CN208094379U - The joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor directly drives - Google Patents
The joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor directly drives Download PDFInfo
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- CN208094379U CN208094379U CN201820170617.1U CN201820170617U CN208094379U CN 208094379 U CN208094379 U CN 208094379U CN 201820170617 U CN201820170617 U CN 201820170617U CN 208094379 U CN208094379 U CN 208094379U
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- joint
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Abstract
The utility model discloses a kind of joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor directly drives, and the joint of robot rotating device includes forearm, rotary shaft and postbrachium；The forearm end is equipped with mounting hole；The rotary shaft is installed on by bearing in the mounting hole；The postbrachium and the rotation axis connection, are rotated by the rotary shaft around forearm, it is characterised in that：The rotary shaft is directly driven by combination type permanent-magnet linear synchronous motor.The utility model provides the joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor directly drives, and the joint of robot rotary device structure is simple, and installation volume is small, control accuracy is high.
Description
Technical field
The utility model is related to robot device's technical field, more particularly to a kind of rimless combination type permanent-magnet synchronous linear electricity
The joint of robot rotating device that machine directly drives.
Background technology
With the development of modern science and technology, robot is played an increasingly important role in all trades and professions, joint of robot
Rotating device is increasingly valued by people as one important parts of robot.
Traditional robot can clearly see the servo motor to leak outside on their joint, and in addition to our energy
The motor enough seen also has extremely complex speed reducer and braking brake mechanism so that the pass of robot inside these joints
Section becomes abnormal too fat to move.Certainly for many heavy-duty machines people, these are not what arrives problem.But those are just being got over
Come be applied to around market and equipment more small scale robot, especially need the auxiliary for coordinating people to complete various complexity to give birth to
For the cooperation robot for producing operation, the size in joint just becomes very crucial.
Utility model content
The purpose of this utility model is in view of the problems of the existing technology, to provide a kind of rimless combination type permanent-magnet synchronization
The joint of robot rotating device of linear motor direct-driven, the joint of robot rotary device structure is simple, and installation volume is small, controls
Precision height processed.
To achieve the above object, the technical solution adopted in the utility model is：
A kind of joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor directly drives, the joint of robot
Rotating device includes forearm, rotary shaft and postbrachium；The forearm end is equipped with mounting hole；The rotary shaft is installed on by bearing
In the mounting hole；The postbrachium and the rotation axis connection, are rotated by the rotary shaft around forearm, the rotary shaft is by group
Box-like permanent magnetic linear synchronous motor directly drives；The combination type permanent-magnet linear synchronous motor includes stator module and rotor set
Part；Before the stator module is fixed in arm matrix, rotating excitation field is provided for the rotor assembly；Described in magnetic property
Rotor assembly is fixedly installed in the rotary shaft；
Wherein, the stator module is full-circle spray pattern or non-full-circle spray pattern structure, and the stator module is by several in fan-shaped knot
The stator unit of structure forms；The stator unit is independent control mechanism；The stator unit includes stator core and twines
The stator winding being wound on the stator unit.
Preferably, the rotary shaft is equipped with positioning step, peace of the positioning step for bearing described in precise positioning
Holding position；The bearing is fixed on by preceding gland and rear pressing cover in the mounting hole；In the mounting hole be equipped be adapted to it is described before
The seam allowance of gland and rear pressing cover；It is intended that the positioning step being arranged on the rotary shaft, installation that can be in order to bearing and essence
Certainly position；The seam allowance design can reduce installation deviation.
Preferably, the rotor assembly is placed in the rotary shaft end；It is intended that being arranged rotor assembly described
Rotary shaft end easy to disassemble can be overhauled.
Preferably, the rotor assembly is magnet steel substrate, and the magnet steel substrate is distributed in institute around the rotary shaft axial line
It states in rotary shaft；It is intended that rotor assembly and rotary shaft are combined together, the parts composition of motor is reduced, structure is made
It is simpler, it is cost-effective；The rotary shaft can provide an installation form for magnet steel substrate, in assembling, the rotation
Axis can assemble completion in advance with magnet steel substrate, enter the installation procedure of next step as a whole, easy for installation, improve peace
Fill efficiency.
Preferably, the rotary shaft be in cavity cylindrical structure, the magnet steel substrate arranged the rotary shaft side wall and/
Or end face；It is intended that the design of the cavity had both reduced the rotary inertia of rotary shaft so that rotary shaft operates cleverer
It is living；Saving material again saves cost；The contact area for also increasing rotary shaft and air, is convenient for the heat dissipation of rotary shaft.
