WO2022061972A1

WO2022061972A1 - Flat linear rotating motor

Info

Publication number: WO2022061972A1
Application number: PCT/CN2020/120366
Authority: WO
Inventors: 邹宇; 朱飞雄; 李思阳
Original assignee: 国奥科技(深圳)有限公司
Priority date: 2020-09-27
Filing date: 2020-10-12
Publication date: 2022-03-31
Also published as: CN114285225A

Abstract

A flat linear rotating motor (1), said flat linear rotating motor (1) comprising: a motor housing (10). A linear voice coil motor (20), a rotating servo motor (30), and a movement platform (40) are arranged in the motor housing (10), wherein the linear voice coil motor (20) and the rotating servo motor (30) are connected by means of the movement platform (40). An output shaft (50) fixed on the rotating servo motor (30) and a driving shaft of the rotating servo motor (30) are coaxially arranged, the output shaft (50) is internally hollow, the rear end of the output shaft (50) is connected to an air duct channel (90), and the front end of the output shaft (50) is provided with a suction assembly for suctioning a load. A guide rail (60) is fixed on the motor housing (10). A sliding block (70) is slidingly connected to the guide rail (60) and fixedly connected to the movement platform (40). The linear voice coil motor (20) drives the movement platform (40) to make the sliding block (70), the rotating servo motor (30) and the output shaft (50) move linearly on the guide rail (60), and the rotating servo motor (30) drives the output shaft (50) to rotate. The present solution reduces the volume of the motor, simplifies the mechanical structure, eliminates complicated transmission links, and improves the motion positioning precision.

Description

A flat linear rotary motor

technical field

The present application relates to the technical field of motors, and in particular, to a flat linear rotating motor.

Background technique

The existing linear rotary motor has a separate layout. The separated linear rotary motor combines the linear motor and the rotary motor through a mechanical structure to complete linear and rotary motion at the same time in a transmission mode. The internal structure is complex, the volume is large, and the mechanical transmission leads to positioning accuracy. It is not high, and the introduction of the linear motion displacement measurement unit and the rotation angle measurement unit will make the layout of the linear rotary motor more complicated, and it is more difficult to control the volume of the motor. Therefore, how to improve the linear motion of the linear rotary motor. The accuracy of control has also become a technical problem in this field.

In view of this, it is an urgent technical problem to be solved in the art to provide a new linear rotating electrical machine to overcome the above-mentioned defects in the prior art.

technical problem

The present application provides a flat linear rotary motor, which can realize linear rotary motion with two degrees of freedom, while reducing the volume of the motor, simplifying the mechanical structure, eliminating complex transmission links, and improving motion positioning accuracy.

technical solutions

In order to solve the above-mentioned technical problems, a technical solution adopted in this application is to provide a flat linear rotary motor, including:

motor housing;

a linear voice coil motor, a rotary servo motor and a motion platform arranged in the motor casing, the linear voice coil motor and the rotary servo motor are connected through the motion platform;

an output shaft fixed on the rotary servo motor, the output shaft and the drive shaft of the rotary servo motor are arranged coaxially, the interior of the output shaft is hollow, the rear end of the output shaft is connected to the trachea channel, the The front end of the output shaft is provided with an adsorption component for adsorbing the load, and the ventilation of the trachea channel generates a negative pressure inside the output shaft and adsorbs the load through the adsorption component;

a guide rail fixed on the motor casing;

a slider slidably connected to the guide rail and fixedly connected to the motion platform;

The linear voice coil motor drives the motion platform to drive the slider, the rotary servo motor and the output shaft to perform linear motion on the guide rail, and the rotary servo motor drives the output shaft to perform rotational motion.

According to an embodiment of the present application, the linear voice coil motor includes a mover fixed on the motion platform and a stator fixed on the motor housing.

According to an embodiment of the present application, a linear displacement measuring unit for measuring the linear movement displacement of the output shaft is further provided in the motor housing.

According to an embodiment of the present application, the linear displacement measuring unit includes a linear grating ruler bar mounted on the motion platform and a linear grating ruler reading head fixed on the motor housing through a mounting base, the linear grating ruler The position of the read head and the linear grating ruler bar is arranged opposite to the position of the linear grating ruler bar, so that the linear grating ruler reading head receives the linear motion displacement fed back by the linear grating ruler bar.

According to an embodiment of the present application, a rotation angle measuring unit for measuring the rotational movement angle of the output shaft is provided inside the rotary servo motor.

According to an embodiment of the present application, the rotation angle measuring unit includes a code disc grating scale reading head fixed on the inner surface of the rotary servo motor and a code disc grating scale reading head positioned opposite to the position of the code disc grating scale reading head The code disc grating ruler reading head receives the rotational movement angle fed back by the code disc grating ruler bar.

According to an embodiment of the present application, a motion control module is further provided in the motor housing, and the motion control module is respectively connected with the linear displacement measurement unit and the rotation angle measurement unit, and the motion control module is based on the The linear motion displacement fed back by the linear displacement measuring unit and the rotational motion angle fed back by the rotational angle measuring unit control the movement of the output shaft.

