Linear hybrid brushless servo motor

• US 20060131967A1
• Filed: 12/21/2004
• Published: 06/22/2006
• Est. Priority Date: 12/21/2004
• Status: Active Grant

• Current Assignee: Baldor Electric Company (ABB Limited)
• Original Assignee: Baldor Electric Company (ABB Limited)
• Inventors: Heilig, John Andrew, Lin, Huai
• Granted Patent: US 7,230,355 B2
• Time in Patent Office: Days
• US Class Current: 310/12.10
• CPC Class Codes: H02K 2213/03 Machines characterised by numerical values, ranges, mathematical expressions or similar information
• CPC Class Codes: H02K 41/033 with armature and magnets on one member, the other member being a flux distributor

Abstract

An improved linear hybrid brushless servo motor is disclosed. The motor comprises a forcer and a platen. The forcer has a plurality of stacks, permanent magnets, and coils which form a three-phase motor. The platen has a low cost ferromagnetic steel plate. The stacks, permanent magnets and phase coils of the forcer are specially designed to have the optimal electromagnetic coupling between the forcer and platen to achieve a high force density servomotor. In one embodiment, two E-shaped stacks are used to physically couple two phases to substantially minimize the unexpected cogging force and force ripple. Three other forcer configurations which achieve a three-phase, highly cost effective and high force density linear hybrid brushless servo motor are also disclosed.

Claims

1. A linear hybrid brushless servo motor, comprising:

a forcer having a plurality of stacks with stack slots, the stacks comprising two U-shaped stacks positioned at each end of the forcer, and two E-shaped stacks positioned between the two U-shaped stacks, a magnet positioned between each stack, and three phase coils wound in the stack slots to form three corresponding phase assemblies; and

,

a platen having a plurality of alternating teeth and slots directed transversely to a direction of movement, and a yoke having a path through which magnetic fluxes may pass.

2. The linear hybrid brushless servo motor of claim 1, wherein each E-shaped stack has three teeth and two stack slots, each tooth having a tooth body and a corresponding tooth tip, and wherein each U-shaped stack has two teeth, each tooth having a tooth body and a corresponding tooth tip, and one stack slot.

3. The linear hybrid brushless servo motor of claim 2, wherein the tooth body is wider than the tooth tip.

4. The linear hybrid brushless servo motor of claim 2, wherein the forcer has a pole pitch, T, wherein each tooth has a tooth width and each tooth tip has a center axis, and wherein the distance between the center axes of adjacent tooth tips in each phase assembly is approximately (M+1/2)*T, wherein M is an integer.

5. The linear hybrid brushless servo motor of claim 2, wherein the forcer has a pole pitch, T, and wherein distance between the center axis of each alternate tooth tip in each phase assembly is approximately [N*T], wherein N is an integer.

6. The linear hybrid brushless servo motor of claim 1, wherein the phase assemblies comprise a first phase assembly, a second phase assembly and a third phase assembly, and wherein the first phase assembly is offset electrically from the second phase assembly by approximately T*180°

±

120°

, the second phase assembly is offset electrically from the third phase assembly by approximately T*180°

±

120°

, and wherein the first phase assembly is offset electrically from the third phase assembly by approximately T*180°

±

240°

, wherein T is an integer.

7. The linear hybrid brushless servo motor of claim 4, wherein the three phase coils comprise a first phase coil, a second phase coil and a third phase coil, each having a center axis, and wherein the distance between the center axes of the first phase coil and the second phase coil is approximately (N±

1/3)T and the distance between the center axes of the first phase coil and third phase coil is approximately (N±

2/3)T, wherein N is an integer.

8. The linear hybrid brushless servo motor of claim 2, wherein each tooth tip of the U-shaped stacks has a tip edge and each tooth body of the U-shaped stacks has a body edge, wherein the body edge and a line connecting the tip edge and the body edge define a U-shaped angle therebetween, and wherein each tooth tip of the E-shaped stacks has a tip edge and each tooth body of the E-shaped stacks has a body edge wherein the body edge and a line connecting the tip edge and the body edge define an E-shaped angle therebetween.

9. The linear hybrid brushless servo motor of claim 8, wherein the U-shaped angle ranges between 0°

to 90°

.

10. The linear hybrid brushless servo motor of claim 9, wherein the E-shaped angle ranges between 0°

and 90°

.

11. The linear hybrid brushless servo motor of claim 8, wherein the U-shaped angle and the E-shaped angle are substantially identical.

12. The linear hybrid brushless servo motor of claim 1, wherein the forcer comprises at least one of a low-carbon high-magnetic laminated material or a low-carbon high-magnetic sintered iron material, and wherein the platen comprises a low-carbon ferromagnetic material.

