A rotary electric machine, a rotary linear electric machine, and a robot joint driving device

Abstract

The application discloses a rotary motor, a rotary linear motor and a robot joint driving device, and relates to the technical field of motor driving devices.The rotary motor comprises a rotor and a rotary stator arranged outside the rotor, the rotary stator and the rotor are coaxially arranged, the rotor comprises a ring-shaped permanent magnet and a rotor core, the ring-shaped permanent magnet and the rotor core are alternately arranged along an axial direction, the rotary stator comprises a rotary stator module group and a rotary motion ring-shaped winding, the rotary stator module group comprises a first rotary stator module and a second rotary stator module which are alternately arranged along a circumferential direction; the mechanical transmission components required by the motor are effectively simplified, the torque density is significantly improved through optimization of a magnetic field path design, the motor power output is more efficient, the rotary motion and the linear motion are respectively and accurately adjusted, the magnetic circuit coupling problem is effectively avoided through the space separation design of the rotary stator and the linear stator while ensuring high control precision.

Description

TECHNICAL FIELD

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

[0002] With the rapid development of robot automation and precision equipment, the demand for multi-degree-of-freedom motion control is increasing, and a driving solution that can realize rotary, linear and helical compound motion at the same time is urgently needed.

[0003] In the prior art, the rotary linear motor usually adopts a mechanical compound structure, that is, a transmission mechanism is used to physically integrate the rotary motor and the linear motor.

[0004] However, such traditional design has significant limitations: first, the mechanical coupling structure leads to a large system size, which is difficult to adapt to the design requirements of modern equipment miniaturization and integration; second, the inherent defects such as reverse clearance and elastic deformation in the transmission chain will reduce the motion positioning accuracy; third, the multi-motor cooperative control algorithm is complex, and in the dynamic response process, vibration and trajectory deviation are easily caused by mechanical coupling; fourth, the magnetic fields of the rotary and linear motion units interfere with each other, producing a magnetic circuit coupling effect that is difficult to eliminate; these technical bottlenecks seriously restrict the performance improvement of high-end equipment.

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

[0006] The purpose of the present application is to provide a rotary motor, a rotary linear motor and a robot joint driving device, which effectively avoids the magnetic circuit interference problem of traditional motors, while enhancing torque output, simplifying mechanical structure and simplifying control logic.

[0007] To achieve the above purpose, the present application provides a rotary motor, comprising a rotor and a rotary stator arranged outside the rotor, the rotary stator and the rotor are coaxially arranged, the rotor comprises an annular permanent magnet and a rotor core, the annular permanent magnet and the rotor core are alternately arranged along the axial direction, the rotary stator comprises a rotary stator module group and a rotary motion annular winding, the rotary stator module group comprises a first rotary stator module and a second rotary stator module alternately arranged along the circumferential direction.

[0008] Preferably, the first rotary stator module comprises a first rotary stator yoke and a first rotary stator tooth and a second rotary stator tooth arranged on the first rotary stator yoke, the first rotary stator tooth and the second rotary stator tooth are symmetrically arranged according to the center of the first rotary stator yoke, and the first rotary stator tooth and the second rotary stator tooth both extend radially to the rotor core.

[0009] Preferably, the second rotating stator module comprises a second rotating stator yoke and a third rotating stator tooth and a fourth rotating stator tooth arranged on the second rotating stator yoke, the third rotating stator tooth and the fourth rotating stator tooth are arranged according to the center symmetry of the second rotating stator yoke, the third rotating stator tooth is curved to the same side of the fourth rotating stator tooth, and the fourth rotating stator tooth is curved to the same side of the third rotating stator tooth.

[0010] Preferably, the first rotating stator yoke, the first rotating stator tooth and the second rotating stator tooth constitute a first half-enclosing structure, the second rotating stator yoke, the third rotating stator tooth and the fourth rotating stator tooth constitute a second half-enclosing structure, and the rotating motion annular winding passes through the first half-enclosing structure and the second half-enclosing structure in the circumferential direction.

[0011] Preferably, the outer surface of the mover iron core is provided with a plurality of mover iron core teeth in the circumferential direction, the number of the mover iron core teeth is an integer multiple of the sum of the number of the first rotating stator yoke and the number of the second rotating stator yoke, the first rotating stator tooth, the second rotating stator tooth, the third rotating stator tooth and the fourth rotating stator tooth are arranged in alignment with the mover iron core teeth respectively, the second rotating stator tooth and the third rotating stator tooth are arranged on the same circumferential column, and the first rotating stator tooth and the fourth rotating stator tooth are arranged on the same circumferential column.