According to an embodiment of the present application, an elastic member for limiting the movement stroke of the movement platform is provided on the motor housing.

According to an embodiment of the present application, a side wall of the motor housing is provided with a first through opening, a support seat is installed on the first through opening, and the output shaft passes through the support seat and extends from the first through opening. A port protrudes from the outside of the motor housing.

According to an embodiment of the present application, another side wall of the motor housing opposite to the side wall is provided with a second through opening, and the air pipe channel is connected to an external air pipe through the second through opening.

beneficial effect

The beneficial effects of the present application are as follows: the linear voice coil motor and the rotary servo motor are connected through the motion platform, the motion platform is fixed on the linear slider, and the linear voice coil motor drives the motion platform to drive the slider and the rotary servo motor to make a straight line on the guide rail. At the same time, the rotary servo motor adopts the direct drive method to directly connect the output shaft to drive the output shaft to rotate, which reduces the size of the motor, simplifies the mechanical structure, saves the complex transmission links, and improves the motion positioning accuracy.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

FIG. 1 is a schematic structural diagram of a flat linear rotating electrical machine according to an embodiment of the present application.

Embodiments of the present invention

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

The terms "first", "second" and "third" in this application are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first", "second", "third" may expressly or implicitly include at least one of that feature. In the description of the present application, "a plurality of" means at least two, such as two, three, etc., unless otherwise expressly and specifically defined. All directional indications (such as up, down, left, right, front, rear...) in the embodiments of the present application are only used to explain the relative positional relationship between the various components under a certain posture (as shown in the accompanying drawings). , motion situation, etc., if the specific posture changes, the directional indication also changes accordingly. Furthermore, the terms "comprising" and "having", and any variations thereof, are intended to cover non-exclusive inclusion.

Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor a separate or alternative embodiment that is mutually exclusive of other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

1 is a schematic structural diagram of a flat linear rotary motor according to an embodiment of the present application. Please refer to FIG. 1 . The flat linear rotary motor 1 includes a motor housing 10 , a linear voice coil motor 20 , a rotary servo motor 30 , a motion platform 40 , and an output shaft. 50 , the guide rail 60 , the slider 70 , the linear displacement measuring unit 80 , the rotation angle measuring unit (not shown in the figure), and the motion control module (not shown in the figure). The linear voice coil motor 20 and the rotary servo motor 30 are connected through the motion platform 40 , the guide rail 60 is fixed on the motor housing 10 , the slider 70 is slidably connected with the guide rail 60 and is fixedly connected with the motion platform 40 , and the output shaft 50 adopts a direct drive method to connect with the motion platform 40 . The rotary servo motor 30 is directly connected, the linear voice coil motor 20 drives the motion platform 40 to drive the slider 70, the rotary servo motor 30 and the output shaft 50 to perform linear motion on the guide rail 60, the rotary servo motor 30 drives the output shaft 50 to perform rotary motion, and the linear motion The displacement measuring unit 80 is used to measure the linear motion displacement of the output shaft 50, the rotation angle measuring unit is used to measure the rotational motion angle of the output shaft 50, and the motion control module is respectively connected with the linear displacement measuring unit 80 and the rotational angle measuring unit, and the motion control module The movement of the output shaft 50 is controlled according to the linear motion displacement fed back by the linear displacement measuring unit 80 and the rotational motion angle fed back by the rotational angle measuring unit.

The flat linear rotary motor 1 is a dual-degree-of-freedom motor, which can achieve the goals of small size, light weight, and accurate positioning. The flat linear rotary motor 1 combines the linear voice coil motor 20 and the rotary servo motor 30 through the motion platform 40 to realize the mechanical structure, and at the same time enables the output shaft 50 to complete linear and rotary motion, and uses the linear displacement measurement unit 80 and the rotation angle measurement unit at the same time. The linear motion displacement and rotational motion angle of the output shaft 50 are measured, and feedback signals are collected and transmitted to the motion control module to realize real-time displacement and angle double closed-loop control. This setting method can not only greatly reduce the volume of the motor, simplify the mechanical structure, and save the complex transmission links, but also greatly improve the positioning accuracy of the linear motion and the rotary motion of the motor, which is a high-precision product processing equipment for the linear rotary motor in the industry. The application of multiple motors working side by side in the field provides the possibility.

Further, the output shaft 50 is arranged coaxially with the drive shaft of the rotary servo motor 30, the interior of the output shaft 50 is hollow, the rear end of the output shaft 50 is connected to the trachea channel 90, and the front end of the output shaft 50 is provided with an adsorption component ( (not shown in the figure), ventilation of the tracheal passage 90 makes the inside of the output shaft 50 generate negative pressure and absorbs the load through the adsorption component. Compared with the traditional transmission connection method between the output shaft 50 and the rotary servo motor 30, on the one hand, this arrangement can save the complicated transmission link between the output shaft 50 and the rotary servo motor 30, and improve the positioning accuracy of the output shaft 50 through direct driving. On the other hand, through the linear displacement measuring unit 80, the rotation angle measuring unit and the motion control module, the real-time displacement and angle double closed-loop control of the output shaft 50 can be realized, thereby realizing the precise positioning of the load.

