Rotary linear motion end effector drive and drive, parameter adjustment method

Abstract

The application discloses a rotary linear motion end effector driving device and a driving and parameter adjusting method, relates to the technical field of motor driving devices, and comprises a fixed base and end covers arranged on the two sides of the fixed base. The inside of the fixed base is provided with a two-section stator, the inside of the two-section stator is provided with a three-section rotor, the two-section stator and the three-section rotor are coaxially arranged, the inside of the three-section rotor is provided with a rotating shaft, the output end of the rotating shaft and the tail of the rotating shaft pass through the two end covers respectively, and the output end of the rotating shaft and the tail of the rotating shaft are connected with the end covers through bearings. The device can realize rotary motion and linear motion simultaneously, the accurate adjustment of thrust and torque in different stages is realized, the correct posture and proper torque of the screw are ensured during the locking process, the screw can be accurately screwed into the predetermined position and reach the required locking torque, the precision of the screw locking of the precision instrument is improved significantly, and the instrument failure and performance decline caused by poor locking are reduced.

Description

Technical Field

[0001] This invention relates to the field of motor drive technology, and in particular to a rotary linear motion end effector drive device and a drive and parameter adjustment method. Background Technology

[0002] With the rapid development of digitalization and intelligentization in machinery manufacturing, industrial robots are being used more and more widely, becoming the core equipment of automated production lines.

[0003] As a key component of industrial robots, the performance of the end effector directly affects the robot's operational accuracy and efficiency.

[0004] In the existing technology, the end effector requires multiple motors and a complex transmission control system. At least two single-degree-of-freedom motors are required to generate torque and thrust respectively. During the fastening process, due to the inability to accurately control the changes and coordination of thrust and torque, it is easy to cause the screw to deviate, jam, or not be fully tightened during the screwing process, which affects the accuracy of screw fastening of precision instruments.

[0005] In addition, a complex transmission control system can result in a relatively small linear motion stroke, making it impossible to effectively coordinate rotary and linear motions, which further leads to a decrease in the accuracy of screw fastening.

[0006] Therefore, a rotary linear motion end effector drive device and a drive and parameter adjustment method are provided to solve the above problems. Summary of the Invention

[0007] The purpose of this invention is to provide a drive device and a drive and parameter adjustment method for a rotary linear motion end effector, so as to realize the multi-degree-of-freedom motion of the end effector and meet the requirements of torque and thrust at different stages.

[0008] To achieve the above objectives, the present invention provides a rotary linear motion end effector drive device, including a fixed base and end covers disposed on both sides of the fixed base. The fixed base has a two-section stator inside, and the two-section stator has a three-section mover inside. The two-section stator and the three-section mover are coaxially arranged. The three-section mover has a rotating shaft inside. The output end and the tail end of the rotating shaft pass through the two end covers respectively. The output end and the tail end of the rotating shaft are both connected to the end covers by bearings.

[0009] Preferably, the three-section mover includes a first section, a second section, and a third section, with the third section positioned between the first and second sections. The two-section stator includes a first section and a second section, with the output end of the shaft positioned near the first section and the tail end positioned near the second section.

[0010] Preferably, the outer surface of the first stage of the mover is provided with a plurality of first salient poles and a plurality of first permanent magnets, the first salient poles and the first permanent magnets are alternately arranged along the circumference of the first stage of the mover, the first permanent magnets are magnetized radially, and the magnetization direction of the plurality of first permanent magnets is the same. The outer surface of the second stage of the mover is provided with a plurality of second salient poles and a plurality of second permanent magnets, the second salient poles and the second permanent magnets are alternately arranged along the axial direction of the second stage of the mover, the magnetization direction of the plurality of second permanent magnets is the same, the magnetization direction of the first permanent magnets is opposite to the magnetization direction of the second permanent magnets, and the outer surface of the third stage of the mover is provided with a group of permanent magnets for the third stage of the mover.

