CN108282070A - A kind of planer-type robot moving mechanism that no frame permanent magnet synchronous motor directly drives - Google Patents
A kind of planer-type robot moving mechanism that no frame permanent magnet synchronous motor directly drives Download PDFInfo
- Publication number
- CN108282070A CN108282070A CN201810097387.5A CN201810097387A CN108282070A CN 108282070 A CN108282070 A CN 108282070A CN 201810097387 A CN201810097387 A CN 201810097387A CN 108282070 A CN108282070 A CN 108282070A
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- China
- Prior art keywords
- planer
- moving mechanism
- type robot
- robot moving
- permanent magnet
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
- H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
- H02K29/08—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using magnetic effect devices, e.g. Hall-plates, magneto-resistors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/14—Stator cores with salient poles
- H02K1/145—Stator cores with salient poles having an annular coil, e.g. of the claw-pole type
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/20—Stationary parts of the magnetic circuit with channels or ducts for flow of cooling medium
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/32—Rotating parts of the magnetic circuit with channels or ducts for flow of cooling medium
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/10—Casings or enclosures characterised by the shape, form or construction thereof with arrangements for protection from ingress, e.g. water or fingers
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K9/00—Arrangements for cooling or ventilating
- H02K9/02—Arrangements for cooling or ventilating by ambient air flowing through the machine
- H02K9/04—Arrangements for cooling or ventilating by ambient air flowing through the machine having means for generating a flow of cooling medium
- H02K9/06—Arrangements for cooling or ventilating by ambient air flowing through the machine having means for generating a flow of cooling medium with fans or impellers driven by the machine shaft
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Permanent Magnet Type Synchronous Machine (AREA)
Abstract
A kind of planer-type robot moving mechanism that no frame permanent magnet synchronous motor directly drives, the planer-type robot moving mechanism include track and scroll wheel compatible with the track；The scroll wheel is placed in the planer-type robot moving mechanism ontology rack；The planer-type robot moving mechanism is moved by the scroll wheel along the track；The planer-type robot moving mechanism further includes having rotary shaft, the gear for being fixed on the rotary shaft end and rack compatible with the gear；The rack is arranged with the parallel track；The rotary shaft is fixedly installed in by bearing in planer-type robot moving mechanism ontology rack；The rotary shaft is directly driven by no frame permanent magnet synchronous motor.The present invention provides a kind of planer-type robot moving mechanism that no frame permanent magnet synchronous motor directly drives, the rotating shaft mechanism is simple in structure, transmission efficiency, torque are big.
Description
Technical field
The present invention relates to planer-type robot field more particularly to a kind of dragons directly driven using no frame permanent magnet synchronous motor
Portal robot mobile mechanism.
Background technology
Planer-type robot is the automatic automatic device for executing work, and planer-type robot can assist or replace the work of people
Make, the application in fields such as industry, medicine, agricultural, building, military affairs and daily lifes is more and more extensive, and the effect of embodiment is more next
It is bigger, many convenience are brought for the mankind.
The type of planer-type robot is more and more at present, and function is more and more perfect, structure be also become increasingly complex, but its
Mobile mechanism is generally still to be formed using transmission devices such as motor and belt, gear and connecting rods, and the intermediate link of transmission is more, is passed
Dynamic efficiency and loss of significance is larger, simultaneously because the increase of the quantity of transmission parts, performance are affected, also cause design,
The difficulty of manufacture and assembly increases, the increase of cost.
Invention content
It is directly driven in response to the problems existing in the prior art, the purpose of the present invention is to provide a kind of no frame permanent magnet synchronous motor
Planer-type robot moving mechanism, the mobile mechanism is simple in structure, transmission efficiency, torque are big.
