CN105610297B - Travel control device and linear motor - Google Patents
Travel control device and linear motor Download PDFInfo
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- CN105610297B CN105610297B CN201610101274.9A CN201610101274A CN105610297B CN 105610297 B CN105610297 B CN 105610297B CN 201610101274 A CN201610101274 A CN 201610101274A CN 105610297 B CN105610297 B CN 105610297B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/025—Asynchronous motors
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Abstract
The present invention is suitable for Stroke Control field, provides a kind of travel control device and the linear motor using the trip control device.The trip control device, including casing, the support shaft being installed in casing, the magnetic conduction arm being installed in support shaft, the control coil being wound on magnetic conduction arm, several shading rings with several magnetic guiding loops of magnetic conduction arm cooperation interaction and adjacent two magnetic guiding loop of separation, magnetic guiding loop and the alternately laminated setting of shading ring, each magnetic guiding loop are fixed on each shading ring in casing.Using the magnetic guiding loop and shading ring of alternately laminated setting, and control coil is wound on magnetic conduction arm, can the position of magnetic conduction arm, precise control be controlled by the interaction of the magnetic force and magnetic guiding loop of adjusting control coil；Magnetic conduction arm and control coil can be made smaller and magnetic guiding loop and shading ring structure fabrication is smaller, the miniaturization of realization travel control device volume by the structure, and without external connection power motor or motor, more power saving.
Description
Technical field
The invention belongs to Stroke Control field more particularly to a kind of travel control device and use the trip control device
Linear motor.
Background technology
The mobile equipment such as existing linear motor, numerically-controlled machine tool can generally use travel control device.Linear motor is also referred to as line
Property motor, principle are：Linear motor be it is a kind of electric energy is directly changed into linear motion mechanical energy, without any centre
The transmission device of switching mechanism.It can regard an electric rotating machine as by radially splitting, and transform into plane and form.The prior art
Travel control device generally using worm gear mechanism, lead screw transmission mechanism etc..However this travel control device volume and
Weight is larger, and it is also required to provide external impetus motor or motor in control, and power consumption is big, and control accuracy is low.
Invention content
The purpose of the present invention is to provide a kind of travel control devices, it is intended to solve existing travel control device volume and again
It measures larger, it is desirable to provide the problem of external impetus motor or motor, power consumption is big, and control difficulty is big.
The invention is realized in this way a kind of travel control device, including casing, the support being installed in the casing
Axis, the magnetic conduction arm being installed in the support shaft, the control coil being wound on magnetic conduction arm, with the magnetic conduction arm coordinate phase interaction
Several magnetic guiding loops and several shading rings for separating adjacent two magnetic guiding loop, the magnetic guiding loop and the shading ring alternating layer
Folded setting, each magnetic guiding loop are fixed on each shading ring in the casing.
The present invention travel control device use alternately laminated setting magnetic guiding loop and shading ring, set magnetic conduction arm, and
Control coil is wound on magnetic conduction arm, the position of the interaction control magnetic conduction arm of the magnetic force and magnetic guiding loop of control coil can be passed through
It puts, precise control；In addition, the structure magnetic conduction arm and control coil can be made it is smaller, and by magnetic guiding loop and shading ring knot
Smaller, the miniaturization of realization travel control device volume is made in structure, and without external connection power motor or motor, more saves
Electricity.
It is described including travel control device as described above another object of the present invention is to provide a kind of linear motor
Rotor is installed, the rotor includes the support frame being installed in the support shaft and for generating driving magnetic field in support shaft
Driving coil, axial direction of the driving magnetic field along the support shaft, the driving coil is wound on the support frame, institute
It is conductive and non-magnetic ring plate to state shading ring.
The linear motor of the present invention has used above-mentioned travel control device, and shading ring is used conductive and non-magnetic material
Ring plate made of material, then magnetic guiding loop and shading ring can form stator structure, and its volume can be made to smaller, and rotor
Driving coil generates the driving magnetic field along support shaft axial direction, when driving coil passes through current impulse, the sense that can be generated in stator
Induced current, and then the magnetic field opposite with above-mentioned driving magnetic field is generated, to drive rotor movement, thus the linear motor can be realized
Quick response；When driving coil is by larger instant pulse current, larger power can be generated；The linear motor has used
Travel control device is stated, the stroke for controlling the linear motor can also be facilitated.
Description of the drawings
Fig. 1 is a kind of schematic cross-sectional view for travel control device that the embodiment of the present invention one provides；
Fig. 2 is the schematic cross-sectional view of the line A-A along Fig. 1；
Fig. 3 is the enlarged structure schematic diagram of N section in Fig. 1；
Fig. 4 be Fig. 1 linear motor in the magnetic guiding loop of rotor when being displaced to the second magnetic guiding loop side neighbouring on stator
Stress diagram；
Fig. 5 be Fig. 1 linear motor in the magnetic guiding loop of rotor when being displaced to the second magnetic guiding loop opposite side neighbouring on stator
Stress diagram；
When Fig. 6 is that the rotor of Fig. 1 moves in the stator, magnetic guiding loop stress diagram；
Fig. 7 be Fig. 1 linear motor between rotor and stator mean forced position schematic diagram.
Fig. 8 is a kind of schematic cross-sectional view of travel control device provided by Embodiment 2 of the present invention；
Fig. 9 is the schematic cross-sectional view of the G-G lines along Fig. 8.
