CN108214471A - The planer-type robot moving mechanism that combination type permanent-magnet linear synchronous motor directly drives - Google Patents
The planer-type robot moving mechanism that combination type permanent-magnet linear synchronous motor directly drives Download PDFInfo
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- CN108214471A CN108214471A CN201810096671.0A CN201810096671A CN108214471A CN 108214471 A CN108214471 A CN 108214471A CN 201810096671 A CN201810096671 A CN 201810096671A CN 108214471 A CN108214471 A CN 108214471A
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- China
- Prior art keywords
- planer
- moving mechanism
- stator
- robot moving
- synchronous motor
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
- B25J9/026—Gantry-type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/20—Stationary parts of the magnetic circuit with channels or ducts for flow of cooling medium
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/32—Rotating parts of the magnetic circuit with channels or ducts for flow of cooling medium
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K9/00—Arrangements for cooling or ventilating
- H02K9/02—Arrangements for cooling or ventilating by ambient air flowing through the machine
- H02K9/04—Arrangements for cooling or ventilating by ambient air flowing through the machine having means for generating a flow of cooling medium
- H02K9/06—Arrangements for cooling or ventilating by ambient air flowing through the machine having means for generating a flow of cooling medium with fans or impellers driven by the machine shaft
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K9/00—Arrangements for cooling or ventilating
- H02K9/22—Arrangements for cooling or ventilating by solid heat conducting material embedded in, or arranged in contact with, the stator or rotor, e.g. heat bridges
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Linear Motors (AREA)
Abstract
The invention discloses the planer-type robot moving mechanism that a kind of combination type permanent-magnet linear synchronous motor directly drives, the planer-type robot moving mechanism includes track and the scroll wheel being adapted with the track；The scroll wheel is placed in the planer-type robot moving mechanism ontology rack；The planer-type robot moving mechanism is moved by the scroll wheel along the track；The planer-type robot moving mechanism further includes rotary shaft, the gear for being fixed on the rotary shaft end and the rack being adapted with the gear；The rack is arranged with the parallel track；The rotary shaft is fixedly installed in by bearing in planer-type robot moving mechanism ontology rack；The rotary shaft is directly driven by combination type permanent-magnet linear synchronous motor.The present invention provides the planer-type robot moving mechanisms that combination type permanent-magnet linear synchronous motor directly drives, and the rotating shaft mechanism is simple in structure, transmission efficiency, torque are big.
Description
Technical field
The present invention relates to planer-type robot fields more particularly to a kind of use combination type permanent-magnet linear synchronous motor directly to drive
Planer-type robot moving mechanism.
Background technology
Planer-type robot is the automatic automatic device for performing work, and planer-type robot can assist or replace the work of people
Make, the application in fields such as industry, medicine, agricultural, building, military affairs and daily lifes is more and more extensive, and the effect of embodiment is more next
It is bigger, many convenience are brought for the mankind.
The type of planer-type robot is more and more at present, and function is more and more perfect, and structure is also to become increasingly complex, but its
Mobile mechanism is generally still to be formed using transmission devices such as motor and belt, gear and connecting rods, and the intermediate link of transmission is more, is passed
Dynamic efficiency and loss of significance is larger, simultaneously because the increase of the quantity of transmission parts, performance are affected, also cause design,
The difficulty of manufacture and assembling increases, the increase of cost.
Invention content
In order to solve the problems in the prior art, the purpose of the present invention is to provide a kind of combination type permanent-magnet linear synchronous motor
The planer-type robot moving mechanism directly driven, the mobile mechanism is simple in structure, transmission efficiency, torque are big.
