ZR motor device and robot
By integrating the stator substrate into the housing and combining it with support bars and stroke openings, the ZR motor unit achieves a compact structure and stable operation, overcoming the shortcomings of existing ZR motor units in terms of compactness and stability, and adapting to diverse process requirements.
Patent Information
- Application Number
- CN202423115239.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-16
- Publication Date
- 2025-12-26
- Estimated Expiration
- 2034-12-16
AI Technical Summary
Existing ZR motor devices are difficult to make compact in structure, are not stable in operation, and are limited in application within a limited space, failing to meet diverse process requirements and environmental adaptability.
A ZR motor device was designed. By integrating the stator substrate into the housing and combining the design of support bars and stroke openings, the device thickness was reduced and the structural strength was enhanced. At the same time, the combination of rotary motor module and linear motor module was used to achieve miniaturization and stable operation of the device.
It achieves compactness and improved stability of ZR motor unit, adapts to various process environments, reduces material consumption and process costs, and improves safety and versatility.
Smart Images
Figure CN223729620U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of industrial robots, and particularly relates to a ZR motor device and a robot. BACKGROUND
[0002] With the rapid development of robot technology, ZR motor devices gradually stand out in the automatic production lines of the semiconductor, battery, photovoltaic and other industries with their compact structure and good performance, and become indispensable key components in the fields of workpiece movement, alignment detection, precision machining and precision assembly of robots (mechanical and electrical equipment).
[0003] With the increasing diversification of the demand for robots in production and manufacturing, catering services and other industrial and commercial scenes, how to make the structure of the ZR motor device more compact, the operation more safe and stable, and the whole machine more lightweight, so as to adapt to more diverse scenes and environments and meet the needs of users, has become a problem to be solved. CONTENT OF THE INVENTION
[0004] Therefore, the present application provides a ZR motor device and a robot, which have the advantages of compact structure, safety and stability, simple process, material saving, good performance and the like.
[0005] In one aspect, the present application provides a ZR motor device, comprising:
[0006] A housing, the housing comprising a containing cavity;
[0007] A linear motor module, the linear motor module comprising a first stator assembly, a second stator assembly and a mover assembly, the mover assembly being located between the first stator assembly and the second stator assembly, the first stator assembly and the second stator assembly each comprising a magnet and a stator substrate, wherein the stator substrate is part of the housing;
[0008] A rotary motor module, the rotary motor module being arranged in the containing cavity, the rotary motor module comprising a rotary motor and a core shaft, the core shaft being connected to the rotary motor, the rotary motor driving the core shaft to rotate, the rotary motor module being connected to the mover assembly, the mover assembly driving the rotary motor module to reciprocate along the direction of the core shaft.
[0009] In another aspect, the present application provides a robot, the robot comprising the ZR motor device as in any one of the embodiments of the present application.
[0010] The ZR motor device provided in the application comprises a shell, a linear motor module and a rotary motor module, the shell comprises a containing cavity; the linear motor module comprises a first stator assembly, a second stator assembly and a mover assembly, the mover assembly is located between the first stator assembly and the second stator assembly, and the first stator assembly and the second stator assembly each comprise a magnet and a stator substrate, wherein the stator substrate is part of the shell; the rotary motor module is arranged in the containing cavity, the rotary motor module comprises a rotary motor and a core shaft, the core shaft is connected to the rotary motor, the rotary motor drives the core shaft to rotate, the rotary motor module is connected to the mover assembly, and the mover assembly drives the rotary motor module to reciprocate along the direction of the core shaft. By integrating the stator substrate as part of the shell, the thickness of the ZR motor device can be reduced, thereby improving the versatility of the ZR motor device through miniaturization of the device, the ZR motor device can be arranged in a box device with limited volume to meet the needs of various processes and production environments, while saving material and process costs, and the safety of the linear motor is further enhanced through the structural strength of the shell to prevent deformation of the linear motor due to the magnetic force of the magnet, accidental collision, load overload and other forces during long-term use, thereby improving the safety of the linear motor. BRIEF DESCRIPTION OF DRAWINGS
[0011] In order to more clearly illustrate the technical solutions of the embodiments of the application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.
