A transverse flux rotary electric machine, a rotary linear electric machine, and a robot driving device

Abstract

The application discloses a transverse flux rotary motor, a rotary linear motor and a robot driving device, and relates to the technical field of motor driving devices, comprising a rotor and a rotary stator arranged outside the rotor, wherein the rotor comprises a plurality of annular permanent magnets and a plurality of rotor cores, the annular permanent magnets and the rotor cores are alternately arranged along the axial direction, the outer side of the rotor core is provided with a plurality of rotor core teeth, the rotary stator comprises a plurality of stator module groups and a plurality of rotary motion annular windings, the stator module groups are circumferentially arranged along the outer surface of the rotor core, and the stator module groups comprise stator modules which are symmetrically arranged at the center; the rotary and linear motion functions are integrated in a single motor through the transverse flux structure, mechanical transmission components are reduced, the magnetic field path is optimized, the torque density is significantly improved, the power output efficiency of the motor is enhanced, the complexity of controlling the linear motion and the rotary motion is respectively controlled, the control precision is relatively high, meanwhile, the rotary stator and the linear stator are separated in space, and the magnetic circuit coupling is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor driving device, in particular to a transverse flux rotary motor, a rotary linear motor and a robot driving device. BACKGROUND

[0002] With the development of robot and high-end equipment industry, the requirement for the degree of freedom of control system is higher and higher, and the rotary linear motor is needed to realize linear motion, rotary motion and helical motion.

[0003] In the prior art, the common rotary linear motor is mainly of a composite design, and such a motor combines a rotary motor and a linear motor through a mechanical structure to realize linear motion.

[0004] Firstly, the rotary motor and the linear transmission mechanism need to be mechanically coupled, the overall structure is complex, and the space occupation is large, so it is difficult to meet the compact design requirement in the application scene with high demand for miniaturization and light weight; secondly, the mechanical transmission has problems such as reverse clearance and elastic deformation, which leads to a decrease in positioning accuracy and makes it difficult to meet the high-precision motion control requirement; in addition, the composite design usually relies on the combination of multiple independent motors and mechanical structures, the control mode is complex, it is difficult to realize the coordinated motion of rotation and linear motion, and when multiple axes are synchronously controlled, the mechanical coupling will introduce vibration or error, affecting the motion stability; finally, the magnetic fields between the rotary motor and the linear motor will be superimposed or cancelled, which is easy to cause the magnetic circuit coupling problem.

[0005] Therefore, the transverse flux rotary motor, the rotary linear motor and the robot driving device are provided to solve the above problems. SUMMARY

[0006] The purpose of the present application is to provide a transverse flux rotary motor, a rotary linear motor and a robot driving device, which solves the problem of easy magnetic circuit coupling in traditional motors, and improves torque density, reduces structural complexity and control complexity.

[0007] To achieve the above purpose, the present application provides a transverse flux rotary motor, which comprises a rotor and a rotary stator arranged outside the rotor, the rotor comprises a plurality of annular permanent magnets and a plurality of rotor cores, the annular permanent magnets and the rotor cores are arranged alternately along the axial direction, the outer side of the rotor core is provided with a plurality of rotor core teeth, the rotary stator comprises a plurality of stator module groups and a plurality of rotary motion annular windings, the stator module groups are arranged circumferentially along the outer surface of the rotor core, and the stator module group comprises a stator module arranged symmetrically at the center.

[0008] Preferably, the number of one-phase stator modules is twice the number of rotor core teeth on one rotor core.

[0009] Preferably, the stator module comprises a stator yoke and a first stator tooth and a second stator tooth arranged on both sides of the stator yoke, and the rotating motion annular winding is arranged 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, and the top of the second stator tooth is provided with a second stator tooth end, and the second stator tooth ends are arranged on the same axial column, and the two adjacent first stator tooth ends are arranged on the circumferential column on both sides of the second stator tooth end in the axial direction.

[0011] Preferably, the axial pole pitch is the thickness of a single annular permanent magnet and a single mover core, and if the center distance between the two adjacent rotating stators is an even multiple of the axial pole pitch, then the M rotating stators are sequentially deflected by 1 / M mover core tooth circumferential tooth pitch in the axial direction.

[0012] Preferably, if the center distance between the two adjacent rotating stators is an odd multiple of the axial pole pitch, then the M rotating stators are sequentially deflected by 1 / M mover core tooth circumferential tooth pitch in the axial direction, and after the deflection is completed, the odd rotating stators are sequentially deflected by 1 / 2 mover core tooth circumferential tooth pitch in the reverse direction, and when M-phase alternating current is input, the currents of the M rotating motion annular windings sequentially differ by 360 / M electric angles.

