CN116388505A - Multi-layer radiating six-degree-of-freedom movement mechanism - Google Patents
Multi-layer radiating six-degree-of-freedom movement mechanism Download PDFInfo
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- CN116388505A CN116388505A CN202111597787.0A CN202111597787A CN116388505A CN 116388505 A CN116388505 A CN 116388505A CN 202111597787 A CN202111597787 A CN 202111597787A CN 116388505 A CN116388505 A CN 116388505A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 47
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 60
- 239000010959 steel Substances 0.000 claims abstract description 60
- 230000017525 heat dissipation Effects 0.000 claims abstract description 54
- 239000000498 cooling water Substances 0.000 claims abstract description 29
- 230000000712 assembly Effects 0.000 claims abstract description 22
- 238000000429 assembly Methods 0.000 claims abstract description 22
- 239000000725 suspension Substances 0.000 claims abstract description 6
- 238000004088 simulation Methods 0.000 claims abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 54
- 238000001816 cooling Methods 0.000 claims description 32
- 230000003044 adaptive effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 7
- 238000010438 heat treatment Methods 0.000 description 4
- 230000036544 posture Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 239000013618 particulate matter Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000008093 supporting effect Effects 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K9/00—Arrangements for cooling or ventilating
- H02K9/19—Arrangements for cooling or ventilating for machines with closed casing and closed-circuit cooling using a liquid cooling medium, e.g. oil
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- 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
- H02K11/21—Devices for sensing speed or position, or actuated thereby
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
- H02K3/24—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors with channels or ducts for cooling medium between the conductors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/46—Fastening of windings on the stator or rotor structure
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K33/00—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/035—DC motors; Unipolar motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/035—DC motors; Unipolar motors
- H02K41/0352—Unipolar motors
- H02K41/0354—Lorentz force motors, e.g. voice coil motors
- H02K41/0356—Lorentz force motors, e.g. voice coil motors moving along a straight path
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N15/00—Holding or levitation devices using magnetic attraction or repulsion, not otherwise provided for
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2203/00—Specific aspects not provided for in the other groups of this subclass relating to the windings
- H02K2203/12—Machines characterised by the bobbins for supporting the windings
Abstract
The invention relates to a multi-layer heat dissipation six-degree-of-freedom motion mechanism, which comprises a base, a rotor assembly and a stator assembly, wherein the rotor assembly and the stator assembly are arranged on the base, the rotor assembly comprises a magnetic steel framework, the magnetic steel framework is assembled on the stator assembly, and when a motor coil is electrified, the rotor assembly is in a magnetic suspension state relative to the stator assembly; the stator assembly comprises a stator framework, four groups of horizontal motor assemblies and vertical motor assemblies which are mutually and vertically arranged and are electrically connected with the control system are uniformly distributed and fixed in the circumferential direction of the stator framework, and cooling water circulates between the horizontal motor assemblies and the vertical motor assemblies to absorb heat emitted by a motor coil; the base is fixedly provided with a horizontal position sensor and a vertical position sensor which are respectively and correspondingly connected with the horizontal motor component and the vertical motor component to identify the position direction of the horizontal motor component and the vertical motor component and form a closed loop with the control system to realize six-degree-of-freedom gesture simulation. The invention aims to provide a multi-layer heat dissipation six-degree-of-freedom movement mechanism which is compact in structure, easy in movement gesture resolving and instant in heat dissipation.
Description
Technical Field
The invention relates to a motion mechanism for simulating a gesture, in particular to a multi-layer heat dissipation six-degree-of-freedom motion mechanism.