[0012] Figure 1 It is a structural schematic diagram of the ZR motor device in an embodiment of the application.
[0013] Figure 2 It is a structural schematic diagram of the ZR motor device in an embodiment of the application.
[0014] Figure 3 It is an exploded schematic diagram of the ZR motor device in an embodiment of the application.
[0015] Figure 4 It is a structural schematic diagram of the ZR motor device in an embodiment of the application.
[0016] Figure 5 It is a sectional structural schematic diagram of the frame in an embodiment of the application.
[0017] Figure 6 It is a sectional structural schematic diagram of the core shaft in an embodiment of the application.
[0018] Explanation of reference signs:
[0019] 100, ZR motor device; 10, housing; 11, first housing; 12, second housing; 13, accommodating cavity; 14, hollowed-out area; 15, array slot; 16, stroke opening; 17, support part; 20, linear motor module; 21, first stator assembly; 22, second stator assembly; 23, mover assembly; 231, mover body; 232, mover coil holder; 24, magnet; 25, stator substrate; 26, support strip; 30, rotary motor module; 31, rotary motor; 32, mandrel; 321, first end of mandrel; 322, second end of mandrel; 323, execution gas port; 324, control gas port; 325, communication air channel; 326, coupling; 327, sealing bearing; 40, frame body; 41, sealing cavity; 50, anti-collision rubber; 60, pneumatic pipeline module; 61, joint; 62, air pipe; 621, fixed section; 622, elastic section. DETAILED DESCRIPTION
[0020] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort belong to the scope of protection of the present application.
[0021] It should be understood that all directional indications, such as upper, lower, left, right, front, back, etc., in the embodiments of the present application are only used to explain the relative position relationship, movement condition, etc. between components in a certain specific posture, and if the specific posture changes, the directional indications also change accordingly.
[0022] It should also be understood that when an element is referred to as being “fixed to” or “set on” another element, it can be directly on the other element or there can be a middle element. When an element is referred to as being “connected” to another element, it can be directly connected to the other element or indirectly connected to the other element through a middle element.
[0023] The terms used in the specification of the present application are only for the purpose of describing the specific embodiments and are not intended to limit the present application. As described in the present application, the description of “first”, “second”, etc. is only for the purpose of description and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as “first”, “second” can explicitly or implicitly include at least one of the features.
[0024] It should be further understood that the term “and / or” used in the specification and the appended claims of the present application refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.
[0025] Referring to Figure 1 and Figure 2 As Figure 1 and Figure 2 shown, the embodiment of the present application proposes a ZR motor device 100, which can include a housing 10, a linear motor module 20 and a rotary motor module 30.
[0026] The housing 10 can include a containing cavity 13. Further, the cavity wall of the containing cavity 13 can be provided with an array of slots 15, which can be used to dissipate heat in the containing cavity 13.
[0027] The linear motor module 20 can include a first stator assembly 21, a second stator assembly 22 and a mover assembly 23, which can be located between the first stator assembly 21 and the second stator assembly 22, and the first stator assembly 21 and the second stator assembly 22 can each include a magnet 24 and a stator substrate 25, wherein the stator substrate 25 can be part of the housing 10.
[0028] Specifically, the magnet 24 can be correspondingly provided on the stator substrate 25 of the first stator assembly 21 and the stator substrate 25 of the second stator assembly 22.
[0029] In some embodiments, the housing 10 can be provided with a stroke opening 16, the mover assembly 23 can be disposed in the stroke opening 16 and reciprocate smoothly, and the stroke opening 16 can correspond to the array of slots 15 and form a convection with the array of slots 15 to improve the heat dissipation efficiency.
