeth are alternately arranged along the Z-axis direction and are made into one body.

[0012] Furthermore, a mounting groove is provided on one side of the spur tooth of the single stator tooth along the Z-axis direction, the tooth with a tooth shape is embedded in the mounting groove and formed as a whole, and the spur tooth and the tooth with a tooth shape are flush on the one side in the Z-axis direction; or, a mounting groove is provided on one side of the tooth with a tooth shape of the single stator tooth along the Z-axis direction, the spur tooth is embedded in the mounting groove and formed as a whole, and the spur tooth and the tooth with a tooth shape are flush on the one side in the Z-axis direction.

[0013] Furthermore, the combined teeth of the stator core include four structural forms, namely, combined tooth one, combined tooth two, combined tooth three, and combined tooth four. The structures of two adjacent stator teeth of the stator core along the X-axis direction are the same, and are any one of combined tooth one, combined tooth two, combined tooth three, and combined tooth four.

[0014] Furthermore, the combined teeth of the stator core include four structural forms, namely, combined tooth one, combined tooth two, combined tooth three, and combined tooth four. The structures of two adjacent stator teeth of the stator core along the X-axis direction are different and are alternately arranged along the X-axis direction. The two adjacent stator teeth are any two combinations of combined tooth one, combined tooth two, combined tooth three, and combined tooth four.

[0015] Furthermore, the combined teeth of the stator core include four structural forms, namely, combined tooth one, combined tooth two, combined tooth three, and combined tooth four. The structures of two adjacent stator teeth of the stator core along the X-axis direction are different, and are alternately arranged along the X-axis direction. One of the stator teeth is a straight tooth, and the other stator tooth is any one of combined tooth one, combined tooth two, combined tooth three, and combined tooth four.

[0016] Furthermore, the structure of the combined tooth 1 is as follows: the installation groove is provided at a half position of a side surface of the straight tooth of the single stator tooth along the Z-axis direction, and the tooth with a tooth shape is embedded in the installation groove and formed as a whole;

[0017] The structure of the combined tooth 2 is as follows: the installation groove is provided at the half position of one side surface of the tooth with tooth shape along the Z-axis direction of the single stator tooth, and the spur tooth is embedded in the installation groove and made into one piece;

[0018] The structure of the combined tooth three is as follows: the installation groove is provided in the middle of one side surface of the straight tooth of the single stator tooth along the Z-axis direction, the installation groove is located at two-quarters to three-quarters of the one side surface of the straight tooth, and the toothed tooth is embedded in the installation groove and formed as one body;

[0019] The structure of the combined tooth four is as follows: the mounting groove is provided in the middle of one side surface of the toothed tooth of the single stator tooth along the Z-axis direction, the mounting groove is located at two-quarters to three-quarters of the one side surface of the toothed tooth, and the straight tooth is embedded in the mounting groove and made as a whole.

[0020] Furthermore, the toothed teeth include the following six structural forms:

[0021] The first structure: the toothed teeth are composed of straight teeth and isosceles trapezoidal teeth. The lower end of the straight teeth is made into one piece with the upper bottom surface of the isosceles trapezoidal teeth, and the waist surface and the lower bottom surface of the isosceles trapezoidal teeth are connected by a vertical surface.

[0022] The second structure: the toothed teeth are composed of straight teeth and isosceles trapezoidal teeth. The lower end of the straight teeth is made into one piece with the upper bottom surface of the isosceles trapezoidal teeth. The waist surface and the lower bottom surface of the isosceles trapezoidal teeth are connected by horizontal and vertical planes. The waist surface of the isosceles trapezoidal teeth is an inwardly concave arc surface.

[0023] The third structure: the toothed teeth are composed of straight teeth and isosceles trapezoidal teeth. The lower end of the straight teeth is made into one piece with the upper bottom surface of the isosceles trapezoidal teeth. The waist surface and the lower bottom surface of the isosceles trapezoidal teeth are connected by a vertical surface. The waist surface of the isosceles trapezoidal teeth is an inwardly concave arc surface.

[0024] The fourth structure is the same as the second structure, except that the lower base surface of the isosceles trapezoidal teeth is larger than the lower base surface of the isosceles trapezoidal teeth in the second structure.

[0025] The fifth structure: the toothed teeth are composed of spur teeth and isosceles trapezoidal teeth. The lower end of the spur teeth is integrated with the upper bottom surface of the isosceles trapezoidal teeth. The waist surface and the lower bottom surface of the isosceles trapezoidal teeth are connected by a vertical surface. A through groove is provided in the middle of the lower bottom surface of the isosceles trapezoidal teeth along the Z-axis direction.

