A combined servo motor capable of rotary and linear motion

Abstract

This utility model relates to a combined servo motor capable of rotary and linear motion. It solves the technical problem of large space occupation in existing motors capable of rotary and linear motion. It includes a motor housing, within which a movable shaft is movably mounted, with both ends of the movable shaft extending out of the motor housing. A first stator assembly and a second stator assembly are respectively housed within the motor housing. The first stator assembly mates with a first rotating shaft, and the second stator assembly mates with a second rotating shaft. The first and second rotating shafts are movably mounted on the movable shaft. A lead screw nut is located on the outer side of one end of the motor housing, and a spline nut is located on the outer side of the other end. The end of the first rotating shaft away from the second rotating shaft is connected to the lead screw nut, and the end of the second rotating shaft away from the first rotating shaft is connected to the spline nut. The advantages are: the first and second stator assemblies are housed within a single-piece motor housing, improving structural compactness, reducing space occupation, simplifying installation, and improving coaxiality.

Description

Technical Field

[0001] This utility model belongs to the field of motor equipment technology, specifically relating to a combined servo motor capable of rotary and linear motion. Background Technology

[0002] In the field of modern automation equipment, such as pick-and-place machines and horizontal articulated robots, there is often a high demand for combined rotary and linear motion control of motors. Currently, these devices mostly use two separate motors, with stepper motors and external mechanical transmission devices to achieve rotary and linear motion. For example, pick-and-place machines achieve the rotation and linear motion of the component nozzles by using a combination of a stepper motor slide and a hollow shaft stepper motor; while horizontal articulated robots use two motors, which are driven by synchronous belts to a spline sleeve and a lead screw nut respectively, thus achieving the rotation and linear motion of the spline lead screw. However, this approach has significant drawbacks: the overall structure is complex and cumbersome, making it extremely inconvenient for applications in space-constrained environments.

[0003] To address the shortcomings of existing technologies, people have conducted long-term explorations and proposed various solutions. For example, Chinese patent literature discloses a coaxial combined stepper motor and its motion control method [202310449097.3], which includes a first stepper drive unit, a second stepper drive unit, and a splined screw. The rotor assembly of the first stepper drive unit has a screw nut as its central shaft, and the rotor assembly of the second stepper drive unit has a splined bushing as its central shaft. The surface of the splined screw is provided with a helical groove that matches the screw nut in the rotor assembly and an axial keyway that matches the splined bushing. The first stepper drive unit and the second stepper drive unit are coaxially stacked, and the splined screw is nested in the screw nut and splined bushing of the rotor assembly.

[0004] The above solution has solved the problem to some extent that the existing motor can achieve the rotation and linear motion of the spline screw without the need for external devices. However, the solution still has many shortcomings. For example, the first step drive and the second step drive are not integrated into one structure, which makes the structure less compact and occupies more space. Summary of the Invention

[0005] The purpose of this invention is to address the above-mentioned problems by providing a combined servo motor capable of rotary and linear motion.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A combined servo motor capable of rotary and linear motion includes a motor housing. A movable shaft is movably disposed within the motor housing, with both ends of the movable shaft extending out of the motor housing. A first stator assembly and a second stator assembly are respectively disposed within the motor housing. The first stator assembly cooperates with a first rotating shaft, and the second stator assembly cooperates with a second rotating shaft. The first and second rotating shafts are movably sleeved on the movable shaft. A lead screw nut is provided on the outer side of one end of the motor housing, and a spline nut is provided on the outer side of the other end. One end of the movable shaft is a lead screw end that cooperates with the lead screw nut, and the other end is a spline end that cooperates with the spline nut. The end of the first rotating shaft away from the second rotating shaft extends towards one end of the motor housing and is connected to the lead screw nut. The second rotating shaft, connected by a nut, extends from the end away from the first rotating shaft toward the other end of the motor housing and is connected to a spline nut. The first stator assembly and the first rotating shaft can drive the lead screw nut to rotate and also drive the movable shaft to rotate. Similarly, the second stator assembly and the second rotating shaft can drive the lead screw nut to rotate and also drive the movable shaft to rotate. When linear motion is required, the second stator assembly is locked, and the first stator assembly and the first rotating shaft can drive the movable shaft to move linearly under the rotation of the lead screw nut. When rotational motion is required, the first stator assembly and the second stator assembly rotate synchronously, driving the movable shaft to rotate synchronously via the lead screw nut and spline nut. Both the lead screw nut and the spline nut are located on the outside of the motor housing, reducing the size of the motor housing and making it suitable for space-constrained environments.