Figure 10 is a kind of schematic cross-sectional view for linear motor that the embodiment of the present invention three provides；
Figure 11 is the schematic diagram of the control circuit of the driving coil of the linear motor of Figure 10；
Figure 12 is the control process schematic of the driving coil of the linear motor of Figure 10.
Figure 13 is a kind of schematic cross-sectional view for linear motor that the embodiment of the present invention three provides.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Embodiment one：
Please refer to Fig.1-Fig. 7, a kind of travel control device 10 provided in an embodiment of the present invention, including casing 11, support shaft
13rd, several magnetic guiding loops 21, several shading rings 22, magnetic conduction arm 41 and control coil 42.Support shaft 13 is mounted in casing 11, so that
Casing 11 supports support shaft 13.In several magnetic guiding loops 21 and several shading rings 22：Magnetic guiding loop 21 and shading ring 22 are alternately laminated
Setting, magnetic guiding loop 21 are used for magnetic conduction；Along the axial direction of support shaft 13, one layer of 21, one layers of magnetic guiding loop, 22, one layers of shading ring magnetic conduction is set
21, one layers of shading ring 22 of ring are arranged alternately in this way.Control coil 42 is wound on magnetic conduction arm 41, when control coil 42 is powered,
Control magnetic field can be generated, then is oriented to by magnetic conduction arm 41, and then magnetic guiding loop 21 can be attracted, so as to play to magnetic conduction arm
41 effects positioned, and then realize Stroke Control.
The magnetic guiding loop 21 and shading ring 22 of the alternately laminated setting of the use of travel control device 10, setting magnetic conduction arm 41, and
Control coil 42 is wound on magnetic conduction arm 41, can be led by the interaction of the magnetic force and magnetic guiding loop 21 of control coil 42 to control
The position of magnetic arm 41, precise control；In addition, the structure can make magnetic conduction arm 41 and control coil 42 smaller, and will lead
Magnet ring 21 and 22 structure fabrication of shading ring are smaller, realize the miniaturization of 10 volume of travel control device, and without external dynamic
Force motor or motor, more power saving.
Further, magnetic conduction arm 41 includes several magnetic conduction sheets 411 and several insulating trips 412, magnetic conduction sheet 411 and insulating trip
412 alternately laminated settings, and along the axial direction of support shaft 13：One layer of 411, one layers of magnetic conduction sheet, 412, one layers of insulating trip magnetic conduction sheet is set
411st, one layer of insulating trip 412 is arranged alternately in this way.Adjacent two panels magnetic conduction sheet 411 is isolated in each insulating trip 412.The structure setting is led
The control magnetic field that magnetic arm 41 can be generated with control coil 42.Further, magnetic conduction sheet 411 can be iron plate, steel disc, silicon steel, electricity
The piece that the permeability magnetic materials such as work pure iron, permalloy, metal nano alloy material make.Insulating trip 412 can be plastic sheet, resin
The piece that the insulating materials such as piece make.It is of course also possible to wrap up the insulated claddings such as insulated paint on magnetic conduction sheet 411, then these are wrapped
The magnetic conduction sheet 411 for having insulated cladding is superimposed together, and forms magnetic conduction arm 41.
Please refer to Fig. 3-Fig. 7, further, the sum of thickness of adjacent a piece of magnetic conduction sheet 411 and a piece of insulating trip 412 with
The sum of adjacent a piece of magnetic guiding loop 21 and the thickness of a piece of shading ring 22 are equal.When the thickness of magnetic conduction sheet 411 is D11, insulating trip
412 thickness is D12, the thickness of magnetic guiding loop 21 is D21, the thickness of shading ring 22 is D22, then D11+D12=D21+D22, then when to control
When coil 42 processed is powered, which can realize the function of automatic positioning locking.Specifically, when in magnetic conduction arm 41 by controlling magnetic
During the B of field, corresponding magnetic field B can be also generated in magnetic guiding loop 21, to interact with magnetic conduction arm 41.Referring to Fig. 4, when magnetic conduction arm 41
Magnetic conduction sheet 411 when being located at the left side of neighbouring magnetic guiding loop 21, be controlled the suction F of magnetic field to the right and use, then can move right
It is dynamic.Referring to Fig. 5, when the magnetic conduction sheet 411 of magnetic conduction arm 41 is located at the right side of neighbouring magnetic guiding loop 21, it is controlled magnetic field to the left
Suction F use, then can be moved to the left.Fig. 6 and Fig. 7 are please referred to, when the middle part of the magnetic conduction sheet 411 of magnetic conduction arm 41 is led with neighbouring
Magnet ring 21 middle part alignment when, such as with S in Fig. 70、S2、S4The magnetic conduction sheet 411 of magnetic conduction arm 41 is controlled magnetic field when position is to corresponding to
Suction left-right balance or magnetic force F it is minimum, the magnetic conduction sheet 411 of magnetic conduction arm 41 is in stable state at this time.And when the magnetic conduction of magnetic conduction arm 41
When being aligned in the middle part of the middle part of piece 411 and neighbouring dead ring, such as with S in Fig. 71、S3The magnetic conduction of magnetic conduction arm 41 when position is to corresponding to
Piece 411 be controlled the suction in magnetic field also can left-right balance, if but magnetic conduction sheet 411 slightly offsets or is acted on by external force at this time,
The balance can then be broken, the magnetic conduction sheet 411 of magnetic conduction arm 41 is made to be moved to neighbouring 21 corresponding position of magnetic guiding loop.Then when control coil 42
During middle energization, deceleration can be played, and then magnetic conduction arm 41 is positioned, it can also be according to the opposite position of magnetic conduction arm 41 and magnetic guiding loop 21
It puts to be accelerated magnetic conduction arm 41, it is more accurate to adjust.
