Reciprocating motor and automation equipment

Abstract

The utility model relates to a reciprocating motor and automation equipment, and the reciprocating motor comprises a housing assembly; the rotor assembly is rotatably arranged in the shell assembly and is matched with the shell assembly; the stator assembly is arranged between the rotor assembly and the shell assembly and is fixed with the shell assembly; the reciprocating assembly is at least partially arranged in the shell assembly in an axial movement mode, and the reciprocating assembly is in threaded fit with the rotor assembly. According to the technical scheme, the problem that in the prior art, the precision and stability of a reciprocating motor are not easy to control is effectively solved.

Description

Technical Field

[0001] The present application relates to the technical field of motors, and in particular, to a reciprocating motor and automation equipment. Background Art

[0002] A motor is an electromagnetic device that converts or transmits electrical energy based on the law of electromagnetic induction. Motors include reciprocating motors and rotary motors.

[0003] The reciprocating motor realizes axial movement through a connecting rod or a structure similar to a connecting rod through magnetic thrust. The speed and moving distance of the reciprocating motor with the above structure are not easy to control. With the increasing degree of automation, the precision of operation is required to be relatively high. The existing reciprocating motor cannot meet the existing requirements of precision, distance and stability. Utility Model Content

[0004] The present application provides a reciprocating motor and an automation device to solve the problem that the accuracy and stability of the reciprocating motor in the prior art are not easy to control.

[0005] A reciprocating motor provided according to the present application includes: a housing assembly; a rotor assembly, which is rotatably disposed inside the housing assembly and cooperates with the housing assembly; a stator assembly, which is disposed between the rotor assembly and the housing assembly and fixed to the housing assembly; and a reciprocating assembly, which is at least partially axially movably disposed inside the housing assembly and is threadedly engaged with the rotor assembly.

[0006] Further, the rotor assembly includes a rotor and a nut, the nut is connected to the side of the rotor away from the stator assembly, the reciprocating assembly includes a reciprocating screw and a ball, the reciprocating screw is at least partially arranged in the housing assembly, and the screw cooperates with the nut through the ball; or the reciprocating assembly includes a reciprocating screw, and the internal thread of the nut cooperates with the external thread of the reciprocating screw.

[0007] Furthermore, the rotor assembly also includes a rotor connector, and the rotor and the nut are connected via the rotor connector.

[0008] Furthermore, the shell assembly includes a first shell and a second shell, the first shell includes a first barrel body and a first end cover, the second shell includes a second barrel body and a second end cover, the first end of the first barrel body and the first end of the second barrel body are connected, the first end cover is arranged at the second end of the first barrel body, and the second end cover is arranged at the second end of the second barrel body.

[0009] Furthermore, the rotor connector includes a connecting body and an auxiliary connecting body, the connecting body is located between the rotor and the nut, the auxiliary connecting body includes a connecting plate and a matching barrel, the connecting plate is arranged at the ends of the rotor, the connecting body and the nut, and the first end of the matching barrel is connected to the connecting plate and extends outward.

[0010] Furthermore, there are two auxiliary connecting bodies, which are respectively arranged at two ends of the connecting body, and bearings are respectively provided between the two matching barrels and the first end cover and the second end cover.

[0011] Furthermore, the reciprocating motor also includes two movable end covers, and the two movable end covers are respectively connected to two ends of the reciprocating component.

[0012] Furthermore, the reciprocating motor also includes a guide rod, and a guide hole adapted to the guide rod is provided on the housing assembly, and the guide rod is at least partially disposed in the guide hole and is connected to the movable end cover.

[0013] Furthermore, the reciprocating motor also includes a sealing structure, which is arranged between the housing assembly and the reciprocating assembly.

[0014] Furthermore, the reciprocating motor further comprises a position collector assembly, a part of which is arranged on the housing assembly, and another part of which is arranged on the rotor assembly.

[0015] According to another aspect of the present application, an automation device is also provided. The automation device includes an equipment body and a reciprocating motor arranged on the equipment body. The reciprocating motor is the reciprocating motor mentioned above.

