CN203840182U - High-dynamic moving magnetic type linear rotation integrated two-degree-of-freedom motor - Google Patents
High-dynamic moving magnetic type linear rotation integrated two-degree-of-freedom motor Download PDFInfo
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- CN203840182U CN203840182U CN201420249908.1U CN201420249908U CN203840182U CN 203840182 U CN203840182 U CN 203840182U CN 201420249908 U CN201420249908 U CN 201420249908U CN 203840182 U CN203840182 U CN 203840182U
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Abstract
The utility model relates to a high-dynamic moving magnetic type linear rotation integrated two-degree-of-freedom motor and provides a high-dynamic moving magnetic type linear rotation integrated two-degree-of-freedom motor. The high-dynamic moving magnetic type linear rotation integrated two-degree-of-freedom motor comprises a mover and a stator, wherein the mover and the stator are coaxially arranged. The mover comprises a motor shaft, a front magnetic ring and a rear magnetic ring, wherein the motor shaft, the front magnetic ring and the rear magnetic ring are coaxially arranged. The front magnetic ring and the rear magnetic ring are respectively sleeved onto the outer circumferential side surface of the motor shaft. The stator comprises a front end cover, a rear end cover, a magnetic yoke, a flux-insulation base, a brushless motor stator module, a front voice coil module and a rear voice coil module, wherein the above parts are coaxially arranged. According to the technical scheme of the utility model, the mover is driven to conduct the composite movement of a linear movement and a rotating movement at the same time, or the motor is driven to conduct a linear movement or a rotating movement alone. Meanwhile, the mover is provided with no brush or no drainage wire, so that the generation of sparks and the breakage of drainage wires can be avoided. The high-dynamic moving magnetic type linear rotation integrated two-degree-of-freedom motor has the advantages of long service life, small maintenance workload, simple and compact mover structure, small inertia and excellent dynamic performance, wherein a rotary mover and a linear mover are integrated as the above single mover.
Description
Technical field
The utility model relates to motor, relates in particular to a kind of rotating integrated formula two-freedom degree electric machine of straight line of high dynamic moving-magnetic type.
Background technology
Existing motor generally can only provide rotatablely moving by (electric rotating machine) of single-degree-of-freedom or rectilinear motion (linear electric motors), and straight line rotation two-freedom degree electric machine can be realized binary straight line and rotary composite movement in a motor.
In fields such as medical treatment, semiconductor packages, aviations, there is a large amount of two degrees of freedom straight line rotary composite movement demands, and require motion driver part volume little, lightweight.Traditional implementation is to set up two to overlap independently electric system and transmission device drives respectively straight line and rotatablely moves, and system bulk is large, responds slower.The response speed, the positioning precision that develop rapidly all kinds of kinematic systems of modern industry propose higher harsher requirement, the scheme that two traditional cover individual motor systems drive respectively straight line and rotatablely move, its defect is more and more obvious, in the urgent need to the straight line rotation two-freedom degree electric machine of volume compact, excellent performance, motion smoothing.
For two degrees of freedom straight line rotary composite movement, traditional implementation is to set up two to overlap independently electric system and transmission device drives respectively straight line and rotatablely moves, and system bulk is large, responds slower.In addition, utility model patent " the high-frequency linear rotating motor " (patent No.: 201020582357.2, publication number: 201830127U) a kind of novel implementation is provided, the olinear motion part of the linear rotating motor of this patent and the part that rotatablely moves are respectively a linear voice coil motor and a small rotary servomotor.The operation principle of this invention is: electric rotating machine is contained on the slide block of linear guides, then promotes slide block driven rotary motor entirety rectilinear motion by straight line voice coil loudspeaker voice coil, so, extend from electric rotating machine the output shaft and just can export straight line simultaneously and rotatablely move.Describe according to this patent, this high-frequency linear rotating motor has fast, smoothly, without inserted tooth, without the characteristic of delayed response, can realize the motion of high-frequency high-precision.
Another linear rotating motor implementation is straight line rotating hybrid movement stepping motor.Patent of invention " the dual radial directions magnetic field reaction type straight-line rotating stepper motor " (patent No.: 200810042746.3, publication number: 101355290A) a kind of stepping motor implementation is provided, the stator of the linear rotating motor of this patent is to be merged and formed by the stator of linear stepping motor and rotating stepper motor, and it is equally distributed cylindrical that mover iron core forms little tooth by the silicon steel sheet laminating.The operation principle of this invention is identical with stepping motor, and mover can be made straight line or rotatablely move under the magnetic resistance change rate of the generation of stator.Describe according to this patent, it is simple in structure that this straight-line rotating stepper motor has machine, and processing technology is simple, controls simply, and transmission stiffness is large, the advantage that cost is low.
Chinese patent " a kind of moving magnet type linear rotation two-degree-of-freedom motor " (patent No.: 2011104202009, publication number: 102497080A) a kind of straight line rotation two-freedom degree electric machine is provided, in this patent, mover is by straight line mover and rotation mover electric mover in series.Straight line mover rotation when the rotation of rotation mover, sliding rotary mover rectilinear motion when straight line mover rectilinear motion, is the rare motor patent that can realize straight line rotary composite movement.When motor rectilinear motion, stationary part adopts brushless winding and voice coil loudspeaker voice coil winding, whole electric machine structure compactness, and volume is little, and mover, without drainage electric wire and brush, has been realized the integrated of linear rotating motor.
