CN222127811U - A large thrust linear rotary motor with compensation - Google Patents
A large thrust linear rotary motor with compensation Download PDFInfo
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- CN222127811U CN222127811U CN202420686302.8U CN202420686302U CN222127811U CN 222127811 U CN222127811 U CN 222127811U CN 202420686302 U CN202420686302 U CN 202420686302U CN 222127811 U CN222127811 U CN 222127811U
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Abstract
The utility model discloses a high-thrust linear rotating motor with compensation, which comprises a linear driving assembly, a rotary driving assembly, a linear driver, a controller, a framework, a guide rail assembly and a guide rail assembly, wherein the linear driving assembly performs linear motion in a first direction and outputs high thrust, the rotary driving assembly performs rotary motion taking the first direction as a rotary shaft, the linear driver is connected with the linear driving assembly and the rotary driving assembly and performs linear motion in the first direction, the controller controls the linear driver to perform linear motion in the same direction as the output thrust of the linear driving assembly so as to compensate the thrust deficiency caused by low thrust accuracy output by the linear driving assembly, and the framework supports the linear driving assembly, the rotary driving assembly and the controller and is connected with the rotary driving assembly and the framework to enable the rotary driving assembly to stably move along the first direction. The motor has the advantages of large output thrust, high precision, compact structure and small volume.
Description
Technical Field
The utility model belongs to the technical field of electromechanical equipment, and particularly relates to a high-thrust linear rotating motor with compensation.
Background
The linear rotating motor refers to a motor capable of realizing linear motion and rotational motion, and is widely used in various fields such as a patch and the like.
The structure of the linear rotary motor in the prior art includes a voice coil motor and a rotary motor. The voice coil motor drives the output shaft to linearly move, and the rotating motor drives the output shaft to do rotary motion, so that the output shaft is simultaneously in linear motion and rotary motion. When the large thrust is required to be output, the voice coil motor cannot be realized, and the common rotating motor with the large thrust is not high in output precision. Therefore, when a high-thrust and high-precision output is required, it is difficult to achieve both high thrust and high precision, and therefore, it is necessary to design a high-thrust and high-precision motor, and it is highly desired to provide a linear rotating electric machine capable of providing high-thrust and high-precision.
Disclosure of utility model
The utility model aims to solve the problems in the background art and provides the linear rotating motor with compensation, high thrust and high output precision, which has compact structure and small volume.
One aspect of the present utility model provides a high thrust linear rotary electric machine with compensation, comprising:
The linear driving assembly performs linear motion in a first direction and outputs high thrust;
a rotation driving assembly performing a rotation motion with the first direction as a rotation axis;
The linear driver is connected with the linear driving assembly and the rotary driving assembly, performs linear motion in the first direction and outputs small thrust;
The linear driving assembly and/or the linear driver are/is controlled by the controller to output thrust in a first direction, when the linear driving assembly and the linear driver output thrust, the defect of insufficient thrust precision output by the linear driving assembly can be overcome, when the linear driving assembly outputs thrust, the linear driver is locked, and when the linear driver outputs thrust, the linear driver is adjusted to a proper position by the linear driving assembly so as to be suitable for the rotary driving assembly to work.
A frame supporting the linear driving assembly, the rotary driving assembly, and the controller;
And the guide rail assembly is connected with the rotary driving assembly and the frame, so that the rotary driving assembly can stably move along the first direction.
Preferably, the linear driver is a linear motor, the linear motor comprises a motor stator fixedly connected with the linear driving assembly and a motor rotor fixedly connected with the rotary driving assembly, and the motor rotor slides relatively to the motor stator along the first direction.
Preferably, the linear driving assembly includes:
A first driving motor;
The screw rod is connected with the output shaft of the first driving motor;
The nut is sleeved on the screw rod and fixedly connected with the motor stator.
Preferably, the linear driving assembly further comprises a nut seat sleeved outside the nut and fixedly connected with both the nut and the motor stator.
Preferably, the screw is a ball screw.
Preferably, the rotation driving assembly includes:
The second driving motor is mechanically fixedly connected with the motor rotor;
One end of the rotating shaft is connected with the output shaft of the second driving motor;
The suction nozzle is arranged at the other end of the rotating shaft.
