CN206135672U - Two stators directly drive permanent -magnet machine and parallelly connected robot structure thereof - Google Patents
Two stators directly drive permanent -magnet machine and parallelly connected robot structure thereof Download PDFInfo
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- CN206135672U CN206135672U CN201621071723.1U CN201621071723U CN206135672U CN 206135672 U CN206135672 U CN 206135672U CN 201621071723 U CN201621071723 U CN 201621071723U CN 206135672 U CN206135672 U CN 206135672U
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- stator
- permanent magnet
- double
- drive permanent
- bearing
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Abstract
The utility model discloses a two stators directly drive permanent -magnet machine and parallelly connected robot structure thereof, this motor include rotor, stator, brake subassembly and bearing arrangement, the rotor includes kinematic axis and permanent magnet, and the middle part of kinematic axis is provided with the output shaft, is located between the permanent magnet, the stator sets up in the both ends of kinematic axis, and including stator core and stator winding, all portions of rotor are located to the stator core cover, stator winding sets up in stator core's groove, stator and permanent magnet are relative and have the air gap to be separated by with the permanent magnet. Should include fixed platform, slave arm, joint bearing, medial axis pipe, move the platform by parallelly connected robot structure, medial axis pipe through joint bearing and fixed platform, move platform swing joint, three pair of stator of the week fixedly connected with of portion of fixed platform directly drives permanent -magnet machine, and the week portion of moving the platform articulates has three slave arm, the other end of slave arm is articulated with the output shaft.
Description
Technical field
This utility model is related to robotics, relates in particular to a kind of double-stator direct for parallel robot
Magneto and its parallel robot structure are driven, reciprocal fortune is done in certain angle with direct drive parallel robot master arm
It is dynamic.
Background technology
Motor in parallel robot actuating unit, needs intermediate transmission mechanism to realize its master arm in certain angle
Inside move reciprocatingly.Conventional art realizes that low-speed big is moved by reductor, and these solutions not only need a lot
The expensive mechanical driving device of value, and control mode is complicated.Additionally, master arm is arranged on motor by intermediate transmission mechanism
Drive shaft one end, has larger eccentric force, motor bearings serious wear during operation, and cannot make full use of robot actively
The space of arm both sides, causes robot volume larger.
" a kind of linear type parallel robot structure " disclosed in Chinese patent 201520915234.9, including it is sports platform, fixed
Platform, fixed pivot, linear electric motors, line slideway, linear slider etc..Using linear electric motors drive realize platform space it is many from
By degree motion, but the shortcoming of described driving means needs certain linear rows when being linear electric motors dragging master arm motion
Journey so as to which the volume of drive mechanism is larger, and mover it is projecting when so as to fixing device is complicated, causes cost to increase.
" Delta parallel robots " disclosed in Chinese patent 201520902073.X, including fixed platform, motion platform,
Connect actuator, the driving means of the actuator of the fixed platform and motion platform.But the drive of described device
Motivation structure realizes that low-speed big is moved using servomotor by reductor, and master arm is located at one end of reductor, lacks
Point is that rotary inertia is big, and driving means are complicated, costly.
Utility model content
This utility model provides a kind of double-stator direct-drive permanent magnet motor and its parallel robot for parallel robot and ties
Structure, the drive mechanism volume that its object is to overcome the driving means of existing parallel robot to exist is big, there is eccentric force and
The complicated defect of drive system, the parallel robot structure takes up room little, and without deceleration device, control accuracy is high, realizes low speed
High pulling torque, low cost.
To achieve these goals, this utility model technology is realized in such a way：
A kind of double-stator direct-drive permanent magnet motor, including rotor, the stator of driving rotor motion, brake assemblies and bearing knot
Structure；The rotor includes kinematic axiss and the permanent magnet for being arranged on kinematic axiss two ends, and in the middle part of the kinematic axiss output shaft is provided with,
The output shaft is located between permanent magnet；The stator is arranged at the two ends of kinematic axiss, and the stator includes stator core and determines
Sub- winding, the stator core is sheathed on all portions of rotor, and the stator winding is arranged in the groove of stator core, the stator
It is relative with permanent magnet and have air gap to be separated by with permanent magnet.
Used as the improvement to above-mentioned technical proposal, the brake assemblies are arranged at one end of kinematic axiss, the brake assemblies
Including brake Moving plate and the brake price fixing of disc structure being set on kinematic axiss, the brake Moving plate by kinematic axiss shaft shoulder shape
Into.