[0011] Preferably, the axial length of the first stator section is the same as the axial length of the first mover section. The first stator section includes a first iron core and a first winding disposed on the first iron core. The axial length of the second stator section is the same as the axial length of the second mover section. The second stator section includes a second iron core and a second annular winding disposed on the second iron core. The third mover section permanent magnet assembly includes a third permanent magnet and a fourth permanent magnet. The third and fourth permanent magnets are arranged in a checkerboard pattern. The third and fourth permanent magnets are arranged in different circumferential columns and different axial columns. The magnetization direction of the third permanent magnet is the same as that of the first permanent magnet, and the magnetization direction of the fourth permanent magnet is the same as that of the second permanent magnet.

[0012] Preferably, the third permanent magnet is arranged close to the first permanent magnet in the circumferential column, the axial column of the third permanent magnet is aligned with the first permanent magnet in the circumference, and the circumferential distance between two adjacent third permanent magnets is the same as the circumferential distance between two adjacent first permanent magnets. The fourth permanent magnet is arranged close to the second salient pole in the circumferential column, and the axial distance between two adjacent fourth permanent magnets is the same as the axial distance between two adjacent second permanent magnets.

[0013] A driving method for a rotary linear motion end effector drive device includes the following steps:

[0014] S1: Set stator section 1 to correspond with mover section 1, set stator section 2 to correspond with mover section 3, and pass current to make the drive device enter the first rotational motion state and the second linear motion state.

[0015] S2: Set stator section 1 between mover section 1 and mover section 3, and set stator section 2 between mover section 3 and mover section 2. Apply current to make the drive device enter the transition state.

[0016] S3: Set stator section one to correspond with mover section three, set stator section two to correspond with mover section two, and apply current to make the drive device enter the second rotational motion state and the first linear motion state.

[0017] Preferably, step S1 specifically includes the following steps:

[0018] S11: Set the stator section 1 to correspond with the mover section 1, and set the stator section 2 to correspond with the mover section 3;

[0019] S12: Current is passed through the first stage of the stator to generate an armature magnetic field. The armature magnetic field interacts completely with the permanent magnet magnetic field of the first stage of the mover, and the drive device enters the first rotational motion state.

[0020] S13: Current is passed through the second stage of the stator to generate an armature magnetic field. The armature magnetic field interacts completely with the permanent magnet magnetic field of the third stage of the mover, and the drive device enters the second linear motion state.

[0021] Preferably, step S2 specifically includes the following steps:

[0022] S21: Stator section 1 is positioned between stator section 1 and stator section 3, and stator section 2 is positioned between stator section 3 and stator section 2;

[0023] S22: Current is passed through the first stage of the stator to generate an armature magnetic field. The armature magnetic field interacts with the permanent magnet magnetic field of the first stage of the mover and the permanent magnet magnetic field of the third stage of the mover.

[0024] S23: Current is passed through the second stage of the stator to generate an armature magnetic field. The armature magnetic field interacts with the permanent magnet magnetic field of the second stage of the mover and the permanent magnet magnetic field of the third stage of the mover, and the drive device enters the transition state.

[0025] Preferably, step S3 specifically includes the following steps:

[0026] S31: Set the stator section 1 to correspond with the mover section 3, and set the stator section 2 to correspond with the mover section 2;

[0027] S32: Current is passed through the first stage of the stator to generate an armature magnetic field. The armature magnetic field interacts completely with the permanent magnet magnetic field of the third stage of the mover, and the drive device enters the second rotational motion state.

[0028] S33: Current is passed through the second stage of the stator to generate an armature magnetic field. The armature magnetic field interacts completely with the permanent magnet magnetic field of the second stage of the mover, and the drive device enters the first linear motion state.

[0029] A method for adjusting the parameters of a rotary linear motion end effector drive device includes the following steps:

[0030] Step 1: Input the internal space parameters of the end effector to determine the inner diameter of the moving part and the outer diameter of the stator part;

[0031] Step 2: Set the circumferential pole arc coefficient of the first permanent magnet, the thickness and outer diameter of the first permanent magnet, the inner diameter of a stator section, the slot height, the slot width and the slot depth as optimization variables, and set the minimization of torque ripple and the maximization of average torque as optimization objectives to perform multi-objective optimization;

[0032] Step 3: Determine the optimal parameters based on the optimization results. Input the thickness and outer diameter of the first permanent magnet and the inner diameter of the first stator section into the second stator section and the second stator section to determine the thickness and outer diameter of the second permanent magnet and the inner diameter of the second stator section.

