CN203840182U - High dynamic moving magnet linear rotation integrated two-degree-of-freedom motor - Google Patents

Abstract

The utility model relates to a high-dynamic moving magnetic type linear rotation integrated two-degree-of-freedom motor and provides a high-dynamic moving magnetic type linear rotation integrated two-degree-of-freedom motor. The high-dynamic moving magnetic type linear rotation integrated two-degree-of-freedom motor comprises a mover and a stator, wherein the mover and the stator are coaxially arranged. The mover comprises a motor shaft, a front magnetic ring and a rear magnetic ring, wherein the motor shaft, the front magnetic ring and the rear magnetic ring are coaxially arranged. The front magnetic ring and the rear magnetic ring are respectively sleeved onto the outer circumferential side surface of the motor shaft. The stator comprises a front end cover, a rear end cover, a magnetic yoke, a flux-insulation base, a brushless motor stator module, a front voice coil module and a rear voice coil module, wherein the above parts are coaxially arranged. According to the technical scheme of the utility model, the mover is driven to conduct the composite movement of a linear movement and a rotating movement at the same time, or the motor is driven to conduct a linear movement or a rotating movement alone. Meanwhile, the mover is provided with no brush or no drainage wire, so that the generation of sparks and the breakage of drainage wires can be avoided. The high-dynamic moving magnetic type linear rotation integrated two-degree-of-freedom motor has the advantages of long service life, small maintenance workload, simple and compact mover structure, small inertia and excellent dynamic performance, wherein a rotary mover and a linear mover are integrated as the above single mover.

Description

High dynamic moving magnet linear rotation integrated two-degree-of-freedom motor

technical field

The utility model relates to a motor, in particular to a high dynamic moving magnet linear rotation integrated two-degree-of-freedom motor.

Background technique

Existing motors generally can only provide single-degree-of-freedom rotary motion (rotary motor) or linear motion (linear motor), while linear-rotary two-degree-of-freedom motors can achieve two-degree-of-freedom linear and rotational compound motion in one motor.

In medical, semiconductor packaging, aviation and other fields, there are a large number of two-degree-of-freedom linear-rotary compound motion requirements, and the motion drive components are required to be small in size and light in weight. The traditional implementation plan is to establish two sets of independent motor systems and their transmissions to drive linear and rotary motions respectively. The system is large in size and slow in response. The rapid development of modern industry puts forward higher and more stringent requirements for the response speed and positioning accuracy of various motion systems. The traditional two sets of independent motor systems drive linear motion and rotary motion respectively, and its defects have become more and more obvious. There is an urgent need for A linear rotary two-degree-of-freedom motor with compact size, excellent performance, and smooth motion.

For the two-degree-of-freedom linear-rotary compound motion, the traditional implementation plan is to establish two independent motor systems and their transmissions to drive the linear and rotary motions respectively. The system is large in size and slow in response. In addition, the utility model patent "High Frequency Linear Rotary Motor" (Patent No.: 201020582357.2, Publication No.: 201830127U) provides a new type of implementation. circle motor and a small rotary servo motor. The working principle of this invention is: install the rotary motor on the slider of the linear guide rail, and then the linear voice coil pushes the slider to drive the whole rotary motor to move in a straight line, so the output shaft extended from the rotary motor can simultaneously output linear and Rotational movement. According to the patent description, this high-frequency linear rotary motor has the characteristics of fast, smooth, cogless, and hysteresis-free response, and can realize high-frequency and high-precision motion.

Another linear rotary motor implementation is the linear rotary hybrid motion stepper motor. The invention patent "Double Radial Magnetic Field Response Linear Rotary Stepper Motor" (Patent No.: 200810042746.3, Publication No.: 101355290A) provides a way to realize a stepper motor. The stator of the patented linear rotary motor is made of a linear stepper motor Combined with the stator of the rotary stepper motor, the mover iron core is made of laminated silicon steel sheets to form a cylindrical shape with evenly distributed small teeth. The working principle of the invention is the same as that of the stepper motor, and the mover can move linearly or in rotation under the change of magnetic resistance produced by the stator. According to the patent description, this linear rotary stepper motor has the advantages of simple machine structure, simple processing technology, simple control, high transmission rigidity and low cost.

The Chinese patent "A Moving-Magnet Linear Rotation Two-DOF Motor" (patent number: 2011104202009, publication number: 102497080A) provides a linear rotation two-degree-of-freedom motor. The mover in this patent consists of a linear mover and a rotary mover Connected in series to form a motor mover. The linear mover rotates when the rotary mover rotates, and the push-pull rotary mover moves linearly when the linear mover moves linearly. It is a rare motor patent that can realize linear rotation compound motion. When the motor moves linearly, the stator part adopts brushless winding and voice coil winding. The whole motor is compact in structure and small in size.

