CN111865020B

CN111865020B - Stator active cell axial multi-section type rotating linear motor, actuating device and robot

Info

Publication number: CN111865020B
Application number: CN201910343321.4A
Authority: CN
Inventors: 傅为农; 马悦
Original assignee: Hong Kong Polytechnic University HKPU
Current assignee: Hong Kong Polytechnic University HKPU
Priority date: 2019-04-26
Filing date: 2019-04-26
Publication date: 2022-05-10
Anticipated expiration: 2039-04-26
Also published as: CN111865020A

Abstract

The invention provides a rotary linear motor, which comprises a sectional stator and a sectional rotor, wherein the sectional stator comprises a first section generating an alternating magnetic field for promoting rotary motion and a second section generating an alternating magnetic field for promoting linear motion along the axial direction; the segmented mover comprises three segments in axial direction, a first segment being configured to be able to interact with only alternating magnetic fields contributing to a rotational movement for a rotational movement, a second segment being configured to be able to interact with only alternating magnetic fields contributing to a linear movement for a linear movement, and a third segment being configured to be able to interact with both said alternating magnetic fields contributing to a rotational movement for a rotational movement and said alternating magnetic fields contributing to a linear movement for a linear movement. The invention also provides an actuating device comprising the rotary linear motor and a robot. The invention has high integration level and large movement range, and improves the torque and force output of the motor.

Description

Stator active cell axial multi-section type rotating linear motor, actuating device and robot

Technical Field

The invention relates to the technical field of driving, in particular to a rotary linear motor, and more particularly to a rotary linear motor with a sectional stator and a sectional rotor.

Background

In intelligent complex systems such as robot joints, industrial production, assembly and the like, multi-degree-of-freedom motion is often required to be realized. In these cases, it may be desirable for the robot joint to be capable of simultaneous rotary and linear motion or alternating rotary and linear motion, such a task being accomplished by a rotary linear motor.

In the existing rotary linear motor, a part of the assembly which is formed by mechanically combining (mechanically splicing) a rotary motor and a linear motor and can complete rotary motion and linear motion comprises two motors, wherein one motor comprises a stator and a rotor to complete rotary motion, and the other motor comprises a stator and a rotor to complete linear motion. The other part of the existing rotary linear motor has higher integration level, but the rotor is of a one-section structure, and the operation effect of the motor is poor due to the mutual influence of magnetic fields in two directions of the rotary motion and the linear motion; the motor with two segments of rotors also exists in the prior art, so that the mutual influence of magnetic fields in two directions is reduced, but the motor shortens the movable range and has poor practicability.

Disclosure of Invention

The present invention provides a rotary linear motor, which improves the integration of the motor and reduces the mutual influence of the magnetic fields of the two components contributing to the rotary motion and the linear motion by adopting the structure of a multi-section stator and a multi-section mover. Also, the proposed rotary linear motor has a large movable range and improves the torque and force output of the motor. The invention is particularly applicable to the occasions requiring rotation and linear motion, such as a four-shaft manipulator or a six-shaft manipulator, and particularly to a structural component requiring simultaneous or separate rotation and linear motion, such as a fourth shaft component of the four-shaft manipulator.

According to a first aspect of the present invention, there is provided a rotary linear electric machine comprising a segmented stator and a segmented mover, wherein the segmented stator and the segmented mover are coaxial, the segmented mover passes axially through the segmented stator with a gap therebetween, and wherein the segmented stator comprises axially a first section generating an alternating magnetic field contributing to a rotary motion and a second section generating an alternating magnetic field contributing to a linear motion, and wherein the segmented mover comprises axially three sections, wherein the first section of the segmented mover is configured to be interactive with only the alternating magnetic field contributing to a rotary motion; a second section of the segmented mover is configured to be capable of interacting with only the alternating magnetic field that contributes to the linear motion for the linear motion; and the third section of the segmented mover is configured to interact with both the alternating magnetic field contributing to the rotational motion for the rotational motion and the alternating magnetic field contributing to the linear motion for the linear motion.