13. The linear hybrid brushless servo motor of claim 2, further comprising a support positioned between the forcer and the platen which defines a physical clearance therebetween.

14. The linear hybrid brushless servo motor of claim 13, wherein the support comprises at least one of linear mechanical bearings or air bearings.

15. The linear hybrid brushless servo motor of claim 2, wherein the forcer is movable and the platen is stationery.

16. The linear hybrid brushless servo motor of claim 2, wherein movement between the forcer and the platen is relative.

17. The linear hybrid brushless servo motor of claim 6, wherein the first phase assembly is physically coupled to the second phase assembly and the second phase assembly is physically coupled to the third phase assembly.

18. The linear hybrid brushless servo motor of claim 13, wherein the platen comprises a yoke, and wherein each magnet is adapted to generate an electromagnetic field and corresponding magnetic fluxes, and wherein the magnetic fluxes pass through the clearance between the first tooth of the forcer to be substantially aligned with a corresponding tooth of the platen, to the yoke of the platen, to the next adjacent tooth of the platen, to the corresponding substantially aligned tooth of the forcer, and then through the magnet.

19. The linear hybrid brushless servo motor of claim 18, wherein the magnetic fluxes through each phase assembly interact with the platen to produce a thrust force in the direction of movement.

20. The linear hybrid brushless servo motor of claim 2, wherein the forcer has a forcer pole pitch, T, and the platen has a platen pole pitch, T, and wherein the forcer pole pitch and the platen pole pitch are substantially identical and at least 0.1 mm.

21. The linear hybrid brushless servo motor of claim 2, wherein the forcer has a pole pitch, T, and wherein the tooth tip has a width, b_z, in the range of 0.2 to 0.7T.

22. The linear hybrid brushless servo motor of claim 1, wherein each stack comprises a plurality of teeth.

23. The linear hybrid brushless servo motor of claim 22, wherein each tooth comprises a tooth body and a tooth tip, the tooth body having a single tooth at the tooth tip.

24. The linear hybrid brushless servo motor of claim 22, wherein each tooth comprises a tooth body and a tooth tip, the tooth body having a plurality of teeth at the tooth tip.

25. The linear hybrid brushless servo motor of claim 20, wherein a stack in each phase assembly is shifted by at least one of an electrical angle, θ

, or a physical distance of (θ

/360°

)*T.

26. The linear hybrid brushless servo motor of claim 25, wherein the electrical angle ranges between +45°

and −

45°

.

27. The linear hybrid servo brushless motor as of claim 1, further comprising at least one additional forcer adapted to operate with the platen to provide movement in at least two orthogonal directions.

28. A linear hybrid brushless servo motor, comprising:

a forcer having a plurality of stacks with stack slots, the stacks comprising six U-shaped stacks, a magnet positioned between adjacent U-shaped stacks, and three phase coils wound in the stack slots to form three corresponding phase assemblies, each phase assembly comprising two adjacent U-shaped stacks, and two displacers positioned between adjacent phase assemblies; and

a platen having a plurality of alternating teeth and slots directed transversely to a direction of movement, and a yoke having a path through which magnetic fluxes may pass.

29. The linear hybrid brushless servo motor of claim 28, wherein the phase assemblies comprise a first phase assembly, a second phase assembly and a third phase assembly, and wherein each displacer has a thickness to offset electrically the central axis of the phase coil of the second phase assembly from the central axis of the phase coil of the first phase assembly by an electrical angle of approximately (T*180°

±

120°

), to offset electrically the central axis of the phase coil of the third phase assembly from the central axis of the phase coil of the second phase assembly by an electrical angle of approximately (T*180°

±

120°

), and to offset electrically the central axis of the phase coil of the third phase assembly from the central axis of the phase coil of the first phase assembly by an electrical angle of approximately (T*180°

±

240°

), wherein T is an integer.

30. The linear hybrid brushless servo motor of claim 28, wherein the forcer has a pole pitch, T, the phase assemblies comprise a first phase assembly, a second phase assembly and a third phase assembly, and each displacer has a thickness to offset the central axis of the phase coil of the second phase assembly from the central axis of the phase coil of the first phase assembly by a physical distance of [(N+/−

1/3)*T], and to offset the central axis of the phase coil of the third phase assembly from the central axis of the phase coil of the first phase assembly by a physical distance of [(N+/−

2/3)*T].

31. The linear hybrid brushless servo motor of claim 28, wherein each U-shaped stack has two teeth and one stack slot, each tooth having a tooth body and a corresponding tooth tip.

