CN207442621U - A kind of linear servo drive device and robot - Google Patents

Abstract

The utility model discloses a kind of linear servo drive device and robot, driver includes stator module, rotor assembly, detection components and at least one bearing, stator module has first shell, rotor assembly has second shell and is threaded through the in vivo leading screw of second shell, in vivo one end of first shell of stretching into of second shell is rotatably arranged in by least one bearing in first shell, and the detected body and detection piece in detection components are separately fixed in second shell and first shell and close to bearings.Robot includes the first arm, the second arm and the driver rotated for the first arm of driving on the second arm.Driver makes detection components, second shell all concentrate on bearing whereabouts compared with the run-on point of first shell, the bearing can bear the radial and axial load of rotor assembly and ensure the relative position of detection components, multiple bearings need not be set, reduce number of components, easy to process, installation, and the weight of driver is reduced, frictional resistance is reduced, improves transmission efficiency.

Description

A kind of linear servo drive device and robot

Technical field

The utility model is related to the technical fields of motor, and in particular to a kind of linear servo drive device and robot.

Background technology

At present, the robot that cooperates will often operate with worker in same space or movable, and this requires robots Dead weight can not be overweight, and otherwise getting into smooth can threaten to the security of worker.Especially wearable robot, such as electricity Dynamic artificial limb and electric boosted exoskeleton robot, weight must be light, people can be convenient for dress, while also reduced to user And the threat of the personal safety of user people around, convenient for reducing the whole energy consumption of robot, extend battery in robot Cruising time.Ratio in robot mainly shared by servo-driver is great.

It is most such as Chinese patent literature CN102780311A for the structure of the linear servo-actuator employed in robot Disclosed linear actuator has the shell of opening, the drive end bearing bracket being separately mounted on the both ends open of shell including both ends And rear end cap, the leading screw being threaded through on drive end bearing bracket and rear end cap, it is set in the installation axle on leading screw and at drive end bearing bracket, leading screw Nut thread cooperation is on leading screw and in installation axle；Position sensing is provided on one end of the stretching rear end cap of leading screw Device and the stator module being arranged between shell and armature spindle.Position sensor is used to detect the position of armature spindle, to draw The position of leading screw and amount of axial movement.

Above-mentioned linear servo-actuator, in order to ensure armature spindle in rotation process, axis keeps on the same line, making It obtains position sensor detection and is accurately detected rotational angle of the armature spindle compared with stator, it is necessary to be set respectively at the both ends of leading screw At least one set of bearing is put, to ensure that armature spindle rotation process central axes are kept on the same line.But above-mentioned servo electricity Machine sets multigroup bearing that servo-driver weight can be caused to increase, while the setting of multigroup bearing so that the friction of rotatable parts Power is more, and transmission efficiency is low, and the entire required space of driver is big.In addition, after multiple runner assembly processing, can not ensure coaxial Degree, while multigroup bearing is set, it is also necessary to be attached using shaft coupling, the use of shaft coupling, further increase driving The volume of device, transmission efficiency further reduce.

Utility model content

Therefore, the technical problems to be solved in the utility model is to overcome linear servo drive device needs of the prior art Multigroup bearing is set, causes in the weight of linear servo-actuator and internal element is more, cause the occupied space of servo-driver The problem of big and transmission efficiency is low.

For this purpose, the utility model provides a kind of linear servo drive device, including

Stator module has first shell；The first shell has first inner chamber, offers in its one end and connects with extraneous The first logical opening；

Rotor assembly has the second shell with first shell coaxial arrangement, and one end of the second shell is through institute It states the first opening to stretch into the first inner chamber, the other end is located at outside the first shell；And vertically one end from positioned at institute It states the first opening one side to stretch into the second shell, the other end is located at the leading screw outside the second shell；In the stator pack Under the driving of part, the second shell rotates that the leading screw is driven to do straight line fortune along its axial direction compared with the first shell It is dynamic；

At least one bearing is sleeved in the second shell, and radially its outboard end is mounted on the interior of the first shell On wall surface, inner end is mounted in the outside wall surface in the second shell, and all bearings are close to the first shell The opposite other end with the described first opening；

Detection components, for detecting the angle or speed that the second shell is rotated compared with the first shell, tool There are the detected body being separately fixed in the second shell and first shell and detection piece, the detected body and the detection Part is opposite and is close to the bearing.

Preferably, above-mentioned linear servo drive device, the first shell include the cover with the first inner chamber, institute It states cover both ends and opens up first opening and the second opening and the end being removably attached in second opening respectively Lid；The detection piece is fixed on the end cap；The detected body is fixed on the second shell towards the one of the end cap On side surface.

It is further preferred that above-mentioned linear servo drive device, the internal face of the first shell, which is equipped with, supplies the axis Hold the first annular groove of outboard end insertion radially.

Preferably, above-mentioned linear servo drive device forms first step facing towards institute on the internal face of the cover State the first annular step of end cap one side；The internal face of the end cap form towards the First terrace extend and with it is described First terrace opposite first annular flange surrounds described between the first annular step and the first annular flange One annular groove.

Preferably, above-mentioned linear servo drive device further includes the second shell being limited in the bearing Limit assembly on hole.

It is further preferred that above-mentioned linear servo drive device, the limit assembly includes being molded over the second shell Outside wall surface on and second step face backwards to described first opening the second ring-shaped step and be socketed in outside the second shell On wall surface and the block piece opposite with the second step face；The inner end insertion of the bearing radially second annular In the second annular groove that step is surrounded with the block piece.

Preferably, above-mentioned linear servo drive device, the stator module, which further includes, is fixed on the first shell outer wall Soft magnetic bodies on face and the coil being wrapped in the soft magnetic bodies；Under the action of the coil generates and rotates electromagnetic field, institute State radial distribution of the polar end after soft magnetic bodies magnetization along the first shell.

