CN108199527A - The joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor directly drives - Google Patents
The joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor directly drives Download PDFInfo
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- CN108199527A CN108199527A CN201810095763.7A CN201810095763A CN108199527A CN 108199527 A CN108199527 A CN 108199527A CN 201810095763 A CN201810095763 A CN 201810095763A CN 108199527 A CN108199527 A CN 108199527A
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- rotary shaft
- synchronous motor
- combination type
- joint
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 38
- 210000000245 forearm Anatomy 0.000 claims abstract description 26
- 238000009434 installation Methods 0.000 claims abstract description 20
- 229910000831 Steel Inorganic materials 0.000 claims description 33
- 239000010959 steel Substances 0.000 claims description 33
- 239000000758 substrate Substances 0.000 claims description 32
- 210000004907 gland Anatomy 0.000 claims description 11
- 239000007921 spray Substances 0.000 claims description 7
- 230000005284 excitation Effects 0.000 claims description 5
- 239000011159 matrix material Substances 0.000 claims description 5
- 238000004804 winding Methods 0.000 claims description 5
- 230000006978 adaptation Effects 0.000 claims description 4
- 230000005389 magnetism Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 9
- 238000005452 bending Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/0094—Structural association with other electrical or electronic devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
- H02K16/04—Machines with one rotor and two stators
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Linear Motors (AREA)
Abstract
The present invention discloses the joint of robot rotating device that a kind of rimless combination type permanent-magnet linear synchronous motor directly drives, and the joint of robot rotating device includes forearm, rotary shaft and postbrachium；The forearm end is equipped with mounting hole；The rotary shaft is installed on by bearing in the mounting hole；The postbrachium and the rotation axis connection, are rotated by the rotary shaft around forearm, it is characterised in that：The rotary shaft is directly driven by combination type permanent-magnet linear synchronous motor.The present invention provides the joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor directly drives, and the joint of robot rotary device structure is simple, and installation volume is small, control accuracy is high.
Description
Technical field
The present invention relates to robot device's technical field, more particularly to a kind of rimless combination type permanent-magnet linear synchronous motor is straight
The joint of robot rotating device of drive.
Background technology
With the development of modern science and technology, robot is played an increasingly important role in all trades and professions, joint of robot
Rotating device is increasingly valued by people as one important parts of robot.
Traditional robot can clearly see the servo motor to leak outside on their joint, and in addition to our energy
The motor enough seen also has extremely complex speed reducer and braking brake mechanism so that the pass of robot inside these joints
Section becomes abnormal too fat to move.Certainly for many heavy-duty machines people, these are not what arrives problem.But those are just being got over
Come be applied to around market and equipment more small scale robot, the auxiliary that people is coordinated to complete various complexity is especially needed to give birth to
For the cooperation robot for producing operation, the size in joint just becomes very crucial.
Invention content
In order to solve the problems in the prior art, the purpose of the present invention is to provide a kind of rimless combination type permanent-magnet synchronous linear
The joint of robot rotating device of electric-machine directly-driven, the joint of robot rotary device structure is simple, and installation volume is small, control is smart
Degree is high.
To achieve the above object, the technical solution adopted by the present invention is：
The joint of robot rotating device that a kind of rimless combination type permanent-magnet linear synchronous motor directly drives, the joint of robot
Rotating device includes forearm, rotary shaft and postbrachium；The forearm end is equipped with mounting hole；The rotary shaft is installed on by bearing
In the mounting hole；The postbrachium and the rotation axis connection, are rotated, the rotary shaft is by group by the rotary shaft around forearm
Box-like permanent magnetic linear synchronous motor directly drives；The combination type permanent-magnet linear synchronous motor includes stator module and rotor set
Part；Before the stator module is fixed in arm matrix, rotating excitation field is provided for the rotor assembly；With described in magnetic property
Rotor assembly is fixedly installed in the rotary shaft；
Wherein, the stator module is full-circle spray pattern or non-full-circle spray pattern structure, and the stator module is by several in fan-shaped knot
The stator unit composition of structure；The stator unit is independent control mechanism；The stator unit includes stator core and twines
The stator winding being wound on the stator unit.