32. The linear hybrid brushless servo motor of claim 31, wherein the forcer has a pole pitch, T, wherein each tooth has a tooth width and each tooth tip has a center axis, and wherein the distance between the center axes of adjacent tooth tips in each phase assembly is approximately (M+1/2)*T, wherein M is an integer.

33. The linear hybrid brushless servo motor of claim 31, wherein the forcer has a pole pitch, T, and wherein distance between the center axis of each alternate tooth tip in each phase assembly is approximately [N*T], wherein N is an integer.

34. The linear hybrid brushless servo motor of claim 28, wherein the phase assemblies comprise a first phase assembly, a second phase assembly, and a third phase assembly, and wherein the first phase assembly is offset electrically from the second phase assembly by approximately T*180°

±

120°

, the second phase assembly is offset electrically from the third phase assembly by approximately T*180°

±

120°

, and wherein the first phase assembly is offset electrically from the third phase assembly by approximately T*180°

±

240°

, wherein T is an integer.

35. The linear hybrid brushless servo motor of claim 32, wherein the three phase coils comprise a first phase coil, a second phase coil and a third phase coil, each having a center axis, and wherein the distance between the center axes of the first phase coil and the second phase coil is approximately (N±

1/3)T and the distance between the center axes of the first phase coil and third phase coil is approximately (N±

2/3)T, wherein N is an integer.

36. The linear hybrid brushless servo motor of claim 28, further comprising a support positioned between the forcer and the platen which defines a physical clearance therebetween.

37. The linear hybrid brushless servo motor of claim 36, wherein the support comprises at least one of linear mechanical bearings or air bearings.

38. The linear hybrid brushless servo motor of claim 36, wherein the platen comprises a yoke, and wherein each magnet is adapted to generate an electromagnetic field and corresponding magnetic fluxes, and wherein the magnetic fluxes pass through the clearance between the first tooth of the forcer to be substantially aligned with a corresponding tooth of the platen, to the yoke of the platen, to the next adjacent tooth of the platen, to the corresponding substantially aligned tooth of the forcer, and then through the magnet.

39. The linear hybrid brushless servo motor of claim 38, wherein the magnetic fluxes through each phase assembly interact with the platen to produce a thrust force in the direction of movement.

40. The linear hybrid brushless servo motor of claim 28, wherein the forcer has a forcer pole pitch T and the platen has a platen pole pitch, T, and wherein the forcer pole pitch and the platen pole pitch are substantially identical and at least 0.1 mm.

41. The linear hybrid brushless servo motor of claim 31, wherein each tooth tip has a width, b_z, in the range of 0.2 to 0.7T.

42. The linear hybrid brushless servo motor of claim 28, wherein each stack comprises a plurality of teeth.

43. The linear hybrid brushless servo motor of claim 42, wherein each tooth comprises a tooth body and a tooth tip, the tooth body having a single tooth at the tooth tip.

44. The linear hybrid brushless servo motor of claim 42, wherein each tooth comprises tooth body and a tooth tip, the tooth body having a plurality of teeth at the tooth tip.

45. The linear hybrid brushless servo motor of claim 28, wherein a stack in each phase assembly is shifted by at least one of an electrical angle, θ

, or a physical distance of (θ

/360°

)*T.

46. The linear hybrid brushless servo motor of claim 45, wherein the electrical angle ranges between +45°

and −

45°

.

47. The linear hybrid servo brushless motor of claim 28, further comprising at least one additional forcer adapted to operate with the platen to provide movement in at least two orthogonal directions.

48. A linear hybrid brushless servo motor, comprising:

a forcer having a plurality of stacks with stack slots, the stacks comprising two U-shaped stacks positioned at end of the forcer, and two E-shaped stacks positioned between the two U-shaped stacks, a plurality of permanent magnets positioned on top of the U-shaped and E-shaped stacks, a plurality of plates positioned on top of the plurality of magnets, and three phase coils wound in the stack slots to form three corresponding phase assemblies; and

a platen having a plurality of alternating teeth and slots directed transversely to a direction of movement, and a yoke having a path through which magnetic fluxes may pass.

49. The linear hybrid brushless servo motor of claim 48, wherein the phase assemblies comprise a first phase assembly, a second phase assembly and a third phase assembly, and wherein each displacer has a thickness to offset electrically the central axis of the phase coil of the second phase assembly from the central axis of the phase coil of the first phase assembly by an electrical angle of approximately (T*180°

±

120°

), to offset electrically the central axis of the phase coil of the third phase assembly from the central axis of the phase coil of the first phase assembly by an electrical angle of approximately (T*180°

±

120°

), and to offset electrically the central axis of the phase coil of the third phase assembly from the central axis of the phase coil of the first phase assembly by an elevated angle of approximately (T*180°

±

240°

), wherein T is an integer.

