WO1999044274A1 - Moteur lineaire/rotatif et son procede d'utilisation - Google Patents

Moteur lineaire/rotatif et son procede d'utilisation Download PDF

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Publication number
WO1999044274A1
WO1999044274A1 PCT/US1999/004022 US9904022W WO9944274A1 WO 1999044274 A1 WO1999044274 A1 WO 1999044274A1 US 9904022 W US9904022 W US 9904022W WO 9944274 A1 WO9944274 A1 WO 9944274A1
Authority
WO
WIPO (PCT)
Prior art keywords
shaft
rotor
linear
rotation
rotary motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US1999/004022
Other languages
English (en)
Inventor
Albert Palmero
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tri Tech Inc
Original Assignee
Tri Tech Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tri Tech Inc filed Critical Tri Tech Inc
Priority to CA002321585A priority Critical patent/CA2321585C/fr
Priority to US09/622,851 priority patent/US6531798B1/en
Publication of WO1999044274A1 publication Critical patent/WO1999044274A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K16/00—Machines with more than one rotor or stator
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
    • H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
    • H02K21/14—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures
    • H02K21/145—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures having an annular armature coil
    • 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
    • H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
    • H02K2201/12—Transversal flux machines
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
    • H02K2201/18—Machines moving with multiple degrees of freedom