To achieve the above object, the technical solution adopted by the present invention is：
The planer-type robot moving mechanism that a kind of combination type permanent-magnet linear synchronous motor directly drives, the planer-type robot
Mobile mechanism includes track and the scroll wheel being adapted with the track；The scroll wheel is placed in the planer-type robot and moves
In dynamic mechanism body rack；The planer-type robot moving mechanism is moved by the scroll wheel along the track；The dragon
Portal robot mobile mechanism further includes rotary shaft, the gear for being fixed on the rotary shaft end and is adapted with the gear
Rack；The rack is arranged with the parallel track；The rotary shaft is fixedly installed in planer-type robot by bearing and moves
In dynamic mechanism body rack；The rotary shaft is directly driven by combination type permanent-magnet linear synchronous motor；The combination type permanent-magnet is same
It walks linear motor and includes stator module and rotor assembly；The stator module is fixedly installed in planer-type robot moving mechanism sheet
In body rack, rotating excitation field is provided for the rotor assembly；The rotor assembly with magnetic property is fixedly installed in described
In rotary shaft；
Wherein, the stator module is full-circle spray pattern or non-full-circle spray pattern structure, and the stator module is by several in fan-shaped knot
The stator unit composition of structure；The stator unit is independent control mechanism；The stator unit includes stator core and twines
The stator winding being wound on the stator unit.
Preferably, the rotor assembly includes rotor pedestal and magnet steel substrate, and the rotor pedestal is fixedly installed in described
In rotary shaft, the magnet steel substrate is distributed in around the rotary shaft axial line on the rotor pedestal；It is intended that described turn
Sub-base can provide an installation form for magnet steel substrate, and in assembling, the rotor pedestal can shift to an earlier date with magnet steel substrate
Assembling is completed, and the installation procedure of next step is entered as an entirety, easy for installation, installation effectiveness is improved, prevented also from scattered
Component omit, the problem of bad management.
It is further preferred that the rotation shaft end of cylinder structure is equipped with positioning step；The rotor pedestal is consolidated
Dingan County is fixed loaded on the positioning step by locking nut；The magnet steel substrate is distributed in the lateral wall of the rotor pedestal
And/or end face；It is intended that the positioning step improves the convenience and accuracy of rotor pedestal installation；Institute's magnet steel substrate
The diversity of arrangement can increase the turning moment of motor.
Preferably, the rotor pedestal side wall is in double-layer structure, including inner ring and outer ring；The outer ring is equipped with slanting
Ventilation hole；The ventilation hole is between two pieces of adjacent magnet steel substrates；It is intended that the design of the double-layer structure
Both material utilization amount is saved, alleviates the weight of the rotor pedestal, it is additional to overcome itself rotor weight to reduce motor
The electric energy of consumption, and the radius of rotor rotation is increased, turning moment is increased, while also increase the rotor pedestal
With the contact area of outside air, heat dissipation effect is increased, ensures the stability of equipment operation；Diagonally disposed ventilation hole is turning
Sub-base can generate air beveling power when rotating, and enhance the mobility of air, improve heat dissipation effect.
Preferably, the outer ring inner wall is equipped with fan leaf along the oblique direction of the ventilation opening；Turn it is intended that increasing
To the beveling area of air during son rotation, enhance the trafficability performance of air, further improving radiating effect.
Preferably, the stator module has further included stator base；The stator base is fixedly installed in the ontology machine
On frame；The stator unit is fixedly installed in the stator base；It is intended that the stator base can be stator list
Member provides an installation form, and in assembling, the stator base can assemble completion in advance with stator unit, whole as one
Body enters the installation procedure of next step, easy for installation, improves installation effectiveness, is omitted prevented also from scattered component, solves zero
The problem of part various bad management.
Preferably, the stator base is equipped with heat emission hole, and Heat Conduction Material is filled in the heat emission hole；It is intended that
So that the stator base while itself good structural rigidity is ensured, also has more good heat conductivility, can incite somebody to action
The amount of heat that stator winding electrifying generates distributes, and ensures the stable operation of motor, improves the service life of equipment.
Preferably, Air Filter is equipped with guide shell, and the diversion tunnel is in horn-like, it is intended that the guide shell pair
Drainage is played the role of in the circulation of air, and the air inlet of the rotor pedestal and air outlet interval are closer, and the guide shell can
It prevents air from forming convection phenomena between air inlet and air outlet, influences cooling effect；Bell-mouthed design can both increase
The area of air inlet, and the thermal current of outflow can be oriented to the outside of air inlet, greatly improve cooling effect.
Preferably, the combination type permanent-magnet linear synchronous motor includes encoder, the encoder include code-disc and with
The magnetic strength element of code-disc flexible connection, the code-disc and magnetic strength element are separately fixedly installed in the rotary shaft and described fixed
On sub-component；It is intended that providing servo-control system for the combination type permanent-magnet linear synchronous motor, motor closed loop is realized
Vector controlled, realization rotor speed and position are precisely controlled.
