ZR motor device and robot

Abstract

The invention discloses a ZR motor device and a robot, the ZR motor device comprises a shell, a linear motor module and a rotary motor module, and the shell comprises a containing cavity; the linear motor module comprises a first stator assembly, a second stator assembly and a mover assembly, the mover assembly is located between the first stator assembly and the second stator assembly, each of the first stator assembly and the second stator assembly comprises a magnet and a stator substrate, and the stator substrates are parts of the shell; the rotating motor module is arranged in the containing cavity and comprises a rotating motor and a mandrel, the mandrel is connected to the rotating motor, the rotating motor drives the mandrel to rotate, the rotating motor module is connected to the rotor assembly, and the rotor assembly drives the rotating motor module to reciprocate in the direction of the mandrel. The ZR motor device provided by the invention has the advantages of compact structure, safety, stability, simple process, material saving, good performance and the like.

Description

Technical Field

[0001] The present application relates to the technical field of industrial robots, and in particular to a ZR motor device and a robot. Background Art

[0002] With the rapid development of robotics technology, ZR motor devices, with their compact structure and good performance, have gradually emerged in the automated production lines of the semiconductor, battery, photovoltaic and other industries, becoming an indispensable key component in robots (electromechanical equipment) in the fields of workpiece movement, alignment detection, precision machining and precision assembly.

[0003] As the demand for robots in industrial and commercial scenarios such as manufacturing, catering services, etc. becomes increasingly diversified, how to make the ZR motor device more compact, run more safely and stably, and make the whole machine lighter so as to adapt to more diverse scenarios and environments and meet user needs has become an urgent problem to be solved. Summary of the invention

[0004] In view of this, the present application proposes a ZR motor device and a robot, which have the advantages of compact structure, safety and stability, simple process, material saving, and good performance.

[0005] In one aspect, the present application provides a ZR motor device, comprising:

[0006] A housing, wherein the housing comprises a receiving cavity;

[0007] A linear motor module, the linear motor module comprising a first stator assembly, a second stator assembly and a mover assembly, the mover assembly being located between the first stator assembly and the second stator assembly, the first stator assembly and the second stator assembly both comprising a magnet and a stator substrate, wherein the stator substrate is part of the housing;

[0008] A rotating motor module is arranged in the accommodating cavity, the rotating motor module includes a rotating motor and a core shaft, the core shaft is connected to the rotating motor, the rotating motor drives the core shaft to rotate, the rotating motor module is connected to the mover assembly, and the mover assembly drives the rotating motor module to reciprocate along the direction of the core shaft.

[0009] On the other hand, the present application provides a robot, comprising a ZR motor device as in any embodiment of the present application.

[0010] The ZR motor device proposed in the present application includes: a housing, a linear motor module and a rotary motor module, the housing includes a accommodating cavity; the linear motor module includes a first stator assembly, a second stator assembly and a mover assembly, the mover assembly is located between the first stator assembly and the second stator assembly, the first stator assembly and the second stator assembly both include a magnet and a stator substrate, wherein the stator substrate is part of the housing; the rotary motor module is arranged in the accommodating cavity, the rotary motor module includes a rotary motor and a core shaft, the core shaft is connected to the rotary motor, the rotary motor drives the core shaft to rotate, the rotary motor module is connected to the mover assembly, and the mover assembly drives the rotary motor module to reciprocate along the direction of the core shaft. By integrating the stator substrate as part of the shell, the thickness of the ZR motor device can be reduced, and the versatility of the ZR motor device can be improved through miniaturization of the equipment. It can be installed in a box device with limited volume to meet various process requirements and production environment requirements, while saving material and process costs. The safety of the linear motor is further enhanced through the structural strength of the shell itself, preventing the linear motor from being deformed due to the magnetic force of the magnet, accidental collision, load overload and other forces due to long-term use, thereby improving the safety of the linear motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained like these drawings without paying any creative work.

[0012] Figure 1 This is a schematic diagram of the structure of a ZR motor device in one embodiment of the present application;

[0013] Figure 2 This is a schematic diagram of the structure of partial components of a ZR motor device in one embodiment of the present application;

[0014] Figure 3 This is an exploded schematic diagram of a ZR motor device in one embodiment of the present application;

[0015] Figure 4 This is a schematic diagram of the structure of partial components of a ZR motor device in one embodiment of the present application;

[0016] Figure 5 This is a schematic cross-sectional structural diagram of a frame in one embodiment of the present application;

[0017] Figure 6 It is a schematic diagram of the cross-sectional structure of the core shaft in one embodiment of the present application.

