Motor

Abstract

The utility model discloses a motor, relates to the motor technical field, the motor comprises an output shaft, a mover, at least two stators, a servo module and power lines used for connecting the servo module and the stators, the mover is sleeved on the output shaft and can drive the output shaft to carry out synchronous motion, each stator is correspondingly provided with a group of power lines, and the power lines are connected with the servo module and the stators. The servo device can adjust voltage vectors in each group of power lines, so that the stators generate different magnetic fields according to different voltage vectors, the magnetic fields of the plurality of stators are mutually superposed to generate a superposed magnetic field, and under the action of the superposed magnetic field, the power lines are driven to rotate. The rotor can drive the output shaft to perform rotary motion, linear motion or perform linear motion while performing rotary motion, through the technical scheme of the utility model, one motor can have the functions of linear motion and rotary motion at the same time, and no transmission mechanism is arranged in the motion process, so that the cost is reduced. Therefore, the technical problems of low motor transmission efficiency and complex structure caused by the existence of a transmission mechanism are avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of motors, in particular to a motor. Background Art

[0002] In most cases, a motor usually only has one of the functions of rotation and linear motion. However, in some special usage scenarios, the motor is required to have both rotation and linear motion. To achieve this goal, the currently commonly used technical solution is to combine a rotary motor with multiple structures into a separate linear rotary motor. This motor can achieve linear motion while performing rotational motion. However, this motor often achieves rotation and linear motion through transmission, which has problems such as low transmission efficiency and complex structure.

[0003] In view of this, it is necessary to provide a motor to solve or at least alleviate the above technical defects. Utility Model Content

[0004] The main purpose of the utility model is to provide a motor, aiming to solve the technical problems of low transmission efficiency and complex structure of existing linear rotary motors.

[0005] To achieve the above-mentioned purpose, the motor proposed in the present invention includes:

[0006] output shaft;

[0007] A mover, the mover being sleeved on the output shaft;

[0008] At least two stators, each of which is disposed around the outside of the mover, wherein a first spacing exists between two surfaces of at least two stators that are farthest apart in the axial direction of the output shaft, the length of the first spacing is greater than the axial length of the mover along the output shaft, and a second spacing exists between two adjacent surfaces of two adjacent stators, the length of the second spacing is less than the axial length of the mover along the output shaft;

[0009] Power lines, the power lines are connected to the stators, and each stator is provided with a corresponding set of power lines;

[0010] A servo module is provided, wherein the power line is connected to the servo module, and the servo module is capable of adjusting a voltage vector of the power line.

[0011] In one embodiment, the voltage vector includes a rotating voltage vector, a translational voltage vector, and a combined voltage vector, and the output shaft includes a rotating state, a translational state, and a combined state;

[0012] When the output shaft needs to enter the rotational state, the servo module applies the rotational voltage vectors in the same direction to multiple groups of the power lines, so that the stator generates a magnetic field capable of rotating the rotor, and the rotor drives the output shaft to perform a rotational motion;

[0013] When the output shaft needs to enter the translational state, the servo module applies the translational voltage vectors in the same direction to multiple groups of the power lines, and respectively adjusts the magnitudes of the translational voltage vectors in each group of the power lines, so that there is an intensity difference in the magnetic induction intensities of the magnetic fields generated by multiple stators, and the rotor drives the output shaft to perform a linear motion under the action of the intensity difference;

[0014] When the output shaft needs to enter the combined state, the servo module applies the combined voltage vectors in the same direction to multiple groups of the power lines, so that the multiple stators generate a superimposed magnetic field, and the superimposed magnetic field enables the rotor to drive the output shaft to perform a rotational motion while performing a linear motion.

[0015] In one embodiment, the servo module includes a control unit and power terminals, the power lines are centrally connected to the power terminals, the power terminals are connected to the control unit through control lines, and the number of the control lines is less than the number of the power lines.

[0016] In one embodiment, two or more of the stators are uniformly arranged along the axial direction of the rotor, and there is an air gap between two adjacent stators.

[0017] In one embodiment, the motor further includes a detection module, and the detection module can detect the position change data of the output shaft.