Definitions

  • the present invention relates to electric motors generally and, more particularly, but not by way of limitation, to a novel electric motor which provides both linear and/or rotary motion at a single output shaft.
  • a shaft which may selectively rotate and/or reciprocate is in the robotic picking and placing of components where it may be required to axially move a component to an insertion position and then rotate the component to screw it in place.
  • Conventional motor arrangements are often complicated and heavy, a substantial disadvantage for robotics applications .
  • Another type of application requiring a shaft which may selectively rotate and/or reciprocate is in the precise control of laparoscopic and other such medical instruments. In either type of application, it is frequently required that the linear motion be locked while rotary motion takes place. For a rotary/linear motor, this makes it desirable that the linear and rotary motions be controllable independently of one another.
  • a problem with motors having linear motion is that the motors frequently provide inadequate output shaft support when heavy side loads are imposed on the output shafts thereof.
  • An additional object of the invention is to provide such a motor that is lightweight and compact.
  • a linear/rotary motor comprising: first and second stator structures, having magnetically coupled thereto, respectively, first and second rotors; a first, externally threaded shaft fixedly attached to said first rotor and extending axially therefrom, such that rotation of said first rotor causes rotation of said first, externally threaded shaft; a second shaft, having a splined external surface, extending through a complementarily shaped opening defined through said second rotor, and axially movable with respect thereto, such that rotation of said second rotor causes rotation of said second shaft; and said second shaft including threaded means cooperatively engaging said first, externally threaded shaft, such that rotation of said first, threaded shaft can cause linear motion of said second, cylindrical shaft.
  • Said motor can be operated to provide rotary, linear, or simultaneous rotary and linear motion of said second shaft.
  • Figure 1 is is a side elevational view, partially in cross-section and partially cut-away, of a linear/rotary motor constructed according to the present invention.
  • Figure 2 is an isometric view of a manufacturing operation employing a robotic operator with the linear/rotary motor of Figure 1.
  • Figure 1 illustrates a linear/rotary motor, constructed according to the present invention, and generally indicated by the reference numeral 10.
  • Motor 10 includes a generally cylindrical housing 12 having disposed interiorly thereof first and second annular stator structures 14 and 16 of conventional construction. Disposed interiorly of first stator structure 14 is a cup-shaped rotor 20 having attached to the outer periphery thereof an annular magnet 22. Annular magnet 22 is in magnetically interacting proximity to first stator structure 14. Disposed interiorly of second stator structure 16 is a cup-shaped rotor 30 having attached to the outer periphery thereof an annular magnet 32. Annular magnet 32 is in magnetically interacting proximity to first stator structure 16. The open ends of rotor cups 20 and 30 _4_ therebetween and fixed to housing 12. A first end closure 42 covers the end of motor 10 adjacent first stator structure 14 and a second end closure 44 covers the end of motor 10 adjacent second stator structure 16. The elements of motor 10 are secured together by means of a plurality of bolts, as at 48.
  • the closed end 50 of rotor cup 20 is journaled in a rear bearing 52 fixed to first end closure structure 42, while the closed end 54 of rotor cup 30 is journaled in a front bearing 56 fixed to second end closure structure 44.
  • rotor cup 20 Associated with rotor cup 20 is a threaded shaft 60, having its proximal end fixedly attached to the closed end of rotor cup 20, and extending axially through rotor cups 20 and 30.
  • rotor cup 30 Associated with rotor cup 30 is a cylindrical shaft 70 having a splined outer surface which engages a complementarily shaped inner surface of the closed end of rotor cup 30, such that rotation of that rotor cup will cause rotation of that shaft.
  • the distal end of shaft 70 passes through a closely fitting opening 72 in second end closure structure 44 and spaced substantially apart from front bearing 56 to support that shaft against radial forces.
  • Shaft 70 is is telescopingly inserted over the distal end of threaded shaft 60.
  • An annular flange 80 is formed around the proximal end of shaft 70 and has a threaded nut 82 fixedly attached to the flange, the nut having a thread complementary to that of shaft 60 and being in engagement therewith such that rotation of threaded shaft 60 can cause shaft 70 to move axially in and out of motor 10 depending on the direction of rotation of shaft 60.
  • Motor 10 can be operated in a linear mode, in a rotary mode, or in both modes simultaneously, as is described below.
  • rotor cup 30 is electromagnetically locked by second stator structure 16 and rotor cup 20 is rotated by first stator structure -5- telescopingly move along shaft 60 and in or out of housing 12 as rotor cup 20 rotates shaft 60.
  • clockwise rotation of shaft 60 will cause the distal end of shaft 70 to move to the left on Figure 1
  • counterclockwise rotation of shaft 60 will cause the distal end of shaft 70 to move to the right on Figure 1.
  • Movement of shaft 70 to the left is terminated when the outer surface of nut 82 engages the inner vertical surface of first end closure 42, while movement of shaft 70 to the right is terminated when the inner surface of annular flange 80 engages thrust bearing 40.
  • both first and second motors 22 and 24 are operated at the same speed in the same direction. In this case, since threaded nut 82 will be rotating at the same speed as shaft 60, there will be no linear motion of shaft 70.
  • both linear and rotary modes are desired, operating both motors at different speeds in the same direction or in opposite directions will cause shaft 70 to rotate and also to move in or out of front housing 20.
  • FIG 2 illustrates a manufacturing operation employing motor 10 and illustrating the use of both linear and rotary modes of operation. Elements common to those shown on Figure 1 are given like reference numerals.
  • motor 10 is mounted vertically at the distal end of a robotic arm or other supporting structure 100.
  • a horizontal arm 102 is fixedly attached to the distal end of shaft 70 and an electromagnet 104 is fixedly mounted to the distal end of the horizontal arm.
  • Electromagnet 104 is shown (solid lines) at a first elevation in position to pick up a part, as at 110, from the surface of an incoming conveyor belt 112. It may be assumed that shaft 70 has been moved axially in a linear mode to the first elevation and shaft 70 rotated in a rotary mode to the pickup position (solid lines).
  • motor 10 ( Figure 1) is energized in a linear mode to -6- raise arm 102 to a second elevation and shaft 70 is then rotated clockwise by rotary to place part 110 on a first workstation 120.
  • part 110 is similarly raised to a third elevation and moved clockwise to a second workstation 122.
  • arm 102 is rotated slightly clockwise, lowered to a fourth elevation, and rotated clockwise so that part 110 may be placed on the surface of an outgoing conveyor 130.

Landscapes

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

Abstract

L'invention concerne, dans un mode de réalisation préféré, un moteur linéaire/rotatif (10) comprenant: une première et une deuxième structure de stator (14, 16) auxquelles sont magnétiquement couplés respectivement un premier et un deuxième rotor; un premier arbre à filetage extérieur relié fixe au premier rotor et s'étendant axialement à partir du rotor de sorte que la rotation du premier rotor entraîne la rotation du premier arbre à filetage extérieur; un deuxième arbre (16) présentant une surface extérieure cannelée et s'étendant dans une ouverture de forme complémentaire, définie par le deuxième rotor et amovible axialement par rapport à ce dernier, de sorte que la rotation du deuxième rotor entraîne la rotation du deuxième arbre (16). Le deuxième arbre comprend un appareil fileté coopérant avec le premier arbre à filetage extérieur de sorte que la rotation du premier arbre fileté puisse entraîner un déplacement linéaire du deuxième arbre cylindrique. On peut actionner le moteur pour provoquer un déplacement rotatif, linéaire ou simultanément rotatif et linéaire du deuxième arbre (16).
PCT/US1999/004022 1998-02-26 1999-02-24 Moteur lineaire/rotatif et son procede d'utilisation Ceased WO1999044274A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CA002321585A CA2321585C (fr) 1998-02-26 1999-02-24 Moteur lineaire/rotatif et son procede d'utilisation
US09/622,851 US6531798B1 (en) 1999-02-24 1999-02-24 Linear/rotary motor and method of use

