WO2024000700A1 - 一种直驱系统 - Google Patents

一种直驱系统 Download PDF

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Publication number
WO2024000700A1
WO2024000700A1 PCT/CN2022/106917 CN2022106917W WO2024000700A1 WO 2024000700 A1 WO2024000700 A1 WO 2024000700A1 CN 2022106917 W CN2022106917 W CN 2022106917W WO 2024000700 A1 WO2024000700 A1 WO 2024000700A1
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WO
WIPO (PCT)
Prior art keywords
drive system
direct drive
yoke
stator
primary
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Application number
PCT/CN2022/106917
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English (en)
French (fr)
Inventor
秦彧
史卫领
朱学园
陈敏
Original Assignee
瑞声光电科技(常州)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
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Application filed by 瑞声光电科技(常州)有限公司 filed Critical 瑞声光电科技(常州)有限公司
Priority to US17/915,512 priority Critical patent/US20240213869A1/en
Priority to JP2022560869A priority patent/JP2024526384A/ja
Publication of WO2024000700A1 publication Critical patent/WO2024000700A1/zh

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Classifications

    • 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
    • H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
    • H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
    • 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
    • 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
    • H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors

Definitions

  • the invention belongs to the field of motor drive technology, and specifically relates to a direct drive system.
  • Direct drive refers to direct drive, which is a new type of motor that is directly combined with the motion execution part, that is, the motor directly drives the machine to operate without any intermediate mechanical transmission links.
  • the applications of direct drive include linear motion components with linear motors as the core drive element and rotary motion components with torque motors as the core drive element.
  • the direct drive system reduces mechanical transmission parts, reduces wear, increases equipment life, and saves energy.
  • the direct drive system eliminates mechanical transmission, thereby reducing the failure rate and saving parts and manufacturing costs, thereby reducing the overall cost of the equipment.
  • the direct drive system greatly improves the processing efficiency of the equipment and effectively improves the processing accuracy.
  • the present invention aims to solve at least one of the technical problems existing in the prior art and provide a new technical solution for a direct drive system.
  • a direct drive system including a stator, a primary assembly, a mover, a secondary assembly and a first yoke; the first yoke is provided on one side of the stator, and the primary The component is arranged on the first magnetic yoke; the mover has a first supporting surface and a second supporting surface, and the first supporting surface and the second supporting surface are respectively provided on opposite sides of the stator, and the secondary The component is arranged on the first supporting surface, and the secondary component faces the primary component, and a first gap is formed between the secondary component and the primary component; between the secondary component and the primary component , forming a magnetic field loop between the first magnetic yokes;
  • the side of the stator away from the first yoke faces the second supporting surface, and the second supporting surface is used to support the work surface.
  • the primary assembly includes several primary units, and several primary units are distributed on the first yoke along the extension direction of the first yoke;
  • Each of the primary units includes a coil and an iron core, the iron core is fixed to the first magnetic yoke, and the coil is sleeved on the iron core.
  • the secondary component includes a second yoke and a magnet, an even number of the magnets are provided on the second yoke, and two adjacent magnets have different polarities;
  • the magnetic flux flows into the first magnet through the first magnet, the first iron core, the first yoke, the second iron core, the second magnet, and the second magnet steel to form a magnetic field loop;
  • first magnet and the second magnet are adjacent, and the first iron core and the second iron core are adjacent.
  • the first yoke includes a preset section extending along a circular arc.
  • several primary units are spaced apart in the preset section, and two adjacent primary units form a preset included angle.
  • the direct drive system further includes a base and a support base, the stator is fixed to the support base, and the support base is fixed to the base.
  • the direct drive system also includes a limiting component, which includes a slider and a guide rail;
  • the guide rail is fixed on the base, and the guide rail extends along the direction in which several primary units are distributed; the slider is fixed on the mover, and the slider is installed on the guide rail and can move along the Movement in the direction in which the guide rail extends.
  • the mover is provided with a groove, part of the stator is embedded in the groove, and the inner wall of the groove forms the first supporting surface;
  • the outer side wall of the groove forms the second supporting surface, and the first supporting surface and the second supporting surface are oriented in the same direction.
  • a second gap is formed between an inner wall of the groove opposite to the first supporting surface and the stator.
  • the slide block includes opposing first slide grooves and second slide grooves
  • the guide rail includes first protrusions and second protrusions extending in opposite directions
  • the first protrusion is correspondingly embedded in the first chute, and the second protrusion is correspondingly embedded in the second chute.
  • the mover has a first supporting surface and a second supporting surface.
  • the first supporting surface and the second supporting surface are respectively arranged on opposite sides of the stator.