[0026] The sixth structure: the toothed teeth are composed of straight teeth and unequally spherical trapezoidal teeth. The lower end of the straight teeth is made into one piece with the upper bottom surface of the unequally spherical trapezoidal teeth. One side waist surface of the unequally spherical trapezoidal teeth is connected to the lower bottom surface by a vertical surface. The other side waist surface of the unequally spherical trapezoidal teeth is a V-shaped surface. The opening of the V-shaped surface is set toward the X-axis direction. The V-shaped surface and the lower bottom surface are connected by a vertical surface.

[0027] A flat-plate permanent magnet linear motor with an alternately changing tooth shape, wherein two adjacent stator teeth of the stator core of the flat-plate permanent magnet linear motor along the X-axis direction have different structures and are alternately arranged along the X-axis direction, wherein one stator tooth is a straight tooth and the other stator tooth is a tooth with a tooth shape.

[0028] Furthermore, the toothed teeth include the following six structural forms:

[0029] The first structure: the toothed teeth are composed of straight teeth and isosceles trapezoidal teeth. The lower end of the straight teeth is made into one piece with the upper bottom surface of the isosceles trapezoidal teeth, and the waist surface and the lower bottom surface of the isosceles trapezoidal teeth are connected by a vertical surface.

[0030] The second structure: the toothed teeth are composed of straight teeth and isosceles trapezoidal teeth. The lower end of the straight teeth is made into one piece with the upper bottom surface of the isosceles trapezoidal teeth. The waist surface and the lower bottom surface of the isosceles trapezoidal teeth are connected by horizontal and vertical planes. The waist surface of the isosceles trapezoidal teeth is an inwardly concave arc surface.

[0031] The third structure: the toothed teeth are composed of straight teeth and isosceles trapezoidal teeth. The lower end of the straight teeth is made into one piece with the upper bottom surface of the isosceles trapezoidal teeth. The waist surface and the lower bottom surface of the isosceles trapezoidal teeth are connected by a vertical surface. The waist surface of the isosceles trapezoidal teeth is an inwardly concave arc surface.

[0032] The fourth structure is the same as the second structure, except that the lower base surface of the isosceles trapezoidal teeth is larger than the lower base surface of the isosceles trapezoidal teeth in the second structure.

[0033] The fifth structure: the toothed teeth are composed of spur teeth and isosceles trapezoidal teeth. The lower end of the spur teeth is integrated with the upper bottom surface of the isosceles trapezoidal teeth. The waist surface and the lower bottom surface of the isosceles trapezoidal teeth are connected by a vertical surface. A through groove is provided in the middle of the lower bottom surface of the isosceles trapezoidal teeth along the Z-axis direction.

[0034] The sixth structure: the toothed teeth are composed of straight teeth and unequally spherical trapezoidal teeth. The lower end of the straight teeth is made into one piece with the upper bottom surface of the unequally spherical trapezoidal teeth. One side waist surface of the unequally spherical trapezoidal teeth is connected to the lower bottom surface by a vertical surface. The other side waist surface of the unequally spherical trapezoidal teeth is a V-shaped surface. The opening of the V-shaped surface is set toward the X-axis direction. The V-shaped surface and the lower bottom surface are connected by a vertical surface.

[0035] Compared with the prior art, the beneficial effects of the utility model are:

[0036] 1. Compared with the simple tooth structure with tooth profile, the alternating tooth profile structure proposed by the utility model has a wider overall notch due to the presence of a partial straight tooth structure, which can make the thrust performance of the flat linear motor better in the magnetic circuit saturation state;

[0037] 2. Compared with the simple straight tooth structure, the alternating tooth shape structure proposed by the utility model can make the thrust performance of the flat linear motor better when the magnetic circuit is not saturated due to the existence of partial tooth shapes;

[0038] 3. The alternating tooth structure proposed in the utility model takes into account the thrust characteristics of the flat linear motor in both the unsaturated magnetic circuit state and the saturated magnetic circuit state, thereby improving the overall performance of the motor and expanding the application range of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of a flat-plate permanent magnet linear motor with a toothed structure;

[0040] Figure 2 It is a schematic diagram of a flat-plate permanent magnet linear motor with a spur gear structure;

[0041] Figure 3 Schematic diagram of thrust characteristics of three tooth structures: straight teeth, toothed teeth and alternating teeth;

[0042] Figure 4 Schematic diagram for defining the direction of the stator teeth; wherein: the X-axis direction is the movement direction of the flat-plate permanent magnet linear motor, the Y-axis direction is the vertical direction perpendicular to the movement direction of the flat-plate permanent magnet linear motor, and the Z-axis direction is the direction perpendicular to the X-axis direction and the Y-axis direction;