Background
The six-degree-of-freedom motion mechanism of the current part motion platform generally comprises six servo motors, six servo electric cylinders, an upper hook hinge, a lower hook hinge and an upper platform and a lower platform, wherein the servo motors are connected with the servo electric cylinders, the servo electric cylinders are connected with the hook hinges, the upper platform and the lower platform are respectively connected with the upper hook hinge and the lower hook hinge, and the upper hook hinge and the lower hook hinge are respectively connected with the six servo motors; the lower platform is fixed on the foundation, six servo motors are used for driving six servo electric cylinders to do telescopic motion, so that the motion of the upper platform and the lower platform in six degrees of freedom (alpha, beta, gamma, X, Y and Z) in space is completed, and finally various postures are simulated. The motion platform has some defects: 1. the friction movement of the electric cylinder can produce noise pollution to the environment; 2. the lubricating oil in the cylinder which plays a role in motion lubrication can produce particle pollution to the environment; 3. the six electric cylinders are simulated into various postures by virtue of different telescopic lengths and twelve hook hinges, and the posture calculation is complex; 4. when the servo motor works, more heat is emitted to the surrounding environment.
Disclosure of Invention
The invention aims to solve the technical problem of providing a multi-layer heat dissipation six-degree-of-freedom movement mechanism which is compact in structure, easy in movement gesture resolving and instant in heat dissipation.
In order to solve the technical problems, the application provides the following technical scheme:
the multi-layer heat dissipation six-degree-of-freedom motion mechanism comprises a base, a rotor assembly and a stator assembly, wherein the rotor assembly and the stator assembly are arranged on the base, the rotor assembly comprises a magnetic steel framework, the magnetic steel framework is assembled on the stator assembly, and when a motor coil is electrified, the rotor assembly is in a magnetic suspension state relative to the stator assembly;
the stator assembly comprises a stator framework, four groups of horizontal motor assemblies and vertical motor assemblies which are mutually and vertically arranged and are electrically connected with the control system are uniformly distributed and fixed in the circumferential direction of the stator framework, and cooling water circulates between the horizontal motor assemblies and the vertical motor assemblies to absorb heat emitted by a motor coil;
the base is fixedly provided with a horizontal position sensor and a vertical position sensor which are respectively and correspondingly connected with the horizontal motor component and the vertical motor component to identify the position direction of the horizontal motor component and the vertical motor component and form a closed loop with the control system to realize six-degree-of-freedom gesture simulation.
The invention relates to a multi-layer heat dissipation six-degree-of-freedom movement mechanism, wherein horizontal motor coils in four groups of horizontal motor assemblies are uniformly embedded around a stator framework, the inside of the stator framework is also provided with a horizontal motor coil framework, the horizontal motor coil framework comprises an upper water cooling plate and a lower water cooling plate which are respectively covered on the upper side and the lower side of the horizontal motor coils, cooling water channels which are mutually communicated in four places and are in one-to-one correspondence with the four horizontal motor coils and are adaptive in shape are respectively arranged on the upper water cooling plate and the lower water cooling plate, two ends of one diagonal line in the upper water cooling plate and the lower water cooling plate are water inlets, two ends of the other diagonal line are water outlets, and the two water inlets and the two water outlets are both communicated up and down.
The invention relates to a multi-layer heat dissipation six-degree-of-freedom motion mechanism, wherein a vertical motor assembly comprises a vertical motor coil framework fixed on the outer side of a stator framework, vertical motor coils are fixedly arranged in the vertical motor coil framework, two ends of the vertical motor coil framework are fixed on the stator framework, and four vertical motor coils are in one-to-one correspondence with four horizontal motor coils and are mutually vertically arranged.
The invention relates to a multi-layer heat dissipation six-degree-of-freedom movement mechanism, wherein a vertical motor coil framework comprises an inner layer heat dissipation plate and an outer layer heat dissipation plate which are respectively covered on the inner side and the outer side of a vertical motor coil, an inner layer cooling water flow passage and an outer layer cooling water flow passage which are matched with the vertical motor coil in shape are respectively arranged on the inner layer heat dissipation plate and the outer layer heat dissipation plate, and the inner layer cooling water flow passage is communicated with the outer layer cooling water flow passage and is communicated with a water inlet and a water outlet which are arranged on the vertical motor coil framework.