[0030] It can be understood that in the conventional ZR motor device 100, the mover assembly 23 of the linear motor module 20 often moves completely inside the housing 10, and due to the large volume and long stroke of the mover assembly 23, it occupies a large space, resulting in a large overall volume of the ZR motor device 100. However, the stroke opening 16 can allow part of the mover assembly 23 to be disposed to the side plate position of the housing 10, which saves the internal space of the ZR motor device 100 and helps to miniaturize the device under the premise of smooth reciprocation of the mover assembly 23.
[0031] It can be further understood that the design of the stroke opening 16 not only makes the structure of the ZR motor device 100 more compact, but also allows the stroke opening 16 to form a convection with the array of slots 15, thereby improving the heat dissipation efficiency of the ZR motor device 100 and further improving the stability, safety and reliability of the ZR motor device 100.
[0032] In some embodiments, the linear motor module 20 can further include a support strip 26, which can be used to fix and support the first stator assembly 21 and the second stator assembly 22.
[0033] Specifically, a first edge of the support strip 26 can be connected to the first stator assembly 21, and a second edge of the support strip 26 can be connected to the second stator assembly 22. The first edge of the support strip 26 and the second edge of the support strip 26 can correspond to each other.
[0034] It can be understood that the conventional linear motor module is often provided with magnets 24, and forces are generated between the magnets 24 and between the magnets 24 and the mover assembly 23. In the case of long-term operation or external force, the structure of the first stator assembly 21 and the second stator assembly 22 is prone to deformation, which affects the precision and load capacity of the linear motor module 20 and the ZR motor device 100, and even negatively affects the safety and stability of the reciprocating motion of the mover assembly 23. Through the design of the support strip 26, on the one hand, the support strip 26 can be used to fix and support the first stator assembly 21 and the second stator assembly 22, thereby improving the structural strength of the linear motor module 20 and preventing structural deformation. On the other hand, the modular degree of the linear motor module 20 can be improved, and the overall product assembly, disassembly, modification, and maintenance processes of the ZR motor device 100 can be simplified, thereby reducing the disassembly difficulty and process cost.
[0035] It can be further understood that the stator substrate 25 of the first stator assembly 21 and the second stator assembly 22 can be integrated as part of the housing 10, and a support portion 17 can be provided on the housing 10, and the stator substrate 25 of the first stator assembly 21 and the second stator assembly 22 can be installed on the support portion 17, thereby improving the structural strength of the linear motor module 20 by using the structural strength of the housing 10 itself, achieving the effect of fixation and support, and further ensuring the smooth operation of the mover assembly 23.
[0036] It can be further understood that the stator substrate 25 can be completely integrated as part of the housing 10, or as shown in Figure 1 Although the stator substrate 25 and the housing 10 are detachable, the stator substrate 25 can be flush with the housing 10, thereby becoming part of the housing 10 in external form.
[0037] For example, the housing 10 can include a first housing 11 and a second housing 12, the stator substrate 25 of the first stator assembly 21 is part of the first housing 11, and / or the stator substrate 25 of the second stator assembly 22 is part of the second housing 12.
[0038] For example, please refer to Figure 1 and Figure 3 as shown in Figure 1 andFigure 3 As shown, the shell 10 can include a first shell 11 and a second shell 12, and the first shell 11 and the second shell 12 can be provided with corresponding hollowed-out areas 14, which can be used to accommodate the stator substrate 25 of the first stator assembly 21 or the stator substrate 25 of the second stator assembly 22. The shell 10 can be provided with a support portion 17 at the hollowed-out area 14, and the stator substrate 25 of the first stator assembly 21 or the stator substrate 25 of the second stator assembly 22 can be connected to the support portion 17. The support portion 17 can be used to fix and support the spacing between the first stator assembly 21 and the second stator assembly 22, so as to ensure smooth operation of the mover assembly 23.
[0039] Specifically, the shell 10 can be provided with a support portion 17 at at least one side of the hollowed-out area 14.