To achieve the above object, the technical solution adopted by the present invention is：
A kind of planer-type robot moving mechanism that no frame permanent magnet synchronous motor directly drives, the planer-type robot movement
Mechanism includes track and scroll wheel compatible with the track；The scroll wheel is placed in planer-type robot moving machine
In structure ontology rack；The planer-type robot moving mechanism is moved by the scroll wheel along the track；The planer-type
Robot moving mechanism further includes having rotary shaft, the gear for being fixed on the rotary shaft end and tooth compatible with the gear
Item；The rack is arranged with the parallel track；The rotary shaft is fixedly installed in planer-type robot moving machine by bearing
In structure ontology rack；The rotary shaft is directly driven by no frame permanent magnet synchronous motor；The no frame permanent magnet synchronous motor packet
Include stator module and rotor assembly；The stator module is fixedly installed in planer-type robot moving mechanism ontology rack, is
The rotor assembly provides rotating excitation field；The rotor assembly with magnetic property is fixedly installed in the rotary shaft；
Wherein, the stator module includes stator core and the stator winding that is wrapped in the stator core, described
Stator core is in be integrally machined molding circular cylindrical structure or ring discoid structure.
Preferably, the rotor assembly includes rotor pedestal and magnet steel substrate, and the rotor pedestal is fixedly installed in described
In rotary shaft, the magnet steel substrate is distributed in around the rotary shaft axial line on the rotor pedestal；It is intended that described turn
Sub-base can provide an installation form for magnet steel substrate, and in assembling, the rotor pedestal can shift to an earlier date with magnet steel substrate
Assembly is completed, and enters the installation procedure of next step as a whole, easy for installation, installation effectiveness is improved, prevented also from scattered
Component omit, the problem of bad management.
It is further preferred that the rotation shaft end of cylinder structure is equipped with positioning step；The rotor pedestal is solid
Dingan County is fixed loaded on the positioning step by locking nut；The magnet steel substrate is distributed in the lateral wall of the rotor pedestal
The end face and/or；It is intended that the positioning step improves the convenience and accuracy of rotor pedestal installation；Institute's magnet steel substrate
The diversity of arrangement can increase the turning moment of motor.
Preferably, the rotor pedestal side wall is in double-layer structure, including inner ring and outer ring；The outer ring is equipped with slanting
Ventilation hole；The ventilation hole is between two pieces of adjacent magnet steel substrates；It is intended that the design of the double-layer structure
Both material utilization amount is saved, the weight of the rotor pedestal is alleviated, it is to overcome itself rotor weight and additional to reduce motor
The electric energy of consumption, and the radius of rotor rotation is increased, turning moment is increased, while also increasing the rotor pedestal
With the contact area of outside air, heat dissipation effect is increased, ensures the stability of equipment operation；Diagonally disposed ventilation hole is turning
Sub-base can generate air beveling power when rotating, and enhance the mobility of air, improve heat dissipation effect.
Preferably, the outer ring inner wall is equipped with fan leaf along the oblique direction of the ventilation opening；Turn it is intended that increasing
To the beveling area of air when son rotation, enhance the trafficability performance of air, further improving radiating effect.
Preferably, the stator module further includes having stator base；The stator base is fixedly installed in the ontology machine
On frame；The stator core is fixedly installed in the stator base；It is intended that the stator base can be stator iron
The heart provides an installation form, and in assembling, the stator base can assemble completion in advance with stator core, whole as one
Body enters the installation procedure of next step, easy for installation, improves installation effectiveness, is omitted prevented also from scattered component, solves zero
The problem of part various bad management.
Preferably, the stator base is equipped with heat emission hole, and Heat Conduction Material is filled in the heat emission hole；It is intended that
So that the stator base while ensureing itself good structural rigidity, also has more good heat conductivility, can incite somebody to action
The amount of heat that stator winding electrifying generates distributes, and ensures the stable operation of motor, improves the service life of equipment.
Preferably, Air Filter is equipped with guide shell, and the diversion tunnel is in horn-like, it is intended that the guide shell pair
Drainage is played the role of in the circulation of air, and the air inlet of the rotor pedestal and air outlet interval are closer, and the guide shell can
It prevents air from forming convection phenomena between air inlet and air outlet, influences cooling effect；Bell-mouthed design can both increase
The area of air inlet, and the thermal current of outflow can be oriented to the outside of air inlet, greatly improve cooling effect.
Preferably, the no frame 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 separately fixedly installed in the rotary shaft and the stator pack
On part；It is intended that providing servo-control system for the linear motor, realizes the control of motor closed-loop vector, realize rotor
Rotating speed and position are precisely controlled.