The invention relates to a multi-layer heat dissipation six-degree-of-freedom motion mechanism, wherein a magnetic steel framework comprises a horizontal frame and a vertical frame which are respectively used for covering a horizontal motor assembly and a vertical motor assembly and are both fixed on a stator framework, the horizontal frame comprises an upper layer horizontal magnetic steel frame and a lower layer horizontal magnetic steel frame which are fixed on the upper side and the lower side of the stator framework and are also fixedly connected with each other, and motor magnetic steel frameworks on the upper side and the lower side of four groups of horizontal motor assemblies are respectively fixed on the upper layer horizontal magnetic steel frame and the lower layer horizontal magnetic steel frame.
The invention relates to a multi-layer heat dissipation six-degree-of-freedom movement mechanism, wherein edge parts of an upper layer horizontal magnetic steel frame and a lower layer horizontal magnetic steel frame are fixedly connected together through limiting block support columns and connecting support columns.
The invention relates to a multi-layer heat dissipation six-degree-of-freedom motion mechanism, wherein a vertical frame comprises an inner layer vertical magnetic steel frame and an outer layer vertical magnetic steel frame which are fixed on the circumference of a stator frame and are vertically connected between an upper layer horizontal magnetic steel frame and a lower layer horizontal magnetic steel frame, and a vertical motor component is positioned between the inner layer vertical magnetic steel frame and the outer layer vertical magnetic steel frame.
The invention relates to a multi-layer heat dissipation six-degree-of-freedom movement mechanism, wherein the back surface of a lower layer horizontal magnetic steel frame is provided with a horizontal position sensor target surface and a vertical position sensor target surface which are respectively corresponding to a horizontal position sensor and a vertical position sensor, and the horizontal position sensor and the vertical position sensor respectively sense the distances between the horizontal position sensor target surface and the vertical position sensor target surface so as to identify the position directions of a horizontal motor component and a vertical motor component.
The invention relates to a multi-layer heat dissipation six-degree-of-freedom movement mechanism, which further comprises a stator support, wherein one end of the stator support is connected with a stator framework, and the other end of the stator support is connected with a base.
The invention relates to a multi-layer heat dissipation six-degree-of-freedom movement mechanism, wherein screw holes for connecting water pipe joints are further formed in a stator support column, and the screw holes are communicated with a water inlet and a water outlet.
The multi-layer heat dissipation six-degree-of-freedom movement mechanism has at least the following beneficial effects:
the multi-layer heat dissipation six-degree-of-freedom motion mechanism adopts the four horizontal motor components for controlling horizontal motion and the four vertical motor components for controlling vertical motion to jointly realize six-degree-of-freedom motion of the whole mechanism, and simultaneously, the four vertical position sensors and the four horizontal position sensors fixed on the base jointly identify the positions of the whole motor in all directions and the control system to form a closed loop, so that various gestures are simulated, and gesture resolving is simple and easy. Meanwhile, when the motor coil is electrified, the rotor assembly and the stator assembly are in a magnetic suspension state, and the six-degree-of-freedom suspension movement of the rotor is further realized by controlling the current of the coil, and the rotor assembly is in non-contact and friction-free with the stator assembly in the movement process of the rotor, so that the pollution to the environment caused by the generation of particles is avoided, and meanwhile, the noise pollution is also avoided. In addition, four horizontal motor coils and four vertical motor coils on the stator assembly are respectively wrapped up, down and around by an upper layer water cooling plate, a lower layer water cooling plate and an inner layer heat dissipation plate, which are internally provided with cooling water, and the motor coils are effectively fixed, and simultaneously, the cooling water instantly absorbs heat emitted by the motor coils, so that the influence of heat emission on the surrounding environment temperature is avoided, and the normal operation of equipment sensitive to the environment temperature is ensured. Finally, in this application, base, stator skeleton, magnet steel skeleton, vertical motor coil skeleton etc. are sheet-type structure, and upper water-cooling plate, lower floor's water-cooling plate, inlayer heating panel, outer heating panel are ultra-thin plate structure for overall structure is compacter, and occupation space is little.