Used as the improvement to above-mentioned technical proposal, the double-stator direct-drive permanent magnet motor also includes a velocity location detection
Device, the velocity location detection means is arranged on the other end of kinematic axiss.
Used as the improvement to above-mentioned technical proposal, the bearing arrangement includes being set in the bearing at kinematic axiss two ends, wherein
One bearing is located at the outside of brake assemblies, and another bearing is located between velocity location detection means and the permanent magnet of the side.
As the improvement to above-mentioned technical proposal, the double-stator direct-drive permanent magnet motor also include mounting seat and it is hollow
All portions offer the shell of output shaft activity dead slot, and the kinematic axiss are erected in shell by fixing bearing activity；It is described outer
Shell and mounting seat integrative-structure.
This utility model simultaneously provides a kind of parallel robot structure using double-stator direct-drive permanent magnet motor described above,
The parallel robot structure includes fixed platform, slave arm, oscillating bearing, central siphon, moving platform；The moving platform is by closing
Bearings are flexibly connected with central siphon, and the central siphon is flexibly connected by oscillating bearing with the middle part of fixed platform；It is described solid
All portions of fixed platform are fixedly connected with three double-stator direct-drive permanent magnet motors, all portions of the moving platform be hinged with three it is driven
Arm, the other end and the output shaft of the slave arm are hinged.
Used as the improvement to above-mentioned technical proposal, three double-stator direct-drive permanent magnet motors are circumferentially distributed in 120 degree.
Described double-stator direct-drive permanent magnet motor is circumferentially distributed in 120 degree in the fixed platform of parallel robot, three groups
Double-stator direct-drive permanent magnet motor constitutes the actuating unit of parallel robot, directly drives the reciprocal fortune that output shaft does certain angle
It is dynamic, so as to realize the multifreedom motion of parallel robot moving platform.
Described double-stator direct-drive permanent magnet motor shares a cylindrical kinematic axiss, in cylindrical kinematic axiss and described two
The coupling unit of group stator is placed with the permanent magnet being alternately arranged with " N " pole and " S " pole.
Two groups of permanent magnet numbers of poles, the polarity of correspondence position, the material of permanent magnet placed on described kinematic axiss circumferencial direction
Material attribute is identical with physical dimension etc., and the axial length of permanent magnet is consistent with the axial length of stator core.Described two
It is identical that the rotating excitation field produced in group stator winding produces the direction of motion with the permanent magnetism magnetic pole interaction on cylindrical kinematic axiss
Synchronous rotational speed.
The position without permanent magnet, is provided with hole in the middle of cylindrical kinematic axiss, and output shaft is provided with hole, described
Double-stator direct-drive permanent magnet motor can directly drive the reciprocating motion that output shaft does certain angle, without the intermediate transmission machine such as reductor
Structure.
Described velocity location detection means and brake assemblies is separately mounted to the two ends of cylindrical kinematic axiss.Velocity location
Detection means can be realized with the rotating speed of the cylindrical kinematic axiss of effective detection double-stator direct-drive permanent magnet motor and position, brake assemblies
Ensure that cylindrical kinematic axiss and master arm position are fixed under driving means powering-off state.
Described cylindrical kinematic axiss are connected by bearing with pedestal, it is ensured that cylindrical kinematic axiss are to do certain angle reciprocal
Working clearance during motion and between two groups of stators.
Double-stator direct-drive permanent magnet motor of the present utility model and its parallel robot structure take up room it is little, without slow down dress
Put, control accuracy high, low speed high pulling torque.
Description of the drawings
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or the accompanying drawing to be used needed for description of the prior art is briefly described, 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, can be with according to these other accompanying drawings of accompanying drawings acquisition.
Fig. 1 is the dimensional structure diagram of this utility model parallel robot structure；
Fig. 2 is the structure three-dimensional schematic diagram of double-stator direct-drive permanent magnet motor of the present utility model；
Fig. 3 is the double-stator structure schematic three dimensional views of double-stator direct-drive permanent magnet motor of the present utility model；
Fig. 4 is the Structure of mover schematic three dimensional views of double-stator direct-drive permanent magnet motor of the present utility model.
Reference：1-fixed platform；2-double-stator direct-drive permanent magnet motor；3-output shaft；4-slave arm；5-in
Central siphon；6-oscillating bearing；7-moving platform；8-velocity location detection means；9a, 9b-fixing bearing；10a, 10b-stator
Iron core；11a, 11b-stator winding；12-kinematic axiss；13-brake assemblies；14a, 14b-permanent magnet.