It is further preferred that above-mentioned linear servo drive device, the rotor assembly, which also has, is arranged on the second shell At least two first permanent magnets in outside wall surface outside the stretching first shell of body；First permanent magnet radially toward The soft magnetic bodies are set；In the case where the coil generates the electromagnetic field effect rotated, first permanent magnet is driven to drive described the Two housing into rotation.

It is further preferred that above-mentioned linear servo drive device, the second shell is stretched out outside the first shell It is cased in outside wall surface along its axially extending first annular cylinder and the company for being connected the first annular cylinder with the second shell Connect frame；

The first annular cylinder is located at the periphery of the first shell, and first permanent magnet is fixed on described first annular On the internal face of cylinder, and positioned at the outboard end of the soft magnetic bodies.

Preferably, above-mentioned linear servo drive device, the second shell are stretched out in the outside wall surface of the first shell It is socketed with the second annular canister；The end face of first opening is equipped with the axially outwardly extending 3rd annular canister, the tricyclic Shape cylinder is located at the periphery of second annular canister；

The soft magnetic bodies are fixed on the internal face of the 3rd annular canister, and first permanent magnet is fixed on described second In the outside wall surface of annular canister and positioned at the inner end of the soft magnetic bodies.

Preferably, above-mentioned linear servo drive device, the rotor assembly further include the confession for being arranged on the second shell The feed screw nut in opening that the leading screw inserts into the inner, the feed screw nut are arranged and are rotatably engaged in the leading screw In outside wall surface.

Preferably, above-mentioned linear servo drive device, the detected body are the second permanent magnet, and the detection piece is magnetosensitive Element, for detecting the change of magnetic field strength of second permanent magnet.

Preferably, above-mentioned linear servo drive device, the bearing are sized cross roller bearings or deep groove ball bearing.

The utility model provides a kind of robot, including

First arm；

Second arm, one end are hinged on one end of first arm；

Linear servo drive device described in any one of the above embodiments, one end of the stretching second shell of the leading screw are hinged on On first arm and avoid the hinged place of first arm and second arm, being open with first in the first shell opposite The other end be hinged on second arm on molding support base；The leading screw drives first arm on second arm It rotates.

The technical solution of the utility model has the following advantages that：

1. linear servo drive device provided by the utility model, including stator module, rotor assembly, detection components and one A bearing.Stator module has first shell, and rotor assembly has second shell, and second shell stretches into first shell in vivo one End is rotatably arranged in by least one bearing in first shell, and detection components are positioned close at bearing, is detected It surveys body and detection piece relatively and is separately fixed in second shell and first shell；Make detection components, second shell compared with The run-on point of one housing all concentrates on bearing whereabouts.That is, the weight of driver nearly all concentrates on the another of first shell On one end, as long as so setting a bearing at the end, which can bear the radial and axial load of rotor assembly simultaneously Ensure the relative position of detection components, without setting multiple bearings, reducing the weight of driver in itself and reducing number of components, just In processing, installation, and the weight of driver in itself is reduced, reduce frictional resistance, improve transmission efficiency.Since detection components are close Bearing, in second shell with respect in first shell rotation process, detection components can be timely detected second shell with respect to the The rotational angle of one housing improves detection efficiency and accuracy.

2. linear servo drive device provided by the utility model, first shell includes cover and is arranged on the second of cover opening End cap on mouth, end cap is detachably connected with cover, and detection piece and detected body are separately fixed at end cap and second shell By on the end face of proximal cover one side, the dimension of each component convenient for the installation of detection components and bearing and in first inner chamber Repair work.

3. linear servo drive device provided by the utility model, the internal face of first shell be equipped with for the bearing along its The first annular groove of the outboard end insertion of radial direction, realization first shell being rotatably connected by bearing with second shell；Into One step, it is additionally provided with for second shell to be limited in the limit assembly in brearing bore, the setting of limit assembly causes In brearing bore, rotation or stationary state, the axis and first shell of bearing are in regardless of second shell always for two housings Axis, the axis of second shell overlap, further ensuring that only needs a bearing that can just bear the radial load of rotor assembly And axial load.

4. linear servo drive device provided by the utility model, the outside wall surface being located at outside the first shell of second shell It is equipped with along its axially extending first annular cylinder and the link for being connected first annular cylinder with second shell；Rotor set Permanent magnet in part is fixed on the internal face of the first annular cylinder, and the coil and soft magnetic bodies in stator module are respectively positioned on described In the region surrounded between outside wall surface that second shell is stretched into the first inner chamber and the first annular cylinder so that stator pack Part is compact with rotor component construction, and all concentrates on close to fixing end one side, and further assuring that only needs a bearing just can Bear the radial load and axial force of rotor assembly.

5. linear servo drive device provided by the utility model, detected member is the second permanent magnet, and the detection piece is magnetic Quick element is magnetic coder for detecting the change of magnetic field strength of second permanent magnet namely this detection components.Magneto sensor The variation of magnetic field intensity when being rotated synchronously by detecting the second permanent magnet with second shell, to measure second shell opposite second The rotational angle or speed of housing, the variation of magnetic field intensity can reflect the rotation situation of second shell, carry in time online High detection accuracy.

6. linear servo drive device provided by the utility model, bearing is sized cross roller bearings, due to sized cross roller bearings The coefficient of friction of itself is small and light-weight, and the radial load and axial load that can be carried are big, and service life is long, is driven so as to extend The service life of dynamic device.