The utility model patent "High-Frequency Linear Rotating Motor" (Patent No.: 201020582357.2, Publication No.: 201830127U) is essentially just two single-degree-of-freedom motors installed together, not a true integrated linear rotation with two freedoms High-speed motor, the volume is still relatively large.

The stepping linear rotary motor inherits the shortcomings of the stepping motor. Linear rotary stepper motors generally adopt open-loop control, so the motion accuracy is relatively low. Linear rotary stepper motors have step angle and step distance, which are not suitable for sports occasions with high response to micro-strokes, and the smoothness of motion is worse than that of electromagnetic motors, which is prone to step loss and overshoot. When moving at low speed, there is vibration and noise.

In terms of motor implementation, according to different structures, motors can be divided into three types: moving magnet type, moving coil type and moving iron type. The moving iron motor is provided with a magnetic source by the stator (coil and yoke), and the moving element is composed of soft iron, which is generally designed to be solid to transmit magnetic flux, has a large mass, and has a large movement reset error, so it is not suitable for fast and frequent reciprocation Sports occasions. The main body of the moving coil motor is a coil, which moves under the action of the stator magnetic field, and its moving part is light in weight. However, since the rotor coil moves in the magnetic field generated by the stator, the rotor coil must have a current drain wire or a brush. The moving part of the moving magnet motor is mainly a magnet and a yoke, which move under the action of the stator magnetic field. The quality of the moving part is between the moving iron type and the moving coil type, but the mover does not need to drain wires and brushes.

In the existing linear or rotary motor technology, the moving iron motor is not suitable for working occasions that require high acceleration and fast and frequent reciprocating motion due to the large mass of the mover. Moving coil linear or rotary motors can achieve high acceleration, but the moving coil must extend out of the wires or brushes for drainage. When the coil moves rapidly and frequently in the air gap for a long time, it will cause metal fatigue at the wire interface. It is also difficult to dissipate the Joule heat generated by the current, and the coil cannot be fed with a large current, thus limiting the output thrust and torque of the motor. The moving magnet motor has the advantages of simple and compact structure, small mass/inertia of the moving part, no brush, no drain wire, and long life. Motors use a small number of magnets to generate high force (torque), enabling high acceleration.

The linear rotation two-degree-of-freedom motor provided in the Chinese patent "A Moving-Magnet Linear Rotation Two-DOF Motor" (Patent No.: 2011104202009, Publication No.: 102497080A) realizes the integration of the linear rotation motor, but the mover Structurally, the linear mover and the rotary mover are connected in series, and the linear mover and the rotary mover need to be installed separately during installation, and both the linear mover part and the rotary mover part have a magnetic yoke, which will lead to a large mass of the overall mover , affecting the dynamic performance of the motor. In addition, there is no support on the inner side of the circular rotating mover, and only a cup-shaped magnetic isolation seat is connected to the linear mover, which not only further increases the quality of the mover, but also when the motor is installed horizontally, the mover is in a cantilever state and needs to bear its own The bending moment caused by gravity is prone to deformation, resulting in uneven torque output of the motor and affecting the long-term reliability of the motor.

Contents of the invention

In order to solve the problems in the prior art, the utility model provides a high dynamic moving magnet linear rotation integrated two-degree-of-freedom motor.

The utility model provides a high dynamic moving magnet linear rotation integrated two-degree-of-freedom motor, which includes a coaxially installed mover and a stator, and the coaxially installed mover includes a coaxially installed motor shaft, a front magnetic ring and a rear magnet. The front magnetic ring and the rear magnetic ring are respectively sleeved and fixed on the outer circumferential side of the motor shaft. The stator includes a coaxially installed front end cover, rear end cover, yoke, magnetic isolation seat, brushless Motor stator module, front voice coil module and rear voice coil module, wherein, the front end of the motor shaft is connected to the front end cover through a bearing, and the rear end of the motor shaft is connected to the rear end cover through a bearing , the front end of the yoke is fixedly connected to the front end cover, the front magnetic ring is arranged between the front end cover and the rear magnetic ring in the axial direction, and the rear magnetic ring is arranged in the axial direction Between the rear end cover and the front magnetic ring, the rear end of the yoke is fixedly connected to the rear end cover, the yoke and the magnetic isolation seat are ring-shaped, and the magnetic isolation seat is sleeved on the Inside the magnetic yoke, a magnetic isolation groove is provided on the inner circumferential side of the magnetic isolation seat, the brushless motor stator module is arranged in the magnetic isolation groove, the front voice coil module, The rear voice coil modules are ring-shaped, the front voice coil module and the rear voice coil module are respectively sleeved in the magnetic yoke, and the front voice coil module is arranged in the axial direction on the Between the front end cover and the magnetic isolation seat, the rear voice coil module is arranged between the rear end cover and the magnetic isolation seat in the axial direction, and the mover is sleeved on the front voice coil module, Inside the brushless motor stator module and rear voice coil module.