Compared with prior art, the beneficial effects of the invention are as follows：1, using no frame permanent magnet synchronous motor as rotary shaft
Driving motor, directly with rotation axis connection, motor stator is looped around around rotor rotor, is fixed on motor mount
On, intermediate link is driven to reduce gear, reduction box etc., the type of drive of equipment and the structure type of equipment is simplified, improves
Drive efficiency reduces the loss of the energy；2, the mode directly driven substantially reduces the volume of equipment, alleviates weight of equipment；3, it adopts
Make motor that there is fast response time, the high advantage of control accuracy with servo-control system；4, the radiator structure rationally designed, makes electricity
Machine is realized from heat dissipation.
Description of the drawings
Fig. 1 is a kind of structure for the planer-type robot moving mechanism that no frame permanent magnet synchronous motor directly drives of the present invention
Schematic diagram；
Fig. 2 directly drives the structural schematic diagram of rotary shaft for a kind of no frame permanent magnet synchronous motor described in the embodiment of the present invention one；
Fig. 3 is the structural schematic diagram of rotor pedestal in the embodiment of the present invention one；
Fig. 4 is the dimensional structure diagram of rotor pedestal in the embodiment of the present invention one；
Fig. 5 is the structural schematic diagram of the magnet steel substrate one；
Fig. 6 is the structural schematic diagram of the stator core one；
Fig. 7 directly drives the structural schematic diagram of rotary shaft for a kind of no frame permanent magnet synchronous motor described in the embodiment of the present invention two；
Fig. 8 is the dimensional structure diagram of rotor pedestal in the embodiment of the present invention two；
Fig. 9 is the structural schematic diagram of the magnet steel substrate two；
Figure 10 is the structural schematic diagram of the stator core two；
Figure 11 directly drives the structural schematic diagram of rotary shaft for a kind of no frame permanent magnet synchronous motor described in the embodiment of the present invention three；
In figure：1, ontology rack；2, rotary shaft；21, gear；3, bearing；4, stator module；41, stator base；42, fixed
Sub- iron core one；43, stator core two；44, heat emission hole；5, rotor assembly；51, rotor pedestal；52, magnet steel substrate one；53, magnet steel
Substrate two；54, ventilation hole；55, fan leaf；6, key；7, rack；8, track；9, encoder；91, code-disc；92, magnetic strength element；
10, scroll wheel；11, Air Filter；12, guide shell；13, locking nut.
Specific implementation mode
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 embodiments are only a part of the embodiments 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 not making creative work belong to
The scope of protection of the invention.
Embodiment one
As shown in figures 1 to 6, a kind of planer-type robot moving mechanism that no frame permanent magnet synchronous motor directly drives, described gantry
Formula robot moving mechanism includes track 8 and scroll wheel compatible with the track 8 10；The scroll wheel 10 is placed in described
In planer-type robot moving mechanism ontology rack 1；The planer-type robot moving mechanism is by the scroll wheel 10 along institute
State the movement of track 8；The planer-type robot moving mechanism further includes the tooth for having rotary shaft 2, being fixed on 2 end of the rotary shaft
Wheel 21 and rack compatible with the gear 21 7；The rack 7 is arranged in parallel with the track 8；The rotary shaft 2 passes through
Bearing 3 is fixedly installed in planer-type robot moving mechanism ontology rack 1；The rotary shaft 2 is by no frame permanent magnet synchronous electric
Machine directly drives；The no frame permanent magnet synchronous motor includes stator module 4 and rotor assembly 5；The stator module 4 fixes peace
Loaded in planer-type robot moving mechanism ontology rack, rotating excitation field is provided for the rotor assembly 5；With magnetic property
The rotor assembly 5 is fixedly installed in the rotary shaft 2；
Wherein, the stator module 4 includes stator core 1 and the stator winding that is wrapped in the stator core,
The stator core 1 is in be integrally machined molding circular cylindrical structure.
