WO2018130154A1 - 一种精简结构的高功率质量密度的直线驱动装置 - Google Patents

一种精简结构的高功率质量密度的直线驱动装置 Download PDF

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Publication number
WO2018130154A1
WO2018130154A1 PCT/CN2018/072085 CN2018072085W WO2018130154A1 WO 2018130154 A1 WO2018130154 A1 WO 2018130154A1 CN 2018072085 W CN2018072085 W CN 2018072085W WO 2018130154 A1 WO2018130154 A1 WO 2018130154A1
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WIPO (PCT)
Prior art keywords
ball screw
stator
power
base
rotor
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PCT/CN2018/072085
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English (en)
French (fr)
Inventor
王兴兴
杨知雨
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杭州宇树科技有限公司
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Priority to DE212018000124.3U priority Critical patent/DE212018000124U1/de
Publication of WO2018130154A1 publication Critical patent/WO2018130154A1/zh

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    • 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
    • H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
    • 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
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/106—Structural association with clutches, brakes, gears, pulleys or mechanical starters with dynamo-electric brakes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/2015—Means specially adapted for stopping actuators in the end position; Position sensing means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
    • F16H25/2204—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with balls
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2205/00—Specific aspects not provided for in the other groups of this subclass relating to casings, enclosures, supports
    • H02K2205/03—Machines characterised by thrust bearings

Definitions

  • the utility model relates to a linear drive device with high power mass density of a compact structure, belonging to the technical field of robot joint linear drive equipment.
  • joint actuators including: 1) Fast response, high power density, light weight, direct force control of robot joints; 2) simple structure and low cost, convenient for processing and manufacturing; 3) compact size of joint drive unit and improved space utilization of robots; 4) Stable and reliable.
  • the typical ball screw nut drive unit structure is relatively complicated, the number of parts is large, the cost is high, the power quality density is low, the response speed is slow, and the size structure is not compact enough.
  • some patents such as CN201410135715
  • use a hollow shaft inner rotor motor the ball screw passes through the hollow shaft of the motor, which improves the integration degree, but is limited by the complicated winding process of the inner rotor motor and the complicated and bulky mechanical structure.
  • This structure is not suitable for high power mass density robotic joint drive units, but can only be applied to conventional industrial automation equipment. Due to the above shortcomings of typical ball screw nut drive units, ball screw nut drive systems are rarely used in robotic products today.
  • the object of the present invention is to provide a high-power mass density motor with a simplified mechanical structure, which is highly reliable and easy to maintain, and can be used for a linear driving device of a robot product. .
  • a linear high-power mass density linear drive device comprising a drive source for providing power and a power conversion module fixedly coupled to a drive source rotating assembly, the drive source being an outer rotor motor including a core And a rotating component of the winding stator assembly and the sleeve setting subassembly, the power conversion module includes a ball screw nut fixedly coupled to the driving source rotating component, and a ball screw spirally engaged with the ball screw nut, the driving source
  • the rotating component is a hollow shaft structure and is provided with a ball screw.
  • the driving source used in the utility model is an outer rotor motor.
  • the mechanical structure and the winding process are simple, the output torque mass density is large, and the inner space of the hollow shaft of the rotating component of the driving source becomes the movement of the ball screw.
  • the space greatly shortens the axial dimension of the entire drive unit and improves the integration of the device.
  • stator assembly of the driving source includes a stator core and a winding, and a stator base extending through the fixed stator core and the winding.
  • the rotating assembly includes a rotor steel ring with an inner wall distributed with a permanent magnet group, a rotor base for fixed connection with the ball screw nut, and the rotor steel ring is fixedly connected coaxially with the rotor base,
  • the rotor base has a rotating shaft, and the rotating shaft is a hollow shaft structure.
  • the rotor base is coaxially mounted with the bearing 3 and the stator base to form a rotating pair, so that the rotating component and the stator assembly can be accurately matched; on the other hand, the hollow shaft structure of the rotating shaft of the rotor base is a ball wire.
  • the bar provides axial movement space.
  • the utility model mainly bears axial force during work.
  • the bearing one and the bearing three can directly bear the axial force.
  • the additional thrust bearing 1 and the thrust bearing 2 are mainly used to bear the axial force of the present invention.
  • the thrust flange is coaxially fixedly connected with the rotor base, and a coaxial line of the thrust bearing is placed between the stator base and the thrust flange; wherein the thrust end cover is fixedly connected with the stator base coaxial line, and the thrust bearing is disposed coaxially. Between the thrust flange and the thrust end cap.