Preferably, the stator module further includes having stator base；The stator base is fixedly installed in the ontology base
On seat；The stator unit is fixedly installed in the stator base；It is intended that the stator base can be stator list
Member provides an installation form, and in assembling, the stator base can assemble completion in advance with stator unit, whole as one
Body enters the installation procedure of next step, easy for installation, improves installation effectiveness.
It is further preferred that the cylinder cavity capping structure of stator base；In the mounting hole be equipped with it is described
The compatible locating slot of stator base；The stator unit is placed in the stator base side wall and/or end face；With the magnet steel base
Plate is corresponding.
Preferably, the stator module is equipped with the connection plug of stator unit；It is equipped in the mounting hole compatible
Socket；It is intended that the modular unit of stator module as a whole is directly installed in the mounting hole, save
The installation procedure of wiring, plug and play is quick and convenient, substantially increases disassembly efficiency.
Preferably, the combination type permanent-magnet synchronous motor includes encoder, the encoder include code-disc and with it is described
The magnetic strength element of code-disc flexible connection, the code-disc and magnetic strength element are fixedly installed in the rotary shaft and the stator pack respectively
At the axle center of part；It is intended that providing servo-control system for the linear motor, the control of motor closed-loop vector is realized, it is real
Existing rotor speed and position are precisely controlled.
Compared with prior art, the utility model has the beneficial effects that：1, made using combination type permanent-magnet linear synchronous motor
For the driving motor of thread bushing threading machine, directly with rotation axis connection, motor stator is looped around around rotor rotor, fixed
On motor mount, intermediate link is driven to reduce gear, reduction box etc., simplifies the type of drive of equipment and the knot of equipment
Configuration formula improves drive efficiency, reduces the loss of the energy；2, the mode directly driven substantially reduces the volume of equipment, alleviates and sets
Standby weight can be directly mounted inside joint part without leaking outside；3, using servo closed control, to meet to type of drive
Flexibly selection；4, magnet steel substrate is directly installed on main shaft, and motor and main shaft are combined together, simplifies device structure, makes to set
It is standby lighter；5, stator module is composed using the stator unit of several independent controls, modular design, reduces motor
The difficulty of processing of stator, and replace conveniently；6, stator module plug and play makes the installation form of installation motor more efficiently, just
Victory.
Description of the drawings
Fig. 1 is a kind of machine that rimless combination frame permanent magnetic linear synchronous motor directly drives described in the utility model embodiment one
The structural schematic diagram of person joint's rotating mechanism；
Fig. 2 is the structural schematic diagram of the utility model forearm mounting hole；
Fig. 3 is the structural schematic diagram of the utility model magnet steel substrate one；
Fig. 4 is the structural schematic diagram of the utility model stator unit one；
Fig. 5 is the structural schematic diagram of the utility model stator base；
Fig. 6 is a kind of robot that rimless combination type permanent-magnet linear synchronous motor directly drives described in the utility model embodiment two
The structural schematic diagram of joint rotating mechanism；
Fig. 7 is the structural schematic diagram of the utility model magnet steel substrate two；
Fig. 8 is the structural schematic diagram of the utility model stator unit two；
Fig. 9 is a kind of robot that rimless combination type permanent-magnet linear synchronous motor directly drives described in the utility model embodiment three
The structural schematic diagram of joint rotating mechanism；
In figure：1, forearm；2, postbrachium；3, rotary shaft；31, positioning step；4, preceding gland；5, rear pressing cover；6, bearing；7, fixed
Sub-component；71, stator base；72, stator unit one；73, stator unit two；8, rotor assembly；81, magnet steel substrate one；82, magnetic
Steel substrate two；9, encoder；91, code-disc；92, magnetic strength element；10, connection plug；11, mounting hole；11-1, the first seam allowance；11-
2, the second seam allowance；11-3, locating slot；11-4, socket.
Specific implementation mode
Below in conjunction with the attached drawing in the utility model, the technical solution of the utility model is clearly and completely retouched
It states, it is clear that the described embodiments are only a part of the embodiments of the utility model, instead of all the embodiments.Based on this
Embodiment in utility model, those of ordinary skill in the art obtained under the conditions of not making creative work it is all its
Its embodiment, shall fall within the protection scope of the present invention.