[0007] In the aforementioned combined servo motor capable of rotary and linear motion, the motor housing is an integrally formed rectangular cylindrical structure with open ends. The open ends facilitate the installation of the first stator assembly and the second stator assembly, improving installation efficiency. Furthermore, the integral motor housing enhances structural compactness, reduces space occupation, and improves control precision.

[0008] In the aforementioned combined servo motor capable of rotary and linear motion, a front cover is provided at one open end of the motor housing and a rear cover is provided at the other open end. The lead screw nut is located outside the front cover and the spline nut is located outside the rear cover. The front and rear covers facilitate the closure of the open end, thereby improving the service life of the parts inside the motor housing.

[0009] In the aforementioned combined servo motor capable of rotary and linear motion, the motor housing has a front cable exit cover on the outer circumferential side near the front end cover and the outer circumferential side of the front end cover, respectively. A first absolute encoder corresponding to the front cable exit cover located on the outer side of the front end cover is provided on the inner circumferential side of the front end cover. The motor housing has a rear cable exit cover on the outer circumferential side near the rear end cover and the outer circumferential side of the rear end cover, respectively. A second absolute encoder corresponding to the rear cable exit cover located on the outer side of the rear end cover is provided on the inner circumferential side of the rear end cover. The front and rear cable exit covers facilitate wiring control of the first and second stator assemblies, and the first and second absolute encoders improve the motion accuracy of the first and second stator assemblies.

[0010] In the aforementioned combined servo motor capable of rotary and linear motion, the motor housing has an inwardly protruding annular boss on its inner circumferential side in the middle. One end of the first rotating shaft extends to one side of the annular boss and is rotatably connected to the inner side of the motor housing via a first deep groove ball bearing. One end of the second rotating shaft extends to the other side of the annular boss and is rotatably connected to the inner side of the motor housing via a second deep groove ball bearing. The first and second deep groove ball bearings provide support for the first and second rotating shafts, improve the coaxiality of the first and second rotating shafts, and ensure transmission stability.

[0011] In the aforementioned combined servo motor capable of rotary and linear motion, the inner circumferential side of the motor housing near the front cover and the inner circumferential side of the front cover are rotatably connected to a first rotating shaft via a first double-row angular contact bearing, and the inner circumferential side of the motor housing near the rear cover and the inner circumferential side of the rear cover are rotatably connected to a second rotating shaft via a second double-row angular contact bearing. The first double-row angular contact bearing and the second double-row angular contact shaft can further improve the support effect between the first and second rotating shafts, ensure the coaxiality between the first and second rotating shafts, and ensure transmission accuracy.

[0012] In the aforementioned combined servo motor capable of rotary and linear motion, the end of the front cover away from the motor housing is provided with a first body mounting flange. One end of the first rotating shaft extends to the circumferential inner side of the first body mounting flange, and the first rotating shaft is fixedly connected to the lead screw nut through the first shaft end adapter flange. The first body mounting flange facilitates installation, and the first shaft end adapter flange enables the first rotating shaft to drive the lead screw nut to rotate synchronously, improving coaxiality and ensuring transmission accuracy.

[0013] In the aforementioned combined servo motor capable of rotary and linear motion, a second body mounting flange is provided at the end of the rear end cover away from the motor housing. One end of the second rotating shaft extends to the circumferential inner side of the second body mounting flange, and the second rotating shaft is fixedly connected to the spline nut through the second shaft end adapter flange. The second body mounting flange facilitates installation, and the second shaft end adapter flange enables the second rotating shaft to drive the spline nut to rotate synchronously, improving coaxiality and ensuring transmission accuracy.