The multi-layer heat dissipation six-degree-of-freedom motion mechanism is further described below with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic diagram of a multi-layer heat dissipation six-degree-of-freedom motion mechanism;
FIG. 2 is a schematic diagram of a multi-layer heat dissipation six-degree-of-freedom motion mechanism;
FIG. 3 is a schematic view of a stator assembly in a multi-layer heat dissipating six-degree-of-freedom motion mechanism according to the present invention;
FIG. 4 is a schematic diagram of the structure of an upper water cooling plate in a multi-layer heat dissipation six-degree-of-freedom motion mechanism according to the present invention;
FIG. 5 is a schematic view of a lower water cooling plate in a multi-layer heat dissipation six-degree-of-freedom motion mechanism according to the present invention;
FIG. 6 is a schematic diagram of the front structure of a vertical motor assembly in a multi-layer heat dissipating six-degree-of-freedom motion mechanism according to the present invention;
FIG. 7 is a schematic view of the back side structure of a vertical motor assembly in a multi-layer heat dissipating six-degree-of-freedom motion mechanism according to the present invention;
FIG. 8 is a schematic diagram of a mover assembly in a multi-layered heat dissipating six-degree-of-freedom motion mechanism according to the present invention;
FIG. 9 is a schematic diagram II of a mover assembly in a multi-layer heat dissipation six-degree-of-freedom motion mechanism according to the present invention;
FIG. 10 is a schematic view of a multi-layered heat dissipating six-degree-of-freedom motion mechanism of the present invention with upper horizontal magnetic steel frames;
FIG. 11 is a schematic view of a lower layer horizontal magnetic steel frame in a multi-layer heat dissipation six-degree-of-freedom motion mechanism according to the present invention;
FIG. 12 is a schematic view of the structure of an outer layer of a vertical magnetic steel skeleton in a multi-layer heat dissipation six-degree-of-freedom motion mechanism according to the present invention;
fig. 13 is a schematic structural diagram of an inner layer vertical magnetic steel skeleton in a multi-layer heat dissipation six-degree-of-freedom motion mechanism according to the present invention.
Detailed Description
As shown in fig. 1 and 2, the multi-layer heat dissipation six-degree-of-freedom motion mechanism of the invention comprises a base 1, wherein a rotor assembly 2 and a stator assembly 3 are arranged on the base 1.
As shown in fig. 3 to 5, the stator assembly 3 includes a stator frame 31, one end of the stator post 13 is connected to the stator frame 31, and the other end is connected to the base 1, so that the stator assembly 3 is entirely fixed on the base 1, and a stable supporting effect is provided for the stator assembly 3. Four groups of horizontal motor assemblies 32 are uniformly distributed in the circumferential direction of the stator framework 31, four groups of vertical motor assemblies 33 are uniformly distributed in the circumferential direction of the outer side of the stator framework 31, and the horizontal motor assemblies 32 and the vertical motor assemblies 33 are mutually perpendicular and are electrically connected with a control system. The four groups of horizontal motor assemblies 32 have the same structure, the horizontal motor coils 321 in the four groups are uniformly embedded around the stator framework 31, the horizontal motor coil framework is further arranged inside the stator framework 31, the horizontal motor coil framework comprises an upper water-cooling plate 322 covered on the upper side of the horizontal motor coils 321 and a lower water-cooling plate 323 covered on the lower side of the horizontal motor coils 321, cooling water channels 324 which are mutually communicated in four positions are arranged on the upper water-cooling plate 322 and the lower water-cooling plate 323 along the respective circumferential directions, and the positions of the cooling water channels 324, which correspond to the positions of the four horizontal motor coils 321 one by one, are in shape adaptation, so that heat dissipation is carried out on the corresponding motor coils fully and timely. Two diagonal ends of the upper water cooling plate 322 and the lower water cooling plate 323 are water inlets 325, and two diagonal ends of the other diagonal are water outlets 326, and the two water inlets 325 and the two water outlets 326 are communicated up and down. When the motor works, cooling water enters the upper water cooling plate 322 and the lower water cooling plate 323 from the two water inlets 325, flows through the cooling water