Multidirectional motor

Abstract

The utility model relates to a multidirectional motor. The multidirectional motor comprises a rotor, a linear segment stator module and a curved segment stator module. The rotor comprises permanent magnets and magnetic back iron. The linear segment stator module comprises a magnetic conductive stator iron core and a linear segment armature winding, the linear segment armature winding is wound on the magnetic conductive stator iron core, and the sizes of coils of the linear segment armature winding are the same; the curve segment stator module comprises a non-magnetic coil support and a curve segment armature winding, the curve segment armature winding is wound on the non-magnetic coil support, and the sizes of coils of the curve segment armature winding are the same; one end of the curve segment stator module is located in a gap between the adjacent linear segment stator modules, and the curve segment stator module and the adjacent linear segment stator module are combined to form a straight-bending shape. The multidirectional motor can autonomously select the movement direction of the fork, the sizes of the coils are consistent, the central axes of the coils coincide with the movement path of the rotor, the production cost is reduced, and the phenomenon of unstable operation is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of permanent magnet linear motors, in particular to a multi-directional motor. Background Technique

[0002] Permanent magnet linear motors have the advantages of large thrust, high speed, fast response, low loss, etc., and have been successfully applied to the conveying systems in industrial production, express logistics and other occasions. However, the existing permanent magnet linear motors are mainly unidirectional, that is, they can only move back and forth along one route, or move in a loop with a closed head and tail, and cannot independently select the moving direction at the fork. In scenarios with multiple moving directions, multiple sets of linear motor conveying systems need to be built, and each conveying system is independent of each other, resulting in defects such as high cost and inflexible transportation capacity allocation.

[0003] In the existing improved design solutions, the above problems are solved by adopting two sets of armature windings for straight running and turning. For example, the invention patent with the publication number of CN104528298B discloses a transportation system, a track module and a method for changing the direction of a vehicle. The fork module involved therein includes a straight coil and a turning coil. The two coils are simultaneously led out from the fork starting point. The closer to the fork starting point, the greater the spatial conflict between the two coils, that is, the smaller the size of a single coil. The disadvantage of this solution is that due to the small size of the coil at the fork starting point, no matter whether the moving direction of the mover is straight or turning, the guiding force generated by the coil is small; moreover, the central axes of the two coils do not coincide with the moving path of the mover, resulting in the mover being subjected to a lateral force and prone to unstable operation; on the other hand, coils of different sizes will also increase the production cost. Summary of the Utility Model

[0004] The technical problem to be solved by the utility model is to provide a multi-directional motor, which can achieve the purpose of enabling the mover to independently select the moving direction at the fork while ensuring the stable operation of the mover.

[0005] The technical solution adopted by the present utility model is a multi-directional motor, which includes a stator and a rotor moving along the upper surface of the stator; the rotor includes a permanent magnet and a magnetic conductive back iron, and the rotor is of a flat linear structure; the stator includes a plurality of linear stator modules and a plurality of curved stator modules; the linear stator module includes a magnetic conductive stator core and a linear armature winding, the magnetic conductive stator core is of a linear structure, and the linear armature winding is wound around the magnetic conductive stator core; the curved stator module includes a non-magnetic coil bracket and a curved armature winding, the non-magnetic coil bracket is of a curved structure, and the curved armature winding is wound around the non-magnetic coil bracket; the central axes of the linear armature winding and the curved armature winding both coincide with the movement path of the rotor; a gap is provided between two adjacent linear stator modules, one end of the curved stator module is located in the gap, and the curved stator module and two adjacent linear stator modules are combined into a "ren" shape.

[0006] The beneficial effects of the present utility model are as follows: The above multi-directional motor has two types of stator modules, namely linear segments and curved segments. When the movement direction of the rotor is straight, the curved armature winding is not energized, and only the linear armature winding is energized to generate a forward electromagnetic thrust to accelerate the rotor, ensuring that the rotor can pass through the gap between adjacent linear stator modules by inertia; when the movement direction of the rotor is turning, both the linear armature winding and the curved armature winding are energized. Among them, the linear armature winding generates a reverse electromagnetic thrust to decelerate the rotor, while the curved armature winding generates a forward electromagnetic thrust to guide the change of the movement direction of the rotor, thereby achieving the purpose of autonomously selecting the movement direction at a fork; in addition, the coil central axes of the linear armature winding and the curved armature winding both coincide with the movement path of the rotor, which helps to improve the smoothness of the rotor operation.