Preferably, the upper part of the suction nozzle is also coaxially sleeved with a heating head for heating the non-material.
Preferably, the motor driving device further comprises a balance spring for preventing the rotation driving assembly from falling when the linear motor is powered off, one end of the balance spring is connected with the motor stator or the nut seat, and the other end of the balance spring is connected with the rotation driving assembly.
Preferably, the guide rail assembly comprises a guide rail connecting plate connected with the rotating shaft or the nut seat, a sliding block fixedly connected with the guide rail connecting plate, and a sliding rail matched with the sliding block, and the sliding rail is fixed on the frame.
Preferably, the linear driver is any one of a linear motor, a voice coil motor, a linear electric cylinder and a cylinder.
By adopting the technical scheme, compared with the prior art, the utility model has the following beneficial effects:
The high-thrust linear rotating motor with compensation outputs high thrust through the linear driving assembly by selecting the lead screw with small lead and the first driving motor with large torque, and meanwhile, the linear driver or the linear motor is adopted to compensate the thrust of which the precision cannot meet the requirement when the high thrust is output, and the precision of the thrust output under the action of the first driving motor, the lead screw with small lead and the linear driver or the linear motor as the compensation thrust meets the requirement.
These and other features, aspects, and advantages of the present application will become better understood with reference to the following description. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.
Drawings
A full and enabling disclosure of the present application, including the best mode thereof, directed to one of ordinary skill in the art, is set forth in the specification, which makes reference to the appended figures, in which:
Fig. 1 is a schematic structural diagram of a high-thrust high-precision linear rotating motor according to an embodiment of the present utility model;
fig. 2 is a schematic structural diagram of a linear driving assembly of a high-thrust high-precision linear rotating motor according to an embodiment of the present utility model;
fig. 3 is a schematic structural diagram of a rotary driving assembly of a high-thrust high-precision linear rotary motor according to an embodiment of the present utility model;
Fig. 4 is a schematic structural diagram of a linear motor of a high-thrust high-precision linear rotary motor according to an embodiment of the present utility model;
Reference numerals:
1-linear driving assembly, 11-first driving motor, 12-first coupling and 13-nut;
14-screw rod, 15-nut seat;
2-linear motor, 21-motor rotor, 22-motor stator;
3-balance spring, 4-rotary drive assembly, 41-second drive motor, 42-second coupling;
43-rotating shaft, 44-suction nozzle, 45-heating head and 5-frame.
Detailed Description
Reference now will be made in detail to embodiments of the application, one or more examples of which are illustrated in the drawings. Each example is provided by way of explanation, not limitation, of the application. Indeed, it will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the scope or spirit of the application. For example, features illustrated or described as part of one embodiment can be used with another embodiment to yield a still further embodiment. Accordingly, it is intended that the present application cover such modifications and variations as come within the scope of the appended claims and their equivalents. As used in this specification, the terms "first," "second," and the like are used interchangeably to distinguish one component from another and are not intended to represent the location or importance of the respective components. As used in this specification, the terms "a," "an," "the," and "said" are intended to mean that there are one or more elements unless the context clearly indicates otherwise. The terms "comprising," "including," and "having" are intended to be inclusive and mean that there may be additional elements other than the listed elements.
Referring now to the drawings, in which like numerals represent like elements throughout, the present utility model is further explained below in connection with specific embodiments.
The high-thrust high-precision linear rotating motor provided by the utility model has the advantages of large and accurate thrust output, compact structure and small volume.
Currently, as shown in fig. 1 to 4, a structure diagram of a high-thrust high-precision linear rotary electric machine includes a linear driving assembly 1 performing a linear motion in a first direction and outputting a high thrust, a rotary driving assembly 4 performing a rotary motion with the first direction as a rotary shaft, a linear motor 2 connecting the linear driving assembly 1 and the rotary driving assembly 4 and performing a linear motion in the first direction, a controller (not shown) controlling the linear motor 2 to perform a linear motion outputting a thrust in the same direction as the linear driving assembly 1 to compensate for a shortage of the thrust output by the linear driving assembly 1, and a frame 5 supporting the linear driving assembly 1, the rotary driving assembly 4, and the controller. The controller controls the linear driving assembly 1 and/or the linear motor 2 to output thrust in a first direction, when the linear driving assembly 1 and the linear motor 2 output thrust, the defect of insufficient thrust accuracy output by the linear driving assembly 1 can be overcome, when the linear driving assembly 1 outputs thrust, the linear motor 2 is locked to directly transmit the thrust of the linear driving assembly 1 to the rotary driving assembly 4, and when the linear motor 2 outputs thrust, the linear driving assembly 1 adjusts the linear motor to a proper position to be suitable for the rotary driving assembly 4 to work.