[0043] Figure 5 The utility model is a single stator tooth of a flat permanent magnet linear motor with an alternately changing tooth shape in the Z-axis direction. Figure 1 ;

[0044] Figure 6 The Z-axis direction of a single stator tooth of a flat-plate permanent magnet linear motor with an alternating tooth shape is shown in FIG. Figure 1 ;

[0045] Figure 7 The utility model is a single stator tooth of a flat permanent magnet linear motor with an alternately changing tooth shape in the Z-axis direction. Figure 2 ;

[0046] Figure 8 The Z-axis direction of a single stator tooth of a flat-plate permanent magnet linear motor with an alternating tooth shape is shown in FIG. Figure 2 ;

[0047] Fig. 9 The X-axis direction of the flat-plate permanent magnet linear motor with alternating tooth shape of the utility model is shown in FIG. Figure 1 ;

[0048] Fig.10 The X-axis direction of the flat-plate permanent magnet linear motor with alternating tooth shape of the utility model is shown in FIG. Figure 2 ;

[0049] Fig.11 Schematic diagram of a tooth structure with teeth Figure 1 ;

[0050] Fig.12 Schematic diagram of a tooth structure with teeth Figure 2 ;

[0051] Fig.13 Schematic diagram of a tooth structure with teeth Figure 3 ;

[0052] Fig.14 Schematic diagram of a tooth structure with teeth Figure 4 ;

[0053] Fig.15 Schematic diagram of a tooth structure with teeth Figure 5 ;

[0054] Fig.16 Schematic diagram of a tooth structure with teeth Figure 6 ;

[0055] Fig.17 The X-axis direction of the flat-plate permanent magnet linear motor with alternating tooth shape of the utility model is shown in FIG. Figure 3 .

[0056] The names and reference numerals of the components involved in the above drawings are as follows:

[0057] 1- auxiliary pole, 2- stator core, 3- winding, 4- iron yoke, 5- permanent magnet, 6- toothed teeth, 7- straight teeth, 8- isosceles trapezoidal teeth, 9- waist surface, 10- vertical surface, 11- horizontal surface, 12- through slot, 13- V-shaped surface. DETAILED DESCRIPTION

[0058] The technical solution of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0059] Specific implementation method 1: Figure 4-Figure 8 As shown, this embodiment records a flat-plate permanent magnet linear motor with an alternating tooth shape, wherein a single stator tooth of the stator core 2 of the flat-plate permanent magnet linear motor is a combined tooth (also called an alternating tooth), and the combined tooth is composed of a spur tooth 7 and a toothed tooth 6, and the spur teeth 7 and the toothed teeth 6 are alternately arranged along the Z-axis direction and are made into one piece.

[0060] Furthermore, if Figure 4-Figure 8 As shown, a mounting groove is provided on one side of the straight tooth 7 of the single stator tooth along the Z-axis direction, and the tooth 6 with a toothed shape is embedded in the mounting groove and made into one piece, and the straight tooth 7 and the toothed shape tooth 6 are flush on the side in the Z-axis direction; or, a mounting groove is provided on one side of the toothed shape tooth 6 of the single stator tooth along the Z-axis direction, and the straight tooth is embedded in the mounting groove and made into one piece (so that the straight tooth 7 and the toothed shape tooth 6 are alternately arranged), and the straight tooth 7 and the toothed shape tooth 6 are flush on the side in the Z-axis direction. Alternating tooth shapes are applied on the same tooth to ensure balanced thrust characteristics of the motor.

[0061] In the Z-axis direction of the stator core, using the stator tooth structure of the present invention, the stator laminations of the straight tooth 7 structure and the toothed tooth 6 structure can be stamped according to different proportions to form an alternating structure of straight teeth 7 and toothed teeth 6 on the same tooth at different positions in the Z-axis direction of the stator core 2.

[0062] Furthermore, if Figure 4-Figure 8 As shown, the combined teeth of the stator core 2 include four structural forms, namely, combined tooth one, combined tooth two, combined tooth three, and combined tooth four. The structures of two adjacent stator teeth of the stator core 2 along the X-axis direction are the same, and are any one of the combined tooth one, combined tooth two, combined tooth three, and combined tooth four.

[0063] Furthermore, if Figure 4-Figure 8As shown, the combination teeth of the stator core 2 include four structural forms, namely combination teeth 1, combination teeth 2, combination teeth 3, and combination teeth 4. The adjacent two stator teeth of the stator core 2 along the X-axis direction have different structures and are alternately arranged along the X-axis direction. The adjacent two stator teeth are any two combinations of combination teeth 1, combination teeth 2, combination teeth 3, and combination teeth 4. The combination of different combination teeth can allow the flat-type permanent magnet linear motor to exhibit adjustable thrust characteristics.