[0007] Preferably, the sizes of each coil of the linear armature winding are the same, and the sizes of each coil of the curved armature winding are the same. With this structure, the sizes of each coil of the linear armature winding are the same, and the sizes of each coil of the curved armature winding are the same, which helps to reduce the production cost of the motor.

[0008] Preferably, the permanent magnet adopts the Halbach magnetization method. With this structure, it helps to enhance the air-gap magnetic field and improve the thrust density of the motor.

[0009] Preferably, the permanent magnet adopts the alternating pole magnetization method. With this structure, it helps to reduce the amount of permanent magnet used, thereby reducing the production cost of the motor.

[0010] Preferably, the magnetic conductive stator core has a tooth-slot structure, and the linear-segment armature winding is a concentrated winding. With this structure, the end length of the linear-segment coil can be reduced, which helps to narrow the width of the motor track, thereby reducing the production cost of the entire system.

[0011] Preferably, the magnetic conductive stator core is a closed-slot structure. With this structure, it helps to reduce the harmonic content of the air-gap permeance, thereby improving the smoothness of the mover operation.

[0012] Preferably, the non-magnetic coil support has a tooth-slot structure, and the curve-segment armature winding is a concentrated winding. With this structure, the end length of the curve-segment coil can be reduced, which helps to narrow the width of the motor track, thereby reducing the production cost of the entire system.

[0013] Preferably, the non-magnetic coil support is a flat structure, and the curve-segment armature winding is a distributed winding. With this structure, the effective volume of the curve-segment coil can be increased, which helps to improve the electromagnetic thrust generated by the curve-segment coil. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a schematic structural diagram of a multi-directional motor of the present invention;

[0015] As shown in the figure: 1. Mover; 2. Linear-segment stator module; 3. Curve-segment stator module; 11. Permanent magnet; 12. Magnetic conductive back iron; 21. Magnetic conductive stator core; 22. Linear-segment armature winding; 31. Non-magnetic coil support; 32. Curve-segment armature winding. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0016] The present 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 according to the description in the specification. The protection scope of the present invention is not limited to this specific embodiment.

[0017] Those skilled in the art should understand that in the disclosure of the present invention, the orientation or positional relationships indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings. These are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting the present invention.

[0018] In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0019] In the description of the embodiments of the present application, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0020] Embodiment 1

[0021] As Figure 1 shown, a multi-directional motor includes a stator and a mover 1 that moves along the upper surface of the stator; the mover 1 includes a permanent magnet 11 and a magnetic back iron 12 located on one side surface of the permanent magnet 11, and the mover 1 is in a flat linear structure; the stator includes two linear stator modules 2 and a curved stator module 3; the linear stator module 2 includes a magnetic stator core 21 and a linear armature winding 22, and the number of the magnetic stator core 21 and the linear armature winding 22 is several. One linear armature winding 22 is wound around the corresponding magnetic stator core 21, and the magnetic stator core 21 is in a linear structure; the curved stator module 3 includes a non-magnetic coil support 31 and a curved armature winding 32, the non-magnetic coil support 31 is in a curved structure, and the number of the non-magnetic coil support 31 and the curved armature winding 32 is several. One curved armature winding 32 is wound around the corresponding non-magnetic coil support 31; the central axes of the linear armature windings 22 and the central axis of the curved armature winding 32 both coincide with the movement path of the mover 1; a gap is provided between two adjacent linear stator modules 2, and one end of the curved stator module 3 is located in the gap. After the curved stator module 3 and two adjacent linear stator modules 2 are combined, they form a "single-person radical" shape.

[0022] As Figure 1 shown, the working principle of a multi-directional motor is as follows: when the movement direction of the mover 1 needs to be straight, it is set that the curved armature winding 32 is not energized, and only the linear armature winding 22 is energized. The linear armature winding 22 generates a forward electromagnetic thrust to accelerate the mover 1, ensuring that the mover 1 can rely on inertia to pass through the gap between two adjacent linear stator modules 2 and ensuring the linear movement of the mover 1; when the movement direction of the mover 1 needs to turn, it is set that both the linear armature winding 22 and the curved armature winding 32 are energized. Among them, the linear armature winding 22 generates a reverse electromagnetic thrust to decelerate the mover 1, and the mover 1 enters the curved stator module 3, while the curved armature winding 32 generates a forward electromagnetic thrust to guide the change of the movement direction of the mover 1, thereby achieving the purpose of autonomously selecting the movement direction at a fork.

[0023] Figure 1 Among them, the central axes of the coils of the straight-segment armature winding 22 and the curved-segment armature winding 32 both coincide with the movement path of the mover 1, which helps to improve the smoothness of the operation of the mover 1.