Embodiment one
As shown in Figs. 1-5, a kind of joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor directly drives, institute
It includes forearm 1, rotary shaft 3 and postbrachium 2 to state joint of robot rotating device；1 end of the forearm is equipped with mounting hole 11；The rotation
Shaft 3 is installed on by bearing 6 in the mounting hole 11；The postbrachium 2 is connect with the rotary shaft 3, passes through the rotary shaft 3
It is rotated around forearm 1；The rotary shaft 3 is directly driven by combination type permanent-magnet linear synchronous motor；The combination type permanent-magnet synchronizing direct
Line motor includes stator module 7 and rotor assembly 8；The stator module 7 is fixed on 1 matrix of forearm, is the rotor assembly 8
Rotating excitation field is provided；The rotor assembly 8 with magnetic property is fixedly installed in the rotary shaft 3；
Wherein, the stator module 7 is non-full-circle spray pattern structure, and the stator module 7 is by six groups in fan-shaped arc structure
Stator unit 1 form；The stator unit 1 is independent control mechanism；The stator unit 1 includes fixed
Sub- iron core and the stator winding being wrapped in the stator core.
As the preferred of the present embodiment, the rotary shaft 3 is equipped with positioning step 31, and the positioning step 31 is for accurate
Position the installation site of the bearing 6；The bearing 6 is fixed on by preceding gland 4 and rear pressing cover 5 in the mounting hole 11；It is described
The seam allowance 11-1 for the being adapted to the preceding gland 4 and seam allowance 11-2 for being adapted to the rear pressing cover 5 is equipped in mounting hole 11；The rotor set
Part 8 is magnet steel substrate 1, and the magnet steel substrate 1 is distributed in 3 side wall of the rotary shaft around 3 axial line of the rotary shaft；Into
Preferably, the rotary shaft 3 is in cavity cylindrical structure to one step；The magnet steel substrate 1 is in fan-shaped arc structure, is distributed in institute
State the side wall of rotary shaft 3；The stator module 7 further includes having stator base 71；The stator base 71 is fixedly installed in described
In mounting hole 11；The stator unit 1 is fixedly installed in the stator base；It is further preferred that the stator base
71 capping structures in a ring；The mounting hole 11 is equipped with locating slot 11-3 compatible with the stator base 71, the installation
Hole 11, which is equipped with, to be fastened with the stator base 71 using bolt；The stator unit 1 is placed in 71 inside of the stator base
Wall, it is corresponding with the magnet steel substrate 1；The connection plug of stator unit 1 is equipped on the outside of 71 port of the stator base
10；Compatible socket 11-4 is equipped in the mounting hole 11；The combination type permanent-magnet synchronous motor includes encoder 9, institute
It states encoder 9 and includes code-disc 91 and the magnetic strength element 92 being flexibly connected with the code-disc 91, the code-disc 91 and magnetic strength element 92
It is fixedly installed in respectively at the axle center of the rotary shaft 3 and the stator base 71.
After energization, the stator unit 1 is that the magnet steel substrate 1 provides the magnetic field radially rotated,
It is that the rotary shaft 3 provides the torque rotated around 3 axial line of the rotary shaft to promote the stator module 7 and rotor assembly 8, directly
It connects the driving rotary shaft 3 to rotate, to control the forearm 1 and 2 bending angle of postbrachium.
Embodiment two
As shown in figs 6-8, a kind of joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor directly drives, institute
It includes forearm 1, rotary shaft 3 and postbrachium 2 to state joint of robot rotating device；1 end of the forearm is equipped with mounting hole 11；The rotation
Shaft 3 is installed on by bearing 6 in the mounting hole 11；The postbrachium 2 is connect with the rotary shaft 3, passes through the rotary shaft 3
It is rotated around forearm 1；The rotary shaft 3 is directly driven by combination type permanent-magnet linear synchronous motor；The combination type permanent-magnet synchronizing direct
Line motor includes stator module 7 and rotor assembly 8；The stator module 7 is fixed on 1 matrix of forearm, is the rotor assembly 8
Rotating excitation field is provided；The rotor assembly 8 with magnetic property is fixedly installed in the rotary shaft 3；
Wherein, the stator module 7 is non-full-circle spray pattern structure, and the stator module 7 is by six groups in fan-shaped disk-like structure
Stator unit 2 73 form；The stator unit 2 73 is independent control mechanism；The stator unit 2 73 includes fixed
Sub- iron core and the stator winding being wrapped in the stator core.