[0064] Furthermore, if Fig.17 As shown, the combined teeth of the stator core include four structural forms, namely, combined tooth one, combined tooth two, combined tooth three, and combined tooth four. The structures of two adjacent stator teeth of the stator core along the X-axis direction are different and are alternately arranged along the X-axis direction. One of the stator teeth is a straight tooth, and the other stator tooth is any one of combined tooth one, combined tooth two, combined tooth three, and combined tooth four.

[0065] Furthermore, the structures of the combined tooth 1, the combined tooth 2, the combined tooth 3, and the combined tooth 4 are as follows:

[0066] The structure of the combined tooth 1 is as follows: the installation groove is provided at the half position of one side of the straight tooth 7 of the single stator tooth along the Z-axis direction, and the tooth 6 with a tooth shape is embedded in the installation groove and made into one piece;

[0067] In the Z-axis direction of the stator core 2, the stator core 2 is stamped using the stator laminations with alternating tooth shapes of the present invention. At the half position in the Z-axis direction of the stator core, the stator laminations are staggered by one tooth and then stamped again, so that half of the same tooth in the Z-axis direction of the stator core 2 adopts a straight tooth 7 structure and the other half adopts a toothed tooth 6 structure. The schematic diagram of the structure of a single stator tooth in the Z-axis direction is shown in FIG. Figure 5 and Figure 6 As shown, L represents the length of the stator core in the Z-axis direction.

[0068] The structure of the combined tooth 2 is as follows: the mounting groove is provided at the half position of one side of the toothed tooth 6 of the single stator tooth along the Z-axis direction, and the spur tooth 7 is embedded in the mounting groove and made as one piece; this scheme does not provide relevant drawings because it is a transformation structure of the combined tooth 1.

[0069] The structure of the combined tooth 3 is as follows: the installation groove is provided in the middle of one side of the straight tooth 7 of the single stator tooth along the Z-axis direction, the installation groove is located at two-quarters to three-quarters of the one side of the straight tooth 7, and the toothed tooth 6 is embedded in the installation groove and made as one body;

[0070] The structure of the combined tooth 4 is as follows: the installation groove is provided in the middle of one side of the tooth 6 of the single stator tooth along the Z-axis direction, the installation groove is located at two-quarters to three-quarters of the one side of the tooth 6, and the straight tooth 7 is embedded in the installation groove and made into one piece. This solution does not provide relevant drawings because it is a modified structure of the combined tooth 3.

[0071] In the Z-axis direction of the stator core 2, the stator core 2 is stamped using the stator laminations with alternating tooth shapes of the present invention. At a quarter position in the Z-axis direction of the stator core 2, the stator laminations are staggered by one tooth and then stamped. At a three-quarter position in the Z-axis direction of the stator core 2, the stator laminations are staggered by one tooth and then stamped. In the Z-axis direction of the stator core 2, the same tooth is formed by a quarter straight tooth 7, a half toothed tooth 6 and a quarter straight tooth 7. The schematic diagram of the structure of a single stator tooth in the Z-axis direction is shown in FIG. Figure 7 and Figure 8 As shown, L represents the length of the stator core in the Z-axis direction.

[0072] Or it can be a structure of one quarter of tooth 6 with a tooth profile, one half of straight tooth 7 and one quarter of tooth 6 with a tooth profile.

[0073] Furthermore, the combined tooth also includes two structural forms: a combined tooth five and a combined tooth six (the following scheme does not provide drawings):

[0074] The structure of the combined tooth 5 is as follows: the installation groove is provided on one side of the straight tooth 7 of the single stator tooth along the Z-axis direction, and the tooth 6 with a tooth shape is embedded in the installation groove and made into one piece, so that the straight tooth 7 of the stator tooth occupies three-fifths of the position, and the tooth 6 with a tooth shape occupies two-fifths of the position;

[0075] The structure of the combined tooth six is ​​as follows: the installation groove is provided on one side of the straight tooth 7 of the single stator tooth along the Z-axis direction, and the toothed tooth 6 is embedded in the installation groove and made into one piece, so that the toothed tooth 6 occupies two-thirds of the position and the straight tooth 7 occupies one-third of the position.

[0076] The combined teeth of each structure use alternating tooth shapes on the same tooth to ensure balanced thrust characteristics of the motor.