[0024] Figure 1 Among them, the sizes of each coil of the straight-segment armature winding 22 are the same, and the sizes of each coil of the curved-segment armature winding 32 are the same. Adopting this structure, the sizes of each coil of the straight-segment armature winding 22 are the same, and the sizes of each coil of the curved-segment armature winding 32 are the same, which helps to reduce the production cost of the motor.

[0025] In a multi-directional motor according to the present utility model, the permanent magnet 11 can adopt the Halbach magnetization method. The Halbach magnetization method is the Halbach array magnetization technology. The Halbach array is formed by arranging permanent magnets 11 with different magnetization directions according to a certain rule, which can converge magnetic field lines on one side of the permanent magnet 11 and weaken magnetic field lines on the other side, so as to obtain an ideal unilateral magnetic field. Magnetizing the permanent magnet 11 by the Halbach magnetization method can greatly increase the magnetic flux density on the air-gap side and reduce the magnetic flux in the rotor yoke. Compared with the traditional magnetization method, the magnetic flux concentration effect is significantly improved.

[0026] In a conventional motor structure, the stator is an important structural component of the motor. Usually, the stator is composed of an iron core and a stator winding, and its main function is to generate a rotating magnetic field to make the motor rotate. Slots are opened on the stator iron core for fixing the stator coil winding, which are generally arranged at equal intervals, that is, there is a slot position every electrical angle. The slots on the stator iron core are called stator slots; the stator teeth refer to the iron core parts formed by separating one stator slot on the stator iron core. Generally speaking, they are the "thin and long protruding parts" on the stator iron core, and their function is to generate magnetic suction on the permanent magnet 11 on the rotor and provide space to ensure the rotation of the rotor. There are as many teeth as there are slots on the stator iron core.

[0027] In a multi-directional motor according to the present utility model, the magnetic-conducting stator iron core 21 has a tooth-slot structure, and the straight-segment armature winding 22 is a concentrated winding. Adopting this structure can reduce the end length of the straight-segment coil, which helps to narrow the width of the motor track, thereby reducing the production cost of the entire system.

[0028] In a multi-directional motor according to the present utility model, the non-magnetic coil bracket 31 has a tooth-slot structure, and the curved-segment armature winding 32 is a concentrated winding. Adopting this structure can reduce the end length of the curved-segment coil, which helps to narrow the width of the motor track, thereby reducing the production cost of the entire system.

[0029] Embodiment 2

[0030] A multi-directional motor includes a stator and a mover 1 that moves along the upper surface of the stator; the mover 1 includes a permanent magnet 11 and a magnetic conductive back iron 12 located on one side surface of the permanent magnet 11, and the mover 1 is a flat linear structure; the stator includes four linear stator modules 2 and three curved stator modules 3; the linear stator module 2 includes a magnetic conductive stator core 21 and a linear armature winding 22, and the number of the magnetic conductive stator core 21 and the linear armature winding 22 is several. One linear armature winding 22 is wound around the corresponding magnetic conductive stator core 21, and the magnetic conductive stator core 21 is a linear structure; the curved stator module 3 includes a non-magnetic coil bracket 31 and a curved armature winding 32, the non-magnetic coil bracket 31 is a curved structure, and the number of the non-magnetic coil bracket 31 and the curved armature winding 32 is several. One curved armature winding 32 is wound around the corresponding non-magnetic coil bracket 31; the central axes of the linear armature winding 22 and the curved armature winding 32 both coincide with the movement path of the mover 1; there is a gap between two adjacent linear stator modules 2, and one end of the curved stator module 3 is located in the gap. The curved stator module 3 and two adjacent linear stator modules 2 are combined into a "single-person radical" shape.

[0031] In a multi-directional motor of the present invention, its working principle is as follows: when the movement direction of the mover 1 needs to be straight, it is set that the curved armature winding 32 is not powered on, and only the linear armature winding 22 is powered on. The linear armature winding 22 generates a forward electromagnetic thrust to accelerate the mover 1, ensuring that the mover 1 can rely on inertia to pass through the gap between two adjacent linear stator modules 2, ensuring the linear movement of the mover 1; when the movement direction of the mover 1 needs to turn, it is set that both the linear armature winding 22 and the curved armature winding 32 are powered on. Among them, the linear armature winding 22 generates a reverse electromagnetic thrust to decelerate the mover 1, and the mover 1 enters the curved stator module 3, while the curved armature winding 32 generates a forward electromagnetic thrust to guide the change of the movement direction of the mover 1, thereby achieving the purpose of independently selecting the movement direction at the fork.