[0018] In one embodiment, the detection module includes a rotational motion detection unit, and the rotational motion detection unit includes an encoder grating scale and an encoder grating scale reading head. The encoder grating scale is installed on the output shaft and is coaxially arranged with the output shaft. The output shaft drives the encoder grating scale to move synchronously, and the encoder grating scale reading head is arranged opposite to the encoder grating scale.

[0019] In one embodiment, the detection module includes a linear motion detection unit, and the linear motion detection unit includes a linear grating scale, a linear grating scale reading head, and a grating base. One end of the grating base is sleeved on the output shaft, the output shaft can drive the grating base to perform a linear motion synchronously, the linear grating scale is arranged on the grating base, the linear grating scale is arranged parallel to the output shaft, and the linear grating scale reading head is arranged opposite to the linear grating scale.

[0020] In one embodiment, the detection module includes a grating track belt and a grating track belt reading head. The grating track belt is disposed around the output shaft. A plurality of grating track belts are arranged in parallel at intervals along the axial direction of the output shaft. The grating track belt reading head is disposed opposite to the grating track belt.

[0021] In one embodiment, the motor further includes an information processing unit, which is communicatively connected to the detection module and the servo module. The detection module transmits the position change data of the output shaft to the information processing unit. The information processing unit processes and corrects the position change data and transmits the processing result to the servo module. The servo module controls the motion state of the output shaft in real time according to the processing result.

[0022] In one embodiment, the motor further includes a support member, which is formed with a support hole. The support member is sleeved on the output shaft through the support hole.

[0023] In the technical solution provided by the present utility model, by disposing at least two of the stators around the outside of the rotor, and then connecting the power lines connected to the stators to the servo module, the servo module can respectively adjust the voltage vectors in the stators, so that two or more of the stators generate different superimposed magnetic fields according to different voltage vectors, and further enable the rotor to drive the output shaft to perform rotational motion, linear motion or linear motion while performing rotational motion under the action of different superimposed magnetic fields. Through the technical solution of the present utility model, a motor can simultaneously have the functions of linear motion and rotational motion, and no transmission mechanism is provided during the motion process, thereby avoiding the technical problems of low transmission efficiency and complex structure of the motor caused by the existence of the transmission mechanism. Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without creative efforts.

[0025] Figure 1 Schematic diagram of an embodiment of the motor provided by the present utility model;

[0026] Figure 2 For Figure 1 Schematic diagram of another perspective;

[0027] Figure 3 For Figure 1Schematic diagram from another perspective;

[0028] Figure 4 is Figure 2 Schematic cross-sectional structure diagram of the A-A cross-section in

[0029] Figure 5 Schematic diagram of the grating code track belt structure of an embodiment of the motor provided by the present utility model;

[0030] Figure 6 is Figure 1 Partial enlarged view at A in

[0031] Explanation of reference numerals in the drawings:

[0032] 100, motor; 1, housing; 2, output shaft; 3, rotor; 31, rotor iron core; 32, permanent magnet; 4, stator; 41, first stator; 411, first stator iron core; 412, first stator winding; 42, second stator; 421, second stator iron core; 422, second stator winding; 5, power terminal; 6, air gap; 7, detection module; 71, grating code track belt; 72, grating code track belt reading head; 8, support member; L, grating code track belt pitch; D, grating scale pitch.

[0033] The realization, functional features and advantages of the object of the present utility model will be further described in conjunction with the embodiments and with reference to the accompanying drawings. Detailed implementation manners

[0034] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without making creative efforts shall fall within the protection scope of the present utility model.

[0035] It should be noted that if there are directional indications (such as up, down, left, right, front, back,...) involved in the embodiments of the present utility model, the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0036] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present utility model, such descriptions of "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel scenarios. Taking "A and / or B" as an example, it includes Scenario A, or Scenario B, or the scenario where both A and B are satisfied simultaneously. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0037] In most scenarios, the motor only needs to have one of the functions of rotational motion or linear motion. Such motors usually have a simple structure and high reliability. However, in some special cases, it is required that the motor has both rotational and linear motion functions. To achieve this purpose, the current existing technologies mainly add some transmission mechanisms on the basis of a rotary motor to form a combined rotary and linear motion motor.