Utility model patent " the high-frequency linear rotating motor " (patent No.: 201020582357.2, publication number: 201830127U) linear rotating motor just two single-degree-of-freedom motors are installed together in essence, be not integral type straight line rotation two-freedom degree electric machine truly, volume is still larger.
Step-type linear rotating motor has been inherited the shortcoming of stepping motor.Straight-line rotating stepper motor generally adopts open loop control, so kinematic accuracy is relatively low.There is step angle and step pitch in straight-line rotating stepper motor, be not suitable for the motion occasion of the high response of micro travel, and motion smoothing is poorer than electromagnetic motor, easily produces and lose step and overshoot phenomenon.In the time of low-speed motion, there is vibration, noise is large.
In motor implementation, according to the difference of structure, motor can be divided into moving-magnetic type, moving-coil type and moving-iron type three classes.Moving-iron type motor provides magnetic source by stator (coil and yoke), and mover is made up of soft iron, is generally designed to that solid quality is larger, and motion reset error is larger to transmit magnetic flux, so be not suitable for fast frequent reciprocating occasion.The motion parts main body of moving coil motor is coil, under stator field effect, moves, and its motion parts quality is light.But because energising mover coil moves in the magnetic field of stator generation, so mover coil must have drainage electric wire or brush.The motion parts of moving-magnetic type motor is mainly magnet and yoke, under stator field effect, moves, and motion parts quality is between moving-iron type and moving-coil type, but mover is without drainage electric wire and brush.
In existing straight line or rotary motor technology, moving-iron type motor, because mover quality is large, is not suitable for and needs high acceleration, quick frequent reciprocating workplace.Moving-coil type straight line or electric rotating machine can be realized high acceleration, but mover coil must extend electric wire or brush that drainage is used, when coil is in air gap when long-time type frequently reciprocating fast, can cause electrical wire interface place metal fatigue and scratch disconnected, and the Joule heat that electric current produces is also difficult to shed, coil can not pass into large electric current, thereby has limited thrust output and the moment of torsion of motor.That moving-magnetic type motor has advantages of is simple and compact for structure, motion parts quality/inertia is less, brushless is long without drainage thread, life-span, and along with rubidium iron boron etc. has the extensive use of high magnetic flux novel permanent magnetic material, moving-magnetic type motor uses a small amount of magnet just can produce larger power (moment), thereby can realize high acceleration.
In Chinese patent " a kind of moving magnet type linear rotation two-degree-of-freedom motor " (patent No.: 2011104202009, publication number: 102497080A) the straight line rotation two-freedom degree electric machine that provides, although realized the integrated of linear rotating motor, but on Structure of mover, straight line mover is connected with rotation mover, straight line mover and rotation mover need to be installed respectively when installation, and straight line mover part and rotation mover part are all with yoke, can cause the quality of overall mover larger, affect motor dynamics performance.In addition, ring rotation mover inner side is without supporting, only be connected with straight line mover every magnetic support by a cup-shaped, not only further increased mover quality, and motor level install in, mover is in cantilever beam state, need to bear the moment of flexure that self gravitation causes, easily produce distortion, cause motor torque output inhomogeneous, also affect the long-term reliability of motor.
Summary of the invention
In order to solve the problems of the prior art, the utility model provides a kind of straight line of high dynamic moving-magnetic type rotating integrated formula two-freedom degree electric machine.
The utility model provides a kind of straight line of high dynamic moving-magnetic type rotating integrated formula two-freedom degree electric machine, comprises coaxial mounted mover and stator, and described mover comprises coaxial mounted motor shaft, front magnet ring and rear magnet ring, described front magnet ring, rear magnet ring is sheathed and be fixed on the excircle side of described motor shaft respectively, and described stator comprises coaxial mounted front end housing, rear end cap, yoke, every magnetic support, brushless motor stator module, front voice coil loudspeaker voice coil module and rear voice coil loudspeaker voice coil module, wherein, the front end of described motor shaft is connected with described front end housing by bearing, the rear end of described motor shaft is connected with described rear end cap by bearing, the front end of described yoke is fixedly connected with described front end housing, and described front magnet ring is arranged on described front end housing in the axial direction, between rear magnet ring, described rear magnet ring is arranged on described rear end cap in the axial direction, between front magnet ring, the rear end of described yoke is fixedly connected with described rear end cap, described yoke, be ring-type every magnetic support, described within magnetic basement sleeve is located at described yoke, the described inner periphery side every magnetic support is provided with every magnetic groove, and described brushless motor stator module is arranged on described within magnetic groove, described front voice coil loudspeaker voice coil module, rear voice coil loudspeaker voice coil module is ring-type, described front voice coil loudspeaker voice coil module, within rear voice coil loudspeaker voice coil module is set in respectively described yoke, described front voice coil loudspeaker voice coil module is arranged on described front end housing in the axial direction, between magnetic support, described rear voice coil loudspeaker voice coil module is arranged on described rear end cap in the axial direction, between magnetic support, described mover is set in described front voice coil loudspeaker voice coil module, brushless motor stator module, within rear voice coil loudspeaker voice coil module.
As further improvement of the utility model, described is annular groove every magnetic groove.
