CN107078622B

CN107078622B - Linear motor for the control of intelligent machine freedom degree

Info

Publication number: CN107078622B
Application number: CN201680001892.4A
Authority: CN
Inventors: 刘华
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-12-27
Filing date: 2016-12-27
Publication date: 2019-10-29
Anticipated expiration: 2036-12-27
Also published as: WO2018119624A1; CN107078622A

Abstract

A kind of linear motor (100) for the control of intelligent machine freedom degree, including casing (10), mover (30) and stator (20), mover (30) includes several magnetic conductive boards (31) and several magnetic isolation plates (32), magnetic conductive board (31) and magnetic isolation plate (32) alternately laminated setting；Stator (20) includes several set driving mechanisms (21), each set driving mechanism (21) includes at least three groups of excitation components (22), each group excitation component includes magnetic conduction arm (23) and the control coil (24) being wound on magnetic conduction arm, and magnetic conduction arm includes the antifreeze plate (232) of at least one layer of magnetic conduction sheet (231) and each magnetic conduction sheet (231) of package.The linear motor for the control of intelligent machine freedom degree has small in size, and work torque is big, and position control accuracy is high, and movement inertia is small, controls the advantages that simple, can apply in intelligent machine equipment, in joint of robot driving.

Description

Linear motor for the control of intelligent machine freedom degree

Technical field

The invention belongs to motor field more particularly to a kind of linear motors for the control of intelligent machine freedom degree.

Background technique

Linear motor is also referred to as linear electric machine, linear motor be it is a kind of electric energy is directly changed into linear motion mechanical energy, and The transmission device of any intermediate conversion mechanism is not needed.It can regard a rotating electric machine as and split by radial, and transform into flat Face forms.Primary is known as by the side that stator is evolved, secondary is known as by the side that mover is evolved.In practical application When, by primary and secondary manufacture at different length, to guarantee to protect in the coupling in required stroke range between primary and secondary It holds constant.Linear motor can be short primary long secondary, be also possible to long primary short secondary.When armature winding is passed through AC power source When, travelling-magnetic-field is just generated in air gap, secondary will induce electromotive force and generate electric current under traveling wave magnetic field intercepts, the electricity Stream just generates electromagnetic push with the magnetic field phase separation in air gap.If primary is fixed, secondary does straight line fortune under thrust It is dynamic；Conversely, then primary moves in a straight line.Thus the stator of existing linear motor is usually the interval setting generation on long straight guide The permanent magnet or coil in magnetic field, similarly interval setting coil forms on mover guide rail.But this stator and Structure of mover, Due to be spaced the multiple coils of setting or permanent magnet, thus volume is larger, causes the volume of linear motor big, and control is difficult.

Summary of the invention

The purpose of the present invention is to provide a kind of linear motors for the control of intelligent machine freedom degree, it is intended to solve existing The problem that linear motor volume is big, control is difficult.

The invention is realized in this way a kind of linear motor for the control of intelligent machine freedom degree, including casing, mover With the stator for driving the mover linear movement, the mover includes for described in several magnetic conductive boards of magnetic conduction and isolation adjacent two Several magnetic isolation plates of magnetic conductive board, and the magnetic conductive board and the alternately laminated setting of the magnetic isolation plate；The stator includes several applies In the driving mechanism for driving the mover mobile, respectively covering the driving mechanism includes at least three groups for producing encouraging for driving magnetic field Magnetic assembly, excitation component described in each group include magnetic conduction arm and the control coil that is wound on the magnetic conduction arm, the magnetic conduction arm packet Include the antifreeze plate of at least one layer of magnetic conduction sheet and each magnetic conduction sheet of package along mover moving direction setting.

Further, each magnetic conduction sheet meets following relationship in excitation component described in two adjacent groups:

Some magnetic conductive board on mover described in the middle part face of a magnetic conduction sheet in excitation component described in one group When medium position: the middle part of the corresponding magnetic conduction sheet and the neighbouring magnetic conduction of the magnetic conduction sheet in excitation component described in another group The medium position of plate is staggered, and the medium position phase of adjacent two magnetic conductive board of the magnetic conduction sheet with magnetic conduction sheet distance recently It is staggered；Being equidistant between corresponding two magnetic conduction sheets of same position in excitation component described in two groups of arbitrary neighborhood.

Further, being equidistant between the two neighboring magnetic conduction sheet in excitation component described in same group.

Further, the distance in excitation component described in same group between the two neighboring magnetic conduction sheet and a piece of magnetic conduction The sum of thickness of piece is equal to the sum of the thickness of a piece of magnetic conductive board and a piece of magnetic isolation plate adjacent in the mover.

Further, respectively covering the driving mechanism includes excitation component described in three groups, excitation component described in each group it is described Magnetic conduction arm includes one layer of magnetic conduction sheet and the antifreeze plate for wrapping up the magnetic conduction sheet.

Further, each control coil is set in the antifreeze plate.

Further, each control coil is etched in the antifreeze plate.

Further, being equidistant between two magnetic conduction sheets of arbitrary neighborhood.

Further, the distance L between the two neighboring magnetic conduction sheet middle part meets following formula:

L=M*K, M ≠ 3X；

K=(d1+d2)/3；

Wherein, d1 is the thickness of each magnetic conductive board, and d2 is the thickness of each magnetic isolation plate, and X is positive integer, and M is positive whole Number.

Further, the mover and the stator are in long strip, and the stator is slidably mounted on the mover.

It further, further include the sliding rail for supporting the mover, the mover is installed in the sliding rail, the chassis cover In on the stator, and the casing is slidably mounted on the sliding rail.

Further, the idler wheel matched with the sliding rail is also equipped on the casing.