[0012] Preferably, if the center distance between the two adjacent rotating stators is an even number of axial pole pitches, the S rotating stators are sequentially deflected by 1 / S mover iron core tooth pitch, if the center distance between the two adjacent rotating stators is an odd number of axial pole pitches, the S rotating stators are sequentially deflected by 1 / S mover iron core tooth pitch, after the deflection is completed, the first odd rotating stator is sequentially deflected by 1 / 2 mover iron core tooth pitch in the reverse direction, and the currents of the S rotating motion annular windings sequentially differ by 360 / S electric angles.

[0013] A rotating linear motor comprises a rotating motor, the rotating motor is arranged in the interior of a linear stator, the linear stator is coaxially arranged with a mover of the rotating motor, the linear stator comprises a linear stator iron core and a linear motion annular winding, and the linear motion annular winding is arranged in the interior of the linear stator iron core in the axial direction.

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

[0015] Therefore, the rotating motor, the rotating linear motor and the robot joint driving device have the following beneficial effects:

[0016] (1) The scheme adopts a transverse magnetic flux structure, integrates rotation and linear motion functions in a single motor unit, omits traditional mechanical transmission devices, significantly optimizes structural layout, makes the whole machine more light and compact, and is particularly suitable for application occasions with strict requirements on space and weight;

[0017] (2) The scheme adopts an axial alternation structure of ring-shaped permanent magnets and mover iron cores, combines a transverse magnetic flux loop formed by stator modules and mover iron core teeth, effectively optimizes magnetic circuit distribution, greatly improves motor torque density, and significantly enhances power output efficiency;

[0018] (3) The scheme independently controls linear motion and rotation, significantly reduces system complexity and improves control accuracy, and the rotation stator and linear stator adopt a spatial separation design, effectively eliminating mutual interference between magnetic circuits;

[0019] (4) The scheme realizes independent control of rotation and linear motion through the separated rotation motion ring-shaped winding and linear motion ring-shaped winding, not only reduces the complexity of multi-axis cooperative control, but also significantly improves the positioning accuracy and motion stability of the system.

[0020] The method scheme of the application will be further described in detail below through the drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a structural diagram of a rotary motor of the application;

[0022] Figure 2 is an axial side view of a rotary motor of the application;

[0023] Figure 3 is a structural diagram of a rotary stator of the application;

[0024] Figure 4 is an installation schematic diagram of a single-phase rotary stator and mover of the application;

[0025] Figure 5 is a structural diagram of a rotary linear motor of the application;

[0026] Figure 6 is a structural diagram of a robot joint driving device of the application;

[0027] Figure 7 is a torque simulation result schematic diagram of a three-phase rotary linear motor of an embodiment of the application.

[0028] The components are: 1. Mover; 2. Rotating stator; 3. Linear stator; 4. Annular permanent magnet; 5. Mover core; 6. Rotating stator module assembly; 7. Rotating motion annular winding; 8. Linear stator core; 9. Linear motion annular winding; 10. First rotating stator module; 11. Second rotating stator module; 12. First rotating stator yoke; 13. First rotating stator tooth; 14. Second rotating stator tooth; 15. Second rotating stator yoke; 16. Third rotating stator tooth; 17. Fourth rotating stator tooth; 18. First semi-enclosed structure; 19. Second semi-enclosed structure; 20. Mover core tooth; 21. Outer shell; 22. End cap; 23. Shaft; 24. Sliding bearing. Detailed Implementation

[0029] The method of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0030] 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.

[0031] 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.

[0032] Example 1

[0033] like Figures 1-4 As shown, the present invention provides a rotary motor, including a mover 1 and a rotating stator 2 disposed outside the mover 1. The rotating stator 2 and the mover 1 are coaxially arranged. The mover 1 includes an annular permanent magnet 4 and a mover core 5. The annular permanent magnet 4 and the mover core 5 are alternately arranged along the axial direction. The rotating stator 2 includes a rotating stator module group 6 and a rotating motion annular winding 7. The rotating stator module group 6 includes a first rotating stator module 10 and a second rotating stator module 11 alternately arranged along the circumferential direction.

[0034] The first rotating stator module 10 comprises a first rotating stator yoke 12 and a first rotating stator tooth 13 and a second rotating stator tooth 14 arranged on the first rotating stator yoke 12, the first rotating stator tooth 13 and the second rotating stator tooth 14 are arranged according to the center symmetry of the first rotating stator yoke 12, and the first rotating stator tooth 13 and the second rotating stator tooth 14 both extend radially to the rotor core 5.

[0035] The second rotating stator module 11 comprises a second rotating stator yoke 15 and a third rotating stator tooth 16 and a fourth rotating stator tooth 17 arranged on the second rotating stator yoke 15, the third rotating stator tooth 16 and the fourth rotating stator tooth 17 are arranged according to the center symmetry of the second rotating stator yoke 15, and the third rotating stator tooth 16 is curved to the same side of the fourth rotating stator tooth 17, and the fourth rotating stator tooth 17 is curved to the same side of the third rotating stator tooth 16.