[0014] In the aforementioned combined servo motor capable of rotary and linear motion, the lead screw end of the movable shaft has a lead screw thread that matches the internal thread of the lead screw nut, and the spline end of the movable shaft has several axially extending spline grooves that match the spline nut. The lead screw nut can drive the movable shaft to perform rotary or linear motion, and the spline nut can drive the movable shaft to perform rotary motion through the spline grooves.

[0015] In the aforementioned combined servo motor capable of rotary and linear motion, the first stator assembly and the second stator assembly are symmetrically arranged and each has stator laminations. The first rotating shaft and the second rotating shaft are symmetrically arranged and each has magnetic tiles corresponding to the stator laminations. The first rotating shaft and the second rotating shaft can be rotated or locked through the stator laminations and the magnetic tiles.

[0016] Compared with existing technologies, the advantages of this utility model are:

[0017] 1. The first stator assembly and the second stator assembly are housed in an integrated motor housing, which improves structural compactness, reduces space occupation, improves control accuracy, simplifies installation, and improves coaxiality.

[0018] 2. The lead screw nut and spline nut are located on the outside of the motor housing, which can further reduce the volume of the motor housing and reduce the space occupied.

[0019] 3. The first absolute encoder and the second absolute encoder can guarantee the motion accuracy of linear and rotary motion. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of this utility model.

[0021] Figure 2 This is a structural cross-sectional view of the present invention.

[0022] Figure 3 This is an exploded view of the structure of this utility model.

[0023] In the diagram: Motor housing 1, Opening 11, Front end cover 12, Front cable cover 121, First absolute encoder 122, First double-row angular contact bearing 123, First body mounting flange 124, Rear end cover 13, Rear cable cover 131, Second absolute encoder 132, Second double-row angular contact bearing 133, Second body mounting flange 134, Annular boss 14, Movable shaft 2, Lead screw end 21, Lead screw thread 211, Spline end 22, Spline groove 221, First stator assembly 3, First rotating shaft 31, First deep groove ball bearing 32, Second stator assembly 4, Second rotating shaft 41, Second deep groove ball bearing 42, Lead screw nut 5, Spline nut 6, First shaft end adapter flange 7, Second shaft end adapter flange 8, Stator lamination 9, Magnet 10. Detailed Implementation

[0024] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0025] like Figure 1 , Figure 2 , Figure 3 As shown, this is a combined servo motor capable of rotary and linear motion, comprising a motor housing 1, a movable shaft 2 movably passing through the motor housing 1 with both ends of the movable shaft 2 extending out of the motor housing 1, a first stator assembly 3 and a second stator assembly 4 respectively disposed within the motor housing 1, the first stator assembly 3 cooperating with a first rotating shaft 31 and the second stator assembly 4 cooperating with a second rotating shaft 41, the first rotating shaft 31 and the second rotating shaft 41 respectively movably mounted on the movable shaft 2, a lead screw nut 5 on the outer side of one end of the motor housing 1 and a spline nut 6 on the outer side of the other end, one end of the movable shaft 2 being a lead screw end 21 cooperating with the lead screw nut 5 and the other end being a spline end 22 cooperating with the spline nut 6, the end of the first rotating shaft 31 away from the second rotating shaft 41 extending towards one end of the motor housing 1 and connected to the lead screw nut 5, the second rotating shaft 41 away from the first rotating shaft 31... One end extends towards the motor housing 1 and is connected to the spline nut 6. The first stator assembly 3 and the first rotating shaft 31 can drive the lead screw nut 5 to rotate and drive the movable shaft 2 to rotate. The second stator assembly 4 and the second rotating shaft 32 can drive the lead screw nut 6 to rotate and drive the movable shaft 2 to rotate. When linear motion is required, the second stator assembly 4 is locked, and the first stator assembly 3 and the first rotating shaft 31 can drive the movable shaft 2 to move linearly under the rotation of the lead screw nut 2. When rotational motion is required, the first stator assembly 3 and the second stator assembly 4 rotate synchronously, and the lead screw nut 5 and the spline nut 6 drive the movable shaft 2 to rotate synchronously. The lead screw nut 5 and the spline nut 6 are both located on the outside of the motor housing 1, which can reduce the volume of the motor housing 1 and is suitable for scenarios with limited space.