In some embodiments, a length of the segmented mover is longer than a length of the segmented stator.

In some embodiments, the segmented stator has holes formed therein.

In some embodiments, each segment in the segmented stator comprises three or more phases of windings.

In some embodiments, the alternating magnetic field that contributes to the linear motion and the alternating magnetic field that contributes to the rotational motion are perpendicular to each other.

In some embodiments, there is a gap or no gap between the plurality of segments of the segmented stator.

In some embodiments, the first segment of the segmented mover is in the same axial direction as the first segment of the segmented stator that generates the alternating magnetic field that contributes to the rotational motion, the second segment of the segmented mover is in the same axial direction as the second segment of the segmented stator that generates the alternating magnetic field that contributes to the linear motion, the third segment of the segmented mover is between the first segment of the segmented mover and the second segment of the segmented mover, and there is no gap between the first, second, and third segments of the segmented mover.

In some embodiments, a first section of the segmented mover has an axial length of M1, a second section of the segmented mover has an axial length of M2, and a third section of the segmented mover has an axial length of M3; the first segment of the segmented stator has an axial length of L1 and the second segment of the segmented stator has an axial length of L2; and a gap distance of G is provided between the first section and the second section of the segmented stator, wherein M1, M2, M3, L1, L2 and G satisfy the following condition M1 ≦ L1+ G < M1+ M3; m2 is less than or equal to L2+ G < M2+ M3.

In some embodiments, the value of M3 may be specified or adjusted according to application requirements.

In some embodiments, the segmented stator further comprises a third segment that generates an alternating magnetic field that facilitates rotational motion or generates an alternating magnetic field that facilitates linear motion in the axial direction.

According to a second aspect of the present invention there is provided an actuator device comprising a rotary linear motor according to the first aspect of the present invention.

According to a third aspect of the present invention there is provided a robot comprising a rotary linear motor according to the first aspect of the present invention or an actuation arrangement according to the second aspect of the present invention.

In some embodiments of the present invention, the stator is combined in two sections in the axial direction, and the mover may be regarded as an axial three-section combination.

In some embodiments, the stator is axially divided into two sections, one section providing a rotating motion alternating magnetic field and the other section providing a linear motion alternating magnetic field. The two sections generate magnetic fields which are independent and do not interfere with each other.

In some embodiments, the rotor is axially combined by three sections, and the first section is a rotor structure which can only interact with the stator rotary motion magnetic field section to perform rotary motion; the second section is a rotor structure which can only interact with the stator linear motion magnetic field section to perform linear motion; the third section is a rotor structure which can be interacted with the stator rotary motion magnetic field section to perform rotary motion and can be interacted with the stator linear motion magnetic field section to perform linear motion. The third section of the mover is an intermediate section of the mover, and between the first section and the second section located at both ends of the mover, the first section of the mover is in the same axial direction as the section of the stator that contributes to the magnetic field of the rotational motion, and the second section of the mover is in the same axial direction as the section of the stator that contributes to the magnetic field of the linear motion. Proper gaps or no gaps can be arranged between the two sections of the stator according to requirements, and the three sections of the rotor are gapless and integrated.

In some embodiments, the motor may take any form, such as a synchronous motor, an asynchronous motor, a dc motor, or an ac motor, while ensuring proper operation.

In some embodiments, permanent magnets with a slot structure and two magnetic pole directions are arranged on the third section of the segmented rotor, and the permanent magnets are in a special bipolar permanent magnet magnetic regulation structure, so that the magnetic field intensity is enhanced, and the torque (output) is increased.

In some embodiments, under the condition of ensuring that the motor can rotate, linearly move or rotate and linearly move at any position, the number of the sections of the stator and the rotor can be increased according to needs, the length of each section can be adjusted, and the combination form and arrangement form of the stator, the rotor and the sections thereof can be adjusted according to needs.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments and the description of the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings and equivalent embodiments can be obtained based on the drawings without inventive efforts.

Fig. 1 is a schematic view of an overall structure of a rotary linear motor according to an embodiment of the present invention.