  • the secondary component is arranged on the first supporting surface and the second supporting surface.
  • the supporting surface is used to support the work surface, so that the secondary assembly and the work surface are located on two sides opposite to the stator.
  • a first yoke is set based on one side of the stator, and the primary component is set on the first yoke; and the secondary component faces the primary component, and the side of the stator away from the first yoke faces the second supporting surface, and on the secondary component,
  • a magnetic field loop is formed between the primary component and the first magnetic yoke.
  • one side of the stator forms a magnetic field loop, and the other side is fixed to the work surface. Then, there is no need to install magnets and other components for forming the magnetic field loop between the stator and the work surface.
  • this direct drive system The structural design is reasonable, and the formation of the magnetic field loop is relatively simple, which facilitates the assembly of various components; on the other hand, during the movement of the mover relative to the stator, damage to the magnet and other components due to the pressure of the work surface is avoided, ensuring This improves the stability and reliability of the direct drive system; thirdly, the first gap is formed between the secondary component and the primary component, which helps ensure the smoothness and stability of the mover being driven relative to the stator. It also helps This prevents damage to the secondary and primary components during the movement, thereby further ensuring the stability and reliability of the direct drive system.
  • FIG. 1 is a schematic structural diagram of a direct drive system according to an embodiment of the present invention.
  • Figure 2 is a schematic structural diagram of a direct drive system from another perspective according to an embodiment of the present invention.
  • Figure 3 is a schematic diagram of the positional relationship between the primary component and the secondary component of a direct drive system according to an embodiment of the present invention
  • Figure 4 is a schematic diagram of a magnetic field loop of a direct drive system according to an embodiment of the present invention.
  • Figure 5 is a schematic structural diagram of the first chute and the second chute of the slider of a direct drive system according to an embodiment of the present invention
  • Figure 6 is a bottom view of the primary component of a direct drive system according to an embodiment of the present invention.
  • Figure 7 is a bottom view of a direct drive system according to an embodiment of the present invention.
  • Figure 8 is a cross-sectional view along line A-A in Figure 7;
  • Figure 9 is a schematic diagram of the connection relationship between the first magnet and the primary unit of a direct drive system according to an embodiment of the present invention.
  • Figure 10 is a schematic structural diagram of a mover and secondary components of a direct drive system according to an embodiment of the present invention.
  • Figure 11 is a schematic diagram of the groove of a mover of a direct drive system according to an embodiment of the present invention.
  • first and second features in the description and claims of this application may include one or more of these features, either explicitly or implicitly.
  • plural means two or more.
  • and/or in the description and claims indicates at least one of the connected objects, and the character “/” generally indicates that the related objects are in an “or” relationship.
  • connection should be understood in a broad sense.
  • connection or integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two components.
  • connection or integral connection
  • connection or integral connection
  • connection can be a mechanical connection or an electrical connection
  • it can be a direct connection or an indirect connection through an intermediate medium
  • it can be an internal connection between two components.
  • specific meanings of the above terms in this application can be understood on a case-by-case basis.
  • the present application provides a direct drive system, which is used to realize that the working platform moves according to a preset trajectory, for example, according to a linear trajectory.
  • a preset trajectory for example, according to a linear trajectory.
  • the moving trajectory of the work platform can also be set according to actual needs, and the moving trajectory can be but is not limited to a linear trajectory.
  • the direct drive system includes a stator 1 , a primary assembly, a mover 3 , a secondary assembly 4 and a first yoke 5 .
  • the stator 1 is a fixed structure
  • the mover 3 is a movable structure
  • the mover 3 moves relative to the stator 1 driven by the direct drive system.
  • a first magnetic yoke 5 is provided on one side of the stator 1, and the primary assembly is provided on the first magnetic yoke 5;
  • the mover 3 has a first supporting surface 31 and a second supporting surface 32, and the first supporting surface 31 and the second supporting surface 32 are arranged on one side of the stator 1.
  • the supporting surfaces 32 are provided on opposite sides of the stator 1
  • the secondary component 4 is provided on the first supporting surface 31, and the secondary component 4 faces the primary component, and a first gap 81 is formed between the secondary component 4 and the primary component;
  • a magnetic field loop 100 is formed between the secondary component 4, the primary component and the first yoke 5.
  • the magnetic field loop 100 is shown in FIGS. 3 and 4 .
  • the side of the stator 1 away from the first yoke 5 faces the second supporting surface 32 .
  • the second supporting surface 32 is used to support the work surface, so that the work surface can move according to a preset trajectory driven by the mover 3 .
  • the mover 3 has a first support surface 31 and a second support surface 32.
