阅读说明：本技术 一种直线摆动电机 (Linear oscillating motor ) 是由 罗梅竹 张子娇 罗健 邹月华 曾春旭 于 2021-09-02 设计创作，主要内容包括：本申请公开了一种直线摆动电机,包括：定子和动子,其中,所述定子包括：磁轭和两个电枢线圈,其中,所述两个电枢线圈的缠绕方向相互垂直；所述动子包括：法向充磁的永磁体,所述永磁体的空间位置在所述两个电枢线圈之间；其中,所述动子的运动情况由所述两个电枢线圈中的直流电的属性确定,所述运动情况包括：进行直线运动的情况和进行摆动运动的情况。通过本申请解决了现有技术中直线摆动电机结构比较复杂或者控制难度大的问题,从而提供了一种结构相对简单并且容易控制的直线摆动电机。(The application discloses linear oscillating motor includes: a stator and a mover, wherein the stator includes: the magnetic yoke comprises a magnetic yoke and two armature coils, wherein the winding directions of the two armature coils are perpendicular to each other; the mover includes: a normally charged permanent magnet spatially positioned between the two armature coils; wherein a motion profile of the mover is determined by properties of the direct current in the two armature coils, the motion profile comprising: a case of performing a linear motion and a case of performing a swing motion. Through the linear swing motor, the problem that the structure of the linear swing motor is complex or the control difficulty is high in the prior art is solved, and the linear swing motor which is simple in structure and easy to control is provided.)

1. A linear oscillating motor, comprising: a stator and a mover, wherein,

the stator includes: the magnetic yoke comprises a magnetic yoke and two armature coils, wherein the winding directions of the two armature coils are perpendicular to each other;

the mover includes: a normally charged permanent magnet spatially positioned between the two armature coils; wherein a motion profile of the mover is determined by properties of the direct current in the two armature coils, the motion profile comprising: a case of performing a linear motion and a case of performing a swing motion.

2. The linear oscillating motor according to claim 1, wherein the yoke comprises an upper plate and a lower plate, a plane of the upper plate and a plane of the lower plate are parallel to each other, one of the two armature coils is wound on the upper plate, the other of the two armature coils is wound on the lower plate, a space exists between the upper plate and the lower plate, and the permanent magnet is disposed in the space between the upper plate and the lower plate.

3. The linear oscillating motor of claim 2, wherein at least one portion of the upper plate and the lower plate is connected.

4. The linear oscillating motor according to claim 3, wherein the connecting portion of the upper plate and the lower plate is inclined at a predetermined angle with respect to a plane in which the upper plate and the lower plate are located.

5. The linear oscillating motor of claim 4, wherein the yoke is an amorphous yoke, and the upper plate, the lower plate, and the connecting portion of the yoke are integrated.

6. The linear oscillating motor according to claim 5, wherein the magnetic flux guiding property of the amorphous yoke is preset, and the shape of the magnetic flux guiding path corresponds to the shape of the whole of the upper plate, the lower plate, and the connecting portion.

7. The linear oscillating motor according to any one of claims 1 to 6, further comprising:

the rotor support, the one end of rotor support is provided with the active cell, the other end of rotor support is motion output.

8. The linear oscillating motor according to claim 7, wherein the motion output is connected to an adapter plate via a bearing, and the motion output performs an oscillating motion on the adapter plate via the bearing.

9. The linear oscillating motor of claim 8, wherein the adapter plate is connected to the linear slider, and the adapter plate is driven by the motion output end to drive the linear slider to move linearly on the linear slide rail.

10. The linear oscillating motor of claim 7, wherein the mover carriage further comprises a mover carriage arm, wherein one end of the mover carriage arm is connected to the mover and the other end is connected to the motion output.

Technical Field

The application relates to the field of motors, in particular to a linear oscillating motor.

Background

In the prior art, motors are classified into a linear motor and a swing motor, which are used to perform linear motion and swing motion, respectively. With the development of the demand, a motor capable of linear motion and also capable of oscillating motion is required. In this case, a linear oscillating motor appears, and the structure of the prior art linear oscillating motor is complicated and difficult to control.