Fig. 2 is a schematic top view of a rotating linear motor according to an embodiment of the present invention.

Fig. 3 is a partial cross-sectional view and a detailed structural schematic diagram of a rotating linear motor according to an embodiment of the present invention.

Fig. 4 is a schematic structural diagram of a third section of a rotor of a rotary linear motor according to an embodiment of the present invention, in which three electrical periodic movement distances (angles) are taken in two movement directions.

Fig. 5A is a schematic partial radial cross-sectional structure diagram of a rotor tooth and a permanent magnet portion on an outer surface of a first section of a stator of a rotating linear motor, corresponding to a third section of a rotor according to an embodiment of the present invention.

Fig. 5B is a partial radial cross-sectional structural diagram of a rotor slot and a permanent magnet portion on an outer surface of a first section of a stator of a rotating linear motor, corresponding to a third section of a rotor according to an embodiment of the present invention.

Fig. 6A is a structural diagram of a right side of an axial cross-sectional symmetry axis of a rotor tooth and a permanent magnet portion of an outer surface of a third section of a rotor corresponding to a second section of a stator of a rotating linear motor according to an embodiment of the present invention.

Fig. 6B is a structural diagram of a right side of an axial cross-sectional symmetry axis of a rotor groove and a permanent magnet portion on an outer surface of a third section of a rotor corresponding to a second section of a stator of a rotating linear motor according to an embodiment of the present invention.

Fig. 7 is a partial cross-sectional view and a detailed structural schematic view of a rotating linear motor according to another embodiment of the present invention.

Detailed Description

In order to make the technical solutions of the embodiments of the present invention better understood, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The prior art rotary linear motor has a part which is a component which is formed by mechanically combining a rotary motor and a linear motor and can complete rotary and linear motion, and the motor has low integration degree. The integration level of the other part of the rotary linear motor is higher, but the rotor is in a one-stage type, the operation effect of the motor is poorer due to the mutual influence of magnetic fields, and the torque and force output of the rotary and linear motion modes are smaller; some motors with two-section type movers exist, but magnetic fields in the motors can affect each other, the movement range is small, and the practicability is poor.

To solve the above problems, the present invention provides a rotary linear motor including a segmented stator and a segmented mover. The rotary linear motor provided by the invention adopts a stator and rotor multi-section structure, improves the integration level of the motor, reduces the mutual influence of magnetic fields in two motion directions, can realize a larger movable range, and improves the torque and force output of the motor.

The technical solution proposed by the present invention is explained below with reference to the accompanying drawings. Fig. 1 is a schematic view of an overall structure of a rotating linear motor according to an embodiment of the present invention. Fig. 2 is a schematic top view of a rotating linear motor according to an embodiment of the present invention. Fig. 3 is a partial cross-sectional view and a detailed structural schematic diagram of a rotating linear motor according to an embodiment of the present invention.

As shown in fig. 1 to 3, a rotary linear motor 10 according to one embodiment of the present invention includes a cylindrical mover 11 and a cylindrical stator 12, and both the cylindrical mover 11 and the cylindrical stator 12 are segmented. The cylindrical mover 11 is inside the cylindrical stator 12 and axially penetrates the cylindrical stator 12, with a (preferably uniform) gap 13 formed between the cylindrical mover 11 and the cylindrical stator 12. Holes may be punched in the mover 11 (along or near the central axis) as needed to form holes to reduce weight of the mover or to leave routing locations for circuitry. The stator 12 is not limited to a cylindrical shape. The inner surface of the stator 12 is a cylindrical surface, and the outer surface of the stator 12 may have other shapes.