Linear drive assembly 1
As shown in fig. 2, the linear driving assembly 1 includes a first driving motor 11, a screw nut mechanism, and a first coupling 12 connecting the two.
The screw-nut mechanism comprises a screw 14 and a nut 13 matched with the screw 14, wherein the screw 14 is a ball screw, so that high-efficiency and high-precision motion transmission is realized. The drive nut 13 makes a linear movement in a first direction which is a vertical direction (i.e., an output shaft direction of the first drive motor 11) when the first drive motor 11 is started, thereby converting the rotational movement of the first drive motor 11 into a linear movement in a vertical direction through the screw nut mechanism.
In order to realize high thrust force F output of the linear drive assembly 1, F is determined by reasonably selecting the lead of the screw nut mechanism and the output torque of the first drive motor 11.
Because the relationship between lead screw thrust F and lead i is:
F Is provided with =(2πTn)/i (1)
wherein T is motor torque, and n is transmission efficiency.
Therefore, the lead screw thrust is inversely proportional to the lead i, is directly proportional to the motor torque T, and can output a large thrust F by selecting a large motor torque T and a small lead screw lead i.
The relationship between the lead screw lead i and the number of lead screw heads a is:
i=a*P (2)
wherein P is the screw pitch, and a is the number of screw heads.
The relationship between the screw thrust force F and the number of screw heads a is obtained according to the formula (1) and the formula (2):
F=(2πTn)/(a*P) (3)
The lead screw thrust F is inversely proportional to the number of lead screw heads, and if the lead screw pitch is constant, the thrust F output by the menu head lead screw and the large motor torque T is maximum, and if the lead screw pitch and the number of heads are not determined, the lead screw and the large motor torque T are selected, and the output lead screw thrust F is maximum.
Rotation driving assembly 4
As shown in fig. 3, which is a structural view of the rotary driving assembly 4, it includes a second driving motor 41, a second coupling 42, a rotating shaft 43, and a suction nozzle 44 provided on the rotating shaft 43, which are sequentially connected. When the second driving motor 41 is driven, the suction nozzle 44 is rotated by the second coupling 42.
Linear motor 2
Because the first driving motor 11 is a high-power motor, the output thrust precision is poor and cannot meet the requirement, in order to make up the problem of insufficient precision when the linear driving assembly 1 outputs high thrust, the linear motor 2 is adopted to supplement the insufficient thrust output by the linear driving assembly 1.
As shown in fig. 3, the linear motor 2 includes a motor stator 22 fixedly connected to the linear driving assembly 1 and a motor mover 21 fixedly connected to the rotary driving assembly 4, wherein the motor mover 21 relatively slides in a first direction with respect to the motor stator. In the present embodiment, the first direction is the vertical direction, so the motor mover 21 slides relatively in the vertical direction with respect to the motor stator.
In order to facilitate the connection between the motor stator and the nut 13 of the linear driving assembly 1, the linear driving assembly 1 further comprises a nut seat 15 sleeved outside the nut 13 and fixedly connected with the nut, and the nut seat 15 is fixedly connected with the motor stator 22 in a mechanical way. Wherein the nut seat 15 is fixedly connected with the nut 13 by bonding, interference fit or other mechanical and detachable connection.
In the embodiment shown in fig. 3, the motor mover 21 is mechanically fastened to a motor bracket 46 that is sleeved outside and fixedly connected to the second driving motor 41.