  • the rotating pair of the outer rotor motor of the present invention is subjected to the axial tensile force, it is mainly carried by the thrust bearing, and when subjected to the axial compressive force, it is assumed by the thrust bearing 2.
  • the structure is simple and practical, the solution is practical and can be applied to various complex environments.
  • stator base is bored with a support disc, and the support disc is coaxially fixedly mounted with the rotor steel ring; the support disc forms a rotating pair through the bearing 2 and the stator base.
  • the ball screw nut is directly fixedly connected to the rotor base or fixedly connected by the extender sleeve; the hollow shaft space of the rotating assembly and the inner space of the range extender constitute a part of the ball screw movement working space;
  • the extended range sleeve can increase the working stroke space of the ball screw and is suitable for applications requiring large stroke applications.
  • the hollow shaft of the rotating component passes through the thrust bearing 1 and the thrust bearing 2.
  • the shaft end of the rotor base is provided with a shaft end retaining spring for preventing the axial movement of the rotor base and the stator base, and an electromagnetic brake for braking the support disc is fixed on the flange of the stator base end cover.
  • the driving source realizes braking and braking to the rotating component of the driving source through the electromagnetic brake, and the structure is simple and practical, and the technical solution is practical and feasible.
  • the ball screw end portion is provided with a head seat for mounting and connecting the ball screw to the external device, and one end of the ball screw adjacent to the head seat is provided with a limiting block 1 , and the other end of the ball screw is provided with a limiting block 2 .
  • the limiting block 1 and the limiting block 2 are made of an elastic material for defining an effective working space of the ball screw, and simultaneously for absorbing the impact energy of the ball screw moving to the limit position, reducing the ball screw movement. Noise and extend the life of the ball screw and the mating parts.
  • a tailstock is fixed on the stator base for mounting connection with an external device.
  • the driving source is connected to a driving control module for controlling rotation of the driving source, and the driving control module comprises an encoder magnet for collecting rotating component information and a corresponding magnetic encoder and for controlling rotation of the rotating component.
  • Motor drive board The magnetic encoder paired with the encoder magnet is fixedly mounted on the end cover flange of the stator base to realize the collection of the rotation angle of the rotating component of the outer rotor motor.
  • the motor drive plate is fixed on the end cover flange of the stator base, and the motor drive plate may not be mounted on the end cover flange of the stator base, but only connected to the outer rotor motor through a wire. The technical solution can be selected according to the specific situation.
  • the driving source used in the utility model is an outer rotor motor.
  • the mechanical structure and the winding process are simple, the output torque mass density is large, and the inner space of the hollow shaft becomes a part of the movement space of the ball screw, which is greatly shortened.
  • the axial dimension of the entire drive increases the integration of the device and the high power density.
  • the utility model has the advantages of simple structure and practical technical scheme, and adopts a ball screw nut linear driving unit, which has high reliability, low cost and easy maintenance, and is very suitable for a cooperative robot with rich human-computer interaction or a foot-like bionic mobile robot.
  • Figure 1 is a schematic view of the entire utility model
  • Figure 2 is a cross-sectional view of the utility model
  • Figure 3 is an exploded view of the present invention
  • Figure 4 is an exploded view of the rotating assembly of the present invention.
  • Figure 5 is an exploded view of the stator assembly of the present invention.
  • Figure 6 is a cross-sectional view of an embodiment of the present invention including an extended range sleeve
  • Figure 7 is a cross-sectional view showing an embodiment of a thrust bearing according to the present invention.
  • Figure 8 is an exploded view of an embodiment of the thrust bearing of the present invention.
  • Figure 9 is a cross-sectional view showing an embodiment of a thrust bearing including a range extender of the present invention.
  • Figure 10 is an application embodiment of the present invention.
  • a high-power mass density linear driving device of a reduced structure comprising a driving source for supplying power, a power conversion module 6 fixedly connected to the driving source rotor base 11, and Drive control module for driving and controlling the motor.
  • the drive source is an outer rotor motor that includes a stator assembly and a rotating assembly.
  • the rotating assembly includes a rotor base 11, a rotor steel ring 13, and a permanent magnet group 14.
  • the rotor base 11 is coaxially mounted with the stator base 20 via a bearing 15 and a bearing 31 to form a rotating pair.