As further improvement of the utility model, described yoke comprises outer yoke, front yoke and rear magnetic yoke, described outer yoke, front yoke and rear magnetic yoke are ring-type, within described front yoke, rear magnetic yoke are set in described outer yoke, described front yoke is arranged on described front end housing in the axial direction, between magnetic support, within described front voice coil loudspeaker voice coil module is set in described front yoke, described rear magnetic yoke is arranged on described rear end cap in the axial direction, between magnetic support, within described rear voice coil loudspeaker voice coil module is set in described rear magnetic yoke.
As further improvement of the utility model, described front yoke and described outer yoke interference fits, described rear magnetic yoke and described outer yoke interference fits, described every magnetic support and described outer yoke interference fits, described rotary electric machine module be bonded in described every magnetic support within magnetic groove.
As further improvement of the utility model, described front magnet ring has at least Local Phase to overlap with described front yoke in the axial direction, and described rear magnet ring has at least Local Phase to overlap with described rear magnetic yoke in the axial direction.
As further improvement of the utility model, described front voice coil loudspeaker voice coil module comprises front voice coil loudspeaker voice coil support ring and front voice coil loudspeaker voice coil, described front voice coil loudspeaker voice coil is wrapped in the excircle side of described front voice coil loudspeaker voice coil support ring, described rear voice coil loudspeaker voice coil module comprises rear voice coil loudspeaker voice coil support ring and rear voice coil loudspeaker voice coil, and described rear voice coil loudspeaker voice coil is wrapped in the excircle side of described rear voice coil loudspeaker voice coil support ring.
As further improvement of the utility model, described front voice coil loudspeaker voice coil and described rear voice coil loudspeaker voice coil are single-phase winding, and described front voice coil loudspeaker voice coil is contrary with described rear voice coil loudspeaker voice coil series connection and direction of winding.
As further improvement of the utility model, described front voice coil loudspeaker voice coil support ring and described front yoke interference fit, described rear voice coil loudspeaker voice coil support ring and described rear magnetic yoke interference fit.
As further improvement of the utility model, the excircle side of described front voice coil loudspeaker voice coil support ring is provided with front voice coil loudspeaker voice coil and is wound around groove, described front voice coil loudspeaker voice coil is wrapped in described front voice coil loudspeaker voice coil and is wound around in groove, the excircle side of described rear voice coil loudspeaker voice coil support ring is provided with front voice coil loudspeaker voice coil and is wound around groove, and described rear voice coil loudspeaker voice coil is wrapped in described rear voice coil loudspeaker voice coil and is wound around in groove.
As further improvement of the utility model, it is annular groove that described front voice coil loudspeaker voice coil is wound around groove, and it is annular groove that described rear voice coil loudspeaker voice coil is wound around groove.
As further improvement of the utility model, describedly fit every the front end face of magnetic support and the rear end face of described front yoke, describedly fit every the rear end face of magnetic support and the front end face of described rear magnetic yoke, the front end face of described front yoke and the rear end face of described front end housing fit, the rear end face of described rear magnetic yoke and the front end face of described rear end cap fit, the front end of described outer yoke is fixedly connected with described front end housing by bolt, and the rear end of described outer yoke is fixedly connected with described rear end cap by bolt.
As further improvement of the utility model, described front magnet ring is provided with front magnetic double wedge near the rear end of described rear magnet ring, described front magnetic double wedge evenly arranges along the circumferential interval of described front magnet ring, between two adjacent described front magnetic double wedges, it is front magnetic slot, described rear magnet ring is provided with rear magnetic double wedge near the front end of described front magnet ring, described rear magnetic double wedge evenly arranges along the circumferential interval of described rear magnet ring, between two adjacent described rear magnetic double wedges, it is rear magnetic slot, described front magnetic double wedge is plugged in described rear magnetic slot, and described rear magnetic double wedge is plugged in described front magnetic slot.
As further improvement of the utility model, the brushless electric machine mover number of magnetic poles that the realization of the desired properties of the quantity Uniform-design of described front magnetic double wedge, rear magnetic double wedge rotatablely moves is identical.
As further improvement of the utility model, described front magnet ring is integrated magnet, and described rear magnet ring is integrated magnet.
As further improvement of the utility model, between described front voice coil loudspeaker voice coil module and described front magnet ring, be provided with air gap, between described rear voice coil loudspeaker voice coil module and described rear magnet ring, be provided with air gap, between described brushless motor stator module and described front magnet ring, be provided with air gap, between described brushless motor stator module and described rear magnet ring, be provided with air gap, between described front voice coil loudspeaker voice coil module and described front end housing, be provided with air gap, between described rear voice coil loudspeaker voice coil module and described rear end cap, be provided with air gap.
As further improvement of the utility model, described brushless motor stator module comprises silicon steel sheet stator and rotation winding, and described rotation winding is embedded in described silicon steel sheet stator.
As further improvement of the utility model, described rotation winding is three phase windings.
As further improvement of the utility model, the front end of described motor shaft is connected with described front end housing by rotation linear bearing, and the rear end of described motor shaft is connected with described rear end cap by rotation linear bearing.
As further improvement of the utility model, described front magnet ring and described rear magnet ring are radial magnetizing, and described front magnet ring is contrary with the polarity of described rear magnet ring.
As further improvement of the utility model, described mover is made up of coaxial mounted motor shaft, front magnet ring and rear magnet ring.