Another preferred embodiment, the mover is cylindrical, and excitation component described in each group includes multiple magnetic conduction arms, and more A magnetic conduction arm uniform ring is around the mover.

Further, each magnetic conductive board be equipped with several first external tooths, each magnetic conduction arm be equipped with it is several respectively with The corresponding positioning internal tooth of each first external tooth.

Further, further include the support shaft for supporting the mover, offer in the mover and passed through for the support shaft Fixed centre bore.

Further, the casing covers on the stator, and the both ends of the casing offer what the confession mover passed through Aperture.

Further, axle sleeve is installed in the aperture.

Another preferred embodiment, including support shaft, the mover include multiple magnetic arms around the support shaft, each described Magnetic arm includes several magnetic conductive boards and the magnetic isolation plate of alternately laminated setting；Excitation component described in each group include respectively with The corresponding multiple magnetic conduction arms of each magnetic arm, and multiple magnetic conduction arm uniform rings are around the mover.

Further, each fan-shaped setting of the magnetic conductive board.

Further, each magnetic arm is equipped with permanent magnet far from one end of the magnetic conduction arm.

Further, the casing covers on the stator, and the both ends of the casing offer what the confession mover passed through Aperture, the both ends of the stator are equipped with gasket ring, and each gasket ring is installed on the inner surface of the casing.

Another preferred embodiment, the casing is cylindrical, and the casing is placed on the mover, and the stator is slidably installed In the casing, excitation component described in each group includes multiple magnetic conduction arms, and multiple magnetic conduction arm uniform rings are around described The axial setting of casing, the mover are arranged around the stator.

It further, further include the grip block for gripping driving mechanism described in several sets, the grip block is slidably installed In the mover.

It further, further include support shaft, multiple magnetic conduction arm uniform rings are around being installed in the support shaft.

Further, each magnetic conductive board be equipped with several first internal tooths, each magnetic conduction arm be equipped with it is several respectively with The corresponding positioning external tooth of each first internal tooth.

Further, each magnetic conduction sheet is in a ring.

Further, the mover includes the multiple magnetic arms for being installed on the casing inner surface, each magnetic arm packet Include several magnetic conductive boards and the magnetic isolation plate of alternately laminated setting；Each magnetic conduction sheet is fan-shaped.

Further, each magnetic conduction arm is equipped with permanent magnets far from described mover one end.

The mover of linear motor for the control of intelligent machine freedom degree of the invention uses the magnetic conduction of alternately laminated setting Plate and magnetic isolation plate, then mover volume can make smaller；Stator is led using the magnetic conduction sheet of alternately laminated setting with antifreeze plate formation Magnetic arm, and control coil is wound on magnetic conduction arm, excitation component is formed, when control coil is powered, magnetic field can be generated, and make to lead Magnetic force is produced on magnetic sheet, to attract the magnetic conductive board of mover, to keep mover mobile；And at least three groups of excitation components are set and form drive Motivation structure is successively powered by the control coil of each group excitation component, and to drive mover mobile, control is simple, and can will determine The structure fabrication of son is smaller, so that this to be used for the linear motor small volume of intelligent machine freedom degree control.This is used for intelligence The linear motor of mechanical freedom control can be applied in intelligent machine equipment, in joint of robot driving.

Detailed description of the invention

Fig. 1 is a kind of linear motor for the control of intelligent machine freedom degree of the offer of the embodiment of the present invention one along its axial direction Schematic cross-sectional view；

Fig. 2 is the enlarged structure schematic diagram of the part E in Fig. 1；

Fig. 3 is the schematic cross-sectional view of the linear motor for the control of intelligent machine freedom degree of Fig. 1 radially；

Fig. 4 is the positive structure diagram of excitation component in the linear motor for the control of intelligent machine freedom degree of Fig. 1；

When Fig. 5 is that single magnetic conduction sheet is in different location in the linear motor for the control of intelligent machine freedom degree of Fig. 1 Structural schematic diagram, wherein a figure is configuration diagram when magnetic conduction sheet is in P position, and b figure is that structure is shown when magnetic conduction sheet is in the position R Figure；

Fig. 6 is the force structure schematic diagram of magnetic conduction sheet in Fig. 5；

Fig. 7 is the theory structure schematic diagram that mover is mobile in the linear motor for the control of intelligent machine freedom degree of Fig. 1.

Fig. 8 is that mover moves in a kind of linear motor for the control of intelligent machine freedom degree provided by Embodiment 2 of the present invention Dynamic theory structure schematic diagram.

Fig. 9 is that mover moves in a kind of linear motor for the control of intelligent machine freedom degree of the offer of the embodiment of the present invention three Dynamic theory structure schematic diagram.

Figure 10 is mover in a kind of linear motor for the control of intelligent machine freedom degree of the offer of the embodiment of the present invention four Mobile theory structure schematic diagram.

Figure 11 is a kind of linear motor for the control of intelligent machine freedom degree of the offer of the embodiment of the present invention five along its axis To schematic cross-sectional view；

Figure 12 is the schematic cross-sectional view of the linear motor for the control of intelligent machine freedom degree of Figure 11 radially.

Figure 13 is a kind of linear motor for the control of intelligent machine freedom degree of the offer of the embodiment of the present invention six along its axis To schematic cross-sectional view；

Figure 14 is the schematic cross-sectional view of the linear motor for the control of intelligent machine freedom degree of Figure 13 radially.

Figure 15 is a kind of linear motor for the control of intelligent machine freedom degree of the offer of the embodiment of the present invention seven along its axis To schematic cross-sectional view；

Figure 16 is the schematic cross-sectional view of the linear motor for the control of intelligent machine freedom degree of Figure 15 radially.