Preferably, the rotary shaft is equipped with positioning step, and the positioning step is used for the peace of bearing described in precise positioning
Holding position；The bearing is fixed on by preceding gland and rear pressing cover in the mounting hole；In the mounting hole be equipped be adapted to it is described before
The seam allowance of gland and rear pressing cover；It is intended that the positioning step set on the rotary shaft, installation that can be in order to bearing and essence
Certainly position；The seam allowance design can reduce installation deviation.
Preferably, the rotor assembly is placed in the rotary shaft end；It is intended that rotor assembly is arranged on described
Rotary shaft end easy to disassemble can be overhauled.
Preferably, the rotor assembly is magnet steel substrate, and the magnet steel substrate is distributed in institute around the rotary shaft axial line
It states in rotary shaft；It is intended that rotor assembly and rotary shaft are combined together, the parts composition of motor is reduced, makes structure
It is simpler, it is cost-effective；The rotary shaft can provide an installation form for magnet steel substrate, in assembling, the rotation
Axis can assemble completion in advance with magnet steel substrate, and the installation procedure of next step is entered as an entirety, easy for installation, improve peace
Fill efficiency.
Preferably, the rotary shaft be in cavity cylindrical structure, the magnet steel substrate arranged the rotary shaft side wall and/
Or end face；It is intended that the design of the cavity had both reduced the rotary inertia of rotary shaft so that rotary shaft operates cleverer
It is living；Saving material again saves cost；Also increase rotary shaft and the contact area of air, convenient for the heat dissipation of rotary shaft.
Preferably, the stator module has further included stator base；The stator base is fixedly installed in the ontology base
On seat；The stator unit is fixedly installed in the stator base；It is intended that the stator base can be stator list
Member provides an installation form, and in assembling, the stator base can assemble completion in advance with stator unit, whole as one
Body enters the installation procedure of next step, easy for installation, improves installation effectiveness.
It is further preferred that the cylinder cavity capping structure of stator base；In the mounting hole be equipped with it is described
The locating slot that stator base is adapted；The stator unit is placed in the stator base side wall and/or end face；With the magnet steel base
Plate is corresponding.
Preferably, the stator module is equipped with the connection plug of stator unit；It is equipped with what is be adapted in the mounting hole
Socket；It is intended that being directly installed on stator module as the modular unit of an entirety in the mounting hole, save
The installation procedure of wiring, plug and play is quick and convenient, substantially increases disassembly efficiency.
Preferably, the combination type permanent-magnet synchronous motor includes encoder, the encoder include code-disc and with it is described
The magnetic strength element of code-disc flexible connection, the code-disc and magnetic strength element are fixedly installed in the rotary shaft and the stator pack respectively
At the axle center of part；It is intended that providing servo-control system for the linear motor, the control of motor closed-loop vector is realized, it is real
Existing rotor speed and position are precisely controlled.
Compared with prior art, the beneficial effects of the invention are as follows：1st, using combination type permanent-magnet linear synchronous motor as spiral shell
The driving motor of line die head threading machine, directly with rotating axis connection, motor stator is looped around around rotor rotor, is fixed on electricity
In machine mounting base, to reduce the driving intermediate link such as gear, reduction box, the type of drive of equipment and the structure shape of equipment are simplified
Formula improves drive efficiency, reduces the loss of the energy；2nd, the mode directly driven substantially reduces the volume of equipment, alleviates equipment weight
Amount can be directly mounted inside joint part without leaking outside；3rd, using servo closed control, to meet to the flexible of type of drive
Selection；4th, magnet steel substrate is directly installed on main shaft, and motor and main shaft are combined together, simplifies device structure, makes equipment more
Add light；5th, stator module is composed using the stator unit of several independent controls, modular design, reduces motor stator
Difficulty of processing, and replace it is convenient；6th, stator module plug and play, make the installation form of installation motor more efficiently, convenience.