channels 324 of the upper water cooling plate 322 and the lower water cooling plate 323, flows between the upper water cooling plate 322 and the lower water cooling plate 323, absorbs heat emitted by the horizontal motor coil 321, and then flows out from the two water outlets 326. Wherein, upper water-cooling plate 322 and lower water-cooling plate 323 are ultrathin plates, and the thickness is only 1.5-2mm, which occupies small space and is beneficial to ensuring compact structure. The stator support column 13 is also provided with a threaded hole for connecting a water pipe connector, and the threaded hole is communicated with a water inlet 325 and a water outlet 326 to provide a cooling water inlet and outlet interface for the horizontal motor.
Referring to fig. 6 and 7, the vertical motor assembly 33 includes a vertical motor coil frame 332 fixed on the outer side of the stator frame 31, the vertical motor coils 331 are fixed inside the vertical motor coil frame 332, the positions are stable, two ends of the vertical motor coil frame 332 are fixed on the stator frame 31, and each vertical motor coil 331 is mutually perpendicular to the horizontal motor coils 321 nearby. The vertical motor coil frame 332 includes an inner layer heat dissipation plate 333 covering the inner side of the vertical motor coil 331 and an outer layer heat dissipation plate 334 covering the outer side of the vertical motor coil 331, wherein inner layer cooling water flow channels 335 and outer layer cooling water flow channels 336 adapting to the shape of the vertical motor coil 331 are respectively arranged on the inner layer heat dissipation plate 333 and the outer layer heat dissipation plate 334, the inner layer cooling water flow channels 335 are communicated with the outer layer cooling water flow channels 336, and a water inlet 337 and a water outlet 338 communicating with the inner layer cooling water flow channels 335 and the outer layer cooling water flow channels 336 are also arranged on the vertical motor coil frame 332. Wherein, inner layer heating panel 333, outer layer heating panel 334 are ultra-thin board, and thickness is only 1.5-2mm, and occupation space is little, is favorable to guaranteeing compact structure. When the motor works, cooling water enters the inner-layer heat dissipation plate 333 and the outer-layer heat dissipation plate 334 from the water inlet 337, and flows through the inner-layer cooling water flow channel 335 and the outer-layer cooling water flow channel 336, absorbs heat emitted by the vertical motor coil 331 and flows out from the water outlet 338.
Referring to fig. 8 to 13, the mover assembly 2 includes a magnetic steel frame 21, where the magnetic steel frame 21 is assembled on the stator assembly 3, and specifically, the magnetic steel frame 21 includes a horizontal frame for covering the horizontal motor assembly 32 and a vertical frame for covering the vertical motor assembly 33, and both the horizontal frame and the vertical frame are fixed on the stator frame 31. Specifically, the horizontal frame comprises an upper layer horizontal magnetic steel frame 22 and a lower layer horizontal magnetic steel frame 23 which are fixed on the upper side and the lower side of the stator framework 31, and the edge parts of the upper layer horizontal magnetic steel frame 22 and the lower layer horizontal magnetic steel frame 23 are fixedly connected together along the circumferential direction through a plurality of limiting block struts 26 and a plurality of connecting struts, so that the structure is compact and the stability is high. The motor magnetic steel frameworks 27 are respectively arranged on the upper side and the lower side of each of the four groups of horizontal motor assemblies 32, and each motor magnetic steel framework 27 on the upper layer of horizontal magnetic steel frames 22 and the lower layer of horizontal magnetic steel frames 23 are respectively fixed on each motor magnetic steel framework 27 on the upper side and the lower side. The vertical frame comprises an inner layer vertical magnetic steel frame 24 and an outer layer vertical magnetic steel frame 25 which are fixed on the circumference of the stator frame 31 and are vertically and fixedly connected between the upper layer horizontal magnetic steel frame 22 and the lower layer horizontal magnetic steel frame 23, and a vertical motor component 33 is positioned between the inner layer vertical magnetic steel frame 24 and the outer layer vertical magnetic steel frame 25. When the motor coils, namely the vertical motor coil 331 and the horizontal motor coil 321, are electrified, the rotor assembly 2 is in a magnetic suspension state relative to the stator assembly 3.