  • the rotor base 11 is fixedly coupled to the ball screw nut 4.
  • the rotor rim 13 is coaxially fixedly connected to the rotor base 11 and the permanent magnet group 14 is distributed on the inner wall of the rotor rim 13 .
  • the shaft end of the rotor base 11 is provided with a shaft end retainer 8 for preventing the rotor base 11 and the stator base 20 from axially swaying.
  • the stator assembly includes a bearing 15, a stator core and a winding 16, a bearing 17, a support disk 18, an electromagnetic brake 19, a stator base 20, a bearing three 21, and a tailstock 9.
  • the stator base 20 is bored with a support plate 18 that is mounted coaxially with the rotor rim 13 .
  • the support disk 18 forms a rotating pair with the stator base 20 via a bearing two 17.
  • An electromagnetic brake 19 for braking the support disk 18 is fixed to the end cover flange of the stator base 20.
  • the electromagnetic brake 19 achieves brake braking of the entire outer rotor motor by braking the support disk 18.
  • the tailstock 9 is fixedly coupled to the stator base 20 for mounting connection with an external device.
  • the driving source used in the utility model is an outer rotor motor. Compared with the inner rotor motor, the mechanical structure and the winding process are simple, and the output torque mass density is large.
  • the power conversion module 6 includes a ball screw nut 4 fixedly coupled to the rotating assembly, and a ball screw 3 spirally engaged with the ball screw nut 4, the ball screw 3 and the ball screw nut 4 forming a spiral pair.
  • the power conversion module 6 converts the rotational motion of the motor into a linear motion of the ball screw.
  • the rotating component is a hollow shaft structure and sleeves a ball screw 3, and the inner space of the hollow shaft of the rotating component becomes a moving space of the ball screw 3, which greatly shortens the axial dimension of the entire driving device and improves the integration degree of the device. .
  • a headstock 31 for mounting and connecting with an external device is fixed to the end of the ball screw 3.
  • the ball screw 3 is provided with a stopper block 2 at one end of the headstock 31, and a limiting block 2 is provided at the other end of the ball screw 3.
  • the limiting block 2 and the limiting block 2 are made of an elastic material for defining an effective working space of the lead screw and simultaneously for absorbing the impact energy when the screw moves to the limit position.
  • the drive control module includes an encoder magnet 12 for collecting rotational component information, a magnetic encoder corresponding to the encoder magnet 12, and a motor drive plate 10 for controlling the outer rotor motor 7.
  • the magnetic encoder paired with the encoder magnet 12 is fixedly mounted on the end cover flange of the stator base 20 to realize the collection of the rotation angle of the rotating component of the outer rotor motor.
  • the motor driving plate 10 is fixed on the end cover flange of the stator base 20, and the motor driving plate 10 may not be mounted on the end cover flange of the stator base 20, but only through the wire and the outer rotor. The motors are connected.
  • the drive control module realizes closed-loop control of the motor according to the magnetic encoder on the motor, and controls the motor to realize real-time response according to an external control command.
  • the drive control module receives an external control signal to control the position, speed, and output torque of the motor.
  • the present invention includes an extension sleeve embodiment.
  • the effective stroke of the ball screw 3 is approximately equal to the length of the through shaft of the motor rotating assembly. In some special applications, if the stroke of the ball screw 3 needs to be increased.
  • the extender sleeve 22 can be added between the ball screw nut and the rotor base 11 to increase the stroke, and the stroke of the driving device can be adjusted by adapting the extension sleeves 22 of different lengths.
  • the utility model includes a thrust bearing embodiment, and the utility model mainly bears axial force during operation.
  • the bearing 15 and the bearing 3 21 can directly receive the axial force.
  • the additional thrust bearing 33 and the thrust bearing 2 are used to mainly bear the axial force of the present invention.
  • the thrust flange 32 is coaxially fixedly coupled to the rotor base 11, and the thrust bearing 33 is coaxially disposed between the stator base 20 and the thrust flange 32.
  • the thrust end cover 35 is coaxially fixedly coupled to the stator base 20, and the thrust bearing two 34 is coaxially disposed between the thrust flange 32 and the thrust end cover 35.
  • the thrust bearing 33 when the rotating pair of the outer rotor motor 7 of the present invention is subjected to the axial tensile force, it is mainly carried by the thrust bearing 33, and when subjected to the axial compressive force, it is carried by the thrust bearing 234.
  • the range extender and thrust bearing can also be used as shown in Figure 9.