As the preferred of the present embodiment, the rotor assembly 5 includes rotor pedestal 51 and magnet steel substrate 1, the rotor
Pedestal 51 is fixedly installed in the rotary shaft 2, and the magnet steel substrate 1 is distributed in described turn around 2 axial line of the rotary shaft
In sub-base 51；Further, 2 end of the rotary shaft of cylinder structure is equipped with positioning step；The rotor pedestal 51
It is fixedly installed on the positioning step, is fixed by locking nut 13；The magnet steel substrate 1 is in fan-shaped arc structure, uniformly distributed
In the side wall of the rotor pedestal 51；It is connected by key 6 between the rotary shaft 2 and the rotor pedestal 51；Further, institute
It is in double-layer structure, including inner ring and outer ring to state 51 side wall of rotor pedestal；The outer ring is equipped with slanting ventilation hole 54；It is described logical
Air holes 54 is placed between the magnet steel substrate of adjacent two pieces 1；The outer ring inner wall is along 54 oblique direction of the ventilation hole
Equipped with fan leaf 55；The stator module 4 further includes having stator base 41；The stator base 41 is fixedly installed in the ontology
In rack 1；The stator core 1 is fixedly installed in the stator base 41；The stator base is equipped with heat emission hole
44, graphite is filled in the heat emission hole 44；Further, the capping structure in a ring of the stator base 41, outside top end cover
Edge is equipped with installation step；The stator core 1 is placed in the side wall of the stator base 41, with one 52 phase of magnet steel substrate
It is corresponding；41 open end of the stator base is equipped with Air Filter 11；Further, the Air Filter 11 is equipped with guide shell 12, institute
Guide shell 12 is stated in horn-like；Further, the no frame permanent magnet synchronous motor includes encoder 9, and the encoder 9 wraps
The magnetic strength element 92 for including code-disc 91 and being flexibly connected with the code-disc, the code-disc 91 are fixedly installed in the rotary shaft 2, institute
Magnetic strength element 92 is stated to be fixedly installed on 41 end face of the stator base.
After energization, the stator core 1 is that the magnet steel substrate 1 provides the magnetic field radially rotated,
It is that the rotary shaft 2 provides the torque rotated around 2 axial line of the rotary shaft to promote the stator module 4 and rotor assembly 5, is driven
The dynamic rotary shaft 2 rotates, and to drive the gear 21 to rotate, promotes the rack 7 to planer-type robot moving mechanism
The thrust for promoting horizontal direction, moves it.
Embodiment two
As is seen in figs 7-10, a kind of planer-type robot moving mechanism that no frame permanent magnet synchronous motor directly drives, the dragon
Portal robot mobile mechanism includes track 8 and scroll wheel compatible with the track 8 10；The scroll wheel 10 is placed in institute
It states in planer-type robot moving mechanism ontology rack 1；The planer-type robot moving mechanism passes through 10 edge of the scroll wheel
The track 8 moves；The planer-type robot moving mechanism further includes having rotary shaft 2, being fixed on 2 end of the rotary shaft
Gear 21 and rack compatible with the gear 21 7；The rack 7 is arranged in parallel with the track 8；The rotary shaft 2 is logical
Bearing 3 is crossed to be fixedly installed in planer-type robot moving mechanism ontology rack 1；The rotary shaft 2 is by no frame permanent-magnet synchronous
Motor direct-drive；The no frame permanent magnet synchronous motor includes stator module 4 and rotor assembly 5；The stator module 4 is fixed
It is installed in planer-type robot moving mechanism ontology rack, rotating excitation field is provided for the rotor assembly 5；With magnetic property
The rotor assembly 5 be fixedly installed in the rotary shaft 2；
Wherein, the stator module 4 includes stator core 2 43 and the stator winding that is wrapped in the stator core,
The stator core 2 43 is in be integrally machined molding ring discoid structure.
