Linear rotary motor

Abstract

The present invention provides a linear rotary motor, comprising: a support frame, the support frame including a bottom plate and a first mounting portion, the plane where the bottom plate is located is perpendicular to the plane where the first mounting portion is located, and the first mounting portion is provided with a first through hole and a second through hole along the length direction of the bottom plate; a motion mechanism, the motion mechanism penetrates through the first through hole and is movably mounted on the bottom plate through a connection assembly; an integrated motor, the integrated motor sequentially includes an output shaft, an inner stator, an outer mover, and an outer stator from inside to outside, the outer mover drives the motion mechanism to perform a linear motion parallel to the output shaft, drives the output shaft to perform a linear motion, and at the same time, the output shaft, as a rotary motion mover, is affected by the inner stator to perform a rotary motion. By integrating linear and rotary motion components into one, the structure of the linear rotary motor of the present invention is more compact, and the space utilization rate is maximized.

Description

Technical Field

[0001] The present invention relates to the field of motors, and particularly to a linear rotary motor. Background Art

[0002] Linear rotary motors can realize linear and rotary motions and are widely used in industrial production. However, most existing linear rotary motors adopt a split layout. The split linear rotary motor combines a linear motor and a rotary motor through a mechanical structure to simultaneously complete linear and rotary motions in a transmission manner. Its internal structure is complex, the volume is large, the mechanical transmission leads to low positioning accuracy and slow dynamic response. Essentially composed of two motors, this layout of the motor has a large load and is more difficult to control the positioning accuracy. Most existing integrated composite linear rotary motors also directly perform linear and rotary motions simultaneously by the mover, resulting in low positioning accuracy or a large volume due to an unreasonable layout.

[0003] In view of this, there is an urgent need in the art for a new linear rotary motor to solve the above problems, simplify the structural layout of the linear rotary motor, and improve the control accuracy of the linear rotary motor. Summary of the Invention

[0004] Based on this, the present invention provides a linear rotary motor to achieve a more concise motor structure and improve the control accuracy of the linear rotary motor.

[0005] To achieve the above object, the present invention provides a linear rotary motor, which includes:

[0006] A support frame, the support frame includes a bottom plate and a first mounting portion. The plane where the bottom plate is located is perpendicular to the plane where the first mounting portion is located. The first mounting portion is provided with a first through hole and a second through hole along the length direction of the bottom plate;

[0007] A motion mechanism, the motion mechanism penetrates through the first through hole and is movably mounted on the bottom plate through a connecting component;

[0008] An integrated motor, the integrated motor sequentially includes an output shaft, an inner stator, an outer mover, and an outer stator from inside to outside. The output shaft, the inner stator, the outer mover, and the outer stator are coaxial. One end of the outer stator close to the second through hole is fixedly connected to the first mounting portion. The outer mover is fixedly connected to the motion mechanism. One end of the inner stator close to the second through hole is fixedly connected to the first mounting portion. The output shaft penetrates through the second through hole. When the integrated motor works, the outer mover drives the motion mechanism to perform a linear motion parallel to the output shaft, drives the output shaft to perform a linear motion, and at the same time, the output shaft, as a rotary motion mover, is affected by the inner stator to perform a rotary motion.

[0009] Preferably, the bottom plate includes a second mounting portion, the connecting assembly includes a guide rail fixed on the second mounting portion and a slider fixedly connected to the moving mechanism, the slider is sleeved on the guide rail, and the slider can slide along a straight line parallel to the output shaft on the guide rail.

[0010] Preferably, a first permanent magnet is attached to the inner surface of the outer stator, a first coil winding is provided on the outer mover, and there is an air gap between the first coil winding and the first permanent magnet; a second coil winding is provided on the inner surface of the inner stator, and a second permanent magnet is attached to the output shaft, and there is an air gap between the second coil winding and the second permanent magnet.

[0011] Preferably, the first permanent magnet is an annular permanent magnet, and the second permanent magnet is a tile-shaped permanent magnet.

[0012] Preferably, side plates are provided at both ends of the moving mechanism, and a third through hole and a fourth through hole are respectively provided on the side plates corresponding to the output shaft, and the end and the tail of the output shaft respectively penetrate through the third through hole and the fourth through hole.

[0013] Preferably, the linear rotary motor further includes a first bearing, a second bearing and a third bearing. The first bearing, the second bearing and the third bearing are coaxial. The first bearing and the second bearing are arranged side by side in the third through hole, the third bearing is arranged in the fourth through hole, and the first bearing, the second bearing and the third bearing are sleeved on the output shaft.