Specific embodiment
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of this utility model, rather than whole
Embodiment.Based on the embodiment in this 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 improvements made etc., should be included in of the present utility model
Within protection domain.
As shown in Figures 1 to 4, double-stator direct-drive permanent magnet motor 2 of the present utility model, including rotor, driving rotor motion
Stator, brake assemblies and bearing arrangement；The rotor includes kinematic axiss 12 and is arranged on the permanent magnet at the two ends of kinematic axiss 12
14a, 14b, the middle part of the kinematic axiss 12 is provided with output shaft 3, and the output shaft 3 is located between permanent magnet 14a, 14b；It is described
Stator is arranged at the two ends of kinematic axiss 12, and the stator includes stator core 10a, 10b and stator winding 11a, 11b, described fixed
Sub- iron core 10a, 10b are sheathed on all portions of rotor, and described stator winding 11a, 11b are arranged in the groove of stator core 10a, 10b,
The stator is relative with permanent magnet 14a, 14b and has air gap to be separated by with permanent magnet 14a, 14b.
The brake assemblies 13 are arranged at one end of kinematic axiss 12, and the brake assemblies 13 include brake Moving plate and are set in
The brake price fixing of the disc structure on kinematic axiss, the brake Moving plate is formed by the shaft shoulder of kinematic axiss.
The double-stator direct-drive permanent magnet motor 2 also includes a velocity location detection means 8, the velocity location detection dress
Put 8 to be arranged on the other end of kinematic axiss 12.
The bearing arrangement includes being set in bearing 9a, the 9b at kinematic axiss two ends, and one of bearing 9b is located at brake group
The outside of part, another bearing 9a is located between velocity location detection means 8 and the permanent magnet 14a of the side.
The double-stator direct-drive permanent magnet motor 2 also includes mounting seat and hollow offers output shaft activity dead slot in all portions
Shell, the kinematic axiss 12 are erected in shell by the activity of fixing bearing 9a, 9b；The shell is tied with mounting seat one
Structure.
This utility model simultaneously provides a kind of parallel robot structure using above-mentioned double-stator direct-drive permanent magnet motor, described
Parallel robot structure includes fixed platform 1, slave arm 4, oscillating bearing 6, central siphon 5, moving platform 7；The moving platform 7 passes through
Oscillating bearing 6 is flexibly connected with central siphon 5, and the central siphon 5 is flexibly connected by oscillating bearing 6 with the middle part of fixed platform 1；
All portions of the fixed platform 1 are fixedly connected with three double-stator direct-drive permanent magnet motors 2, and all portions of the moving platform 7 are hinged with
Three slave arms 4, the other end and the output shaft 3 of the slave arm 4 are hinged.
Three double-stator direct-drive permanent magnet motors 2 are circumferentially distributed in 120 degree.
Described double-stator direct-drive permanent magnet motor is circumferentially distributed in 120 degree in the fixed platform of parallel robot, three groups
Double-stator direct-drive permanent magnet motor constitutes the actuating unit of parallel robot, directly drives the reciprocal fortune that output shaft does certain angle
It is dynamic, so as to realize the multifreedom motion of parallel robot moving platform.
Described double-stator direct-drive permanent magnet motor shares a cylindrical kinematic axiss, in cylindrical kinematic axiss and described two
The coupling unit of group stator is placed with the permanent magnet being alternately arranged with " N " pole and " S " pole.
Two groups of permanent magnet numbers of poles, the polarity of correspondence position, the material of permanent magnet placed on described kinematic axiss circumferencial direction
Material attribute is identical with physical dimension etc., and the axial length of permanent magnet is consistent with the axial length of stator core.Described two
It is identical that the rotating excitation field produced in group stator winding produces the direction of motion with the permanent magnetism magnetic pole interaction on cylindrical kinematic axiss
Synchronous rotational speed.
The position without permanent magnet, is provided with hole in the middle of cylindrical kinematic axiss, and output shaft is provided with hole, described
Double-stator direct-drive permanent magnet motor can directly drive the reciprocating motion that output shaft does certain angle, without the intermediate transmission machine such as reductor
Structure.