[0040] It can be further understood that, through the design of the hollowed-out area 14, the stator substrate 25 can be conveniently disassembled, and at the same time, the stator substrate 25 can be approximately integrated into a part of the shell 10, thereby saving materials and reducing the overall thickness of the ZR motor device 100, so as to save space and enhance the versatility of the ZR motor device 100.
[0041] The rotary motor module 30 can be arranged in the accommodating cavity 13. The rotary motor module 30 can include a rotary motor 31 and a shaft 32. The shaft 32 can be connected to the rotary motor 31. The rotary motor 31 drives the shaft 32 to rotate. The rotary motor module 30 is connected to the mover assembly 23, and the mover assembly 23 drives the rotary motor module 30 to reciprocate along the direction of the shaft 32.
[0042] It can be understood that the rotary motor module 30 can further include a shaft coupling 326. The shaft 32 can be connected to the rotary motor 31 through the shaft coupling 326.
[0043] The rotary motor 31 can be a rotary servo motor.
[0044] For example, one end of the shaft 32 can be connected to the rotary motor 31 through the shaft coupling 326, and the other end can be arranged outside the shell 10.
[0045] The direction of the shaft 32 can be the Z-axis direction, i.e., the vertical direction.
[0046] In some embodiments, please refer to Figure 1 , Figure 2 and Figure 4 such as Figure 1 , Figure 2 and Figure 4As shown, the ZR motor device 100 can further include a frame body 40, the mover assembly 23 can include a mover body 231, the mover body 231 is arranged between the magnets 24 of the first stator assembly 21 and the second stator assembly 22, the mover body 231 is connected to the frame body 40, the frame body 40 is connected to the rotary motor module 30, and the mover body 231 drives the rotary motor module 30 to reciprocate linearly through the frame body 40.
[0047] The mover body 231 can be an entire mover piece wrapped by a solid glue layer by a glue pouring process to manufacture a linear motor mover coil, thereby improving the structural stability of the mover assembly 23 and the safety of the ZR motor device 100.
[0048] Further, a gap can be arranged between the mover body 231 and the magnets 24.
[0049] In some embodiments, the mover assembly 23 can include the mover body 231 and a mover coil frame 232.
[0050] The mover body 231 is connected to the mover coil frame 232, and the mover coil frame 232 can be detachably connected to the frame body 40.
[0051] It can be understood that the frame body 40 can be detachably connected to the mover coil frame 232 or integrally formed with the mover coil frame 232, the mover coil frame 232 can be connected to the mover body 231, and the frame body 40 can be connected to the rotary motor module 30.
[0052] In some embodiments, the ZR motor device 100 can further include a linear guide structure, the linear guide structure is arranged in the accommodating cavity 13 along the direction of the core shaft 32, and the mover assembly 23 can be movably connected to the shell 10 through the linear guide structure.
[0053] For example, the linear guide structure can include a linear slider rail assembly, the linear slider rail assembly can include a slider and a linear rail, the linear rail can be arranged in the accommodating cavity 13, the slider can be correspondingly arranged on the frame body 40 and movably connected to the linear rail, the mover assembly 23 can be fixedly connected to the slider of the linear guide structure through the frame body 40, thereby realizing the movable connection between the mover assembly 23 and the shell 10 through the linear guide structure.
[0054] Specifically, the slider or the linear rail of the linear guide structure is arranged on the frame body 40, the mover assembly 23 further includes the mover coil frame 232, the mover body 231 is connected to the mover coil frame 232, and the mover coil frame 232 is connected to the frame body 40, thereby movably connecting the mover assembly 23 and the shell 10 through the linear guide structure.
[0055] It can be understood that the mover assembly 23 is movably connected to the shell 10 through the linear guide structure, which can further enhance the stability of the linear motor module 20 in operation.