As the preferred of the present embodiment, the rotor assembly 5 includes rotor pedestal 51 and magnet steel substrate 2 53, the rotor
Pedestal 51 is fixedly installed in the rotary shaft 2, and the magnet steel substrate 2 53 is distributed in described turn around 2 axial line of the rotary shaft
In sub-base 51；Further, 2 end of the rotary shaft of cylinder structure is equipped with positioning step；The rotor pedestal 51
It is fixedly installed on the positioning step, is fixed by locking nut 13；The magnet steel substrate 2 53 is in fan-shaped disk-like structure, uniformly distributed
In the end face of the rotor pedestal 51；It is connected by key 6 between the rotary shaft 2 and the rotor pedestal 51；Further, institute
It is in double-layer structure, including inner ring and outer ring to state 51 side wall of rotor pedestal；The outer ring is equipped with slanting ventilation hole 54；It is described logical
Air holes 54 is placed between the magnet steel substrate of adjacent two pieces 2 53；The outer ring inner wall is along 54 oblique direction of the ventilation hole
Equipped with fan leaf 55；The stator module 4 further includes having stator base 41；The stator base 41 is fixedly installed in the ontology
In rack 1；The stator core 2 43 is fixedly installed in the stator base 41；The stator base is equipped with heat emission hole
44, graphite is filled in the heat emission hole 44；Further, the capping structure in a ring of the stator base 41, outside top end cover
Edge is equipped with installation step；The stator core 2 43 is placed in the end face of the stator base 41, with 2 53 phase of magnet steel substrate
It is corresponding；41 open end of the stator base is equipped with Air Filter 11；Further, the Air Filter 11 is equipped with guide shell 12, institute
Guide shell 12 is stated in horn-like；Further, the no frame permanent magnet synchronous motor includes encoder 9, and the encoder 9 wraps
The magnetic strength element 92 for including code-disc 91 and being flexibly connected with the code-disc, the code-disc 91 are fixedly installed in the rotary shaft 2, institute
Magnetic strength element 92 is stated to be fixedly installed on 41 end face of the stator base.
After energization, the stator core 2 43 is that the magnet steel substrate 2 53 provides the magnetic field that an axis rotates up,
It is that the rotary shaft 2 provides the torque rotated around 2 axial line of the rotary shaft to promote the stator module 4 and rotor assembly 5, is driven
The dynamic rotary shaft 2 rotates, and to drive the gear 21 to rotate, promotes the rack 7 to planer-type robot moving mechanism
The thrust for promoting horizontal direction, moves it.
Embodiment three
As shown in figure 11, a kind of planer-type robot moving mechanism that no frame permanent magnet synchronous motor directly drives, described gantry
Formula robot moving mechanism includes track 8 and scroll wheel compatible with the track 8 10；The scroll wheel 10 is placed in described
In planer-type robot moving mechanism ontology rack 1；The planer-type robot moving mechanism is by the scroll wheel 10 along institute
The movement of track 8 is stated, the planer-type robot moving mechanism further includes the tooth for having rotary shaft 2, being fixed on 2 end of the rotary shaft
Wheel 21 and rack compatible with the gear 21 7；The rack 7 is arranged in parallel with the track 8；The rotary shaft 2 passes through
Bearing 3 is fixedly installed in planer-type robot moving mechanism ontology rack 1；The rotary shaft 2 is by no frame permanent magnet synchronous electric
Machine directly drives；The no frame permanent magnet synchronous motor includes stator module 4 and rotor assembly 5；The stator module 4 fixes peace
Loaded in planer-type robot moving mechanism ontology rack, rotating excitation field is provided for the rotor assembly 5；With magnetic property
The rotor assembly 5 is fixedly installed in the rotary shaft 2；
Wherein, the stator module 4 includes stator core 1 and stator core 2 43, the stator core 1 and
Stator core 2 43 is respectively wrapped in the stator winding in the stator core, and the stator core 1 is in be integrally machined molding
Annular arc structure, the stator core 2 43 is in being integrally machined molding ring discoid structure.
As the preferred of the present embodiment, the rotor assembly 5 includes rotor pedestal 51, magnet steel substrate 1 and magnet steel substrate
2 53, the rotor pedestal 51 is fixedly installed in the rotary shaft 2, and the magnet steel substrate 1 and magnet steel substrate 2 53 are around institute
2 axial line of rotary shaft is stated to be distributed on the rotor pedestal 51；Further, 2 end of the rotary shaft of cylinder structure
Equipped with positioning step；The rotor pedestal 51 is fixedly installed on the positioning step, is fixed by locking nut 13；The magnet steel
Substrate 1 is in fan-shaped arc structure, is distributed in the side wall of the rotor pedestal 51；The magnet steel substrate 2 53 is in fan-shaped plate-like
Structure is distributed in the end face of the rotor pedestal 51；It is connected by key 6 between the rotary shaft 2 and the rotor pedestal 51；Into
One step, 51 side wall of the rotor pedestal is in double-layer structure, including inner ring and outer ring；Two pieces of adjacent magnet steel substrates 1
Between and adjacent two pieces of magnet steel substrates 2 53 between be equipped with slanting ventilation hole 54；The outer ring inner wall is along described logical
54 oblique direction of air holes is equipped with fan leaf 55；The stator module 4 further includes having stator base 41；The stator base 41 is fixed
It is installed in the ontology rack 1；The stator core 1 and stator core 2 43 are fixedly installed in the stator base 41
On；The stator base is equipped with heat emission hole 44, and graphite is filled in the heat emission hole 44；Further, the stator base
41 capping structures in a ring, top end cover outer rim are equipped with installation step；The stator core 1 is placed in the stator base 41
Side wall, it is corresponding with the magnet steel substrate 1；The stator core 2 43 is placed in the end face of the stator base 41, with institute
It is corresponding to state magnet steel substrate 2 53；41 open end of the stator base is equipped with Air Filter 11；Further, on the Air Filter 11
Equipped with guide shell 12, the guide shell 12 is in horn-like；Further, the no frame permanent magnet synchronous motor includes encoder
9, the encoder 9 is fixedly installed in including code-disc 91 and the magnetic strength element 92 being flexibly connected with the code-disc, the code-disc 91
In the rotary shaft 2, the magnetic strength element 92 is fixedly installed on 41 end face of the stator base.