  • the first support surface 31 and the second support surface 32 are provided on opposite sides of the stator 1.
  • the secondary assembly 4 is provided on The first supporting surface 31 and the second supporting surface 32 are used to support the work surface, so that the secondary assembly 4 and the work surface are respectively located on two sides opposite to the stator 1 .
  • a first yoke 5 is arranged on one side of the stator 1, and the primary component is arranged on the first yoke 5; and the secondary component 4 faces the primary component, and the side of the stator 1 away from the first yoke 5 faces the second supporting surface 32 , and a magnetic field loop 100 is formed between the secondary component 4, the primary component and the first yoke 5.
  • the magnetic field loop 100 is formed on one side of the stator 1 and the work surface is fixed on the other side. Therefore, there is no need to install magnets 42 and other components for forming the magnetic field loop 100 between the stator 1 and the work surface.
  • the structure design of the direct drive system is reasonable, and the formation method of the magnetic field loop 100 is relatively simple, which facilitates the assembly of various components; on the other hand, during the movement of the mover 3 relative to the stator 1, the pressure on the work surface is avoided.
  • the first gap 81 is formed between the secondary component 4 and the primary component, which helps ensure that the mover 3 is driven relative to
  • the smoothness and stability of the movement of the stator 1 also help to avoid damage to the secondary component 4 and the primary component during the movement, thereby further ensuring the stability and reliability of the direct drive system.
  • the primary assembly includes several primary units 21 , and the several primary units 21 are distributed on the first yoke 5 along the extension direction of the first yoke 5 .
  • Each primary unit 21 includes a coil 211 and an iron core 212.
  • the iron core 212 is fixed on the first magnetic yoke 5, and the coil 211 is sleeved on the iron core 212.
  • the first yoke 5 can be extended according to the moving direction of the mover 3, so that several primary units 21 distributed along the extension direction of the first yoke 5 can better cooperate with the secondary units on the mover 3 to form a
  • the magnetic field loop 100 ensures that the mover 3 can move more smoothly under the interaction of the magnetic field loop 100 and the primary component.
  • the structure of the primary unit 21 and the distribution mode of several primary units 21 are simplified, which optimizes the structure of the direct drive system and also helps to improve the stability of the connection between the primary component and the first yoke 5 .
  • the secondary assembly 4 includes a second yoke 41 and magnets 42.
  • An even number of magnets 42 are provided on the second yoke 41, and the polarities of two adjacent magnets 42 are different.
  • the magnet 42 may be magnetic steel.
  • An even number of magnets 42 is used to ensure that the mover 3 can form a magnetic field loop 100 between the primary component, the secondary component 4 and the first yoke 5 during movement.
  • the magnetic flux flows into the first magnet 42 through the first magnet 42, the first iron core 212, the first yoke 5, the second iron core 212, the second magnet 42, and the second magnet steel in order to form a magnetic field loop 100; wherein, The first magnet 42 and the second magnet 42 are adjacent, and the first iron core 212 and the second iron core 212 are adjacent.
  • the magnetic field loop 100 is located on the side of the stator 1 away from the work surface, and the formation method of the magnetic field loop 100 is relatively reasonable, which reduces the amount of magnets 42, which not only helps save costs, but also facilitates simplification.
  • the structure of the secondary component 4 can also better realize the better movement of the stator 1 under the joint action of the coil 211 and the magnetic field loop 100.
  • the first yoke 5 includes a preset section extending along a circular arc.
  • the first yoke 5 has a preset section extending along a circular arc, and then the plurality of primary units 21 are distributed along the preset sections of the arc row, so that the secondary units on the mover 3 cooperate with the primary units 21, so as to
  • the mover 3 is realized to move along the arc-shaped trajectory, and the mover 3 drives the working platform to move along the arc-shaped trajectory, and the moving method is relatively simple.
  • several primary units 21 are spaced and distributed in preset sections, and two adjacent primary units 21 form a preset included angle.
  • the direct drive system also includes a base 9 and a support base 6.
  • the stator 1 is fixed to the support base 6, and the support base 6 is fixed to the base 9.
  • the support base 6 can better fix the stator 1, and the base 9 helps to stably fix the stator 1 at a preset position.
  • the direct drive system also includes a slider 71 and a guide rail 72;
  • the guide rail 72 is fixed to the base 9 and extends along the direction in which several primary units 21 are distributed; the slider 71 is fixed to the mover 3 and is installed on the guide rail 72 and can move along the direction in which the guide rail 72 extends.
  • the guide rail 72 extends along the direction in which several primary units 21 are distributed, which helps the mover 3 to better cooperate with the primary components during movement, thereby facilitating the realization of the magnetic field loop 100. To drive the mover 3 to move more stably.