[0036] The first rotating stator yoke 12, the first rotating stator tooth 13 and the second rotating stator tooth 14 constitute a first half-enclosed structure 18, the second rotating stator yoke 15, the third rotating stator tooth 16 and the fourth rotating stator tooth 17 constitute a second half-enclosed structure 19, and the rotating motion annular winding 7 passes through the first half-enclosed structure 18 and the second half-enclosed structure 19 in the circumferential direction.

[0037] The outer surface of the rotor core 5 is provided with a plurality of rotor core teeth 20 in the circumferential direction, the number of rotor core teeth 20 is set to be an integer multiple of the sum of the number of the first rotating stator yoke 12 and the second rotating stator yoke 15, the first rotating stator tooth 13, the second rotating stator tooth 14, the third rotating stator tooth 16 and the fourth rotating stator tooth 17 are arranged respectively aligned with the rotor core teeth 20, the second rotating stator tooth 14 and the third rotating stator tooth 16 are arranged on the same circumferential column, and the first rotating stator tooth 13 and the fourth rotating stator tooth 17 are arranged on the same circumferential column.

[0038] As shown in Figure 5 A rotating linear motor, comprising a rotating motor, the rotating motor is arranged in the interior of a linear stator 3, the linear stator 3 is coaxially arranged with a rotor 1 of the rotating motor, the linear stator 3 comprises a linear stator core 8 and a linear motion annular winding 9, the linear motion annular winding 9 is arranged in the interior of the linear stator core 8 in the axial direction.

[0039] As shown in Figure 6 A robot joint driving device, comprising a rotating linear motor, the rotating linear motor is arranged in the interior of a housing 21, the interior of the rotating linear motor is provided with a rotating shaft 23, both ends of the housing 21 are provided with end covers 22, and the rotating shaft 23 and the end covers 22 are connected through sliding bearings 24.

[0040] A driving method of a rotating linear motor, comprising the following steps:

[0041] S1: Axial magnetization of the annular permanent magnet 4, the magnetization direction of adjacent annular permanent magnets 4 is opposite, generating an excitation magnetic field;

[0042] S2: Passing current to the rotating annular winding 7, the current is unidirectional alternating current, generating a transverse flux path, the transverse flux path interacts with the excitation magnetic field, thereby generating torque, making the rotor 1 rotate.

[0043] In step S2, if the center distance between the two adjacent rotating stators 2 is an even number of axial pole pitches, the S rotating stators 2 are sequentially deflected by 1 / S rotor core 5 tooth pitch, if the center distance between the two adjacent rotating stators 2 is an odd number of axial pole pitches, the S rotating stators 2 are sequentially deflected by 1 / S rotor core 5 tooth pitch, after the deflection is completed, the odd number of rotating stators 2 are sequentially deflected by 1 / 2 rotor core 5 tooth pitch in reverse, and the currents of the S rotating annular windings 7 are sequentially different by 360 / S electric angles.

[0044] In this embodiment, the rotating stator 2 is provided as three, the center distance between the two adjacent rotating stators 2 is an odd number of axial pole pitches, the three rotating stators 2 are sequentially deflected by 1 / 3 rotor core 5 tooth pitch, after the deflection is completed, the odd number of rotating stators 2 are sequentially deflected by 1 / 2 rotor core 5 tooth pitch in reverse, and the currents of the three rotating annular windings 7 are sequentially different by 120 electric angles, as shown in Figure 7 The average torque is 5.14 Nm, and the motor torque is improved.

[0045] S3: Passing current to the linear motion annular winding 9, generating a linear traveling wave magnetic field, the linear traveling wave magnetic field interacts with the excitation magnetic field, making the rotor 1 move linearly.

[0046] In this embodiment, the outer diameter of the rotating stator 2 is set to 240 mm, the axial length is set to 36 mm, and the shaft diameter ratio is set to 3:20. The shaft diameter ratio is very small, greatly reducing the axial length of the motor, and at the same time, the linear motion stroke of the motor can be increased.

[0047] S4: Passing current to the rotating annular winding 7 and the linear motion annular winding 9, generating a transverse flux path and a linear traveling wave magnetic field respectively, the transverse flux path and the linear traveling wave magnetic field interact with the excitation magnetic field respectively, making the rotor 1 move spirally.

[0048] Example 2

[0049] The linear stator 3 and the rotating stator 2 are respectively arranged on the inner and outer sides of the rotor 1, and a plurality of rotor core teeth 20 are uniformly arranged on the inner and outer sides of the rotor core 5 in the circumferential direction.