Compared with prior art, the beneficial effects of the invention are as follows：1st, made using rimless combination type permanent-magnet linear synchronous motor
For the driving motor of rotary shaft, directly with rotating axis connection, motor stator is looped around around rotor rotor, is fixed on electricity
In machine mounting base, to reduce the driving intermediate link such as gear, reduction box, the type of drive of equipment and the structure shape of equipment are simplified
Formula improves drive efficiency, reduces the loss of the energy；2nd, the mode directly driven substantially reduces the volume of equipment, alleviates equipment weight
Amount；3rd, make motor that there is fast response time, the advantages of control accuracy is high using servo-control system；4th, the heat dissipation knot rationally designed
Structure makes motor realize from heat dissipation；5th, stator module is composed using the stator unit of several independent controls, modular to set
Meter reduces the difficulty of processing of motor stator, and replaces conveniently.
Description of the drawings
Fig. 1 is the planer-type robot moving mechanism that a kind of combination type permanent-magnet linear synchronous motor of the present invention directly drives
Structure diagram；
Fig. 2 is the structural representation that a kind of combination type permanent-magnet linear synchronous motor described in the embodiment of the present invention one directly drives rotary shaft
Figure；
Fig. 3 is the structure diagram of rotor pedestal in the embodiment of the present invention one；
Fig. 4 is the dimensional structure diagram of rotor pedestal in the embodiment of the present invention one；
Fig. 5 is the structure diagram of the magnet steel substrate one；
Fig. 6 is the structure diagram of the stator unit one；
Fig. 7 is the structural representation that a kind of combination type permanent-magnet linear synchronous motor described in the embodiment of the present invention two directly drives rotary shaft
Figure；
Fig. 8 is the dimensional structure diagram of rotor pedestal in the embodiment of the present invention two；
Fig. 9 is the structure diagram of the magnet steel substrate two；
Figure 10 is the structure diagram of the stator unit two；
Figure 11 is that the structure that a kind of combination type permanent-magnet linear synchronous motor described in the embodiment of the present invention three directly drives rotary shaft is shown
It is intended to；
In figure：1st, ontology rack；2nd, rotary shaft；21st, gear；3rd, bearing；4th, stator module；41st, stator base；42nd, it is fixed
Subelement one；43rd, stator unit two；44th, heat emission hole；5th, rotor assembly；51st, rotor pedestal；52nd, magnet steel substrate one；53rd, magnet steel
Substrate two；54th, ventilation hole；55th, fan leaf；6th, key；7th, rack；8th, track；9th, encoder；91st, code-disc；92nd, magnetic strength element；
10th, scroll wheel；11st, Air Filter；12nd, guide shell；13rd, locking nut.
Specific embodiment
Below in conjunction with the attached drawing in the present invention, technical scheme of the present invention is clearly and completely described, it is clear that
Described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.Based on the implementation in the present invention
Example, all other embodiment that those of ordinary skill in the art are obtained under the conditions of creative work is not made belong to
The scope of protection of the invention.
Embodiment one
As shown in figures 1 to 6, the planer-type robot moving mechanism that a kind of combination type permanent-magnet linear synchronous motor directly drives, it is described
Planer-type robot moving mechanism includes track 8 and the scroll wheel 10 being adapted with the track 8；The scroll wheel 10 is placed in
In the planer-type robot moving mechanism ontology rack 1；The planer-type robot moving mechanism passes through the scroll wheel 10
It is moved along the track 8；The planer-type robot moving mechanism has further included rotary shaft 2, has been fixed on 2 end of rotary shaft
Gear 21 and the rack 7 that is adapted with the gear 21；The rack 7 is arranged in parallel with the track 8；The rotary shaft 2
It is fixedly installed in planer-type robot moving mechanism ontology rack 1 by bearing 3；The rotary shaft 2 by rimless combined type forever
Magnetic-synchro linear motor direct drive；The rimless combination type permanent-magnet linear synchronous motor includes stator module 4 and rotor assembly
5；The stator module 4 is fixedly installed in planer-type robot moving mechanism ontology rack, and rotation is provided for the rotor assembly 5
Turn magnetic field；The rotor assembly 5 with magnetic property is fixedly installed in the rotary shaft 2；
Wherein, the stator module 4 is non-full-circle spray pattern structure, and the stator module 4 is by six groups in fan-shaped arc structure
Stator unit 1 form；The stator unit 1 is independent control mechanism；The stator unit 1 includes fixed
Sub- iron core and the stator winding being wrapped in the stator core.