Please refer to Fig.1, Fig. 2 and Fig. 3, further, magnetic conduction arm 41 is arranged in pairs, and magnetic conduction arm 41 be it is at least a pair of, often
To two magnetic conduction arms 41 be respectively arranged on the opposite sides of support shaft 13.Magnetic conduction arm 41 is arranged in pairs, magnetic conduction arm 41 can be made
The stress of both sides is steady, so that magnetic conduction arm 41 can be moved more smoothly along support shaft 13.In the present embodiment, magnetic conduction arm 41 is two
Right, i.e., magnetic conduction arm 41 is four, and is uniformly distributed the surrounding of support shaft 13.In other embodiments, magnetic conduction arm 41 may be
Other logarithms, such as three pairs, four pairs.In further embodiments, magnetic conduction arm 41 can also be in a ring.
Further, with shading ring 22 in annular shape, the one end 415 of magnetic conduction arm 41 far from support shaft 13 is in magnetic guiding loop 21
Coordinate with magnetic guiding loop 21 arc-shaped.By magnetic conduction arm 41 far from support shaft 13 one end 415 setting be arc-shaped, can increase with
The area that magnetic guiding loop 21 coordinates improves the magnetic attraction that control coil 42 generates control magnetic field.In other embodiments, magnetic guiding loop 21
With shading ring 22 is oval or frame-shaped, and magnetic conduction arm 41 and 21 matched shape of magnetic guiding loop.
It is possible to further which the gap setting between magnetic conduction arm 41 and magnetic guiding loop 21 is smaller, and then magnetic force loss is reduced, carried
High control coil 42 generates the magnetic attraction in control magnetic field.
Further, axle sleeve 12 is installed, and axle sleeve 12 is sleeved in support shaft 13 in casing 11.Set axle sleeve 12 with
Support shaft 13 is supported, support shaft 13 can be preferably reduced and wear.
Further, on magnetic conduction arm 41 permanent magnet 45 is equipped with close to one end of support shaft 13.Close to branch on magnetic conduction arm 41
It supports one end setting permanent magnet 45 of axis 13, can make that there is magnetic force always on magnetic conduction arm 41, then when magnetic conduction arm 41 stops mobile,
It can realize automatic locking effect.In the present embodiment, permanent magnet 45 is in sleeve-shaped, and magnetic conduction arm 41 is fixed on permanent magnet 45.
Please refer to Fig.1-Fig. 7, when the control coil 42 of the embodiment powers off, magnetic field B on magnetic conduction arm 41 in the axial direction by
Permeability magnetic material and the un-conducted magnetic material segmentation of the magnetic circuit part of magnetic guiding loop 21 and magnetic conduction arm 41, i.e., by magnetic guiding loop 21 and magnetic conduction arm 41
Magnetic conduction sheet 411 divide.When the distance between the permeability magnetic material of magnetic guiding loop 21 and magnetic conduction arm 41 is sufficiently small, i.e., magnetic guiding loop 21 and lead
When the distance between the magnetic conduction sheet 411 of magnetic arm 41 is sufficiently small, if the axially opposing position of magnetic guiding loop 21 and neighbouring magnetic conduction sheet 411
It is equipped with offset, magnetic field B, which will generate static magnetic force F, makes being maintained on the position of magnetic resistance minimum of magnetic conduction arm 41, this position
It is exactly Fig. 4 and position shown in dotted lines in Figure 5, the magnitude relationship for deviateing the distance S and magnetic force F of dotted line position is as shown in Figure 6.Figure
S in 6 and Fig. 71And S3Although position active force is 0, which is unstable state, is a little interfered as long as the external world has, S1And S3
Position can not keep.And S0、S2、S4These positions are stable state, as long as being applied to the external action on the magnetic guiding loop 21
Power is less than maximum static magnetic force F, and magnetic guiding loop 21 will keep this relative position, therefore have after the power-off of the trip control device 10
The function that position is automatically kept.
After control coil 42 is powered, the magnetic field for generating magnetic field and permanent magnet 45 is overlapped mutually, and enhancing or decrease are led
Magnetic field between magnet ring 21 and magnetic conduction arm 41 in entire magnetic circuit.Magnetic field is superimposed to generate the size direction of power and be superimposed the big of magnetic field
Relative position, magnetic guiding loop 21 between small, magnetic guiding loop 21 and magnetic conduction arm 41 is related with the gap size between magnetic conduction arm 41, selection
The length of good magnetic circuit part, the size in 45 magnetic field of permanent magnet, the number of turn of control coil 42, the maximum effect for generating superposition magnetic field
Power is more than the peak load born when travel control device 10 works.The active force is used to control travel control device 10 axial straight
The position of line movement and speed.When static according to magnetic guiding loop 21 and 41 relative position of magnetic conduction arm deviate magnetic resistance minimum position away from
Size from, 42 electric current of control coil, to obtain the extraneous size for being applied to 10 active force of travel control device.By Stroke Control
The structure of the magnetic circuit of device 10 is it is found that 10 position accuracy of the trip control device is D21+D22, axial position, which controls, not to be had
Accumulated error.And during generating, by adjusting the thickness of 41 magnetic circuit material of magnetic guiding loop 21 and magnetic conduction arm, i.e., magnetic guiding loop 21 and lead
The thickness and shading ring 22 of the magnetic conduction sheet 411 of magnetic arm 41 and the thickness of insulating trip 412, to meet the axial direction of travel control device 10
Position control accuracy requirement.In order to reach higher control performance, the installation clearance requirement between magnetic guiding loop 21 and magnetic conduction arm 41
It is small as possible.And when magnetic guiding loop 21 and magnetic conduction arm 41 and the thickness of permeability magnetic material and un-conducted magnetic material setting small as possible, it can make
The precision of the trip control device 10 reaches higher precision, it might even be possible to reach 1 μm of precision, it certainly, will for 1 μm of precision
Derivation magnetic arm 41 and the gap of magnetic guiding loop 21 also want 1 μm, and otherwise too greatly, the control moment that control coil generates moves in gap
When have almost no change, so between the actual motion control accuracy of travel control device is limited between magnetic guiding loop and magnetic conduction arm
In addition gap size is limited to the thickness limitation of magnetic conduction and non-magnet material.