[0050] The rest of the specific embodiments are the same as in Example 1.

[0051] Example 3

[0052] A plurality of mover iron core teeth 20 are arranged on the side of the mover iron core 5 that contacts the rotary stator 2, and the mover iron core teeth 20 are arranged in a circular ring shape on the side of the mover iron core 5 that contacts the linear stator 3.

[0053] The rest of the detailed description is the same as that of Example 2.

[0054] Example 4

[0055] The first rotary stator yoke 12 and the second rotary stator yoke 15 are connected as a whole, which not only simplifies the manufacturing and assembly process, but also effectively avoids the problem of magnetic leakage and ensures that the rotation performance of the motor is not affected.

[0056] The rest of the detailed description is the same as that of Example 1.

[0057] Therefore, the application adopts the above-mentioned rotary motor, rotary linear motor and robot joint driving device, effectively overcomes the defects of traditional motor magnetic circuit coupling, significantly improves the torque output capability, and realizes the simplification of the structure design and the optimization of the control system.

[0058] Finally, it should be noted that: the above examples are only used to illustrate the method scheme of the application and not to limit it, although the application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that: the method scheme of the application can still be modified or replaced by the equivalent, and these modifications or equivalent replacements cannot make the modified method scheme deviate from the spirit and scope of the method scheme of the application.

Claims

1. A rotary electric motor, characterized in that, It includes a mover and a rotating stator disposed outside the mover. The rotating stator and the mover are coaxially arranged. The mover includes an annular permanent magnet and a mover core. The annular permanent magnet and the mover core are alternately arranged along the axial direction. The rotating stator includes a rotating stator module group and a rotating motion annular winding. The rotating stator module group includes a first rotating stator module and a second rotating stator module that are alternately arranged along the circumferential direction. The first rotating stator module includes a first rotating stator yoke and a first rotating stator tooth and a second rotating stator tooth disposed on the first rotating stator yoke. The first rotating stator tooth and the second rotating stator tooth are arranged symmetrically with respect to the center of the first rotating stator yoke, and both the first rotating stator tooth and the second rotating stator tooth extend radially toward the mover core. The second rotating stator module includes a second rotating stator yoke and a third rotating stator tooth and a fourth rotating stator tooth disposed on the second rotating stator yoke. The third rotating stator tooth and the fourth rotating stator tooth are symmetrically arranged according to the center of the second rotating stator yoke. The third rotating stator tooth is bent to the same side as the fourth rotating stator tooth, and the fourth rotating stator tooth is bent to the same side as the third rotating stator tooth. The first rotating stator yoke, the first rotating stator tooth, and the second rotating stator tooth constitute the first semi-enclosed structure, and the second rotating stator yoke, the third rotating stator tooth, and the fourth rotating stator tooth constitute the second semi-enclosed structure. The rotating motion annular winding passes through the first semi-enclosed structure and the second semi-enclosed structure circumferentially. The outer surface of the mover core is provided with a plurality of mover core teeth along the circumferential direction. The number of mover core teeth is set to an integer multiple of the sum of the number of the first rotating stator yoke and the second rotating stator yoke. The first rotating stator teeth, the second rotating stator teeth, the third rotating stator teeth and the fourth rotating stator teeth are respectively aligned with the mover core teeth. The second rotating stator teeth and the third rotating stator teeth are arranged on the same circumferential column, and the first rotating stator teeth and the fourth rotating stator teeth are arranged on the same circumferential column.

2. A rotary motor according to claim 1, characterized in that, If the center distance between two adjacent rotating stators is an even number of axial pole pitches, then the S rotating stators deflect by 1 / S of the mover core tooth pitch in sequence. If the center distance between two adjacent rotating stators is an odd number of axial pole pitches, then the S rotating stators deflect by 1 / S of the mover core tooth pitch in sequence. After the deflection is completed, the odd-numbered rotating stators deflect by 1 / 2 of the mover core tooth pitch in the reverse direction in sequence. The currents of the S rotating moving ring windings are successively 360 / S electrical degrees apart.

3. A rotary linear motor, comprising the rotary motor as described in any one of claims 1-2, characterized in that, The rotary motor is located inside the linear stator, and the linear stator is coaxially arranged with the rotor of the rotary motor. The linear stator includes a linear stator core and a linear motion annular winding, which is arranged axially inside the linear stator core.

4. A robot joint drive device, comprising the rotary linear motor as described in claim 3, characterized in that, The rotary linear motor is located inside the housing, and a rotating shaft is installed inside the rotary linear motor. End caps are installed at both ends of the housing, and the rotating shaft and the end caps are connected by sliding bearings.

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