Disclosure of Invention

The embodiment of the application provides a linear oscillating motor to at least solve the problem that the structure of the linear oscillating motor is more complicated or the control difficulty is large in the prior art.

According to an aspect of the present application, there is provided a linear oscillating motor including: a stator and a mover, wherein the stator includes: the magnetic yoke comprises a magnetic yoke and two armature coils, wherein the winding directions of the two armature coils are perpendicular to each other; the mover includes: a normally charged permanent magnet spatially positioned between the two armature coils; wherein a motion profile of the mover is determined by properties of the direct current in the two armature coils, the motion profile comprising: a case of performing a linear motion and a case of performing a swing motion.

Further, the yoke includes an upper plate and a lower plate, a plane where the upper plate is located and a plane where the lower plate is located are parallel to each other, one of the two armature coils is wound on the upper plate, the other of the two armature coils is wound on the lower plate, a space exists between the upper plate and the lower plate, and the permanent magnet is disposed in the space between the upper plate and the lower plate.

Further, at least one of the upper plate and the lower plate is partially connected.

Further, the connection portion of the upper plate and the lower plate is inclined at a predetermined angle with respect to a plane in which the upper plate and the lower plate are located.

Further, the yoke is an amorphous yoke, and the upper plate, the lower plate, and the connecting portion of the yoke are integrated.

Further, the magnetic flux guiding property of the amorphous yoke is preset, and the shape of the magnetic flux guiding path corresponds to the shape of the whole of the upper plate, the lower plate and the connecting part.

Further, still include: the rotor support, the one end of rotor support is provided with the active cell, the other end of rotor support is motion output.

Furthermore, the motion output end is connected with the adapter plate through a bearing, and the motion output end swings on the adapter plate through the bearing.

Furthermore, the adapter plate is connected with the linear sliding block, and the adapter plate drives the linear sliding block to do linear motion on the linear sliding rail under the driving of the motion output end.

Furthermore, the rotor support also comprises a rotor support arm, wherein one end of the rotor support arm is connected with the rotor, and the other end of the rotor support arm is connected with the motion output end.

In an embodiment of the present application, a stator and a mover are employed, wherein the stator includes: the magnetic yoke comprises a magnetic yoke and two armature coils, wherein the winding directions of the two armature coils are perpendicular to each other; the mover includes: a normally charged permanent magnet spatially positioned between the two armature coils; wherein a motion profile of the mover is determined by properties of the direct current in the two armature coils, the motion profile comprising: a case of performing a linear motion and a case of performing a swing motion. Through the linear swing motor, the problem that the structure of the linear swing motor is complex or the control difficulty is high in the prior art is solved, and the linear swing motor which is simple in structure and easy to control is provided.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:

FIG. 1a is a schematic diagram of a three-dimensional structure of a linear oscillating motor using a soft magnetic amorphous material as a stator yoke according to an embodiment of the present application;

FIG. 1b is a schematic diagram of a three-dimensional structure of a linear oscillating motor using a soft magnetic amorphous material as a stator yoke according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a three-dimensional structure of a stator of a linear oscillating motor using a soft magnetic amorphous material as a stator yoke according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a stator yoke and magnetic flux paths of a linear oscillating motor using soft magnetic amorphous material as the stator yoke according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a three-dimensional structure of a mover of a linear oscillating motor using a soft magnetic amorphous material as a stator yoke according to an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a mover carriage according to an embodiment of the present application;

fig. 6 is a schematic three-dimensional structure diagram of a motor base according to an embodiment of the application.

The reference numbers are as follows: the device comprises an amorphous magnetic yoke 1, an armature coil 2, a motor base 3, a rotor support 4, a linear swinging motion output end 5, a bearing/slider adapter plate 6, a linear slider 7, a linear guide rail 8, a permanent magnet 9, a precision bearing 10, an anti-collision rubber strip 11, a rotor/bearing connecting rod 12 and a rotor support arm 13.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.

In this embodiment, there is provided a linear oscillating motor including: a stator and a mover, wherein the stator includes: the magnetic yoke comprises a magnetic yoke and two armature coils, wherein the winding directions of the two armature coils are perpendicular to each other; the mover includes: a normally charged permanent magnet spatially positioned between the two armature coils; wherein a motion profile of the mover is determined by properties of the direct current in the two armature coils, the motion profile comprising: a case of performing a linear motion and a case of performing a swing motion.