Figure 17 is a kind of linear motor for the control of intelligent machine freedom degree of the offer of the embodiment of the present invention eight along its diameter To schematic cross-sectional view.

Figure 18 is a kind of linear motor for the control of intelligent machine freedom degree of the offer of the embodiment of the present invention nine along its axis To schematic cross-sectional view；

Figure 19 is the schematic cross-sectional view along Figure 18 middle line F-F；

Figure 20 is the schematic cross-sectional view along Figure 18 middle line G-G.

Figure 21 is that a kind of linear motor for the control of intelligent machine freedom degree that the embodiment of the present invention ten provides is grown along it Spend the schematic cross-sectional view in direction；

Figure 22 is the linear motor for the control of intelligent machine freedom degree of Figure 21 along the section view perpendicular to its length direction Structural schematic diagram.

Specific embodiment

In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, 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 linear motor for the control of intelligent machine freedom degree provided in an embodiment of the present invention 100, including casing 10, mover 30 and stator 20, casing 10 plays the role of protecting mover 30 and stator 20, while fixing machine The linear motor 100 that this can be used for the control of intelligent machine freedom degree by shell 10 is fixed, so that casing 10 plays whole peace simultaneously Dress fixes the effect for the linear motor 100 that intelligent machine freedom degree controls.Stator 20 is for driving 30 straight line of mover to move It is dynamic, to realize the function of the linear motor 100 for the control of intelligent machine freedom degree.If mover 30 include several magnetic conductive boards 31 and Dry magnetic isolation plate 32, and magnetic conductive board 31 and the alternately laminated setting of magnetic isolation plate 32；Specifically, along the direction that mover 30 moves linearly, if 31, one layers of one layer of magnetic conductive board, 32, one layers of magnetic isolation plate, 31, one layers of magnetic isolation plate 32 of magnetic conductive board are set to be arranged alternately in this way.Magnetic conductive board 31 is used In magnetic conduction, thus in the suction by magnetic field, it can be mobile to the smallest direction of magnetic field magnetic resistance.Magnetic isolation plate 32 is non-magnetic, For adjacent two panels magnetic conductive board 31 to be separated.Stator 20 includes several set driving mechanisms 21, and driving mechanism 21 is driven for producing Moving field, so that driving mover 30 is mobile under the action of driving magnetic field.Each set driving mechanism 21 includes at least three groups of excitation groups Part 22 generates driving magnetic field by each group excitation component 22, to drive mover 30 mobile.Each group excitation component 22 includes magnetic conduction arm 23 With the control coil 24 being wound on magnetic conduction arm 23, thus when control coil 24 be powered when, can on magnetic conduction arm 23 generate induction Magnetic field.Specifically, magnetic conduction arm 23 includes at least one layer of magnetic conduction sheet 231 and package magnetic conduction sheet along the setting of 30 moving direction of mover 231 antifreeze plate 232.To generate induced magnetic field on magnetic conduction sheet 231, the work in the magnetic field when control coil 24 is powered Under, the magnetic conductive board 31 that distance is nearest on mover 30 can be attracted, to pull mover 30 mobile, and work as each group excitation component 22 successively When mating reaction, then mover 30 can be driven to move linearly.

The mover 30 of the linear motor 100 controlled for intelligent machine freedom degree uses the magnetic conductive board of alternately laminated setting 31 with magnetic isolation plate 32, then 30 volume of mover can make smaller；Stator 20 is using the magnetic conduction sheet 231 of alternately laminated setting and every magnetic Piece 232 forms magnetic conduction arm 23, and control coil 24 is wound on magnetic conduction arm 23, forms excitation component 22, when control coil 24 is logical When electric, magnetic field can be generated, and makes to produce magnetic force on magnetic conduction sheet 231, to attract the magnetic conductive board 31 of mover 30, so that mover 30 be made to move It is dynamic；And at least three groups of excitation components 22 are set and form driving mechanisms 21, successively by the control coil 24 of each group excitation component 22 It is powered, to drive mover 30 mobile, control is simple, and can be smaller by the structure fabrication of stator 20, so that this is used for intelligence 100 small volume of linear motor of mechanical freedom control.

By then passing through the magnetic conduction sheet 231 of excitation component 22 magnetic conductive board 31 nearest come magnetic, to drive mover 30 mobile, To within the time that each group excitation component 22 is powered, the mobile distance of mover 30 be it is certain, so as to accurately control use In the moving distance of the linear motor 100 of intelligent machine freedom degree control.

Magnetic conductive board 31 can be the magnetic conductions such as iron plate, steel plate, silicon steel, electrical pure iron, permalloy, metal nano alloy material Material production.Magnetic isolation plate 32 can be the non-magnetic material production such as copper sheet, aluminium sheet, plastics.

Magnetic conduction sheet 231 can lead for iron plate, steel disc, silicon steel, electrical pure iron, permalloy, metal nano alloy material etc. The piece of magnetic material production.Antifreeze plate 232 can be the piece of the insulating materials such as plastic sheet, resin sheet production.It is of course also possible to leading The insulated claddings such as insulated paint are wrapped up on magnetic sheet 231, then these magnetic conduction sheets 231 for being surrounded by insulated cladding are superimposed together, and formation is led Magnetic arm 23.

The quantity of driving mechanism 21 can be determined according to the thickness of the length of stator 20, each magnetic conduction arm 23.