As the preferred of the present embodiment, the rotary shaft 3 is equipped with positioning step 31, and the positioning step 31 is for accurate
Position the installation site of the bearing 6；The bearing 6 is fixed on by preceding gland 4 and rear pressing cover 5 in the mounting hole 11；It is described
The seam allowance 11-1 for the being adapted to the preceding gland 4 and seam allowance 11-2 for being adapted to the rear pressing cover 5 is equipped in mounting hole 11；The rotor set
Part 8 is magnet steel substrate 2 82, and the magnet steel substrate 2 82 is distributed in 3 end of the rotary shaft around 3 axial line of the rotary shaft；Into
Preferably, the rotary shaft 3 is in cavity cylindrical structure to one step；The magnet steel substrate 2 82 is in fan-shaped disk-like structure, is distributed in institute
State the end face of rotary shaft 3；The stator module 7 further includes having stator base 71；The stator base 71 is fixedly installed in described
In mounting hole 11；The stator unit 2 73 is fixedly installed in the stator base；It is further preferred that the stator base
71 capping structures in a ring；The mounting hole 11 is equipped with locating slot 11-3 compatible with the stator base 71, the installation
Hole 11, which is equipped with, to be fastened with the stator base 71 using bolt；The stator unit 1 is placed in 71 inside of the stator base
Wall, it is corresponding with the magnet steel substrate 2 82；The connection plug of stator unit 2 73 is equipped on the outside of 71 port of the stator base
10；Compatible socket 11-4 is equipped in the mounting hole 11；The combination type permanent-magnet synchronous motor includes encoder 9, institute
It states encoder 9 and includes code-disc 91 and the magnetic strength element 92 being flexibly connected with the code-disc 91, the code-disc 91 and magnetic strength element 92
It is fixedly installed in respectively at the axle center of the rotary shaft 3 and the stator base 71.
After energization, the stator unit 2 73 is that the magnet steel substrate 2 82 provides the magnetic field that an axis rotates up,
It is that the rotary shaft 3 provides the torque rotated around 3 axial line of the rotary shaft to promote the stator module 7 and rotor assembly 8, directly
It connects the driving rotary shaft 3 to rotate, to control the forearm 1 and 2 bending angle of postbrachium.
Embodiment three
As shown in figure 9, a kind of joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor directly drives, described
Joint of robot rotating device includes forearm 1, rotary shaft 3 and postbrachium 2；1 end of the forearm is equipped with mounting hole 11；The rotation
Axis 3 is installed on by bearing 6 in the mounting hole 11；The postbrachium 2 is connect with the rotary shaft 3, by the rotary shaft 3 around
Forearm 1 rotates；The rotary shaft 3 is directly driven by combination type permanent-magnet linear synchronous motor；The combination type permanent-magnet synchronous linear
Motor includes stator module 7 and rotor assembly 8；The stator module 7 is fixed on 1 matrix of forearm, is carried for the rotor assembly 8
For rotating excitation field；The rotor assembly 8 with magnetic property is fixedly installed in the rotary shaft 3；
Wherein, the stator module 7 is non-full-circle spray pattern structure, and the stator module 7 is by six groups in fan-shaped arc structure
Stator unit 1 and six groups of stator units 2 73 in fan-shaped arc structure form；The stator unit 1 and stator
Unit 2 73 is independent control mechanism；The stator unit 1 and stator unit 2 73 include respectively stator core and twine
The stator winding being wound in the stator core.
As the preferred of the present embodiment, the rotary shaft 3 is equipped with positioning step 31, and the positioning step 31 is for accurate
Position the installation site of the bearing 6；The bearing 6 is fixed on by preceding gland 4 and rear pressing cover 5 in the mounting hole 11；It is described
The seam allowance 11-1 for the being adapted to the preceding gland 4 and seam allowance 11-2 for being adapted to the rear pressing cover 5 is equipped in mounting hole 11；The rotor set
Part 8 includes magnet steel substrate 1 and magnet steel substrate 2 82, and the magnet steel substrate 1 is distributed in around 3 axial line of the rotary shaft
3 side wall of the rotary shaft；The magnet steel substrate 2 82 is distributed in 3 end face of the rotary shaft around 3 axial line of the rotary shaft；Into one
Preferably, the rotary shaft 3 is in cavity cylindrical structure to step；The magnet steel substrate 1 is in fan-shaped arc structure, is distributed in described
The side wall of rotary shaft 3；The stator module 7 further includes having stator base 71；The stator base 71 is fixedly installed in the peace
It fills in hole 11；The stator unit 1 is fixedly installed in the stator base；It is further preferred that the stator base 71
Capping structure in a ring；The mounting hole 11 is equipped with locating slot 11-3 compatible with the stator base 71, the mounting hole
11 are equipped with the stator base 71 using bolt fastening；The stator unit 1 is placed in 71 madial wall of the stator base,
It is corresponding with the magnet steel substrate 1；The stator unit 2 73 is placed in 71 inner face of the stator base, with the magnet steel
Substrate 2 82 is corresponding；The connection plug 10 of stator unit 1 is equipped on the outside of 71 port of the stator base；The mounting hole
Compatible socket 11-4 is equipped in 11；The combination type permanent-magnet synchronous motor includes encoder 9, and the encoder 9 includes
Code-disc 91 and the magnetic strength element 92 being flexibly connected with the code-disc 91, the code-disc 91 and magnetic strength element 92 are fixedly installed in respectively
At the axle center of the rotary shaft 3 and the stator base 71.