As further improvement of the utility model, described every magnetic support comprise the first arc that phase obvolvent forms ring-type every magnetic support and the second arc every magnetic support.
As further improvement of the utility model, described the first arc is semicircle annular every magnetic support, and described the second arc is semicircle annular every magnetic support.
As further improvement of the utility model, described front end housing is nonmagnetic substance, and described front end housing is provided with front end housing through hole, and described rear end cap is nonmagnetic substance, and described rear end cap is provided with described rear end cap through hole.
The beneficial effects of the utility model are: pass through such scheme, can realize the compound motion that drives mover simultaneously to do straight line and rotation, also can realize and drive mover to make separately straight line, also can realize and drive mover to rotate separately, and can regulate the direction of motion and movement output speed and the power output/moment of mover, mover brushless is without drainage thread, can not produce spark and the problem of the drainage thread that fractures, long service life, few maintenance, rotation mover and straight line mover one change into a mover, Structure of mover is simple, compact, inertia is little, dynamic property is excellent, stator is composed in series successively, easy to assembly.
Brief description of the drawings
Fig. 1 is the cross-sectional view of the rotating integrated formula two-freedom degree electric machine of the straight line of a kind of high dynamic moving-magnetic type of the utility model;
Fig. 2 is the decomposition texture schematic diagram of the rotating integrated formula two-freedom degree electric machine of the straight line of a kind of high dynamic moving-magnetic type of the utility model;
Fig. 3 is the front view of the front magnet ring of the rotating integrated formula two-freedom degree electric machine of the straight line of a kind of high dynamic moving-magnetic type of the utility model;
Fig. 4 is the perspective view of the front magnet ring of the rotating integrated formula two-freedom degree electric machine of the straight line of a kind of high dynamic moving-magnetic type of the utility model;
Fig. 5 is the front view of the rear magnet ring of the rotating integrated formula two-freedom degree electric machine of the straight line of a kind of high dynamic moving-magnetic type of the utility model;
Fig. 6 is the perspective view of the rear magnet ring of the rotating integrated formula two-freedom degree electric machine of the straight line of a kind of high dynamic moving-magnetic type of the utility model;
Fig. 7 is that the first arc of the rotating integrated formula two-freedom degree electric machine of the straight line of a kind of high dynamic moving-magnetic type of the utility model is every the perspective view of magnetic support;
Fig. 8 is that the first arc of the rotating integrated formula two-freedom degree electric machine of the straight line of a kind of high dynamic moving-magnetic type of the utility model is every the front view of magnetic support;
Fig. 9 is that the first arc of the rotating integrated formula two-freedom degree electric machine of the straight line of a kind of high dynamic moving-magnetic type of the utility model is every the upward view of magnetic support;
Figure 10 is that the second arc of the rotating integrated formula two-freedom degree electric machine of the straight line of a kind of high dynamic moving-magnetic type of the utility model is every the perspective view of magnetic support;
Figure 11 is that the second arc of the rotating integrated formula two-freedom degree electric machine of the straight line of a kind of high dynamic moving-magnetic type of the utility model is every the front view of magnetic support;
Figure 12 is that the second arc of the rotating integrated formula two-freedom degree electric machine of the straight line of a kind of high dynamic moving-magnetic type of the utility model is every the upward view of magnetic support;
Figure 13 is the front view of the front end housing of the rotating integrated formula two-freedom degree electric machine of the straight line of a kind of high dynamic moving-magnetic type of the utility model;
Figure 14 is the front view of the rear end cap of the rotating integrated formula two-freedom degree electric machine of the straight line of a kind of high dynamic moving-magnetic type of the utility model;
Figure 15 is the structural representation of the front voice coil loudspeaker voice coil module of the rotating integrated formula two-freedom degree electric machine of the straight line of a kind of high dynamic moving-magnetic type of the utility model;
Figure 16 is the structural representation of the rear voice coil loudspeaker voice coil module of the rotating integrated formula two-freedom degree electric machine of the straight line of a kind of high dynamic moving-magnetic type of the utility model.
Embodiment
Below in conjunction with brief description of the drawings and embodiment, the utility model is further illustrated.
Drawing reference numeral in Fig. 1 to Figure 16 is: motor shaft 1; Front end housing 2; Front yoke 3; Outer yoke 4; Rotation winding 5; Silicon steel sheet stator 6; The first arc is every magnetic support 7; Rear magnetic yoke 8; Rear end cap 9; Rear magnet ring 10; Rear magnetic double wedge 101; Rear magnetic slot 102; Rear voice coil loudspeaker voice coil support ring 11; Rear voice coil loudspeaker voice coil 12; The second arc is every magnetic support 13; Front magnet ring 14; Front magnetic double wedge 141; Front magnetic slot 142; Front voice coil loudspeaker voice coil 15; Front voice coil loudspeaker voice coil support ring 16.