Description of the drawings
Fig. 1 is that the robot that a kind of rimless combination frame permanent magnetic linear synchronous motor described in the embodiment of the present invention one directly drives closes
Save the structure diagram of rotating mechanism；
Fig. 2 is the structure diagram of forearm mounting hole of the present invention；
Fig. 3 is the structure diagram of magnet steel substrate one of the present invention；
Fig. 4 is the structure diagram of stator unit one of the present invention；
Fig. 5 is the structure diagram of stator base of the present invention；
Fig. 6 is the joint of robot that a kind of rimless combination type permanent-magnet linear synchronous motor described in the embodiment of the present invention two directly drives
The structure diagram of rotating mechanism；
Fig. 7 is the structure diagram of magnet steel substrate two of the present invention；
Fig. 8 is the structure diagram of stator unit two of the present invention；
Fig. 9 is the joint of robot that a kind of rimless combination type permanent-magnet linear synchronous motor described in the embodiment of the present invention three directly drives
The structure diagram of rotating mechanism；
In figure：1st, forearm；2nd, postbrachium；3rd, rotary shaft；31st, positioning step；4th, preceding gland；5th, rear pressing cover；6th, bearing；7th, it is fixed
Sub-component；71st, stator base；72nd, stator unit one；73rd, stator unit two；8th, rotor assembly；81st, magnet steel substrate one；82nd, magnetic
Steel substrate two；9th, encoder；91st, code-disc；92nd, magnetic strength element；10th, connection plug；11st, mounting hole；11-1, the first seam allowance；11-
2nd, the second seam allowance；11-3, locating slot；11-4, socket.
Specific embodiment
Below in conjunction with the attached drawing in the present invention, technical scheme of the present invention is clearly and completely described, it is clear that
Described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.Based on the implementation in the present invention
Example, all other embodiment that those of ordinary skill in the art are obtained under the conditions of creative work is not made belong to
The scope of protection of the invention.
Embodiment one
As shown in Figs. 1-5, the joint of robot rotating device that a kind of rimless combination type permanent-magnet linear synchronous motor directly drives, institute
It states joint of robot rotating device and includes forearm 1, rotary shaft 3 and postbrachium 2；1 end of forearm is equipped with mounting hole 11；The rotation
Shaft 3 is installed on by bearing 6 in the mounting hole 11；The postbrachium 2 is connect with the rotary shaft 3, passes through the rotary shaft 3
It is rotated around forearm 1；The rotary shaft 3 is directly driven by combination type permanent-magnet linear synchronous motor；The combination type permanent-magnet synchronizing direct
Line motor includes stator module 7 and rotor assembly 8；The stator module 7 is fixed on 1 matrix of forearm, is the rotor assembly 8
Rotating excitation field is provided；The rotor assembly 8 with magnetic property is fixedly installed in the rotary shaft 3；
Wherein, the stator module 7 is non-full-circle spray pattern structure, and the stator module 7 is by six groups in fan-shaped arc structure
Stator unit 1 form；The stator unit 1 is independent control mechanism；The stator unit 1 includes fixed
Sub- iron core and the stator winding being wrapped in the stator core.
As the preferred of the present embodiment, the rotary shaft 3 is equipped with positioning step 31, and the positioning step 31 is for accurate
Position the installation site of the bearing 6；The bearing 6 is fixed on by preceding gland 4 and rear pressing cover 5 in the mounting hole 11；It is described
The seam allowance 11-2 of the seam allowance 11-1 for being adapted to the preceding gland 4 and the adaptation rear pressing cover 5 is equipped in mounting hole 11；The rotor set
Part 8 is magnet steel substrate 1, and the magnet steel substrate 1 is distributed in 3 side wall of rotary shaft around 3 axial line of rotary shaft；Into
Preferably, the rotary shaft 3 is in cavity cylindrical structure to one step；The magnet steel substrate 1 is in fan-shaped arc structure, is distributed in institute
State the side wall of rotary shaft 3；The stator module 7 has further included stator base 71；The stator base 71 is fixedly installed in described
In mounting hole 11；The stator unit 1 is fixedly installed in the stator base；It is further preferred that the stator base
71 capping structures in a ring；The mounting hole 11 is equipped with the locating slot 11-3 being adapted with the stator base 71, the installation
Hole 11 is equipped with to be fastened with the stator base 71 using bolt；The stator unit 1 is placed in 71 inside of stator base
Wall, it is corresponding with the magnet steel substrate 1；The connection plug of stator unit 1 is equipped on the outside of 71 port of stator base
10；The socket 11-4 being adapted is equipped in the mounting hole 11；The combination type permanent-magnet synchronous motor includes encoder 9, institute
It states encoder 9 and includes code-disc 91 and the magnetic strength element 92 being flexibly connected with the code-disc 91, the code-disc 91 and magnetic strength element 92
It is fixedly installed in respectively at the axle center of the rotary shaft 3 and the stator base 71.