7. robot provided by the utility model, the second arm being hinged on including the first arm and one end on the first arm is above-mentioned The linear servo drive device of any one, one end of the stretching second shell of leading screw are hinged on the first arm, in first shell The one opposite other end of opening is hinged on the second arm on molding support base, by the linear motion of leading screw to drive the first arm It is rotated on the second arm, realizes the bending motion between two arms, since the robot uses the linear servo of any of the above-described Motor so that the weight of robot is reduced, transmission efficiency.

Description of the drawings

It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution of the prior art Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it describes below In attached drawing be the utility model some embodiments, for those of ordinary skill in the art, do not paying creativeness On the premise of work, other attached drawings are can also be obtained according to these attached drawings.

Fig. 1 is the longitudinal profile schematic diagram of the linear servo drive device provided in the utility model embodiment 1；

Fig. 2 is the partial enlarged view of driver longitudinal profile schematic diagram in Fig. 1；

Fig. 3 is the structure diagram of the stator module of driver in Fig. 1；

Fig. 4 is the longitudinal cross-section schematic diagram of stator module in Fig. 3；

Fig. 5 is the dimensional structure diagram of the rotor assembly of driver in Fig. 1；

Fig. 6 is the second shell of rotor assembly and link, the cooperation schematic diagram of the first permanent magnet in Fig. 5；

Fig. 7 is that partial enlarged view removes the schematic diagram after bearing in Fig. 2；

Fig. 8 is the end cap of driver and the cooperation schematic diagram of encoder in Fig. 1；

Fig. 9 is another rotor assembly and the three-dimensional knot after stator module assembling provided in the utility model embodiment 4 Structure schematic diagram；

Figure 10 is soft magnetic bodies in rotor assembly in Fig. 9 and the dimensional structure diagram after coil, outer barrel assembling；

Figure 11 is rotor assembly and the longitudinal profile schematic diagram after stator module assembling in Fig. 9；

Figure 12 is the longitudinal profile schematic diagram of the bearing of driver in Fig. 1；

Figure 13 is the structure diagram of the robot provided in the utility model embodiment 8；

Figure 14 is the schematic diagram after the first arm, the second arm of robot in Figure 13 are separated with driver；

Reference sign：

1- stator modules；

11- first shells；111- covers；112- end caps；12- coils；131- inner cylinders；132- soft magnetic bodies；14- is first annular Groove；141- first annular steps；The first annular flanges of 142-；15- limit assemblies；The second ring-shaped steps of 151-；152- stops Part；The 3rd annular canisters of 16-；

2- rotor assembly；

21- second shells；The first permanent magnets of 22-；The first annular cylinders of 23-；24- links；241- connecting poles；242- annulars Circle；243- fixed columns；25- feed screw nuts；251- annular flanges；26- leading screws；The second annular canisters of 27-；271- lightening holes；28- Annular ring；

3- bearings；31- outer rings；32- inner rings；

4- detection components；41- magneto sensors；The second permanent magnets of 42-；

The first arms of 5-；The second axis of 51-；

The second arms of 6-；61- support bases；611- first axles；

7- transition pieces.

Specific embodiment

The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described Embodiment is the utility model part of the embodiment, instead of all the embodiments.Based on the embodiment in the utility model, sheet Field those of ordinary skill all other embodiments obtained without making creative work, belong to this practicality Novel protected scope.

, it is necessary to explanation in the description of the utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular Directly ", the orientation of the instructions such as " level ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position relationship, are only The utility model must have specific with the device or element for simplifying description rather than instruction or hint meaning for ease of description Orientation, with specific azimuth configuration and operation, therefore it is not intended that limitation to the utility model.In addition, term " the One ", " second ", " the 3rd " are only used for description purpose, and it is not intended that instruction or hint relative importance.

, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in the description of the utility model Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integrally Connection；Can be mechanical connection or electrical connection；It can be directly connected, can also be indirectly connected by intermediary, It can be the connection inside two elements.For the ordinary skill in the art, can above-mentioned art be understood with concrete condition Concrete meaning of the language in the utility model.

In addition, as long as technical characteristic involved in the utility model different embodiments disclosed below is each other Not forming conflict can be combined with each other.

Embodiment 1

The present embodiment provides a kind of linear servo drive device, as depicted in figs. 1 and 2, including stator module 1, rotor assembly 2nd, detection components 4 and a bearing 3.

As shown in Fig. 3, Fig. 4 and Fig. 7, stator module 1 includes first shell 11, coil 12 and soft magnetic bodies 13.Wherein, One housing 11 include have the cover 111 of first inner chamber and end cap 112,111 both ends of cover offer respectively by first inner chamber with The first opening and the second opening of external world's connection, end cap 112 is removably attached in the second opening, for example with screw or spiral shell Bolt assembly.End cap 112 so that first shell 11 the second opening formed fixing end, 112 detachable set-up mode of end cap, just It is located at the component in first inner chamber in installation or removal.

As shown in Figure 3 and Figure 4, soft magnetic bodies 13 are fixed in the outside wall surface of first shell 11, and coil 12 is wrapped in soft magnetic bodies On 13, after 12 indirect current of coil, generate the electromagnetic field of rotation, soft magnetic bodies 13 be magnetized in the electromagnetic field after polar end Along the radial distribution of first shell 11.For example, along the radial direction of first shell 11, the inner end of soft magnetic bodies 13 is S poles, and outboard end is N poles；Or outboard end is N poles, inner end is S poles, in actual use, gives coil indirect current so that soft magnetic bodies 13 The polarity at both ends alternately changes constantly.