[0033] Step 4: Set the axial pole arc coefficient of the second permanent magnet, the width of the stator second-section slot, the height of the edge teeth and the width of the edge teeth as optimization variables, and set the minimization of thrust pulsation and the maximization of average thrust as optimization objectives to perform multi-objective optimization;

[0034] Step 5: Determine the optimal parameters based on the optimization results. Input the circumferential pole arc coefficient of the first permanent magnet, the thickness and outer diameter of the first permanent magnet, and the axial pole arc coefficient of the second permanent magnet into the three segments of the mover to determine the parameters of the three segments of the mover.

[0035] Step 6: Perform finite element verification to determine whether the performance meets the requirements. If it does, the process ends; otherwise, redetermine the inner diameter of the mover section and the outer diameter of the stator section, and proceed with steps 1-6.

[0036] Therefore, the present invention, by employing the above-described rotary linear motion end effector drive device and drive and parameter adjustment method, has the following beneficial effects:

[0037] (1) The drive device of this solution can realize rotation and linear motion at the same time. By precisely adjusting the thrust and torque at different stages, it ensures that the screw maintains the correct posture and appropriate torque during the fastening process, so that the screw can be accurately screwed into the predetermined position and reach the required tightening torque, thereby significantly improving the fastening accuracy of precision instrument screws and reducing instrument failure and performance degradation caused by poor fastening.

[0038] (2) This solution enables the end effector to better adapt to the complex mechanical environment during screw fastening. In the threading stage, it provides a large thrust to ensure that the friction force is quickly overcome and the auxiliary torque is maintained so that the screw can be smoothly introduced. In the tapping stage, the dynamic adjustment of thrust and torque can effectively avoid screw jamming and vibration, ensuring the smooth progress of the fastening process. In the tightening stage, precise torque control can ensure that the screw reaches a stable tightening state. This stable fastening process throughout the entire process helps to improve the assembly quality and reliability of precision instruments and extend the service life of the instruments.

[0039] (3) This solution integrates rotation, linear and helical motion into one motor, eliminating the need for complex transmission mechanisms. Compared with traditional multi-motor combination drive solutions, it not only reduces the size and weight of the system, but also reduces mechanical wear and maintenance costs, achieving high integration and high efficiency. It has significant economic benefits for large-scale precision instrument production.

[0040] The method of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0041] Figure 1 This is a structural diagram of the rotary linear motion end effector drive device of the present invention;

[0042] Figure 2 This is a cross-sectional view of the rotary linear motion end effector drive device of the present invention;

[0043] Figure 3 This is a structural diagram of the three-segment mover of the present invention;

[0044] Figure 4 This is a schematic diagram of the first rotational motion state and the second linear motion state of the driving device of the present invention;

[0045] Figure 5 This is a schematic diagram of the transition state of the driving device of the present invention;

[0046] Figure 6 This is a schematic diagram of the second rotational motion state and the first linear motion state of the driving device of the present invention;

[0047] Figure 7 This is a flowchart illustrating the parameter configuration of the end effector drive device according to an embodiment of the present invention;

[0048] Figure 8 The following is a schematic diagram of the installation of the magnetic block according to an embodiment of the present invention: (a) no magnetic block is set, (b) one magnetic block is set in the smallest unit of the chessboard, and (c) two magnetic blocks are set in the smallest unit of the chessboard.

[0049] The components include: 1. Fixed base; 2. End cover; 3. Two-section stator; 4. Three-section mover; 5. Shaft; 6. Bearing; 7. Mover section 1; 8. Mover section 2; 9. Mover section 3; 10. Stator section 1; 11. Stator section 2; 12. First salient pole; 13. First permanent magnet; 14. Second permanent magnet; 15. Second salient pole; 16. Mover three-section permanent magnet assembly; 17. First iron core; 18. First winding; 19. Second iron core; 20. Second toroidal winding; 21. Third permanent magnet; 22. Fourth permanent magnet; 23. Magnetic guide block. Detailed Implementation

[0050] The method of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0051] 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.