  • the guide rail 72 cooperates with the slider 71 to help accurately guide the moving direction of the mover 3, and also helps to reduce the movement resistance, so that the mover 3 can drive the working platform to move accurately and stably along the preset trajectory. of movement.
  • a groove 33 is provided on the mover 3, part of the stator 1 is embedded in the groove 33, and the inner wall of the groove 33 forms the first supporting surface 31;
  • the outer side wall of the groove 33 forms a second supporting surface 32, and the first supporting surface 31 and the second supporting surface 32 are oriented in the same direction.
  • the structural design of the mover 3 is reasonable, which can effectively avoid the installation of magnets 42 such as magnetic steel between the work surface and the stator 1, greatly reducing the amount of magnetic steel, and at the same time, it can also optimize the secondary assembly 4 structure, better reducing costs.
  • a second gap 82 is formed between the inner wall of the groove 33 opposite to the first supporting surface 31 and the stator 1 .
  • the slide block 71 includes opposite first slide grooves 711 and second slide grooves 712 .
  • the guide rail 72 includes a first protrusion 721 and a second protrusion 722 extending in opposite directions;
  • the first protrusion 721 is correspondingly embedded in the first slide groove 711
  • the second protrusion 722 is correspondingly embedded in the second slide groove 712 .
  • first protrusion 721 is correspondingly embedded in the first chute 711 and the second protrusion 722 is correspondingly embedded in the second chute 712, it is not only possible to achieve accurate position limiting of the mover 3 , also helps to ensure the stability of mover 3 during movement.
  • the current direct drive system has magnets between the stator 1 and the work surface, on the one hand, the amount of magnets is increased and the cost is increased; on the other hand, the mover 3 is moving It is extremely easy to damage the magnets, thus reducing the stability of the direct drive system.
  • the technical solution of the present invention can better solve the problems existing in the prior art. It can connect the secondary component 4, the primary component, and the third component without arranging magnets 42 such as magnetic steel between the work surface and the stator 1.