[0014] Preferably, the linear rotary motor further includes a bearing cover. The bearing cover is fixedly installed on the third through hole. The inner wall of the bearing cover is fixedly connected to the first bearing and the second bearing. The bearing cover is provided with a fifth through hole corresponding to the output shaft, and the end of the output shaft passes through the fifth through hole.

[0015] Preferably, the linear rotary motor further includes a linear displacement measuring unit. The linear displacement measuring unit includes: a linear grating scale bar, a linear grating scale reading head and a linear grating scale reading head base. The linear grating scale reading head base is fixedly installed on the side of the moving mechanism. The linear grating scale reading head is fixedly installed on the linear grating scale reading head base. The linear grating scale is fixedly installed on the bottom plate. The linear grating scale reading head is arranged opposite to the linear grating scale bar to receive the linear displacement feedback by the linear grating scale bar.

[0016] Preferably, the linear rotary motor further includes a rotation angle measurement unit, which includes: a code disk grating scale, a disk code grating scale base, a code disk grating scale reading head, and a disk code grating scale reading head base. The disk code grating scale base is fixedly installed at the tail of the output shaft, the disk code grating scale is fixedly installed on the disk code grating scale base, the disk code grating scale reading head is fixedly installed on the moving mechanism through the disk code grating scale reading head base, and the code disk grating scale reading head is disposed opposite to the code disk grating scale bar to receive the rotation angle fed back by the code disk grating scale bar.

[0017] Preferably, the linear rotary motor includes a motion control module, which is electrically connected to the linear displacement measurement unit and the rotation angle measurement unit respectively, and is configured to receive the measurement results of the linear displacement measurement unit and the rotation angle measurement unit and calculate the position information of the output shaft.

[0018] The beneficial effects of the present invention are as follows: A linear rotary motor is provided. Through the composite structure scheme of a rotary motor and a linear motor, the linear and rotary moving components are integrated into an integrated rotary motor, which is arranged inside the linear motor. The output shaft directly serves as the mover of the rotary motor for rotary motion. Furthermore, the internal structure of the linear rotary motor is improved, making the motor structure more compact and concise, reducing the weight and volume of the motor, having a smaller linear load, a faster dynamic response, and an improved accuracy compared with the traditional linear rotary motor. Description of the Drawings

[0019] Figure 1 is a three-dimensional assembly structure schematic diagram of the linear rotary motor according to an embodiment of the present invention;

[0020] Figure 2 is a front view of the linear rotary motor according to an embodiment of the present invention;

[0021] Figure 3 is Figure 2 a cross-sectional view taken along the A-A direction;

[0022] Figure 4 is a schematic diagram of the support frame structure of the linear rotary motor according to an embodiment of the present invention;

[0023] Figure 5 is a schematic diagram of the moving mechanism structure of the linear rotary motor according to an embodiment of the present invention. Detailed Embodiments

[0024] To facilitate the understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0025] Any embodiment described in this article is not necessarily understood to be preferred or advantageous relative to other embodiments. All embodiments described below are exemplary embodiments, which are provided to enable those skilled in the art to make and use embodiments of the present invention and are not expected to limit the scope of the present invention, which is defined by the claims. In other embodiments, well-known features and methods are described in detail so as not to confuse the present invention. For the purposes described herein, the terms "upper", "lower", "left", "right", "front", "back" and their derivatives are not intended to be subject to any express or implied theoretical limitations given in the foregoing technical field, background technology, content of the invention or the detailed description below. The terms "first", "second" and "third" of the present invention are used to distinguish different objects, rather than to describe a specific order. When an element is referred to as "fixed to" another element, it can be directly on another element or there can also be a centered element. When an element is considered to be "connected" to another element, it can be directly connected to another element or there may be a centered element at the same time. It should also be understood that the specific devices and processes shown in the drawings and described in the following description are simple exemplary embodiments of the inventive concept defined in the appended claims. Hence, specific dimensions and other physical characteristics relating to the embodiments disclosed herein are not to be considered as limiting, unless the claims expressly state otherwise.

[0026] Please refer to Figures 1 to 5 The linear rotary motor of the embodiment of the present invention includes: a support frame 10, a motion mechanism 20, an integrated motor 30, a connecting component 40, a linear displacement measuring unit 60, and a rotation angle measuring unit 70.