As the preferred of the present embodiment, the rotor assembly 5 includes rotor pedestal 51 and magnet steel substrate 1, the rotor
Pedestal 51 is fixedly installed in the rotary shaft 2, and the magnet steel substrate 1 is distributed in described turn around 2 axial line of rotary shaft
In sub-base 51；Further, 2 end of the rotary shaft of cylinder structure is equipped with positioning step；The rotor pedestal 51
It is fixedly installed on the positioning step, is fixed by locking nut 13；The magnet steel substrate 1 is in fan-shaped arc structure, uniformly distributed
In the side wall of the rotor pedestal 51；It is connected between the rotary shaft 2 and the rotor pedestal 51 by key 6；Further, institute
51 side wall of rotor pedestal is stated in double-layer structure, including inner ring and outer ring；The outer ring is equipped with slanting ventilation hole 54；It is described logical
Air holes 54 is placed between the magnet steel substrate 1 of adjacent two pieces；The outer ring inner wall is along the 54 oblique direction of ventilation hole
Equipped with fan leaf 55；The stator module 4 has further included stator base 41；The stator base 41 is fixedly installed in the ontology
In rack 1；The stator unit 1 is fixedly installed in the stator base 41；The stator base is equipped with heat emission hole
44, graphite is filled in the heat emission hole 44；Further, the stator base 41 capping structure in a ring, outside top end cover
Edge is equipped with installation step；The stator unit 1 is placed in the side wall of the stator base 41, with one 52 phase of magnet steel substrate
It is corresponding；41 openend of stator base is equipped with Air Filter 11；Further, the Air Filter 11 is equipped with guide shell 12, institute
Guide shell 12 is stated in horn-like；Further, the combination type permanent-magnet linear synchronous motor includes encoder 9, the coding
Device 9 includes code-disc 91 and the magnetic strength element 92 being flexibly connected with the code-disc, the code-disc 91 are fixedly installed in the rotary shaft 2
On, the magnetic strength element 92 is fixedly installed on 41 end face of stator base.
After energization, the stator unit 1 provides the magnetic field radially rotated for the magnet steel substrate 1,
The stator module 4 and rotor assembly 5 is promoted to provide the torque rotated around 2 axial line of rotary shaft for the rotary shaft 2, is driven
It moves the rotary shaft 2 to rotate, so as to which the gear 21 be driven to rotate, promotes the rack 7 to planer-type robot moving mechanism
Promote the thrust of horizontal direction, move it.
Embodiment two
As is seen in figs 7-10, the planer-type robot moving mechanism that a kind of combination type permanent-magnet linear synchronous motor directly drives, institute
It states planer-type robot moving mechanism and includes track 8 and the scroll wheel 10 being adapted with the track 8；The scroll wheel 10 is put
In in the planer-type robot moving mechanism ontology rack 1；The planer-type robot moving mechanism passes through the scroll wheel
10 move along the track 8；The planer-type robot moving mechanism has further included rotary shaft 2, has been fixed on 2 end of rotary shaft
The gear 21 in portion and the rack 7 being adapted with the gear 21；The rack 7 is arranged in parallel with the track 8；The rotary shaft
2 are fixedly installed in by bearing 3 in planer-type robot moving mechanism ontology rack 1；The rotary shaft 2 by rimless combined type forever
Magnetic-synchro linear motor direct drive；The rimless combination type permanent-magnet linear synchronous motor includes stator module 4 and rotor assembly
5；The stator module 4 is fixedly installed in planer-type robot moving mechanism ontology rack, and rotation is provided for the rotor assembly 5
Turn magnetic field；The rotor assembly 5 with magnetic property is fixedly installed in the rotary shaft 2；
Wherein, the stator module 4 is non-full-circle spray pattern structure, and the stator module 4 is by six groups in fan-shaped disk-like structure
Stator unit 2 43 form；The stator unit 2 43 is independent control mechanism；The stator unit 2 43 includes fixed
Sub- iron core and the stator winding being wrapped in the stator core.