[0038] However, through research by the applicant, it is found that the above-mentioned combined motor usually has a variety of transmission parts. The motion of the motor is completed by the cooperation of various transmission parts, and various transmission parts are integrated inside the motor, making the internal structure of the motor relatively complex, increasing the design difficulty of the motor. And due to the existence of a variety of transmission parts, the volume of the above-mentioned combined motor is generally large, restricting its own usage scenarios; during use, friction inevitably exists in the transmission parts, resulting in low transmission efficiency and reducing the output power of the motor.

[0039] In view of this, the present utility model proposes a motor 100, aiming to solve the problems in the above technical background.

[0040] In an embodiment of the present utility model, please refer to Figures 2 to 4 , the motor 100 proposed by the present utility model includes an output shaft 2; a rotor 3, the rotor 3 is sleeved on the output shaft 2; at least two stators 4, the stators 4 are arranged around the outside of the rotor 3. There is a first distance between the two farthest faces of at least two stators 4 along the axial direction of the output shaft 2, the length of the first distance is greater than the length of the rotor 3 along the axial direction of the output shaft 2, and there is a second distance between the adjacent two faces of two adjacent stators 4, the length of the second distance is less than the length of the rotor 4 along the axial direction of the output shaft 2; a power line, the power line is connected to the stator 4, and a set of power lines is correspondingly arranged for each stator 4; a servo module, the power line is connected to the servo module, and the servo module can adjust the voltage vector of the power line.

[0041] Specifically, with the housing 1 as the boundary, the motor 100 includes an external structure and an internal structure. The internal structure includes a rotor 3, a stator 4, an output shaft 2, and power lines. The external structure includes a servo module. Among them, the number of stators 4 is at least two, and each stator 4 is correspondingly provided with a set of power lines. The power lines are electrically connected to the servo unit, enabling the servo unit to accurately control the voltage vector delivered to each stator 4. Further, please refer to Figure 4 , in the embodiment of the present invention, the number of stators is two, namely a first stator 41 and a second stator 42. The first stator 41 includes a first stator core 411 and a first stator winding 412. The second stator 42 includes a second stator core 421 and a second stator winding 422. The first stator winding 412 is connected to the first power line, and the second stator winding 422 is connected to the second power line. Both the first power line and the second power line are connected to the servo module. At the same time, a rotor 3 is sleeved outside the output shaft 2, and the rotor 3 moves synchronously with the output shaft 2. The rotor 3 includes a rotor core 31 and a permanent magnet 32 mounted on the rotor core 31. Among them, the distance between the two farthest faces of the first stator 41 and the second stator 42 is greater than the overall length of the rotor 3 along the axial direction of the output shaft 2. At the same time, the distance between two adjacent faces of the first stator 41 and the second stator 42 is less than the overall length of the rotor 3 along the axial direction of the output shaft 2. In this way, a certain distance can be formed between the rotor 3 and the outermost sides of the two stators 4 along the axial direction of the output shaft 2, so that the rotor 3 can have sufficient movement space between the first stator 41 and the second stator 42. After the servo module applies voltage vectors to the first stator 41 and the second stator 42, according to different voltage vectors, the first stator 41 and the second stator 42 can generate different or the same magnetic fields. The magnetic fields of the first stator 41 and the second stator 42 can be superimposed on each other to form a superimposed magnetic field. The permanent magnet 32 on the rotor 3 has a fixed magnetic field. Under the interaction of the fixed magnetic field and the superimposed magnetic field, the rotor 3 can drive the output shaft 2 to perform rotational motion, linear motion, or linear motion while performing rotational motion.

[0042] The technical solution proposed by the present invention is to set at least two stators 4 outside the rotor 3, and at the same time connect each group of power lines connected to the stator 4 to the servo module, enabling the servo module to separately control the voltage vectors input into each stator 4. Thus, two or more stators 4 can generate different superimposed magnetic fields according to different voltage vectors, and further enable the rotor 3 to drive the output shaft 2 to perform rotational motion, linear motion, or linear motion while performing rotational motion under the action of different superimposed magnetic fields. Through the technical solution of the present invention, a motor 100 can simultaneously have the functions of linear motion and rotational motion, and no transmission mechanism is provided during the motion process, thereby avoiding the technical problems of low motor transmission efficiency and complex structure caused by the existence of the transmission mechanism.