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US3078198A 1998-02-26 1998-02-26
US09/030,781 1998-02-26

Publications (1)

Publication Number Publication Date
WO1999044274A1 true WO1999044274A1 (fr) 1999-09-02

Family

ID=21855993

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US1999/004022 Ceased WO1999044274A1 (fr) 1998-02-26 1999-02-24 Moteur lineaire/rotatif et son procede d'utilisation

Country Status (2)

Country Link
CA (1) CA2321585C (fr)
WO (1) WO1999044274A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1363382A1 (fr) * 2002-05-17 2003-11-19 Saia-Burgess Murten AG Entraínement électrique
EP1496600A3 (fr) * 2003-07-11 2006-10-11 SAIA-Burgess Dresden GmbH Actionneur linéaire
WO2007140577A3 (fr) * 2006-06-07 2008-03-06 Husky Injection Molding Dispositif d'entraînement de système de moulage
US7841250B2 (en) 2004-06-11 2010-11-30 Siemens Aktiengesellschaft Drive device
WO2017072228A1 (fr) * 2015-10-30 2017-05-04 Continental Automotive Gmbh Ensemble rotor et moteur pas à pas le comprenant
CN106655566A (zh) * 2015-10-30 2017-05-10 大陆汽车电子(芜湖)有限公司 转子总成及包含该转子总成的步进驱动电机
CN107612205A (zh) * 2017-08-21 2018-01-19 北京精密机电控制设备研究所 一种机电作动器及其控制方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3407680A (en) * 1965-11-09 1968-10-29 Julius C. Westmoreland Reciprocating power arrangements
US5099161A (en) * 1990-10-16 1992-03-24 Savair Inc. Compact electric linear actuator with tubular rotor

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3407680A (en) * 1965-11-09 1968-10-29 Julius C. Westmoreland Reciprocating power arrangements
US5099161A (en) * 1990-10-16 1992-03-24 Savair Inc. Compact electric linear actuator with tubular rotor

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1363382A1 (fr) * 2002-05-17 2003-11-19 Saia-Burgess Murten AG Entraínement électrique
US6888277B2 (en) 2002-05-17 2005-05-03 Saia Burgess Murten Ag Electro drive
EP1496600A3 (fr) * 2003-07-11 2006-10-11 SAIA-Burgess Dresden GmbH Actionneur linéaire
US7841250B2 (en) 2004-06-11 2010-11-30 Siemens Aktiengesellschaft Drive device
DE102004028355B4 (de) * 2004-06-11 2011-12-29 Siemens Ag Antriebseinrichtung
WO2007140577A3 (fr) * 2006-06-07 2008-03-06 Husky Injection Molding Dispositif d'entraînement de système de moulage
WO2017072228A1 (fr) * 2015-10-30 2017-05-04 Continental Automotive Gmbh Ensemble rotor et moteur pas à pas le comprenant
CN106655566A (zh) * 2015-10-30 2017-05-10 大陆汽车电子(芜湖)有限公司 转子总成及包含该转子总成的步进驱动电机
JP2018532367A (ja) * 2015-10-30 2018-11-01 コンチネンタル オートモーティヴ ゲゼルシャフト ミット ベシュレンクテル ハフツングＣｏｎｔｉｎｅｎｔａｌ Ａｕｔｏｍｏｔｉｖｅ ＧｍｂＨ ロータアセンブリおよびロータアセンブリを有するステッピングモータ
CN107612205A (zh) * 2017-08-21 2018-01-19 北京精密机电控制设备研究所 一种机电作动器及其控制方法
CN107612205B (zh) * 2017-08-21 2019-12-20 北京精密机电控制设备研究所 一种机电作动器及其控制方法

Also Published As

Publication number Publication date
CA2321585A1 (fr) 1999-09-02
CA2321585C (fr) 2007-09-04

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