  • a magnetic field loop 100 is formed between a magnetic yoke 5, that is, the magnetic flux flows from the secondary component 4 into the primary component, and then flows back to the secondary component 4, thus forming a loop. Therefore, the direct drive system provided by the embodiment of the present application enables the mover 3 to move according to the preset trajectory, which not only greatly reduces the cost of the direct drive system, but also optimizes the structure of the direct drive system and ensures the stability of the overall direct drive system. Stability and reliability.
  • the primary unit 21 is stably fixed with the first yoke 5 through an assembly tool.
  • the assembly method is relatively simple and helps to quickly achieve the fixation between the primary component and the first magnetic yoke 5 .
  • positioning protrusions 10 are provided at intervals on the surface of the first yoke 5 facing the primary unit 21 , and at least one primary unit 21 is disposed between two adjacent positioning protrusions 10 . time, so that the positioning of the primary unit 21 can be achieved, which helps to quickly and accurately install the primary unit 21 on the first yoke 5 .
  • the direct drive system provided by the present invention has a reasonable structural design, can better protect the primary component and the secondary component 4, and has high stability and reliability.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Linear Motors (AREA)
  • Permanent Magnet Type Synchronous Machine (AREA)

Abstract

本发明提供一种直驱系统，其包括定子、初级组件、动子、次级组件和第一磁轭；所述定子的一侧设置所述第一磁轭，所述初级组件设置于第一磁轭；所述动子具有第一支撑面和第二支撑面，所述第一支撑面和所述第二支撑面分设于所述定子的相对两侧，所述次级组件设置于第一支撑面，且所述次级组件朝向所述初级组件，并在所述次级组件和所述初级组件之间形成第一间隙；在所述次级组件、所述初级组件、所述第一磁轭之间形成磁场环路；所述定子远离所述第一磁轭的一侧朝向所述第二支撑面，所述第二支撑面用于支撑工作台面。该直驱系统结构设计合理，能够较好地保护初级组件和次级组件，稳定性和可靠性较高。

Description

一种直驱系统 技术领域
本发明属于电机驱动技术领域，具体涉及一种直驱系统。
 背景技术
直驱是指直接驱动（Direct Drive），其是新型的电机直接和运动执行部分结合，即电机直接驱动机器运转，没有中间的机械传动环节。直驱的应用包括以直线电机为核心驱动元件的直线运动部件和以力矩电机为核心驱动元件的回转运动元件。
目前的直驱系统具有如下优点：
1、在设备寿命方面，直驱系统减少了机械传动零件，减少了磨损，提高了设备寿命，还节约了能源。
2、直驱系统取消了机械传动，从而降低故障率并能节约零件以及制造成本，进而降低了设备整体的成本。
3、直驱系统大大提升了设备的加工效率，有效地提高了加工精度。
 技术问题
但是，目前的直驱系统同时存在如下缺点：