[0052] 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.

[0053] Example 1

[0054] like Figures 1-3 As shown, the present invention provides a rotary linear motion end effector drive device, including a fixed base 1 and end caps 2 disposed on both sides of the fixed base 1. A two-section stator 3 is disposed inside the fixed base 1, and a three-section mover 4 is disposed inside the two-section stator 3. The two-section stator 3 and the three-section mover 4 are coaxially disposed. A rotating shaft 5 is disposed inside the three-section mover 4. The output end and the tail end of the rotating shaft 5 pass through the two end caps 2 respectively. The output end and the tail end of the rotating shaft 5 are both connected to the end caps 2 through bearings 6.

[0055] The three-section mover 4 includes a first-section mover 7, a second-section mover 8, and a third-section mover 9. The third-section mover 9 is located between the first-section mover 7 and the second-section mover 8. The two-section stator 3 includes a first-section stator 10 and a second-section stator 11. The first-section mover 7 and the first-section stator 10 are axially arranged on the same side inside the rotary linear motion end effector drive device. In this embodiment, the first-section mover 7 and the first-section stator 10 are both on the left side of the rotary linear motion end effector drive device, and the second-section mover 8 and the second-section stator 11 are both on the right side of the rotary linear motion end effector drive device. The output end of the rotating shaft 5 is located on the side close to the first-section mover 7, and the tail end of the rotating shaft 5 is located on the side close to the second-section mover 8.

[0056] The outer surface of the first segment 7 of the moving part is provided with a plurality of first salient poles 12 and a plurality of first permanent magnets 13. The first salient poles 12 and the first permanent magnets 13 are alternately arranged circumferentially along the first segment 7 of the moving part. The first permanent magnets 13 are magnetized radially. The magnetization direction of the plurality of first permanent magnets 13 is the same. The outer surface of the second segment 8 of the moving part is provided with a plurality of second salient poles 15 and a plurality of second permanent magnets 14. The second salient poles 15 and the second permanent magnets 14 are alternately arranged axially along the second segment 8 of the moving part. The magnetization direction of the plurality of second permanent magnets 14 is the same. The magnetization direction of the first permanent magnets 13 is opposite to that of the second permanent magnets 14. The outer surface of the third segment 9 of the moving part is provided with a group of permanent magnets 16 for the third segment of the moving part.

[0057] The axial length of stator section 10 is the same as that of mover section 7. Stator section 10 includes a first iron core 17 and a first winding 18 disposed on the first iron core 17. The axial length of stator section 21 is the same as that of mover section 28. Stator section 21 includes a second iron core 19 and a second annular winding 20 disposed on the second iron core 19.

[0058] The three-segment permanent magnet assembly 16 includes a third permanent magnet 21 and a fourth permanent magnet 22. The third permanent magnet 21 and the fourth permanent magnet 22 are arranged in a checkerboard pattern. The third permanent magnet 21 and the fourth permanent magnet 22 are arranged in different circumferential columns and different axial columns. That is, the same circumferential column and the same axial column are both set with the third permanent magnet 21 or the fourth permanent magnet 22. The magnetization direction of the third permanent magnet 21 is the same as that of the first permanent magnet 13, and the magnetization direction of the fourth permanent magnet 22 is the same as that of the second permanent magnet 14.

[0059] The third permanent magnet 21 is close to the circumferential column of the mover segment 7. There is no fourth permanent magnet 22 circumferential column between the third permanent magnet 21 and the mover segment 7. The axial column of the third permanent magnet 21 is aligned with the circumferential column of the first permanent magnet 13. The circumferential distance between two adjacent third permanent magnets 21 is the same as the circumferential distance between two adjacent first permanent magnets 13. In this way, an alternating magnetic circuit can be formed in the circumference of the three-segment mover 4, thereby driving the three-segment mover 4 to rotate.