Further, each magnetic conduction sheet 231 meets following relationship in two adjacent groups excitation component 22:

In one group of excitation component 22 on the middle part face mover 30 of a magnetic conduction sheet 231 some magnetic conductive board 31 medium position When: the middle position at the middle part of corresponding magnetic conduction sheet 231 and the neighbouring magnetic conductive board 31 of the magnetic conduction sheet 231 in another group of excitation component 22 It sets and is staggered, and medium position of the magnetic conduction sheet 231 with the magnetic conduction sheet 231 apart from nearest adjacent two magnetic conductive board 31 is staggered； Being equidistant between corresponding two magnetic conduction sheets 231 of same position in two groups of excitation components 22 of arbitrary neighborhood.

This structure, some magnetic conductive board on the middle part face mover 30 of a magnetic conduction sheet 231 in one group of excitation component 22 When 31 medium position, the magnetic conduction sheet 231 of corresponding position is to two neighboring with the magnetic conduction sheet 231 in another group of excitation component 22 The suction of magnetic conductive board 31 is unequal, and the magnetic conductive board 31 nearest apart from the magnetic conduction sheet 231 can be attracted to move to the magnetic conduction sheet 231 in this way It is dynamic.And in two adjacent groups excitation component 22 in corresponding two magnetic conduction sheets 231 of same position and one group of excitation component 22 one lead The magnetic conduction sheet 231 of magnetic sheet 231 and corresponding position in another group of excitation component 22 refers to as n-th is led in certain group excitation component 22 Magnetic sheet 231 can be in each excitation component 22 with n-th of magnetic conduction sheet 231 in another group of excitation component 22, n-th of magnetic conduction sheet 231 First magnetic conduction sheet, 231, second magnetic conduction sheets 231 etc..And by same position pair in two groups of excitation components 22 of arbitrary neighborhood Being equidistant between two magnetic conduction sheets 231 answered then arbitrarily organizes the middle part face mover of some magnetic conduction sheet 231 of excitation component 22 On 30 when the middle part of some magnetic conductive board 31, the correspondence magnetic conduction sheet 231 in neighbouring group excitation component 22 is in apart from the magnetic conduction sheet The same side of 231 nearest magnetic conductive boards 31, and be equidistant, to guarantee when being powered, can control to a direction movement, and It is mobile steady.

In each set driving mechanism 21, excitation component 22 can be three groups and three groups or more, in the present embodiment, excitation component 22 It is specifically described for three groups.

Please refer to Fig. 3, Fig. 4 and Fig. 7, in the present embodiment, each driving mechanism 21 that covers includes three groups of excitation components 22, and each group is encouraged The magnetic conduction arm 23 of magnetic assembly 22 includes one layer of magnetic conduction sheet 231 and the antifreeze plate 232 for wrapping up the magnetic conduction sheet 231.Each magnetic conduction arm 23 makes With one layer of magnetic conduction sheet 231, so that the distance of movement can phase when the corresponding magnetic conductive board 31 of each 231 magnetic of magnetic conduction sheet is mobile To smaller, such as may diminish to arrive the one third of another 231 middle part distance of magnetic conduction sheet in the middle part of a magnetic conduction sheet 231, thus The position control for being used for the linear motor 100 of intelligent machine freedom degree control can be made more accurate；By the way that magnetic conductive board is arranged 31 thickness and the thickness of magnetic conduction sheet 231, the distance between two magnetic conductive boards 31 and the distance between two magnetic conduction sheets 231, and pass through subdivision The driving of driving circuit can make the linear movement precision for being used for the linear motor 100 of intelligent machine freedom degree control reach 1 Micron, it might even be possible to which the precision for reaching 100 nanometers meets the requirement of Industry Control.

Further, in the present embodiment, each control coil 24 is set in antifreeze plate 232.It in this way can be by every magnetic Piece 232 protects control coil 24.Control coil 24 is wrapped on magnetic conduction sheet 231, thus when being powered in control coil 24, meeting Induced magnetic field is formed on magnetic conduction sheet 231.Further, each control coil 24 is etched in antifreeze plate 232.It is easy to process, essence Degree control is high.In further embodiments, etch, electrochemical deposition method, electrochemistry transfer method also can be used to print. In addition, between adjacent two magnetic conduction sheet 231 of control apart from when, can be controlled by the thickness of antifreeze plate 232.It leads when adjacent two When distance is larger between magnetic sheet 231, can also partition be additionally set to be controlled.

Further, in this embodiment being equidistant between two magnetic conduction sheets 231 of arbitrary neighborhood.This structure processing system Facilitate, it is at low cost, it designs also relatively easy.

Further, Fig. 5, Fig. 6 and Fig. 7 are please referred to, the distance L between two neighboring 231 middle part of magnetic conduction sheet meets following public Formula:

L=M*K, M ≠ 3X；

K=(d1+d2)/3；

Wherein, d1 is the thickness of each magnetic conductive board 31, and d2 is the thickness of each magnetic isolation plate 32, and X is positive integer, and M is positive integer.

Referring specifically to Fig. 5 and Fig. 6, magnetic conductive board 31 with a thickness of d1, magnetic isolation plate 32 with a thickness of d2, magnetic conduction sheet 231 With a thickness of d3, then when the middle part face at the middle part of magnetic conduction sheet 231 and magnetic conductive board 31, i.e., when magnetic conduction sheet 231 is in P position in Fig. 5, Magnetic conduction sheet 231 is stable state by axial power F=0, the position, and according to the interaction of power, mover 30 is also at stable state, outer when having Mover 30 keeps this position when portion's stress is interfered.

When the middle part of magnetic conduction sheet 231 is located at the position of (d1+d3)/2, i.e., when magnetic conduction sheet 231 is located at the position R in Fig. 5, magnetic conduction Plate 31 has just reached at magnetic conduction sheet 231, maximum to the suction of magnetic conductive board 31, then 231 stress maximum F=Fmax of magnetic conduction sheet at this time.