Further, a side wall of the motor housing 10 is provided with a first through opening, a support base 110 is installed on the first through opening, and a through hole for the output shaft 50 to pass through is opened on the support base 110, and the output shaft 50 passes through the support The seat 110 extends out of the motor housing 10 from the first port. This arrangement facilitates the disassembly and installation between the motor housing 10 and the motor main body, wherein the motor main body is the linear voice coil motor 20, the motion platform 40 and the rotary servo The whole is formed by the connection between the motors 30 . A second through port is opened on the other side wall of the motor housing 10 opposite to the side wall, and the air pipe channel 90 is connected to the external air pipe through the second through port. This arrangement can reduce the volume of the motor.

Further, the rotary servo motor 30 can be fixed on the motion platform 40 in any direction and position in a three-dimensional space according to design requirements, and the linear voice coil motor 20 includes a mover 21 fixed on the motion platform 40 and a stator fixed on the motor housing 10 . 22. The mover 21 can be fixed on the motion platform 40 in any direction and position in the three-dimensional space according to the design requirements.

Further, the linear displacement measuring unit 80 includes a linear grating ruler bar 81 mounted on the motion platform 40 and a linear grating ruler reading head 82 fixed on the motor casing 10 through a mounting base 83 , the linear grating ruler reading head 82 and the linear grating ruler are connected. The positions of the bars 81 are relatively set so that the linear scale reading head 82 receives the linear motion displacement fed back by the linear scale bars 81 .

The rotation angle measuring unit includes a code disc grating ruler reading head fixed on the inner surface of the rotary servo motor 30 and a code disc grating ruler bar arranged opposite to the position of the code disc grating ruler reading head, and the code disc grating ruler reading head receives the code disc grating ruler. The rotational motion angle of the bar feedback.

The motor housing 10 is provided with an elastic member 100 for limiting the movement stroke of the movement platform 40 . Preferably, the elastic member 100 is a spring. When the linear voice coil motor 20 drives the motion platform 40 to drive the slider 70 to reset on the guide rail 60 , the elastic member 100 abuts against the motion platform 40 to buffer and prevent the motion platform 40 from falling off and damage to other components.

The above descriptions are only part of the embodiments of the present application, and are not intended to limit the protection scope of the present application. Any equivalent device or equivalent process transformation made by using the contents of the description and drawings of the present application, or directly or indirectly applied to other related The technical field is similarly included in the scope of patent protection of this application.

Claims

1. a flat type linear rotary motor, is characterized in that, comprises:

motor housing;

a guide rail fixed on the motor casing;

2 . The flat linear rotary motor according to claim 1 , wherein the linear voice coil motor comprises a mover fixed on the motion platform and a stator fixed on the motor casing. 3 .

3. The flat linear rotary motor according to claim 1, wherein a linear displacement measuring unit for measuring the linear motion displacement of the output shaft is further provided in the motor housing.

4. The flat linear rotary motor according to claim 3, wherein the linear displacement measuring unit comprises a linear grating ruler installed on the motion platform and a The linear grating ruler reading head, the linear grating ruler reading head and the position of the linear grating ruler bar are arranged opposite to the position, so that the linear grating ruler reading head receives the linear motion displacement fed back by the linear grating ruler bar.

5 . The flat linear rotary motor according to claim 4 , wherein a rotation angle measuring unit for measuring the rotation angle of the output shaft is provided inside the rotary servo motor. 6 .

6. The flat linear rotary motor according to claim 5, characterized in that, the rotation angle measuring unit comprises a code disc grating ruler reading head fixed on the inner surface of the rotary servo motor, and a code disc grating ruler reading head and the code disc grating ruler. The position of the reading head is opposite to the code disc grating ruler bar, and the code disc grating ruler reading head receives the rotational movement angle fed back by the code disc grating ruler bar.

7. The flat linear rotary motor according to claim 6, wherein a motion control module is also provided in the motor housing, and the motion control module is respectively connected with the linear displacement measuring unit and the rotation angle measurement unit. The unit is connected, and the motion control module controls the motion of the output shaft according to the linear motion displacement fed back by the linear displacement measuring unit and the rotational motion angle fed back by the rotational angle measuring unit.

8. The flat linear rotary motor according to claim 1, wherein the motor housing is provided with an elastic member for limiting the movement stroke of the motion platform.

9. The flat linear rotary motor according to claim 1, wherein a first port is opened on a side wall of the motor housing, a support seat is installed on the first port, and the output shaft is Passing through the support base and extending from the first through opening to the outside of the motor housing.

10. The flat linear rotary motor according to claim 9, wherein a second through port is opened on the other side wall opposite to the side wall on the motor housing, and the trachea passage passes through the side wall. The second port is connected to the external trachea.