CN206004509U - A kind of outer rotor type direct-drive permanent magnet and its parallel robot structure - Google Patents
A kind of outer rotor type direct-drive permanent magnet and its parallel robot structure Download PDFInfo
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- CN206004509U CN206004509U CN201621071724.6U CN201621071724U CN206004509U CN 206004509 U CN206004509 U CN 206004509U CN 201621071724 U CN201621071724 U CN 201621071724U CN 206004509 U CN206004509 U CN 206004509U
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- outer rotor
- permanent magnet
- stator
- type direct
- drive permanent
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- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Permanent Magnet Type Synchronous Machine (AREA)
- Dynamo-Electric Clutches, Dynamo-Electric Brakes (AREA)
Abstract
The utility model discloses a kind of outer rotor type direct-drive permanent magnet and its parallel robot structure, the motor includes stator and rotor, and stator includes stator axis, and in the middle part of stator axis, periphery is provided with stator core, and the periphery of stator core is provided with stator winding；Rotor includes columnar rotor disk, and the inner chamber of rotor disk is provided with permanent magnet；Stator axis are set up on rotor disk by the bearing activity at two ends.The outer rotor type direct-drive permanent magnet includes that brake structure and rotating speed position detection structure and above-mentioned outer rotor type direct-drive permanent magnet, the brake structure and rotating speed position detection structure are respectively arranged in the two ends of outer rotor type direct-drive permanent magnet.Parallel robot structure includes fixed platform, slave arm, oscillating bearing, central siphon, moving platform；All portions of fixed platform are fixedly connected with three outer rotor type direct-drive permanent magnets.This new volume for effectively reducing parallel robot dynamical system, improves braking moment and control accuracy.
Description
Technical field
The utility model is related to a kind of outer rotor type direct-drive permanent magnet and its parallel robot structure, is mainly used in simultaneously
The dynamical system of connection robot.
Background technology
Parallel robot is by its structural rigidity is good, bearing capacity is strong, accumulated error is little, the good and position of dynamic performance
Solution such as is easier at the advantage, gradually needs the field of a large amount of repetitive operations to be widely used in sorting, packaging etc..But application
Internal rotor permanent-magnetic motor is adopted mostly in the motor of parallel robot, then by the mechanical driving devices such as reductor and active
Arm is connected, and the moving platform so as to drag parallel robot does multifreedom motion.Will certainly be caused using internal rotor permanent-magnetic motor
Mechanical driving device is complicated, the volume of drive system is larger, relatively costly a series of problems, such as.
Utility model content
The utility model provides a kind of outer rotor type direct-drive permanent magnet and its parallel robot structure, effectively can subtract
The volume of little parallel robot dynamical system, improves braking moment and control accuracy, overcomes prior art to adopt internal rotor permanent-magnetic
Motor causes the defect that mechanical driving device is complicated, drive system volume is larger, relatively costly.
To achieve these goals, the utility model technology is realized in such a way：
A kind of outer rotor type direct-drive permanent magnet, arranges the rotor of stator periphery including a stator and activity, described
Stator includes stator axis, and in the middle part of the stator axis, periphery is provided with stator core, and the periphery of the stator core is provided with stator
Winding；The rotor includes columnar rotor disk, and the inner chamber of the rotor disk is provided with permanent magnet；The stator axis pass through two
The bearing activity at end is set up on rotor disk.
Used as the improvement to technique scheme, the peripheral part of the rotor disk is provided with output shaft, the output shaft with
Rotor disk is structure as a whole or Split type structure.
Used as the improvement to technique scheme, the outer rotor type direct-drive permanent magnet includes a fixed flat planar,
The two ends of the fixed flat planar are provided with bracing frame, and the rotor disk activity is erected on bracing frame.
Used as the improvement to technique scheme, the outer rotor type direct-drive permanent magnet is additionally provided with brake structure,
The brake structure includes braked wheel and braking tile, and the braked wheel is fixedly installed on the periphery of rotor disk one end, described
Braking tile is arranged on the periphery of braked wheel and is fixedly connected on fixed flat planar.