The armature coils may be disposed on a yoke, and in an alternative embodiment, the yoke may include an upper plate and a lower plate, a plane of the upper plate and a plane of the lower plate being parallel to each other, one of the two armature coils being wound on the upper plate, the other of the two armature coils being wound on the lower plate, a space being present between the upper plate and the lower plate, and the permanent magnet being disposed in the space between the upper plate and the lower plate. In an alternative, the magnetic field lines perpendicular to each other may be effectively connected, in which case at least one of the upper plate and the lower plate is partially connected. For example, the connection portion of the upper plate and the lower plate is inclined at a predetermined angle with respect to a plane in which the upper plate and the lower plate are located.

The type of the yoke may be various, and in a preferred embodiment, the yoke may be an amorphous yoke, and the upper plate, the lower plate, and the connecting portion of the yoke are integrated. In this alternative embodiment, the characteristics that the magnetic flux guiding property of the amorphous yoke can be set in advance are utilized, and for example, the shape of the magnetic flux guiding path corresponds to the shape of the whole of the upper plate, the lower plate, and the connecting portion.

For better motion output, in an optional manner, the method may further include: the rotor support, the one end of rotor support is provided with the active cell, the other end of rotor support is motion output. When the swing motion is realized, the following structure can be adopted: the motion output end is connected with the adapter plate through a bearing, and the motion output end swings on the adapter plate through the bearing. When the linear motion is realized, the following structure can be adopted: the adapter plate is connected with the linear sliding block, and the adapter plate drives the linear sliding block to do linear motion on the linear sliding rail under the driving of the motion output end. In another embodiment, the mover support may further include a mover support arm, wherein one end of the mover support arm is connected to the mover, and the other end of the mover support arm is connected to the motion output end.

An alternative embodiment is described below with reference to the accompanying drawings. Figure 1a is a schematic three-dimensional structure diagram of a linear oscillating motor using soft magnetic amorphous material as a stator yoke according to an embodiment of the present application, FIG. 1b is a schematic diagram of a three-dimensional structure of a linear oscillating motor using a soft magnetic amorphous material as a stator yoke according to an embodiment of the present application, figure 2 is a schematic diagram of a three-dimensional structure of a stator of a linear oscillating motor using a soft magnetic amorphous material as a stator yoke according to an embodiment of the present application, figure 3 is a schematic diagram of a stator yoke and magnetic flux paths of a linear oscillating motor using soft magnetic amorphous material as the stator yoke according to an embodiment of the present application, fig. 4 is a schematic diagram of a three-dimensional structure of a mover of a linear oscillating motor using a soft magnetic amorphous material as a stator yoke according to an embodiment of the present application, fig. 5 is a schematic structural diagram of a mover support according to an embodiment of the present application, and fig. 6 is a schematic structural diagram of a motor base according to an embodiment of the present application in three dimensions. As shown in fig. 1 to 6, the present embodiment includes: the device comprises an amorphous magnet yoke 1, an armature coil 2, a motor base 3, a rotor support 4, a linear swing motion output end 5, a bearing/slider adapter plate 6, a linear slider 7, a linear guide rail 8, a permanent magnet 9, a precision bearing 10, an anti-collision rubber strip 11, a rotor/bearing connecting rod 12 and a rotor support arm 13. The motor base is used for supporting the motor stator, the motor rotor, the rotor support, the rotor bearing and the linear guide rail. The stator of the linear oscillating motor consists of an amorphous magnetic yoke and two armature coils and is fixed on a motor base. The rotor of the linear oscillating motor consists of a permanent magnet, a rotor bracket and an anti-collision rubber strip, the rotor is fixed on a precise linear slide block through a low-friction precise bearing to ensure the smoothness of linear/oscillating motion, and a linear guide rail is specified on a motor base. The motor drives the motor rotor to move by utilizing Lorentz force, and the synthetic output end of the whole linear swing motion is arranged at one end of the motor rotor bracket and is consistent with the axle center position of the precision bearing.

The following explains the principle involved in the present embodiment.