After energization, the stator unit 1 provides the magnetic field radially rotated for the magnet steel substrate 1,
The stator module 7 and rotor assembly 8 is promoted to provide the torque rotated around 3 axial line of rotary shaft for the rotary shaft 3, directly
It connects the driving rotary shaft 3 to rotate, so as to control the forearm 1 and 2 bending angle of postbrachium.
Embodiment two
As shown in figs 6-8, the joint of robot rotating device that a kind of rimless combination type permanent-magnet linear synchronous motor directly drives, institute
It states joint of robot rotating device and includes forearm 1, rotary shaft 3 and postbrachium 2；1 end of forearm is equipped with mounting hole 11；The rotation
Shaft 3 is installed on by bearing 6 in the mounting hole 11；The postbrachium 2 is connect with the rotary shaft 3, passes through the rotary shaft 3
It is rotated around forearm 1；The rotary shaft 3 is directly driven by combination type permanent-magnet linear synchronous motor；The combination type permanent-magnet synchronizing direct
Line motor includes stator module 7 and rotor assembly 8；The stator module 7 is fixed on 1 matrix of forearm, is the rotor assembly 8
Rotating excitation field is provided；The rotor assembly 8 with magnetic property is fixedly installed in the rotary shaft 3；
Wherein, the stator module 7 is non-full-circle spray pattern structure, and the stator module 7 is by six groups in fan-shaped disk-like structure
Stator unit 2 73 form；The stator unit 2 73 is independent control mechanism；The stator unit 2 73 includes fixed
Sub- iron core and the stator winding being wrapped in the stator core.
As the preferred of the present embodiment, the rotary shaft 3 is equipped with positioning step 31, and the positioning step 31 is for accurate
Position the installation site of the bearing 6；The bearing 6 is fixed on by preceding gland 4 and rear pressing cover 5 in the mounting hole 11；It is described
The seam allowance 11-2 of the seam allowance 11-1 for being adapted to the preceding gland 4 and the adaptation rear pressing cover 5 is equipped in mounting hole 11；The rotor set
Part 8 is magnet steel substrate 2 82, and the magnet steel substrate 2 82 is distributed in 3 end of rotary shaft around 3 axial line of rotary shaft；Into
Preferably, the rotary shaft 3 is in cavity cylindrical structure to one step；The magnet steel substrate 2 82 is in fan-shaped disk-like structure, is distributed in institute
State the end face of rotary shaft 3；The stator module 7 has further included stator base 71；The stator base 71 is fixedly installed in described
In mounting hole 11；The stator unit 2 73 is fixedly installed in the stator base；It is further preferred that the stator base
71 capping structures in a ring；The mounting hole 11 is equipped with the locating slot 11-3 being adapted with the stator base 71, the installation
Hole 11 is equipped with to be fastened with the stator base 71 using bolt；The stator unit 1 is placed in 71 inside of stator base
Wall, it is corresponding with the magnet steel substrate 2 82；The connection plug of stator unit 2 73 is equipped on the outside of 71 port of stator base
10；The socket 11-4 being adapted is equipped in the mounting hole 11；The combination type permanent-magnet synchronous motor includes encoder 9, institute
It states encoder 9 and includes code-disc 91 and the magnetic strength element 92 being flexibly connected with the code-disc 91, the code-disc 91 and magnetic strength element 92
It is fixedly installed in respectively at the axle center of the rotary shaft 3 and the stator base 71.
After energization, the stator unit 2 73 provides the magnetic field that an axis rotates up for the magnet steel substrate 2 82,
The stator module 7 and rotor assembly 8 is promoted to provide the torque rotated around 3 axial line of rotary shaft for the rotary shaft 3, directly
It connects the driving rotary shaft 3 to rotate, so as to control the forearm 1 and 2 bending angle of postbrachium.