As a further improvement of the utility model, the magnetic isolation groove is an annular groove.

As a further improvement of the utility model, the magnetic yoke includes an outer magnetic yoke, a front magnetic yoke and a rear magnetic yoke, and the outer magnetic yoke, the front magnetic yoke and the rear magnetic yoke are all ring-shaped, and the front magnetic yoke, the rear magnetic yoke The yoke is set inside the outer yoke, the front yoke is arranged between the front end cover and the magnetic isolation seat in the axial direction, and the front voice coil module is set in the front magnetic yoke. Inside the yoke, the rear yoke is arranged between the rear end cover and the magnetic isolation seat in the axial direction, and the rear voice coil module is sleeved inside the rear yoke.

As a further improvement of the present utility model, the front yoke is transition-fitted with the outer yoke, the rear yoke is transition-fitted with the outer yoke, and the magnetic isolation base is transition-fitted with the outer yoke, The stator module of the rotary electric machine is bonded in the magnetic isolation groove of the magnetic isolation base.

As a further improvement of the present utility model, the front magnetic ring and the front magnetic yoke overlap at least partially in the axial direction, and the rear magnetic ring and the rear magnetic yoke overlap at least partially in the axial direction.

As a further improvement of the present utility model, the front voice coil module includes a front voice coil support ring and a front voice coil, the front voice coil is wound on the outer circumferential side of the front voice coil support ring, and the rear voice coil The module includes a rear voice coil support ring and a rear voice coil, and the rear voice coil is wound on the outer peripheral side of the rear voice coil support ring.

As a further improvement of the utility model, both the front voice coil and the rear voice coil are single-phase windings, and the front voice coil and the rear voice coil are connected in series with opposite winding directions.

As a further improvement of the present utility model, the front voice coil support ring is in interference fit with the front yoke, and the rear voice coil support ring is in interference fit with the rear yoke.

As a further improvement of the utility model, a front voice coil winding groove is provided on the outer circumferential side of the front voice coil support ring, the front voice coil is wound in the front voice coil winding groove, and the rear voice coil The outer circumferential side of the support ring is provided with a front voice coil winding groove, and the rear voice coil is wound in the rear voice coil winding groove.

As a further improvement of the utility model, the front voice coil winding groove is an annular groove, and the rear voice coil winding groove is an annular groove.

As a further improvement of the present utility model, the front end surface of the magnetic isolation seat is attached to the rear end surface of the front magnetic yoke, and the rear end surface of the magnetic isolation seat is attached to the front end surface of the rear magnetic yoke. The front end surface of the front yoke is attached to the rear end surface of the front end cover, the rear end surface of the rear yoke is attached to the front end surface of the rear end cover, and the front end of the outer yoke is connected to the rear end surface through bolts. The front end cover is fixedly connected, and the rear end of the outer yoke is fixedly connected with the rear end cover through bolts.

As a further improvement of the utility model, the front magnetic ring is provided with front magnetic protruding teeth near the rear end of the rear magnetic ring, and the front magnetic protruding teeth are evenly spaced along the circumferential direction of the front magnetic ring, adjacent to each other. The front magnetic slot is between the two front magnetic teeth, and the rear magnetic ring is provided with rear magnetic teeth near the front end of the front magnetic ring, and the rear magnetic teeth are along the front end of the rear magnetic ring. The circumferential interval is evenly arranged, and the rear magnetic slot is between the two adjacent rear magnetic convex teeth. The front magnetic convex teeth are inserted in the rear magnetic slots, and the rear magnetic convex teeth are inserted into the inside the front magnetic slot.

As a further improvement of the utility model, the numbers of the front magnetic protruding teeth and the rear magnetic protruding teeth are the same as the number of magnetic poles of the brushless motor mover that realizes the required performance of the design.

As a further improvement of the utility model, the front magnetic ring is an integral magnet, and the rear magnetic ring is an integral magnet.

As a further improvement of the utility model, an air gap is provided between the front voice coil module and the front magnetic ring, an air gap is provided between the rear voice coil module and the rear magnetic ring, and the An air gap is provided between the brushless motor stator module and the front magnetic ring, an air gap is provided between the brushless motor stator module and the rear magnetic ring, and the front voice coil module and the An air gap is provided between the front end covers, and an air gap is provided between the rear voice coil module and the rear end cover.

As a further improvement of the utility model, the brushless motor stator module includes a silicon steel sheet stator and a rotating winding, and the rotating winding is embedded in the silicon steel sheet stator.

As a further improvement of the utility model, the rotating winding is a three-phase winding.