为了在固定于定子的初级组件和固定于动子的次级组件之间形成磁场环路，使得初级组件的通电线圈与磁场环路相互作用，以驱动动子沿预设轨迹移动，需在由动子支撑的台面和定子之间设置用于产生磁场的磁体，然而，随着动子受到台面的压力并相对于定子移动的过程中，磁体易损坏，从而降价了直驱系统的可靠性。
 技术解决方案
本发明旨在至少解决现有技术中存在的技术问题之一，提供一种直驱系统的新技术方案。
根据本发明的一个方面，提供了一种直驱系统，包括定子、初级组件、动子、次级组件和第一磁轭；所述定子的一侧设置所述第一磁轭，所述初级组件设置于第一磁轭；所述动子具有第一支撑面和第二支撑面，所述第一支撑面和所述第二支撑面分设于所述定子的相对两侧，所述次级组件设置于第一支撑面，且所述次级组件朝向所述初级组件，并在所述次级组件和所述初级组件之间形成第一间隙；在所述次级组件、所述初级组件、所述第一磁轭之间形成磁场环路；
所述定子远离所述第一磁轭的一侧朝向所述第二支撑面，所述第二支撑面用于支撑工作台面。
可选地，所述初级组件包括若干个初级单元，若干个初级单元沿所述第一磁轭的延伸方向分布在所述第一磁轭上；
每个所述初级单元均包括线圈和铁芯，所述铁芯固定于所述第一磁轭，所述线圈套设于所述铁芯。
可选地，所述次级组件包括第二磁轭和磁体，偶数个所述磁体设置于所述第二磁轭，且相邻的两个磁体的极性不同；
磁通量依次通过第一磁体、第一铁芯、第一磁轭、第二铁芯、第二磁体、第二磁钢流入第一磁体，以形成磁场环路；
其中，第一磁体和第二磁体相邻，第一铁芯和第二铁芯相邻。
可选地，所述第一磁轭包括沿圆弧延伸的预设区段。
可选地，若干个初级单元间隔分布于所述预设区段，且相邻的两个初级单元均形成预设夹角。
可选地，直驱系统还包括基座和支撑座，所述定子固定于所述支撑座，所述支撑座固定于所述基座。
可选地，直驱系统还包括限位组件，所述限位组件包括滑块和导轨；
所述导轨固定于所述基座，所述导轨沿若干个所述初级单元分布的方向延伸；所述滑块固定于所述动子，所述滑块安装于所述导轨并可沿所述导轨延伸的方向移动。
可选地，所述动子上设置有凹槽，部分所述定子嵌设于所述凹槽中，所述凹槽的内侧壁形成第一支撑面；
所述凹槽的外侧壁形成所述第二支撑面，所述第一支撑面和所述第二支撑面的朝向相同。
可选地，所述凹槽的与所述第一支撑面相对的内侧壁与所述定子之间形成第二间隙。
可选地，所述滑块包括相对的第一滑槽和第二滑槽，所述导轨包括向相反方向延伸的第一凸起和第二凸起；
所述第一凸起对应嵌设于所述第一滑槽中，所述第二凸起对应嵌设于所述第二滑槽中。
本发明的一个技术效果在于：
本发明的直驱系统中，动子具有第一支撑面和第二支撑面，第一支撑面和第二支撑面分设于定子的相对两侧，次级组件设置于第一支撑面，第二支撑面用于支撑工作台面，从而使得次级组件和工作台面分设与定子相对的两侧。再基于定子的一侧设置第一磁轭，初级组件设置于第一磁轭；且次级组件朝向初级组件，定子远离第一磁轭的一侧朝向第二支撑面，并在次级组件、初级组件、第一磁轭之间形成磁场环路。
 有益效果
由上可见，定子的一侧形成磁场环路，另一侧固定工作台面，那么，在定子与工作台面之间则无需设置磁体等用于形成磁场环路的部件，一方面，该直驱系统的结构设计合理，磁场环路的形成的方式比较简单，便于各个部件的装配；另一方面，在动子相对定子移动的过程中，避免了由于工作台面的压力对磁体等部件的损坏，保证了直驱系统的稳定性和可靠性；第三方面，次级组件和初级组件之间形成第一间隙，有助于保证动子受到驱动相对于定子移动的顺畅性和稳定性，同时也有助于避免移动过程对次级组件和初级组件造成损坏，从而进一步保证了直驱系统的稳定性和可靠性。
 附图说明
[0030] 图1为本发明实施例的一种直驱系统的结构示意图；
图2为本发明实施例的一种直驱系统的另一种视角的结构示意图；
图3为本发明实施例的一种直驱系统的初级组件和次级组件的位置关系示意图；
图4为本发明实施例的一种直驱系统的磁场环路的示意图；
图5为本发明实施例的一种直驱系统的滑块的第一滑槽和第二滑槽的结构示意图；
图6为本发明实施例的一种直驱系统的初级组件的仰视图；
图7为本发明实施例的一种直驱系统的仰视图；
图8为图7中沿A-A线的剖视图；
图9为本发明实施例的一种直驱系统的第一磁钢和初级单元连接关系示意图；
图10为本发明实施例的一种直驱系统的动子和次级组件的结构示意图；
图11为本发明实施例的一种直驱系统的动子的凹槽的示意图。
图中：100、磁场环路；1、定子；21、初级单元；211、线圈；212、铁芯；3、动子；31、第一支撑面；32、第二支撑面；33、凹槽；4、次级组件；41、第二磁轭；42、磁体；5、第一磁轭；6、支撑座；71、滑块；711、第一滑槽；712、第二滑槽；72、导轨；721、第一凸起；722、第二凸起；81、第一间隙；82、第二间隙；9、基座；10、定位凸起。
 本发明的最佳实施方式
现在将参照附图来详细描述本申请的各种示例性实施例。应注意到：除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本申请的范围。
下面将详细描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请的说明书和权利要求书中的术语“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，除非另有说明，“多个”的含义是两个或两个以上。此外，说明书以及权利要求中“和/或”表示所连接对象的至少其中之一，字符“/”，一般表示前后关联对象是一种“或”的关系。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