[0077] The two adjacent stator teeth of the stator core 2 along the X-axis direction have the same structure and are combination teeth 5 or combination teeth 6; or, the two adjacent stator teeth of the stator core 2 along the X-axis direction have different structures and are alternately arranged along the X-axis direction, and the two adjacent stator teeth are any two combinations of combination teeth 1, combination teeth 2, combination teeth 3, combination teeth 4, combination teeth 5, and combination teeth 6. During the movement of the mover, the magnetic circuit saturation zone and the magnetic circuit unsaturation zone can be designed according to different positions.

[0078] Furthermore, the toothed teeth 6 have the following six structural forms:

[0079] The first structure: Fig.11 As shown, the toothed teeth are composed of straight teeth 7 and isosceles trapezoidal teeth 8, the lower end of the straight teeth 7 is made integral with the upper bottom surface of the isosceles trapezoidal teeth 8, and the waist surface 9 and the lower bottom surface of the isosceles trapezoidal teeth 8 are connected by a vertical surface 10. The effect of this technical solution is that the isosceles trapezoidal teeth reduce the magnetic density saturation of the magnetic top.

[0080] The second structure: Fig.12 As shown, the toothed teeth are composed of straight teeth 7 and isosceles trapezoidal teeth 8, the lower end of the straight teeth 7 is made integral with the upper bottom surface of the isosceles trapezoidal teeth 8, the waist surface 9 of the isosceles trapezoidal teeth 8 is connected to the lower bottom surface through a horizontal surface 11 and a vertical surface 10, and the waist surface 9 of the isosceles trapezoidal teeth 8 is an inwardly concave arc surface. The effect of this technical solution is that the tooth top transition is more natural and the slot fullness rate is increased.

[0081] The third structure: Fig.13 As shown, the toothed teeth are composed of straight teeth 7 and isosceles trapezoidal teeth 8, the lower end of the straight teeth 7 is made integral with the upper bottom surface of the isosceles trapezoidal teeth 8, the waist surface 9 of the isosceles trapezoidal teeth 8 is connected to the lower bottom surface by a vertical surface 10, and the waist surface 9 of the isosceles trapezoidal teeth 8 is an inwardly concave arc surface. The effect of this technical solution is: increasing the slot fullness rate.

[0082] The fourth structure: Fig.14 As shown, it is the same as the second structure, except that the lower bottom surface of the isosceles trapezoidal teeth 8 is larger than the lower bottom surface of the isosceles trapezoidal teeth 8 in the second structure. The effect of this technical solution is that the tooth top transition is more natural and the slot full rate is increased.

[0083] The fifth structure: Fig.15 As shown, the toothed teeth are composed of straight teeth 7 and isosceles trapezoidal teeth 8, the lower end of the straight teeth 7 is made integral with the upper bottom surface of the isosceles trapezoidal teeth 8, the waist surface 9 and the lower bottom surface of the isosceles trapezoidal teeth 8 are connected by a vertical surface 10, and a through groove 12 is provided in the middle of the lower bottom surface of the isosceles trapezoidal teeth 8 along the Z-axis direction. The effect of this technical solution is that the teeth with this structure can embed permanent magnets in the through groove 12, reduce tooth leakage, and increase air gap magnetic density.

[0084] The sixth structure: Fig.16 As shown, the toothed teeth are composed of straight teeth 7 and unequal-spherical trapezoidal teeth 8, the lower end of the straight teeth 7 is made integral with the upper bottom surface of the unequal-spherical trapezoidal teeth 8, one side waist surface 9 of the unequal-spherical trapezoidal teeth 8 is connected to the lower bottom surface through a vertical surface 10, and the other side waist surface of the unequal-spherical trapezoidal teeth 8 is a V-shaped surface 13, the opening of the V-shaped surface 13 is set toward the X-axis direction, and the V-shaped surface 13 is connected to the lower bottom surface through a vertical surface 10. The effect of this technical solution is: the tooth shape design is combined with the magnetic circuit to reduce magnetic leakage.

[0085] Specific implementation method 2: Fig. 9, Fig.10 As shown, this embodiment records a flat-plate permanent magnet linear motor with an alternating tooth shape, wherein the stator core 2 of the flat-plate permanent magnet linear motor has different structures of two adjacent stator teeth along the X-axis direction and are alternately arranged along the X-axis direction, wherein one stator tooth is a straight tooth 7 and the other stator tooth is a toothed tooth 6.

[0086] Different stator teeth of the stator core 2 no longer use a single tooth structure, but use an alternating tooth structure. In the X-axis direction of the stator core 2, an alternating tooth crown structure is used, one uses a tooth structure, and the other uses a straight tooth structure; in the Z-axis direction of the stator core 2, the same stator tooth has the same structure, while two adjacent stator teeth use a stator tooth structure that is a mixture of two different tooth shapes. The schematic diagram of the stator core 2 of the flat permanent magnet linear motor along the X-axis direction is shown in FIG. Fig. 9 and Fig.10 shown.