[0056] In some embodiments, the ZR motor device 100 can further include a spring, which can be arranged along the direction of the linear guide structure, one end of the spring being connected to the shell 10, and the other end of the spring being arranged on the frame 40 or the mover assembly 23.
[0057] It can be understood that the spring can act as a fulcrum for the linear motor to share the load and force, thereby improving the stability of the linear motor. In particular, when the ZR motor device 100 operates in the vertical direction, the spring can act as a fulcrum and share the load gravity, thereby preventing the mover assembly 23 from being tilted due to the overlength of the frame 40 or the overloading, and improving the safety, stability and load capacity of the ZR motor device 100.
[0058] In some embodiments, an anti-collision rubber 50 can be arranged between the shell 10 and the frame 40, and / or an anti-collision rubber 50 can be arranged between the support strip 26 and the frame 40, which can be used to limit the stroke of the mover of the linear motor module 20.
[0059] Specifically, the anti-collision rubber 50 can be arranged on the support strip 26, the frame 40 and / or the shell 10.
[0060] It can be understood that by arranging the anti-collision rubber 50, the problems such as structural damage of the ZR motor device 100 and electronic component failure caused by operation errors or overstroke and overloading of the linear motor module 20 in operation can be alleviated, thereby improving the fault tolerance, safety and reliability of the ZR motor device 100.
[0061] In some embodiments, referring to Figure 4 , Figure 5 and Figure 6 , as shown in Figure 4 , Figure 5 and Figure 6 , the ZR motor device 100 can further include a sealed cavity 41 and a pneumatic pipeline module 60.
[0062] The pneumatic pipeline module 60 can include a connector 61 and a gas pipe 62.
[0063] For example, the connector 61 can be arranged on the shell 10, the connector 61 being connected to the first end of the gas pipe 62, and the second end of the gas pipe 62 being communicated with the sealed cavity 41.
[0064] Specifically, the first end of the connector 61 can be arranged out of the shell 10, and the second end of the connector 61 can be connected to the first end of the gas pipe 62.
[0065] For example, the frame 40 can be provided with a fixed section 621 of the air pipe 62 of the pneumatic pipe module 60, and the frame 40, the mandrel 32 and the sealing bearing 327 can cooperate to form a sealed cavity 41, and the fixed section 621 of the air pipe 62 of the pneumatic pipe module 60 can be communicated with the sealed cavity 41.
[0066] It can be understood that the pneumatic pipe module 60 can be used to control the mandrel 32 to adsorb an object or control the pneumatic device through the sealed cavity 41.
[0067] For example, the mandrel 32 can be arranged in the sealed cavity 41, wherein the first end 321 of the mandrel penetrates out of the sealed cavity 41 and is connected with the rotary motor 31, the second end 322 of the mandrel penetrates out of the sealed cavity 41 to the outside of the housing 10, the shaft end of the second end 322 of the mandrel is provided with an execution air port 323, the circumferential side of the mandrel 32 in the sealed cavity 41 is provided with a control air port 324, and the inside of the mandrel 32 is provided with a communication air channel 325 between the execution air port 323 and the control air port 324.
[0068] Specifically, the sealed cavity 41 can further include a sealing bearing 327, the sealing bearing 327 is arranged at both ends of the sealed cavity 41 along the arrangement direction of the mandrel 32, the first end 321 of the mandrel penetrates out of the sealed cavity 41 through the sealing bearing 327 and is connected with the rotary motor 31 through a shaft coupling 326, and the second end 322 of the mandrel penetrates out of the sealed cavity 41 to the outside of the housing 10 through the sealing bearing 327.
[0069] In some embodiments, the sealing bearing 327 can include a first sealing bearing and a second sealing bearing.
[0070] For example, the first end 321 of the mandrel can penetrate from the inside of the sealed cavity 41 to the shaft coupling 326 through the first sealing bearing, the second end 322 of the mandrel can penetrate out of the sealed cavity 41 to the outside of the housing 10 through the second sealing bearing, the control air port 324 can be arranged on the circumferential side of the part of the mandrel 32 in the sealed cavity 41, and the execution air port 323 can be arranged on the part of the mandrel 32 penetrating out of the housing 10.