[0013] A rotary linear motor comprises a transverse flux rotary motor, the transverse flux rotary motor is arranged in the interior of a linear stator, the transverse flux rotary motor is coaxially arranged with the linear stator, and the linear stator comprises a linear stator core and a linear motion annular winding arranged in the interior of the linear stator core.

[0014] A robot driving device comprises a rotary linear motor, the rotary linear motor is arranged in the interior of a housing, the interior of the housing is provided with a rotating shaft, the rotating shaft passes through the rotary linear motor, and the two ends of the housing are provided with end covers, and the end covers are connected with the rotating shaft through sliding bearings.

[0015] Therefore, the transverse flux rotary motor, the rotary linear motor and the robot driving device have the following beneficial effects:

[0016] (1) The scheme integrates the rotary and linear motion functions in a single motor through the transverse flux structure, reduces the mechanical transmission components, and the overall structure is more compact, which is more suitable for small and light application scenarios;

[0017] (2) The scheme optimizes the magnetic field path through the alternating arrangement of the annular permanent magnet and the mover core, and the transverse flux passage formed by the stator module and the mover core tooth, significantly improves the torque density, and enhances the power output efficiency of the motor;

[0018] (3) The scheme controls the complexity of linear motion and rotary motion respectively, has high control precision, and separates the rotary stator and the linear stator in space, thereby avoiding magnetic circuit coupling;

[0019] (4) The scheme adopts independent rotary motion ring-shaped windings and linear motion ring-shaped windings, can control rotary motion and linear motion respectively, simplifies the complexity of multi-axis cooperative control, avoids the problems of reverse clearance and elastic deformation of mechanical transmission, and improves positioning precision and motion stability.

[0020] The method scheme of the application will be further described in detail below with reference to the drawings and embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 Fig. 1 is a structure diagram of a transverse flux rotary motor according to the application;

[0022] Figure 2 Fig. 2 is a structure diagram of a mover and a rotary stator according to the application;

[0023] Figure 3 Fig. 3 is an installation schematic diagram of the mover and the rotary stator according to the application;

[0024] Figure 4 Fig. 4 is a structure diagram of a stator module group according to the application;

[0025] Figure 5 Fig. 5 is an installation schematic diagram of the stator module group according to the application;

[0026] Figure 6 Fig. 6 is a structure diagram of a rotary linear motor according to the application;

[0027] Figure 7 Fig. 7 is a structure diagram of a robot driving device according to the application;

[0028] Figure 8 Fig. 8 is a torque simulation result schematic diagram of the rotary linear motor according to the application;

[0029] Figure 9 Fig. 9 is a torque simulation result schematic diagram of a three-phase rotary linear motor according to an embodiment of the application.

[0030] 1, a mover; 2, a rotary stator; 3, a linear stator; 4, a ring-shaped permanent magnet; 5, a mover iron core; 6, a linear stator iron core; 7, a linear motion ring-shaped winding; 8, a mover iron core tooth; 9, a stator module group; 10, a stator module; 11, a stator yoke; 12, a first stator tooth; 13, a second stator tooth; 14, a rotary motion ring-shaped winding; 15, a first stator tooth end; 16, a second stator tooth end; 17, an outer shell; 18, an end cover; 19, a rotating shaft; 20, a sliding bearing. DETAILED DESCRIPTION

[0031] The method of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0032] 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.

[0033] 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.

[0034] Example 1

[0035] like Figures 1-5 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.

[0036] The number of stator modules 10 is set to twice the number of moving core teeth 8 on a moving core 5.

[0037] 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.

[0038] 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 end 16 is arranged on the same axial column, and the two adjacent first stator tooth ends 15 are arranged on the circumferential column on the two sides of the second stator tooth end 16 in the axial direction.

[0039] As shown in Figure 6 A rotary linear motor, comprising a transverse flux rotary motor, the transverse flux rotary motor is arranged inside a linear stator 3, the transverse flux rotary motor is coaxially arranged with the linear stator 3, and the linear stator 3 comprises a linear stator core 6 and a linear motion ring winding 7 arranged inside the linear stator core 6.

[0040] As shown in Figure 7 A robot driving device, comprising a rotary linear motor, the rotary linear motor is arranged inside a housing 17, the inside of the housing 17 is provided with a rotating shaft 19, the rotating shaft 19 passes through the rotary linear motor, and the two ends of the housing 17 are provided with end covers 18, and the end covers 18 are connected with the rotating shaft through sliding bearings 20.

[0041] As shown in Figure 8 And Figure 9 The driving process of the rotary linear motor is simulated.

[0042] A driving method of a transverse flux rotary motor, comprising the following steps:

[0043] S1: magnetizing the ring-shaped permanent magnet 4;

[0044] In step S1, the magnetizing mode of the ring-shaped permanent magnet 4 is arranged as axial magnetization, and the magnetization directions of the two adjacent ring-shaped permanent magnets 4 are opposite.