As a further improvement of the utility model, the front end of the motor shaft is connected to the front end cover through a rotating linear bearing, and the rear end of the motor shaft is connected to the rear end cover through a rotating linear bearing.

As a further improvement of the utility model, both the front magnetic ring and the rear magnetic ring are radially magnetized, and the polarities of the front magnetic ring and the rear magnetic ring are opposite.

As a further improvement of the utility model, the mover is composed of a coaxially installed motor shaft, a front magnetic ring and a rear magnetic ring.

As a further improvement of the utility model, the magnetic isolation seat includes a first arc-shaped magnetic isolation seat and a second arc-shaped magnetic isolation seat that are entangled to form a ring.

As a further improvement of the present utility model, the first arc-shaped magnetic isolation seat is semi-circular, and the second arc-shaped magnetic isolation seat is semi-circular.

As a further improvement of the present utility model, the front end cover is made of non-magnetic material, and the front end cover is provided with a front end cover through hole, and the rear end cover is made of non-magnetic material, and the rear end cover is provided with the rear end cover. End cap through hole.

The beneficial effects of the utility model are: through the above-mentioned scheme, it is possible to realize the compound movement of the driving mover to make a straight line and rotate at the same time, and also to realize the driving mover to make a straight line alone, and also to realize the driving mover to make a rotary motion alone, and it can be adjusted The moving direction of the mover, the output speed of the move and the output force/torque, the mover has no brushes and no drain wires, there will be no problems of sparks and broken drain wires, long service life, less maintenance, the rotary mover and the linear mover are integrated Turned into a mover, the mover has a simple and compact structure, small inertia, and excellent dynamic performance. The stators are sequentially connected in series, which is convenient for assembly.

Description of drawings

Fig. 1 is a schematic cross-sectional structure diagram of a high dynamic moving magnet type linear rotation integrated two-degree-of-freedom motor of the present invention;

Fig. 2 is a schematic diagram of an exploded structure of a high dynamic moving magnet linear rotation integrated two-degree-of-freedom motor of the present invention;

Fig. 3 is a front view of the front magnetic ring of a high dynamic moving magnet type linear rotation integrated two-degree-of-freedom motor of the utility model;

Fig. 4 is a schematic diagram of the three-dimensional structure of the front magnetic ring of a high dynamic moving magnet type linear rotation integrated two-degree-of-freedom motor of the present invention;

Fig. 5 is a front view of the rear magnetic ring of a high dynamic moving magnet linear rotation integrated two-degree-of-freedom motor of the present invention;

Fig. 6 is a three-dimensional structure schematic diagram of the rear magnetic ring of a high dynamic moving magnet type linear rotation integrated two-degree-of-freedom motor of the present invention;

Fig. 7 is a schematic diagram of the three-dimensional structure of the first arc-shaped magnetic isolation seat of a high dynamic moving magnet type linear rotation integrated two-degree-of-freedom motor of the present invention;

Fig. 8 is a front view of the first arc-shaped magnetic isolation seat of a high dynamic moving magnet type linear rotation integrated two-degree-of-freedom motor of the present invention;

Fig. 9 is a bottom view of the first arc-shaped magnetic isolation seat of a high dynamic moving magnet type linear rotation integrated two-degree-of-freedom motor of the present invention;

Fig. 10 is a schematic diagram of the three-dimensional structure of the second arc-shaped magnetic isolation seat of a high dynamic moving magnet type linear rotation integrated two-degree-of-freedom motor of the present invention;

Fig. 11 is a front view of the second arc-shaped magnetic isolation seat of a high dynamic moving magnet type linear rotation integrated two-degree-of-freedom motor of the present invention;

Fig. 12 is a bottom view of the second arc-shaped magnetic isolation seat of a high dynamic moving magnet type linear rotation integrated two-degree-of-freedom motor of the present invention;

Fig. 13 is a front view of the front end cover of a high dynamic moving magnet linear rotation integrated two-degree-of-freedom motor of the present invention;

Fig. 14 is a front view of the rear end cover of a high dynamic moving magnet linear rotation integrated two-degree-of-freedom motor of the present invention;

Fig. 15 is a structural schematic diagram of the front voice coil module of a high dynamic moving magnet type linear rotation integrated two-degree-of-freedom motor of the present invention;

Fig. 16 is a structural schematic diagram of a rear voice coil module of a high dynamic moving magnet linear rotation integrated two-degree-of-freedom motor of the present invention.

Detailed ways

The utility model will be further described below in conjunction with the accompanying drawings and specific embodiments.

The reference numerals in Fig. 1 to Fig. 16 are: motor shaft 1; front end cover 2; front yoke 3; outer yoke 4; rotating winding 5; silicon steel sheet stator 6; Yoke 8; rear end cover 9; rear magnetic ring 10; rear magnetic convex teeth 101; rear magnetic slot 102; rear voice coil support ring 11; rear voice coil 12; second arc-shaped magnetic isolation seat 13; front magnetic ring 14 ; Front magnetic protruding tooth 141 ; Front magnetic slot 142 ; Front voice coil 15 ; Front voice coil support ring 16 .