[0071] It can be understood that the conventional pneumatic pipe module 60 often uses a hose to be directly communicated with the mandrel 32, however, such direct communication not only causes the stroke limitation of the rotating movement of the mandrel 32, but also is affected by the long-term operation, high-frequency rotating movement and displacement of the device, thereby reducing the mechanical life of the hose and the connection between the hose and the mandrel 32, causing the pneumatic pipe module 60 to be damaged in air tightness, performance to decline or even completely damaged, and reducing the reliability, safety and stability of the ZR motor device 100. Therefore, the indirect communication design through the sealed cavity 41 improves the air tightness stability and mechanical life of the pneumatic pipe module 60, and can make the communication of the pneumatic pipe module 60 more safe, reliable and stable, and solve the problems caused by high-frequency rotation.
[0072] For example, the sealing cavity 41 can be arranged in the frame body 40, and the air pipe 62 includes a fixed section 621 and an elastic section 622. The fixed section 621 is arranged in the interior of the frame body 40 and is communicated with the sealing cavity 41. One end of the elastic section 622 is connected to the joint 61, and the other end is connected to the fixed section 621.
[0073] It can be understood that the length of the elastic section 622 can be long enough to ensure that the length does not limit the reciprocating motion stroke of the frame body 40 and the mover stroke of the linear motor module 20.
[0074] It can be understood that the fixed section 621 of the air pipe 62 is arranged in the interior of the frame body 40 and is communicated with the sealing cavity 41. On the one hand, this is conducive to saving the material cost of the air pipe 62. On the other hand, this can facilitate the wire arrangement of the air pipe 62, simplify the motion trajectory, and the air pipe 62 has a relatively thick pipeline. Arranging a section of the air pipe 62 in the interior of the frame body 40 is conducive to preventing the excessively long pipeline of the air pipe 62 from affecting the mechanical motion of the frame body 40 or the mechanical motion of the frame body 40 from affecting the material strength, sealing performance, and service life of the air pipe 62.
[0075] In some embodiments, the ZR motor device 100 can further include a pressure sensor, which can be arranged in the rotary motor module 30 or the linear motor module 20.
[0076] It can be understood that through the design of the pressure sensor, the ZR motor device 100 can realize force control and apply force control functions to processes such as precision assembly and precision machining, thereby further improving the accuracy and versatility of the ZR motor device 100.
[0077] The present application also proposes a robot, which can include the ZR motor device 100 according to any embodiment of the present application.
[0078] For example, the robot can include industrial robot arms, service robots, and machine tooling equipment, and other electromechanical equipment.
[0079] In the case of not contradicting each other, those skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples.
[0080] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.
Claims
1. A ZR motor device, characterized by, include: The housing includes a receiving cavity; A linear motor module includes a first stator assembly, a second stator assembly, and a mover assembly. The mover assembly is located between the first stator assembly and the second stator assembly. Both the first stator assembly and the second stator assembly include a magnet and a stator substrate. The magnet is correspondingly disposed on the stator substrate of the first stator assembly and the stator substrate of the second stator assembly, wherein the stator substrate is part of the housing. A rotary motor module is disposed within the receiving cavity. The rotary motor module includes a rotary motor, a coupling, and a spindle. The spindle is connected to the rotary motor via the coupling. The rotary motor drives the spindle to rotate. The rotary motor module is connected to the mover assembly. The mover assembly drives the rotary motor module to reciprocate along the direction of the spindle.
2. The ZR motor device of claim 1, wherein, The housing is provided with a stroke opening, through which the moving part can pass and reciprocate smoothly. The cavity wall of the receiving cavity is provided with an array of slots, which are used to dissipate heat from the receiving cavity. The stroke opening corresponds to the array of slots and is also used to form convection with the corresponding array of slots.