[0060] The fourth permanent magnet 22 is close to the second segment 8 of the mover in the circumferential direction. There is a second salient pole 15 between the fourth permanent magnet 22 and the second permanent magnet 14. The axial distance between two adjacent fourth permanent magnets 22 is the same as the axial distance between two adjacent second permanent magnets 14. In this way, an alternating magnetic circuit can be formed in the axial direction of the three-segment mover 4, thereby driving the three-segment mover 4 to move linearly.

[0061] During the driving process, the rotational motion and linear motion of the driving device can be divided into three states, and the electromagnetic performance varies in different motion states.

[0062] A driving method for a rotary linear motion end effector drive device includes the following steps:

[0063] S1: As Figure 4 As shown, the first stage of the stator 10 is set to correspond with the first stage of the mover 7, and the second stage of the stator 11 is set to correspond with the third stage of the mover 9. When current is applied, the drive device enters the first rotational motion state and the second linear motion state.

[0064] Step S1 specifically includes the following steps:

[0065] S11: Set stator section 10 to correspond with rotor section 17, and set stator section 2 to correspond with rotor section 39;

[0066] S12: Current is passed through stator section 10 to generate armature magnetic field. The armature magnetic field and the permanent magnet magnetic field of mover section 7 interact completely. With the cooperation of stator section 10 and mover section 7, the drive device enters the first rotational motion state, at which time the torque is the maximum.

[0067] S13: Current is supplied to the second stator section 11 to generate an armature magnetic field. The armature magnetic field interacts completely with the permanent magnet magnetic field of the third stator section 9. With the cooperation of the second stator section 11 and the third stator section 9, the drive device enters the second linear motion state, at which time the thrust is minimal.

[0068] S2: As Figure 5 As shown, stator section 10 is placed between rotor section 1 7 and rotor section 3 9, and stator section 2 11 is placed between rotor section 3 9 and rotor section 2 8. Current is applied to make the drive device enter the transition state.

[0069] Step S2 specifically includes the following steps:

[0070] S21: Stator section 10 is positioned between mover section 1 7 and mover section 3 9, and stator section 2 11 is positioned between mover section 3 9 and mover section 2 8;

[0071] S22: Current is passed into stator section 10 to generate armature magnetic field. The armature magnetic field interacts with the permanent magnet magnetic field of mover section 7 and mover section 9 at the same time.

[0072] S23: Current is supplied to the second stage of the stator 11 to generate an armature magnetic field. The armature magnetic field interacts with the permanent magnet magnetic field of the second stage of the mover 8 and the permanent magnet magnetic field of the third stage of the mover 9, and the drive device enters the transition state.

[0073] S3: As Figure 6 As shown, the stator section 10 is set to correspond with the mover section 9, and the stator section 11 is set to correspond with the mover section 8. Current is applied to make the drive device enter the second rotary motion state and the first linear motion state.

[0074] Step S3 specifically includes the following steps:

[0075] S31: Set stator section 10 to correspond with rotor section 9, and set stator section 11 to correspond with rotor section 8;

[0076] S32: Current is passed through the first stage of stator 10 to generate an armature magnetic field. The armature magnetic field interacts completely with the permanent magnet magnetic field of the third stage of mover 9. With the cooperation of the first stage of stator 10 and the third stage of mover 9, the drive device enters the second rotational motion state, at which time the torque is minimal.

[0077] S33: Current is supplied to the second stator section 11 to generate an armature magnetic field. The armature magnetic field interacts completely with the permanent magnet magnetic field of the second mover section 8. With the cooperation of the second stator section 11 and the second mover section 8, the drive device enters the first linear motion state, at which time the thrust is at its maximum.

[0078] This embodiment sets the application scenario as the process of a robot fastening screws, which can be systematically divided into three key stages: the thread insertion stage, the thread tapping stage, and the tightening stage.

[0079] During the threading stage, the three-stage moving part 4 is located at the leftmost end of the stroke. At this time, the motion state of the drive device is the second rotary motion state and the first linear motion state. The output thrust is the maximum and the output torque is the minimum. The main task of this stage is to overcome the initial friction between the screw and the threaded hole and to accurately feed the screw into the threaded hole. Therefore, the drive device needs to generate a large thrust to push the screw into the threaded hole. Since the screw has not yet fully engaged with the threaded hole, the required torque is small. Therefore, the drive device only needs to provide a small auxiliary torque to ensure the smooth insertion of the screw.