As shown in Figures 1 to 16, a highly dynamic moving magnet linear rotation integrated two-degree-of-freedom motor includes a mover and a stator installed coaxially, and the mover includes a motor shaft 1 installed coaxially, a front The magnetic ring 14 and the rear magnetic ring 10, the front magnetic ring 14 and the rear magnetic ring 10 are respectively sleeved and fixed on the outer circumferential side of the motor shaft 1, and the front magnetic ring 14 and the rear magnetic ring 10 are located on the The middle part of the motor shaft 1, the stator includes a coaxially installed front end cover 2, a rear end cover 9, a yoke, a magnetic isolation seat, a brushless motor stator module, a front voice coil module and a rear voice coil module, wherein , the front end of the motor shaft 1 is connected to the front end cover 2 through a bearing, the rear end of the motor shaft 1 is connected to the rear end cover 9 through a bearing, and the front end of the yoke is fixed to the front end cover 2 The front magnetic ring 14 is arranged between the front end cover 2 and the rear magnetic ring 10 in the axial direction, and the rear magnetic ring 10 is arranged between the rear end cover 6 and the front magnetic ring in the axial direction. Between the rings 14, the rear end of the yoke is fixedly connected to the rear end cover 9, the yoke and the magnetic isolation seat are ring-shaped, and the magnetic isolation seat is sleeved inside the yoke, A magnetic isolation groove is provided on the inner circumference side of the magnetic isolation seat, and the stator module of the brushless motor is arranged in the magnetic isolation groove, and the front voice coil module and the rear voice coil module are both It is ring-shaped, and the front voice coil module and the rear voice coil module are respectively sleeved in the yoke, and the front voice coil module is arranged on the front end cover 2 in the axial direction, the magnetic isolation Between the seats, the rear voice coil module is arranged between the rear end cover 9 and the magnetic isolation seat in the axial direction, and the mover is sleeved between the front voice coil module and the brushless motor stator Module, within the rear voice coil module.

As shown in FIGS. 1 to 16 , the magnetic isolation groove is an annular groove.

As shown in Figures 1 to 16, the yoke includes an outer yoke 4, a front yoke 3 and a rear yoke 8, and the outer yoke 4, the front yoke 3 and the rear yoke 8 are all annular, The front yoke 3 and the rear yoke 8 are sleeved inside the outer yoke 4, and the front yoke 3 is arranged between the front end cover 2 and the magnetic isolation seat in the axial direction. The front voice coil module is set inside the front yoke 3, the rear yoke 8 is arranged between the rear end cover 9 and the magnetic isolation seat in the axial direction, and the rear voice coil module It is sleeved within the rear yoke 8 .

As shown in Figures 1 to 16, the front yoke 3 is in transition fit with the outer yoke 4, the rear yoke 8 is in transition fit with the outer yoke 4, and the magnetic isolation base is in transition fit with the outer yoke 4. The yoke 4 is transition fit, and the stator module of the rotary electric machine is bonded in the magnetic isolation groove of the magnetic isolation base.

As shown in Figures 1 to 16, the front magnetic ring 14 and the front magnetic yoke 3 overlap at least partially in the axial direction, and the rear magnetic ring 10 and the rear magnetic yoke 8 overlap at least in the axial direction. There is partial overlap.

As shown in Figures 1 to 16, the front voice coil module includes a front voice coil support ring 16 and a front voice coil 15, and the front voice coil 15 is wound around the outer circumference of the front voice coil support ring 16, The rear voice coil module includes a rear voice coil support ring 11 and a rear voice coil 12 , and the rear voice coil 12 is wound on the outer peripheral side of the rear voice coil support ring 11 .

As shown in FIGS. 1 to 16 , both the front voice coil 15 and the rear voice coil 12 are single-phase windings, and the front voice coil 15 and the rear voice coil 12 are connected in series with opposite winding directions.

As shown in FIGS. 1 to 16 , the front voice coil support ring 16 is in interference fit with the front yoke 3 , and the rear voice coil support ring 11 is in interference fit with the rear yoke 8 .

As shown in Figures 1 to 16, the outer circumference of the front voice coil support ring 16 is provided with a front voice coil winding groove, the front voice coil 15 is wound in the front voice coil winding groove, the The outer circumferential side of the rear voice coil support ring 11 is provided with a front voice coil winding groove, and the rear voice coil 12 is wound in the rear voice coil winding groove.

As shown in FIGS. 1 to 16 , the front voice coil winding groove is an annular groove, and the rear voice coil winding groove is an annular groove.