3. The ZR motor device of claim 1, wherein, The linear motor module also includes a support bar, a first side of which is connected to the first stator assembly, and a second side of which is connected to the second stator assembly. The first side and the second side are corresponding to each other. The support bar is used to fix and support the distance between the first stator assembly and the second stator assembly.
4. The ZR motor device of claim 1, wherein, The housing includes a first housing and a second housing, wherein the stator substrate of the first stator assembly is a portion of the first housing, and / or, the stator substrate of the second stator assembly is a portion of the second housing; or, The housing includes a first housing and a second housing. The first housing and the second housing are provided with corresponding hollow areas. The hollow areas are used to place the stator substrate of the first stator assembly or the stator substrate of the second stator assembly. The housing is provided with a support portion on at least one side of the hollow area. The stator substrate of the first stator assembly or the stator substrate of the second stator assembly is connected to the support portion. The support portion is used to fix and support the gap between the first stator assembly and the second stator assembly to ensure smooth operation of the rotor assembly.
5. The ZR motor device of claim 1, wherein, The ZR motor device also includes a frame, and the mover assembly includes a mover body. The mover body is disposed between the magnets of the first stator assembly and the second stator assembly. A gap is provided between the mover body and the magnet. The mover body is connected to the frame, and the frame is connected to the rotary motor module. The mover body drives the rotary motor module to reciprocate linearly through the frame.
6. The ZR motor device of claim 5, wherein, The linear motor module further includes a support bar, and anti-collision rubber is provided between the housing and the frame. The anti-collision rubber is disposed on the support bar, the frame, and / or the housing; and / or... The support strip and the frame body are provided with anti-collision rubber, which is arranged on the support strip, the frame body and / or the shell, and is used to limit the mover stroke of the linear motor module.
7. The ZR motor device of any one of claims 1-6, wherein, The ZR motor device further comprises a sealed cavity and a pneumatic pipeline module, the pneumatic pipeline module comprises a joint and a gas pipe, the first end of the joint is arranged out of the shell, the second end of the joint is connected to the first end of the gas pipe, the second end of the gas pipe is communicated with the sealed cavity, the mandrel is arranged in the sealed cavity, the sealed cavity further comprises sealed bearings, the sealed bearings are arranged at both ends of the sealed cavity along the direction in which the mandrel is arranged, the first end of the mandrel is arranged out of the sealed cavity through the sealed bearings and is connected to the rotary motor through the coupling, the second end of the mandrel is arranged out of the sealed cavity to the outside of the shell through the sealed bearings, the shaft end of the second end of the mandrel is provided with an execution gas port, the mandrel is provided with a control gas port in the sealed cavity, the inside of the mandrel is provided with a communication gas channel between the execution gas port and the control gas port, and the pneumatic pipeline module is used to control the mandrel to adsorb an object or control a pneumatic device through the sealed cavity.
8. The ZR motor device of claim 7, wherein, The ZR motor device further comprises a frame body, the sealed cavity is arranged in the frame body, the gas pipe comprises a fixed segment and an elastic segment, the fixed segment is arranged in the inside of the frame body and is communicated with the sealed cavity, one end of the elastic segment is connected to the joint, the other end of the elastic segment is connected to the fixed segment, and the length of the elastic segment can not limit the reciprocating motion stroke of the frame body and the mover stroke of the linear motor module.
9. The ZR motor device of claim 5 or 6, wherein, The ZR motor device further comprises a linear guide structure, the linear guide structure is arranged in the containing cavity along the direction of the mandrel, the slider or linear guide rail of the linear guide structure is arranged in the frame body, the mover assembly further comprises a mover coil frame, the mover body is connected to the mover coil frame, and the mover coil frame is connected to the frame body, so that the mover assembly is movably connected to the shell through the linear guide structure.
10. A robot, characterized in that The robot comprises the ZR motor device according to any one of claims 1-9.