Embodiment two：
Please refer to Fig. 8 and Fig. 9, the difference of the travel control device 10 of the present embodiment and the travel control device of embodiment one
For：Several first double wedges 23 are inwardly convexly equipped on each magnetic guiding loop 21, these first double wedges 23 are evenly distributed on each magnetic guiding loop 21；
The one end 415 of magnetic conduction arm 41 far from support shaft 13 is convexly equipped with several second double wedges 416；Along the radial direction of magnetic guiding loop 21：Adjacent two
The spacing of one double wedge 23 is equal with the spacing of adjacent two second double wedge 416.First double wedge 23 on each magnetic guiding loop 21 is set, is being led
Second double wedge 416 on magnetic arm 41 is set, the function of stepper motor can be formed, passes through the first double wedge 23 and the second neighbouring double wedge
Suction between 416, can be with the radial position of adjust automatically magnetic conduction arm 41.
Further, the position on each shading ring 22 corresponding to the first double wedge 23 is also convexly equipped with isolation tooth.Setting isolation tooth
The intensity of the first double wedge 23 can be increased.
In addition, the travel control device 10 of the present embodiment includes three pairs of magnetic conduction arms 41.
The other structures of the travel control device 10 of the present embodiment and the other structures of the travel control device of embodiment one
It is identical, it is no longer burdensome herein.
Embodiment three：
Please refer to Fig.1 0, Figure 11 and Figure 12, a kind of linear motor 100 provided in an embodiment of the present invention, including as described above
Travel control device 10 and rotor 30, the ring plate that non-magnetic material makes for conductive of shading ring 22, then several magnetic conductions
Ring 21 and several shading rings 22 can form 20 structure of stator of the linear motor 100.Rotor 30 can be slidably mounted on stator
In 20, so that rotor 30 can move in stator 20, and rotor 30 is mounted in support shaft 13, can pass through support shaft 13
To support rotor 30, and rotor 30 is allow to be moved along support shaft 13.Support shaft 13 is mounted in casing 11, so that casing 11
Support support shaft 13.Rotor 30 includes support frame 31 and driving coil 32, and support frame 31 is installed in support shaft 13, drives
Moving winding 32 is wound on support frame 31, and when being powered to driving coil 32, driving coil 32 can be generated along support shaft 13
Axial driving magnetic field, then when driving coil 32 is wrapped on support frame 31,32 actual rings of driving coil are around support
Axis 13.When passing through current impulse to driving coil 32, the sensing electric current that can be generated in stator 20, and then generate and above-mentioned driving
The opposite magnetic field in magnetic field, rotor 30 to be driven to move；When current impulse is larger and the time is shorter, larger driving can be generated
Power, so as to fulfill the quick response of rotor 30.
Linear motor 100 has used above-mentioned travel control device 10, and shading ring 22 is used conductive and non-magnetic material
Ring plate made of material, then magnetic guiding loop 21 and shading ring 22 can form 20 structure of stator, and its volume can be made it is smaller, and
The driving coil 32 of rotor 30 is generated along the axial driving magnetic field of support shaft 13, fixed when driving coil 32 passes through current impulse
The sensing electric current that can be generated in son 20, and then the magnetic field opposite with above-mentioned driving magnetic field is generated, rotor 30 to be driven to move, thus
The linear motor 100 can realize quick response；When driving coil is by larger instant pulse current, larger move can be generated
Power；The linear motor 100 has used above-mentioned travel control device 10, can also facilitate the stroke for controlling the linear motor 100.
Magnetic guiding loop 21 can be the magnetic conductions such as iron hoop, steel loop, silicon steel, electrical pure iron, permalloy, metal nano alloy material
The ring plate that material makes.Shading ring 22 can be the ring plate of the conduction such as copper ring, aluminium ring and the making of non-magnetic material.
Further, driving coil 32 can set at least two groups, when at least two groups of driving coils 32 press the different time
Sequence is when passing through current impulse, and driving coil 32 can generate straight-line traveling wave magnetic field, and the size and Orientation in straight-line traveling wave magnetic field
It is related with the size of current and turn-on time sequence of multigroup driving coil 32, due to the row wave speed and stator in straight-line traveling wave magnetic field
20 there are slip speed, the generation sensing electric current in stator 20, and then generates the magnetic field opposite with above-mentioned straight-line traveling wave magnetic field, with
Driving rotor 30 moves.Certainly, in further embodiments, at least two groups of driving coils 32 can also be made to generate other waveforms
Magnetic field, and then sensing electric current is generated in stator 20, and generate opposite magnetic field, rotor 30 to be driven to move.