As shown in Figures 1 to 16, the front end surface of the magnetic isolation base is attached to the rear end surface of the front yoke 3, and the rear end surface of the magnetic isolation base is attached to the front end surface of the rear yoke 8. The front end surface of the front yoke 3 is attached to the rear end surface of the front end cover 2, the rear end surface of the rear yoke 8 is attached to the front end surface of the rear end cover 9, and the outer magnet The front end of the yoke 4 is fixedly connected to the front end cover 2 by bolts, and the rear end of the outer yoke 4 is fixedly connected to the rear end cover 9 by bolts.

As shown in FIGS. 1 to 16 , the front magnetic ring 14 is provided with a front magnetic protruding tooth 141 near the rear end of the rear magnetic ring 10 , and the front magnetic protruding tooth 141 is along the circumferential direction of the front magnetic ring 14 Evenly spaced, between two adjacent front magnetic protruding teeth 141 is a front magnetic slot 142, and the rear magnetic ring 10 is provided with a rear magnetic protruding tooth 101 near the front end of the front magnetic ring 14. The rear magnetic protruding teeth 101 are evenly spaced along the circumferential direction of the rear magnetic ring 10, and the rear magnetic slots 102 are formed between two adjacent rear magnetic protruding teeth 101, and the front magnetic protruding teeth 141 are inserted in the In the rear magnetic slot 102 , the rear magnetic protruding tooth 101 is inserted in the front magnetic slot 142 .

As shown in FIG. 1 to FIG. 16 , the numbers of the front magnetic protruding teeth 141 and the rear magnetic protruding teeth 101 are the same as the number of magnetic poles of the brushless motor mover to achieve the required performance of the design.

As shown in FIGS. 1 to 16 , the front magnetic ring 14 is an integrated magnet, and the rear magnetic ring 10 is an integrated magnet.

As shown in FIGS. 1 to 16 , the brushless motor stator module includes a silicon steel sheet stator 6 and a rotating winding 5 , and the rotating winding 5 is embedded in the silicon steel sheet stator 6 .

As shown in Figures 1 to 16, an air gap is provided between the front voice coil support ring 16 of the front voice coil module and the front magnetic ring 14, and the rear voice coil support ring of the rear voice coil module There is an air gap between 11 and the rear magnetic ring 10, an air gap is provided between the silicon steel sheet stator 6 of the brushless motor stator module and the front magnetic ring 14, and the brushless motor stator module An air gap is provided between the silicon steel sheet stator 6 and the rear magnetic ring 10, an air gap is provided between the front voice coil support ring 16 of the front voice coil module and the front end cover 2, and the rear voice coil An air gap is provided between the rear voice coil support ring 11 of the coil module and the rear end cover 9 .

As shown in FIGS. 1 to 16 , the rotating winding 5 is a three-phase winding.

As shown in FIGS. 1 to 16 , the front end of the motor shaft 1 is connected to the front end cover 2 through a rotating linear bearing, and the rear end of the motor shaft 1 is connected to the rear end cover 9 through a rotating linear bearing.

As shown in Figures 1 to 16, the front magnetic ring 14 and the rear magnetic ring 10 are both radially magnetized, and the polarities of the front magnetic ring 14 and the rear magnetic ring 10 are opposite. If the outer side of the ring 14 is the N pole and the inner side is the S pole, then the outer side of the rear magnetic ring 10 is the S pole and the inner side is the N pole; S pole.

As shown in FIGS. 1 to 16 , the front magnetic protruding teeth 141 and the rear magnetic protruding teeth 101 are staggered and evenly distributed on the circumference, forming a circumferentially distributed magnetic ring with N poles and S poles alternated.

As shown in FIGS. 1 to 16 , the mover only consists of a coaxially installed motor shaft 1 , a front magnetic ring 14 and a rear magnetic ring 10 .

As shown in Figures 1 to 16, the magnetic isolation base includes a first arc-shaped magnetic isolation base 7 and a second arc-shaped magnetic isolation base 13 that are entangled to form a ring, and the magnetic isolation base can also be composed of three, Four or more arc-shaped magnetic isolation seats are entangled to form.

As shown in Figures 1 to 16, the first arc-shaped magnetic isolation seat 7 is preferably a semi-circular ring, and the first arc-shaped magnetic isolation seat 7 is also called the first half-ring magnetic isolation seat. The shape-shaped magnetic isolation seat 13 is preferably semi-circular, and the second arc-shaped magnetic isolation seat 13 is also called the second half-ring magnetic isolation seat.

As shown in Figures 1 to 16, the first arc-shaped magnetic isolation base 7 is provided with a first semicircular groove, and the second arc-shaped magnetic isolation base 13 is provided with a second semicircular groove , the magnetic isolation groove is formed by the butt joint of the first semicircular groove and the second semicircular groove.