Generation of linear motion. The upper plate and the lower plate of the stator yoke are respectively wound with two armature coils with mutually vertical directions, and a piece of permanent magnet which is magnetized in the normal direction (the y direction in figure 1 a) is arranged in the rotor. When matched direct current is introduced into the two coils, the two coils receive corresponding electromagnetic force according to the Lorentz force principle F which is BIL, and the action of force is mutual according to the Newton's third law due to the fixation of the coils, and the motor rotor provided with the permanent magnet can receive the reaction force of the two forces. Because the currents of the two coils are matched, the direction of the resultant force of the two reaction forces is right along the direction of the linear guide rail, and under the action of the resultant force, the rotor moves linearly.

The linear motion is advanced and positioned by controlling the on-off, amplitude and direction of the direct current in the two armature coils. The excitation magnetic field of the secondary permanent magnet of the motor is vertical to the current direction in the coil wire, and the Lorentz force generated by the interaction of the magnetic field and the direct current is vertical to the magnetic line of force and the effective edge of the coil wire according to the right-hand spiral rule. Assuming that the magnetizing direction of the permanent magnet for normal magnetization (y direction in fig. 1 a) in the mover is the positive y-axis direction, taking the case shown in fig. 1a as an example, the coil wound on the yoke upper plate contains N₁Turns a wire and passes through the wire with an amplitude of I₁According to the lorentz force law, the lorentz force direction borne by the coil is the positive direction of the z axis, and as the coil is fixed, according to the Newton's third law, the reaction force F borne by the permanent magnet is₁The direction is opposite to the z-axis. When the coil wound on the lower plate of the magnetic yoke contains N₂Turns a wire and passes through the wire with an amplitude of I₂According to the Lorentz force law, the Lorentz force direction borne by the coil is the opposite direction of the x axis, and as the coil is fixed, according to the Newton's third law, the reaction force F borne by the permanent magnet₂The direction is the positive x-axis direction. When N is present₁I₁，N₂I₂And F acting on the permanent magnet when the x-axis length and the z-axis length of the permanent magnet are matched₁And F₂The resultant force of the motor rotor can be in the leftward direction along the linear guide rail, and under the action of the resultant force, the motor rotor can do leftward linear motion along the linear guide rail. When the DC current in the winding changes, the DC current acts on the permanent magnetF on₁、F₂And the resultant force changes, so that the linear motion acceleration and the speed of the rotor change. F acting on the permanent magnet when the direction of the direct current passing through the winding changes₁、F₂And the direction of resultant force of the two rotors is changed, so that the direction of linear motion of the rotor is changed. F acting on the permanent magnet when no current is applied in the winding₁、F₂And the resultant force is 0, and the rotor is still.

Then, the generation of the oscillating motion is also performed by winding the upper plate and the lower plate of the stator yoke with two armature coils, each of which has a direction perpendicular to each other, and energizing. When matched direct current is introduced into the two coils, the two coils receive corresponding electromagnetic force according to the Lorentz force principle F which is BIL, and the action of force is mutual according to the Newton's third law due to the fixation of the coils, and the motor rotor provided with the permanent magnet can receive the reaction force of the two forces. Since the two coil currents are matched, the resultant force direction of the two reaction forces is exactly the direction of the vertical mover support arm (13 in fig. 5). The mover carriage (4 in fig. 1) is connected to the precision bearing (10 in fig. 4) via a mover/bearing connection rod (12 in fig. 5) provided on the mover carriage, and the precision bearing is fixed to the linear slider (7 in fig. 1) via a bearing/slider adapter plate (6 in fig. 1). Therefore, the mover performs an oscillating motion by the resultant force of the vertical mover support arm (13 in fig. 5).