[0080] The tapping stage is a crucial transitional stage in which the screw gradually forms a complete meshing relationship with the threaded hole. The demand for thrust and torque changes. As the screw is gradually screwed in, the friction between the threads gradually increases, the required thrust decreases, but the torque demand increases accordingly. At this time, the drive device moves in a helical motion, which can ensure that the screw is screwed into the threaded hole smoothly, avoiding the screw getting stuck due to excessive thrust or the screw not being able to be screwed in smoothly due to insufficient torque.

[0081] During the tightening stage, the three-section mover 4 is located at the rightmost end of the stroke. At this time, the motion state of the drive device is the first rotational motion state and the second linear motion state. The output torque is the maximum and the output thrust is the minimum. At this time, the screw has been completely fed into the threaded hole, but it has not been fully tightened. A larger torque is required to ensure that the screw reaches the required locking torque, and the thrust requirement is further reduced.

[0082] The rotational motion performance of the drive unit is mainly determined by the stator section 10 and the mover section 7. Therefore, when optimizing the rotational motion performance, the key structural parameters of the stator section 10 and the mover section 7 should be adjusted. Considering the parameter matching problem of the three-section mover 4, after adjusting the key structural parameters of the mover section 7, the key structural parameters of the mover section 8 and the mover section 9 should be adjusted adaptively according to the adjustment principle.

[0083] like Figure 7 As shown, adjusting the structural parameters specifically includes the following steps:

[0084] Step 1: Input the internal space parameters of the end effector to determine the inner diameter of the first section of the mover (7 mm) and the outer diameter of the first section of the stator (10 mm);

[0085] Step 2: Using the circumferential pole arc coefficient of the first permanent magnet 13, the thickness and outer diameter of the first permanent magnet 13, and the inner diameter, slot height, slot width, and slot depth of the stator section 10 as optimization variables, and minimizing torque ripple and maximizing average torque as optimization objectives, multi-objective optimization is performed.

[0086] Step 3: Determine the optimal parameters based on the optimization results. Input the thickness and outer diameter of the first permanent magnet 13 and the inner diameter of the first stator section 10 into the second mover section 8 and the second stator section 11 to determine the thickness and outer diameter of the second permanent magnet 14 and the inner diameter of the second stator section 11.

[0087] Step 4: Using the axial pole arc coefficient of the second permanent magnet 14, the slot width of the second stator section 11, the edge tooth height and the edge tooth width as optimization variables, and the minimization of thrust pulsation and the maximization of average thrust as optimization objectives, multi-objective optimization is performed.

[0088] Step 5: Determine the optimal parameters based on the optimization results. Input the circumferential pole arc coefficient of the first permanent magnet 13, the thickness and outer diameter of the first permanent magnet 13, and the axial pole arc coefficient of the second permanent magnet 14 into the three segments of the mover 9 to determine the parameters of the three segments of the mover 9.

[0089] Step 6: Perform finite element verification to determine whether the performance meets the requirements. If it does, the process ends; otherwise, redetermine the inner diameter of the mover segment 7 and the outer diameter of the stator segment 11, and repeat steps 1-6.

[0090] Example 2

[0091] This embodiment sets the application scenario as the process of a robot disassembling screws. Screw disassembly is essentially the reverse operation of screw fastening. When disassembling screws, it is also necessary to precisely control the output of torque and thrust. However, the movement direction of the three-stage mover 4 is opposite to that of the fastening process. By adjusting the reverse current, the drive device can provide appropriate reverse torque during the disassembly process while maintaining a stable axial tension, ensuring that the screw is smoothly and without damage unscrewed from the threaded hole.

[0092] The remaining specific implementation methods are the same as in Example 1.