Specifically, soft magnetic bodies 13 are made of soft magnetic materials, such as iron core.Soft magnetic bodies 13 are stacked using multilayer silicon steel sheet It presses, each layer of silicon steel sheet has annular cavity, the T-shaped piece being molded in annular cavity outside wall surface, multilayer silicon steel sheet stack For the soft magnetic bodies structure that pressurization is formed after closing as shown in Fig. 3 and Fig. 4, multilayer T-shaped piece forms T-shaped protrusion 132, the annular of silicon steel sheet An inner cylinder 131 is molded in the vertical direction after the superposition of inner cavity, circumferentially distributed multiple T-shaped protrusions in the outside wall surface of inner cylinder 131 132.Coil 12 is then wrapped on the vertical portion of multiple T-shaped protrusions 132.For example, three T-shaped protrusions of winding are one group, one is formed A pole, three groups, four groups of formation or multigroup.The horizontal part of T-shaped protrusion 132 in soft magnetic bodies 13 towards the first permanent magnet 22 (under It is referred in text in rotor assembly 2).

As shown in Fig. 1, Fig. 5 and Fig. 6, rotor assembly 2 includes second shell 21, multiple first permanent magnets 22, feed screw nut 25 and leading screw 26.Wherein, second shell 21 is coaxially disposed with first shell 11, and the opening of one end first of second shell 21 is stretched Enter in first inner chamber and preset clearance, the other end are located at outside first shell 11 between end cap 112；Second shell 21 has second Inner cavity, one end of leading screw 26 are stretched into from positioned at the one side of the first opening in second inner chamber, and the other end is located at outside second shell 21； Feed screw nut 25 is fixed in the opening inserted into the inner for leading screw 26 of second shell 21, and is arranged and thread fitting is in leading screw 26 Outside wall surface on.

For example, as shown in Figure 1, feed screw nut 25 include nut body and be molded over nut body towards end cap 112 1 Annular flange 251 on the end face of side, annular flange 251 extend towards 112 one side of end cap and stretch into second shell 21, annular Thread fitting is fixed between the outside wall surface of flange 251 and the internal face of second shell 21；Nut body is set in 26 outer wall of leading screw On face, and annular space is formed between 26 outside wall surface of leading screw, the annular space is provided with roller, passes through roller leading screw Formed and be rotatably assorted between nut 25 and leading screw 26, to form roller screw, when realizing that feed screw nut 25 rotates, by roller with Driving leading screw 26 moves in a straight line.It is alternatively, not reserved above-mentioned between the internal face of feed screw nut 25 and the outside wall surface of leading screw 26 Annular space, directly by 25 thread fitting of feed screw nut in the outside wall surface of leading screw 26.

As shown in figure 5 and figure 7, in order to fix the first permanent magnet 22 so that the first permanent magnet 22 is located at the outer of soft magnetic bodies 13 Side, second shell 21 are cased in the outside wall surface outside first shell 11 along its axially extending 23 and of first annular cylinder The link 24 that first annular cylinder 23 is connected with second shell 21.First annular cylinder 23 is made of soft magnetic materials；Link 24 one end is molded in the outside wall surface of second shell 21 and avoids at the position of first shell 11, and the other end is using interference fit Mode or seccotine are fixed on the top surface of first annular cylinder 23.First annular cylinder 23 is located at the outer of first shell 11 Week, the first permanent magnet 22 are fixed on the internal face of first annular cylinder 23；Coil 12 and soft magnetic bodies 13 are respectively positioned on cover 111 In the region surrounded between the outside wall surface of first portion's (hereinafter referring to) and first annular cylinder 23, and all by proximal cover 112. In addition, first annular cylinder 23 is made of soft magnetic materials, play the role of magnetic circuit closure.

As shown in fig. 6, link 24 includes the first annular circle 242 being set in outside second shell 21, by first annular circle 242 several connecting poles 241 being connected with the outside wall surface of second shell 21 and be molded over first annular circle 242 towards end Several fixed columns 243 on 112 1 side surface of lid, several fixed columns 243 are uniformly divided in the circumferential direction of first annular circle 242 Cloth, the top of first annular cylinder 23 are interference fitted in the lower surface of first annular circle 242 and are set in several fixed columns In 243 outside wall surface, the first permanent magnet 22 is embedded in the space between two neighboring fixed column 243, and passes through glue sticking On the internal face of one annular canister 23.

It should be noted that in above-mentioned rotor assembly 2 and stator module 1, on the first permanent magnet 22 and soft magnetic bodies 13 Number correspondence, be not specifically limited.For example, the first permanent magnet 22 is 28 pieces, the T-shaped protrusion in soft magnetic bodies 13 is 24 Block；Its correspondence can permanent magnet and the correspondence of soft magnetic bodies be set in motor according to prior art, such as basis Brushless motor, brush motor or synchronous magnetoelectric machine etc., only need to be when being passed through alternating current to coil 12, and coil 12, which generates, to be turned Dynamic magnetic field under the action of rotating excitation field, gives the first permanent magnet 22 to apply active force, the first permanent magnet 22 to be driven to drive the Two housings 21 rotate.

For cover 111, cover 111 is divided is opened in second portion for first portion and second portion, second On, first opens up over the first portion；As shown in fig. 7, the inner cavity that the intracavity diameter of second portion is more than first portion is straight Footpath so that second portion is in a flared region.Above-mentioned bearing 3, limit assembly 15, detection components 4 are installed in second In the inner cavity divided；Above-mentioned soft magnetic bodies 13, coil 12 are each attached in the outside wall surface of first portion, and first annular cylinder 23 is located at the The periphery of a part so that width difference of the driver at first portion and second portion is relatively small so that more compact structure.