[0043] In an embodiment of the present utility model, please refer to Figures 1 to 3 , the output shaft 2 extends from both ends of the housing 1 of the motor 100. Through this arrangement, the motor 100 can be applied to bidirectional drive application scenarios, and the extension from both ends can make the motor 100 more easily balance the load. In another embodiment of the present utility model, the output shaft 2 extends from a single end of the housing 1 of the motor 100. This arrangement makes it more convenient for the motor to be installed and calibrated with the output shaft 2 on the one hand, and can reduce the volume of the motor on the other hand, making it suitable for scenarios where the installation space of the motor 100 is limited.

[0044] In an embodiment of the present utility model, the voltage vectors include rotational voltage vectors, translational voltage vectors, and combined voltage vectors; under the drive of the mover 3, the motion states of the output shaft 2 include a rotational state, a translational state, and a combined state. When the output shaft 2 needs to enter the rotational state, the servo module applies rotational voltage vectors in the same direction to multiple sets of power lines, so that the stator 4 generates a magnetic field capable of rotating the mover. The mover 3 drives the output shaft 2 to perform a rotational motion. Specifically, there are multiple pole teeth on the inner circumferential surface of the stator core of each stator 4, and a tooth groove is formed between two adjacent pole teeth. The stator winding is wound around the pole teeth, and the pole teeth are perpendicular to the inner circumferential surface of the stator 4, so that the magnetic pole direction of the magnetic field generated by each stator winding is perpendicular to the outer surface of the mover 3. A plurality of permanent magnets 32 are arranged around the outer circumferential surface of the mover core 31 on the mover 3, and the magnetic poles of adjacent permanent magnets 32 are arranged in opposite directions. Thus, when the servo module inputs rotational voltage vectors in the same direction to each set of power lines, each stator 4 generates the same magnetic field. This magnetic field changes continuously under the control of the servo module. Under the interaction between the magnetic field generated by the stator 4 and the fixed magnetic field of the permanent magnets 32 on the mover 3, the mover 3 starts to rotate, thereby driving the output shaft 2 to perform a rotational motion.

[0045] When the output shaft 2 needs to enter the translational state, the servo module applies translational voltage vectors in the same direction to multiple groups of power lines, and respectively adjusts the magnitudes of the translational voltage vectors in each group of power lines, so that there is an intensity difference in the magnetic induction intensities of the magnetic fields generated by multiple stators 4. The mover 3 drives the output shaft 2 to perform a linear motion under the action of the intensity difference. Specifically, taking the example that there are two stators 4 in the motor 100, when the servo module inputs translational voltage vectors with the same direction but different magnitudes into each group of power lines, the magnetic induction intensity of the magnetic field generated by one of the two stators 4 is larger, and the other is smaller, which will cause a difference in the magnetic induction intensities of the magnetic fields generated by the first stator 41 and the second stator 42, that is, there is an intensity difference in the magnetic induction intensity of the magnetic field between the first stator 41 and the second stator 42. The intensity difference will interact with the permanent magnet 32 on the mover 3, applying a resultant force to the mover core 31, and the direction of the resultant force points to the stator 4 with a larger magnetic induction intensity of the generated magnetic field. When the magnitude of the resultant force is greater than the frictional force, the mover core 31 will drive the output shaft 2 to perform a linear motion along the direction of the resultant force under the action of the resultant force. The servo module can flexibly change the magnitude of the magnetic induction intensity of the magnetic field generated by each stator 4 by inputting the magnitude of the translational voltage vector into each group of power lines, so as to achieve precise control of the linear motion of the output shaft 2.

[0046] When the output shaft 2 needs to enter the combined state, the servo module applies combined voltage vectors in the same direction to multiple groups of power lines, so that multiple stators 4 generate a superimposed magnetic field, and the superimposed magnetic field enables the mover 3 to drive the output shaft 2 to perform a rotational motion while performing a linear motion. Specifically, the combined voltage vector is to respectively adjust the magnitudes of the rotational voltage vectors on each stator 4 on the basis of applying the rotational voltage vector to each stator 4, so that there is an intensity difference in the magnetic induction intensities of the magnetic fields generated between different stators 4. The magnetic fields generated between different stators 4 are superimposed to generate a superimposed magnetic field. On the one hand, due to the existence of the rotational voltage vectors in the same direction, the superimposed magnetic field enables the mover 3 to perform a rotational motion. On the other hand, due to the intensity difference in the magnetic induction intensities of the magnetic fields generated by different stators 4, the superimposed magnetic field will apply a resultant force to the mover 3, and the direction of the resultant force points to the stator 4 with a larger magnetic induction intensity of the generated magnetic field. When the magnitude of the resultant force is greater than the frictional force, the superimposed magnetic field will drive the mover 3 to perform a linear motion. In this way, the mover 3 drives the output shaft 2 to enter a combined state with both rotational motion and linear motion.