Embodiment three
As shown in figure 9, the joint of robot rotating device that a kind of rimless combination type permanent-magnet linear synchronous motor directly drives, described
Joint of robot rotating device includes forearm 1, rotary shaft 3 and postbrachium 2；1 end of forearm is equipped with mounting hole 11；The rotation
Axis 3 is installed on by bearing 6 in the mounting hole 11；The postbrachium 2 is connect with the rotary shaft 3, by the rotary shaft 3 around
Forearm 1 rotates；The rotary shaft 3 is directly driven by combination type permanent-magnet linear synchronous motor；The combination type permanent-magnet synchronous linear
Motor includes stator module 7 and rotor assembly 8；The stator module 7 is fixed on 1 matrix of forearm, is carried for the rotor assembly 8
For rotating excitation field；The rotor assembly 8 with magnetic property is fixedly installed in the rotary shaft 3；
Wherein, the stator module 7 is non-full-circle spray pattern structure, and the stator module 7 is by six groups in fan-shaped arc structure
Stator unit 1 and six groups of stator units 2 73 in fan-shaped arc structure form；The stator unit 1 and stator
Unit 2 73 is independent control mechanism；The stator unit 1 and stator unit 2 73 respectively include stator core and twine
The stator winding being wound in the stator core.
As the preferred of the present embodiment, the rotary shaft 3 is equipped with positioning step 31, and the positioning step 31 is for accurate
Position the installation site of the bearing 6；The bearing 6 is fixed on by preceding gland 4 and rear pressing cover 5 in the mounting hole 11；It is described
The seam allowance 11-2 of the seam allowance 11-1 for being adapted to the preceding gland 4 and the adaptation rear pressing cover 5 is equipped in mounting hole 11；The rotor set
Part 8 includes magnet steel substrate 1 and magnet steel substrate 2 82, and the magnet steel substrate 1 is distributed in around 3 axial line of rotary shaft
3 side wall of rotary shaft；The magnet steel substrate 2 82 is distributed in 3 end face of rotary shaft around 3 axial line of rotary shaft；Into one
Preferably, the rotary shaft 3 is in cavity cylindrical structure to step；The magnet steel substrate 1 is in fan-shaped arc structure, is distributed in described
The side wall of rotary shaft 3；The stator module 7 has further included stator base 71；The stator base 71 is fixedly installed in the peace
It fills in hole 11；The stator unit 1 is fixedly installed in the stator base；It is further preferred that the stator base 71
Capping structure in a ring；The mounting hole 11 is equipped with the locating slot 11-3 being adapted with the stator base 71, the mounting hole
11 are equipped with the stator base 71 using bolt fastening；The stator unit 1 is placed in 71 madial wall of stator base,
It is corresponding with the magnet steel substrate 1；The stator unit 2 73 is placed in 71 inner face of stator base, with the magnet steel
Substrate 2 82 is corresponding；The connection plug 10 of stator unit 1 is equipped on the outside of 71 port of stator base；The mounting hole
The socket 11-4 being adapted is equipped in 11；The combination type permanent-magnet synchronous motor includes encoder 9, and the encoder 9 includes
Code-disc 91 and the magnetic strength element 92 being flexibly connected with the code-disc 91, the code-disc 91 and magnetic strength element 92 are fixedly installed in respectively
At the axle center of the rotary shaft 3 and the stator base 71.
After energization, the stator unit 1 provides the magnetic field radially rotated for the magnet steel substrate 1,
The stator unit 2 73 provides the magnetic field that an axis rotates up for the magnet steel substrate 2 82, promotes the stator module
7 and rotor assembly 8 provide the torque rotated around 3 axial line of rotary shaft for the rotary shaft 3, directly drive the rotary shaft
3 rotations, so as to control the forearm 1 and 2 bending angle of postbrachium.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. the joint of robot rotating device that a kind of rimless combination type permanent-magnet linear synchronous motor directly drives, the joint of robot rotation
Rotary device includes forearm, rotary shaft and postbrachium；The forearm end is equipped with mounting hole；The rotary shaft is installed on institute by bearing
It states in mounting hole；The postbrachium and the rotation axis connection, are rotated by the rotary shaft around forearm, it is characterised in that：It is described
Rotary shaft is directly driven by combination type permanent-magnet linear synchronous motor；The combination type permanent-magnet linear synchronous motor includes stator module
And rotor assembly；Before the stator module is fixed in arm matrix, rotating excitation field is provided for the rotor assembly；With permanent magnetism spy
The rotor assembly of property is fixedly installed in the rotary shaft；
Wherein, the stator module is full-circle spray pattern or non-full-circle spray pattern structure, and the stator module is by several in sector structure
Stator unit forms；The stator unit is independent control mechanism；The stator unit includes stator core and is wrapped in
Stator winding on the stator unit.