As shown in fig. 3, the stator is a segmented stator, which may include a plurality of segments in the axial direction. In fig. 3, the segmented stator comprises two

segments

121 and 122. The section 121 provides an alternating magnetic field that facilitates a rotational movement of the mover, more particularly a corresponding section of the mover, and the section 122 provides an alternating magnetic field that facilitates a linear movement of the mover, more particularly a corresponding section of the mover. The magnetic fields generated by

sections

121 and 122 are independent of each other (e.g., isolated from each other or perpendicular to each other) and do not interfere with each other. In order to prevent the magnetic fields generated by the

sections

121 and 122 from interfering with each other, a gap (a gap or a spacer, such as a good magnetic-isolating material) may be provided between the

sections

121 and 122 as required to achieve a magnetic-isolating effect. The segmented mover axial may comprise a plurality of segments (three

segments

111, 112 and 113 are shown in fig. 3). The segmented mover is axially three-segment integrated, wherein the first segment 111 of the mover may be configured to interact with only the first segment 121 of the stator (i.e. the alternating magnetic field generated by the first segment 121 of the stator that contributes to the rotational motion) for the rotational motion; the second section 113 of the mover may be configured to be only able to interact with the second section 122 of the stator (i.e. the alternating magnetic field generated by the second section 122 of the stator, which facilitates the linear movement) for the linear movement; the third section 112 of the mover is an intermediate section of the mover, located between the first section 111 and the second section 113; and the third section 112 of the mover may be configured to interact with both the first section 121 of the stator (i.e., the alternating magnetic field generated by the first section 121 of the stator that contributes to the rotational motion) for the rotational motion and the second section 122 of the stator (i.e., the alternating magnetic field generated by the second section 122 of the stator that contributes to the linear motion) for the linear motion.

The first section 111 of the mover is configured to be able to interact with the first section 121 of the stator only (i.e. the alternating magnetic field generated by the first section 121 of the stator which contributes to the rotational movement) for the rotational movement may be done in the following way: the first section 111 of the mover is suitably designed such that the first section 111 interacts with only the alternating magnetic field generated by the first section 121 of the stator, which alternating magnetic field contributes to the rotational movement, for the rotational movement (which part may be regarded as a rotating electrical machine) during the entire axial stroke of the mover when the section 111 is within the range of action of the magnetic field generated by the first section 121 of the stator. The second section 113 of the mover is configured to be able to interact with the second section 122 of the stator only (i.e. the alternating magnetic field generated by the second section 122 of the stator, which facilitates the linear movement) for the linear movement may be accomplished by: the second section 113 of the mover is suitably designed such that the second section 113 interacts only with the alternating magnetic field generated by the second section 122 of the stator, which alternating magnetic field contributes to the linear movement, to perform a linear movement (which may be considered as a linear motor in this part) when the section 113 is within the range of action of the magnetic field generated by the second section 122 of the stator during the entire axial stroke of the mover. The third section 112 of the mover is configured to interact both with the first section 121 of the stator (i.e. the alternating magnetic field generated by the first section 121 of the stator contributing to the rotational movement) for the rotational movement and with the second section 122 of the stator (i.e. the alternating magnetic field generated by the second section 122 of the stator contributing to the linear movement) for the linear movement may be done by: the third section 112 of the mover is suitably designed such that during the entire axial stroke of the mover, the third section 112 of the mover interacts with the alternating magnetic field generated by the second section 122 of the stator, which alternating magnetic field contributes to the linear movement, to perform the linear movement, when only a part of the third section 112 is within the range of action of the magnetic field generated by the second section 122 of the stator; when only a part of the third section 112 is within the range of action of the magnetic field generated by the first section 121 of the stator, the third section 112 of the mover interacts with the alternating magnetic field generated by the first section 121 of the stator, which alternating magnetic field contributes to the rotational movement, to perform the rotational movement; the third segment 112 can perform a rotational linear motion when a portion of the third segment 112 is within the range of action of the magnetic field generated by the first segment 121 of the stator and a portion of the third segment 112 is within the range of action of the magnetic field generated by the second segment 122 of the stator. The windings of the first section 121 of the stator and the second section 122 of the stator are independent of each other, and different kinds of windings may be adopted for the purpose of generating the corresponding alternating magnetic fields, for example, the windings of the first section 121 of the stator may adopt concentrated windings or distributed windings, and the windings of the second section 122 of the stator may adopt ring-type windings coaxial with the mover and the rotor.