[0026] Specifically, the motor housing 1 is a one-piece rectangular cylindrical structure with openings 11 at both ends. The openings 11 facilitate the installation of the first stator assembly 3 and the second stator assembly 4, improving installation efficiency. The one-piece motor housing 1 also improves structural compactness, reduces space occupation, and enhances control accuracy.

[0027] The motor housing 1 has a front cover 12 at one end of the opening 11 and a rear cover 13 at the other end of the opening 11. The lead screw nut 5 is located outside the front cover 12 and the spline nut 6 is located outside the rear cover 13. The front cover 12 and the rear cover 13 can facilitate the closure of the opening 11 and improve the service life of the parts inside the motor housing 1.

[0028] like Figure 1 , Figure 2 , Figure 3 As shown, the motor housing 1 has a front cable outlet cover 121 on the outer circumference of one end near the front end cover 12 and on the outer circumference of the front end cover 12. The front end cover 12 has a first absolute encoder 122 on the inner circumference of the front end cover 121, which is located on the outer side of the front end cover 12. The motor housing 1 has a rear cable outlet cover 131 on the outer circumference of one end near the rear end cover 13 and on the outer circumference of the rear end cover 13. The rear end cover 13 has a second absolute encoder 132 on the inner circumference of the rear end cover 13, which is located on the outer side of the rear end cover 13. The front cable outlet cover 121 and the rear cable outlet cover 131 facilitate the wiring control of the first stator assembly 3 and the second stator assembly 4. The first absolute encoder 122 and the second absolute encoder 132 can improve the motion accuracy of the first stator assembly 3 and the second stator assembly 4.

[0029] Furthermore, an inwardly protruding annular boss 14 is provided on the inner side of the middle of the motor housing 1. One end of the first rotating shaft 31 extends to one side of the annular boss 14 and is rotatably connected to the inner side of the motor housing 1 through a first deep groove ball bearing 32. One end of the second rotating shaft 41 extends to the other side of the annular boss 14 and is rotatably connected to the inner side of the motor housing 1 through a second deep groove ball bearing 42. The first deep groove ball bearing 32 and the second deep groove ball bearing 42 can support the first rotating shaft 31 and the second rotating shaft 41, and can improve the coaxiality of the first rotating shaft 31 and the second rotating shaft 41, thus ensuring transmission stability.

[0030] The motor housing 1 is rotatably connected to the first rotating shaft 31 via a first double-row angular contact bearing 123 at one end near the front end cover 12 and the front end cover 12 at one end near the rear end cover 13 and the rear end cover 13 at one end near the rear end cover 13 and the second rotating shaft 41 via a second double-row angular contact bearing 133. The first double-row angular contact bearing 123 and the second double-row angular contact shaft 133 can further improve the support effect between the first rotating shaft 31 and the second rotating shaft 41, ensure the coaxiality between the first rotating shaft 31 and the second rotating shaft 41, and ensure transmission accuracy.

[0031] Combination Figure 2 , Figure 3 As shown, the end of the front cover 12 away from the motor housing 1 is provided with a first body mounting flange 124. One end of the first rotating shaft 31 extends to the inner side of the first body mounting flange 124, and the first rotating shaft 31 is fixedly connected to the lead screw nut 5 through the first shaft end adapter flange 7. The first body mounting flange 124 facilitates installation, and the first shaft end adapter flange 7 enables the first rotating shaft 31 to drive the lead screw nut 5 to rotate synchronously, improving coaxiality and ensuring transmission accuracy.