When the linear motor 2 is powered off, no interaction force exists between the motor rotor 21 and the motor stator 22, so that the motor rotor 21 slides down along the motor stator 22 under the gravity action of the rotary driving assembly 4, and in order to prevent the rotary driving assembly 4 from falling off when the linear motor 2 is powered off, a balance spring 3 which is connected with the motor stator 22 and the rotary driving assembly 4 is further arranged at the bottom of the motor stator 22.
In some embodiments, the balance spring 3 may not be connected to the motor stator 22, but to the nut seat 15 and the rotary driving assembly 4, or to a connection plate fixed to the nut seat 15 and the motor stator 22.
Guide rail assembly
The rotary driving assembly 4 is the final executing assembly, and is required to be provided with a guide rail assembly in order to enable the rotary driving assembly to stably move downwards to perform the task of sucking materials.
The rail assembly includes a rail connecting plate 62 provided on the second coupling 42, a double slider (not shown) fixedly connected to the rail connecting plate 62, a slide rail 61 fitted with each slider, wherein the slide rail 61 is fixed to the frame 5.
The connection position of the guide rail connection plate 62 can also be adjusted according to actual needs, and the guide rail connection plate 62 is connected with the rotating shaft 43 or the motor bracket 46.
Therefore, when the screw nut mechanism is driven by the first driving motor 11 to move downwards by the linear motor 2 with the rotary driving assembly 4, the suction nozzle 44 sucks the material (such as a chip), and then the material is driven to move upwards for a certain distance by the first driving motor 11 again, and is driven to rotate for a certain angle by the second driving motor 41 so as to be convenient for boxing or moving to another station.
Some materials need to be kept at a certain temperature in the working process, so the materials need to be heated before being used, and the upper part of the suction nozzle 44 is also sleeved with a heating head 45, so the materials need to be heated before being sucked.
In addition, the utility model can make up for the shortage of the actual output thrust of the linear driving assembly 1 by the linear motor 2, and can also adopt any one of a voice coil motor, a linear electric cylinder and a cylinder. The utility model refers to a linear motor, a voice coil motor, a linear cylinder and a cylinder collectively as a linear actuator.
When the high-thrust high-precision linear rotating motor is actually used, the output shaft of the first driving motor 11 may not be arranged in the vertical direction or may form a certain angle with the vertical direction, and the first direction at this time is the direction of the output shaft of the first driving motor 11.
The utility model also provides a method for outputting high-precision high-thrust:
the linear driving assembly 1 and the linear driver (such as the linear motor 2) are matched with each other, the linear driving assembly 1 comprises a first driving motor 11 and a screw nut mechanism which are connected, a lead screw with a small lead and the first driving motor 11 with a large output torque are selected for outputting large thrust, and meanwhile, the linear driver which is in the same direction as the screw nut mechanism is adopted for outputting the large thrust which is actually output by the linear driving assembly 1 can not reach the design output thrust. The method specifically comprises the following steps.
Step 1, selecting a first driving motor 11 with large torque and a lead screw 14 with small lead according to a formula (1) to obtain maximum thrust F Is provided with ;
F Is provided with =(2πTn)/i (1)
And 2, selecting a linear driver to compensate for the difference between the actual output thrust F Real world and the design output thrust F Is provided with of the second driving motor 41.
The method for compensating the difference between the actual output thrust F Real world and the designed output thrust F Is provided with of the second driving motor 41 in the step 2 includes:
step 21, measuring the actual output thrust F Real world of the second driving motor 41;
Step 22, calculating the difference delta between the designed output thrust F Is provided with and the actual output thrust F Real world ;
This step requires detecting the actual output thrust force F Real world of the second drive motor 41, and the actual output thrust force F Real world is typically measured by a pressure sensor.
In step 23, the controller controls the linear actuator to output a thrust delta.
Compared with the prior art, the utility model has the following beneficial effects:
The high-thrust high-precision linear rotating motor outputs high thrust by selecting the lead screw with small lead and the first driving motor with large torque through the linear driving assembly 1, and meanwhile, the problem that the precision cannot meet the design requirement when the high thrust is output is solved by adopting a linear driver or a linear motor. Meanwhile, the linear driving assembly and/or the linear driver can be selected by the controller to output the thrust meeting the precision requirement, and the linear driving assembly and/or the linear driver are controlled to work together to output the thrust meeting the design requirement.