As the preferred of the present embodiment, the rotor assembly 5 includes rotor pedestal 51 and magnet steel substrate 2 53, the rotor
Pedestal 51 is fixedly installed in the rotary shaft 2, and the magnet steel substrate 2 53 is distributed in described turn around 2 axial line of rotary shaft
In sub-base 51；Further, 2 end of the rotary shaft of cylinder structure is equipped with positioning step；The rotor pedestal 51
It is fixedly installed on the positioning step, is fixed by locking nut 13；The magnet steel substrate 2 53 is in fan-shaped disk-like structure, uniformly distributed
In the end face of the rotor pedestal 51；It is connected between the rotary shaft 2 and the rotor pedestal 51 by key 6；Further, institute
51 side wall of rotor pedestal is stated in double-layer structure, including inner ring and outer ring；The outer ring is equipped with slanting ventilation hole 54；It is described logical
Air holes 54 is placed between the magnet steel substrate 2 53 of adjacent two pieces；The outer ring inner wall is along the 54 oblique direction of ventilation hole
Equipped with fan leaf 55；The stator module 4 has further included stator base 41；The stator base 41 is fixedly installed in the ontology
In rack 1；The stator unit 2 43 is fixedly installed in the stator base 41；The stator base is equipped with heat emission hole
44, graphite is filled in the heat emission hole 44；Further, the stator base 41 capping structure in a ring, outside top end cover
Edge is equipped with installation step；The stator unit 2 43 is placed in the end face of the stator base 41, with 2 53 phase of magnet steel substrate
It is corresponding；41 openend of stator base is equipped with Air Filter 11；Further, the Air Filter 11 is equipped with guide shell 12, institute
Guide shell 12 is stated in horn-like；Further, the combination type permanent-magnet linear synchronous motor includes encoder 9, the coding
Device 9 includes code-disc 91 and the magnetic strength element 92 being flexibly connected with the code-disc, the code-disc 91 are fixedly installed in the rotary shaft 2
On, the magnetic strength element 92 is fixedly installed on 41 end face of stator base.
After energization, the stator unit 2 43 provides the magnetic field that an axis rotates up for the magnet steel substrate 2 53,
The stator module 4 and rotor assembly 5 is promoted to provide the torque rotated around 2 axial line of rotary shaft for the rotary shaft 2, is driven
It moves the rotary shaft 2 to rotate, so as to which the gear 21 be driven to rotate, promotes the rack 7 to planer-type robot moving mechanism
Promote the thrust of horizontal direction, move it.
Embodiment three
As shown in figure 11, the planer-type robot moving mechanism that a kind of combination type permanent-magnet linear synchronous motor directly drives, it is described
Planer-type robot moving mechanism includes track 8 and the scroll wheel 10 being adapted with the track 8；The scroll wheel 10 is placed in
In the planer-type robot moving mechanism ontology rack 1；The planer-type robot moving mechanism passes through the scroll wheel 10
It is moved along the track 8, the planer-type robot moving mechanism has further included rotary shaft 2, has been fixed on 2 end of rotary shaft
Gear 21 and the rack 7 that is adapted with the gear 21；The rack 7 is arranged in parallel with the track 8；The rotary shaft 2
It is fixedly installed in planer-type robot moving mechanism ontology rack 1 by bearing 3；The rotary shaft 2 by rimless combined type forever
Magnetic-synchro linear motor direct drive；The rimless combination type permanent-magnet linear synchronous motor includes stator module 4 and rotor assembly
5；The stator module 4 is fixedly installed in planer-type robot moving mechanism ontology rack, and rotation is provided for the rotor assembly 5
Turn magnetic field；The rotor assembly 5 with magnetic property is fixedly installed in the rotary shaft 2；
Wherein, the stator module 4 is non-full-circle spray pattern structure, and the stator module 4 is by six groups in fan-shaped arc structure
Stator unit 1 and six groups of stator units 2 43 in fan-shaped arc structure form；The stator unit 1 and stator
Unit 2 43 is independent control mechanism；The stator unit 1 and stator unit 2 43 respectively include stator core and twine
The stator winding being wound in the stator core.