[0032] The rear end cover 13 is provided with a second body mounting flange 134 at the end away from the motor housing 1. One end of the second rotating shaft 41 extends to the inner side of the second body mounting flange 134 and the second rotating shaft 41 is fixedly connected to the spline nut 6 through the second shaft end adapter flange 8. The second body mounting flange 134 facilitates installation, and the second shaft end adapter flange 8 enables the second rotating shaft 32 to drive the spline nut 6 to rotate synchronously, improving coaxiality and ensuring transmission accuracy.

[0033] Specifically, the lead screw end 21 of the movable shaft 2 has a lead screw thread 211 that matches the internal thread of the lead screw nut 5, and the spline end 22 of the movable shaft 2 has several axially extending spline grooves 221 that match the spline nut 6. The lead screw nut 5 can drive the movable shaft 2 to rotate or move linearly through the lead screw nut 211, and the spline nut 6 can drive the movable shaft 2 to rotate through the spline grooves 221.

[0034] Combination Figure 2 , Figure 3 As shown, the first stator assembly 3 and the second stator assembly 4 are symmetrically arranged and each has a stator lamination 9. The first rotating shaft 31 and the second rotating shaft 41 are symmetrically arranged and each has a magnetic tile 10 corresponding to the stator lamination 9. The first rotating shaft 31 and the second rotating shaft 41 can be rotated or locked through the stator lamination 9 and the magnetic tile 10.

[0035] The principle of this embodiment is as follows: when linear motion is required, the second stator assembly 4 is locked, and the movable shaft 2 can be driven to perform linear motion under the rotation of the lead screw nut 2 through the first stator assembly 3 and the first rotating shaft 31; when rotational motion is required, the first stator assembly 3 and the second stator assembly 4 rotate synchronously, and the movable shaft 2 is driven to rotate synchronously through the lead screw nut 5 and the spline nut 6. The lead screw nut 5 and the spline nut 6 are both located on the outside of the motor housing 1, which can reduce the volume of the motor housing 1. The one-piece structure of the motor housing 1 can further reduce the space occupied, which is suitable for scenarios with limited space. The first absolute encoder 122 and the second absolute encoder 132 can improve the motion accuracy.

[0036] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

[0037] Although this article uses a lot of terms such as motor housing 1, opening 11, front cover 12, front cable cover 121, first absolute encoder 122, first double-row angular contact bearing 123, first body mounting flange 124, rear cover 13, rear cable cover 131, second absolute encoder 132, second double-row angular contact bearing 133, second body mounting flange 134, annular boss 14, movable shaft 2, lead screw end 21, lead screw thread 211, spline end 22, spline groove 221, first stator assembly 3, first rotating shaft 31, first deep groove ball bearing 32, second stator assembly 4, second rotating shaft 41, second deep groove ball bearing 42, lead screw nut 5, spline nut 6, first shaft end adapter flange 7, second shaft end adapter flange 8, stator lamination 9, magnet 10, etc., the possibility of using other terms cannot be ruled out. The use of these terms is merely for the convenience of describing and explaining the essence of this utility model; interpreting them as any kind of additional limitation would be contrary to the spirit of this utility model.

Claims

1. A combined servo motor capable of rotary and linear motion, comprising a motor housing (1), wherein a movable shaft (2) is movably disposed within the motor housing (1), with both ends of the movable shaft (2) extending out of the ends of the motor housing (1), wherein a first stator assembly (3) and a second stator assembly (4) are respectively disposed within the motor housing (1), wherein the first stator assembly (3) cooperates with a first rotating shaft (31) and the second stator assembly (4) cooperates with a second rotating shaft (41), wherein the first rotating shaft (31) and the second rotating shaft (41) are respectively movably sleeved on the movable shaft (2), characterized in that, The motor housing (1) has a lead screw nut (5) on one side and a spline nut (6) on the other side. The movable shaft (2) has a lead screw end (21) that cooperates with the lead screw nut (5) on one side and a spline end (22) that cooperates with the spline nut (6) on the other side. The first rotating shaft (31) extends away from the second rotating shaft (41) towards one end of the motor housing (1) and is connected to the lead screw nut (5). The second rotating shaft (41) extends away from the first rotating shaft (31) towards the other end of the motor housing (1) and is connected to the spline nut (6).