如图1至图11所示，本申请提供一种直驱系统，其用于实现工作平台按照预设轨迹移动，例如，按照直线轨迹移动。当然，也可以根据实际需要设置工作平台的移动轨迹，移动轨迹可以但不限于直线轨迹。
具体地，参见图1和图2，该直驱系统包括定子1、初级组件、动子3、次级组件4和第一磁轭5。其中，定子1为固定结构，动子3为可移动结构，动子3在直驱系统的驱动下相对于定子1移动。
进一步具体地，定子1的一侧设置第一磁轭5，初级组件设置于第一磁轭5；动子3具有第一支撑面31和第二支撑面32，第一支撑面31和第二支撑面32分设于定子1的相对两侧，次级组件4设置于第一支撑面31，且次级组件4朝向初级组件，并在次级组件4和初级组件之间形成第一间隙81；在次级组件4、初级组件、第一磁轭5之间形成磁场环路100。其中，磁场环路100参见图3和图4。
定子1远离第一磁轭5的一侧朝向第二支撑面32，第二支撑面32用于支撑工作台面，从而实现工作台面在动子3的带动下按照预设轨迹移动。
本发明的直驱系统中，动子3具有第一支撑面31和第二支撑面32，第一支撑面31和第二支撑面32分设于定子1的相对两侧，次级组件4设置于第一支撑面31，第二支撑面32用于支撑工作台面，从而使得次级组件4和工作台面分设与定子1相对的两侧。再基于定子1的一侧设置第一磁轭5，初级组件设置于第一磁轭5；且次级组件4朝向初级组件，定子1远离第一磁轭5的一侧朝向第二支撑面32，并在次级组件4、初级组件、第一磁轭5之间形成磁场环路100。
由上可见，定子1的一侧形成磁场环路100，另一侧固定工作台面，那么，在定子1与工作台面之间则无需设置磁体42等用于形成磁场环路100的部件，一方面，该直驱系统的结构设计合理，磁场环路100的形成的方式比较简单，便于各个部件的装配；另一方面，在动子3相对定子1移动的过程中，避免了由于工作台面的压力对磁体42等部件的损坏，保证了直驱系统的稳定性和可靠性；第三方面，次级组件4和初级组件之间形成第一间隙81，有助于保证动子3受到驱动相对于定子1移动的顺畅性和稳定性，同时也有助于避免移动过程对次级组件4和初级组件造成损坏，从而进一步保证了直驱系统的稳定性和可靠性。
可选地，参见图6和图9，初级组件包括若干个初级单元21，若干个初级单元21沿第一磁轭5的延伸方向分布在第一磁轭5上。
每个初级单元21均包括线圈211和铁芯212，铁芯212固定于第一磁轭5，线圈211套设于铁芯212。
需要说明的是，相邻的初级单元21之间间隔分布。第一磁轭5可以按照动子3移动方向进行延伸，从而使得沿第一磁轭5的延伸方向分布的若干个初级单元21能够较好地与动子3上的次级单元配合，以形成磁场环路100，保证动子3在磁场环路100以及初级组件的相互作用下能够更顺畅的移动。
在上述实施方式中，简化了初级单元21的结构以及若干个初级单元21的分布方式，优化了直驱系统的结构，也有利于提高初级组件与第一磁轭5连接的稳定性。
可选地，参见图10和图11，次级组件4包括第二磁轭41和磁体42，偶数个磁体42设置于第二磁轭41，且相邻的两个磁体42的极性不同。例如，磁体42可以为带有磁性的磁钢。偶数个磁体42以确保动子3在移动的过程中能够在初级组件、次级组件4、第一磁轭5之间形成磁场环路100。
磁通量依次通过第一磁体42、第一铁芯212、第一磁轭5、第二铁芯212、第二磁体42、第二磁钢流入第一磁体42，以形成磁场环路100；其中，第一磁体42和第二磁体42相邻，第一铁芯212和第二铁芯212相邻。
在上述实施方式中，磁场环路100位于定子1的远离工作台面的一侧，且磁场环路100的形成方式比较合理，减少了磁体42的用量，不仅有助于节约成本，也有利于简化次级组件4的结构，同时也能较好地实现定子1在线圈211、磁场环路100的共同作用下更好地移动。
可选地，第一磁轭5包括沿圆弧延伸的预设区段。第一磁轭5具有沿圆弧延伸的预设区段，则多个初级单元21沿圆弧行的预设区段分布，从而动子3上的次级单元与初级单元21相配合，以实现动子3沿圆弧形轨迹移动，较好地实现了动子3带动工作平台沿圆弧形轨迹移动，移动方式较为简单。
可选地，若干个初级单元21间隔分布于预设区段，且相邻的两个初级单元21均形成预设夹角。
在上述实施方式中，有助实现在次级单元、初级单元21以及第一磁钢之间形成稳定的磁场环路100，从而保证动子3带动工作平台沿圆弧形轨迹更加稳定的移动。
可选地，直驱系统还包括基座9和支撑座6，定子1固定于支撑座6，支撑座6固定于基座9。
在上述实施方式中，支撑座6能够较好地固定定子1，而基座9有助于将定子1稳定地固定在预设位置。
可选地，直驱系统还包括，包括滑块71和导轨72；
导轨72固定于基座9，导轨72沿若干个初级单元21分布的方向延伸；滑块71固定于动子3，滑块71安装于导轨72并可沿导轨72延伸的方向移动。
在上述实施方式中，导轨72沿着若干个初级单元21分布的方向延伸，有助于实现动子3在移动的过程中，能够较好地与初级组件配合，从而便于实现磁场环路100，以更稳定地驱动动子3移动。
另外，导轨72与滑块71配合，有助于对动子3的移动方向进行精确地导向，同时也有助于减少移动阻力，从而使得动子3能够带动工作平台沿预设轨迹进行精确且稳定的移动。
可选地，参见图1和图11，动子3上设置有凹槽33，部分定子1嵌设于凹槽33中，凹槽33的内侧壁形成第一支撑面31；