When magnetic conduction sheet 231 is located among two neighboring magnetic conductive board 31, i.e., when magnetic conduction sheet 231 is located at the position Q in Fig. 5, magnetic conduction Piece 231 is equal to the active force of two magnetic conductive boards 31, and magnetic conduction sheet 231 is by axial power F=0.The position is unstable state, when When having external force interference, mover 30 is not able to maintain this position.

The size F of the axial force that 30 magnetic conduction sheet 231 of mover is received and the magnetic conduction sheet 231 relative to stator 20 magnetic conductive board 31 it Between distance H function it is as shown in Figure 6.It should be understood that due under actual conditions magnetic field it is thick by magnetic conductive board 31 Degree, 32 thickness of magnetic isolation plate, magnetic conduction sheet 231 and antifreeze plate 232 thickness, the magnetic conductance of the magnetic conductivity of magnetic conductive board 31, magnetic conduction sheet 231 Rate, the influence of multiple non-linear factors such as 20 30 gaps of mover of stator, so the relationship of practical Fmax and H has certain mistake Difference.

It only include the straight-line electric for the control of intelligent machine freedom degree of three groups of excitation components 22 for each driving mechanism 21 For machine 100, as preferred embodiment, referring to Figure 7 together, further, in selection magnetic conduction sheet 231 and magnetic conductive board 31 Material after determining its magnetic conductivity, adjusts the thickness of magnetic conductive board 31, magnetic isolation plate 32, magnetic conduction sheet 231 and antifreeze plate 232.Make adjacent two In a magnetic conduction sheet 231: the middle part of magnetic conduction sheet 231 and the centre of neighbouring magnetic conductive board 31 are to just, making another magnetic conduction sheet 231 The position of the Fmax of axially loaded adjusts the thickness of antifreeze plate 232 in stator 20, makes this just at (d1+d2)/3 in Fig. 5 Another magnetic conduction sheet 231 is located at three groups of different positions, as in tri- groups of excitation components 22 of A, B, C, then can control A, B, C in Fig. 7 The control coil 24 of three groups of excitation components 22 is successively powered, to drive mover 30 mobile.Assuming that K=(d1+d2)/3, two neighboring Distance L between 231 middle part of magnetic conduction sheet can be K, 2K, 4K, 5K, 7K, 8K ....That is L=M*K, M ≠ 3X；X is positive integer, and M is Positive integer.In the present embodiment, L value is K.In real work or application, it is only necessary to make each in two adjacent groups excitation component 22 Magnetic conduction sheet 231 meets following relationship --- in one group of excitation component 22 on the middle part face mover 30 of a magnetic conduction sheet 231 When the medium position of some magnetic conductive board 31: the middle part of corresponding magnetic conduction sheet 231 and the magnetic conduction sheet 231 in another group of excitation component 22 The medium position of neighbouring magnetic conductive board 31 is staggered, and the magnetic conduction sheet 231 and the magnetic conduction sheet 231 are apart from nearest adjacent two magnetic conduction The medium position of plate 31 is staggered；In two groups of excitation components 22 of arbitrary neighborhood between corresponding two magnetic conduction sheets 231 of same position It is equidistant.

Fig. 1, Fig. 3 and Fig. 5 are please referred to, further, each magnetic conduction arm 23 is equipped with permanent magnets 29 far from 30 one end of mover.In Magnetic conduction arm 23 far from mover 30 one end be arranged permanent magnets 29, when on magnetic conduction arm 23 control coil 24 be powered when, can with forever The magnetic field of magnetic patch 29 is superimposed, to enhance or weaken the suction of magnetic conduction arm 23, passes through the control in control each group excitation component 22 Coil 24 makes the magnetic force enhancing of magnetic conduction arm 23 in group excitation component 22 only mobile as driving mover 30, and other each groups are encouraged The magnetic force of magnetic conduction arm 23 weakens in magnetic assembly 22, to increase the driving of the linear motor 100 for the control of intelligent machine freedom degree Power；And have magnetic force always when control coil 24 powers off, in the magnetic conduction sheet 231 of magnetic conduction arm 23, intelligent machine is used for certainly when entire When being powered off by the linear motor 100 of degree control, the magnetic field that permanent magnets 29 generate is in the axial direction by the magnetic conduction of 20 magnetic circuit part of stator Material (magnetic conduction sheet 231) and un-conducted magnetic material (antifreeze plate 232) segmentation.When the distance between 30 permeability magnetic material of stator 20 and mover When sufficiently small, if the relative axial position of soft magnetic materials is offset, magnetic field makes 20 mover 30 of stator for static magnetic force is generated It is maintained on the smallest position of magnetic resistance, as long as being applied to outer on the linear motor 100 controlled for intelligent machine freedom degree Portion's active force is less than maximum static magnetic force, this is used for 100 stator of linear motor, 20 mover 30 of intelligent machine freedom degree control This relative position will be kept, therefore this is used to have position automatic after linear motor 100 that intelligent machine freedom degree controls powers off The function of holding.

Further, in this embodiment mover 30 is cylindrical, each group excitation component 22 includes multiple magnetic conduction arms 23, and Multiple 23 uniform rings of magnetic conduction arm are around mover 30.It is in cylinder to make the linear motor 100 controlled for intelligent machine freedom degree Shape.Further, in this embodiment the quantity of the magnetic conduction arm 23 of each group excitation component 22 is four, uniform ring is set around mover 30 It sets.

Further, which further includes the support for supporting mover 30 Axis 15 offers in mover 30 and passes through fixed centre bore for support shaft 15.Support shaft 15 is set, can preferably be supported dynamic Son 30.In further embodiments, mover 30 can be processed into a single integrated structure.