2. The combined servo motor capable of rotary and linear motion according to claim 1, characterized in that, The motor housing (1) is an integrally formed rectangular cylindrical structure and both ends of the motor housing (1) are open (11).

3. A combined servo motor capable of rotary and linear motion according to claim 2, characterized in that, The motor housing (1) has a front cover (12) at one end of the opening (11) and a rear cover (13) at the other end of the opening (11). The lead screw nut (5) is located outside the front cover (12) and the spline nut (6) is located outside the rear cover (13).

4. A combined servo motor capable of rotary and linear motion according to claim 3, characterized in that, The motor housing (1) has a front cable outlet cover (121) on the outer circumferential side near the front end cover (12) and on the outer circumferential side of the front end cover (12). The inner circumferential side of the front end cover (12) is provided with a first absolute encoder (122) corresponding to the front cable outlet cover (121) located on the outer side of the front end cover (12). The motor housing (1) has a rear cable outlet cover (131) on the outer circumferential side near the rear end cover (13) and on the outer circumferential side of the rear end cover (13). The inner circumferential side of the rear end cover (13) is provided with a second absolute encoder (132) corresponding to the rear cable outlet cover (131) located on the outer side of the rear end cover (13).

5. A combined servo motor capable of rotary and linear motion according to claim 3 or 4, characterized in that, The motor housing (1) has an inwardly protruding annular boss (14) on the inner side of the middle circumference. One end of the first rotating shaft (31) extends to one side of the annular boss (14) and the first rotating shaft (31) is rotatably connected to the inner side of the motor housing (1) through a first deep groove ball bearing (32). One end of the second rotating shaft (41) extends to the other side of the annular boss (14) and the second rotating shaft (41) is rotatably connected to the inner side of the motor housing (1) through a second deep groove ball bearing (42).

6. A combined servo motor capable of rotary and linear motion according to claim 5, characterized in that, The motor housing (1) is rotatably connected to the first rotating shaft (31) via a first double-row angular contact bearing (123) at one end near the front end cover (12) and the front end cover (12) via a second double-row angular contact bearing (133). The motor housing (1) is rotatably connected to the second rotating shaft (41) via a second double-row angular contact bearing (133) at one end near the rear end cover (13).

7. A combined servo motor capable of rotary and linear motion according to claim 3, characterized in that, The front cover (12) is provided with a first body mounting flange (124) at the end away from the motor housing (1). One end of the first rotating shaft (31) extends to the inner side of the first body mounting flange (124) and the first rotating shaft (31) is fixedly connected to the lead screw nut (5) through the first shaft end adapter flange (7).

8. A combined servo motor capable of rotary and linear motion according to claim 3, characterized in that, The end of the rear cover (13) away from the motor housing (1) is provided with a second body mounting flange (134). One end of the second rotating shaft (41) extends to the inner side of the second body mounting flange (134) and the second rotating shaft (41) is fixedly connected to the spline nut (6) through the second shaft end adapter flange (8).

9. A combined servo motor capable of rotary and linear motion according to claim 1, characterized in that, The lead screw end (21) of the movable shaft (2) has a lead screw thread (211) that matches the internal thread of the lead screw nut (5), and the spline end (22) of the movable shaft (2) has a plurality of axially extending spline grooves (221) that match the spline nut (6).

10. A combined servo motor capable of rotary and linear motion according to claim 1, characterized in that, The first stator assembly (3) and the second stator assembly (4) are symmetrically arranged and each has a stator lamination (9). The first rotating shaft (31) and the second rotating shaft (41) are symmetrically arranged and each has a magnet (10) corresponding to the stator lamination (9).

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