Bearing 3 be sized cross roller bearings, as shown in figure 12, including inner ring 32 and outer ring 31 and mounted on outer ring 31 with Several rollers between inner ring 32, along the radial direction of bearing, outer ring 31 is mounted on the internal face of cover 111, and inner ring 32 is arranged And in the outside wall surface of second shell 21, bearing 3 is close to the end cap 112 of first shell 11, and inner ring 32 is with second shell 21 can rotate compared with outer ring 31 and first shell 11.That is, second shell 21 is stretched by first shell 11 by bearing 3 One end is rotatably mounted in first shell 11.Sized cross roller bearings 3 can bear larger axially and radially load simultaneously, Extend the service life of driver；Sized cross roller bearings 3 possess higher dimensional accuracy and rotation precision, it is ensured that rotor set Axially and radially relative position between part 2 and stator module 1, while also ensure the detected body in detection components 4 and detection Relative position between part；Sized cross roller bearings 3 are compared with other bearings, such as biserial deep groove ball bearing or a pair of deep Ditch ball bearing or angular contact bearing, it is light-weight and take up space it is small, so as to mitigate the weight of entire driver.It is meanwhile whole A driver only sets a sized cross roller bearings 3, compared with the technical side that multiple bearings are set in the driver of the prior art Case, it is easily manufactured and installed, the use of shaft coupling is avoided, so as to reduce system entirety frictional resistance, improves mechanical efficiency.

As shown in fig. 7, first step is formed on the internal face of cover 111 facing towards the first annular of 112 one side of end cap Step 141；The internal face of end cap 112 is formed towards First terrace extension and opposite with First terrace first annular convex Edge 142 surrounds first annular groove 14, the radial outside of bearing 3 between first annular step 141 and first annular flange 142 In end insertion first annular groove 14 so that bearing 3 is mounted in first shell 11.

Above-mentioned linear actuator further includes for second shell 21 to be limited in the limit assembly 15 in 3 endoporus of bearing. As shown in fig. 7, limit assembly 15 includes being molded in the outside wall surface of second shell 21 and second step is facing towards the of end cap 112 It second ring step 151 and is socketed in 21 outside wall surface of second shell and the locking nut opposite with second step face；Second Ring-shaped step 151 surrounds second annular groove with locking nut, and second annular groove is with first annular groove 14 in the footpath of bearing 3 It is concordant upwards, in the inner end insertion second annular groove of bearing 3 radially.It is recessed in first annular groove 14 and the second annular Under the cooperation of slot, while bearing 3 is mounted in first shell 11, second shell 21 is limited in the endoporus of bearing 3, made The axis for obtaining bearing 3 is overlapped with the axis of first shell 11, the axis of second shell 21, it is ensured that only needs a bearing 3 with regard to energy Enough bear the radial load and axial load of rotor assembly 2.

Detection components 4 are used to detect angle or speed that second shell 21 is rotated compared with first shell 11.Such as Fig. 2 institutes Show, detection components 4 include the second permanent magnet 42 being fixed on the end face towards 112 one side of end cap of second shell 21 and consolidate The magneto sensor 41 namely detection components 4 being scheduled on 112 internal face of end cap are magnetic coder.When linear actuator works, the Two permanent magnets 42 are rotated with second shell 21 compared with first shell 11,41 the second permanent magnet of on-line checking 42 of magneto sensor Change of magnetic field strength, the variation of magnetic field intensity can reflect the rotation situation of second shell 21 in time online, improve detection Accuracy.

As shown in figure 8, having the cavity being recessed inwardly on the internal face of end cap 112, and opened up in the cavity suitable for magnetic The first groove that quick element 41 is embedded in, magneto sensor 41 are inserted into the first groove and pass through fastener and be fixed on end cap 112, example Such as screw or screw；Accordingly, the second groove being recessed inwardly is offered on the end face of second shell 21, the second permanent magnet 42 is just Magneto sensor 41 is arranged in the second groove, and it is coaxial with second shell 21.Threading hole is further opened on end cap 112, for line The lead end of circle 12 is passed through to be long lumbar hole and avoids the installation site of magneto sensor 41 with extraneous power electric connection, threading hole.

The course of work of the linear servo drive device of the present embodiment：Give coil 12 indirect current, coil generates the electricity rotated Magnetic field, the electromagnetic field magnetize soft magnetic bodies 13 so that soft magnetic bodies 13 take pole respectively along the both ends of the radial direction of second shell 21 Property, such as the inner opposite end of soft magnetic bodies 13 is N poles, and lateral ends are S poles, according to identical charges repel each other and principle of opposite sex attraction, soft magnetism 13 outboard end of body generates attraction or repulsive force to the first permanent magnet 22, the first permanent magnet 22 to be driven to drive first annular cylinder 23rd, link 24, second shell 21 are rotated, and then feed screw nut 25 is driven to rotate, and feed screw nut 25 is rotated such that silk Thick stick 26 is moved in a straight line along its axial direction.Since the inside of second shell 21 is hollow second inner chamber, in same movement stroke, Leading screw 26 is stretched into second inner chamber, can shorten the entire length of linear actuator and occupied volume.

Rotor assembly 2, stator module 1, detection components 4 and bearing 3 are all concentrated on and leaned on by this linear servo drive device 112 one side of proximal cover, the second shell 21 that bearing 3 is arranged on stretch into one end in first inner chamber and second shell 21 outside wall surface it Between so that detection components, second shell all concentrate on bearing whereabouts compared with the run-on point of first shell, and pass through first The cooperation of annular groove 14 and limit assembly 15 so that no matter second shell 21 be in rotate or stationary state under, bearing 3 with First shell 11,21 equal coaxial line of second shell can so bear the radial direction of rotor assembly 2 as long as a bearing 3 is set Load and axial load without setting multiple bearings 3, reducing the weight of driver in itself and reducing number of components, reduce bearing 3 Frictional force, improve transmission efficiency；Since detection components 4 are close to bearing 3, rotated in second shell 21 relative to first shell 11 In the process, detection components 4 can be timely detected rotational angle of the second shell 21 with respect to first shell 11, improve detection effect Rate and accuracy.