As shown in Figures 1 to 16, the front end cover 2 is a non-magnetic material, and the front end cover 2 is provided with a front end cover through hole, and the front end cover through hole has at least two holes along the front end cover 2. The circumferential intervals are evenly arranged, the rear end cap 9 is a non-magnetic material, the rear end cap 9 is provided with the rear end cap through hole, and the rear end cap through hole has at least two edges around the rear end cap. The circumferential intervals of the end caps 9 are uniformly arranged.

The working principle of a high dynamic moving magnet linear rotation integrated two-degree-of-freedom motor provided by the utility model is as follows:

1. Straight line motion; pass unidirectional current to the front voice coil 15 and the rear voice coil 12, the magnetic field generated by the front voice coil 15 and the rear voice coil 12 interacts with the magnetic field of the front magnetic ring 14 and the rear magnetic ring 10, Promote the mover to make a linear motion; specifically, to push the mover formed by the front magnetic ring 14 and the rear magnetic ring 10 and the motor shaft 1 to make a linear motion. Similarly, the front voice coil 15 and the rear voice coil 12 are passed Reverse unidirectional current, the mover will do reverse linear motion, that is, the mover formed by the front magnetic ring 14, the rear magnetic ring 10 and the motor shaft 1 will perform reverse linear motion;

2. Rotational movement: energize the rotating winding 5, so that the conduction sequence of each phase of the rotating winding 5 is as follows: A phase forward conduction B reverse conduction → B phase forward conduction C reverse conduction → C phase forward conduction Direct conduction A reverse conduction →..., such a cycle, the mover formed by the front magnetic ring 14, the rear magnetic ring 10 and the motor shaft 1 can be rotated clockwise; the phases of the rotating winding 5 are conducted The order is as follows: A phase forward conduction C reverse conduction → C phase forward conduction B reverse conduction → B phase forward conduction A reverse conduction → ..., such a cycle can make the front magnetic ring 14 and the rear magnetic ring 14 The mover formed by the ring 10 and the motor shaft 1 rotates counterclockwise.

3. Through the controller to control the conduction, commutation and amplitude of the current in the front voice coil 15 and the rear voice coil 12 and the rotating winding 5, it is possible to realize the compound motion of the drive mover doing linear and rotation at the same time, and it is also possible to realize the compound motion of the drive mover. The mover can make a straight line alone, and it can also drive the mover to rotate independently, and can adjust its movement direction, movement output speed and output force/torque.

The advantages of the high dynamic moving magnet type linear rotation integrated two-degree-of-freedom motor provided by the utility model are:

1. It can output coaxial two-degree-of-freedom linear and rotational compound motion. Compared with the linear rotary motion system realized by the prior art, it has compact volume, simple structure, and small inertia, and is very suitable for linear rotary motion occasions requiring compact volume, such as medical treatment, semiconductor packaging, and aviation;

2. The mover has no electric brush and no drain wire, so it will not generate sparks and break the drain wire, and has a long service life and less maintenance;

3. The rotary mover and the linear mover are integrated into one mover. The mover is only composed of the front magnetic ring 14, the rear magnetic ring 10, and the motor shaft 1. The structure is simple and compact, the inertia is small, the dynamic performance is excellent, and the stators are connected in series. , easy to assemble;

4. After the motor is externally connected with a position sensing device, it can form a closed loop for closed loop servo control, which can realize fast, smooth and precise movement with high dynamic response.

The above content is a further detailed description of the utility model in combination with specific preferred embodiments, and it cannot be assumed that the specific implementation of the utility model is only limited to these descriptions. For a person of ordinary skill in the technical field to which the utility model belongs, without departing from the concept of the utility model, some simple deduction or substitutions can also be made, which should be regarded as belonging to the protection scope of the utility model.

Claims (10)