[0045] S2: pass single-phase alternating current to the rotary motion ring winding 14, so that the stator module 10 and the rotor core tooth 8 form a transverse flux path, the transverse flux path interacts with the excitation magnetic field generated by the ring-shaped permanent magnet 4, thereby generating torque to make the rotor 1 rotate;

[0046] In step S2, the axial pole pitch is the thickness of a single ring-shaped permanent magnet 4 and a single rotor core 5, if the center distance between the two adjacent rotary stators 2 is an even multiple of the axial pole pitch, then the M rotary stators 2 are sequentially deflected by 1 / M rotor core tooth 8 circumferential tooth pitch in the axial direction, if the center distance between the two adjacent rotary stators 2 is an odd multiple of the axial pole pitch, then the M rotary stators 2 are sequentially deflected by 1 / M rotor core tooth 8 circumferential tooth pitch in the axial direction, after the deflection is completed, the odd rotary stators 2 are sequentially deflected by 1 / 2 rotor core tooth 8 circumferential tooth pitch in the reverse direction, and when the single-phase alternating current is passed, the currents of the M rotary motion ring windings 14 are sequentially different by 360 / M electric angles, thereby realizing the rotary motion of the rotor 1.

[0047] In this embodiment, the outer diameter of the mover 1 is set to 78 mm, the outer diameter of the rotating stator 2 is set to 136 mm, the axial length of the rotating stator 2 is set to 34 mm, the shaft diameter ratio is set to 1:4, the residual magnetism of the annular permanent magnet 4 is 0.64 T, the rotating speed is 120 rpm, and the current is 10 A.

[0048] The rotating stator 2 is set to three, the center distance between adjacent two rotating stators 2 is an odd multiple of the axial pole pitch, then the three rotating stators 2 are sequentially deflected by 1 / 3 of the circumferential tooth pitch of the mover core tooth 8 in the axial direction, after the deflection is completed, the odd rotating stators 2 are sequentially deflected by 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 sequentially different by 120 electric angles, so as to realize the rotating motion of the mover 1.

[0049] S3: current is input to the linear motion annular winding 7, the linear motion annular winding 7 generates a linear traveling wave magnetic field after being excited, the linear traveling wave magnetic field interacts with the excitation magnetic field generated by the annular permanent magnet 4, so that the mover 1 performs linear motion;

[0050] S4: current is input to the rotating motion annular winding 14 and the linear motion annular winding 7, so that the mover 1 performs spiral motion.

[0051] The complexity of controlling the linear motion and the rotating motion is respectively controlled, and the control precision is relatively high, at the same time, the rotating stator 2 and the linear stator 3 are separated in space, so as to avoid the magnetic circuit coupling.

[0052] Embodiment 2

[0053] The linear stator 3 and the rotating stator 2 are respectively arranged on the inner and outer sides of the mover 1, and a plurality of mover core teeth 8 are uniformly arranged on the inner and outer sides of the mover core 5 in the circumferential direction.

[0054] The remaining specific embodiments are the same as those of embodiment 1.

[0055] Embodiment 3

[0056] The mover core teeth 8 in contact with the linear stator 3 are healed into a circular ring shape.

[0057] The remaining specific embodiments are the same as those of embodiment 1.

[0058] Embodiment 4

[0059] The stator yokes 11 of the two stator modules 10 in the stator module group 9 are connected as a whole, so as to facilitate manufacturing and installation, and at the same time, the leakage magnetic field is not increased and the rotating motion performance of the motor is not weakened.

[0060] The remaining specific embodiments are the same as those of embodiment 1.

[0061] Therefore, the application adopts the above transverse flux rotating electric machine, rotating linear electric machine and robot driving device to solve the problem of easy magnetic circuit coupling in traditional electric machines, while improving torque density, reducing structural complexity and reducing control complexity.

[0062] Finally, it should be noted that the above examples are only used to illustrate the method of the present application, but not to limit it. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the method of the present application can still be modified or equivalently replaced, and these modifications or equivalent replacements should not make the modified method deviate from the spirit and scope of the method of the present application.

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. The annular permanent magnets and mover cores are alternately arranged along the axial direction. Multiple mover core teeth are provided 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. The stator module groups include stator modules arranged in a centrally symmetrical manner. The number of stator modules in one phase is set to twice the number of moving core teeth on one moving core; 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; 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.

2. The 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.

3. A transverse magnetic flux rotary motor according to claim 2, 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.

4. A rotary linear motor, comprising a transverse magnetic flux rotary motor as described in any one of claims 1-3, 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.

5. A robot drive device, comprising the rotary linear motor as described in claim 4, 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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