Further, casing 10 covers on stator 20, and the both ends of casing 10 offer the aperture passed through for mover 30 (in figure It does not mark).Stator 20 is supported by casing 10, while playing the role of protecting stator 20 and mover 30.Specifically, this implementation In example, casing 10 is cylindrical, and each magnetic conduction arm 23 of stator 20 is mounted in the inner surface of casing 10, to fix stator 20.

Further, axle sleeve 11 is installed in the aperture at 10 both ends of casing, to reduce frictional force, this is made to be used for intelligent machine The movement of mover 30 of the linear motor 100 of tool freedom degree control is more flexible.

In further embodiments, the both ends of support shaft 15 and the both ends of casing 10 can be fixedly linked, and will moved Sub 30 sliding sleeves open up through-hole, and the connecting stay wire on mover 30 on casing 10, make to be drawstring through logical in support shaft 15 Hole, to drive bracing wire mobile when mover 30 is mobile.The structural advantages are that 30 support shaft of mover is not take up space, and And motor may be mounted at the side that spatial position is enough elsewhere, drives in motor or so both direction by bracing wire Formula drives load movement, so that the volume of 30 space of mover is also smaller, and then this can be used for intelligent machine freedom degree The production of linear motor 100 of control is smaller.It certainly, can be by mover 30 and 15 stationary phase of support shaft in further embodiments Connect, and the length of mover 30 is less than the length of support shaft 15, the both ends of support shaft 15 are slidably mounted in casing 10, thus mover When 30 movement, drive support shaft mobile, which can will equally be used for the linear motor 100 of intelligent machine freedom degree control Volume production is smaller.

Further, in this embodiment each magnetic conduction sheet 231 of stator 20 is fan-shaped, to during installation, can make stator The magnetic conduction arm 23 of 20 each excitation component 22 is preferably arranged around mover 30.

Please refer to Fig. 1, Fig. 4, Fig. 5 and Fig. 7, in the present embodiment, the driving mechanism 21 of stator 20 is more sets, in the present embodiment Three sets are depicted, each driving mechanism 21 that covers includes three groups of excitation components 22, and the corresponding each magnetic conduction sheet 231 of three groups of excitation components 22 divides Not Wei A1, B1, C1, A2, B2, C2, A3, B3, C3；Wherein tri- groups of A1, B1, C1 corresponding excitation components 22 form a set of driving machine Structure 21, tri- groups of A2, B2, C2 corresponding excitation components 22 form a set of driving mechanism 21, tri- groups of A3, B3, C3 corresponding excitation groups Part 22 forms a set of driving mechanism 21.Mover 30 is shown in Fig. 7 when moving, each magnetic conduction sheet 231 of three sets of driving mechanisms 21 With the relative position of mover 30.In Fig. 7, when 231 one magnetic conductive board 31 of face of A1 magnetic conduction sheet, B1 magnetic conduction sheet 231 is located at (d1+ D2 at)/3, C1 magnetic conduction sheet 231 is located at 2* (d1+d2)/3；Meanwhile the next magnetic conductive board 31 of 231 face of A2 magnetic conduction sheet, A3 is led Next one magnetic conductive board 31 of 231 face of magnetic sheet, at (d1+d2)/3 of the B2 magnetic conduction sheet 231 apart from next magnetic conductive board 31, B3 is led Magnetic sheet 231 is at (d1+d2)/3 of next one magnetic conductive board 31, and C2 magnetic conduction sheet 231 is apart from next magnetic conductive board 31 At 2* (d1+d2)/3, at 2* (d1+d2)/3 of the C3 magnetic conduction sheet 231 apart from next one magnetic conductive board 31.When each B group excitation group When the control coil 24 of part 22 is powered, i.e., B1 group, B2 group, B3 group excitation component 22 the energization of control coil 24 when, magnetic mover The distance of 30 magnetic conductive board 31 mobile (d1+d2)/3；Then each C group excitation component 22 control coil 24 be powered when, i.e., C1 group, C2 group, C3 group excitation component 22 control coil 24 be powered, the magnetic conductive board 31 of magnetic mover 30 move again (d1+d2)/3 away from From；Later each A group excitation component 22 control coil 24 be powered when, i.e., A1 group, A2 group, A3 group excitation component 22 control coil 24 are powered, and the magnetic conductive board 31 of magnetic mover 30 moves the distance of (d1+d2)/3 again, so that (A, B, C group are encouraged in a power cycles Magnetic assembly 22 is successively powered), the distance of the advance of mover 30 (d1+d2).The timing control that is then powered is BCABCABCA ..., can be with Mover 30 is controlled to advance；And energization timing control is CBACBACBA ..., then can control the retrogressing of mover 30, controls simple side Just.And when the control coil 24 of each group excitation component 22 is powered every time, mover 30 can advance the distance of (d1+d2)/3, then lead to The thickness for crossing control magnetic conductive board 31, magnetic isolation plate 32, magnetic conduction sheet 231 and antifreeze plate 232, can be accurately controlled for intelligent machine The moving distance and precision of the linear motor 100 of freedom degree control, and there is no accumulated error.

It makes and is wrapped on magnetic conduction sheet 231 referring to Fig. 4, control coil 24 can lead to overetched mode, this mode The precision that can guarantee 20 magnetic conduction arm of stator, 23 position, reduces volume, also relatively good processing heat dissipation.Furthermore it is possible to by each set The progress of control coil 24 (serial or parallel connection) of corresponding excitation component 22 links together in driving assembly, each to control simultaneously Cover corresponding excitation component 22 in driving assembly, specifically such as by A1 group in Fig. 7, A2 group, A3 group excitation component 22 control coil 24 carry out serial or parallel connection, biggish tandem-in-space or parallel connection between the stator magnetic conduction arm of motor, although around each magnetic conduction arm Coil current it is smaller, but around magnetic conduction arm coil in series and parallel after motor operating current it is larger, can produce biggish magnetic Field and work torque.Further, axle sleeve 11 can also be placed between 20 magnetic conduction arm 23 of stator to reduce friction and reduce stator Gap between 20 movers 30.It is further possible to place detection 30 absolute position of mover between 20 magnetic conduction arm 23 of stator Device or place the quick, temperature sensor of power etc..