[0016] By applying the technical solution of the present application, the stator assembly is energized, and the rotor assembly rotates under the action of electromagnetic force. Since the rotor assembly and the reciprocating assembly are matched through threads, and the rotor assembly and the housing assembly are matched, the rotor assembly and the housing assembly can only rotate relative to each other and not move axially, and the reciprocating assembly can move axially along the housing assembly. In this way, the reciprocating assembly, under the action of the rotor assembly, converts the rotation of the rotor assembly into the translation of the reciprocating assembly. Through the mechanical transmission structure between the rotor assembly and the reciprocating assembly, the movement of the reciprocating assembly is smooth and reliable, and the movement accuracy is high. The technical solution of the present application effectively solves the problem that the accuracy and stability of reciprocating motors in the prior art are not easy to control. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0019] Figure 1A schematic front view of a reciprocating motor according to a first embodiment of the present application is shown;

[0020] Figure 2 Shows Figure 1 A schematic diagram of the three-dimensional structure of a reciprocating motor;

[0021] Figure 3 Shows Figure 1 Schematic diagram of the internal structure of a reciprocating motor;

[0022] Figure 4 Shows Figure 1 A cross-sectional schematic diagram of a reciprocating motor;

[0023] Figure 5 Shows Figure 4 A partial enlarged schematic diagram of the reciprocating motor at point A.

[0024] The above drawings include the following reference numerals:

[0025] 10. Shell assembly; 11. First shell; 111. First barrel; 112. First end cover; 12. Second shell; 121. Second barrel; 122. Second end cover; 20. Rotor assembly; 21. Rotor; 22. Nut; 23. Rotor connector; 231. Connecting body; 232. Auxiliary connector; 30. Stator assembly; 40. Reciprocating assembly; 41. Reciprocating screw rod; 50. Moving end cover; 60. Guide rod; 70. Position collector assembly. DETAILED DESCRIPTION

[0026] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0027] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0028] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" may include both "above" and "below". The device may also be positioned in other different ways, rotated 90 degrees or in other orientations, and the spatially relative descriptions used herein are interpreted accordingly.

[0029] like Figures 1 to 5 As shown, the reciprocating motor of this embodiment includes: a housing assembly 10, a rotor assembly 20, a stator assembly 30 and a reciprocating assembly 40. The rotor assembly 20 is rotatably disposed inside the housing assembly 10 and matched with the housing assembly 10. The stator assembly 30 is disposed between the rotor assembly 20 and the housing assembly 10 and fixed to the housing assembly 10. The reciprocating assembly 40 is at least partially axially movable disposed inside the housing assembly 10, and the reciprocating assembly 40 is threadedly matched with the rotor assembly 20.

[0030] By applying the technical solution of this embodiment, the stator assembly 30 is energized, and the rotor assembly 20 rotates under the action of electromagnetic force. Since the rotor assembly 20 and the reciprocating assembly 40 are threadedly matched, and the rotor assembly 20 is matched with the housing assembly 10, the rotor assembly 20 and the housing assembly 10 can only rotate relative to each other and not move axially, and the reciprocating assembly 40 can move axially along the housing assembly 10. In this way, the reciprocating assembly 40 converts the rotation of the rotor assembly 20 into the axial movement of the reciprocating assembly 40 under the action of the rotor assembly 20. Through the mechanical transmission structure between the rotor assembly 20 and the reciprocating assembly 40, the movement of the reciprocating assembly 40 is stable and reliable, and the movement accuracy is high. The technical solution of this embodiment effectively solves the problem that the accuracy and stability of the reciprocating motor in the prior art are not easy to control.

[0031] It should be noted that the stator assembly 30 is fixed to the housing assembly 10, and can be detachably connected, such as fastener connection, or can be bonded, or can be connected by interference fit. The housing assembly 10 here can be a separately provided housing assembly 10, or can be a fixed structure, for example, when the reciprocating motor is used in an intelligent robot, the housing assembly 10 can be formed with the help of the skeleton of the intelligent robot.