  • the utility model relates to an application embodiment: the utility model combines the connecting rod and the joint of the actual robot body to form a complete robot joint driving unit.
  • the headstock 31 of the linear drive unit 1 is hinged to the upper link 23, and the tailstock 9 is hinged to the lower link 24.
  • the rotating joint between the upper link 23, the lower link 24, the upper link 23 and the lower link 24 and the present invention together form a complete robot joint.
  • the telescopic movement of the ball screw 3 is driven, thereby realizing the control of the rotational motion of the entire robot joint.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

一种精简结构的高功率质量密度的直线驱动装置（1），属于机器人关节直线驱动设备技术领域，包括用于提供动力的驱动源、与驱动源连接的动力转换模块（6），驱动源为外转子电机（7），动力转换模块（6）包括与驱动源转动组件固定连接的滚珠丝杠螺母（4）、与滚珠丝杠螺母（4）螺旋配合的滚珠丝杠（3）。驱动源为外转子电机（7），相比于内转子电机，机械结构及绕线工艺简单，输出扭矩质量密度大。驱动源转动组件的空心轴内部空间是滚珠丝杠（3）运动空间的一部分，从而大大缩短了整个驱动装置的轴向尺寸，提高了装置的集成度。

Description

一种精简结构的高功率质量密度的直线驱动装置 技术领域
本实用新型涉及一种精简结构的高功率质量密度的直线驱动装置，属于机器人关节直线驱动设备技术领域。
背景技术
在目前机器人领域，各种各样的驱动装置得到了广泛的应用，随着机器人越来越多地需要实现人机交互以及高运动性能，而对关节执行装置提出了更多的要求，包括：1)响应速度快，功率质量密度高，重量轻，可以实现机器人关节的直接力控制；2)结构简单成本低，方便加工制造；3)关节驱动单元尺寸结构紧凑，提升机器人的空间利用率；4)稳定可靠。
目前典型的滚珠丝杠螺母驱动单元结构比较复杂，零件数量较多，成本高，功率质量密度低，响应速度慢，且尺寸结构不够紧凑。现虽有部分专利(如CN201410135715)采用空心轴内转子电机，将滚珠丝杠穿过电机空心轴，提高了集成度，但受限于内转子电机绕线工艺复杂、整体机械结构复杂笨重等问题，此种结构并不适用于高功率质量密度的机器人关节驱动单元，而只能应用在常规的工业自动化设备上。由于典型滚珠丝杠螺母驱动单元的上述缺点，目前机器人产品很少采用滚珠丝杠螺母驱动***。
实用新型内容
针对现有技术的缺陷，本实用新型的目的在于提供一种具有精简机械结构的高功率质量密度的采用电机直接驱动滚珠丝杠螺母的可靠性高、易于维护，可用于机器人产品的直线驱动装置。
为实现上述目的，本实用新型的技术方案为：
一种精简结构的高功率质量密度的直线驱动装置，包括用于提供动力的驱动源、与驱动源转动组件固定连接的动力转换模块，所述驱动源为外转子电机，其包括带有铁芯及绕组的定子组件、套设定子组件的转动组件，所述动力转换模块包括与驱动源转动组件固定连接的滚珠丝杠螺母、与滚珠丝杠螺母螺旋配合的滚珠丝杠，所述驱动源的转动组件为空心轴结构并套设滚珠丝杠。本实用新型使用的驱动源为外转子电机，相比于内转子电机，机械结构及绕线工艺简单，输出扭矩质量密度大，所述驱动源的转动组件空心轴内部空间成为滚珠丝杠的运动空间，大大缩短了整个驱动装置的轴向尺寸，提高了装置的集成度。