Referring to fig. 2 and 9, the base 1 is fixedly provided with a horizontal position sensor 11 and a vertical position sensor 12 which are respectively and correspondingly connected with a horizontal motor assembly 32 and a vertical motor assembly 33, the back of the lower layer horizontal magnetic steel frame 23 is provided with a horizontal position sensor target surface 111 and a vertical position sensor target surface 121 which respectively correspond to the horizontal position sensor 11 and the vertical position sensor 12, and the horizontal position sensor 11 and the vertical position sensor 12 respectively sense the distance between the horizontal position sensor target surface 111 and the vertical position sensor target surface 121 so as to identify the position directions of the horizontal motor assembly 32 and the vertical motor assembly 33, and form a closed loop with a control system so as to realize six-degree-of-freedom gesture simulation.
The invention relates to a working principle of a multi-layer heat dissipation six-degree-of-freedom movement mechanism, which comprises the following steps: taking the coordinate direction in fig. 4 as an example, two horizontal motor coils 321 in the X direction are electrified, and the positive and negative horizontal movement of the rotor assembly 2 relative to the stator assembly 3 in the X direction is completed by controlling the magnitude and positive and negative currents of the coil current under the action of lorentz force; the two horizontal motor coils 321 in the Y direction are electrified, and under the action of the Lorentz force, the positive and negative horizontal movement of the rotor assembly 2 relative to the stator assembly 3 in the Y direction is completed by controlling the magnitude and positive and negative currents of the coil current; the four vertical motor coils 331 are electrified, and under the action of lorentz force, the rotor assembly 2 suspends relative to the stator assembly 2 and simultaneously completes vertical movement in the Z direction by controlling the magnitude of coil current and positive and negative current. 4 horizontal motor differentials to complete the rotary motion in the Rz direction, two vertical motor differentials which are opposite to each other and arranged in parallel to complete the rotary motion in the Rx (Ry) direction, and the other two vertical motor differentials which are opposite to each other and arranged in parallel to complete the rotary motion in the Ry (Rx) direction. In a word, through controlling coil current size and direction, under the effect of lorentz force, the velocity of movement, acceleration and the position of control subassembly 2 are controlled, install the workstation that disposes control system on the subassembly 2, form the closed loop through combining above-mentioned horizontal position sensor 11, the position signal that vertical position sensor 12 sent, realize the adjustment of different postures under six degrees of freedom of workstation, the gesture is calculated easily.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (10)
1. The multi-layer heat dissipation six-degree-of-freedom movement mechanism comprises a base (1) and a rotor assembly (2) and a stator assembly (3) which are arranged on the base, and is characterized in that the rotor assembly (2) comprises a magnetic steel framework (21), the magnetic steel framework (21) is assembled on the stator assembly (3), and when a motor coil is electrified, the rotor assembly (2) is in a magnetic suspension state relative to the stator assembly (3);
the stator assembly (3) comprises a stator framework (31), four groups of horizontal motor assemblies (32) and vertical motor assemblies (33) which are mutually and vertically arranged and are electrically connected with the control system are uniformly distributed and fixed in the circumferential direction of the stator framework (31), and cooling water circulates between the horizontal motor assemblies (32) and the vertical motor assemblies (33) to absorb heat emitted by a motor coil;
the base (1) is fixedly provided with a horizontal position sensor (11) and a vertical position sensor (12) which are respectively and correspondingly connected with the horizontal motor assembly (32) and the vertical motor assembly (33) to identify the position directions of the horizontal motor assembly (32) and the vertical motor assembly (33) and form a closed loop with a control system to realize six-degree-of-freedom gesture simulation.