[0032] like Figure 4 and Figure 5As shown, in the technical solution of this embodiment, the rotor assembly 20 includes a rotor 21 and a nut 22, the nut 22 is connected to the side of the rotor 21 away from the stator assembly 30, and the reciprocating assembly 40 includes a reciprocating screw 41 and a ball, the reciprocating screw 41 is at least partially arranged in the housing assembly 10, and the screw cooperates with the nut 22 through the ball. The above structure has stable relative movement, small friction, and high power utilization efficiency. More importantly, the ball screw composed of the above-mentioned nut 22, ball and reciprocating screw 41 is not prone to stuck. It should be noted that the thread length of the reciprocating screw 41 can be adjusted as needed. The technical solution of this application breaks through the traditional thinking, which is generally to perform axial reciprocating motion through the movement of the rotor. The technical solution of this application is converted into axial movement of the reciprocating screw (reciprocating shaft) through the rotation of the rotor and the axial restraint of the rotor. Theoretically, the volume of the reciprocating motor can be made relatively small, and the moving distance of the reciprocating screw is unlimited. It is only necessary to make the length of the screw segment of the reciprocating screw suitable for the use requirements, and make the end of the screw segment of the reciprocating screw into a step. This structure can effectively avoid the movement transition of the reciprocating screw, which may cause the ball and the reciprocating screw to come out. The thread of the screw segment is a smooth arc transition, so that it is relatively smooth and stable when rotating or moving relative to each other.

[0033] like Figure 4 and Figure 5 As shown, in the technical solution of this embodiment, the rotor assembly 20 also includes a rotor connector 23, and the rotor 21 and the nut 22 are connected by the rotor connector 23. The arrangement of the rotor connector 23 facilitates the matching connection between the rotor 21 and the nut 22. It should be noted that the connection body 231 of the rotor connector 23 is cylindrical, and there are multiple rotors 21. The multiple rotors 21 are evenly arranged on the circumferential outer side of the connection body 231 at intervals. The connection body 231 and the multiple rotors 21 can be connected by interference fit, or by bonding, or by fasteners. The nut 22 is connected to the inner wall of the connection body 231 by interference fit, and can also be connected by other methods, such as bonding, fastener connection, etc. The rotor 21 is connected to the outer wall of the rotor connector 23, and the nut 22 is connected to the inner wall of the rotor connector 23. The nut 22 here is the nut 22 of the above two embodiments.

[0034] like Figure 1 and Figure 4As shown, in the technical solution of this embodiment, the housing assembly 10 includes a first housing 11 and a second housing 12, the first housing 11 includes a first barrel 111 and a first end cover 112, the second housing 12 includes a second barrel 121 and a second end cover 122, the first end of the first barrel 111 is connected to the first end of the second barrel 121, the first end cover 112 is arranged at the second end of the first barrel 111, and the second end cover 122 is arranged at the second end of the second barrel 121. The first barrel 111, the first end cover 112, the second barrel 121 and the second end cover 122 form a receiving space, which can provide good protection for the stator assembly 30, the rotor assembly 20, the reciprocating assembly 40 and the position collector assembly. The housing assembly 10 has a wire avoidance portion, and the wire of the stator assembly 30 can pass through the wire avoidance portion. The stator assembly 30 and the housing assembly 10 are connected by interference fit, and other fixing methods can also be connected by fasteners, bonding, etc. The first end cover 112 and the second end cover 122 both have a reciprocating shaft hole, and the reciprocating screw rod 41 passes through the reciprocating shaft hole.

[0035] like Figure 4 and Figure 5 As shown, in the technical solution of this embodiment, the rotor connector 23 includes a connecting body 231 and an auxiliary connecting body 232, the connecting body 231 is located between the rotor 21 and the nut 22, and the auxiliary connecting body 232 includes a connecting plate and a matching barrel, the connecting plate is arranged at the ends of the rotor 21, the connecting body 231 and the nut 22, and the first end of the matching barrel is connected to the connecting plate and extends outward. The structure of the rotor connector 23 including the connecting body 231 and the auxiliary connecting body 232 makes it easier to match the rotor 21 and the nut 22, and provides a mounting frame structure for the subsequent setting of the position collector assembly 70.