As shown in Fig. 1 to Figure 16, the rotating integrated formula two-freedom degree electric machine of a kind of straight line of high dynamic moving-magnetic type, comprises coaxial mounted mover and stator, and described mover comprises coaxial mounted motor shaft 1, front magnet ring 14 and rear magnet ring 10, described front magnet ring 14, rear magnet ring 10 is sheathed and be fixed on the excircle side of described motor shaft 1, described front magnet ring 14 respectively, rear magnet ring 10 is positioned at the middle part of described motor shaft 1, and described stator comprises coaxial mounted front end housing 2, rear end cap 9, yoke, every magnetic support, brushless motor stator module, front voice coil loudspeaker voice coil module and rear voice coil loudspeaker voice coil module, wherein, the front end of described motor shaft 1 is connected with described front end housing 2 by bearing, the rear end of described motor shaft 1 is connected with described rear end cap 9 by bearing, the front end of described yoke is fixedly connected with described front end housing 2, and described front magnet ring 14 is arranged on described front end housing 2 in the axial direction, between rear magnet ring 10, described rear magnet ring 10 is arranged on described rear end cap 6 in the axial direction, between front magnet ring 14, the rear end of described yoke is fixedly connected with described rear end cap 9, described yoke, be ring-type every magnetic support, described within magnetic basement sleeve is located at described yoke, the described inner periphery side every magnetic support is provided with every magnetic groove, and described brushless motor stator module is arranged on described within magnetic groove, described front voice coil loudspeaker voice coil module, rear voice coil loudspeaker voice coil module is ring-type, described front voice coil loudspeaker voice coil module, within rear voice coil loudspeaker voice coil module is set in respectively described yoke, described front voice coil loudspeaker voice coil module is arranged on described front end housing 2 in the axial direction, between magnetic support, described rear voice coil loudspeaker voice coil module is arranged on described rear end cap 9 in the axial direction, between magnetic support, described mover is set in described front voice coil loudspeaker voice coil module, brushless motor stator module, within rear voice coil loudspeaker voice coil module.
As shown in Fig. 1 to Figure 16, described is annular groove every magnetic groove.
As shown in Fig. 1 to Figure 16, described yoke comprises outer yoke 4, front yoke 3 and rear magnetic yoke 8, described outer yoke 4, front yoke 3 and rear magnetic yoke 8 are ring-type, within described front yoke 3, rear magnetic yoke 8 are set in described outer yoke 4, described front yoke 3 is arranged on described front end housing 2 in the axial direction, between magnetic support, within described front voice coil loudspeaker voice coil module is set in described front yoke 3, described rear magnetic yoke 8 is arranged on described rear end cap 9 in the axial direction, between magnetic support, within described rear voice coil loudspeaker voice coil module is set in described rear magnetic yoke 8.
As shown in Fig. 1 to Figure 16, described front yoke 3 and described outer yoke 4 interference fits, described rear magnetic yoke 8 and described outer yoke 4 interference fits, described every magnetic support and described outer yoke 4 interference fits, described in described rotary electric machine module is bonded in every magnetic support within magnetic groove.
As shown in Fig. 1 to Figure 16, described front magnet ring 14 has at least Local Phase to overlap with described front yoke 3 in the axial direction, and described rear magnet ring 10 has at least Local Phase to overlap with described rear magnetic yoke 8 in the axial direction.
As shown in Fig. 1 to Figure 16, described front voice coil loudspeaker voice coil module comprises front voice coil loudspeaker voice coil support ring 16 and front voice coil loudspeaker voice coil 15, described front voice coil loudspeaker voice coil 15 is wrapped in the excircle side of described front voice coil loudspeaker voice coil support ring 16, described rear voice coil loudspeaker voice coil module comprises rear voice coil loudspeaker voice coil support ring 11 and rear voice coil loudspeaker voice coil 12, and described rear voice coil loudspeaker voice coil 12 is wrapped in the excircle side of described rear voice coil loudspeaker voice coil support ring 11.
As shown in Fig. 1 to Figure 16, described front voice coil loudspeaker voice coil 15 is single-phase winding with described rear voice coil loudspeaker voice coil 12, described front voice coil loudspeaker voice coil 15 connect with described rear voice coil loudspeaker voice coil 12 and direction of winding contrary.
As shown in Fig. 1 to Figure 16, described front voice coil loudspeaker voice coil support ring 16 and described front yoke 3 interference fit, described rear voice coil loudspeaker voice coil support ring 11 and described rear magnetic yoke 8 interference fit.
As shown in Fig. 1 to Figure 16, the excircle side of described front voice coil loudspeaker voice coil support ring 16 is provided with front voice coil loudspeaker voice coil and is wound around groove, described front voice coil loudspeaker voice coil 15 is wrapped in described front voice coil loudspeaker voice coil and is wound around in groove, the excircle side of described rear voice coil loudspeaker voice coil support ring 11 is provided with front voice coil loudspeaker voice coil and is wound around groove, and described rear voice coil loudspeaker voice coil 12 is wrapped in described rear voice coil loudspeaker voice coil and is wound around in groove.
As shown in Fig. 1 to Figure 16, it is annular groove that described front voice coil loudspeaker voice coil is wound around groove, and it is annular groove that described rear voice coil loudspeaker voice coil is wound around groove.
As shown in Fig. 1 to Figure 16, the rear end face of the described front end face every magnetic support and described front yoke 3 fits, the front end face of the described rear end face every magnetic support and described rear magnetic yoke 8 fits, the rear end face of the front end face of described front yoke 3 and described front end housing 2 fits, the front end face of the rear end face of described rear magnetic yoke 8 and described rear end cap 9 fits, the front end of described outer yoke 4 is fixedly connected with described front end housing 2 by bolt, and the rear end of described outer yoke 4 is fixedly connected with described rear end cap 9 by bolt.