[0087] Furthermore, the toothed teeth 6 have the following six structural forms:

[0088] The first structure: Fig.11 As shown, the toothed teeth are composed of straight teeth 7 and isosceles trapezoidal teeth 8, the lower end of the straight teeth 7 is made integral with the upper bottom surface of the isosceles trapezoidal teeth 8, and the waist surface 9 and the lower bottom surface of the isosceles trapezoidal teeth 8 are connected by a vertical surface 10. The effect of this technical solution is that the isosceles trapezoidal teeth reduce the magnetic density saturation of the magnetic top.

[0089] The second structure: Fig.12 As shown, the toothed teeth are composed of straight teeth 7 and isosceles trapezoidal teeth 8, the lower end of the straight teeth 7 is made integral with the upper bottom surface of the isosceles trapezoidal teeth 8, the waist surface 9 of the isosceles trapezoidal teeth 8 is connected to the lower bottom surface through a horizontal surface 11 and a vertical surface 10, and the waist surface 9 of the isosceles trapezoidal teeth 8 is an inwardly concave arc surface. The effect of this technical solution is that the tooth top transition is more natural and the slot fullness rate is increased.

[0090] The third structure: Fig.13 As shown, the toothed teeth are composed of straight teeth 7 and isosceles trapezoidal teeth 8, the lower end of the straight teeth 7 is made integral with the upper bottom surface of the isosceles trapezoidal teeth 8, the waist surface 9 of the isosceles trapezoidal teeth 8 is connected to the lower bottom surface by a vertical surface 10, and the waist surface 9 of the isosceles trapezoidal teeth 8 is an inwardly concave arc surface. The effect of this technical solution is: increasing the slot fullness rate.

[0091] The fourth structure: Fig.14 As shown, it is the same as the second structure, except that the lower bottom surface of the isosceles trapezoidal teeth 8 is larger than the lower bottom surface of the isosceles trapezoidal teeth 8 in the second structure. The effect of this technical solution is that the tooth top transition is more natural and the slot full rate is increased.

[0092] The fifth structure: Fig.15As shown, the toothed teeth are composed of straight teeth 7 and isosceles trapezoidal teeth 8, the lower end of the straight teeth 7 is made integral with the upper bottom surface of the isosceles trapezoidal teeth 8, the waist surface 9 and the lower bottom surface of the isosceles trapezoidal teeth 8 are connected by a vertical surface 10, and a through groove 12 is provided in the middle of the lower bottom surface of the isosceles trapezoidal teeth 8 along the Z-axis direction. The effect of this technical solution is that the teeth with this structure can embed permanent magnets in the through groove 12, reduce tooth leakage, and increase air gap magnetic density.

[0093] The sixth structure: Fig.16 As shown, the toothed teeth are composed of straight teeth 7 and unequal-spherical trapezoidal teeth 8, the lower end of the straight teeth 7 is made integral with the upper bottom surface of the unequal-spherical trapezoidal teeth 8, one side waist surface 9 of the unequal-spherical trapezoidal teeth 8 is connected to the lower bottom surface through a vertical surface 10, and the other side waist surface of the unequal-spherical trapezoidal teeth 8 is a V-shaped surface 13, the opening of the V-shaped surface 13 is arranged toward the X-axis direction, and the V-shaped surface 13 is connected to the lower bottom surface through a vertical surface 10. The effect of this technical solution is: the tooth shape design is combined with the magnetic circuit to reduce magnetic leakage.

[0094] In the flat permanent magnet linear motor, the auxiliary pole 1 is connected to the stator core 2 and is located on both sides of the stator core 2; the winding 3 is wound on the teeth of the stator core 2 to form the stator of the permanent magnet linear motor; the iron yoke 4 and the permanent magnet 5 constitute the mover of the permanent magnet linear motor, wherein the permanent magnet 5 is fixed on the iron yoke 4 close to the stator. The toothed teeth 6 and the spur teeth 7 are part of the stator core 2.

[0095] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other forms of assembly without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes within the meaning and scope of the equivalents of the claims be included in the present invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0096] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A flat permanent magnet linear motor with alternating tooth profiles, characterized in that: The single stator tooth of the stator core (2) of the flat-plate permanent magnet linear motor is a combined tooth, which is composed of a spur tooth (7) and a toothed tooth (6). The spur tooth (7) and the toothed tooth (6) are alternately arranged along the Z-axis direction and are formed as a whole.