[0032] In a multi-directional motor of the present invention, the central axes of the coils of the linear armature winding 22 and the curved armature winding 32 both coincide with the movement path of the mover 1, which helps to improve the running smoothness of the mover 1.

[0033] In a multi-directional motor of the present invention, the size of each coil of the linear armature winding 22 is the same, and the size of each coil of the curved armature winding 32 is the same. Adopting this structure, the size of each coil of the linear armature winding 22 is the same, and the size of each coil of the curved armature winding 32 is the same, which helps to reduce the production cost of the motor.

[0034] In a multi-directional motor according to the present utility model, the permanent magnet 11 can also adopt an alternating pole magnetization method. The permanent magnet with the alternating pole magnetization method only retains one magnetization direction in the permanent magnet. The magnetic field generated by the unipolar permanent magnet forms a loop through the magnetic conduction back iron, that is, the magnetic conduction back iron can generate an effect similar to that of a permanent magnet with an opposite magnetization direction. Adopting this structure helps to reduce the usage amount of the permanent magnet 11, thereby reducing the production cost of the motor.

[0035] In a conventional motor structure, the stator is an important structural component in the motor. Usually, the stator is composed of an iron core and a stator winding, and its main function is to generate a rotating magnetic field to make the motor rotate. Slots are opened on the stator iron core for fixing the stator coil windings, which are generally arranged at equal intervals, that is, there is a slot position every electrical angle. The slots on the stator iron core are called stator slots; the stator teeth refer to the iron core parts formed by separating one stator slot on the stator iron core. Generally speaking, they are the "thin and long protruding parts" on the stator iron core. Their function is to generate a magnetic suction force on the permanent magnet 11 on the rotor and provide space to ensure the rotation of the rotor. There are as many teeth as there are slots on the stator iron core.

[0036] In a multi-directional motor according to the present utility model, the magnetic conduction stator iron core 21 can also be of a closed slot structure. The main feature of the closed slot structure is to close the slot channel of the stator iron core. Adopting this structure helps to reduce the harmonic content of the air gap magnetic conductance, thereby improving the smoothness of the operation of the mover 1.

[0037] In a multi-directional motor according to the present utility model, the non-magnetic coil support 31 is of a flat plate structure, and the curve segment armature winding 32 is a distributed winding. Adopting this structure can increase the effective volume of the curve segment coil, which helps to improve the electromagnetic thrust generated by the curve segment coil.

Claims

1. A multi-directional motor, characterized in that: It includes a stator and a mover (1) that moves along the upper surface of the stator; the mover (1) includes a permanent magnet (11) and a magnetic conductive back iron (12), and the mover (1) is of a flat linear structure; the stator includes a number of linear segment stator modules (2) and a number of curved segment stator modules (3); the linear segment stator module (2) includes a magnetic conductive stator core (21) and a linear segment armature winding (22), the magnetic conductive stator core (21) is of a linear structure, and the linear segment armature winding (22) is wound around the magnetic conductive stator core (21); the curved segment stator module (3) includes a non-magnetic coil support (31) and a curved segment armature winding (32), the non-magnetic coil support (31) is of a curved structure, and the curved segment armature winding (32) is wound around the non-magnetic coil support (31); the central axes of both the linear segment armature winding (22) and the curved segment armature winding (32) coincide with the movement path of the mover (1); a gap is provided between two adjacent linear segment stator modules (2), one end of the curved segment stator module (3) is located in the gap, and the curved segment stator module (3) and two adjacent linear segment stator modules (2) are combined into a "single-person radical" shape.

2. A multi-directional motor according to claim 1, characterized in that: Each coil of the linear segment armature winding (22) has the same size, and each coil of the curved segment armature winding (32) has the same size.

3. A multi-directional motor according to claim 1, characterized in that: The permanent magnet (11) is magnetized in the Halbach manner.

4. A multi-directional motor according to claim 1, characterized in that: The permanent magnet (11) is magnetized in the alternating pole manner.

5. A multi-directional motor according to claim 2, characterized in that: The magnetic conductive stator core (21) has a tooth-slot structure, and the linear segment armature winding (22) is a concentrated winding.

6. A multi-directional motor according to claim 1, characterized in that: The magnetic conductive stator core (21) is of a closed slot structure.

7. A multi-directional motor according to claim 2, characterized in that: The non-magnetic coil support (31) has a tooth-slot structure, and the curved segment armature winding (32) is a concentrated winding.

8. A multi-directional motor according to claim 2, characterized in that: The non-magnetic coil support (31) is of a flat structure, and the curved segment armature winding (32) is a distributed winding.

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