After energization, the stator unit 1 is that the magnet steel substrate 1 provides the magnetic field radially rotated,
The stator unit 2 73 is that the magnet steel substrate 2 82 provides the magnetic field that an axis rotates up, and promotes the stator module
7 and rotor assembly 8 be the rotary shaft 3 torque rotated around 3 axial line of the rotary shaft is provided, directly drive the rotary shaft
3 rotations, to control the forearm 1 and 2 bending angle of postbrachium.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is appreciated that can these embodiments be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaiied
Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.
Claims (10)
1. a kind of joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor directly drives, the joint of robot rotation
Rotary device includes forearm, rotary shaft and postbrachium；The forearm end is equipped with mounting hole；The rotary shaft is installed on institute by bearing
It states in mounting hole；The postbrachium and the rotation axis connection, are rotated by the rotary shaft around forearm, it is characterised in that：It is described
Rotary shaft is directly driven by combination type permanent-magnet linear synchronous motor；The combination type permanent-magnet linear synchronous motor includes stator module
And rotor assembly；Before the stator module is fixed in arm matrix, rotating excitation field is provided for the rotor assembly；With permanent magnetism spy
The rotor assembly of property is fixedly installed in the rotary shaft；
Wherein, the stator module is full-circle spray pattern or non-full-circle spray pattern structure, and the stator module is by several in sector structure
Stator unit forms；The stator unit is independent control mechanism；The stator unit includes stator core and is wrapped in
Stator winding on the stator unit.
2. the joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor according to claim 1 directly drives,
It is characterized in that, the rotary shaft is equipped with positioning step, installation position of the positioning step for bearing described in precise positioning
It sets；The bearing is fixed on by preceding gland and rear pressing cover in the mounting hole；It is equipped in the mounting hole and is adapted to the preceding gland
And the seam allowance of rear pressing cover.
3. the joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor according to claim 1 directly drives,
It is characterized in that, the rotor assembly is placed in the rotary shaft end.
4. the joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor according to claim 1 directly drives,
It is characterized in that, the rotor assembly is magnet steel substrate, the magnet steel substrate is distributed in the rotation around the rotary shaft axial line
In shaft.
5. the joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor according to claim 4 directly drives,
It is characterized in that, the rotary shaft is in cavity cylindrical structure, side wall and/or end of the magnet steel substrate arranged in the rotary shaft
Face.
6. the joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor according to claim 1 directly drives,
It is characterized in that, the stator module further includes having stator base；The stator base is fixedly installed in the mounting hole；Institute
Stator unit is stated to be fixedly installed in the stator base.
7. the joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor according to claim 6 directly drives,
It is characterized in that, the cylinder cavity capping structure of stator base；It is equipped with and the stator base phase in the mounting hole
The locating slot of adaptation；The stator unit is placed in the stator base side wall and/or end face.
8. the joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor according to claim 1 directly drives,
It is characterized in that, the stator module is equipped with the connection plug of stator unit；It is equipped in the mounting hole and is inserted with the wiring
Compatible socket.
9. the joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor according to claim 1 directly drives,
It is characterized in that, the mounting hole port is equipped with the locating slot of the stator module.
10. the joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor according to claim 1 directly drives,
It is characterized in that, the combination type permanent-magnet synchronous motor includes encoder, the encoder include code-disc and with the code-disc
The magnetic strength element of flexible connection, the code-disc and magnetic strength element are fixedly installed in the rotary shaft and the stator module respectively
At axle center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820170617.1U CN208094379U (en) | 2018-01-31 | 2018-01-31 | The joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor directly drives |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820170617.1U CN208094379U (en) | 2018-01-31 | 2018-01-31 | The joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor directly drives |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208094379U true CN208094379U (en) | 2018-11-13 |
Family
ID=64063004
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820170617.1U Active CN208094379U (en) | 2018-01-31 | 2018-01-31 | The joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor directly drives |
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| CN (1) | CN208094379U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108199527A (en) * | 2018-01-31 | 2018-06-22 | 湖北环电磁装备工程技术有限公司 | The joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor directly drives |
-
2018
- 2018-01-31 CN CN201820170617.1U patent/CN208094379U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108199527A (en) * | 2018-01-31 | 2018-06-22 | 湖北环电磁装备工程技术有限公司 | The joint of robot rotating device that rimless combination type permanent-magnet linear synchronous motor directly drives |
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