[0047] In an embodiment of the present utility model, the servo module includes a control unit and a power terminal 5. The power lines are centrally connected to the power terminal 5, and the power terminal 5 is connected to the control unit through a control line. The number of control lines is less than the number of power lines. Please refer to Figure 1, a power terminal 5 is provided on the housing 1 of the motor 100. The rotor terminal 5 is connected to all the power lines in the motor 100. At the same time, the control line led out from the power terminal 5 is connected to the control unit in the servo module. The number of control lines is less than that of the power lines, generally two groups of control lines. The control unit can control the voltage vector distributed to each group of power lines through the control lines. In this way, not only can the length of the power lines be shortened to reduce costs, but also the number of cables outside the housing 1 can be reduced to simplify the wiring.

[0048] In order to reduce the mutual interference of the magnetic fields between adjacent stators 4, in an embodiment of the present invention, two or more stators 4 are uniformly arranged along the axial direction of the rotor 3, and there is an air gap 6 between two adjacent stators 4. For details, please refer to Figure 4 , taking two stators 4 as an example, the first stator 41 and the second stator 42 are arranged parallel to each other along the axial direction of the rotor 3. There is a gap 6 between the first stator 41 and the second stator 42. Through this setting, the mutual interference between the magnetic field generated by the first stator 41 and the magnetic field generated by the second stator 42 is reduced, and it is avoided that the distance between the two stators 4 is too close to change the direction of the preset magnetic induction lines, thereby ensuring that the motor 100 can operate smoothly and improving the operating stability of the motor 100.

[0049] In addition, the motor 100 also has a motion detection function. In an embodiment of the present invention, please refer to Figure 1 , the motor 100 further includes a detection module 7. The detection module 7 can detect the position change data of the output shaft 2. By detecting the position change data of the output shaft 2, the user can master the motion state of the output shaft 2 and realize the precise monitoring of the motion state of the motor 100.

[0050] The implementation form of the detection module 7 includes various types. In an embodiment of the present invention, the detection module 7 includes a rotary motion detection unit. The rotary motion detection unit includes a code disk grating scale and a code disk grating scale reading head. The code disk grating scale is installed on the output shaft 2 and is coaxially arranged with the output shaft 2. The output shaft 2 drives the code disk grating scale to move synchronously. The code disk grating scale reading head is arranged opposite to the code disk grating scale. In some usage scenarios, only the rotational increment of the output shaft 2 needs to be monitored. At this time, the code disk grating scale for detecting the rotational displacement increment is installed on the output shaft 2 and the two are coaxially arranged to ensure that the output shaft 2 can drive the code disk grating scale to move synchronously. At the same time, the code disk grating scale reading head supporting the code disk grating scale is installed on the housing 1 or a dedicated code disk grating scale reading head mounting support, so that the code disk grating scale reading head is arranged opposite to the code disk grating scale. In this way, the rotary motion detection unit can detect the speed and displacement of the rotational displacement of the output shaft 2 in real time, which is convenient for timely mastering the rotational displacement state of the output shaft 2.