进一步地，所述驱动源的定子组件包括定子铁芯及绕组、贯穿固定定子铁芯及绕组的定子基座。
进一步地，所述转动组件包括内壁分布有永磁铁组的转子钢圈、用于同滚珠丝杠螺母固定连接的转子基座，所述转子钢圈与转子基座同轴线固定连接，所述转子基座具有转轴，所述转轴为空心轴结构。所述转子基座通过轴承一与轴承三与定子基座共轴线安装在一起构成旋转副，使得转动组件与定子组件能够准确配合；另一方面所述转子基座转轴的空心轴结构为滚珠丝杠提供轴向运动空间。本实用新型在工作时主要承受轴向力。在轴向力不是特别大的应用场合，其中轴承一、轴承三可以直接承受轴向力。而在轴向力比较大的场合，使用附加的推力轴承一、推力轴承二来主要承担本实用新型的轴向力。其中推力法兰与转子基座同轴固定连接，推力轴承一同轴线放置在定子基座与推力法兰之间；其中推力端盖与定子基座同轴线固定连接，推力轴承二同轴线放置在推力法兰与推力端盖之间。由此，当本实用新型 的外转子电机的转动副承受轴向拉伸力时，主要由推力轴承一承担，而当承受轴向压缩力时，由推力轴承二承担。结构简单实用，方案切实可行，能够应用于各种复杂环境。
进一步地，所述定子基座穿设一支撑盘，所述支撑盘与转子钢圈共轴线固定安装；所述支撑盘通过轴承二与定子基座构成旋转副。
进一步地，滚珠丝杠螺母与转子基座直接固定连接或者通过增程套固定连接；所述转动组件的空心轴空间以及增程套内部空间构成了滚珠丝杠运动工作空间的一部分；使用所述增程套可以增大滚珠丝杠的工作行程空间，适合需要大行程应用的场合。
进一步地，所述转动组件空心轴穿设推力轴承一、推力轴承二。
进一步地，转子基座的轴端卡设用于防止转子基座与定子基座的轴向窜动的轴端卡簧，定子基座端盖法兰上固定有用于制动支撑盘的电磁刹车。所述驱动源通过电磁刹车实现对驱动源转动组件的刹车制动，结构简单实用，技术方案切实可行。
进一步地，滚珠丝杠端部设有用于滚珠丝杠与外部设备安装连接的头座，滚珠丝杠相邻头座的一端设有限位块一，滚珠丝杠另一端设有限位块二。所述限位块一与限位块二由弹性材料制成，用于限定滚珠丝杠的有效工作空间，并同时用于吸收滚珠丝杠运动到限位时的冲击能量，减少滚珠丝杠运动噪音并且延长滚珠丝杠以及配合的零部件的使用寿命。所述定子基座上固定有尾座，用于与外部设备安装连接。
进一步地，所述驱动源连接一用于控制驱动源旋转的驱动控制模块，所述驱动控制模块包括用于采集转动组件信息的编码器磁铁及对应的磁编码器和用于控制转动组件旋转的电机驱动板。与所述编码器磁铁配对的磁编码器固定安装在定子基座的端盖法兰上，实现对外转子电机转动组件转角的采集。所述电机驱动板固定在定子基座的端盖法兰上，所述电机驱动板也可以不安装在定子基座的端盖法兰上，而只通过导线与所述外转子电机相连接，可根据具体情形选择技术方案。
与现有技术相比，本实用新型具有以下有益效果：
本实用新型使用的驱动源为外转子电机，相比于内转子电机，机械结构及绕线工艺简单，输出扭矩质量密度大，空心轴内部空间成为滚珠丝杠的运动空间的一部分，大大缩短了整个驱动装置的轴向尺寸，提高了装置的集成度，功率质量密度高。
本实用新型结构简单，技术方案切实可行，采用滚珠丝杠螺母直线驱动单元，可靠性高、成本低、易于维护，非常适合于有丰富人机交互的协作机器人或者足式仿生移动机器人。
附图说明
图1为本实用新型整体示意图；
图2为本实用新型剖视图；
图3为本实用新型***视图；
图4为本实用新型转动组件***视图；
图5为本实用新型定子组件***视图；
图6为本实用新型含增程套实施例的剖视图；
图7为本实用新型含推力轴承实施例的剖视图；
图8为本实用新型含推力轴承实施例的***视图；
图9为本实用新型含增程套含推力轴承实施例的剖视图；
图10为本实用新型一种应用实施例。
附图标记说明：
1-直线驱动装置，2-限位块一，3-滚珠丝杠，4-滚珠丝杠螺母，5-限位块二，6-动力转换模块，7-外转子电机，8-轴端卡簧，9-尾座，10-电机驱动板，11-转子基座，12-编码器磁铁，13-转子钢圈，14-永磁铁组，15-轴承一，16-定子铁芯及绕组，17-轴承二，18-支撑盘，19-电磁刹车，20-定子基座，21-轴承三，22-增程套，23-上连杆，24-下连杆，31-头座，32-推力法兰，33-推力轴承一，34-推力轴承二，35-推力端盖。