Used as the improvement to technique scheme, the outer rotor type direct-drive permanent magnet is additionally provided with the inspection of rotating speed position
Geodesic structure, the rotating speed position detection structure include scale grating and scale grating reading head, and the scale grating is arranged on and turns
On the periphery of the sub-disk other end, the scale grating reading head is arranged on the top of scale grating and is fixedly connected on fixed flat planar
On.
The utility model simultaneously provides a kind of parallel robot structure, the parallel robot structure include fixed platform,
Slave arm, oscillating bearing, central siphon, moving platform；The moving platform is flexibly connected with central siphon by oscillating bearing, the axis
Pipe is flexibly connected with the middle part of fixed platform by oscillating bearing；All portions of the fixed platform are fixedly connected with three outer rotors
Direct-drive permanent magnet synchronous motor, all portions of the moving platform are hinged with three slave arms, the other end of the slave arm and output shaft
Hinged.
Used as the improvement to technique scheme, three outer rotor type direct-drive permanent magnets are in 120 degree of circumferences point
Cloth.
Described outer rotor type direct-drive permanent magnet is circumferentially distributed in 120 degree in the fixed platform of parallel robot,
Three groups of outer rotor type direct-drive permanent magnets constitute the actuating unit of parallel robot, and direct drive output shaft does certain angle
Move back and forth, so as to realize the multifreedom motion of parallel robot moving platform.
Outer rotor type direct-drive permanent magnet of the present utility model is provided with drive for hanging upside down structure on columnar rotor disk
Dynamic parallel robot moving platform does the output shaft of multifreedom motion, and output shaft is installed in the interposition of columnar rotor disk
Put, the fixing bearing uniform force of outer rotor type direct-drive permanent magnet both sides is made, reduce the abrasion of eccentric force and bearing.Described
Columnar rotor disk be connected with projecting fixed flat planar, bracing frame by bearing, it is ensured that columnar rotor disk and stator
Working clearance between axle.
Outer rotor type direct-drive permanent magnet of the present utility model, the braked wheel of brake structure are arranged on columnar rotor
One end of disk, braking tile are fixed on projecting fixed flat planar, and braking tile decentralization fastens to realize outer rotor with braked wheel
The braking of direct-drive permanent magnet synchronous motor.
The scale grating reading head of rotating speed position detection structure on fixed flat planar and is located above scale grating, mark
In one end of cylindrical shape kinematic axis circumferentially, scale grating reading head is individual by the striped for detecting scale grating for chi grating
Number, reads the grating scale of scale grating, so as to detect the speed of service and the position of outer rotor.
Outer rotor type direct-drive permanent magnet structural volume of the present utility model is little, using the utility model outer rotor direct driving
Permagnetic synchronous motor, can reduce the overall dimensions of parallel robot dynamical system；Brake structure is placed on columnar turn
The outside of sub-disk, increased brake area, improve braking moment；The scale grating of rotating speed position detection structure is transported in cylindrical shape
One end of moving axis is circumferentially uniformly distributed, and compares inner rotor motor, can place more scale gratings, increases the number of test point
Amount, so as to improve accuracy of detection.
Description of the drawings
In order to be illustrated more clearly that the utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or accompanying drawing to be used is briefly described needed for description of the prior art, it should be apparent that, drawings in the following description are only
It is some embodiments of the present utility model, for those of ordinary skill in the art, before creative labor is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of outer rotor type direct-drive permanent magnet of the present utility model；
Fig. 2 is the cross section structure diagram of outer rotor type direct-drive permanent magnet of the present utility model.
Fig. 3 is the assembling schematic diagram of parallel robot structure of the present utility model.
In accompanying drawing, 1 bracing frame, 2 braking tiles, 3 braked wheels, 4 rotor disks, 5 output shafts, 6 scale light
Grid, 7 scale grating reading heads, 8 bearings, 9 stator winding, 10 stator axis, 11 permanent magnets；14th, fixed platform；
15th, outer rotor type direct-drive permanent magnet；16th, oscillating bearing；17th, slave arm；18th, moving platform.
