CN201118424Y - Joint line electromotor - Google Patents
Joint line electromotor Download PDFInfo
- Publication number
- CN201118424Y CN201118424Y CNU2007200868240U CN200720086824U CN201118424Y CN 201118424 Y CN201118424 Y CN 201118424Y CN U2007200868240 U CNU2007200868240 U CN U2007200868240U CN 200720086824 U CN200720086824 U CN 200720086824U CN 201118424 Y CN201118424 Y CN 201118424Y
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- CN
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- Prior art keywords
- stator
- joint
- curve
- mover
- motion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- Linear Motors (AREA)
Abstract
In order to solve the problem of motion control of a joint with fixed curve trajectory, according to the trajectory curve of a joint with fixed curve trajectory, the structure of a stator of the utility model is designed to take a shape of such a curve and is no longer shaped as a straight line; a mover will move on the stator along the stator curve, so that the problem of using a complex conversion mechanism can be avoided to simplify the motion joint and also the motion control; a joint type linear motor is composed of the mover and the stator which takes the same shape as the joint trajectory curve.
Description
Technical field
The utility model relates to the novel electric machine structure form in the technical field of automatic control, and the version that is primarily aimed at existing linear electric motors has been carried out certain improvement, so that realize the on-rectilinear movement control in the joint motions control.
Background technology
In the industrial circles such as automation control at present, motor has been used as the topmost unit elements of carrying out motion, formal classification according to controlled motion, motor can be divided into rotary type motion motor and orthoscopic motion motor, realize the operating mode of linear pattern motion for needs, rotating electric machine adopts change-speed gearing to cooperate mechanisms such as tooth bar or belt to realize the transformation of forms of motion, and linear electric motors are then directly realized rectilinear motion.
Comprise all motors such as orthoscopic motor and rotating electric machine, its core constitutes by stator and mover, stator for linear electric motors, be actually the metal guide rail bar of a built-in variable magnetic field coil, mover is realized the change speed linear motion along the metal guide rail bar under this controllable variation magnetic field.
But, no matter be turning motor, when still linear electric motors are for the motion control under the realization curvilinear path, all must realize the conversion of forms of motion by other auxiliary bodies, increase the complexity of mechanism, particularly for the articulated type motion control that the fixed curve movement locus is arranged, then owing to increased outer auxiliary body, make the volume of movable joint increase, and control becomes complicated, this problem is that in the joint control technology of robot arm be a difficult problem always.
Summary of the invention
In order to solve the above-mentioned this joint motions control problem that the fixed curve movement locus is arranged, the utility model is on the structural principle basis of current linear electric motors, after the version of its stator made certain improvements, a kind of linear electric motors of abnormal shape have been proposed, i.e. the articulated type linear electric motors.
The technical scheme that the utility model is taked is: according to the joint trajectories curve that fixed motion track is arranged, the planform of stator is designed to this curve shape, and no longer adopt rectilinear form design, mover will move along the stator curve shape on this stator so, its movement locus also must repeat the movement locus that the joint is set, for this joint motions control that fixed motion track is arranged, just can avoid adopting the problem of complicated switching mechanism, make that movable joint obtains simplifying, and motion control obtains also simplifying; The articulated type linear electric motors are by mover, form with the identical stator of joint motions geometric locus shape.
After adopting this technical scheme, particularly for the robot arm joint of single movement track, its motion control just can directly realize by above-mentioned articulated type linear electric motors, makes movable joint structure simplify greatly, and control also is tending towards simplifying.
Description of drawings
Below in conjunction with drawings and Examples the utility model is further specified.
Accompanying drawing 1 is the version schematic diagram of circular curve embodiment for the utility model stator profile.
Accompanying drawing 2 is the version schematic diagram of elliptic arc curve embodiment for the utility model stator profile.
1. magneto mover, 2. stators among the figure.
Embodiment
In Fig. 1, the articulated type linear electric motors are made up of the stator (2) of magneto mover (1) and circular shape, the fixed motion track in joint is a circular curve, shown in motion arrow among the figure, the circular curve in joint moves through mover (1) and realizes along the motion of the stator (2) of circular shape, directly control stator (2) generation alternating magnetic field can be realized the speed of mover (1) and the control of movement position, the circular curve motion that realizes the joint does not need outer auxiliary body, gets final product and directly control mover (1).
In Fig. 2, the articulated type linear electric motors are equally by being made up of the stator (2) of magneto mover (1) and elliptical shape, the movement locus in joint is an elliptic arc curve, shown in motion arrow among the figure, the elliptic arc curvilinear motion in joint realizes by stator (2) motion of mover (1) along the elliptic arc shape, directly control stator (2) generation alternating magnetic field can be realized the speed of mover (1) and the control of movement position, the elliptic arc curvilinear motion that realizes the joint does not need outer auxiliary body, gets final product and directly control mover (1).
For all kinds of movable joints that the fixed motion track curve is arranged, as long as manufacturing process allows, can be according to the shape of joint motions geometric locus, the stator system of linear electric motors is caused all kinds of curve shapes, be engaged in the on-rectilinear movement control that realizes the articulated type linear electric motors along this curvilinear motion.
Claims (1)
1. articulated type linear electric motors are made up of mover and stator, and its technical characterictic is: according to the path curves that the fixed motion track joint is arranged, make the curve shape structure of stator; Adopt between mover and stator and be slidingly connected; The planform curve of the sliding trace of mover, stator, the path curves three in joint overlap.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200868240U CN201118424Y (en) | 2007-09-06 | 2007-09-06 | Joint line electromotor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200868240U CN201118424Y (en) | 2007-09-06 | 2007-09-06 | Joint line electromotor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201118424Y true CN201118424Y (en) | 2008-09-17 |
Family
ID=39993017
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007200868240U Expired - Fee Related CN201118424Y (en) | 2007-09-06 | 2007-09-06 | Joint line electromotor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201118424Y (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109245356A (en) * | 2018-09-18 | 2019-01-18 | 艾德斯汽车电机无锡有限公司 | Circular arc joint motor |
-
2007
- 2007-09-06 CN CNU2007200868240U patent/CN201118424Y/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109245356A (en) * | 2018-09-18 | 2019-01-18 | 艾德斯汽车电机无锡有限公司 | Circular arc joint motor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080917 Termination date: 20110906 |