具体实施方式
为了使本实用新型的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本实用新型进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本实用新型，并不用于限定本实用新型。
相反，本实用新型涵盖任何由权利要求定义的在本实用新型的精髓和范围上做的替代、修改、等效方法以及方案。进一步，为了使公众对本实用新型有更好的了解，在下文对本实用新型的细节描述中，详尽描述了一些特定的细节部分。对本领域技术人员来说没有这些细节部分的描述也可以完全理解本实用新型。
如图1～5所示具体实施例，一种精简结构的高功率质量密度的直线驱动装置，包括用于提供动力的驱动源、与驱动源转子基座11固定连接的动力转换模块6和用于驱动并控制电机的驱动控制模块。
所述驱动源为外转子电机，其包括定子组件和转动组件。所述转动组件包括：转子基座11，转子钢圈13，永磁铁组14。所述转子基座11通过轴承一15和轴承三21与定子基座20共轴线安装在一起构成旋转副。所述转子基座11与滚珠丝杠螺母4固定连接。所述转子钢圈13与转子基座11同轴线固定连接，转子钢圈13的内壁上分布有永磁铁组14。所述转子基座11的轴端卡设用于防止转子基座11与定子基座20轴向窜动的轴端卡簧8。
所述定子组件包括轴承一15、定子铁芯及绕组16、轴承二17、支撑盘18、电磁刹车19、定子基座20、轴承三21、尾座9。所述定子基座20穿设一支撑盘18，所述支撑盘18与转子钢圈13共轴线固定安装。所述支撑盘18通过轴承二17与定子基座20构成旋转副。定子基座20的端盖法兰上固定有用于制动支撑盘18的电磁刹车19。所述电磁刹车19通过制动支撑盘18来实现对整个外转子电机的刹车制动。所述尾座9与定子基座20固定连接，用于与外部设备安装连接。
本实用新型使用的驱动源为外转子电机，相比于内转子电机，机械结构及绕线工艺简单，输出扭矩质量密度大。
所述动力转换模块6包括与转动组件固定连接的滚珠丝杠螺母4、与滚珠丝杠螺母4螺旋配合的滚珠丝杠3，所述滚珠丝杠3和滚珠丝杠螺母4构成螺旋副。所述动力转换模块6将电机的旋转运动转换为滚珠丝杠的直线运动。所述转动组件为空心轴结构并套设滚珠丝杠3，所述转动组件空心轴内部空间成为滚珠丝杠3的运动空间，大大缩短了整个驱动装置的轴向尺寸，提高了装置的集成度。滚珠丝杠3端部固定有用于与外部装置安装连接的头座31，滚珠丝杠3相邻头座31的一端设有限位块一2，滚珠丝杠3另 一端设有限位块二5。所述限位块一2与限位块二5由弹性材料制成，用于限定丝杠的有效工作空间，并同时用于吸收丝杠运动到限位时的冲击能量。
所述驱动控制模块包括用于采集转动组件信息的编码器磁铁12及与编码器磁铁12对应的磁编码器和用于控制外转子电机7的电机驱动板10。与所述编码器磁铁12配对的磁编码器固定安装在定子基座20的端盖法兰，实现对外转子电机转动组件转角的采集。所述电机驱动板10固定在定子基座20的端盖法兰上，所述电机驱动板10也可以不安装在定子基座20的端盖法兰上，而只通过导线与所述外转子电机相连接。所述驱动控制模块根据电机上的磁编码器实现对电机的闭环控制，并根据外部控制命令控制电机实现实时响应。所述驱动控制模块接收外部控制信号，实现对电机位置、速度、输出力矩的控制。
如图6所示，本实用新型含增程套实施例，所述滚珠丝杠3的有效行程约等于电机转动组件通轴的长度，在某些特殊应用场合如果需要增加滚珠丝杠3的行程，可以在滚珠丝杠螺母与转子基座11之间增加增程套22来增加行程，通过适配不同长度的增程套22，实现对驱动装置行程的调节。
如图7所示，本实用新型含推力轴承实施例，本实用新型在工作时主要承受轴向力。在轴向力不是特别大的应用场合，使用上述如图2的方案中，其中的轴承一15、轴承三21可以直接承受轴向力。而在轴向力比较大的场合，如图8、9所示，使用附加的推力轴承一33、推力轴承二34来主要承担本实用新型的轴向力。其中推力法兰32与转子基座11同轴固定连接，推力轴承一33同轴放置在定子基座20与推力法兰32之间。其中推力端盖35与定子基座20同轴固定连接，推力轴承二34同轴放置在推力法兰32与推力端盖35之间。由此，当本实用新型的外转子电机7的转动副承受轴向拉伸力时，主要由推力轴承一33承担，而当承受轴向压缩力时，由推力轴承二34承担。根据需要也可以同时使用增程套和推力轴承如图9所示。