[0036] like Figure 4 and Figure 5 As shown, in the technical solution of this embodiment, there are two auxiliary connectors 232, and the two auxiliary connectors 232 are respectively arranged at the two ends of the connecting body 231, and the two matching barrels have bearings between the first end cover 112 and the second end cover 122. The auxiliary connector 232 cooperates with the end cover (the first end cover 112 and the second end cover 122) through the bearing, which ensures that the friction between the rotor connector 23 and the end cover is relatively small on the one hand, and the end cover forms a good binding and supporting effect on the rotor connector 23 on the other hand, so that the rotation of the moving parts of the reciprocating motor is more stable, the noise is smaller, and it is not easy to vibrate. It should be noted that the reciprocating screw 41 passes through the matching barrel, the inner wall of the first end cover 112 has a protrusion, the bearing is located between the first protrusion and the matching barrel, and the matching barrel rotates with the rotor 21. Such a structure is more compact, and no special parts need to be set up, and only the structure of the original parts needs to be designed.

[0037] like Figure 1 and Figure 2 As shown, in the technical solution of this embodiment, the reciprocating motor further includes two movable end covers 50, and the two movable end covers 50 are respectively connected to the two ends of the reciprocating assembly 40. The arrangement of the movable end covers 50 makes it easier for the reciprocating motor to be connected to external components. In the technical solution of this embodiment, the diameter of the movable end cover 50 is greater than or equal to the diameter of the first barrel 111. The reciprocating screw 41 drives the movable end cover 50 to move through the action of the servo motor on the reciprocating screw 41.

[0038] like Figure 1 and Figure 2 As shown, in the technical solution of this embodiment, the reciprocating motor also includes a guide rod 60, and a guide hole adapted to the guide rod 60 is provided on the housing assembly 10, and the guide rod 60 is at least partially arranged in the guide hole and connected to the movable end cover 50. The setting of the guide rod makes the moving end cover 50 more accurate, so that the effect is better in some application occasions, such as the medical field of robot-assisted surgery. It should be noted that both ends of the guide rod 60 are connected to the movable end cover 50, and the guide rod 60 and the reciprocating screw rod 41 of this embodiment are connected to the movable end cover 50 by fasteners. A transparent guide hole is provided on the housing assembly 10, and the guide rod passes through the guide hole, and the two ends of the guide rod are respectively connected to the two movable end covers 50 by screws. The guide rod 60 can be one or more. The setting of the guide rod 60 also increases the external force that the movable end cover 50 can withstand.

[0039] like Figure 4 and Figure 5 As shown, in the technical solution of the first embodiment, the reciprocating motor also includes a position collector assembly 70, a part of which is arranged on the housing assembly 10, and another part of which is arranged on the rotor assembly 20. In this way, the precise control of the moving distance of the reciprocating motor can be achieved. The axial moving distance of the reciprocating screw 41 is determined by the rotation angle of the rotor assembly 20 and the relative rotation between the fixed component (housing assembly 10). The reciprocating motor also includes a control assembly, which is electrically connected to the position collector assembly 70 and can automatically calculate the axial moving distance through the rotation angle. The control assembly is also electrically connected to the stator assembly 30, so that the on and off of the stator assembly 30 can be controlled by the information fed back by the position collector assembly 70, thereby achieving precise control of the moving distance of the reciprocating screw 41. Experiments have shown that the moving accuracy of the reciprocating screw 14 can be controlled within 0.01 mm of the axial movement, which can meet most occasions with high moving accuracy.

[0040] The difference between the technical solution of the second embodiment and the technical solution of the first embodiment is that the reciprocating assembly 40 includes a reciprocating screw rod 41, and the internal thread of the nut 22 cooperates with the external thread of the reciprocating screw rod 41. The above structure has a low processing cost and a simple structure.

[0041] The difference between the technical solution of the third embodiment and the technical solution of the first embodiment is that the guide rod comprises a first guide rod and a second guide rod, the first guide rod is connected to the end cap of the first end, the second end of the first guide rod is located in the guide hole, the first end of the second guide rod is connected to the end cap of the second end, the second end of the second guide rod is located in the guide hole, the first guide rod is one or more, and the second guide rod is one or more. The first guide rod and the second guide rod are arranged one by one, or the first guide rod and the second guide rod are arranged alternately, that is, the first guide rod and the second guide rod may not be arranged one by one.