Specific embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment for being obtained, any modification, equivalent substitution and improvement that is made etc., should be included in of the present utility model
Within protection domain.
As illustrated in fig. 1 and 2, outer rotor type direct-drive permanent magnet of the present utility model, sets including a stator and activity
The rotor of stator periphery is put, the stator includes stator axis 10, and 10 middle part periphery of the stator axis is provided with stator core, described
The periphery of stator core is provided with stator winding 9；The rotor includes columnar rotor disk 4, and the inner chamber of the rotor disk 4 sets
It is equipped with permanent magnet 11；The stator axis 10 are set up on rotor disk 4 by the bearing activity 8 at two ends.
The peripheral part of the rotor disk 4 is provided with output shaft 5, and the output shaft 5 is structure as a whole or split with rotor disk 4
Structure.
The outer rotor type direct-drive permanent magnet also includes a fixed flat planar, and the two ends of the fixed flat planar are provided with
Bracing frame 1,4 activity of the rotor disk are erected on bracing frame 1.
The outer rotor type direct-drive permanent magnet is additionally provided with brake structure, and the brake structure includes 3 He of braked wheel
Braking tile 2, the braked wheel 3 are fixedly installed on the periphery of 4 one end of rotor disk, and the braking tile 2 is arranged on braked wheel 3
Periphery and be fixedly connected on fixed flat planar.
The outer rotor type direct-drive permanent magnet is additionally provided with rotating speed position detection structure, the rotating speed position detection knot
Structure includes scale grating 6 and scale grating reading head 7, and the scale grating 6 is arranged on the periphery of 4 other end of rotor disk, institute
State scale grating reading head 7 to be arranged on the top of scale grating 6 and be fixedly connected on fixed flat planar.
As shown in figure 3, the utility model providing a kind of parallel robot structure, the parallel robot structure includes
Fixed platform 14, slave arm 17, oscillating bearing 16, central siphon, moving platform 18；The moving platform 18 by oscillating bearing 16 with
Central siphon is flexibly connected, and the central siphon is flexibly connected with the middle part of fixed platform 14 by oscillating bearing 16；The fixed platform
14 all portions are fixedly connected with three outer rotor type direct-drive permanent magnets 15, all portions of the moving platform 18 be hinged with three from
Swing arm 17, the other end of the slave arm 17 are hinged with output shaft 5.
Three outer rotor type direct-drive permanent magnets 15 are circumferentially distributed in 120 degree.
Described outer rotor type direct-drive permanent magnet 15 is in 120 degree of circumferences point in the fixed platform 14 of parallel robot
Cloth, three groups of outer rotor type direct-drive permanent magnets 15 constitute the actuating unit of parallel robot, and direct drive output shaft does necessarily
The reciprocating motion of angle, so as to realize the multifreedom motion of parallel robot moving platform.
Outer rotor type direct-drive permanent magnet of the present utility model is provided with drive for hanging upside down structure on columnar rotor disk
Dynamic parallel robot moving platform does the output shaft of multifreedom motion, and output shaft is installed in the interposition of columnar rotor disk
Put, the fixing bearing uniform force of outer rotor type direct-drive permanent magnet both sides is made, reduce the abrasion of eccentric force and bearing.Described
Columnar rotor disk be connected with projecting fixed flat planar, bracing frame by bearing, it is ensured that columnar rotor disk and stator
Working clearance between axle.
Outer rotor type direct-drive permanent magnet of the present utility model, the braked wheel of brake structure are arranged on columnar rotor
One end of disk, braking tile are fixed on projecting fixed flat planar, and braking tile decentralization fastens to realize outer rotor with braked wheel
The braking of direct-drive permanent magnet synchronous motor.
The scale grating reading head of rotating speed position detection structure on fixed flat planar and is located above scale grating, mark
In one end of cylindrical shape kinematic axis circumferentially, scale grating reading head is individual by the striped for detecting scale grating for chi grating
Number, reads the grating scale of scale grating, so as to detect the speed of service and the position of outer rotor.