[0027] Please refer to Figure 4 The support frame 10 of the linear rotary motor of the embodiment of the present invention is used to support various components of the linear rotary motor. The support frame 10 includes a base plate 11 and a first mounting portion 12. The base plate 11 is horizontally arranged, and the plane where the base plate 11 is located is perpendicular to the plane where the first mounting portion 12 is located. The support frame 10 structure is T-shaped. The first mounting portion 12 is provided with a first through hole 121 and a second through hole 122 from bottom to top along the length direction of the base plate 11. Optionally, the first through hole 121 is a square through hole, and the second through hole 122 is a circular through hole. Please refer to Figure 1 and Figure 3, the motion mechanism 20 is disposed through the first through hole 121 and is movably mounted on the bottom plate 11 through the connecting component 40. The connecting component 40 includes a guide rail 41 and a slider 42. The guide rail 41 is fixed on the second mounting portion 111 of the bottom plate 11 through corresponding positioning screws. The slider 42 is fixedly mounted on the motion mechanism 20 through four positioning screws. The slider 42 is sleeved on the guide rail 41, so that the slider 42 can perform a linear sliding parallel to the length direction of the output shaft 34 along the guide rail 41. The settings of the guide rail 41 and the slider 42 can further prevent the motor from deviating from the normal motion trajectory and improve the accuracy of the linear rotary motor.

[0028] The integrated motor 30 is cylindrical and sequentially includes an output shaft 34, an inner stator 33, an outer mover 32, and an outer stator 31 from inside to outside; the output shaft 34, the inner stator 33, the outer mover 32, and the outer stator 31 are coaxial, and the inner stator 33, the outer mover 32, and the outer stator 31 are cylindrical. The outer stator 31 and the outer mover 32 are used to implement the linear motion function of the linear rotary motor in the embodiment of the present invention, and adopt a moving coil type motion mode. The outer stator 31 is an iron ring, and a first permanent magnet 35 is adhered to the inner surface of the outer stator 31 with glue, wherein the first permanent magnet 35 is an annular permanent magnet; a first coil winding is provided on the outer mover 32, and there is an air gap between the first permanent magnet 35 and the first coil winding. When energized, the first coil winding on the outer mover 32 is subjected to a magnetic force and performs a left-right reciprocating motion parallel to the length direction of the output shaft 34. The inner stator 33 and the output shaft 34 are used to implement the rotary motion function of the embodiment of the present invention, and adopt a fixed coil type motion mode. The inner surface of the inner stator 33 is provided with a structure for providing a mounting coil winding, and a second coil winding is provided on the inner surface of the inner stator 33. A second permanent magnet 36 is adhered to the outer surface of the output shaft 34 with glue, wherein the second permanent magnet 36 is a tile-shaped permanent magnet. Eight tile-shaped permanent magnets form a single-layer annular magnet array around the output shaft 34, and there are three groups of the same magnet arrays arranged in parallel along the length direction of the output shaft 34. There is an air gap between the second permanent magnet 36 and the second coil winding. When energized, the second permanent magnet 36 on the output shaft 34 is subjected to an electromagnetic force and performs a rotary motion with the output shaft 34 as the axis. The linear rotary motor in the embodiment of the present invention combines a linear motor and a rotary motor together to form an integrated composite motor, and the output shaft 34 directly serves as the mover of the rotary motion to perform rotary motion. At the same time, a double-mover and double-stator structure is achieved, which simplifies the structure of the linear rotary motor and improves its accuracy at the same time.

[0029] Further, one end of the outer stator 31 close to the second through hole 122 is fixedly connected to the first mounting portion 12 by screws. The outer rotor 32 is fixedly connected to the motion mechanism 20 by six positioning screws. One end of the inner stator 33 close to the second through hole 122 is fixedly connected to the first mounting portion 12 by screws. The output shaft 34 penetrates through the second through hole 122. When the integrated motor 30 operates, the outer rotor 32 drives the motion mechanism 20 to perform a linear motion parallel to the output shaft 34, driving the output shaft 34 to perform a linear motion. At the same time, the output shaft 34, as a rotary motion rotor, is subjected to the action of the inner stator 33 to perform a rotary motion.