2. The multi-layer heat dissipation six-degree-of-freedom motion mechanism according to claim 1, wherein horizontal motor coils (321) in the four groups of horizontal motor assemblies (32) are uniformly embedded around a stator framework (31), the inside of the stator framework (31) is further provided with a horizontal motor coil framework, the horizontal motor coil framework comprises an upper water cooling plate (322) and a lower water cooling plate (323) which are respectively covered on the upper side and the lower side of the horizontal motor coils (321), the upper water cooling plate (322) and the lower water cooling plate (323) are respectively provided with cooling water flow passages (324) which are mutually communicated in four places, correspond to the four horizontal motor coils (321) one by one and are adaptive in shape, two ends of one diagonal line in the upper water cooling plate (322) and the lower water cooling plate (323) are water inlets (325), two ends of the other diagonal line are water outlets (326), and the two water inlets (325) are both communicated up and down.
3. The multi-layer heat dissipation six-degree-of-freedom motion mechanism according to claim 2, wherein the vertical motor assembly (33) comprises a vertical motor coil frame (332) fixed on the outer side of the stator frame (31), vertical motor coils (331) are fixedly arranged inside the vertical motor coil frame (332) and two ends of the vertical motor coil frame are fixed on the stator frame (31), and the four vertical motor coils (331) are in one-to-one correspondence with the four horizontal motor coils (321) and are arranged vertically to each other.
4. A multi-layer heat dissipation six-degree-of-freedom movement mechanism according to claim 3, wherein the vertical motor coil frame (332) comprises an inner layer heat dissipation plate (333) and an outer layer heat dissipation plate (334) which are respectively covered on the inner side and the outer side of the vertical motor coil (331), inner layer cooling water channels (335) and outer layer cooling water channels (336) which are respectively adapted to the shape of the vertical motor coil (331) are respectively arranged on the inner layer heat dissipation plate (333) and the outer layer heat dissipation plate (334), and the inner layer cooling water channels (335) are communicated with the outer layer cooling water channels (336) and are communicated with a water inlet (337) and a water outlet (338) which are arranged on the vertical motor coil frame (332).
5. The multi-layer heat dissipation six-degree-of-freedom motion mechanism according to claim 4, wherein the magnetic steel framework (21) comprises a horizontal frame and a vertical frame which are respectively used for covering the horizontal motor assembly (32) and the vertical motor assembly (33) and are both fixed on the stator framework (31), the horizontal frame comprises an upper layer horizontal magnetic steel frame (22) and a lower layer horizontal magnetic steel frame (23) which are fixed on the upper side and the lower side of the stator framework (31) and are also fixedly connected with each other, and motor magnetic steel frameworks (27) on the upper side and the lower side of the four groups of horizontal motor assemblies (32) are respectively fixed on the upper layer horizontal magnetic steel frame (22) and the lower layer horizontal magnetic steel frame (23).
6. The multi-layer heat dissipation six-degree-of-freedom motion mechanism according to claim 5, wherein the edge parts of the upper layer horizontal magnetic steel frame (22) and the lower layer horizontal magnetic steel frame (23) are fixedly connected together through limit block struts (26) and connecting struts.