As the preferred of the present embodiment, the rotor assembly 5 includes rotor pedestal 51, magnet steel substrate 1 and magnet steel substrate
2 53, the rotor pedestal 51 is fixedly installed in the rotary shaft 2, and the magnet steel substrate 1 and magnet steel substrate 2 53 are around institute
2 axial line of rotary shaft is stated to be distributed on the rotor pedestal 51；Further, 2 end of the rotary shaft of cylinder structure
Equipped with positioning step；The rotor pedestal 51 is fixedly installed on the positioning step, is fixed by locking nut 13；The magnet steel
Substrate 1 is in fan-shaped arc structure, is distributed in the side wall of the rotor pedestal 51；The magnet steel substrate 2 53 is in fan-shaped plate-like
Structure is distributed in the end face of the rotor pedestal 51；It is connected between the rotary shaft 2 and the rotor pedestal 51 by key 6；Into
One step, 51 side wall of rotor pedestal is in double-layer structure, including inner ring and outer ring；Two pieces of adjacent magnet steel substrates 1
Between and adjacent two pieces of magnet steel substrates 2 53 between be equipped with slanting ventilation hole 54；The outer ring inner wall is along described logical
54 oblique direction of air holes is equipped with fan leaf 55；The stator module 4 has further included stator base 41；The stator base 41 is fixed
It is installed in the ontology rack 1；The stator unit 1 and stator unit 2 43 are fixedly installed in the stator base 41
On；The stator base is equipped with heat emission hole 44, and graphite is filled in the heat emission hole 44；Further, the stator base
41 capping structures in a ring, top end cover outer rim are equipped with installation step；The stator unit 1 is placed in the stator base 41
Side wall, it is corresponding with the magnet steel substrate 1；The stator unit 2 43 is placed in the end face of the stator base 41, with institute
It is corresponding to state magnet steel substrate 2 53；41 openend of stator base is equipped with Air Filter 11；Further, on the Air Filter 11
Equipped with guide shell 12, the guide shell 12 is in horn-like；Further, the combination type permanent-magnet linear synchronous motor includes volume
Code device 9, the encoder 9 include code-disc 91 and the magnetic strength element 92 being flexibly connected with the code-disc, and the code-disc 91 fixes peace
Loaded in the rotary shaft 2, the magnetic strength element 92 is fixedly installed on 41 end face of stator base.
After energization, the stator unit 1 provides the magnetic field radially rotated for the magnet steel substrate 1,
The stator unit 2 43 provides the magnetic field that an axis rotates up for the magnet steel substrate 2 53, promotes the stator jointly
Component 4 and rotor assembly 5 provide the torque rotated around 2 axial line of rotary shaft for the rotary shaft 2, drive the rotary shaft
2 rotations, so as to which the gear 21 be driven to rotate, promote the rack 7 to promote horizontal direction to planer-type robot moving mechanism
Thrust, move it.
It should be pointed out that in this embodiment, the stator base 41 and rotor pedestal 51 can be integrated and be processed into
The structure of type, the form that can also be combined.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. the planer-type robot moving mechanism that a kind of combination type permanent-magnet linear synchronous motor directly drives, the planer-type robot moves
Motivation structure includes track and the scroll wheel being adapted with the track；The scroll wheel is placed in the planer-type robot movement
In mechanism body rack；The planer-type robot moving mechanism is moved by the scroll wheel along the track, and feature exists
In, the planer-type robot moving mechanism further include rotary shaft, the gear for being fixed on the rotary shaft end and with it is described
The rack that gear is adapted；The rack is arranged with the parallel track；The rotary shaft is fixedly installed in gantry by bearing
In formula robot moving mechanism ontology rack；The rotary shaft is directly driven by combination type permanent-magnet linear synchronous motor；Described group
Box-like permanent magnetic linear synchronous motor includes stator module and rotor assembly；The stator module is fixedly installed in planer-type robot
In mobile mechanism's ontology rack, rotating excitation field is provided for the rotor assembly；The rotor assembly with magnetic property is fixed
It is installed in the rotary shaft；
Wherein, the stator module is full-circle spray pattern or non-full-circle spray pattern structure, and the stator module is by several in sector structure
Stator unit forms；The stator unit is independent control mechanism；The stator unit includes stator core and is wrapped in
Stator winding on the stator unit.