2. The flat-plate permanent magnet linear motor with alternating tooth profile according to claim 1, characterized in that: A mounting groove is provided on one side of the straight tooth (7) of the single stator tooth along the Z-axis direction, the tooth (6) with a tooth shape is embedded in the mounting groove and formed as a whole, and the straight tooth (7) and the tooth (6) with a tooth shape are flush with each other on the side in the Z-axis direction; or a mounting groove is provided on one side of the tooth (6) with a tooth shape of the single stator tooth along the Z-axis direction, the straight tooth is embedded in the mounting groove and formed as a whole, and the straight tooth (7) and the tooth (6) with a tooth shape are flush with each other on the side in the Z-axis direction.

3. The flat-plate permanent magnet linear motor with alternating tooth profile according to claim 2, characterized in that: The combined teeth of the stator core (2) include four structural forms, namely, combined tooth one, combined tooth two, combined tooth three, and combined tooth four. Two adjacent stator teeth of the stator core (2) along the X-axis direction have the same structure and are any one of the combined tooth one, combined tooth two, combined tooth three, and combined tooth four.

4. The flat-plate permanent magnet linear motor with alternating tooth profile according to claim 2, characterized in that: The combined teeth of the stator core (2) include four structural forms, namely, combined tooth one, combined tooth two, combined tooth three, and combined tooth four. Two adjacent stator teeth of the stator core (2) along the X-axis direction have different structures and are alternately arranged along the X-axis direction. The two adjacent stator teeth are any two combinations of the combined tooth one, the combined tooth two, the combined tooth three, and the combined tooth four.

5. The flat-plate permanent magnet linear motor with alternating tooth profile according to claim 2, characterized in that: The combined teeth of the stator core (2) include four structural forms, namely, combined tooth one, combined tooth two, combined tooth three, and combined tooth four. Two adjacent stator teeth of the stator core (2) along the X-axis direction have different structures and are alternately arranged along the X-axis direction. One of the stator teeth is a straight tooth, and the other stator tooth is any one of the combined tooth one, the combined tooth two, the combined tooth three, and the combined tooth four.

6. A flat-plate permanent magnet linear motor with an alternating tooth shape according to any one of claims 3 to 5, characterized in that: The structure of the combined tooth 1 is as follows: the installation groove is provided at a half position of a side surface of the straight tooth (7) of the single stator tooth along the Z-axis direction, and the tooth (6) with a tooth shape is embedded in the installation groove and is made into one piece; The structure of the combined tooth 2 is as follows: the installation groove is provided at the half position of one side surface of the tooth (6) with a tooth shape of the single stator tooth along the Z-axis direction, and the spur tooth (7) is embedded in the installation groove and formed as a whole; The structure of the combined tooth three is as follows: the installation groove is provided in the middle of a side surface of the straight tooth (7) of the single stator tooth along the Z-axis direction, the installation groove is located at two-quarters to three-quarters of the side surface of the straight tooth (7), and the toothed tooth (6) is embedded in the installation groove and formed as a whole; The structure of the combined tooth four is as follows: the installation groove is provided in the middle of a side surface of the tooth (6) with a tooth shape of the single stator tooth along the Z-axis direction, the installation groove is located at two-quarters to three-quarters of the side surface of the tooth (6) with a tooth shape, and the straight tooth (7) is embedded in the installation groove and formed as a whole.