After energization, the stator core 1 is that the magnet steel substrate 1 provides the magnetic field radially rotated,
The stator core 2 43 is that the magnet steel substrate 2 53 provides the magnetic field that an axis rotates up, and promotes the stator jointly
Component 4 and rotor assembly 5 are that the rotary shaft 2 provides the torque rotated around 2 axial line of the rotary shaft, drive the rotary shaft
2 rotations promote the rack 7 to promote horizontal direction to planer-type robot moving mechanism to drive the gear 21 to rotate
Thrust, move it.
It should be pointed out that in this embodiment, the stator base 41 and rotor pedestal 51 can be integrated and be processed into
The structure of type, the form that can also be combined.
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. a kind of planer-type robot moving mechanism that no frame permanent magnet synchronous motor directly drives, planer-type robot moving machine
Structure includes track and scroll wheel compatible with the track；The scroll wheel is placed in the planer-type robot moving mechanism
In ontology rack；The planer-type robot moving mechanism is moved by the scroll wheel along the track, which is characterized in that institute
State planer-type robot moving mechanism further include have rotary shaft, be fixed on the rotary shaft end gear and with the gear phase
The rack of adaptation；The rack is arranged with the parallel track；The rotary shaft is fixedly installed in planer-type machine by bearing
In people mobile mechanism ontology rack；The rotary shaft is directly driven by no frame permanent magnet synchronous motor；The no frame permanent magnetism is same
It includes stator module and rotor assembly to walk motor；The stator module is fixedly installed in planer-type robot moving mechanism ontology machine
On frame, rotating excitation field is provided for the rotor assembly；The rotor assembly with magnetic property is fixedly installed in the rotation
On axis；
Wherein, the stator module includes stator core and the stator winding that is wrapped in the stator core, the stator
Iron core is in be integrally machined molding circular cylindrical structure or ring discoid structure.
2. the planer-type robot moving mechanism that a kind of no frame permanent magnet synchronous motor according to claim 1 directly drives,
It is characterized in that, the rotor assembly includes rotor pedestal and magnet steel substrate, and the rotor pedestal is fixedly installed in the rotary shaft
On, the magnet steel substrate is distributed in around the rotary shaft axial line on the rotor pedestal.
3. the planer-type robot moving mechanism that a kind of no frame permanent magnet synchronous motor according to claim 2 directly drives,
It is characterized in that, the rotation shaft end of cylinder structure is equipped with positioning step；The rotor pedestal is fixedly installed in described
On positioning step, fixed by locking nut；The magnet steel substrate is distributed in lateral wall and/or the end face of the rotor pedestal.
4. the planer-type robot moving mechanism that a kind of no frame permanent magnet synchronous motor according to claim 2 directly drives,
It is characterized in that, the rotor pedestal side wall is in double-layer structure, including inner ring and outer ring；The outer ring is equipped with slanting ventilation
Hole；The ventilation hole is between two pieces of adjacent magnet steel substrates.
5. the planer-type robot moving mechanism that a kind of no frame permanent magnet synchronous motor according to claim 4 directly drives,
It is characterized in that, the outer ring inner wall is equipped with fan leaf along the oblique direction of the ventilation opening.