Embodiment 2

The present embodiment provides a kind of linear servo drive devices, compared with the driver provided in embodiment 1, existing difference It is：

Detection components 4 can also be other knots in addition to for 41 and second permanent magnet 42 of magneto sensor in embodiment 1 Structure.For example, detection components 4 replace with photoelectric encoder, the second permanent magnet 42 replaces with code-disc, and magneto sensor 41 replaces with photosensitive Element, at this time light-sensitive element give code-disc irradiation light, light returns to light-sensitive element by code-disc back reflection, and light-sensitive element detection code-disc is inhaled The Strength Changes of light are received, so as to detect angle or speed that second shell 21 is rotated compared with first shell 11.Alternatively, detection Component 4 may be replaced by other kinds of encoder.It is only needed to have and is separately fixed at second shell 21 and first shell 11 On detected body and detection piece, the two is opposite and close to bearing 3, realizes the angle rotated to second shell 21 or velocity measuring .

Embodiment 3

The present embodiment provides a kind of linear servo drive device, compared with the driver provided in embodiment 1 or embodiment 2, It is existing difference lies in：Feed screw nut 25 is not provided with annular flange 251, only including nut body, nut body towards end cap 112 end face is directly anchored in the first opening of second shell 21, for example with screw either bolt or other fastenings Part.Alternatively, feed screw nut 25 can be replaced by existing ring flange, ring flange is arranged and rotatably coordinates with leading screw, flange Disk is fixed on the end face where the first opening of first shell 11, passes through being rotatably assorted for ring flange and leading screw 26, realization method When blue disk rotates, leading screw 26 moves along a straight line.

As interchangeable embodiment, rotor assembly 2 can also be not provided with above-mentioned feed screw nut 25 or flange Disk, straight forming has the internal thread with the cooperation of the external screw thread of 26 outside wall surface of leading screw, second shell on the internal face of second shell 21 21 rotations directly drive leading screw 26 and move in a straight line.

Embodiment 4

The present embodiment provides a kind of linear servo drive devices, are provided with embodiment 1 into any of embodiment 3 embodiment Driver compare, it is existing difference lies in：

The link 24 that first annular cylinder 23 is fixedly connected with first shell 11 can not also include above-mentioned fixed column 243, the first permanent magnet 22 is directly anchored on the internal face of first annular cylinder 23, and two neighboring first permanent magnet 22 is spaced required Spacing.

As first interchangeable embodiment, first annular circle 242 can also be not provided on link 24, directly First annular cylinder 23 is fixed on connecting pole 241.As the further deformation of link 24, link 24 can also be other First annular cylinder 23 with the outside wall surface of second shell 21 need to only be connected, and avoid at 11 position of first shell by structure, be formed The region accommodated for coil 12 and soft magnetic bodies 13.

As second interchangeable embodiment, above-mentioned first permanent magnet 22 is except through glue sticking first annular It is outer on the internal face of cylinder 23, other modes, such as spot welding can also be used.

As further alternative embodiments, above-mentioned first annular cylinder 23 and link 24 can also be not provided with, The first permanent magnet 22 is fixed in the outside wall surface outside the stretching first shell 11 of second shell 21 using other fixed structures, edge Radially so that the first permanent magnet 22 is located at the outboard end of soft magnetic bodies 13.For example, fixed structure includes being fixed on outside second shell 21 Mechanical arm and fixed fixture on the robotic arm on wall surface, the first permanent magnet 22 are clamped to soft magnetic bodies 13 by fixture Outboard end at.

As the alternative embodiments of the first permanent magnet fixed form, the first permanent magnet 22 can also be fixed on to In the outside wall surface of two housings 21 so that the first permanent magnet 22 is located at the inner end of soft magnetic bodies 13.

Specifically, as shown in figures 9 and 11, the outside wall surface of the second portion of the stretching first shell 11 of second shell 21 Upper socket forms the second annular canister 27, and the second annular canister 27 is made of non-magnetic material, and the second annular canister 27 has edge The annular outer to extend radially outwardly；The second annular ring 28 is socketed in the outside wall surface of the second annular canister 27, second annular Circle 28 is made of soft magnetic materials；The end face of first opening of first shell 11 is equipped with the 3rd axially extending annular canister 16； 3rd annular canister 16 is located at the periphery of second annular canister 27, and soft magnetic bodies 13 are fixed on the internal face of the 3rd annular canister 16, First permanent magnet 22 is fixed in the outside wall surface of the second annular ring 28 and positioned at the inner end of soft magnetic bodies 13.Accordingly, soft magnetic bodies 13 structure is as shown in Figure 10, and the inner cylinder 131 that multilayer silicon steel sheet is formed replaces with the outer barrel 133 outside T-shaped protrusion 132.

Accordingly, the structure of cover 111 is different from the structure of cover 111 in embodiment 1, and the diameter of first portion inner cavity is big Diameter in second portion inner cavity, so that first portion inner cavity forms the step of a flaring.Above-mentioned coil 12, first is forever Magnet 22 and soft magnetic bodies 13 are respectively positioned in the inner cavity of first portion.This fixed form of first permanent magnet 22, rotor assembly 2 are whole Body is located at the inside of stator module 1, convenient for the assembling of rotor assembly 2 and stator module 1 so that more compact structure and simplification.

Second annular canister 27 offers multiple lightening holes 271 along in its axial direction so that rotor assembly weight is small, convenient for stator Component driver rotor assembly rotates.As deformation, above-mentioned outer can also be not provided in the second annular canister 27, can not also be opened If lightening hole.