[0051] In another embodiment of the present utility model, the detection module 7 includes a linear motion detection unit. The linear motion detection unit includes a linear grating scale, a linear grating scale reading head, and a grating base. One end of the grating base is sleeved on the output shaft 2, and the output shaft 2 can synchronously drive the grating base to perform linear motion. The linear grating scale is arranged on the grating base, and the linear grating scale is arranged parallel to the output shaft 2. The linear grating scale reading head is arranged opposite to the linear grating scale. In order to facilitate the detection of the linear motion state of the output shaft 2 and avoid the influence of the rotation of the output shaft 2 on the detection result of the linear motion state, in this solution, a grating base is arranged at one end of the output shaft 2, and the grating base is sleeved on the output shaft 2, so that the output shaft 2 can drive the grating base to perform linear motion without driving the grating base to perform rotational motion. On this basis, the linear grating scale for detecting the linear motion increment is arranged on the grating base, and it is ensured that the linear grating scale is arranged parallel to the output shaft 2. At the same time, the linear grating scale reading head matching the linear grating scale is installed on the machine case 1 or a dedicated linear grating scale reading head mounting support, so that the linear grating scale and the linear grating scale reading head are arranged opposite to each other. In this way, the linear motion detection unit can detect the speed and displacement of the linear motion displacement of the output shaft 2 in real time, which is convenient for timely grasping the linear motion displacement state of the output shaft 2.

[0052] Further, in some usage scenarios, it is necessary to monitor the linear motion state and the rotational motion state of the output shaft 2 at the same time. In this case, the rotational motion detection unit and the linear motion detection unit in the above different embodiments can be integrated into the motor 100 at the same time.

[0053] In addition, in yet another embodiment of the present utility model, please refer to Figure 1 、 Figure 5 and Figure 6, the detection module 7 includes a grating track belt 71 and a grating track belt reading head 72. The grating track belt 71 is disposed around the output shaft 2. A plurality of grating track belts 71 are arranged in parallel at intervals along the axial direction of the output shaft 2. The grating track belt reading head 72 is disposed opposite to the grating track belt 71. Through this arrangement, the motor 100 can simultaneously monitor the linear motion state and the rotational motion state of the output shaft 2. Specifically, one grating track belt 71 is arranged on the output shaft 2 at intervals of one grating track belt pitch L. A grating scale pitch D is set on the grating track belt 71. The detection of the linear motion state of the output shaft 2 is determined according to the number of grating track belts 71 scanned by the grating track belt reading head 72, and the detection of the rotational motion state of the output shaft 2 is determined according to the number of grating scale pitches D scanned by the grating track belt reading head 72. In practical applications, for scenarios of high-speed linear motion and low-speed rotational motion, it is advisable to select a larger grating track belt pitch L and a smaller grating scale pitch D to ensure stable reading accuracy during high-speed linear motion; while in scenarios of low-speed linear motion and high-speed rotational motion, a smaller grating track belt pitch L and a larger grating scale pitch D should be selected to meet the high-precision requirements during high-speed rotation.

[0054] In an embodiment of the present invention, the motor 100 further includes an information processing unit. The information processing unit is communicatively connected to the detection module 7 and the servo module. The detection module 7 transmits the position change data of the output shaft 2 to the information processing unit. The information processing unit processes and corrects the position change data and transmits the processing result to the servo module. The servo module controls the motion state of the output shaft 2 in real time according to the processing result. Specifically, the detection module 7 is communicatively connected to the information processing unit, the information processing unit is communicatively connected to the servo module, and the servo module is electrically connected to each stator 4. Through this arrangement, when the detection module 7 detects the position change data of the output shaft 2, it transmits the position change data to the information processing unit. The information processing unit performs processing such as statistical classification, data correction, and error influence elimination on the position change data according to the internal algorithm and forms a processing result. The information processing unit sends the processing result to the control unit in the servo module. The control unit controls the voltage vector in each power line in real time according to the feedback of the processing result to achieve real-time regulation of the motion state of the output shaft 2.

[0055] In addition, please refer to Figure 4, in an embodiment of the present utility model, the motor 100 further includes a support member 8. The support member 8 is formed with a support hole. The support member 8 is sleeved on the output shaft 2 through the support hole, so that the support member 8 can provide support for the output shaft 2. At the same time, the surface of the support hole is smoothed, so that the output shaft 2 can perform linear motion and rotational motion within the support member 8, reducing motion friction and avoiding affecting the output power of the output shaft 2. In an actual use scenario, the support member 8 can be a sliding bearing. The sliding bearing is sleeved on the output shaft 2. The sliding bearing can play a role in restricting the position of the output shaft 2, improving the concentricity of the output shaft 2 during movement, and at the same time enabling the output shaft 2 to easily achieve sliding and rotation within the sliding bearing; in some use scenarios, to save costs, the support member 8 can also be selected as a bushing.