The advance and the positioning of the swing motion are realized by controlling the on-off, the amplitude and the direction of the direct current in the two armature coils. The excitation magnetic field of the secondary permanent magnet of the motor is vertical to the current direction in the coil wire, and the Lorentz force generated by the interaction of the magnetic field and the direct current is vertical to the magnetic line of force and the effective edge of the coil wire according to the right-hand spiral rule. Assuming that the magnetizing direction of the permanent magnet for normal magnetization (y direction in fig. 1 a) in the mover is the positive y-axis direction, taking the case shown in fig. 1a as an example, the coil wound on the yoke upper plate contains N₁Turns a wire and passes through the wire with an amplitude of I₁According to the lorentz force law, the coil is subjected to a clockwise direct current circuit (viewed in the positive z-axis direction on an x-y section)The direction of the Lorentz force is the positive direction of the z axis, and the coil is fixed, so the reaction force F borne by the permanent magnet is in accordance with the Newton's third law₁The direction is opposite to the z-axis. When the coil wound on the lower plate of the magnetic yoke contains N₂Turns a wire and passes through the wire with an amplitude of I₂According to the Lorentz force law, the Lorentz force direction borne by the coil is the positive direction of the x axis, and as the coil is fixed, according to the Newton's third law, the counter-acting force F borne by the permanent magnet is₂The direction is opposite to the x-axis. When N is present₁I₁，N₂I₂And F acting on the permanent magnet when the x-axis length and the z-axis length of the permanent magnet are matched₁And F₂The resultant force of the motor rotor can be in a direction perpendicular to the rotor support arm and pointing out of the paper surface, and under the action of the resultant force, the motor rotor can swing along the perpendicular rotor support arm and pointing out of the paper surface. When the DC current in the winding changes, F acting on the permanent magnet₁、F₂And the resultant force changes, so that the swinging motion acceleration and the speed of the rotor change. F acting on the permanent magnet when the direction of the direct current passing through the winding changes₁、F₂And the direction of resultant force of the rotor is changed, so that the direction of the swinging motion of the rotor is changed. F acting on the permanent magnet when no current is applied in the winding₁、F₂And the resultant force is 0, and the rotor is still.

The motor stator consists of an amorphous magnetic yoke and two armature coils. The amorphous material can be provided with magnetic flux guidance according to the requirement of a magnetic circuit of the motor in the processing process, and when the magnetic yoke structure shown in figure 3 is adopted and the magnetic flux guidance of the amorphous material is provided according to a path shown by a dotted line in figure 3, the damage of the motor is greatly reduced, and the working efficiency of the motor is improved.

The motor rotor consists of three components: a permanent magnet, active cell support and crashproof adhesive tape. The rotor support is made of non-magnetic light metal materials and plays a role in supporting and fixing the permanent magnet. The anti-collision rubber strip is made of non-magnetic conductive rubber materials and is used as a rotor anti-collision ring.

If the motor is required to simultaneously complete linear and swing motions, the magnitude and direction of direct current in the two armature coils need to be simultaneously adjusted and controlled through calculation, and then the linear swing motion can be generated. The two armature coils are perpendicular to each other in the direction of energization and do not interfere with each other.

In this embodiment, this linear oscillating motor adopts soft magnetic amorphous material as motor armature yoke, and amorphous material can set up the magnetic flux guidance quality according to motor magnetic circuit requirement in the course of working, reduces the loss, and then reaches energy-conserving power saving's effect. The linear oscillating motor provides a novel amorphous magnet yoke structure. The directions of the upper plate and the lower plate of the magnetic yoke for winding the coil are mutually vertical, namely the directions of the magnetic lines of force in the upper plate and the lower plate are mutually vertical. The connecting part between the upper plate and the lower plate is inclined, so that the effective connection of the mutually vertical magnetic lines in the upper plate and the lower plate is realized. The whole amorphous magnetic yoke is a whole, and the structure realizes the integration of the magnetic circuit of the linear oscillating motor. The rotor of the linear swing motor is only composed of a permanent magnet (magnetized in the normal direction, in the y direction in fig. 1 a) and a light non-magnetic bracket, so that the linear swing motor is small in motion inertia, simple in structure and suitable for a multi-dimensional precision motion system; most of linear oscillating motors can only do single linear motion or single rotary motion, and the linear oscillating motor in the embodiment can realize the simultaneous linear motion and oscillating motion; the linear motion and the swing motion share the same magnetic field, two coils are electrified in the two motion processes, only the electrified amplitude is different, the decoupling control is convenient, and the precision of the linear motion and the swing motion in the operation of the motor is greatly improved; the motor adopts a mode of combining a precision bearing and a linear guide rail to provide support for a motor rotor, and can also adopt a magnetic levitation or air floatation mode to provide support.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.