As deformation, the second annular ring 28 can also be not provided with, the second annular canister 27 is made of soft magnetic materials at this time, will First permanent magnet 22 is directly anchored in the outside wall surface of the second annular canister 27, and the second annular canister 27 is closed for playing magnetic circuit.

As further deformation, the fixed form of the first permanent magnet 22 can also be not provided with above-mentioned second annular canister 27 With the second annular ring 28, second shell 21 is made of soft magnetic materials, and the first permanent magnet 22 directly is fixed second shell 21 In outside wall surface.

Embodiment 5

The present embodiment provides a kind of linear servo drive devices, are provided with embodiment 1 into any of embodiment 4 embodiment Driver compare, it is existing difference lies in：

T-shaped protrusion in soft magnetic bodies 13 can also be other shapes, for example, using H fonts piece, linear type piece, L shape Piece or E font pieces etc. stacking press.Coil 12 is only needed to be wrapped in soft magnetic bodies 13, coil 12 generates after being powered to be turned Dynamic electromagnetic field, the electromagnetic field is by radial distribution of the 13 magnetized polar end of soft magnetic bodies along first shell 11.

As the deformation of stator module 1, stator module 1 can also be not provided with above-mentioned soft magnetic bodies 13, only need to set coil 12, be powered the electromagnetic field for generating and rotating to coil 12.But the technical solution of soft magnetic bodies 13 is oppositely arranged, the intensity of electromagnetic field Relative distribution does not concentrate the driving force of the first permanent magnet 22 relatively, but still is able to the first permanent magnet 22 of driving and drives second shell Body 21 rotates.

Embodiment 6

The present embodiment provides a kind of linear servo drive devices, are provided with embodiment 1 into any of embodiment 5 embodiment Driver compare, it is existing difference lies in：

Locking nut in limit assembly 15 can be replaced by other block pieces 152, such as be socketed in second shell 21 Outside wall surface on annular seating.

As the deformation of limit assembly 15, limit assembly 15 can also be other structures, such as the outer wall of second shell 21 The second annular groove concordant with first annular groove 14 is offered on face, the inner end of bearing 3 radially is inserted directly into In second ring groove, second shell 21 can be also limited in the endoporus of bearing.

First annular flange 142 need not be set as the deformation of first annular groove 14, on the internal face of end cap 112, directly It is connected on the internal face of first shell 11 and opens up first annular groove 14.Or bearing 3 is mounted on first using other modes On housing 11, for example, setting bearing block on the internal face of first shell 11, bearing 3 is mounted on bearing block.It is alternatively, straight It connects and the outer ring of bearing 3 is molded on the internal face of first shell 11, roller or ball and inner ring only need to be packed into outer ring .

Embodiment 7

The present embodiment provides a kind of linear servo drive devices, are provided with embodiment 1 into any of embodiment 6 embodiment Driver compare, it is existing difference lies in：

First shell 11 can also use integrally formed mode, and the first opening is offered on one end of first shell 11, The other end is fixing end, and fixing end corresponds to the position of end cap 112, and the detection piece of detection components 4 is arranged on the inner wall of fixing end On face.Or the fixing end can also be not provided with, the detection piece in detection components 4 and detected body is only needed to be separately fixed at first On housing 11 and second shell 21, the two and opposite and close bearing 3, convenient for detecting the rotational angle or speed of second shell 21 .

As the deformation of any of the above-described embodiment, bearing 3 can also be deep groove ball bearing or other bearings, such as angle Contact bearing, taper roll bearing.

As the deformation of any of the above-described embodiment, the setting number of bearing 3 can also be two, three etc., but all Bearing 3 is close to the other end opposite with the first opening of first shell 11；Bearing 3 is only needed to be set in second shell 21, edge Radially its outboard end is mounted on the internal face of first shell 11, and inner end is mounted in the outside wall surface in second shell 21, is made Obtaining second shell 21 can rotate compared with first shell 11.

Embodiment 8

The present embodiment provides a kind of robots, as shown in Figure 13 and Figure 14, including the first arm 5, the second arm 6 and implement Any one linear servo drive device that example 1 is provided into any of embodiment 7 embodiment, one end of the second arm 6 are hinged on On one end of one arm 5；One end of the stretching second shell 21 of leading screw 26 is hinged on the first arm 5 and avoids the first arm in driver 5 and second arm 6 hinged place, the other end opposite with the first opening is hinged on molding support on the second arm 6 in first shell On seat 61；Leading screw 26 drives the first arm 5 to be rotated on the second arm 6.

As shown in figure 12, arc gap is opened up on one end of the second arm 6 backwards of support base 61, and in two sides of gap First axle 611 is provided on wall；Accordingly, the annular being set in first axle 611 is formed on the internal face of end cap 112 Column realizes the end cap 112 of driver and being hinged for support base 61.

Long stripes through hole is offered on first arm 5, the second axis 51 is provided in the two side walls of long stripes through hole, it is corresponding Ground, leading screw 26 are fixed with transition piece 7 on one end outside second shell 21, are opened up on one end of transition piece 7 suitable for leading screw The groove of 26 ends insertion, disk, annular disk are set on the second axis 51 other end in a ring so that leading screw 26 is cut with scissors with the first arm 5 It connects in succession.

Robot in this embodiment, due to connecting the first arm using the linear servo drive device in above-described embodiment 5 and second arm 6 so that the weight saving of entire robot, the frictional force of conducting parts is small, improves conduction efficiency.Leading screw 26 Linear motion to drive the angle that the first arm 5 is rotated compared with the second arm 6, realizes the bending between the first arm 5 and the second arm 6 Action.

Obviously, the above embodiments are merely examples for clarifying the description, and is not intended to limit the embodiments.It is right For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or It changes.There is no necessity and possibility to exhaust all the enbodiments.And the obvious variation thus extended out or Among the protection domain that variation is created still in the utility model.