[0030] Further, side plates are respectively provided at both ends of the motion mechanism 20. Third through holes 21 and fourth through holes 22 corresponding to the output shaft 34 are respectively provided on the side plates. The end and the tail of the output shaft 34 respectively penetrate through the third through hole 21 and the fourth through hole 22. The linear rotary motor according to an embodiment of the present invention further includes a first bearing 51, a second bearing 52, and a third bearing 53. The first bearing 51, the second bearing 52, and the third bearing 53 are coaxial. The first bearing 51 and the second bearing 52 are arranged in parallel in the third through hole 21, and the third bearing 53 is arranged in the fourth through hole 22. The first bearing 51, the second bearing 52, and the third bearing 53 are sleeved on the output shaft 34. The bearing cover 54 is fixedly installed on the third through hole 21 by six positioning screws. The inner wall of the bearing cover 54 is fixedly connected to the first bearing 51 and the second bearing 52. The bearing cover 54 is provided with a fifth through hole corresponding to the output shaft 34. The end of the output shaft 34 passes through the fifth through hole. The end of the output shaft 34 is tightly fitted and fixed by the inner wall of the bearing cover 54 and the first bearing 51 and the second bearing 52, and the third bearing 53 fixes the tail of the output shaft 34, further restricting the output shaft 34 from performing a rotary motion and improving the precision of the linear rotary motor.

[0031] Specifically, the linear rotary motor according to an embodiment of the present invention further includes a linear displacement measuring unit 60 for measuring the linear motion displacement of the linear rotary motor. The linear displacement measuring unit 60 includes: a linear grating scale bar 61, a linear grating scale reading head 62, and a linear grating scale reading head base 63. Among them, the linear grating scale reading head base 63 is fixedly installed on the side of the motion mechanism 20, the linear grating scale reading head 62 is fixedly installed on the linear grating scale reading head base 63, the linear grating scale 61 is fixedly installed on the bottom plate 11, and the linear grating scale reading head 62 is disposed opposite to the linear grating scale bar 61 to receive the linear displacement fed back by the linear grating scale bar 61.

[0032] Specifically, the linear rotary motor according to an embodiment of the present invention further includes a rotation angle measurement unit 70 for measuring the rotation angle of the linear rotary motor. The rotation angle measurement unit 70 includes: a code disk grating scale 71, a disk code grating scale base 72, a code disk grating scale reading head 73, and a disk code grating scale reading head base 74. The disk code grating scale base 72 is fixedly installed at the tail of the output shaft 34, the disk code grating scale 71 is fixedly installed on the disk code grating scale base 72, and the code disk grating scale reading head 73 is fixedly installed on the moving mechanism 20 through the disk code grating scale reading head base 74. The code disk grating scale reading head 73 is disposed opposite to the code disk grating scale 71 to receive the rotation angle fed back by the code disk grating scale 71.

[0033] Specifically, the linear rotary motor according to an embodiment of the present invention includes a motion control module (not shown in the figure). The motion control module is electrically connected to the linear displacement measurement unit 60 and the rotation angle measurement unit 70 respectively, and is configured to receive the measurement results of the linear displacement measurement unit 60 and the rotation angle measurement unit 70 and calculate the position information of the output shaft 34. Through the settings of the linear displacement measurement unit 60 and the rotation angle measurement unit 70, the motion trajectory of the linear rotary motor is monitored in real time, and the accuracy of the linear rotary motor is improved.

[0034] The working principle of the linear rotary motor according to an embodiment of the present invention is as follows: When powered on, the outer mover 32 drives the moving mechanism 20 to perform a linear motion parallel to the length direction of the output shaft 34 along the guide rail, driving the output shaft 34 and the linear grating scale reading head 62, the linear grating scale reading head base 63, the code disk grating scale reading head 73, and the disk code grating scale reading head base 74 fixed on the moving mechanism 20 to perform a reciprocating linear motion; at the same time, the output shaft 34, as a rotary motion mover, is affected by the inner stator 33 to perform a rotary motion, driving the code disk grating scale 71 and the disk code grating scale base 72 to perform a rotary motion. The linear displacement measurement unit 60 measures the displacement of the linear motion of the output shaft 34, the rotation angle measurement unit 70 measures the angle of the rotary motion of the output shaft 34, and the motion control module collects the measurement results of the linear displacement measurement unit 60 and the rotation angle measurement unit 70 and calculates the position information of the output shaft 34.

[0035] The linear rotary motor of the present invention adopts a composite structure solution of a rotary motor and a linear motor, integrating linear and rotary motion components into an integrated rotary motor disposed inside the linear motor. The output shaft directly serves as the mover of the rotary motor to perform a rotary motion, and further improves the internal structure of the linear rotary motor, making the motor structure more compact and concise, reducing the weight and volume of the motor, having a smaller linear load, a faster dynamic response, and an improved accuracy compared with traditional linear rotary motors.