50. The linear hybrid brushless servo motor of claim 48, wherein the forcer has a pole pitch, T, the phase assemblies comprise a first phase assembly, a second phase assembly and a third phase assembly, and each displacer has a thickness to offset the central axis of the phase coil of the second phase assembly from the central axis of the phase coil of the first phase assembly by a physical distance of [(N+/−

1/3)*T], and to offset the central axis of the phase coil of the third phase assembly from the central axis of the phase coil of the first phase assembly by a physical distance of [(N+/−

2/3)*T.

51. The linear hybrid brushless servo motor of claim 48, wherein each U-shaped stack has two teeth and one stack slot, each tooth having a tooth body and a corresponding tooth tip.

52. The linear hybrid brushless servo motor of claim 51, wherein the forcer has a pole pitch, T, wherein each tooth has a tooth width and each tooth tip has a center axis, and wherein the distance between the center axes of adjacent tooth tips in each phase assembly is approximately (M+1/2)*T, wherein M is an integer.

53. The linear hybrid brushless servo motor of claim 51, wherein the forcer has a pole pitch, T, and wherein distance between the center axis of each alternate tooth tip in each phase assembly is approximately [N*T], wherein N is an integer.

54. The linear hybrid brushless servo motor of claim 48, wherein the phase assemblies comprise a first phase assembly, a second phase assembly, and a third phase assembly, and wherein the first phase assembly is offset electrically from the second phase assembly by approximately T*180°

±

120°

, the second phase assembly is offset electrically from the third phase assembly by approximately T*180°

±

120°

, and wherein the first phase assembly is offset electrically from the third phase assembly by approximately T*180°

±

240°

, wherein T is an integer.

55. The linear hybrid brushless servo motor of claim 52, wherein the three phase coils comprise a first phase coil, a second phase coil and a third phase coil, each having a center axis, and wherein the distance between the center axes of the first phase coil and the second phase coil is approximately (N±

1/3)T and the distance between the center axes of the first phase coil and third phase coil is approximately (N±

2/3)T, wherein N is an integer.

56. The linear hybrid brushless servo motor of claim 48, further comprising a support positioned between the forcer and the platen which defines a physical clearance therebetween.

57. The linear hybrid brushless servo motor of claim 56, wherein the support comprises at least one of linear mechanical bearings or air bearings.

58. The linear hybrid brushless servo motor of claim 56, wherein each magnet is adapted to generate an electromagnetic field and corresponding magnetic fluxes, and wherein the magnetic fluxes pass through the clearance between the first tooth of the forcer to be substantially aligned with a corresponding tooth of the platen, to the next adjacent tooth of the platen, to the corresponding substantially aligned tooth of the forcer, and then through the magnet.

59. The linear hybrid brushless servo motor of claim 58, wherein the magnetic fluxes through each phase assembly interact with the platen to produce a thrust force in the direction of movement.

60. The linear hybrid brushless servo motor of claim 48, wherein the forcer has a forcer pole pitch T and the platen has a platen pole pitch, T, and wherein the forcer pole pitch and the platen pole pitch are substantially identical and at least 0.1 mm.

61. The linear hybrid brushless servo motor of claim 51, wherein each tooth tip has a width, b_z, in the range of 0.2 to 0.7T.

62. The linear hybrid brushless servo motor of claim 48, wherein each stack comprises a plurality of teeth.

63. The linear hybrid brushless servo motor of claim 62, wherein each tooth comprises a tooth body and a tooth tip, the tooth body having a single tooth at the tooth tip.

64. The linear hybrid brushless servo motor of claim 62, wherein each tooth comprises tooth body and a tooth tip, the tooth body having a plurality of teeth at the tooth tip.

65. The linear hybrid brushless servo motor of claim 48, wherein a stack in each phase assembly is shifted by at least one of an electrical angle, θ

, or a physical distance of (θ

/360°

)*T.

66. The linear hybrid brushless servo motor of claim 65, wherein the electrical angle ranges between +45°

and −

45°

.

67. The linear hybrid brushless servo motor of claim 48, further comprising at least one additional forcer adapted to operate with the platen to provide movement in at least two orthogonal directions.

68. The linear hybrid brushless servo motor of claim 49, wherein the plates are made substantially of ferromagnetic steel.

69. The linear hybrid brushless servo motor of claim 49, wherein the plates are made substantially of low-carbon, high-magnetic sintered iron material.