6. the planer-type robot moving mechanism that a kind of no frame permanent magnet synchronous motor according to claim 1 directly drives,
It is characterized in that, the stator module further includes having stator base；The stator base is fixedly installed in the ontology rack；Institute
Stator core is stated to be fixedly installed in the stator base.
7. the planer-type robot moving mechanism that a kind of no frame permanent magnet synchronous motor according to claim 6 directly drives,
It is characterized in that, the stator base is equipped with heat emission hole, and Heat Conduction Material is filled in the heat emission hole.
8. the planer-type robot moving mechanism that a kind of no frame permanent magnet synchronous motor according to claim 6 directly drives,
It is characterized in that, capping structure, top end cover outer rim are equipped with installation step to the stator base in a ring；The stator core is placed in
The side wall of the stator base and/or end face；The stator base open end is equipped with Air Filter.
9. the planer-type robot moving mechanism that a kind of no frame permanent magnet synchronous motor according to claim 6 directly drives,
It is characterized in that, the Air Filter is equipped with guide shell, and the guide shell is in horn-like.
10. the planer-type robot moving mechanism that no frame permanent magnet synchronous motor according to claim 1 directly drives, feature
It is, the no frame permanent magnet synchronous motor includes encoder, and the encoder includes code-disc and connects with the code-disc activity
The magnetic strength element connect, the code-disc and magnetic strength element are separately fixedly installed on the rotary shaft and the stator module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810097387.5A CN108282070A (en) | 2018-01-31 | 2018-01-31 | A kind of planer-type robot moving mechanism that no frame permanent magnet synchronous motor directly drives |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810097387.5A CN108282070A (en) | 2018-01-31 | 2018-01-31 | A kind of planer-type robot moving mechanism that no frame permanent magnet synchronous motor directly drives |
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| Publication Number | Publication Date |
|---|---|
| CN108282070A true CN108282070A (en) | 2018-07-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810097387.5A Pending CN108282070A (en) | 2018-01-31 | 2018-01-31 | A kind of planer-type robot moving mechanism that no frame permanent magnet synchronous motor directly drives |
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| CN (1) | CN108282070A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2505244Y (en) * | 2001-09-25 | 2002-08-14 | 大连理工大学 | Robot for ignition and water-spraying machine-shaping of curved steel plate |
| CN101604876A (en) * | 2009-06-23 | 2009-12-16 | 哈尔滨理工大学 | Fan-cooled rotor in shaft of high-speed permanent magnet motor |
| CN203623014U (en) * | 2013-11-04 | 2014-06-04 | 江苏国力锻压机床有限公司 | Hydraulic machine capable of realizing tonnage conversion |
| CN205319816U (en) * | 2016-01-20 | 2016-06-15 | 崔小兵 | Permanent magnetism disk type motor cooling system |
| CN205986571U (en) * | 2016-07-05 | 2017-02-22 | 肖红 | Frameless combination formula PMSM |
| CN208094416U (en) * | 2018-01-31 | 2018-11-13 | 湖北环一电磁装备工程技术有限公司 | A kind of planer-type robot moving mechanism that no frame permanent magnet synchronous motor directly drives |
-
2018
- 2018-01-31 CN CN201810097387.5A patent/CN108282070A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2505244Y (en) * | 2001-09-25 | 2002-08-14 | 大连理工大学 | Robot for ignition and water-spraying machine-shaping of curved steel plate |
| CN101604876A (en) * | 2009-06-23 | 2009-12-16 | 哈尔滨理工大学 | Fan-cooled rotor in shaft of high-speed permanent magnet motor |
| CN203623014U (en) * | 2013-11-04 | 2014-06-04 | 江苏国力锻压机床有限公司 | Hydraulic machine capable of realizing tonnage conversion |
| CN205319816U (en) * | 2016-01-20 | 2016-06-15 | 崔小兵 | Permanent magnetism disk type motor cooling system |
| CN205986571U (en) * | 2016-07-05 | 2017-02-22 | 肖红 | Frameless combination formula PMSM |
| CN208094416U (en) * | 2018-01-31 | 2018-11-13 | 湖北环一电磁装备工程技术有限公司 | A kind of planer-type robot moving mechanism that no frame permanent magnet synchronous motor directly drives |
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