[0018] Description of reference numerals:

[0019] 100, ZR motor device; 10, housing; 11, first housing; 12, second housing; 13, accommodating cavity; 14, hollow area; 15, array slot; 16, stroke opening; 17, support portion; 20, linear motor module; 21, first stator assembly; 22, second stator assembly; 23, mover assembly; 231, mover body; 232, mover coil frame; 24, magnet; 25, stator substrate; 26, support bar; 30. Rotating motor module; 31. Rotating motor; 32. Mandrel; 321. First end of mandrel; 322. Second end of mandrel; 323. Executing air port; 324. Control air port; 325. Connecting air duct; 326. Coupling; 327. Sealed bearing; 40. Frame; 41. Sealing chamber; 50. Anti-collision rubber; 60. Pneumatic pipe module; 61. Joint; 62. Air pipe; 621. Fixed section; 622. Elastic section. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0021] It should be understood that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0022] It should also be understood that when an element is referred to as being "fixed" or "disposed on" another element, it can be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or it can be indirectly connected to the other element through an intermediate element.

[0023] The terms used in this specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. For example, the descriptions of "first", "second", etc. in the present application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0024] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0025] See also Figure 1 and Figure 2 ,like Figure 1 and Figure 2 As shown, the embodiment of the present application proposes a ZR motor device 100 , which may include a housing 10 , a linear motor module 20 and a rotary motor module 30 .

[0026] The housing 10 may include a receiving cavity 13 . Furthermore, a cavity wall of the receiving cavity 13 may be provided with an array of slots 15 , and the array of slots 15 may be used to dissipate heat in the receiving cavity 13 .

[0027] The linear motor module 20 may include a first stator assembly 21, a second stator assembly 22 and a mover assembly 23, wherein the mover assembly 23 may be located between the first stator assembly 21 and the second stator assembly 22, and the first stator assembly 21 and the second stator assembly 22 may both include a magnet 24 and a stator substrate 25, wherein the stator substrate 25 may be part of the housing 10.

[0028] Specifically, the magnets 24 may be disposed on the stator substrate 25 of the first stator assembly 21 and the stator substrate 25 of the second stator assembly 22 correspondingly.

[0029] In some embodiments, the shell 10 can be provided with a stroke opening 16, and the movable subassembly 23 can be inserted into the above-mentioned stroke opening 16 and reciprocate smoothly. The stroke opening 16 can also correspond to the above-mentioned array slot 15, and the stroke opening 16 can also be used to form convection with the above-mentioned array slot 15 to improve the heat dissipation efficiency.

[0030] It is understandable that in the conventional ZR motor device 100, the mover assembly 23 of the linear motor module 20 often moves completely inside the housing 10. Since the mover assembly 23 is large in size and has a long stroke, it occupies a large space, resulting in a large overall volume of the ZR motor device 100. However, the stroke opening 16 enables part of the mover assembly 23 to pass through the side plate position of the housing 10, and on the premise that the mover assembly 23 reciprocates smoothly, the internal space of the ZR motor device 100 is saved, which helps to miniaturize the device.

[0031] It can be further understood that the design of the stroke opening 16 not only makes the structure of the ZR motor device 100 more compact, but also enables the stroke opening 16 and the array slots 15 to form convection, thereby improving the heat dissipation efficiency of the ZR motor device 100 and further enhancing the stability, safety and reliability of the ZR motor device 100.

[0032] In some embodiments, the linear motor module 20 may further include a support bar 26 , which may be used to fix and support the first stator assembly 21 and the second stator assembly 22 .

[0033] Specifically, the first side of the support bar 26 may be connected to the first stator assembly 21 , and the second side of the support bar 26 may be connected to the second stator assembly 22 . The first side of the support bar 26 and the second side of the support bar 26 may correspond to each other.

[0034] It is understandable that the conventional linear motor module is often provided with magnets 24, and forces will also be generated between the magnets 24 and between the magnets 24 and the mover assembly 23. In the case of long-term operation or under the influence of external forces, it is easy to cause structural deformation of the first stator assembly 21 and the second stator assembly 22, thereby affecting the accuracy and load capacity of the linear motor module 20 and the ZR motor device 100, and even having a negative impact on the safety and stability of the reciprocating motion of the mover assembly 23. Through the design of the support bar 26, on the one hand, the support bar 26 can be used to fix and support the first stator assembly 21 and the second stator assembly 22, improve the structural strength of the linear motor module 20, and prevent structural deformation. On the other hand, it can also improve the modularity of the linear motor module 20, simplify the overall product assembly, disassembly, modification and maintenance of the ZR motor device 100, and reduce the difficulty of disassembly and assembly and process costs.

[0035] It can be further understood that the stator substrate 25 of the first stator assembly 21 and the second stator assembly 22 can be integrated as a part of the housing 10, and a support portion 17 can be provided on the housing 10, and the stator substrate 25 of the first stator assembly 21 and the second stator assembly 22 can be installed on the support portion 17, thereby utilizing the structural strength of the housing 10 itself to enhance the structural strength of the linear motor module 20, achieve the functions of fixing and supporting, and further ensure the smooth operation of the mover assembly 23.

[0036] It can be further understood that the stator substrate 25 can be completely integrated as a part of the housing 10, or can be Figure 1 As shown, although the stator base plate 25 and the housing 10 are detachable, the stator base plate 25 can be flush with the housing 10 , thereby becoming a part of the housing 10 in terms of external appearance.

[0037] Exemplarily, the housing 10 may include a first housing 11 and a second housing 12 , the stator substrate 25 of the first stator assembly 21 is part of the first housing 11 , and / or the stator substrate 25 of the second stator assembly 22 is part of the second housing 12 .

[0038] For example, see Figure 1 and Figure 3 ,like Figure 1 and Figure 3 As shown, the shell 10 may include a first shell 11 and a second shell 12. The first shell 11 and the second shell 12 may be provided with corresponding hollow areas 14, and the hollow areas 14 may be used to accommodate the stator substrate 25 of the first stator assembly 21 or the stator substrate 25 of the second stator assembly 22. The shell 10 may be provided with a support portion 17 in the hollow area 14, and the stator substrate 25 of the first stator assembly 21 or the stator substrate 25 of the second stator assembly 22 may be connected to the support portion 17. The support portion 17 may be used to fix and support the distance between the first stator assembly 21 and the second stator assembly 22 to ensure smooth operation of the mover assembly 23.

[0039] Specifically, the housing 10 may be provided with a support portion 17 on at least one side of the hollow area 14 .

[0040] It can be further understood that, through the design of the hollow area 14, while facilitating the disassembly and assembly of the stator substrate 25, it can also have the approximate effect of integrating the stator substrate 25 into a part of the housing 10, saving materials and reducing the overall thickness of the ZR motor device 100, thereby saving space for the ZR motor device 100 and enhancing its versatility.

[0041] The rotating motor module 30 can be arranged in the accommodating cavity 13. The rotating motor module 30 can include a rotating motor 31 and a core shaft 32. The core shaft 32 can be connected to the rotating motor 31. The rotating motor 31 drives the core shaft 32 to rotate. The rotating motor module 30 is connected to the movable subassembly 23. The movable subassembly 23 drives the rotating motor module 30 to reciprocate along the direction of the core shaft 32.

[0042] It is understandable that the rotating motor module 30 may further include a coupling 326 , and the core shaft 32 may be connected to the rotating motor 31 via the coupling 326 .

[0043] The rotary motor 31 may be a rotary servo motor.

[0044] Exemplarily, one end of the core shaft 32 may be connected to the rotating motor 31 via a coupling 326 , and the other end may be passed through the outside of the housing 10 .

[0045] The direction of the core shaft 32 may be the Z-axis direction, that is, the vertical direction.

[0046] In some embodiments, see Figure 1 , Figure 2 and Figure 4 ,like Figure 1 , Figure 2 and Figure 4As shown, the ZR motor device 100 may also include a frame 40, and the mover assembly 23 may include a mover body 231, the mover body 231 is arranged between the magnets 24 of the first stator assembly 21 and the second stator assembly 22, the mover body 231 is connected to the frame 40, the frame 40 is connected to the rotating motor module 30, and the mover body 231 drives the rotating motor module 30 to reciprocate linear motion through the frame 40.

[0047] The mover body 231 may be a whole mover component wrapped by a solid glue layer and made by a glue-filling process using a linear motor mover coil, thereby improving the structural stability of the mover assembly 23 and enhancing the safety of the ZR motor device 100 .

[0048] Furthermore, a gap may be provided between the mover body 231 and the magnet 24 .

[0049] In some embodiments, the mover assembly 23 may include a mover body 231 and a mover coil frame 232 .

[0050] The mover body 231 is connected to the mover coil frame 232 , and the mover coil frame 232 can be detachably connected to the frame 40 .

[0051] It is understandable that the frame 40 can be detachably connected to the mover coil frame 232 or can be integrally formed with the mover coil frame 232 . The mover coil frame 232 can be connected to the mover body 231 , and the frame 40 can be connected to the rotating motor module 30 .

[0052] In some embodiments, the ZR motor device 100 may further include a linear guide structure, which is disposed in the accommodating cavity 13 along the direction of the core shaft 32 , and the mover assembly 23 may be movably connected to the housing 10 via the linear guide structure.

[0053] Exemplarily, the linear guide structure may include a linear slider guide rail assembly, wherein the linear slider guide rail assembly may include a slider and a linear guide rail, the linear guide rail may be arranged in the accommodating cavity 13, the slider may be correspondingly arranged on the frame 40 and movably connected to the linear guide rail, and the movable subassembly 23 may be fixedly connected to the slider of the linear guide structure through the frame 40, thereby realizing the movable connection between the movable subassembly 23 and the shell 10 through the linear guide structure.

[0054] Specifically, the slider or linear guide rail of the linear guide structure is arranged on the frame 40, and the mover assembly 23 also includes a mover coil frame 232, the mover body 231 is connected to the mover coil frame 232, and the mover coil frame 232 is connected to the frame 40, so that the mover assembly 23 is movably connected to the shell 10 through the linear guide structure.

[0055] It is understandable that the movable connection between the mover assembly 23 and the housing 10 via the linear guide structure can further enhance the operating stability of the linear motor module 20 .

[0056] In some embodiments, the ZR motor device 100 may further include a spring, which may be disposed along the direction of the linear guide structure. One end of the spring is connected to the housing 10 , and the other end of the spring may be disposed on the frame 40 or the mover assembly 23 .

[0057] It can be understood that the spring can serve as a fulcrum for sharing the load and force of the linear motor, thereby improving the stability of the linear motor. In particular, when the ZR motor device 100 runs in the vertical direction, the spring can serve as a fulcrum and share the load gravity, thereby preventing the mover assembly 23 from tilting due to the frame 40 being too long or the load being too high, thereby improving the safety, stability and load capacity of the ZR motor device 100.

[0058] In some embodiments, an anti-collision rubber 50 may be provided between the shell 10 and the frame 40 , and / or an anti-collision rubber 50 may be provided between the support bar 26 and the frame 40 , and the anti-collision rubber 50 may be used to limit the mover stroke of the linear motor module 20 .

[0059] Specifically, the anti-collision rubber 50 may be disposed on the support bar 26 , the frame 40 and / or the housing 10 .

[0060] It can be understood that by providing the anti-collision rubber 50, problems such as structural damage to the ZR motor device 100 and failure of electronic components that may be caused by operational errors or over-travel or overload of the linear motor module 20 can be alleviated, thereby improving the fault tolerance, safety and reliability of the ZR motor device 100.

[0061] In some embodiments, see Figure 4 , Figure 5 and Figure 6 ,like Figure 4 , Figure 5 and Figure 6 As shown, the ZR motor device 100 may further include a sealed cavity 41 and a pneumatic pipe module 60 .

[0062] The pneumatic pipeline module 60 may include a joint 61 and an air pipe 62 .

[0063] Exemplarily, the connector 61 may be disposed on the housing 10 , the connector 61 is connected to a first end of the air pipe 62 , and a second end of the air pipe 62 is connected to the sealing chamber 41 .

[0064] Specifically, the first end of the connector 61 may pass through the housing 10 , and the second end of the connector 61 may be connected to the first end of the air pipe 62 .

[0065] Exemplarily, the frame 40 may be provided with a fixed section 621 of the air pipe 62 of the pneumatic pipe module 60, and the frame 40, the core shaft 32 and the sealing bearing 327 may cooperate to form a sealed cavity 41, and the fixed section 621 of the air pipe 62 of the pneumatic pipe module 60 may be connected to the sealed cavity 41.

[0066] It is understandable that the pneumatic pipe module 60 can be used to control the core shaft 32 to absorb objects or control pneumatic devices through the sealed cavity 41.

[0067] Exemplarily, the core shaft 32 may be disposed in the sealed cavity 41, wherein the first end 321 of the core shaft passes through the sealed cavity 41 and is connected to the rotating motor 31, the second end 322 of the core shaft passes through the sealed cavity 41 to the outside of the shell 10, an execution air port 323 is disposed at the axial end of the second end 322 of the core shaft, a control air port 324 is disposed on the circumferential side of the core shaft 32 in the sealed cavity 41, and a connecting air duct 325 between the execution air port 323 and the control air port 324 is disposed inside the core shaft 32.

[0068] Specifically, the sealed cavity 41 may further include a sealed bearing 327, which is arranged at both ends of the sealed cavity 41 along the direction in which the core shaft 32 is arranged. The first end 321 of the core shaft passes through the sealed cavity 41 through the sealed bearing 327 and is connected to the rotating motor 31 through the coupling 326, and the second end 322 of the core shaft passes through the sealed cavity 41 to the outside of the shell 10 through the sealed bearing 327.

[0069] In some embodiments, the sealed bearing 327 may include a first sealed bearing and a second sealed bearing.

[0070] Exemplarily, the first end 321 of the core shaft can be passed through the first sealing bearing from the sealing cavity 41 to the coupling 326, and the second end 322 of the core shaft can be passed through the sealing cavity 41 to the outside of the shell 10 through the second sealing bearing, the control air port 324 can be arranged on the circumferential side of the part of the core shaft 32 in the sealing cavity 41, and the execution air port 323 can be arranged at the part of the core shaft 32 passing through the shell 10.

[0071] It is understandable that the conventional pneumatic pipeline module 60 often uses a hose to directly connect to the core shaft 32. However, this direct connection will not only limit the stroke of the core shaft 32's rotational movement, but will also be affected by the long-term operation of the core shaft 32, the high-frequency rotational movement, and the displacement of the device, thereby reducing the mechanical life of the hose and the connection between the hose and the core shaft 32, causing the airtightness of the pneumatic pipeline module 60 to be damaged, the performance to be reduced, or even completely damaged, and other problems, reducing the reliability, safety, and stability of the ZR motor device 100. Therefore, through the indirect connection design of the sealed cavity 41, the airtight stability and mechanical life of the pneumatic pipeline module 60 are improved, and the connection of the pneumatic pipeline module 60 can be made safer, more reliable, and more stable, solving the problems caused by high-frequency rotation.

[0072] Exemplarily, the sealed cavity 41 can be set in the frame 40, and the air pipe 62 includes a fixed section 621 and an elastic section 622. The fixed section 621 is opened inside the frame 40 and connected to the sealed cavity 41. One end of the elastic section 622 is connected to the joint 61, and the other end is connected to the fixed section 621.

[0073] It is understandable that the length of the elastic section 622 can be long enough to ensure that its length does not limit the reciprocating motion stroke of the frame 40 and the mover stroke of the linear motor module 20 .

[0074] It can be understood that opening a fixed section 621 of the air pipe 62 inside the frame 40 and connecting it with the sealed cavity 41 through the fixed section 621 is beneficial to saving the material cost of the air pipe 62 on the one hand, and can facilitate the wiring of the air pipe 62 and simplify the movement trajectory on the other hand. In addition, the air pipe 62 is relatively thick, and opening a section of the air pipe 62 inside the frame 40 is beneficial to preventing the air pipe 62 from being too long and affecting the mechanical movement of the frame 40 or the mechanical movement of the frame 40 from affecting the material strength, sealing performance and service life of the air pipe 62.

[0075] In some embodiments, the ZR motor device 100 may further include a pressure sensor, which may be disposed in the rotary motor module 30 or the linear motor module 20 .

[0076] It can be understood that, through the design of the pressure sensor, the ZR motor device 100 can achieve force control, and the force control function is applied to processes such as precision assembly and precision machining, further improving the accuracy and versatility of the ZR motor device 100.

[0077] The present application also proposes a robot, which may include a ZR motor device 100 as in any embodiment of the present application.