7. The multi-layer heat dissipation six-degree-of-freedom motion mechanism according to claim 6, wherein the vertical frame comprises an inner layer vertical magnetic steel frame (24) and an outer layer vertical magnetic steel frame (25) which are fixed on the periphery of the stator frame (31) and are vertically connected between the upper layer horizontal magnetic steel frame (22) and the lower layer horizontal magnetic steel frame (23), and the vertical motor component (33) is located between the inner layer vertical magnetic steel frame (24) and the outer layer vertical magnetic steel frame (25).
8. The multi-layer heat dissipation six-degree-of-freedom motion mechanism according to claim 7, wherein the back of the lower layer horizontal magnetic steel frame (23) is provided with a horizontal position sensor target surface (111) and a vertical position sensor target surface (121) which respectively correspond to the horizontal position sensor (11) and the vertical position sensor (12), and the horizontal position sensor (11) and the vertical position sensor (12) respectively sense the distance between the horizontal position sensor target surface (111) and the vertical position sensor target surface (121) so as to identify the position directions of the horizontal motor assembly (32) and the vertical motor assembly (33).
9. A multi-layered heat dissipating six degree of freedom motion mechanism according to any of claims 2-8 further comprising a stator post (13), said stator post (13) being connected to the stator skeleton (31) at one end and to the base (1) at the other end.
10. The multi-layer heat dissipation six-degree-of-freedom motion mechanism according to claim 9, wherein the stator support (13) is further provided with a threaded hole for connecting a water pipe joint, and the threaded hole is communicated with the water inlet (325) and the water outlet (326).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111597787.0A CN116388505A (en) | 2021-12-24 | 2021-12-24 | Multi-layer radiating six-degree-of-freedom movement mechanism |
| PCT/CN2022/116141 WO2023116040A1 (en) | 2021-12-24 | 2022-08-31 | Six-degree-of-freedom motion mechanism capable of multi-layer heat dissipation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111597787.0A CN116388505A (en) | 2021-12-24 | 2021-12-24 | Multi-layer radiating six-degree-of-freedom movement mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN116388505A true CN116388505A (en) | 2023-07-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111597787.0A Pending CN116388505A (en) | 2021-12-24 | 2021-12-24 | Multi-layer radiating six-degree-of-freedom movement mechanism |
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| Country | Link |
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| CN (1) | CN116388505A (en) |
| WO (1) | WO2023116040A1 (en) |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6313550B1 (en) * | 2000-02-02 | 2001-11-06 | Nikon Corporation | Coil mounting and cooling system for an electric motor |
| CN101741290B (en) * | 2009-12-24 | 2011-11-09 | 哈尔滨工业大学 | Magnetic suspension inching platform with six degrees of freedom |
| CN103226295A (en) * | 2013-04-27 | 2013-07-31 | 清华大学 | Lithography machine silicon wafer bench micro-motion workbench |
| CN104009674B (en) * | 2014-06-13 | 2016-03-23 | 哈尔滨工业大学 | Six degree of freedom short stroke magnetic levitation worktable |
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2021
- 2021-12-24 CN CN202111597787.0A patent/CN116388505A/en active Pending
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- 2022-08-31 WO PCT/CN2022/116141 patent/WO2023116040A1/en unknown
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| Publication number | Publication date |
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| WO2023116040A1 (en) | 2023-06-29 |
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Effective date of registration: 20230907 Address after: 2nd Floor, Building 2, No. 19 Kechuang 10th Street, Beijing Economic and Technological Development Zone, 100176 (Yizhuang Cluster, High end Industrial Zone, Beijing Pilot Free Trade Zone) Applicant after: BEIJING U-PRECISION TECH Co.,Ltd. Applicant after: Beijing Youwei Precision Measurement and Control Technology Research Co.,Ltd. Address before: 100176 floor 2, building 2, yard 19, Kechuang 10th Street, Beijing Economic and Technological Development Zone, Daxing District, Beijing (Yizhuang group, high-end industrial area of Beijing Pilot Free Trade Zone) Applicant before: BEIJING U-PRECISION TECH Co.,Ltd. |