Each group driving coil 32 may be used the anaerobic fine copper enameled wire that sectional area is big, resistivity is low and be wound on support frame 31
Upper 1~2 layer.So as to pass through transient high-current.
Further, the axial direction perpendicular to support shaft 13 in control magnetic field that control coil 42 generates.Control magnetic field is hung down
Directly in the axial direction of support shaft 13, then magnetic field vertical magnetic drive field is controlled, so as to prevent between control magnetic field and driving magnetic field
Influence each other.
Also referring to Fig. 8 and Fig. 9, which further includes the control circuit 50 of control 32 electric current of driving coil.
Control circuit 50 is set, can facilitate and control the linear motor 100.Control circuit 50 can be arranged in support frame 31.Branch
Accommodating cavity 33 can be offered in support bone frame 31, to install the control circuit 50.In addition, open up accommodating cavity in support frame 31
33 can also mitigate the weight of support frame 31, while be also convenient for radiating.
It is possible to further set IC chip, which is arranged in IC chip.Setting
IC chip can preferably control the conducting of 32 electric current of driving coil, and then can preferably control the linear motor
100.Setting IC chip can also quickly detect applied external force suffered by linear motor and dragging load quality is big
It is small.
Driving coil 32 is wound on using the conducting wire that sectional area is big, resistivity is low made of the non-magnetic electrically non-conductive material of heat conduction
On support frame 31.Driving coil 32 can bear larger electric current.Further, control circuit 50 includes connection driving coil
The charging circuit 58 that 32 switching circuit is connected with switching circuit.The capacitance powered to driving coil 32 is equipped in the switching circuit
55.Use switching circuit, it may be convenient to the break-make of driving coil 32 is controlled, to control rotor 30 and movement.Further, originally
In embodiment, device for switching can be H-bridge circuit.Please refer to Fig.1 in 0, Figure 11 and Figure 12, Figure 12 a driving coil 32 in order to control
52 grid voltage of H bridges bridge arm, b is the size for the power that driving coil 32 generates, and c is the axial fortune of rotor 30 of linear motor 100
Scanning frequency degree, d in order to control coil 42 generate power size.IC chip adjusts the charging of capacitance 55 by charging circuit 58
Voltage.After 55 charging complete of capacitance, integrated control chip generate the very narrow control pulse of a pulsewidth be loaded into H-bridge circuit its
On middle a pair of bridge arm 52, this makes the capacitance 55 spark 30 driving coil 32 of rotor when bridge arm 52 is connected, drive at this time
Coil 32 is similar to the primary coil in coilgun；And when driving coil 32 is at least two groups, then driving coil 32 can be with shape
Into the driving coil similar to asynchronous induction coilgun, transient switching electric current Ic is very big, the driving magnetic field of generation and close driving
The conductive material interaction of the stator 20 of 31 outer rim of support frame of coil 32, generates big electromagnetic force FQDrive rotor 30 axial
Linear motion.The pulsewidth for controlling pulse is very narrow, and the conducting bridge arm 52 of H-bridge circuit is closed quickly, at this time the electricity in driving coil 32
Stream In is gradually reduced and passes through 52 inversion of the another pair bridge arm telegram in reply appearance 55 and power supply of H bridges, and it is opposite which will generate direction
Electromagnetic resistance FZHinder the movement of rotor 30.When integrated control chip is high with the charging voltage of certain period control capacitance 55
Low, 32 switching circuit of each group driving coil turn-on sequence and interval time are the stress size and Orientation of changeable rotor 30.
Since control coil 42 and the direction of winding of driving coil 32 are spatially mutually perpendicular to, the magnetic field that they are generated is mutual
It influences low.The heat that driving coil 32 and control circuit 50 generate is radiated by the support frame 31 and support shaft 13 of rotor 30.
This control mode of driving coil 32 can provide larger driving force in a short period of time.
Since driving coil 32 controls frequency very high, for control coil 42 due to own inductance, control frequency is relatively low,
The control mode of the linear motor 100 is：Mobile speed and position, 32 electricity of high-frequency control driving coil are needed according to rotor
Flow size and Orientation, when rotor 30 moves very fast, displacement distance D11+D12When, the work of control coil 42 and the generation of stator 20
Firmly a period of time slows down, and a period of time accelerates, and the effect of rotor 30 is largely offset, at this moment by controlling driving coil 32
Control speed and the position of motor.When 30 movement speed of rotor is slower, the active force pair of control coil 32 and the generation of stator 20
The effect of rotor 20 is increasing, when the momentum of rotor 20 is not enough to offset the active force production of control coil 32 and the generation of stator 20
Raw momentum, rotor 30 will be fixed on corresponding position.