This written description uses examples to disclose the application, including the best mode, and also to enable any person skilled in the art to practice the application, including making and using any devices or systems and performing any incorporated methods. The embodiments of the present application and the technical solutions obtained by slightly changing the embodiments are all within the protection scope of the present patent.
Claims (10)
1. A high thrust linear rotary electric machine with compensation, characterized in that it comprises:
The linear driving assembly (1) performs linear motion in a first direction and outputs high thrust;
A rotation driving unit (4) that performs a rotation motion with the first direction as a rotation axis;
The linear driver is connected with the linear driving assembly (1) and the rotary driving assembly (4) to execute linear motion in the first direction and output small thrust;
The controller is used for controlling the linear driving assembly and/or the linear driver to output thrust in a first direction, and when the linear driving assembly and the linear driver output thrust, the controller can make up for the defect of the accuracy of the thrust output by the linear driving assembly (1); when the linear driver outputs thrust, the linear driver is adjusted to a proper position by the linear driver assembly so as to be suitable for the rotary driving assembly to work;
-a frame (5) supporting the linear drive assembly (1), the rotary drive assembly (4) and the controller;
And the guide rail assembly is connected with the rotary driving assembly (4) and the frame (5) so that the rotary driving assembly (4) can stably move along the first direction.
2. The high thrust linear rotary electric machine according to claim 1, wherein the linear drive is a linear motor (2), the linear motor (2) comprising a motor stator (22) fixedly connected to the linear drive assembly (1) and a motor mover (21) fixedly connected to the rotary drive assembly (4), the motor mover (21) being relatively slidable with respect to the motor stator (22) along the first direction.
3. The high thrust linear rotary electric machine according to claim 2, characterized in that the linear drive assembly (1) comprises:
a first drive motor (11);
the screw rod (14) is connected with the output shaft of the first driving motor (11);
The nut (13) is sleeved on the screw rod (14) and fixedly connected with the motor stator (22).
4. A high thrust linear rotary electric machine according to claim 3, characterized in that the linear drive assembly (1) further comprises a nut seat (15) which is sleeved outside the nut (13) and fixedly connected to both the nut (13) and the motor stator (22).
5. The high thrust linear rotary electric machine according to claim 4, characterized in that the screw (14) is a ball screw.
6. The high thrust linear rotary electric machine according to claim 4, characterized in that the rotary drive assembly (4) comprises:
A second driving motor (41) mechanically connected with the motor rotor (21);
One end of the rotating shaft (43) is connected with the output shaft of the second driving motor (41);
And a suction nozzle (44) arranged at the other end of the rotating shaft (43).
7. The high thrust linear rotary electric machine according to claim 6, characterized in that a heating head (45) is also coaxially fitted over the upper part of the suction nozzle (44).
8. The high thrust linear rotary electric machine according to any one of claims 4 to 7, further comprising a balancing spring (3) that prevents the rotary drive assembly (4) from falling off when the linear electric machine (2) is powered off, one end of the balancing spring (3) being connected to the motor stator (22) or to the nut mount (15), the other end being connected to the rotary drive assembly (4).
9. The high thrust linear rotary electric machine according to claim 6, characterized in that the rail assembly comprises a rail connecting plate (62) connected to the spindle (43) or the nut seat (15), a slider fixedly connected to the rail connecting plate (62), and a slide rail (61) cooperating with the slider, the slide rail (61) being fixed to the frame (5).
10. The high thrust linear rotary electric machine according to claim 1, wherein the linear actuator is any one of a linear motor, a voice coil motor, a linear electric cylinder, and a cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202420686302.8U CN222127811U (en) | 2024-04-07 | 2024-04-07 | A large thrust linear rotary motor with compensation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202420686302.8U CN222127811U (en) | 2024-04-07 | 2024-04-07 | A large thrust linear rotary motor with compensation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN222127811U true CN222127811U (en) | 2024-12-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202420686302.8U Active CN222127811U (en) | 2024-04-07 | 2024-04-07 | A large thrust linear rotary motor with compensation |
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| CN (1) | CN222127811U (en) |
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- 2024-04-07 CN CN202420686302.8U patent/CN222127811U/en active Active
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