如图10所示，本实用新型一种应用实施例：本实用新型结合实际的机器人本体的连杆与关节构成一个完整的机器人关节驱动单元。其中直线驱动装置1的头座31铰接在上连杆23上，尾座9铰接在下连杆24上。上连杆23、下连杆24、上连杆23与下连杆24之间的转动关节和本实用新型共同构成一个完整的机器人关节。通过控制本实用新型转动组件的转动来带动滚珠丝杠3的伸缩运动，从而实现对整个机器人关节旋转运动的控制。
以上所述仅为本实用新型的较佳实施例而已，并不用以限制本实用新型，凡在本实用新型的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本实用新型的保护范围之内。

Claims (10)

  1. 一种精简结构的高功率质量密度的直线驱动装置，包括用于提供动力的驱动源、与驱动源可转动连接的动力转换模块(6)，其特征在于，所述驱动源为外转子电机，其包括带有铁芯及绕组的定子组件、套设定子组件的转动组件，所述动力转换模块(6)包括与转动组件固定连接的滚珠丝杠螺母(4)、与滚珠丝杠螺母(4)螺旋配合的滚珠丝杠(3)，所述转动组件为空心轴结构并套设滚珠丝杠(3)。
  2. 如权利要求1所述的一种精简结构的高功率质量密度的直线驱动装置，其特征在于，所述定子组件包括定子铁芯及绕组(16)以及贯穿定子铁芯及绕组(16)的定子基座(20)。
  3. 如权利要求2所述的一种精简结构的高功率质量密度的直线驱动装置，其特征在于，所述转动组件包括内壁分布有永磁铁组的转子钢圈(13)、用于同滚珠丝杠螺母(4)固定连接的转子基座(11)，所述转子钢圈(13)与转子基座(11)同轴线固定连接。
  4. 如权利要求3所述的一种精简结构的高功率质量密度的直线驱动装置，其特征在于，所述转子基座(11)通过轴承一(15)与轴承三(21)与定子基座(20)共轴线安装在一起构成旋转副。
  5. 如权利要求4所述的一种精简结构的高功率质量密度的直线驱动装置，其特征在于，所述定子基座(20)穿设一支撑盘(18)，所述支撑盘(18)与转子钢圈(13)共轴线固定安装；所述支撑盘(18)通过轴承二(17)与定子基座(20)构成旋转副。
  6. 如权利要求5所述的一种精简结构的高功率质量密度的直线驱动装置，其特征在于，滚珠丝杠螺母(4)与转子基座(11)直接固定连接或者通过增程套(22)固定连接；所述转动组件的空心轴空间和增程套(22)内部空间构成了滚珠丝杠(3)运动工作空间的一部分。
  7. 如权利要求6所述的一种精简结构的高功率质量密度的直线驱动装置，其特征在于，所述转动组件空心轴穿设推力轴承一(33)、推力轴承二(34)，所述推力轴承一(33)同轴放置在定子基座(20)与推力法兰(32)之间；所述推力轴承二(34)同轴放置在推力法兰(32)与推力端盖(35)之间。
  8. 如权利要求1-7任一所述的一种精简结构的高功率质量密度的直线驱动装置，其特征在于，定子基座(20)端盖法兰上固定有用于制动支撑盘(18)的电磁刹车(19)。
  9. 如权利要求1-7任一所述的一种精简结构的高功率质量密度的直线驱动装置，其特征在于，滚珠丝杠(3)端部固定有与外部设备安装连接的头座(31)，滚珠丝杠(3)相邻头座(31)的一端设有限位块一(2)，滚珠丝杠(3)另一端设有限位块二(5)；所述定子基座20上固定有用于与外部设备安装连接的尾座9。
  10. 如权利要求9所述的一种精简结构的高功率质量密度的直线驱动装置，其特征在于，所述驱动源连接一用于控制驱动源旋转的驱动控制模块，所述驱动控制模块包括用于采集转动组件信息的编码器磁铁(12)及对应的磁编码器和用于控制转动组件旋转的电机驱动板(10)。
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