When the rotor 30 of linear motor 100 needs axial linear movement, if setting the quality of 100 dragging load of linear motor
For MF, the active force that the external world is applied to linear motor 100 is FW, the conduction interval time T of switching circuiton, driving coil at this time
32 generate big driving electromagnetic force FQDriving linear motor 100 moves, then the relationship of these parameters is (FQ-FW)*Ton=MF*Δ
Von.The control magnetic field of stator 20 and magnetic conduction arm 41 is adjusted by control coil 42 simultaneously, control magnetic field generates electromagnetic force FKIt adjusts
The movement of mover, the velocity variations value that 100 rotor 30 of linear motor generates are Δ Von.When 100 movement velocity of linear motor is very fast
When, the relative position of 100 stator of linear motor, 20 rotor 30 often by one group of magnetic guiding loop 21 be added with 22 thickness of shading ring away from
From when, FKDirection primary change, therefore F occursKInfluence to 100 velocity variations of linear motor is largely offset.When switch electricity
After road is closed, 32 electric current of driving coil starts to reduce and generates electromagnetic resistance FZ, the rotor 30 of linear motor 100 keep inertia after
Reforwarding is moved, and it is shut-in time T for a period of time faster to take wherein movement velocityoff, measure velocity variations value Δ Voff, then these
The relationship of parameter is (FZ+FW)*Toff=MF*ΔVoff.When 100 speed of linear motor is gradually reduced, the momentum of linear motor 100
It is not enough to offset FKInfluence to 100 speed of linear motor, at this time 100 entire directed force F of linear motorK-FW-FZWhat is generated rushes
Amount makes linear motor 100 keep balance in new position more than the momentum of 100 rotor of linear motor.If during entire control
TonAnd ToffTime is very short, then the frequency of 100 driving coil of linear motor, 32 motion control can be very high, and then can make straight line
The movement velocity of motor 100 is soft smooth.
When linear motor works, the mass M of dragging loadF, the external world is applied to the directed force F of linear motorW, the two
Parameter needs detection in real time.The wherein extraneous amount of force for being applied to linear motor and direction may all change at each moment
Become, the quality of dragging load may also change moment.The linear motor of the prior art detects to act on by pressure sensor
The size and Orientation of power, but the amount of force and above-mentioned two parameter and linear motor that are detected by this mode moves
Speed is related to acceleration, thus is difficult to obtain the extraneous directed force F for being applied to linear motorWWith dragging load mass MFThis two
A thinning parameter.Control mode of the control of the linear motor of the prior art for negative-feedback, first linear motor apply the external world
A certain size active force, linear motor position after a period of time, speed and acceleration change, and detects relevant parameter
Data and target component are compared, then adjust the size for the active force that linear motor applies the external world.Due to linear motor pair
The change of linear motor speed and acceleration needs the regular hour, therefore this control mode control after the active force that the external world applies
Frequency processed is low, and the mechanical devices such as speed reducer is needed to increase larger torque and are applied to straight line to offset dragging load quality and the external world
The continuous variation of the active force of motor increases the volume of entire control system.
After 100 structure of linear motor and control circuit 50 of the present embodiment are fixed, in the control circuit 50 of driving coil 32
The turn-on time T of 55 charging voltage of capacitance, switching circuitonOne timing, the driving electromagnetic force F of generationQWith electromagnetic resistance FZIt is big
Small is also fixed.When linear motor 100 moves, integrated control chip is charged electricity by capacitance 55 in acquisition control circuit 50
Pressure and control pulse turn-on time can obtain driving electromagnetic force F when linear motor 100 movesQWith electromagnetic resistance FZSize,
That is driving electromagnetic force FQWith electromagnetic resistance FZFor known parameters；In conjunction with above-mentioned two equation：(FZ+FW)*Toff=MF*ΔVoff；
(FQ-FW)*Ton=MF*ΔVon；And Toff、ΔVoff、TonWith Δ VonIt can immediately arrive at or directly measure, is i.e. Toff、Δ
Voff、TonWith Δ VonAlso it is known parameters.So as to according to these associated motion parameter datas, the external world be calculated and be applied to directly
Load mass the two thinning parameters that the size of 100 active force of line motor, direction and linear motor 100 drag.Work as straight-line electric
When machine 100 is static, measures stator 20 and rotor 30 deviate distance, the size of 42 electric current of control coil of magnetic resistance minimum position,
The extraneous size for being applied to 100 active force of linear motor can be obtained, and this value and linear motor 100 are to external world's application
Active force is equal.Since the frequency of 100 motion control of linear motor is very high, can be calculated in a short period of time per secondary control
The external world is applied to the size of the 100 dragging load quality of active force and linear motor of linear motor 100, adjusts driving coil in time
32 driving electromagnetic force FQAnd turn-on time, the F provided additionally, due to control coil 42KStill linear motor 100 can be supplied to
Larger torque offsets the quality of extraneous dragging load and the extraneous influence of active force variation for being applied to linear motor 100, because
This 100 whole system of linear motor can eliminate the mechanical adjustable speed drives such as speed reducer.This control mode is adapted to the external world
It is applied to 100 active force of linear motor and 100 dragging load quality of linear motor does not stop situation about changing.
Thus according to the structure of the linear motor 100 of the present embodiment, the present embodiment also provides a kind of control of linear motor
Method, including step：Driving coil 32 is controlled to pass through pulse current, conduction time T by control circuit 50on, and in TonWhen
In, according to pulse current size, show that driving coil 32 generates big driving electromagnetic force FQWith measure 30 velocity variations of rotor
It is worth Δ Von；And obtain formula：(FQ-FW)*Ton=MF*ΔVon；
30 movement velocity of rotor is T for a period of time faster after taking pulse power-offoff, show that 32 electric current of driving coil generates
Electromagnetic resistance FZWith measure 30 velocity variations value Δ V of respective rotoroff, and obtain equation：(FZ+FW)*Toff=MF*ΔVoff；
The mass M of 100 dragging load of linear motor is calculated out according to above two equationF, the external world is applied to linear motor
100 directed force FW；
According to the mass M of the dragging load of detectionFAnd directed force FW, adjust driving coil 32 pulse current size and when
Between control the speed of the linear motor and position.Above-mentioned time ToffIt can be configured according to the precision of detection device, such as
It is set as tens nanoseconds or a few microseconds etc..