1. A high dynamic moving magnet type linear rotation integrated two-degree-of-freedom motor, characterized in that: it includes a coaxially installed mover and a stator, and the described mover includes a coaxially installed motor shaft, a front magnetic ring and a rear The magnetic ring, the front magnetic ring and the rear magnetic ring are respectively sleeved and fixed on the outer circumferential side of the motor shaft, and the stator includes a coaxially installed front end cover, a rear end cover, a yoke, a magnetic isolation seat, Brush motor stator module, front voice coil module and rear voice coil module, wherein, the front end of the motor shaft is connected to the front end cover through a bearing, and the rear end of the motor shaft is connected to the rear end cover through a bearing The front end of the yoke is fixedly connected to the front end cover, the front magnetic ring is arranged between the front end cover and the rear magnetic ring in the axial direction, and the rear magnetic ring is arranged in the axial direction Between the rear end cover and the front magnetic ring, the rear end of the yoke is fixedly connected to the rear end cover, the yoke and the magnetic isolation seat are ring-shaped, and the magnetic isolation seat is sleeved on the Inside the yoke, a magnetic isolation groove is provided on the inner circumferential side of the magnetic isolation base, the brushless motor stator module is arranged in the magnetic isolation groove, and the front voice coil module The rear voice coil modules are ring-shaped, the front voice coil module and the rear voice coil module are respectively sleeved in the magnetic yoke, and the front voice coil module is arranged in the axial direction on the Between the front end cover and the magnetic isolation seat, the rear voice coil module is arranged between the rear end cover and the magnetic isolation seat in the axial direction, and the mover is sleeved on the front voice coil module , Brushless motor stator module, and rear voice coil module. 2. The high dynamic moving magnet linear rotation integrated two-degree-of-freedom motor according to claim 1, wherein the yoke includes an outer yoke, a front yoke and a rear yoke, and the outer yoke , the front yoke and the rear yoke are ring-shaped, the front yoke and the rear yoke are sleeved inside the outer yoke, and the front yoke is arranged on the front cover, Between the magnetic isolation seats, the front voice coil module is sleeved in the front magnetic yoke, and the rear magnetic yoke is arranged between the rear end cover and the magnetic isolation seat in the axial direction. The rear voice coil module is sleeved within the rear yoke. 3. The high dynamic moving magnet type linear rotation integrated two-degree-of-freedom motor according to claim 2, characterized in that: the front magnetic ring and the front magnetic yoke overlap at least partially in the axial direction, so The rear magnetic ring and the rear magnetic yoke overlap at least partially in the axial direction. 4. The high dynamic moving magnet linear rotation integrated two-degree-of-freedom motor according to claim 2, characterized in that: the front voice coil module includes a front voice coil support ring and a front voice coil, and the front voice coil The ring is wound on the outer circumference side of the front voice coil support ring, the rear voice coil module includes a rear voice coil support ring and a rear voice coil, and the rear voice coil is wound on the outer circumference of the rear voice coil support ring On the side, both the front voice coil and the rear voice coil are single-phase windings, and the front voice coil and the rear voice coil are connected in series with opposite winding directions. 5. The high dynamic moving magnet linear rotation integrated two-degree-of-freedom motor according to claim 1, characterized in that: the front magnetic ring is provided with front magnetic convex teeth near the rear end of the rear magnetic ring, so that The front magnetic protruding teeth are evenly spaced along the circumferential direction of the front magnetic ring, the front magnetic slot is between two adjacent front magnetic protruding teeth, and the rear magnetic ring is close to the front end of the front magnetic ring There are rear magnetic protruding teeth, and the rear magnetic protruding teeth are evenly spaced along the circumferential direction of the rear magnetic ring. Between two adjacent rear magnetic protruding teeth are rear magnetic slots, and the front magnetic protruding teeth The teeth are inserted in the rear magnetic slot, and the rear magnetic protruding teeth are inserted in the front magnetic slot. 6. The high dynamic moving magnet linear rotation integrated two-degree-of-freedom motor according to claim 5, characterized in that: the number of the front magnetic protruding teeth and the rear magnetic protruding teeth is the same as that of the brushless motor that realizes the rotary motion The number of magnetic poles of the motor mover is the same. 7. The high dynamic moving magnet linear rotation integrated two-degree-of-freedom motor according to claim 1, characterized in that: an air gap is set between the front voice coil module and the front magnetic ring, and the An air gap is provided between the rear voice coil module and the rear magnetic ring, an air gap is provided between the brushless motor stator module and the front magnetic ring, and the brushless motor stator module and the An air gap is provided between the rear magnetic rings, an air gap is provided between the front voice coil module and the front end cover, and an air gap is provided between the rear voice coil module and the rear end cover. 8. The high dynamic moving magnet linear rotation integrated two-degree-of-freedom motor according to claim 1, characterized in that: the brushless motor stator module includes a silicon steel sheet stator and a rotating winding, and the rotating winding is embedded In the silicon steel sheet stator, the rotating winding is a three-phase winding. 9. The high dynamic moving magnet linear rotation integrated two-degree-of-freedom motor according to claim 1, characterized in that: both the front magnetic ring and the rear magnetic ring are radially magnetized, and the front magnetic ring The ring is of opposite polarity to the rear magnetic ring. 10. The high dynamic moving magnet linear rotation integrated two-degree-of-freedom motor according to claim 1, characterized in that: the magnetic isolation seat includes a first arc-shaped magnetic isolation seat and a second arc-shaped magnetic isolation seat that are entangled to form a ring. The arc-shaped magnetic isolation seat, the front end cover is a non-magnetic material, the front end cover is provided with a front end cover through hole, the rear end cover is a non-magnetic material, and the rear end cover is provided with the rear end cover through hole.