2. the planer-type robot moving mechanism that combination type permanent-magnet linear synchronous motor according to claim 1 directly drives,
It is characterized in that, the rotor assembly includes rotor pedestal and magnet steel substrate, and the rotor pedestal is fixedly installed in the rotary shaft
On, the magnet steel substrate is distributed in around the rotary shaft axial line on the rotor pedestal.
3. the planer-type robot moving mechanism that combination type permanent-magnet linear synchronous motor according to claim 2 directly drives,
It is characterized in that, the rotation shaft end of cylinder structure is equipped with positioning step；The rotor pedestal is fixedly installed in described
On positioning step, fixed by locking nut；The magnet steel substrate is distributed in lateral wall and/or the end face of the rotor pedestal.
4. the planer-type robot moving mechanism that combination type permanent-magnet linear synchronous motor according to claim 2 directly drives,
It is characterized in that, the rotor pedestal side wall is in double-layer structure, including inner ring and outer ring；The outer ring is equipped with slanting ventilation
Hole；The ventilation hole is between two pieces of adjacent magnet steel substrates.
5. the planer-type robot moving mechanism that combination type permanent-magnet linear synchronous motor according to claim 4 directly drives,
It is characterized in that, the outer ring inner wall is equipped with fan leaf along the oblique direction of the ventilation opening.
6. the planer-type robot moving mechanism that combination type permanent-magnet linear synchronous motor according to claim 1 directly drives,
It is characterized in that, the stator module has further included stator base；The stator base is fixedly installed in the ontology rack；Institute
Stator unit is stated to be fixedly installed in the stator base.
7. the planer-type robot moving mechanism that combination type permanent-magnet linear synchronous motor according to claim 6 directly drives,
It is characterized in that, the stator base is equipped with heat emission hole, and Heat Conduction Material is filled in the heat emission hole.
8. the planer-type robot moving mechanism that combination type permanent-magnet linear synchronous motor according to claim 6 directly drives,
It is characterized in that, capping structure, top end cover outer rim are equipped with installation step to the stator base in a ring；The stator unit is placed in
The side wall of the stator base and/or end face；The stator base openend is equipped with Air Filter.
9. the planer-type robot moving mechanism that combination type permanent-magnet linear synchronous motor according to claim 6 directly drives,
It is characterized in that, the Air Filter is equipped with guide shell, and the guide shell is in horn-like.
10. the planer-type robot moving mechanism that combination type permanent-magnet linear synchronous motor according to claim 1 directly drives,
Be characterized in that, the combination type permanent-magnet linear synchronous motor includes encoder, the encoder include code-disc and with the code
The magnetic strength element of disk activity connection, the code-disc and magnetic strength element are separately fixedly installed in the rotary shaft and the stator module
On.
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| CN201810096671.0A CN108214471A (en) | 2018-01-31 | 2018-01-31 | The planer-type robot moving mechanism that combination type permanent-magnet linear synchronous motor directly drives |
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| CN201810096671.0A CN108214471A (en) | 2018-01-31 | 2018-01-31 | The planer-type robot moving mechanism that combination type permanent-magnet linear synchronous motor directly drives |
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| CN108214471A true CN108214471A (en) | 2018-06-29 |
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| CN201810096671.0A Pending CN108214471A (en) | 2018-01-31 | 2018-01-31 | The planer-type robot moving mechanism that combination type permanent-magnet linear synchronous motor directly drives |
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| CN109773353A (en) * | 2019-03-15 | 2019-05-21 | 安徽同兴科技发展有限责任公司 | The high-accuracy laser cutting machine of big stroke based on Permanent Magnet Linear Servo Motor System |
| CN109822310A (en) * | 2019-02-12 | 2019-05-31 | 合肥市春华起重机械有限公司 | A kind of Relining manipulator portal structure |
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