As shown in Fig. 1 to Figure 16, described front magnet ring 14 is provided with front magnetic double wedge 141 near the rear end of described rear magnet ring 10, described front magnetic double wedge 141 evenly arranges along the circumferential interval of described front magnet ring 14, between two adjacent described front magnetic double wedges 141, it is front magnetic slot 142, described rear magnet ring 10 is provided with rear magnetic double wedge 101 near the front end of described front magnet ring 14, described rear magnetic double wedge 101 evenly arranges along the circumferential interval of described rear magnet ring 10, between two adjacent described rear magnetic double wedges 101, it is rear magnetic slot 102, described front magnetic double wedge 141 is plugged in described rear magnetic slot 102, described rear magnetic double wedge 101 is plugged in described front magnetic slot 142.
As shown in Fig. 1 to Figure 16, the brushless electric machine mover number of magnetic poles that the realization of the desired properties of the quantity Uniform-design of described front magnetic double wedge 141, rear magnetic double wedge 101 rotatablely moves is identical.
As shown in Fig. 1 to Figure 16, described front magnet ring 14 is integrated magnet, and described rear magnet ring 10 is integrated magnet.
As shown in Fig. 1 to Figure 16, described brushless motor stator module comprises silicon steel sheet stator 6 and rotation winding 5, and described rotation winding 5 is embedded in described silicon steel sheet stator 6.
As shown in Fig. 1 to Figure 16, between the front voice coil loudspeaker voice coil support ring 16 of described front voice coil loudspeaker voice coil module and described front magnet ring 14, be provided with air gap, between the rear voice coil loudspeaker voice coil support ring 11 of described rear voice coil loudspeaker voice coil module and described rear magnet ring 10, be provided with air gap, between the silicon steel sheet stator 6 of described brushless motor stator module and described front magnet ring 14, be provided with air gap, between the silicon steel sheet stator 6 of described brushless motor stator module and described rear magnet ring 10, be provided with air gap, between the front voice coil loudspeaker voice coil support ring 16 of described front voice coil loudspeaker voice coil module and described front end housing 2, be provided with air gap, between the rear voice coil loudspeaker voice coil support ring 11 of described rear voice coil loudspeaker voice coil module and described rear end cap 9, be provided with air gap.
As shown in Fig. 1 to Figure 16, described rotation winding 5 is three phase windings.
As shown in Fig. 1 to Figure 16, the front end of described motor shaft 1 is connected with described front end housing 2 by rotation linear bearing, and the rear end of described motor shaft 1 is connected with described rear end cap 9 by rotation linear bearing.
As shown in Fig. 1 to Figure 16, described front magnet ring 14 is radial magnetizing with described rear magnet ring 10, and described front magnet ring 14 is contrary with the polarity of described rear magnet ring 10, is the S utmost point if front magnet ring 14 outsides are N utmost point inner side, and rear magnet ring 10 outsides are that S utmost point inner side is the N utmost point; Be the N utmost point if front magnet ring 14 outsides are S utmost point inner side, rear magnet ring 10 outsides are that N utmost point inner side is the S utmost point.
As shown in Fig. 1 to Figure 16, described front magnetic double wedge 141, rear magnetic double wedge 101 stagger and are uniformly distributed on circumference, form the N utmost point circle distribution magnet ring extremely alternate with S.
As shown in Fig. 1 to Figure 16, described mover is only made up of coaxial mounted motor shaft 1, front magnet ring 14 and rear magnet ring 10.
As shown in Fig. 1 to Figure 16, described every magnetic support comprise the first arc that phase obvolvent forms ring-type every magnetic support 7 and the second arc every magnetic support 13, describedly also can be formed every the obvolvent of magnetic support phase by three, four even more arcs every magnetic support.
As shown in Fig. 1 to Figure 16, described the first arc is preferably semicircle annular every magnetic support 7, described the first arc is called again the first semi-ring every magnetic support every magnetic support 7, and described the second arc is preferably semicircle annular every magnetic support 13, and described the second arc is called again the second semi-ring every magnetic support every magnetic support 13.
As shown in Fig. 1 to Figure 16, described the first arc is provided with the first semi-circular recesses every magnetic support 7, and described the second arc is provided with the second semi-circular recesses every magnetic support 13, and described every magnetic groove, the first semi-circular recesses, the second semi-circular recesses docking form.
As shown in Fig. 1 to Figure 16, described front end housing 2 is nonmagnetic substance, described front end housing 2 is provided with front end housing through hole, described front end housing through hole has at least two edges evenly to arrange around the circumferential interval of described front end housing 2, described rear end cap 9 is nonmagnetic substance, described rear end cap 9 is provided with described rear end cap through hole, and described rear end cap through hole has at least two edges evenly to arrange around the circumferential interval of described rear end cap 9.