[0036] The above embodiments merely represent the preferred embodiments of the present invention. The description thereof is relatively specific and detailed, but it should not be construed as a limitation to the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications can still be made, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. A linear rotary motor, characterized in that, The linear rotary motor includes: A support frame, which includes a bottom plate and a first mounting portion. The plane where the bottom plate is located is perpendicular to the plane where the first mounting portion is located. The first mounting portion is provided with a first through hole and a second through hole along the length direction of the bottom plate; A motion mechanism, which penetrates through the first through hole and is movably mounted on the bottom plate through a connection assembly; An integrated motor, which sequentially includes an output shaft, an inner stator, an outer mover, and an outer stator from inside to outside. The output shaft, the inner stator, the outer mover, and the outer stator are coaxial. One end of the outer stator close to the second through hole is fixedly connected to the first mounting portion. The outer mover is fixedly connected to the motion mechanism. One end of the inner stator close to the second through hole is fixedly connected to the first mounting portion. The output shaft penetrates through the second through hole. When the integrated motor works, the outer mover drives the motion mechanism to perform a linear motion parallel to the output shaft, driving the output shaft to perform a linear motion. At the same time, the output shaft, as a rotary motion mover, is affected by the inner stator to perform a rotary motion.

2. The linear rotary motor according to claim 1, wherein The bottom plate includes a second mounting portion. The connection assembly includes a guide rail fixed on the second mounting portion and a slider fixedly connected to the motion mechanism. The slider is sleeved on the guide rail, and the slider can slide linearly along the guide rail parallel to the output shaft.

3. The linear rotary motor according to claim 1, characterized in that A first permanent magnet is attached to the inner surface of the outer stator. A first coil winding is provided on the outer mover, and there is an air gap between the first coil winding and the first permanent magnet; A second coil winding is provided on the inner surface of the inner stator, and a second permanent magnet is attached to the output shaft, and there is an air gap between the second coil winding and the second permanent magnet.

4. The linear rotary motor according to claim 3, wherein The first permanent magnet is an annular permanent magnet, and the second permanent magnet is a tile-shaped permanent magnet.

5. The linear rotary motor according to claim 1, characterized in that, Side plates are provided at both ends of the motion mechanism. Third through holes and fourth through holes corresponding to the output shaft are respectively provided on the side plates. The end and the tail of the output shaft respectively penetrate through the third through hole and the fourth through hole.

6. The linear rotary motor according to claim 5, wherein The linear rotary motor further includes a first bearing, a second bearing, and a third bearing. The first bearing, the second bearing, and the third bearing are coaxial. The first bearing and the second bearing are arranged side by side in the third through hole, and the third bearing is arranged in the fourth through hole. The first bearing, the second bearing, and the third bearing are sleeved on the output shaft.

7. The linear rotary motor according to claim 6, wherein, The linear rotary motor further includes a bearing cover, which is fixedly installed on the third through hole. The inner wall of the bearing cover is fixedly connected to the first bearing and the second bearing. The bearing cover is provided with a fifth through hole corresponding to the output shaft, and the end of the output shaft passes through the fifth through hole.

8. The linear rotary motor according to claim 1, wherein The linear rotary motor further includes a linear displacement measurement unit, which includes: a linear grating scale bar, a linear grating scale reading head, and a base for the linear grating scale reading head. The base for the linear grating scale reading head is fixedly installed on the side of the moving mechanism. The linear grating scale reading head is fixedly installed on the base for the linear grating scale reading head. The linear grating scale is fixedly installed on the bottom plate. The linear grating scale reading head is arranged opposite to the linear grating scale bar to receive the linear displacement feedback by the linear grating scale bar.

9. The linear rotary motor according to claim 1, wherein The linear rotary motor further includes a rotational angle measurement unit, which includes: a code disk grating scale, a base for the code disk grating scale, a code disk grating scale reading head, and a base for the code disk grating scale reading head. The base for the code disk grating scale is fixedly installed at the tail of the output shaft. The code disk grating scale is fixedly installed on the base for the code disk grating scale. The code disk grating scale reading head is fixedly installed on the moving mechanism through the base for the code disk grating scale reading head. The code disk grating scale reading head is arranged opposite to the code disk grating scale to receive the rotational angle feedback by the code disk grating scale.

10. The linear rotary motor according to claim 8 or 9, characterized in that, The linear rotary motor includes a motion control module, which is electrically connected to the linear displacement measurement unit and the rotational angle measurement unit respectively, and is configured to receive the measurement results of the linear displacement measurement unit and the rotational angle measurement unit and calculate the position information of the output shaft.

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