[0056] The above are only exemplary embodiments of the present utility model, and do not limit the patent scope of the present utility model accordingly. Any equivalent structural transformation made under the technical concept of the present utility model by using the content of the specification and drawings of the present utility model, or any direct / indirect application in other related technical fields, is included in the patent protection scope of the present utility model.

Claims

1. A motor, characterized in that, Comprising: Output shaft; Rotor, the rotor is sleeved on the output shaft; At least two stators, the stators are arranged around the outside of the rotor, there is a first distance between the two faces of at least two stators that are farthest apart along the axial direction of the output shaft, the length of the first distance is greater than the length of the rotor along the axial direction of the output shaft, and there is a second distance between the adjacent two faces of adjacent two stators, the length of the second distance is less than the length of the rotor along the axial direction of the output shaft; Power lines, the power lines are connected to the stators, and a set of the power lines is correspondingly arranged for each stator; Servo module, the power lines are connected to the servo module, and the servo module can adjust the voltage vector of the power lines.

2. The motor according to claim 1, wherein The voltage vector includes a rotational voltage vector, a translational voltage vector, and a combined voltage vector, and the output shaft includes a rotational state, a translational state, and a combined state; When the output shaft needs to enter the rotational state, the servo module applies the rotational voltage vectors in the same direction to multiple sets of the power lines, so that the stators generate a magnetic field capable of rotating the rotor, and the rotor drives the output shaft to perform a rotational motion; When the output shaft needs to enter the translational state, the servo module applies the translational voltage vectors in the same direction to multiple sets of the power lines, and respectively adjusts the magnitudes of the translational voltage vectors in each set of the power lines, so that there is an intensity difference in the magnetic induction intensities of the magnetic fields generated by multiple stators, and the rotor drives the output shaft to perform a linear motion under the action of the intensity difference; When the output shaft needs to enter the combined state, the servo module applies the combined voltage vectors in the same direction to multiple sets of the power lines, so that the multiple stators generate a superimposed magnetic field, and the superimposed magnetic field can enable the rotor to drive the output shaft to perform a rotational motion while performing a linear motion.

3. The motor according to claim 1, wherein, The servo module includes a control unit and power terminals, the power lines are centrally connected to the power terminals, the power terminals are connected to the control unit through control lines, and the number of the control lines is less than the number of the power lines.

4. The motor according to claim 1, wherein, Two or more of the stators are evenly arranged along the axial direction of the rotor, and there is an air gap between adjacent two stators.

5. The motor according to claim 1, characterized in that, The motor further includes a detection module, and the detection module can detect the position change data of the output shaft.

6. The motor according to claim 5, wherein, The detection module includes a rotational motion detection unit, and the rotational motion detection unit includes a code disk grating scale and a code disk grating scale reading head. The code disk grating scale is installed on the output shaft and is coaxially arranged with the output shaft, the output shaft drives the code disk grating scale to move synchronously, and the code disk grating scale reading head is arranged opposite to the code disk grating scale.

7. The motor according to claim 5, characterized in that, The detection module includes a linear motion detection unit, and the linear motion detection unit includes a linear grating scale, a linear grating scale reading head, and a grating base. One end of the grating base is sleeved on the output shaft, the output shaft can drive the grating base to perform a linear motion synchronously, the linear grating scale is arranged on the grating base, the linear grating scale is arranged parallel to the output shaft, and the linear grating scale reading head is arranged opposite to the linear grating scale.

8. The motor according to claim 5, characterized in that, The detection module includes a grating track belt and a grating track belt reading head. The grating track belt is disposed around the output shaft. A plurality of the grating track belts are arranged in parallel at intervals along the axial direction of the output shaft. The grating track belt reading head is disposed opposite to the grating track belt.

9. The electric machine according to any one of claims 5 to 8, characterized in that, The motor further includes an information processing unit. The information processing unit is communicatively connected to the detection module and the servo module. The detection module transmits the position change data of the output shaft to the information processing unit. The information processing unit processes and corrects the position change data, and transmits the processing result to the servo module. The servo module performs real-time control on the motion state of the output shaft according to the processing result.

10. The motor according to claim 1, characterized in that, The motor further includes a support member. The support member is formed with a support hole. The support member is sleeved on the output shaft through the support hole.

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