Further, the control circuit 50 of driving coil 32 includes switching circuit, connects in the control method of the linear motor
Connect the capacitance 55 at switching circuit both ends and power supply circuit 57.Then above-mentioned faster one section of 30 movement velocity of rotor after taking pulse power-off
Time is Toff, can be configured according to the precision of detection device, such as be set as tens nanoseconds or a few microseconds.This reality
It applies in example, switching circuit can be H-bridge circuit..Further, control circuit 50 further includes charging circuit 58, charging circuit 58
It is connected with power supply circuit 57, capacitance 55 is connected with charging circuit 58.Further, switching circuit can be H-bridge circuit.
A kind of IC chip is also disclosed in the present embodiment, for the mass M of the dragging load of detection of straight lines motor 100F
With the extraneous directed force F for applying linear motor 100W, including control the control circuit of driving coil, detection module, memory and
Processing module, the control circuit include the electricity for controlling the switching circuit of the driving coil, connecting the switching circuit both ends
Hold and the power supply circuit to the capacitor charging, the detection module measurement capacitor charging voltage and the switching circuit are led
Logical time TonAnd time TonCorresponding velocity variations value Δ Von, after the detection module also measures the switching circuit closing
A period of time ToffCorresponding velocity variations value Δ Voff, and by time TonAnd ToffAnd Δ VonWith Δ VoffIt is stored in described deposit
In reservoir, the processing module is according to the turn-on time T of the switching circuiton, the capacitance charging voltage, obtain driving electricity
Magnetic force FQAnd electromagnetic resistance FZValue, further according to formula (FQ-FW)*Ton=MF*ΔVonWith (FZ+FW)*Toff=MF*ΔVoffIt calculates
Go out the mass M of the loadFWith the extraneous application directed force FW。
Further, IC chip can be connected with outer computer or server, pass through computer or server
To control IC chip, and then control linear motor 100.
Further, switching circuit can be H-bridge circuit, preferably to control the turn-on time of driving coil 32 and electric current
Direction, and then can preferably control rotor 30 and shift position and direction.
Further, temperature detecting module is additionally provided in the integrated control chip, when being run with detection of straight lines motor 100
Temperature, so that the integrated control chip preferably detects driving electromagnetic force FQAnd electromagnetic resistance FZ, and then make to detect described
The mass M of dragging loadFWith the extraneous application directed force FWIt is more accurate.
Further, which can realize above-mentioned control method when on the linear motor 100,
Accurately to control the linear motor 100.
It is possible to further polish or be electroplated the inner surface of the inner surface of magnetic guiding loop 21 and shading ring 22, make magnetic guiding loop 21
The inner surface of inner surface and shading ring 22 cooperatively form grating ruler, accommodating cavity 33 is offered in support frame 31, is housed
The Grating examinations device of 30 shift position of cooperation grating ruler detection rotor is equipped in chamber 33.By the inner surface of magnetic guiding loop 21 with every
Inner surface from ring 22 is simple in structure as grating ruler, and reduces detecting system volume, and Grating examinations device can be with
Detect the position of grating ruler, and then the accurate position for controlling rotor 30.Specifically, the magnetic guiding loop 21 of stator 20 is chosen
The light reflection parameters of inner surface and the inner surface of shading ring 22, Grating examinations device sends out light to grating ruler, by lens
Focus on, a part projected in grating ruler, the light being reflected back after the indication grating and lens focus of Grating examinations device,
It is received again by optoelectronic position detection circuit, the axially opposing displacement and the direction of motion between stator 20 and rotor 30 carry out high score
Resolution detects in real time.In another part light projection to the position for representing absolute location information coding, the light being reflected back is also by light
Electric position detection circuit receives and parses through out absolute location information.Integrated control chip or controller can according to above-mentioned detection data
To obtain the kinematic parameters such as 30 position of rotor, speed, acceleration in real time.Further, can collect in integrated control chip
Into optoelectronic position detection circuit, and only the lens of Grating examinations device are arranged separately in support frame 31.
Grating examinations device can also be connected with controller or integrated control chip, can be set in integrated control chip
Optoelectronic position detection circuit, so as to detect the fortune such as 30 position of rotor, speed, acceleration in real time by integrated control chip
Dynamic parameter.In other embodiments, the inner surface of magnetic guiding loop 21 and shading ring 22 in the inner surface pad pasting of stator 20, can also be made
Inner surface cooperatively form grating ruler.
Further, the linear motor 100 of the present embodiment can use said integrated circuit chip.
Example IV：
Please refer to Fig.1 3, the linear motor 100 of the present embodiment and being distinguished as the linear motor of embodiment one：The present embodiment
The magnetic conduction arm 41 of linear motor 100 be not provided with permanent magnet close to one end of support shaft 13, then when control coil 42 powers off,
It can not realize the function that 30 position of rotor is automatically kept.When the linear motor 100 is filled using the Stroke Control of above-described embodiment two
When putting 10, which can not only realize linear motion, can also realize the rotational motion of stepper motor.