Claims (14)

1. a kind of linear servo drive device, which is characterized in that including

Stator module (1) has first shell (11)；The first shell (11) has first inner chamber, is offered in its one end The first opening being in communication with the outside；

Rotor assembly (2) has the second shell (21) with the first shell (11) coaxial arrangement, the second shell (21) One end through described first opening stretch into the first inner chamber, the other end is located at the first shell (11) outside；And along axis It is stretched into one end from positioned at the described first opening one side in the second shell (21), the other end is located at the second shell (21) Outer leading screw (26)；Under the driving of the stator module (1), the second shell (21) is compared with the first shell (11) It rotates that the leading screw (26) is driven to move in a straight line along its axial direction；

At least one bearing (3), is sleeved in the second shell (21), and radially its outboard end is mounted on the first shell (11) on internal face, inner end is mounted in the outside wall surface in the second shell (21), and all bearings (3) are close to The other end opposite with the described first opening of the first shell；

Detection components (4), for detecting the angle or speed that the second shell (21) is rotated compared with the first shell (11) Degree has and is separately fixed at the second shell (21) and detected body and detection piece in first shell (11), the quilt Detection body is opposite with the detection piece and is close to the bearing (3).

2. linear servo drive device according to claim 1, which is characterized in that the first shell (11) includes having institute State the cover (111) of first inner chamber, cover (111) both ends open up first opening and the second opening and removable respectively The end cap (112) being fixed on unloading in second opening；The detection piece is fixed on the end cap (112)；It is described tested It surveys body and is fixed on the second shell (21) towards on a side surface of the end cap (112).

3. linear servo drive device according to claim 2, which is characterized in that on the internal face of the first shell (11) First annular groove (14) equipped with the outboard end insertion for the bearing (3) radially.

4. linear servo drive device according to claim 3, which is characterized in that

First step is formed on the internal face of the cover (111) facing towards first annular of the end cap (112) one side Rank (141)；The internal face of the end cap (112) form towards the First terrace extend and with the First terrace phase To first annular flange (142), surround institute between the first annular step (141) and the first annular flange (142) State first annular groove (14).

5. the linear servo drive device according to any one of claim 1-4, which is characterized in that further include for by described in Second shell (21) is limited in the limit assembly (15) on the bearing (3) endoporus.

6. linear servo drive device according to claim 5, which is characterized in that the limit assembly (15) includes being molded over The second ring-shaped step (151) that in the outside wall surface of the second shell (21) and second step face is open backwards to described first, with And it is socketed in block piece (152) in the second shell (21) outside wall surface and opposite with the second step face；The bearing (3) inner end radially is inserted into the second annular groove that second ring-shaped step (151) surrounds with the block piece.

7. the linear servo drive device according to any one of claim 1-4, which is characterized in that the stator module (1) It further includes the soft magnetic bodies (13) being fixed in the first shell (11) outside wall surface and is wrapped in the soft magnetic bodies (13) Coil (12)；Under the action of the coil generates and rotates electromagnetic field, the polar end after soft magnetic bodies (13) magnetization is described in The radial distribution of first shell (11).

8. linear servo drive device according to claim 7, which is characterized in that the rotor assembly (2), which also has, to be set At least two first permanent magnets (22) in the outer outside wall surface of the stretching first shell (11) of the second shell (21)； First permanent magnet (22) is set radially toward the soft magnetic bodies (13)；The electromagnetic field effect rotated is generated in the coil Under, drive first permanent magnet (22) that the second shell (21) is driven to rotate.

9. linear servo drive device according to claim 8, which is characterized in that described in the stretching of the second shell (21) It is cased in the outside wall surface of first shell (11) outside along its axially extending first annular cylinder (23) and by the first annular cylinder (23) link (24) being connected with the second shell (21)；

The first annular cylinder (23) is located at the periphery of the first shell (11), and first permanent magnet (22) is fixed on described On the internal face of first annular cylinder (23), and positioned at the outboard end of the soft magnetic bodies (13).

10. linear servo drive device according to claim 8, which is characterized in that the stretching institute of the second shell (21) It states and the second annular canister (27) is socketed in the outside wall surface of first shell (11)；The end face of first opening is equipped with axially outward 3rd annular canister (16) of extension, the 3rd annular canister (16) are located at the periphery of second annular canister (27)；

The soft magnetic bodies (13) are fixed on the internal face of the 3rd annular canister (16), and first permanent magnet (22) is fixed on In the outside wall surface of second annular canister (27) and positioned at the inner end of the soft magnetic bodies (13).

11. the linear servo drive device according to any one of claim 1-4, which is characterized in that the rotor assembly (2) The feed screw nut (25) being arranged in the opening that the confession leading screw (26) of the second shell (21) inserts into the inner is further included, The feed screw nut (25) is arranged and is rotatably engaged in the outside wall surface of the leading screw (26).

12. the linear servo drive device according to any one of claim 1-4, which is characterized in that the detected body is Second permanent magnet (42), the detection piece is magneto sensor (41), for detecting the magnetic field intensity of second permanent magnet (42) Variation.

13. the linear servo drive device according to any one of claim 1-4, it is characterised in that：The bearing (3) is friendship Pitch roller bearing or deep groove ball bearing.

14. a kind of robot, which is characterized in that including

First arm (5)；

Second arm (6), one end are hinged on one end of first arm (5)；

Linear servo drive device any one of claim 1-13, the stretching second shell of the leading screw (26) (21) one end is hinged on first arm (5) and avoids the hinged place of first arm (5) and second arm (6), institute The other end opposite with the first opening in first shell (11) is stated to be hinged on second arm (6) on molding support base；

The leading screw (26) drives first arm (5) to be rotated on second arm (6).