WO2022061972A1 - Moteur rotatif linéaire plat - Google Patents

Moteur rotatif linéaire plat Download PDF

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Publication number
WO2022061972A1
WO2022061972A1 PCT/CN2020/120366 CN2020120366W WO2022061972A1 WO 2022061972 A1 WO2022061972 A1 WO 2022061972A1 CN 2020120366 W CN2020120366 W CN 2020120366W WO 2022061972 A1 WO2022061972 A1 WO 2022061972A1
Authority
WO
WIPO (PCT)
Prior art keywords
linear
motor
output shaft
motion
rotary
Prior art date
Application number
PCT/CN2020/120366
Other languages
English (en)
Chinese (zh)
Inventor
邹宇
朱飞雄
李思阳
Original Assignee
国奥科技(深圳)有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 国奥科技(深圳)有限公司 filed Critical 国奥科技(深圳)有限公司
Publication of WO2022061972A1 publication Critical patent/WO2022061972A1/fr

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby
    • H02K11/22—Optical devices
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H02K41/035—DC motors; Unipolar motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/06—Rolling motors, i.e. motors having the rotor axis parallel to the stator axis and following a circular path as the rotor rolls around the inside or outside of the stator ; Nutating motors, i.e. having the rotor axis parallel to the stator axis inclined with respect to the stator axis and performing a nutational movement as the rotor rolls on the stator
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/20—Structural association with auxiliary dynamo-electric machines, e.g. with electric starter motors or exciters

Definitions

  • the present application relates to the technical field of motors, and in particular, to a flat linear rotating motor.
  • 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.
  • 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.
  • a technical solution adopted in this application is to provide a flat linear rotary motor, including:
  • 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;
  • 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.
  • the linear voice coil motor includes a mover fixed on the motion platform and a stator fixed on the motor housing.
  • a linear displacement measuring unit for measuring the linear movement displacement of the output shaft is further provided in the motor housing.
  • 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.
  • a rotation angle measuring unit for measuring the rotational movement angle of the output shaft is provided inside the rotary servo motor.
  • 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.
  • 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.
  • an elastic member for limiting the movement stroke of the movement platform is provided on the motor housing.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 1 is a schematic structural diagram of a flat linear rotating electrical machine according to an embodiment of the present application.
  • 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.
  • "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.
  • the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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 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 motor housing 10 is provided with an elastic member 100 for limiting the movement stroke of the movement platform 40 .
  • the elastic member 100 is a spring.
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electromagnetism (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Linear Motors (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

L'invention concerne un moteur rotatif linéaire plat (1), ledit moteur rotatif linéaire plat (1) comprenant : un carter de moteur (10). Un moteur à bobine acoustique linéaire (20), un servomoteur rotatif (30) et une plate-forme de déplacement (40) sont disposés dans le carter de moteur (10), le moteur à bobine acoustique linéaire (20) et le servomoteur rotatif (30) étant reliés au moyen de la plate-forme de déplacement (40). Un arbre de sortie (50) fixé sur le servomoteur rotatif (30) et un arbre d'entraînement du servomoteur rotatif (30) sont disposés coaxialement, l'arbre de sortie (50) est creux à l'intérieur, l'extrémité arrière de l'arbre de sortie (50) est reliée à un canal de conduit d'air (90), et l'extrémité avant de l'arbre de sortie (50) est pourvue d'un ensemble d'aspiration destiné à aspirer une charge. Un rail de guidage (60) est fixé sur le carter de moteur (10). Un bloc coulissant (70) est relié de manière coulissante au rail de guidage (60) et est relié de manière fixe à la plate-forme de déplacement (40). Le moteur à bobine acoustique linéaire (20) entraîne la plate-forme de déplacement (40) pour amener le bloc coulissant (70), le servomoteur rotatif (30) et l'arbre de sortie (50) à se déplacer linéairement sur le rail de guidage (60), et le servomoteur rotatif (30) entraîne l'arbre de sortie (50) en rotation. La présente solution réduit le volume du moteur, simplifie la structure mécanique, élimine des liaisons de transmission compliquées, et améliore la précision de positionnement de déplacement.
PCT/CN2020/120366 2020-09-27 2020-10-12 Moteur rotatif linéaire plat WO2022061972A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202011033544.X 2020-09-27
CN202011033544.XA CN114285225A (zh) 2020-09-27 2020-09-27 一种扁平式直线旋转电机

Publications (1)

Publication Number Publication Date
WO2022061972A1 true WO2022061972A1 (fr) 2022-03-31

Family

ID=80844726

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/120366 WO2022061972A1 (fr) 2020-09-27 2020-10-12 Moteur rotatif linéaire plat

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Country Link
CN (1) CN114285225A (fr)
WO (1) WO2022061972A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116526750A (zh) * 2023-07-05 2023-08-01 国奥科技(深圳)有限公司 一种精准定位的直线旋转电机

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CN2762970Y (zh) * 2004-11-04 2006-03-08 大连理工大学 一种传输机器人
CN201830127U (zh) * 2010-10-29 2011-05-11 重庆库捷雅机电技术有限公司 高频直线旋转电机
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Publication number Priority date Publication date Assignee Title
CN2762970Y (zh) * 2004-11-04 2006-03-08 大连理工大学 一种传输机器人
CN201830127U (zh) * 2010-10-29 2011-05-11 重庆库捷雅机电技术有限公司 高频直线旋转电机
CN103427588A (zh) * 2012-05-18 2013-12-04 贾莉莉 直线旋转双自由度伺服电机
CN104723345A (zh) * 2015-03-19 2015-06-24 北京工业大学 一种应用于晶圆传输机器人的可翻转末端组件
KR20160138783A (ko) * 2015-05-26 2016-12-06 주식회사 져스텍 회전 모터 구비한 리니어 스테이지
CN109904991A (zh) * 2019-03-07 2019-06-18 国奥科技(深圳)有限公司 直线旋转电机及其位移和旋转角度测量方法
CN111113471A (zh) * 2020-01-15 2020-05-08 博众精工科技股份有限公司 一种转动吸附结构

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