The operation principle of the rotating integrated formula two-freedom degree electric machine of straight line of a kind of high dynamic moving-magnetic type that the utility model provides is:
1, rectilinear motion; To described front voice coil loudspeaker voice coil 15 and the logical unidirectional current of rear voice coil loudspeaker voice coil 12, the magnetic field that described front voice coil loudspeaker voice coil 15 and rear voice coil loudspeaker voice coil 12 produce and the magnetic fields of front magnet ring 14 and rear magnet ring 10, promote mover moving linearly; Be specially and promote the mover moving linearly that described front magnet ring 14 and rear magnet ring 10 and motor shaft 1 form, in like manner, to described front voice coil loudspeaker voice coil 15 and the logical reverse unidirectional current of rear voice coil loudspeaker voice coil 12, mover just does reverse linear motion, and described front magnet ring 14 and rear magnet ring 10 are done reverse linear motion with the mover that motor shaft 1 forms;
2, rotatablely move; Switch on to described rotation winding 5, make described rotation winding 5 be respectively conducted order according to: A phase forward conduction B phase reverse-conducting → B phase forward conduction C phase reverse-conducting → C phase forward conduction A phase reverse-conducting → ... so circulation, can allow described front magnet ring 14 and rear magnet ring 10 and the mover that motor shaft 1 forms turn clockwise; Make to state rotation winding 5 be respectively conducted order according to: A phase forward conduction C phase reverse-conducting → C phase forward conduction B phase reverse-conducting → B phase forward conduction A phase reverse-conducting → ... so circulation, can allow described front magnet ring 14 and rear magnet ring 10 and the mover that motor shaft 1 forms be rotated counterclockwise.
3, by conducting, commutation and the amplitude of electric current in the front voice coil loudspeaker voice coil 15 of controller control and rear voice coil loudspeaker voice coil 12 and rotation winding 5, can realize the compound motion that drives mover simultaneously to do straight line and rotation, also can realize and drive mover to make separately straight line, also can realize and drive mover to rotate separately, and can regulate its direction of motion and movement output speed and power output/moment.
The advantage of the rotating integrated formula two-freedom degree electric machine of straight line of a kind of high dynamic moving-magnetic type that the utility model provides is:
1, can export coaxial two degrees of freedom straight line and rotary composite movement.Rotatablely move compared with system with the straight line of existing techniques in realizing, volume compact, simple in structure, inertia is little, is highly suitable for medical treatment, semiconductor packages, aviation etc. to the straight line of the volume requirement compactness occasion that rotatablely moves;
2, mover brushless, without drainage thread, can not produce spark and the problem of the drainage thread that fractures, long service life, few maintenance;
3, rotation mover and straight line mover one change into a mover, and mover is only made up of front magnet ring 14, rear magnet ring 10, motor shaft 1, and simple in structure, compact, inertia is little, and dynamic property is excellent, and stator is composed in series successively, easy to assembly;
4, after the external position sensing device of motor, can form closed loop and carry out closed loop servo control, can realize precise motion quick, level and smooth, high dynamic response.
Above content is in conjunction with concrete preferred implementation further detailed description of the utility model, can not assert that concrete enforcement of the present utility model is confined to these explanations.For the utility model person of an ordinary skill in the technical field, without departing from the concept of the premise utility, can also make some simple deduction or replace, all should be considered as belonging to protection range of the present utility model.
Claims (10)
1. the rotating integrated formula two-freedom degree electric machine of the straight line of high dynamic moving-magnetic type, is characterized in that: comprise coaxial mounted mover and stator, described mover comprises coaxial mounted motor shaft, front magnet ring and rear magnet ring, described front magnet ring, rear magnet ring is sheathed and be fixed on the excircle side of described motor shaft respectively, and described stator comprises coaxial mounted front end housing, rear end cap, yoke, every magnetic support, brushless motor stator module, front voice coil loudspeaker voice coil module and rear voice coil loudspeaker voice coil module, wherein, the front end of described motor shaft is connected with described front end housing by bearing, the rear end of described motor shaft is connected with described rear end cap by bearing, the front end of described yoke is fixedly connected with described front end housing, and described front magnet ring is arranged on described front end housing in the axial direction, between rear magnet ring, described rear magnet ring is arranged on described rear end cap in the axial direction, between front magnet ring, the rear end of described yoke is fixedly connected with described rear end cap, described yoke, be ring-type every magnetic support, described within magnetic basement sleeve is located at described yoke, the described inner periphery side every magnetic support is provided with every magnetic groove, and described brushless motor stator module is arranged on described within magnetic groove, described front voice coil loudspeaker voice coil module, rear voice coil loudspeaker voice coil module is ring-type, described front voice coil loudspeaker voice coil module, within rear voice coil loudspeaker voice coil module is set in respectively described yoke, described front voice coil loudspeaker voice coil module is arranged on described front end housing in the axial direction, between magnetic support, described rear voice coil loudspeaker voice coil module is arranged on described rear end cap in the axial direction, between magnetic support, described mover is set in described front voice coil loudspeaker voice coil module, brushless motor stator module, within rear voice coil loudspeaker voice coil module.
2. the rotating integrated formula two-freedom degree electric machine of the straight line of the dynamic moving-magnetic type of height according to claim 1, it is characterized in that: described yoke comprises outer yoke, front yoke and rear magnetic yoke, described outer yoke, front yoke and rear magnetic yoke are ring-type, described front yoke, within rear magnetic yoke is set in described outer yoke, described front yoke is arranged on described front end housing in the axial direction, between magnetic support, within described front voice coil loudspeaker voice coil module is set in described front yoke, described rear magnetic yoke is arranged on described rear end cap in the axial direction, between magnetic support, within described rear voice coil loudspeaker voice coil module is set in described rear magnetic yoke.