凹槽33的外侧壁形成第二支撑面32，第一支撑面31和第二支撑面32的朝向相同。
在上述实施方式中，动子3的结构设计合理，能够有效地避免在工作台面和定子1之间设置磁钢等磁体42，大大地减少磁钢的用量，同时也能够优化次级组件4的结构，较好地降低了成本。
可选地，凹槽33的与第一支撑面31相对的内侧壁与定子1之间形成第二间隙82。这使得工作台面与定子1之间仅有运动间隙，而工作台面和定子1之间没有磁钢，可靠性更高。同时也有助实现动子3相对定子1能够更加稳定的移动。
可选地，参见图5和图6，滑块71包括相对的第一滑槽711和第二滑槽712。参见图7和图8，导轨72包括向相反方向延伸的第一凸起721和第二凸起722；
第一凸起721对应嵌设于第一滑槽711中，第二凸起722对应嵌设于第二滑槽712中。
在上述实施方式中，由于第一凸起721对应嵌设于第一滑槽711，第二凸起722对应嵌设于第二滑槽712中，不仅能够实现对动子3进行精确的限位，也有助于保证动子3在移动过程中的稳定性。
需要说明的是，由于目前的直驱系统在定子1和工作台面之间设置有磁钢，一方面，增加了磁钢的用量，增加了成本；另一方面，动子3在移动的过程中极易损坏磁钢，从而降低了直驱系统的稳定性。
而本发明的技术方案能够较好地解决现有技术中存在的问题，其能够在工作台面和定子1之间不设置磁钢等磁体42的前提下，在次级组件4、初级组件、第一磁轭5之间形成磁场环路100，即磁通量从次级组件4流入初级组件，再流回次级组件4，从而构成一个回路。因此，本申请实施例提供的直驱系统，使得动子3能够按照预设轨迹移动，不仅大大地降低了直驱系统的成本，而且优化了直驱系统的结构，保证了整体直驱系统的稳定性和可靠性。
在一些实施方式中，初级单元21通过装配工装与第一磁轭5稳定的固定在一起。装配方式比较简单，有助于快速实现初级组件与第一磁轭5之间的固定。
在另一些实施方式中，参见图1，在第一磁轭5的朝向初级单元21的表面上间隔设置有定位凸起10，至少一个初级单元21设置于相邻的两个定位凸起10之间，从而能够实现对初级单元21的定位，有助于将初级单元21快速且精确地安装在第一磁轭5上。
综上，本发明提供的直驱系统结构设计合理，能够较好地保护初级组件和次级组件4，稳定性和可靠性较高。
可以理解的是，以上实施方式仅仅是为了说明本发明的原理而采用的示例性实施方式，然而本发明并不局限于此。对于本领域内的普通技术人员而言，在不脱离本发明的精神和实质的情况下，可以做出各种变型和改进，这些变型和改进也视为本发明的保护范围。
 
 

Claims (10)

  1. 一种直驱系统，其特征在于，包括定子、初级组件、动子、次级组件和第一磁轭；所述定子的一侧设置所述第一磁轭，所述初级组件设置于第一磁轭；所述动子具有第一支撑面和第二支撑面，所述第一支撑面和所述第二支撑面分设于所述定子的相对两侧，所述次级组件设置于第一支撑面，且所述次级组件朝向所述初级组件，并在所述次级组件和所述初级组件之间形成第一间隙；在所述次级组件、所述初级组件、所述第一磁轭之间形成磁场环路；
    所述定子远离所述第一磁轭的一侧朝向所述第二支撑面，所述第二支撑面用于支撑工作台面。
  2. 根据权利要求1所述的直驱系统，其特征在于，所述初级组件包括若干个初级单元，若干个初级单元沿所述第一磁轭的延伸方向分布在所述第一磁轭上；
    每个所述初级单元均包括线圈和铁芯，所述铁芯固定于所述第一磁轭，所述线圈套设于所述铁芯。
  3. 根据权利要求2所述的直驱系统，其特征在于，所述次级组件包括第二磁轭和磁体，偶数个所述磁体设置于所述第二磁轭，且相邻的两个磁体的极性不同；
    磁通量依次通过第一磁体、第一铁芯、第一磁轭、第二铁芯、第二磁体、第二磁钢流入第一磁体，以形成磁场环路；
    其中，第一磁体和第二磁体相邻，第一铁芯和第二铁芯相邻。
  4. 根据权利要求2所述的直驱系统，其特征在于，所述第一磁轭包括沿圆弧延伸的预设区段。
  5. 根据权利要求4所述的直驱系统，其特征在于，若干个初级单元间隔分布于所述预设区段，且相邻的两个初级单元均形成预设夹角。
  6. 根据权利要求1所述的直驱系统，其特征在于，还包括基座和支撑座，所述定子固定于所述支撑座，所述支撑座固定于所述基座。
  7. 根据权利要求6所述的直驱系统，其特征在于，还包括限位组件，所述限位组件包括滑块和导轨；
    所述导轨固定于所述基座，所述导轨沿若干个所述初级单元分布的方向延伸；所述滑块固定于所述动子，所述滑块安装于所述导轨并可沿所述导轨延伸的方向移动。
  8. 根据权利要求7所述的直驱系统，其特征在于，所述动子上设置有凹槽，部分所述定子嵌设于所述凹槽中，所述凹槽的内侧壁形成第一支撑面；
    所述凹槽的外侧壁形成所述第二支撑面，所述第一支撑面和所述第二支撑面的朝向相同。
  9. 根据权利要求8所述的直驱系统，其特征在于，所述凹槽的与所述第一支撑面相对的内侧壁与所述定子之间形成第二间隙。
  10. 根据权利要求7所述的直驱系统，其特征在于，所述滑块包括相对的第一滑槽和第二滑槽，所述导轨包括向相反方向延伸的第一凸起和第二凸起；
    所述第一凸起对应嵌设于所述第一滑槽中，所述第二凸起对应嵌设于所述第二滑槽中。
PCT/CN2022/106917 2022-06-30 2022-07-21 一种直驱系统 WO2024000700A1 (zh)

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