As shown in fig. 4, which is a schematic development of an outer surface of an implementation form of the third section 112 of the mover, two moving directions are three electrical periodic moving distances (angles), wherein a cogging structure with reluctance variation is adopted in both directions of the rotary motion and the linear motion. The outer surface of the third section 112 of the rotor has a structure of a convex tooth 1121 and a groove 1124, the convex tooth 1121 is a rotor tooth, and

permanent magnets

1122 and 1123 are embedded in part of the groove 1124 along both the rotational motion direction and the linear motion direction.

Fig. 5A is a schematic partial radial cross-sectional structure diagram of a rotor tooth and a permanent magnet portion on an outer surface of a first section of a stator of a rotating linear motor corresponding to a third section of a rotor according to an embodiment of the present invention. Fig. 6A is a structural diagram of a right side of an axial cross-sectional symmetry axis of a rotor tooth and a permanent magnet portion of an outer surface of a third section of a rotor corresponding to a second section of a stator of a rotating linear motor according to an embodiment of the present invention. Fig. 5B is a schematic partial radial cross-sectional structure diagram of a rotor slot and a permanent magnet portion on an outer surface of a third section of a rotor corresponding to a first section of a stator of a rotating linear motor according to an embodiment of the present invention. Fig. 6B is a structural diagram of a right side of an axial cross-sectional symmetry axis of a rotor groove and a permanent magnet portion on an outer surface of a third section of a rotor corresponding to a second section of a stator of a rotating linear motor according to an embodiment of the present invention. Fig. 5A and 5B show two cases where stator first section 121 corresponds to a combined surface of mover teeth 1121 and permanent magnets 1123 and a combined surface of mover slot 1124 and permanent magnets 1122 on mover third section 112 at the same time. Fig. 6A and 6B show two cases where the stator second section 122 corresponds to a combined surface of the mover teeth 1121 and the permanent magnets 1122 and a combined surface of the mover slot 1124 and the permanent magnets 1123 on the mover 112 at the same time. In fig. 5A, the extension lines of AO and a' O intersect at the point O of the center of the mover; in fig. 5B, the extensions of BO and B' O intersect at point O of the center of the mover. As shown in fig. 4, a loop-shaped slot 1124 is formed around each of the mover teeth 1121, and the width and depth of the slot 1124 are related to the size of the

permanent magnets

1122 and 1123 embedded in the slot. Small rectangular

permanent magnets

1122 and 1123 of two polarities are regularly embedded on the mover. In the direction of linear motion, permanent magnets 1122 with the same size and the same polarity are embedded on both sides of the rotor teeth 1121; in the direction of the rotational motion, permanent magnets 1123 with the same size and the same polarity are embedded on both sides of the mover teeth 1121. In fig. 6A and 6B, in the linear motion direction, the distance along the outer surface of the mover between the same positions of the two permanent magnets 1122 in the mover is D, or the distance along the outer surface between the same positions of the two adjacent mover permanent magnets 1123 is D', which is the relative motion distance between the mover and the stator in the linear motion direction during the time corresponding to one period of current. In fig. 5A and 5B, in the rotational movement direction, the corresponding radian along the outer surface of the mover between the same positions of the two 1123 permanent magnets in the mover is P, or the corresponding radian along the outer surface between the same positions of the two adjacent mover permanent magnets 1122 is P', where P is the relative rotational radian of the mover and the stator in the rotational movement direction during the time corresponding to one period of current. When the

permanent magnets

1122 and 1123 are embedded in the slots, the whole slots do not need to be filled, but a certain gap with equal sides can be left between the permanent magnet 1122 or the permanent magnet 1123 and the two adjacent teeth 1121.