Outer rotor type direct-drive permanent magnet structural volume of the present utility model is little, using the utility model outer rotor direct driving
Permagnetic synchronous motor, can reduce the overall dimensions of parallel robot dynamical system；Brake structure is placed on columnar turn
The outside of sub-disk, increased brake area, improve braking moment；The scale grating of rotating speed position detection structure is transported in cylindrical shape
One end of moving axis is circumferentially uniformly distributed, and compares inner rotor motor, can place more scale gratings, increases the number of test point
Amount, so as to improve accuracy of detection.
Claims (6)
1. a kind of outer rotor type direct-drive permanent magnet, it is characterised in that：Including a stator and activity, stator periphery is set
Rotor, the stator include stator axis, and in the middle part of the stator axis, periphery is provided with stator core, and the periphery of the stator core sets
It is equipped with stator winding；The rotor includes columnar rotor disk, and the inner chamber of the rotor disk is provided with permanent magnet；The stator
Axle is set up on rotor disk by the bearing activity at two ends；The peripheral part of the rotor disk is provided with output shaft.
2. outer rotor type direct-drive permanent magnet according to claim 1, it is characterised in that：The outer rotor direct driving permanent magnetism
Synchronous motor also includes a fixed flat planar, and the two ends of the fixed flat planar are provided with bracing frame, and the rotor disk activity sets up
On bracing frame.
3. outer rotor type direct-drive permanent magnet according to claim 2, it is characterised in that：The outer rotor direct driving permanent magnetism
Synchronous motor is additionally provided with brake structure, and the brake structure includes braked wheel and braking tile, and the braked wheel is fixedly installed
On the periphery of rotor disk one end, the braking tile is arranged on the periphery of braked wheel and is fixedly connected on fixed flat planar.
4. outer rotor type direct-drive permanent magnet according to claim 3, it is characterised in that：The outer rotor direct driving permanent magnetism
Synchronous motor is additionally provided with rotating speed position detection structure, and the rotating speed position detection structure includes that scale grating and scale grating are read
Several heads, the scale grating are arranged on the periphery of the rotor disk other end, and the scale grating reading head is arranged on scale grating
Top and be fixedly connected on fixed flat planar.
5. a kind of application is as the parallel robot structure of Claims 1-4 outer rotor type direct-drive permanent magnet as described in any one,
It is characterized in that：The parallel robot structure includes fixed platform, slave arm, oscillating bearing, central siphon, moving platform；Described
Moving platform is flexibly connected with central siphon by oscillating bearing, and the central siphon is movable with the middle part of fixed platform by oscillating bearing
Connection；All portions of the fixed platform are fixedly connected with three outer rotor type direct-drive permanent magnets, all portions of the moving platform
Three slave arms are hinged with, the other end of the slave arm is hinged with output shaft.
6. parallel robot structure according to claim 5, it is characterised in that：Three outer rotor direct driving permanent-magnet synchronous
Motor is circumferentially distributed in 120 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621071724.6U CN206004509U (en) | 2016-09-23 | 2016-09-23 | A kind of outer rotor type direct-drive permanent magnet and its parallel robot structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621071724.6U CN206004509U (en) | 2016-09-23 | 2016-09-23 | A kind of outer rotor type direct-drive permanent magnet and its parallel robot structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206004509U true CN206004509U (en) | 2017-03-08 |
Family
ID=58194232
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621071724.6U Active CN206004509U (en) | 2016-09-23 | 2016-09-23 | A kind of outer rotor type direct-drive permanent magnet and its parallel robot structure |
Country Status (1)
| Country | Link |
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| CN (1) | CN206004509U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108494159A (en) * | 2018-04-18 | 2018-09-04 | 江苏磁谷科技股份有限公司 | A kind of permanent magnet direct-drive roller |
-
2016
- 2016-09-23 CN CN201621071724.6U patent/CN206004509U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108494159A (en) * | 2018-04-18 | 2018-09-04 | 江苏磁谷科技股份有限公司 | A kind of permanent magnet direct-drive roller |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |