Transverse magnetic flux rotating motor, rotating linear motor and robot driving equipment

Abstract

The invention discloses a transverse magnetic flux rotating motor, a rotating linear motor and robot driving equipment, and relates to the technical field of motor driving devices, the transverse magnetic flux rotating motor comprises a rotor and a rotating stator arranged on the outer side of the rotor, the rotor comprises a plurality of annular permanent magnets and a plurality of rotor iron cores, the annular permanent magnets and the rotor iron cores are alternately arranged in the axial direction, and the rotor iron cores are arranged on the rotor. A plurality of rotor iron core teeth are arranged on the outer side of the rotor iron core, the rotary stator comprises a plurality of stator module groups and a plurality of rotary motion annular windings, the stator module groups are arranged in the circumferential direction of the outer surface of the rotor iron core, and each stator module group comprises stator modules which are arranged in a central symmetry mode; rotation and linear motion functions are integrated in a single motor through a transverse magnetic flux structure, mechanical transmission parts are reduced, a magnetic field path is optimized, the torque density is remarkably improved, and the power output efficiency of the motor is enhanced; complexity of linear motion and rotary motion is controlled respectively, control precision is high, and the rotary stator and the linear stator are separated spatially, so that magnetic circuit coupling is avoided.

Description

Technical Field

[0001] This invention relates to the field of motor drive technology, and in particular to a transverse magnetic flux rotary motor, a rotary linear motor, and a robot drive device. Background Technology

[0002] With the development of robotics and high-end equipment industries, the requirements for the degree of freedom of control systems are becoming increasingly higher, necessitating the use of rotary linear motors to achieve linear, rotary, and helical motion.

[0003] In the existing technology, the most common rotary linear motors are mainly composite designs. These motors combine rotary motors and linear motors through mechanical structures to achieve linear motion.

[0004] First, the mechanical coupling between the rotary motor and the linear transmission mechanism results in a complex overall structure and a large footprint, making it difficult to meet compact design requirements in applications with high demands for miniaturization and lightweighting. Second, mechanical transmission suffers from backlash and elastic deformation, leading to decreased positioning accuracy and making it difficult to meet the requirements of high-precision motion control. In addition, composite designs typically rely on a combination of multiple independent motors and mechanical structures, resulting in complex control methods and difficulty in achieving coordinated rotary and linear motion. During multi-axis synchronous control, mechanical coupling can also introduce vibration or errors, affecting motion smoothness. Finally, the magnetic fields between the rotary motor and the linear motor can superimpose or cancel each other out, easily causing magnetic circuit coupling problems.

[0005] Therefore, a transverse flux rotary motor, a rotary linear motor, and a robot drive device are provided to solve the above problems. Summary of the Invention

[0006] The purpose of this invention is to provide a transverse magnetic flux rotary motor, a rotary linear motor, and a robot drive device, which solves the problem of magnetic circuit coupling that is easy to occur in traditional motors, while improving torque density, reducing structural complexity, and reducing control complexity.

[0007] To achieve the above objectives, the present invention provides a transverse flux rotary motor, comprising a mover and a rotating stator disposed outside the mover. The mover includes multiple annular permanent magnets and multiple mover cores, which are alternately arranged along the axial direction. Multiple mover core teeth are disposed on the outer side of the mover core. The rotating stator includes multiple stator module groups and multiple rotating motion annular windings. The stator module groups are arranged circumferentially along the outer surface of the mover core, and the stator module groups include centrally symmetrically arranged stator modules.

[0008] Preferably, the number of stator modules in one phase is set to twice the number of mover core teeth on one mover core.

[0009] Preferably, the stator module includes a stator yoke and a first stator tooth and a second stator tooth disposed on both sides of the stator yoke, and a rotary motion annular winding is disposed between the first stator tooth and the second stator tooth.

[0010] Preferably, the top of the first stator tooth is provided with a first stator tooth end, the top of the second stator tooth is provided with a second stator tooth end, the second stator tooth ends are provided on the same axial column, and two adjacent first stator tooth ends are respectively provided on the circumferential columns on both sides of the axial direction of the second stator tooth ends.

[0011] Preferably, the axial pole pitch is the sum of the thicknesses of a single annular permanent magnet and a single moving core. If the center distance between two adjacent rotating stators is an even multiple of the axial pole pitch, then the M rotating stators deflect 1 / M of the circumferential tooth pitch of the moving core teeth in sequence along the axial direction.

[0012] Preferably, if the center distance between two adjacent rotating stators is an odd multiple of the axial pole pitch, then the M rotating stators deflect 1 / M of the circumferential tooth pitch of the mover core teeth in sequence along the axial direction. After the deflection is completed, the odd-numbered rotating stator deflects 1 / 2 of the circumferential tooth pitch of the mover core teeth in the reverse direction. When M phase AC current is applied, the currents of the M rotating ring windings are sequentially 360 / M electrical angles apart.

[0013] A rotary linear motor includes a transverse flux rotary motor disposed inside a linear stator and coaxially arranged with the linear stator. The linear stator includes a linear stator core and a linear motion annular winding disposed inside the linear stator core.

[0014] A robot drive device includes a rotary linear motor, which is disposed inside a housing. A rotating shaft is disposed inside the housing and passes through the rotary linear motor. End caps are disposed at both ends of the housing and are connected to the rotating shaft by sliding bearings.

[0015] Therefore, the present invention employs the above-mentioned transverse magnetic flux rotary motor, rotary linear motor, and robot drive device, which has the following beneficial effects: (1) This solution integrates rotational and linear motion functions into a single motor through a transverse magnetic flux structure, reducing mechanical transmission components and making the overall structure more compact and suitable for miniaturized and lightweight applications. (2) This scheme optimizes the magnetic field path by alternating the ring permanent magnet and the moving iron core, and the transverse magnetic flux path formed by the stator module and the moving iron core teeth, which significantly improves the torque density and enhances the power output efficiency of the motor. (3) This scheme controls the complexity of linear motion and rotational motion respectively, and the control accuracy is high. At the same time, the rotating stator and the linear stator are separated in space, avoiding magnetic circuit coupling. (4) This scheme adopts independent rotary motion ring winding and linear motion ring winding, which can control the rotary motion and linear motion respectively, simplifying the complexity of multi-axis collaborative control, avoiding the backlash and elastic deformation problems of mechanical transmission, and improving positioning accuracy and motion stability.

[0016] The method of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0017] Figure 1 This is a structural diagram of a transverse magnetic flux rotary motor according to the present invention; Figure 2 This is a structural diagram of the mover and rotating stator of the present invention; Figure 3 This is a schematic diagram of the installation of the mover and the rotating stator of the present invention; Figure 4 This is a structural diagram of the stator module assembly of the present invention; Figure 5 This is a schematic diagram of the installation of the stator module assembly of the present invention; Figure 6 This is a structural diagram of a rotary linear motor according to the present invention; Figure 7 This is a structural diagram of a robot drive device according to the present invention; Figure 8 This is a schematic diagram showing the torque simulation results of the rotary linear motor of the present invention; Figure 9 This is a schematic diagram of the torque simulation results of a three-phase rotary linear motor according to an embodiment of the present invention.

[0018] The components are: 1. Mover; 2. Rotating stator; 3. Linear stator; 4. Annular permanent magnet; 5. Mover core; 6. Linear stator core; 7. Linear motion annular winding; 8. Mover core tooth; 9. Stator module assembly; 10. Stator module; 11. Stator yoke; 12. First stator tooth; 13. Second stator tooth; 14. Rotating motion annular winding; 15. First stator tooth end; 16. Second stator tooth end; 17. Housing; 18. End cover; 19. Shaft; 20. Sliding bearing. Detailed Implementation

[0019] The method of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] Unless otherwise defined, the methodological or scientific terms used in this invention shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

[0021] The terms "comprising" or "including" as used in this invention mean that the element preceding the term encompasses the element listed after the term, and do not exclude the possibility of encompassing other elements. Terms such as "inner," "outer," "upper," and "lower" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. When the absolute position of the described object changes, the relative positional relationship may also change accordingly. In this invention, unless otherwise explicitly specified and limited, the term "attached" and similar terms should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral part; it can refer to a direct connection or an indirect connection through an intermediate medium; it can refer to the internal communication of two elements or the interaction relationship between two elements. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0022] Example 1 like Figure 1-Figure 5 As shown, the present invention provides a transverse flux rotary motor, including a mover 1 and a rotating stator 2 disposed outside the mover 1. The mover 1 includes multiple annular permanent magnets 4 and multiple mover cores 5, which are alternately arranged along the axial direction. Multiple mover core teeth 8 are provided on the outer side of the mover core 5. The rotating stator 2 includes multiple stator module groups 9 and multiple rotating motion annular windings 14. The stator module groups 9 are arranged circumferentially along the outer surface of the mover core 5, and the stator module groups 9 include centrally symmetrically arranged stator modules 10.

[0023] The number of stator modules 10 is set to twice the number of moving core teeth 8 on a moving core 5.

[0024] The stator module 10 includes a stator yoke 11 and a first stator tooth 12 and a second stator tooth 13 disposed on both sides of the stator yoke 11. The rotary motion annular winding 14 is disposed between the first stator tooth 12 and the second stator tooth 13.

[0025] The top of the first stator tooth 12 is provided with a first stator tooth end 15, and the top of the second stator tooth 13 is provided with a second stator tooth end 16. The second stator tooth ends 16 are arranged on the same axial column, and two adjacent first stator tooth ends 15 are respectively arranged on the circumferential columns on both sides of the axial direction of the second stator tooth ends 16.

[0026] like Figure 6As shown, a rotary linear motor includes a transverse flux rotary motor, which is disposed inside a linear stator 3 and is coaxially arranged with the linear stator 3. The linear stator 3 includes a linear stator core 6 and a linear motion annular winding 7 disposed inside the linear stator core 6.

[0027] like Figure 7 As shown, a robot drive device includes a rotary linear motor, which is disposed inside a housing 17. A rotating shaft 19 is disposed inside the housing 17 and passes through the rotary linear motor. End caps 18 are disposed at both ends of the housing 17, and the end caps 18 are connected to the rotating shaft by sliding bearings 20.

[0028] like Figure 8 and Figure 9 As shown, the driving process of the rotary linear motor is simulated.

[0029] A method for driving a transverse flux rotary motor includes the following steps: S1: Magnetize the annular permanent magnet 4; In step S1, the magnetization method for magnetizing the annular permanent magnet 4 is set to axial magnetization, and the magnetization directions of two adjacent annular permanent magnets 4 are opposite.

[0030] S2: Single-phase alternating current is supplied to the rotating ring winding 14, so that the stator module 10 and the mover core teeth 8 form a transverse magnetic flux path. The transverse magnetic flux path interacts with the excitation magnetic field generated by the ring permanent magnet 4, thereby generating torque and causing the mover 1 to rotate. In step S2, the axial pole pitch is the sum of the thicknesses of a single annular permanent magnet 4 and a single moving core 5. If the center distance between two adjacent rotating stators 2 is an even multiple of the axial pole pitch, then the M rotating stators 2 deflect 1 / M of the circumferential tooth pitch of the moving core teeth 8 along the axial direction. If the center distance between two adjacent rotating stators 2 is an odd multiple of the axial pole pitch, then the M rotating stators 2 deflect 1 / M of the circumferential tooth pitch of the moving core teeth 8 along the axial direction. After the deflection is completed, the odd-numbered rotating stators 2 deflect 1 / 2 of the circumferential tooth pitch of the moving core teeth 8 in the reverse direction. When single-phase alternating current is applied, the currents of the M rotating annular windings 14 are sequentially 360 / M electrical degrees apart, thereby realizing the rotational motion of the moving core 1.

[0031] In this embodiment, the outer diameter of the mover 1 is set to 78mm, the outer diameter of the rotating stator 2 is set to 136mm, the axial length of the rotating stator 2 is set to 34mm, the shaft diameter ratio is set to 1:4, the residual magnetism of the annular permanent magnet 4 is 0.64T, the rotation speed is 120rpm, and the current is 10A.

[0032] There are three rotating stators 2. The center distance between two adjacent rotating stators 2 is an odd multiple of the axial pole pitch. Then, the three rotating stators 2 deflect 1 / 3 of the circumferential tooth pitch of the mover core tooth 8 in sequence along the axial direction. After the deflection is completed, the odd-numbered rotating stator 2 deflects 1 / 2 of the circumferential tooth pitch of the mover core tooth 8 in the reverse direction. The currents of the three rotating motion annular windings 14 are successively 120 electrical degrees apart, thereby realizing the rotational motion of the mover 1.

[0033] S3: Current is passed into the linear motion ring winding 7. After being excited, the linear motion ring winding 7 generates a linear traveling wave magnetic field. The linear traveling wave magnetic field interacts with the excitation magnetic field generated by the ring permanent magnet 4, causing the mover 1 to move in a straight line. S4: Current is passed into the rotary motion ring winding 14 and the linear motion ring winding 7 to make the mover 1 perform helical motion.

[0034] The complexity of linear motion and rotational motion are controlled separately with high control precision. At the same time, the rotating stator 2 and the linear stator 3 are spatially separated, avoiding magnetic circuit coupling.

[0035] Example 2 The linear stator 3 and the rotating stator 2 are respectively arranged on the inner and outer sides of the mover 1, and multiple mover core teeth 8 are evenly arranged on the inner and outer sides of the mover core 5.

[0036] The remaining specific implementation methods are the same as in Example 1.

[0037] Example 3 The moving core teeth 8 that are in contact with the linear stator 3 are healed into a circular shape.

[0038] The remaining specific implementation methods are the same as in Example 1.

[0039] Example 4 The stator yokes 11 of the two stator modules 10 in the stator module group 9 are connected as one unit, which facilitates manufacturing and installation, and does not increase leakage flux or weaken the rotational motion performance of the motor.

[0040] The remaining specific implementation methods are the same as in Example 1.

[0041] Therefore, the present invention employs the above-mentioned transverse magnetic flux rotary motor, rotary linear motor and robot drive device, which solves the problem of magnetic circuit coupling that is easy to occur in traditional motors, while improving torque density, reducing structural complexity and reducing control complexity.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the method of the present invention and not to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the method of the present invention, and these modifications or equivalent substitutions should not cause the modified method to deviate from the spirit and scope of the method of the present invention.

Claims

1. A transverse magnetic flux rotary motor, characterized in that, It includes a mover and a rotating stator disposed outside the mover. The mover includes multiple annular permanent magnets and multiple mover cores, which are alternately arranged along the axial direction. Multiple mover core teeth are disposed outside the mover cores. The rotating stator includes multiple stator module groups and multiple rotating motion annular windings. The stator module groups are arranged circumferentially along the outer surface of the mover cores. The stator module groups include stator modules arranged in a centrally symmetrical manner.

2. The transverse magnetic flux rotary motor according to claim 1, characterized in that, The number of stator modules in one phase is set to twice the number of mover core teeth on one mover core.

3. A transverse magnetic flux rotary motor according to claim 2, characterized in that, The stator module includes a stator yoke and a first stator tooth and a second stator tooth disposed on both sides of the stator yoke, and a rotary motion annular winding is disposed between the first stator tooth and the second stator tooth.

4. A transverse magnetic flux rotary motor according to claim 2, characterized in that, The top of the first stator tooth is provided with a first stator tooth end, the top of the second stator tooth is provided with a second stator tooth end, the second stator tooth ends are provided on the same axial column, and two adjacent first stator tooth ends are respectively provided on the circumferential columns on both sides of the axial direction of the second stator tooth ends.

5. A transverse magnetic flux rotary motor according to claim 1, characterized in that, The axial pole pitch is the sum of the thickness of a single annular permanent magnet and a single moving core. If the center distance between two adjacent rotating stators is an even multiple of the axial pole pitch, then the M rotating stators will deflect 1 / M of the circumferential tooth pitch of the moving core teeth in sequence along the axial direction.

6. A transverse magnetic flux rotary motor according to claim 5, characterized in that, If the center distance between two adjacent rotating stators is an odd multiple of the axial pole pitch, then the M rotating stators will deflect 1 / M of the circumferential tooth pitch of the mover core teeth in sequence along the axial direction. After the deflection is completed, the odd-numbered rotating stator will deflect 1 / 2 of the circumferential tooth pitch of the mover core teeth in the opposite direction. When M phase AC current is applied, the currents of the M rotating ring windings will be sequentially 360 / M electrical degrees apart.

7. A rotary linear motor, comprising a transverse magnetic flux rotary motor as described in any one of claims 1-6, characterized in that, The transverse flux rotary motor is located inside the linear stator and is coaxial with the linear stator. The linear stator includes a linear stator core and a linear motion annular winding located inside the linear stator core.

8. A robot drive device, comprising the rotary linear motor as described in claim 7, characterized in that, The rotary linear motor is installed inside the housing, and a rotating shaft is installed inside the housing. The rotating shaft passes through the rotary linear motor, and end caps are installed at both ends of the housing. The end caps are connected to the rotating shaft by sliding bearings.

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