[0078] Exemplarily, the robot may include electromechanical equipment such as industrial robot arms, service robots, and machining equipment.

[0079] Those skilled in the art may combine and associate different embodiments or examples described in this specification as well as features of different embodiments or examples without mutual contradiction.

[0080] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A ZR motor device, characterized in that: include: A housing, wherein the housing comprises a receiving cavity; A linear motor module, the linear motor module comprising a first stator assembly, a second stator assembly and a mover assembly, the mover assembly being located between the first stator assembly and the second stator assembly, the first stator assembly and the second stator assembly both comprising a magnet and a stator substrate, wherein the stator substrate is part of the housing; A rotating motor module is arranged in the accommodating cavity, the rotating motor module includes a rotating motor and a core shaft, the core shaft is connected to the rotating motor, the rotating motor drives the core shaft to rotate, the rotating motor module is connected to the mover assembly, and the mover assembly drives the rotating motor module to reciprocate along the direction of the core shaft.

2. The ZR motor device according to claim 1, characterized in that: The shell is provided with a stroke opening, and the movable subassembly can be inserted into the stroke opening and reciprocate smoothly. The cavity wall of the accommodating cavity is provided with an array groove, and the array groove is used to dissipate the heat in the accommodating cavity. The stroke opening corresponds to the array groove, and the stroke opening is also used to form convection with the corresponding array groove.

3. The ZR motor device according to claim 1, characterized in that: The linear motor module also includes a support bar, which is used to fix and support the distance between the first stator assembly and the second stator assembly.

4. The ZR motor device according to claim 1, characterized in that: The housing comprises a first housing and a second housing, the stator substrate of the first stator assembly is a part of the first housing, and the stator substrate of the second stator assembly is a part of the second housing; or, The shell includes a first shell and a second shell, and corresponding hollow areas are provided on the first shell and the second shell, and the hollow areas are used to place the stator substrate of the first stator assembly or the stator substrate of the second stator assembly. The shell is provided with a supporting portion in the hollow area, and the stator substrate of the first stator assembly or the stator substrate of the second stator assembly is connected to the supporting portion, and the supporting portion is used to fix and support the distance between the first stator assembly and the second stator assembly to ensure smooth operation of the movable assembly.

5. The ZR motor device according to claim 1, characterized in that: The ZR motor device also includes a frame, the mover assembly includes a mover body, the mover body is arranged between the magnets of the first stator assembly and the second stator assembly, the mover body is connected to the frame, the frame is connected to the rotating motor module, and the mover body drives the rotating motor module to reciprocate and linearly move through the frame.

6. The ZR motor device according to claim 5, characterized in that: An anti-collision rubber is provided between the housing and the frame; and / or, An anti-collision rubber is arranged between the support bar and the frame, and the anti-collision rubber is used to limit the mover stroke of the linear motor module.

7. The ZR motor device according to any one of claims 1 to 6, characterized in that: The ZR motor device also includes a sealed cavity and a pneumatic pipeline module, the pneumatic pipeline module includes a joint and an air pipe, the joint is arranged on the shell, the joint is connected to the first end of the air pipe, the second end of the air pipe is connected to the sealed cavity, the core shaft is arranged in the sealed cavity, the first end of the core shaft passes through the sealed cavity and is connected to the rotating motor, the second end of the core shaft passes through the sealed cavity to the outside of the shell, the axial end of the second end of the core shaft is provided with an execution air port, the core shaft is provided with a control air port in the sealed cavity, and a connecting air channel between the execution air port and the control air port is provided inside the core shaft, and the pneumatic pipeline module is used to control the core shaft to adsorb objects or control pneumatic devices through the sealed cavity.

8. The ZR motor device according to claim 7, characterized in that: The sealing cavity is arranged on the frame, the air pipe comprises a fixed section and an elastic section, the fixed section is opened inside the frame and communicates with the sealing cavity, one end of the elastic section is connected to the joint, and the other end is connected to the fixed section.

9. The ZR motor device according to any one of claims 1 to 6, characterized in that: The ZR motor device further comprises a linear guide structure, which is arranged in the accommodating cavity along the direction of the core shaft, and the mover assembly is movably connected to the housing through the linear guide structure.

10. A robot, characterized in that: The robot comprises a ZR motor device as claimed in any one of claims 1-9.

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