The third section 112 of the mover is an intermediate section of the mover, at both ends of which the first section 111, the second section 113 of the mover are located, respectively, the third section 112 being between the first section 111 and the second section 113. The first section 111 of the mover and the first section 121 of the stator generating the magnetic field for the rotational movement are in the same axial direction, that is, the first section of the mover and the first section of the stator are in the same position relative to the whole motor, for example, when the motor is vertically placed, the first section 121 of the stator is located at the upper half section of the segmented stator, and the corresponding first section 111 of the mover is located at the position of the uppermost section of the mover. The second section 113 of the mover is axially oriented in the same direction as the second section 122 of the stator, which generates the linear motion magnetic field. The first, second and

third sections

111, 112, 113 of the mover are integrated without gaps between them. In operation, the torque of the rotational movement may be increased when the first section 111 of the mover interacts with the first section 121 of the stator (e.g. the first section 111 of the mover overlaps or enters the first section 121 of the stator); similarly, the force output of the linear movement may be increased when the second section 113 of the mover interacts with the second section 122 of the stator (e.g. the second section 113 of the mover overlaps with the second section 122 of the stator or enters the second section 122 of the stator). In case the operating conditions are fulfilled, there may be a corresponding interaction between the first section 111 of the mover and the first section 121 of the stator, the third section 112 of the mover and the second section 122 of the stator and the second section 113 of the mover and the second section 122 of the stator. The "motor" formed by each rotor section in interaction with the corresponding stator section can be any kind of motor, such as a synchronous motor, an asynchronous motor, a dc motor, an ac motor, etc.

Fig. 7 is a partial cross-sectional view and a detailed structural schematic view of a rotating linear motor according to another embodiment of the present invention. The number of stator segments of the rotary linear motor in fig. 7 is increased and the combination form of the mover is changed as compared with the rotary linear motor in fig. 1 to 3. Specifically, the stator axially includes three

sections

221, 222, and 223. The

sections

221 and 223 are at both ends of the stator, the

sections

221 and 223 providing alternating magnetic fields that contribute to the rotational motion, and the section 222 is the middle section of the stator providing alternating magnetic fields that contribute to the linear motion. The magnetic fields generated by the three

sections

221, 222 and 223 are independent of each other and do not interfere with each other. Gaps can be arranged between the

sections

221 and 222 and between the

sections

222 and 223 according to requirements, and the magnetic isolation effect is achieved. Similar to fig. 1-3, the mover is axially three-segment coupled, with segment 211 at one end of the mover capable of interacting with segment 221 of the stator generating a magnetic field for rotational movement; the section 213 at the other end of the mover can interact with the section 223 of the stator generating the magnetic field of the rotational movement to perform the rotational movement; the middle section 212 of the mover can interact with the respective magnetic fields generated by the three sections to perform rotational, linear and rotational-linear movements, respectively. The three

sections

211, 212, 213 of the mover are gapless and integrated. When the section 211 interacts with the section 221 or when the section 213 interacts with the section 223, the torque of the rotary motion can be increased, and the rotary linear motor in this form is a stator and rotor multi-section motor, and a variation application of the basic principle of the above proposed form is mainly used in the case that a large torque is required when the rotary linear motor moves to the two ends of the linear motion range. In case the operating conditions are met, there may be an interaction between

sections

211 and 221, 212 and 222, 212 and 223 and 213 and 223, respectively, for a rotation, a linear movement or a rotational linear movement. In some embodiments, the section 223 provides a linearly moving alternating magnetic field rather than a rotationally moving alternating magnetic field, which works in a similar manner and is not described in detail. The motor can adopt any kind of motor, such as a synchronous motor, an asynchronous motor, a direct current motor, an alternating current motor and the like.

In another embodiment, the present invention also provides an actuation device (e.g., an end effector) comprising at least one rotary-linear motor as described above. In another embodiment, the invention also provides a robot comprising a rotary linear motor or an actuator device as described above,

when an element is said to be "secured to" another element, it can be directly on the other element or intervening elements may be present, pre-formed integrally with the other element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and the like as used herein are for descriptive purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

The term "and/or" herein is merely an association relationship describing an associated object, and means that three relationships may exist, for example: a and/or B may mean that A is present alone, A and B are present simultaneously, and B is present alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

The terms "first," "second," "third," and the like in the description and in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the materials so used are interchangeable under appropriate circumstances such that the embodiments described herein are capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and any variations thereof, are intended to cover non-exclusive inclusions. For example: a process, method, system, article, or robot that comprises a list of steps or modules is not necessarily limited to those steps or modules explicitly listed, but includes other steps or modules not explicitly listed or inherent to such process, method, system, article, or robot.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.