[0093] Example 3

[0094] The third permanent magnet 21 is closest to the second permanent magnet 14 of the second permanent magnet 8 in the circumferential column. There is no second salient pole 15 and fourth permanent magnet 22 between the third permanent magnet 21 and the second permanent magnet 14. This can also form an alternating magnetic circuit in the axial direction of the three-segment mover 4, thereby driving the three-segment mover 4 to move linearly.

[0095] The remaining specific implementation methods are the same as in Example 1.

[0096] Example 4

[0097] like Figure 8 As shown, setting a magnetic guide block 23 between two adjacent third permanent magnets 21 or between two adjacent fourth permanent magnets 22 can reduce energy loss during the transmission of permanent magnet magnetic field, and improve the driving performance of the end effector drive device by optimizing the magnetic field distribution of permanent magnet magnetic field. The magnetic guide block 23 can be set in the following ways: no magnetic guide block 23 is set, one magnetic guide block 23 is set in the smallest unit of the chessboard, and two magnetic guide blocks 23 are set in the smallest unit of the chessboard.

[0098] The remaining specific implementation methods are the same as in Example 1.

[0099] Therefore, the present invention employs the aforementioned rotary linear motion end effector drive device and drive and parameter adjustment method, which can simultaneously achieve rotation and linear motion. By precisely adjusting the thrust and torque at different stages, it ensures that the screw maintains the correct posture and appropriate torque during the fastening process, enabling the screw to be accurately screwed into the predetermined position and achieve the required tightening torque. This significantly improves the fastening accuracy of precision instrument screws and reduces instrument malfunctions and performance degradation caused by poor fastening.

[0100] 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 rotary linear motion end effector drive device, characterized in that, It includes a fixed base and end caps on both sides of the fixed base. The fixed base has a two-section stator inside, and the two-section stator has a three-section mover inside. The two-section stator and the three-section mover are coaxially arranged. The three-section mover has a rotating shaft inside. The output end and the tail end of the rotating shaft pass through the two end caps respectively. The output end and the tail end of the rotating shaft are both connected to the end caps through bearings. The three-section mover includes a first section, a second section, and a third section, with the third section positioned between the first and second sections. The two-section stator includes a first section and a second section, with the output end of the shaft positioned near the first section and the tail end positioned near the second section. The outer surface of the first stage of the mover is provided with multiple first salient poles and multiple first permanent magnets. The first salient poles and first permanent magnets are alternately arranged along the circumference of the first stage of the mover. The first permanent magnets are magnetized radially. The magnetization direction of the multiple first permanent magnets is the same. The outer surface of the second stage of the mover is provided with multiple second salient poles and multiple second permanent magnets. The second salient poles and second permanent magnets are alternately arranged along the axial direction of the second stage of the mover. The magnetization direction of the multiple second permanent magnets is the same. The magnetization direction of the first permanent magnets is opposite to the magnetization direction of the second permanent magnets. The outer surface of the third stage of the mover is provided with a group of permanent magnets for the third stage of the mover. The axial length of the first stator section is the same as that of the first mover section. The first stator section includes a first iron core and a first winding disposed on the first iron core. The axial length of the second stator section is the same as that of the second mover section. The second stator section includes a second iron core and a second annular winding disposed on the second iron core. The third mover section permanent magnet group includes a third permanent magnet and a fourth permanent magnet. The third permanent magnet and the fourth permanent magnet are arranged in a checkerboard pattern. The third permanent magnet and the fourth permanent magnet are arranged in different circumferential columns and different axial columns. The magnetization direction of the third permanent magnet is the same as that of the first permanent magnet, and the magnetization direction of the fourth permanent magnet is the same as that of the second permanent magnet. The third permanent magnet is arranged close to the first permanent magnet in the circumferential column, and the axial column of the third permanent magnet is aligned with the first permanent magnet in the circumference. The circumferential distance between two adjacent third permanent magnets is the same as the circumferential distance between two adjacent first permanent magnets. The fourth permanent magnet is arranged close to the second salient pole in the circumferential column, and the axial distance between two adjacent fourth permanent magnets is the same as the axial distance between two adjacent second permanent magnets.