[0042] The difference between the technical solution of the fourth embodiment and the technical solution of the first embodiment is that the reciprocating motor further includes a sealing structure, which is arranged between the housing assembly 10 and the reciprocating assembly 40. The sealing structure ensures the cleanliness inside the reciprocating motor, and such a reciprocating motor has higher precision and a longer service life. It should be noted that the sealing structure includes a first sealing structure and a second sealing structure, the first sealing structure is arranged between the first end cover 112 and the screw rod, and the second sealing structure is arranged between the second end cover 122 and the reciprocating screw rod 41. The sealing structure is a sealing felt, and a sealing brush is also possible to prevent dust from entering the interior of the reciprocating motor.

[0043] The present application also provides an automation device, the automation device includes a device body and a reciprocating motor arranged on the device body, the reciprocating motor is the above-mentioned reciprocating motor. The automation device includes robots, medical equipment and other equipment, as well as automation equipment such as aerospace that requires a small working space.

[0044] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0045] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0046] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A reciprocating motor, characterized in that: include: Housing assembly (10); a rotor assembly (20), the rotor assembly (20) being rotatably disposed inside the housing assembly (10) and cooperating with the housing assembly (10); a stator assembly (30), the stator assembly (30) being arranged between the rotor assembly (20) and the housing assembly (10), and being fixed to the housing assembly (10); A reciprocating assembly (40) is at least partially axially movably disposed in the housing assembly (10), and the reciprocating assembly (40) is threadably matched with the rotor assembly (20).

2. The reciprocating motor according to claim 1, characterized in that: The rotor assembly (20) comprises a rotor (21) and a nut (22), wherein the nut (22) is connected to a side of the rotor (21) away from the stator assembly (30), and the reciprocating assembly (40) comprises a reciprocating screw (41) and a ball bearing, wherein the reciprocating screw (41) is at least partially disposed in the housing assembly (10), and the screw is matched with the nut (22) via the ball bearing; or the reciprocating assembly (40) comprises a reciprocating screw (41), and an internal thread of the nut (22) is matched with an external thread of the reciprocating screw (41).

3. The reciprocating motor according to claim 2, characterized in that: The rotor assembly (20) further comprises a rotor connector (23), and the rotor (21) and the nut (22) are connected via the rotor connector (23).

4. The reciprocating motor according to claim 3, characterized in that: The shell assembly (10) comprises a first shell (11) and a second shell (12); the first shell (11) comprises a first barrel body (111) and a first end cover (112); the second shell (12) comprises a second barrel body (121) and a second end cover (122); the first end of the first barrel body (111) and the first end of the second barrel body (121) are connected; the first end cover (112) is arranged at the second end of the first barrel body (111); and the second end cover (122) is arranged at the second end of the second barrel body (121).

5. The reciprocating motor according to claim 4, characterized in that: The rotor connector (23) comprises a connecting body (231) and an auxiliary connecting body (232), wherein the connecting body (231) is located between the rotor (21) and the nut (22), and the auxiliary connecting body (232) comprises a connecting plate and a matching barrel, wherein the connecting plate is arranged at the ends of the rotor (21), the connecting body (231) and the nut (22), and the first end of the matching barrel is connected to the connecting plate and extends outward.

6. The reciprocating motor according to claim 5, characterized in that: There are two auxiliary connecting bodies (232), and the two auxiliary connecting bodies (232) are respectively arranged at two ends of the connecting body (231), and the two matching barrels have bearings between them and the first end cover (112) and the second end cover (122).

7. The reciprocating motor according to claim 1, characterized in that: The reciprocating motor further comprises two movable end covers (50), and the two movable end covers (50) are respectively connected to two ends of the reciprocating component (40).

8. The reciprocating motor according to claim 7, characterized in that: The reciprocating motor further comprises a guide rod (60), the housing assembly (10) is provided with a guide hole adapted to the guide rod (60), the guide rod (60) is at least partially disposed in the guide hole and is connected to the movable end cover (50).

9. The reciprocating motor according to claim 1, characterized in that: The reciprocating motor further comprises a sealing structure, wherein the sealing structure is arranged between the housing assembly (10) and the reciprocating assembly (40).

10. The reciprocating motor according to claim 1, characterized in that: The reciprocating motor further comprises a position collector assembly (70), a portion of which is arranged on the housing assembly (10), and another portion of which is arranged on the rotor assembly (20).

11. An automated device, characterized in that: The automation equipment includes an equipment body and a reciprocating motor arranged on the equipment body, and the reciprocating motor is the reciprocating motor according to any one of claims 1 to 10.

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