Further, this is used in the linear motor 100 of intelligent machine freedom degree control, and permanent magnet itself can produce first Raw stronger magnetic field, and this structure of motor keeps the contact area between stator mover magnetic conduction sheet big, and magnetic field can produce Biggish work torque.When stator 20 and 30 axial position of mover offset very little apart from when, stator 20 be laminated structure make partially The distance for moving very little produces very big torque accumulation, and the linear motor 100 for being accordingly used in the control of intelligent machine freedom degree is opposite Biggish work torque can be generated under the volume of very little in the existing linear motor for the control of intelligent machine freedom degree, And three sets of driving mechanisms 21 can work, raising work torque further.And magnetic conduction sheet can process very thin, use In the linear motor motion smoothing of intelligent machine freedom degree control, control precision is improved.Moreover, coil is made in spacer, The volume for reducing motor improves the power-mass ratio of motor.

It is possible to further select the light reflection coefficient of mover magnetic conduction sheet and insulating trip, increase detection electricity inside motor The device of machine relative position reduces entire control system so as to measure stator mover opposite displacement and the direction of motion The volume of system.Since the part that the linear motor 100 for the control of intelligent machine freedom degree moves only has mover 30, mover 30 The simple quality of structure is small, and the movement inertia for being used in the linear motor 100 of intelligent machine freedom degree control is small.It works more stable Reliably.

Further, stator can be in ellipticity or frame-shaped, and mover may be oval or frame-shaped to cooperate stator.

Further, sub-driver circuit can be added in the current driving circuit of motor control coil, so that motor movement Smoother, position control is more accurate.

Typically, since intelligent machine requires, small in size, multiaxis multi-joint multiple degrees of freedom, motor imagination speed are fast, hold By load is big and load variations are fast, spatial position control accuracy requirement is high.Have inside intelligent machine and largely straight line is needed to drive Dynamic joint or freedom degree.The driving of intelligent machine freedom degree requires driving motor to have maximum power-mass ratio, torque inertia Than, broader smooth speed adjustable range, especially machine people end effector (gripper) Ying Caiyong volume, quality it is as small as possible Motor, when especially requiring quick response, servo motor must reliability with higher, and have biggish mistake in short-term Loading capability.Thus the linear motor 100 for being used for the control of intelligent machine freedom degree can be applied in various intelligent machines, including Various bionic mechanicals, numerically-controlled machine tool, automatic production line and the dress that mankind's manual labor or completion different function can be substituted It sets, such as manipulator, operating robot, service robot etc..

Embodiment two:

Referring to Fig. 8, also referring to Fig. 1, the linear motor 100 for the control of intelligent machine freedom degree of the present embodiment With the difference of the linear motor 100 for the control of intelligent machine freedom degree of embodiment one are as follows:

Wherein, d1 is each magnetic conductive board 31 to distance L=2K=2* (d1+d2)/3 between two neighboring 231 middle part of magnetic conduction sheet Thickness, d2 are the thickness of each magnetic isolation plate 32.

Referring to Figure 4 together, specifically: in the present embodiment, depict three sets, each driving mechanism 21 that covers includes three groups of excitations Component 22, the corresponding each magnetic conduction sheet 231 of three groups of excitation components 22 are respectively A1, B1, C1, A2, B2, C2, A3, B3, C3；Wherein Tri- groups of A1, B1, C1 corresponding excitation components 22 form a set of driving mechanism 21, tri- groups of A2, B2, C2 corresponding 22 shapes of excitation component At a set of driving mechanism 21, tri- groups of A3, B3, C3 corresponding excitation components 22 form a set of driving mechanism 21.It is shown in Fig. 8 dynamic Sub 30 when moving, each magnetic conduction sheet 231 of three sets of driving mechanisms 21 and the relative position of mover 30.In Fig. 8, when A1 magnetic conduction sheet When 231 one magnetic conductive board 31 of face, B1 magnetic conduction sheet 231 is located at 2 (d1+d2)/3, (d1+d2)/3 of the lower magnetic conduction sheet 231 of C1 Place；At a distance from being equal between A2 magnetic conduction sheet 231 and A3 magnetic conduction sheet 231 at a distance between A1 magnetic conduction sheet 231 and A2 magnetic conduction sheet 231, and A1 Twice of distance between being equal in the middle part of two adjacent magnetic conductive boards 31 at a distance between magnetic conduction sheet 231 and A2 magnetic conduction sheet 231.When each C group is encouraged When the control coil 24 of magnetic assembly 22 is powered, i.e., C1 group, C2 group, C3 group excitation component 22 the energization of control coil 24 when, magnetic The distance of the magnetic conductive board 31 of mover 30 mobile (d1+d2)/3；Then when the control coil 24 of each B group excitation component 22 is powered, i.e., The energization of control coil 24 of B1 group, B2 group, B3 group excitation component 22, the magnetic conductive board 31 of magnetic mover 30 move (d1+d2)/3 again Distance；When the control coil 24 of each A group excitation component 22 is powered later, i.e. the control of A1 group, A2 group, A3 group excitation component 22 Coil 24 is powered, and the magnetic conductive board 31 of magnetic mover 30 moves the distance of (d1+d2)/3 again, thus in power cycles (A, B, a C Group excitation component 22 is successively powered), the distance of the advance of mover 30 (d1+d2).The timing control that is then powered is CBACBACBA ..., It can control the advance of mover 30；And energization timing control is BCABCABCA ..., then can control the retrogressing of mover 30, control letter Folk prescription is just.