It should be noted that the embodiments described in the specification are preferred embodiments, and the structures and modules involved are not necessarily essential to the invention, as will be understood by those skilled in the art.

The above embodiments of the present invention have been described in detail with reference to the rotor of the rotary linear motor, and the robot, but the above embodiments are only provided to facilitate understanding of the method and the core concept of the present invention, and should not be construed as limiting the present invention. Those skilled in the art should also appreciate that various modifications and substitutions can be made without departing from the scope of the present invention.

Claims

1. A rotary linear motor comprising a segmented stator and a segmented mover, wherein the segmented stator and the segmented mover are coaxial, the segmented mover passes axially through the segmented stator, and a gap exists between the segmented stator and the segmented mover, and wherein the segmented stator comprises axially a first section generating an alternating magnetic field that contributes to a rotary motion and a second section generating an alternating magnetic field that contributes to a linear motion, and wherein the segmented mover comprises axially three sections, wherein the first section of the segmented mover is configured to be able to interact with only the alternating magnetic field that contributes to a rotary motion for a rotary motion; a second section of the segmented mover is configured to be capable of interacting with only the alternating magnetic field that contributes to the linear motion for the linear motion; and the third section of the segmented mover is configured to interact with both the alternating magnetic field contributing to the rotational motion for the rotational motion and the alternating magnetic field contributing to the linear motion for the linear motion.

2. The rotating linear motor of claim 1, wherein the length of the segmented mover is longer than the length of the segmented stator.

3. The rotating linear motor of claim 1, wherein the segmented stator has holes formed therein.

4. The rotating linear motor of claim 1, wherein each segment of the segmented stator comprises a three or more phase winding.

5. The rotating linear electric machine of claim 1, wherein the alternating magnetic field that contributes to linear motion and the alternating magnetic field that contributes to rotational motion are perpendicular to each other.

6. The rotating linear machine of claim 1, wherein there is a gap or no gap between segments of the segmented stator.

7. The rotating linear motor of claim 1, wherein the first segment of the segmented mover is axially in the same direction as the first segment of the segmented stator that generates the alternating magnetic field that contributes to the rotational motion, the second segment of the segmented mover is axially in the same direction as the second segment of the segmented stator that generates the alternating magnetic field that contributes to the linear motion, the third segment of the segmented mover is between the first segment of the segmented mover and the second segment of the segmented mover, and there is no gap between the first, second, and third segments of the segmented mover.

8. The rotating linear motor of any of claims 1-7, wherein a first section of said segmented mover has an axial length of M1, a second section of said segmented mover has an axial length of M2, and a third section of said segmented mover has an axial length of M3; the first segment of the segmented stator has an axial length of L1 and the second segment of the segmented stator has an axial length of L2; and a gap distance of G is provided between the first section and the second section of the segmented stator, wherein M1, M2, M3, L1, L2 and G satisfy the following condition M1 ≦ L1+ G < M1+ M3; m2 is less than or equal to L2+ G < M2+ M3.

9. Rotating linear motor according to any of claims 1-7, characterized in that permanent magnets with a cogging configuration and two magnetic pole directions are provided on the third section of the segmented mover.

10. The rotating linear motor of any one of claims 1 to 7, wherein the segmented stator further comprises a third segment in an axial direction that produces an alternating magnetic field that contributes to a rotational motion or produces an alternating magnetic field that contributes to a linear motion.

11. An actuating device, characterized in that it comprises a rotary linear motor according to any one of claims 1-10.

12. A robot, characterized in that it comprises a rotary linear motor according to any of claims 1-10 or comprises an actuating device according to claim 11.