2. The driving method of the rotary linear motion end effector driving device as described in claim 1, characterized in that, Includes the following steps: S1: Set stator section 1 to correspond with mover section 1, set stator section 2 to correspond with mover section 3, and pass current to make the drive device enter the first rotational motion state and the second linear motion state. S2: Set stator section 1 between mover section 1 and mover section 3, and set stator section 2 between mover section 3 and mover section 2. Apply current to make the drive device enter the transition state. S3: Set stator section one to correspond with mover section three, set stator section two to correspond with mover section two, and apply current to make the drive device enter the second rotational motion state and the first linear motion state.

3. The driving method of the rotary linear motion end effector driving device according to claim 2, characterized in that, Step S1 specifically includes the following steps: S11: Set the stator section 1 to correspond with the mover section 1, and set the stator section 2 to correspond with the mover section 3; S12: Current is passed through the first stage of the stator to generate an armature magnetic field. The armature magnetic field interacts completely with the permanent magnet magnetic field of the first stage of the mover, and the drive device enters the first rotational motion state. S13: Current is passed through the second stage of the stator to generate an armature magnetic field. The armature magnetic field interacts completely with the permanent magnet magnetic field of the third stage of the mover, and the drive device enters the second linear motion state.

4. The driving method of the rotary linear motion end effector driving device according to claim 2, characterized in that, Step S2 specifically includes the following steps: S21: Stator section 1 is positioned between stator section 1 and stator section 3, and stator section 2 is positioned between stator section 3 and stator section 2; S22: Current is passed through the first stage of the stator to generate an armature magnetic field. The armature magnetic field interacts with the permanent magnet magnetic field of the first stage of the mover and the permanent magnet magnetic field of the third stage of the mover. S23: Current is passed through the second stage of the stator to generate an armature magnetic field. The armature magnetic field interacts with the permanent magnet magnetic field of the second stage of the mover and the permanent magnet magnetic field of the third stage of the mover, and the drive device enters the transition state.

5. The driving method of the rotary linear motion end effector driving device according to claim 2, characterized in that, Step S3 specifically includes the following steps: S31: Set the stator section 1 to correspond with the mover section 3, and set the stator section 2 to correspond with the mover section 2; S32: Current is passed through the first stage of the stator to generate an armature magnetic field. The armature magnetic field interacts completely with the permanent magnet magnetic field of the third stage of the mover, and the drive device enters the second rotational motion state. S33: Current is passed through the second stage of the stator to generate an armature magnetic field. The armature magnetic field interacts completely with the permanent magnet magnetic field of the second stage of the mover, and the drive device enters the first linear motion state.

6. The parameter adjustment method for the rotary linear motion end effector drive device as described in claim 1, characterized in that, Includes the following steps: Step 1: Input the internal space parameters of the end effector to determine the inner diameter of the moving part and the outer diameter of the stator part; Step 2: Set the circumferential pole arc coefficient of the first permanent magnet, the thickness and outer diameter of the first permanent magnet, the inner diameter of a stator section, the slot height, the slot width and the slot depth as optimization variables, and set the minimization of torque ripple and the maximization of average torque as optimization objectives to perform multi-objective optimization; Step 3: Determine the optimal parameters based on the optimization results. Input the thickness and outer diameter of the first permanent magnet and the inner diameter of the first stator section into the second stator section and the second stator section to determine the thickness and outer diameter of the second permanent magnet and the inner diameter of the second stator section. Step 4: Set the axial pole arc coefficient of the second permanent magnet, the width of the stator second-section slot, the height of the edge teeth and the width of the edge teeth as optimization variables, and set the minimization of thrust pulsation and the maximization of average thrust as optimization objectives to perform multi-objective optimization; Step 5: Determine the optimal parameters based on the optimization results. Input the circumferential pole arc coefficient of the first permanent magnet, the thickness and outer diameter of the first permanent magnet, and the axial pole arc coefficient of the second permanent magnet into the three segments of the mover to determine the parameters of the three segments of the mover. Step 6: Perform finite element verification to determine whether the performance meets the requirements. If it does, the process ends; otherwise, redetermine the inner diameter of the mover section and the outer diameter of the stator section, and proceed with steps 1-6.

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