2. the joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor according to claim 1 directly drives,
It is characterized in that, the rotary shaft is equipped with positioning step, the positioning step is used for the installation position of bearing described in precise positioning
It puts；The bearing is fixed on by preceding gland and rear pressing cover in the mounting hole；It is equipped in the mounting hole and is adapted to the preceding gland
And the seam allowance of rear pressing cover.
3. the joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor according to claim 1 directly drives,
It is characterized in that, the rotor assembly is placed in the rotary shaft end.
4. the joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor according to claim 1 directly drives,
It is characterized in that, the rotor assembly is magnet steel substrate, the magnet steel substrate is distributed in the rotation around the rotary shaft axial line
In shaft.
5. the joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor according to claim 4 directly drives,
It is characterized in that, the rotary shaft is in cavity cylindrical structure, side wall and/or end of the magnet steel substrate arranged in the rotary shaft
Face.
6. the joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor according to claim 1 directly drives,
It is characterized in that, the stator module has further included stator base；The stator base is fixedly installed in the mounting hole；Institute
Stator unit is stated to be fixedly installed in the stator base.
7. the joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor according to claim 6 directly drives,
It is characterized in that, the cylinder cavity capping structure of stator base；It is equipped with and the stator base phase in the mounting hole
The locating slot of adaptation；The stator unit is placed in the stator base side wall and/or end face.
8. the joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor according to claim 1 directly drives,
It is characterized in that, the stator module is equipped with the connection plug of stator unit；It is equipped in the mounting hole and is inserted with the wiring
The socket that head is adapted.
9. the joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor according to claim 1 directly drives,
It is characterized in that, the mounting hole port is equipped with the locating slot of the stator module.
10. the joint of robot rotating device that combination type permanent-magnet synchronous motor according to claim 1 directly drives, feature exist
In the combination type permanent-magnet synchronous motor includes encoder, and the encoder includes code-disc and is flexibly connected with the code-disc
Magnetic strength element, the code-disc and magnetic strength element are fixedly installed in respectively at the axle center of the rotary shaft and the stator module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810095763.7A CN108199527A (en) | 2018-01-31 | 2018-01-31 | The joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor directly drives |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810095763.7A CN108199527A (en) | 2018-01-31 | 2018-01-31 | The joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor directly drives |
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| Publication Number | Publication Date |
|---|---|
| CN108199527A true CN108199527A (en) | 2018-06-22 |
Family
ID=62591551
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810095763.7A Pending CN108199527A (en) | 2018-01-31 | 2018-01-31 | The joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor directly drives |
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| CN (1) | CN108199527A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108663148A (en) * | 2018-07-06 | 2018-10-16 | 湖北环电磁装备工程技术有限公司 | The chassis dynamometer of permanent magnet synchronous motor driving |
| CN109436268A (en) * | 2018-09-26 | 2019-03-08 | 湖北环电磁装备工程技术有限公司 | Ship podded propeller |
| CN109531618A (en) * | 2019-01-08 | 2019-03-29 | 苏州大学 | A kind of intelligent robot joint assembly |
| CN112180736A (en) * | 2020-10-19 | 2021-01-05 | 江南大学 | Micro-robot magnetic drive device based on double closed-loop three-dimensional path tracking and control method |
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| CN112180736B (en) * | 2020-10-19 | 2021-08-03 | 江南大学 | Micro-robot control method based on double closed-loop three-dimensional path tracking |
| WO2022083173A1 (en) * | 2020-10-19 | 2022-04-28 | 江南大学 | Micro-robot magnetic drive device based on dual closed-loop three-dimensional path tracking, and control method |
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