Described velocity location detection means and brake assemblies is separately mounted to the two ends of cylindrical kinematic axiss.Velocity location
Detection means can be realized with the rotating speed of the cylindrical kinematic axiss of effective detection double-stator direct-drive permanent magnet motor and position, brake assemblies
Ensure that cylindrical kinematic axiss and master arm position are fixed under driving means powering-off state.
Described cylindrical kinematic axiss are connected by bearing with pedestal, it is ensured that cylindrical kinematic axiss are to do certain angle reciprocal
Working clearance during motion and between two groups of stators.
Claims (7)
1. a kind of double-stator direct-drive permanent magnet motor for parallel robot, including rotor, the stator for driving rotor motion, brake
Component and bearing arrangement；It is characterized in that：The rotor includes kinematic axiss and is arranged on the permanent magnet at kinematic axiss two ends, the fortune
Output shaft is provided with the middle part of moving axis, the output shaft is located between permanent magnet；The stator is arranged at the two ends of kinematic axiss, institute
Stator is stated including stator core and stator winding, the stator core is sheathed on all portions of rotor, and the stator winding is arranged at
In the groove of stator core, the stator is relative with permanent magnet and has air gap to be separated by with permanent magnet.
2. the double-stator direct-drive permanent magnet motor for parallel robot according to claim 1, it is characterised in that：It is described to stop
Car component is arranged at one end of kinematic axiss, and the brake assemblies include brake Moving plate with the disc structure being set on kinematic axiss
Brake price fixing, the brake Moving plate is formed by the shaft shoulder of kinematic axiss.
3. the double-stator direct-drive permanent magnet motor for parallel robot according to claim 2, it is characterised in that：It is described double
Stator direct-drive permanent magnet motor also includes a velocity location detection means, and the velocity location detection means is arranged on kinematic axiss
On the other end.
4. the double-stator direct-drive permanent magnet motor for parallel robot according to claim 3, it is characterised in that：The axle
Bearing structure includes being set in the bearing at kinematic axiss two ends, and one of bearing is located at the outside of brake assemblies, another bearing position
Between velocity location detection means and the permanent magnet of the side.
5. the double-stator direct-drive permanent magnet motor for parallel robot according to claim 4, it is characterised in that：It is described double
Stator direct-drive permanent magnet motor also includes mounting seat and the hollow shell that output shaft activity dead slot is offered in all portions, the motion
Axle is erected in shell by fixing bearing activity；The shell and mounting seat integrative-structure.
6. a kind of application such as the parallel robot structure of claim 1 to 5 double-stator direct-drive permanent magnet motor as described in any one, its spy
Levy and be：The parallel robot structure includes fixed platform, slave arm, oscillating bearing, central siphon, moving platform；It is described dynamic flat
Platform is flexibly connected by oscillating bearing with central siphon, and the central siphon is connected by oscillating bearing with the middle part activity of fixed platform
Connect；All portions of the fixed platform are fixedly connected with three double-stator direct-drive permanent magnet motors, and all portions of the moving platform are hinged with
Three slave arms, the other end and the output shaft of the slave arm are hinged.
7. parallel robot structure according to claim 6, it is characterised in that：Three double-stator direct-drive permanent magnet motors
It is circumferentially distributed in 120 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621071723.1U CN206135672U (en) | 2016-09-23 | 2016-09-23 | Two stators directly drive permanent -magnet machine and parallelly connected robot structure thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621071723.1U CN206135672U (en) | 2016-09-23 | 2016-09-23 | Two stators directly drive permanent -magnet machine and parallelly connected robot structure thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206135672U true CN206135672U (en) | 2017-04-26 |
Family
ID=58569523
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621071723.1U Withdrawn - After Issue CN206135672U (en) | 2016-09-23 | 2016-09-23 | Two stators directly drive permanent -magnet machine and parallelly connected robot structure thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206135672U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106451977A (en) * | 2016-09-23 | 2017-02-22 | 郑州润华智能设备有限公司 | Double stator direct drive permanent magnet motor and its parallel robot structure |
-
2016
- 2016-09-23 CN CN201621071723.1U patent/CN206135672U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106451977A (en) * | 2016-09-23 | 2017-02-22 | 郑州润华智能设备有限公司 | Double stator direct drive permanent magnet motor and its parallel robot structure |
| CN106451977B (en) * | 2016-09-23 | 2018-11-13 | 郑州润华智能设备有限公司 | A kind of double-stator direct-drive permanent magnet motor and its parallel robot structure |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170426 Effective date of abandoning: 20181113 |