The other structures of the linear motor 100 of the present embodiment are identical with the other structures of the linear motor of embodiment three,
This is no longer burdensome.
Intelligent machine refers to that computer can be with the device of control machinery relative position by controlling bus.In general, intelligence
Can machinery also require that small, multiaxis multi-joint multiple degrees of freedom, motor imagination speed are fast, bearing load is big and load variations
Soon, the control accuracy requirement of spatial position is high.Intelligent machine include various bionic mechanicals, numerically-controlled machine tool, automation generate line with
And mankind's manual labor can be substituted or complete the device of different function, such as manipulator, operating robot, service robot etc.
Deng.Since the function that intelligent machine needs is complicated, so the freedom of motion needed is more.And the linear motor 100 of the present invention can
To accomplish micromation, by driving coil 32 by big pulse current, larger magnetic field is generated, so as to provide bigger
Power, thus multiple linear motors 100 can be installed so that freedom of motion is more under same volume.In addition, the straight line
Motor 100 can also quickly detect the variation of load, to realize quick response and control.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of travel control device, which is characterized in that including casing, the support shaft being installed in the casing, be installed on institute
State the magnetic conduction arm in support shaft, the control coil being wound on magnetic conduction arm, several the leading with magnetic conduction arm cooperation interaction
Magnet ring and several shading rings for separating adjacent two magnetic guiding loop, the magnetic guiding loop and the alternately laminated setting of the shading ring, respectively
The magnetic guiding loop is fixed on each shading ring in the casing；The magnetic conduction arm is included along the axially stacked of the support shaft
Several magnetic conduction sheets of setting and several insulating trips that magnetic conduction sheet described in adjacent two panels is isolated.
2. travel control device as described in claim 1, which is characterized in that the adjacent a piece of magnetic conduction sheet with it is a piece of described
The sum of thickness of insulating trip and the adjacent a piece of magnetic guiding loop are equal with the sum of the thickness of a piece of shading ring.
3. such as claim 1-2 any one of them travel control devices, which is characterized in that the magnetic conduction arm is arranged in pairs, and
The magnetic conduction arm is at least a pair of, and two each pair of magnetic conduction arms are respectively arranged on the opposite sides of the support shaft.
4. such as claim 1-2 any one of them travel control devices, which is characterized in that each magnetic guiding loop with it is each it is described every
Cylindrical from ring, the described one end of magnetic conduction arm far from the support shaft is arc-shaped in coordinating with the magnetic guiding loop.
5. travel control device as claimed in claim 4, which is characterized in that each magnetic guiding loop is inwardly uniformly convexly equipped with several
First double wedge, the described one end of magnetic conduction arm far from the support shaft are convexly equipped with several second double wedges；Along the radial direction of the magnetic guiding loop：
The spacing of adjacent two first double wedge is equal with the spacing of adjacent two second double wedges.
6. such as claim 1-2 any one of them travel control devices, which is characterized in that close to the branch on the magnetic conduction arm
The one end for supportting axis is equipped with permanent magnet.
7. a kind of linear motor, which is characterized in that described including such as claim 1-6 any one of them travel control device
Rotor is installed, the rotor includes the support frame being installed in the support shaft and for generating driving magnetic field in support shaft
Driving coil, axial direction of the driving magnetic field along the support shaft, the driving coil is wound on the support frame, institute
It is conductive and non-magnetic ring plate to state shading ring.
8. linear motor as claimed in claim 7, which is characterized in that the control circuit for controlling the driving coil is further included,
The control circuit includes switching circuit, the capacitance at the connection switching circuit both ends and the power supply electricity to the capacitor charging
Road.
9. linear motor as claimed in claim 7, which is characterized in that the inner surface of the magnetic guiding loop is interior with the shading ring
Surface engagement forms grating ruler, and accommodating cavity is offered in the support frame, is equipped in the accommodating cavity and coordinates the grating
Scale detects the Grating examinations device of the rotor movement position.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610101274.9A CN105610297B (en) | 2016-02-24 | 2016-02-24 | Travel control device and linear motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610101274.9A CN105610297B (en) | 2016-02-24 | 2016-02-24 | Travel control device and linear motor |
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| CN105610297B true CN105610297B (en) | 2018-07-06 |
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| CN113410972B (en) * | 2021-05-27 | 2022-05-24 | 中国科学院高能物理研究所 | Magnetic field isolation device for linear motor |
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| CN2310419Y (en) * | 1997-10-22 | 1999-03-10 | 浙江大学 | Shell Secondary Tubular Linear Induction Motor |
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| CN102013785A (en) * | 2010-11-23 | 2011-04-13 | 江苏大学 | Thrust optimization design method for tubular permanent magnet synchronous linear motor |
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| CN204993013U (en) * | 2015-07-22 | 2016-01-20 | 王国军 | Poor step of combination switch magnetic resistance linear electric motor on drum type |
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|---|---|---|---|---|
| CN2310419Y (en) * | 1997-10-22 | 1999-03-10 | 浙江大学 | Shell Secondary Tubular Linear Induction Motor |
| CN1941573A (en) * | 2005-09-29 | 2007-04-04 | 中国科学院电工研究所 | Single-pole permanent-magnetic cylindrical DC linear motor |
| CN101527472A (en) * | 2008-03-05 | 2009-09-09 | 黄世章 | Linear motor driven by rotary magnetic fields |
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