7. A flat-plate permanent magnet linear motor with an alternating tooth shape according to claim 1 or 2, characterized in that: The toothed teeth (6) include the following six structural forms: The first structure: the toothed teeth (6) are composed of straight teeth (7) and isosceles trapezoidal teeth (8), the lower end of the straight teeth (7) and the upper bottom surface of the isosceles trapezoidal teeth (8) are made into one piece, and the waist surface (9) and the lower bottom surface of the isosceles trapezoidal teeth (8) are connected by a vertical surface (10); The second structure: the toothed teeth (6) are composed of straight teeth (7) and isosceles trapezoidal teeth (8), the lower end of the straight teeth (7) and the upper bottom surface of the isosceles trapezoidal teeth (8) are made into one piece, the waist surface (9) and the lower bottom surface of the isosceles trapezoidal teeth (8) are connected by a horizontal surface (11) and a vertical surface (10), and the waist surface (9) of the isosceles trapezoidal teeth (8) is an inwardly concave arc surface; The third structure: the toothed teeth (6) are composed of straight teeth (7) and isosceles trapezoidal teeth (8), the lower end of the straight teeth (7) and the upper bottom surface of the isosceles trapezoidal teeth (8) are made into one piece, the waist surface (9) and the lower bottom surface of the isosceles trapezoidal teeth (8) are connected by a vertical surface (10), and the waist surface (9) of the isosceles trapezoidal teeth (8) is an inwardly concave arc surface; The fourth structure is the same as the second structure, except that the lower bottom surface of the isosceles trapezoidal teeth (8) is larger than the lower bottom surface of the isosceles trapezoidal teeth (8) of the second structure; The fifth structure: the toothed teeth (6) are composed of straight teeth (7) and isosceles trapezoidal teeth (8), the lower end of the straight teeth (7) and the upper bottom surface of the isosceles trapezoidal teeth (8) are made into one piece, the waist surface (9) and the lower bottom surface of the isosceles trapezoidal teeth (8) are connected by a vertical surface (10), and a through groove (12) is provided in the middle of the lower bottom surface of the isosceles trapezoidal teeth (8) along the Z-axis direction; The sixth structure: the toothed teeth (6) are composed of straight teeth (7) and unequal-segmented trapezoidal teeth (8), the lower end of the straight teeth (7) and the upper bottom surface of the unequal-segmented trapezoidal teeth (8) are made into one piece, one side waist surface (9) of the unequal-segmented trapezoidal teeth (8) is connected to the lower bottom surface by a vertical surface (10), the other side waist surface of the unequal-segmented trapezoidal teeth (8) is a V-shaped surface (13), the opening of the V-shaped surface (13) is arranged toward the X-axis direction, and the V-shaped surface (13) and the lower bottom surface are connected by a vertical surface (10).

8. A flat-plate permanent magnet linear motor with an alternating tooth profile, characterized in that: The stator core (2) of the flat-plate permanent magnet linear motor has two adjacent stator teeth with different structures along the X-axis direction, and are alternately arranged along the X-axis direction, wherein one stator tooth is a straight tooth (7) and the other stator tooth is a toothed tooth (6).

9. The flat-plate permanent magnet linear motor with alternating tooth profile according to claim 8, characterized in that: The toothed teeth (6) include the following six structural forms: The first structure: the toothed teeth (6) are composed of straight teeth (7) and isosceles trapezoidal teeth (8), the lower end of the straight teeth (7) and the upper bottom surface of the isosceles trapezoidal teeth (8) are made into one piece, and the waist surface (9) and the lower bottom surface of the isosceles trapezoidal teeth (8) are connected by a vertical surface (10); The second structure: the toothed teeth (6) are composed of straight teeth (7) and isosceles trapezoidal teeth (8), the lower end of the straight teeth (7) and the upper bottom surface of the isosceles trapezoidal teeth (8) are made into one piece, the waist surface (9) and the lower bottom surface of the isosceles trapezoidal teeth (8) are connected by a horizontal surface (11) and a vertical surface (10), and the waist surface (9) of the isosceles trapezoidal teeth (8) is an inwardly concave arc surface; The third structure: the toothed teeth (6) are composed of straight teeth (7) and isosceles trapezoidal teeth (8), the lower end of the straight teeth (7) and the upper bottom surface of the isosceles trapezoidal teeth (8) are made into one piece, the waist surface (9) and the lower bottom surface of the isosceles trapezoidal teeth (8) are connected by a vertical surface (10), and the waist surface (9) of the isosceles trapezoidal teeth (8) is an inwardly concave arc surface; The fourth structure is the same as the second structure, except that the lower bottom surface of the isosceles trapezoidal teeth (8) is larger than the lower bottom surface of the isosceles trapezoidal teeth (8) of the second structure; The fifth structure: the toothed teeth (6) are composed of straight teeth (7) and isosceles trapezoidal teeth (8), the lower end of the straight teeth (7) and the upper bottom surface of the isosceles trapezoidal teeth (8) are made into one piece, the waist surface (9) and the lower bottom surface of the isosceles trapezoidal teeth (8) are connected by a vertical surface (10), and a through groove (12) is provided in the middle of the lower bottom surface of the isosceles trapezoidal teeth (8) along the Z-axis direction; The sixth structure: the toothed teeth (6) are composed of straight teeth (7) and unequal-segmented trapezoidal teeth (8), the lower end of the straight teeth (7) and the upper bottom surface of the unequal-segmented trapezoidal teeth (8) are made into one piece, one side waist surface (9) of the unequal-segmented trapezoidal teeth (8) is connected to the lower bottom surface by a vertical surface (10), the other side waist surface of the unequal-segmented trapezoidal teeth (8) is a V-shaped surface (13), the opening of the V-shaped surface (13) is arranged toward the X-axis direction, and the V-shaped surface (13) and the lower bottom surface are connected by a vertical surface (10).

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