3. the rotating integrated formula two-freedom degree electric machine of the straight line of the dynamic moving-magnetic type of height according to claim 2, it is characterized in that: described front magnet ring has at least Local Phase to overlap with described front yoke in the axial direction, described rear magnet ring has at least Local Phase to overlap with described rear magnetic yoke in the axial direction.
4. the rotating integrated formula two-freedom degree electric machine of the straight line of the dynamic moving-magnetic type of height according to claim 2, it is characterized in that: described front voice coil loudspeaker voice coil module comprises front voice coil loudspeaker voice coil support ring and front voice coil loudspeaker voice coil, described front voice coil loudspeaker voice coil is wrapped in the excircle side of described front voice coil loudspeaker voice coil support ring, described rear voice coil loudspeaker voice coil module comprises rear voice coil loudspeaker voice coil support ring and rear voice coil loudspeaker voice coil, described rear voice coil loudspeaker voice coil is wrapped in the excircle side of described rear voice coil loudspeaker voice coil support ring, described front voice coil loudspeaker voice coil and described rear voice coil loudspeaker voice coil are single-phase winding, and described front voice coil loudspeaker voice coil is contrary with described rear voice coil loudspeaker voice coil series connection and direction of winding.
5. the rotating integrated formula two-freedom degree electric machine of the straight line of the dynamic moving-magnetic type of height according to claim 1, it is characterized in that: described front magnet ring is provided with front magnetic double wedge near the rear end of described rear magnet ring, described front magnetic double wedge evenly arranges along the circumferential interval of described front magnet ring, between two adjacent described front magnetic double wedges, it is front magnetic slot, described rear magnet ring is provided with rear magnetic double wedge near the front end of described front magnet ring, described rear magnetic double wedge evenly arranges along the circumferential interval of described rear magnet ring, between two adjacent described rear magnetic double wedges, it is rear magnetic slot, described front magnetic double wedge is plugged in described rear magnetic slot, described rear magnetic double wedge is plugged in described front magnetic slot.
6. the rotating integrated formula two-freedom degree electric machine of the straight line of the dynamic moving-magnetic type of height according to claim 5, is characterized in that: the quantity of described front magnetic double wedge, rear magnetic double wedge is all identical with the brushless electric machine mover number of magnetic poles rotatablely moving with realization.
7. the rotating integrated formula two-freedom degree electric machine of the straight line of the dynamic moving-magnetic type of height according to claim 1, it is characterized in that: between described front voice coil loudspeaker voice coil module and described front magnet ring, be provided with air gap, between described rear voice coil loudspeaker voice coil module and described rear magnet ring, be provided with air gap, between described brushless motor stator module and described front magnet ring, be provided with air gap, between described brushless motor stator module and described rear magnet ring, be provided with air gap, between described front voice coil loudspeaker voice coil module and described front end housing, be provided with air gap, between described rear voice coil loudspeaker voice coil module and described rear end cap, be provided with air gap.
8. the rotating integrated formula two-freedom degree electric machine of the straight line of the dynamic moving-magnetic type of height according to claim 1, it is characterized in that: described brushless motor stator module comprises silicon steel sheet stator and rotation winding, described rotation winding is embedded in described silicon steel sheet stator, and described rotation winding is three phase windings.
9. the rotating integrated formula two-freedom degree electric machine of the straight line of the dynamic moving-magnetic type of height according to claim 1, is characterized in that: described front magnet ring and described rear magnet ring are radial magnetizing, and described front magnet ring is contrary with the polarity of described rear magnet ring.
10. the rotating integrated formula two-freedom degree electric machine of the straight line of the dynamic moving-magnetic type of height according to claim 1, it is characterized in that: described every magnetic support comprise the first arc that phase obvolvent forms ring-type every magnetic support and the second arc every magnetic support, described front end housing is nonmagnetic substance, described front end housing is provided with front end housing through hole, described rear end cap is nonmagnetic substance, and described rear end cap is provided with described rear end cap through hole.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420249908.1U CN203840182U (en) | 2014-05-16 | 2014-05-16 | High-dynamic moving magnetic type linear rotation integrated two-degree-of-freedom motor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420249908.1U CN203840182U (en) | 2014-05-16 | 2014-05-16 | High-dynamic moving magnetic type linear rotation integrated two-degree-of-freedom motor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103986301A (en) * | 2014-05-16 | 2014-08-13 | 哈尔滨工业大学深圳研究生院 | High-dynamic moving-magnetic type linear rotation integrated two-degree-of-freedom motor |
| CN107896020A (en) * | 2017-12-20 | 2018-04-10 | 宝龙电子集团有限公司 | A kind of drive motor |
-
2014
- 2014-05-16 CN CN201420249908.1U patent/CN203840182U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103986301A (en) * | 2014-05-16 | 2014-08-13 | 哈尔滨工业大学深圳研究生院 | High-dynamic moving-magnetic type linear rotation integrated two-degree-of-freedom motor |
| CN103986301B (en) * | 2014-05-16 | 2017-04-26 | 哈尔滨工业大学深圳研究生院 | High-dynamic moving-magnetic type linear rotation integrated two-degree-of-freedom motor |
| CN107896020A (en) * | 2017-12-20 | 2018-04-10 | 宝龙电子集团有限公司 | A kind of drive motor |
| CN107896020B (en) * | 2017-12-20 | 2024-04-12 | 浙江宝龙机电有限公司 | Driving motor |
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