The other structures of the linear motor 100 for the control of intelligent machine freedom degree of the present embodiment and the use of embodiment one Identical in the other structures of the linear motor 100 of intelligent machine freedom degree control, details are not described herein.

Embodiment three:

Referring to Fig. 9, also referring to Fig. 1, the linear motor 100 for the control of intelligent machine freedom degree of the present embodiment With the difference of the linear motor 100 for the control of intelligent machine freedom degree of embodiment one are as follows:

Wherein, d1 is each magnetic conductive board 31 to distance L=4K=4* (d1+d2)/3 between two neighboring 231 middle part of magnetic conduction sheet Thickness, d2 are the thickness of each magnetic isolation plate 32.

Example IV:

Referring to Fig. 10, also referring to Fig. 1, the linear motor for the control of intelligent machine freedom degree of the present embodiment 100 difference with embodiment one for the linear motor 100 of intelligent machine freedom degree control are as follows:

Each set driving mechanism 21 includes four groups of excitation components 22, and the corresponding each magnetic conduction sheet 231 of four groups of excitation components 22 is distinguished For A1, B1, C1, D1, A2, B2, C2, D2, A3, B3, C3, D3, A4, B4, C4, D4, A5, B5, C5, D5；Wherein A1, B1, C1, D1 Four groups of corresponding excitation components 22 form a set of driving mechanism 21, and tetra- groups of A2, B2, C2, D2 corresponding excitation components 22 form one Driving mechanism 21 is covered, tetra- groups of A3, B3, C3, D3 corresponding excitation components 22 form a set of driving mechanism 21, A4, B4, C4, D4 tetra- The corresponding excitation component 22 of group forms a set of driving mechanism 21, and tetra- groups of A5, B5, C5, D5 corresponding excitation components 22 form a set of Driving mechanism 21.Mover 30 is shown in Figure 10 when moving, the phase of each magnetic conduction sheet 231 and mover 30 of four sets of driving mechanisms 21 To position.

Wherein, d1 is the thickness of each magnetic conductive board 31, d2 to distance L=(d1+d2)/4 between two neighboring 231 middle part of magnetic conduction sheet For the thickness of each magnetic isolation plate 32.Energization timing control is BCDABCDABCDA ..., can control the advance of mover 30；And when being powered Sequence control is DCBADCBADCBA ..., then can control the retrogressing of mover 30, control simple and convenient.Each corresponding excitation component 22 Power cycles, mover 30 are mobile (d1+d2)/4.

Driving mechanism 21 draws five sets in the present embodiment.In other embodiments, it can according to need setting driving mechanism 21 quantity.In addition, in other embodiments, each driving mechanism 21 that covers can also include five groups of excitation components, 22, six groups of excitations 22, seven groups of excitation components 22 of component etc..

Embodiment five:

Please refer to Figure 11 and Figure 12, the linear motor 100 controlled for intelligent machine freedom degree of the present embodiment and implementation The difference of the linear motor 100 for the control of intelligent machine freedom degree of example one are as follows:

In the present embodiment, the linear motor 100 for the control of intelligent machine freedom degree includes support shaft 15, and mover 30 includes Around multiple magnetic arms 33 of support shaft 15, each magnetic arm 33 includes several magnetic conductive boards 31 and magnetic isolation plate of alternately laminated setting 32；Each group excitation component 22 includes multiple magnetic conduction arms 23 corresponding with each magnetic arm 33 respectively, and multiple magnetic conduction arms 23 are uniform Around mover 30.This structure sets multiple magnetic conduction arms 23 in the inner surface ring of casing 10, and each magnetic conduction arm 23 is corresponded in support shaft 15 Position magnetic arm 33 is set, each magnetic arm 33 using alternately laminated setting several magnetic conductive boards 31 and magnetic isolation plate 32, to be formed 30 structure of mover.This structure is used by the magnetic of each magnetic conduction arm 23, can be positioned to mover 30, prevents mover 30 inclined Turn.

Referring to Figure 4 together, further, permanent magnet 39 is arranged far from one end of stator 20 in each magnetic arm 33, in this way may be used So as to there is magnetic force in the magnetic conduction sheet 231 of mover 30 always, when mobile, the suction with 20 magnetic conductive board 31 of stator can be increased, increased Driving force；When entirely powering off for the linear motor 100 of intelligent machine freedom degree control, the magnetic field that permanent magnet 39 generates is in axis Divided upwards by the permeability magnetic material (magnetic conductive board 31) of 30 magnetic circuit part of mover and un-conducted magnetic material (magnetic isolation plate 32).When 20 He of stator When the distance between 30 permeability magnetic material of mover is sufficiently small, if the relative axial position of soft magnetic materials is offset, magnetic field will be generated Static magnetic force is maintained at 20 mover 30 of stator on the smallest position of magnetic resistance, as long as being applied to this is used for intelligent machine freedom degree Applied external force on the linear motor 100 of control is less than maximum static magnetic force, this is used for the control of intelligent machine freedom degree 100 stator of linear motor, 20 mover 30 will keep this relative position, therefore this is used for the straight line of intelligent machine freedom degree control Motor 100 has the function that position is automatically kept after powering off.

Further, permanent magnets 29 are arranged far from one end of mover 30 in magnetic conduction arm 23, when entirely free for intelligent machine When the linear motor 100 of degree control powers off, have magnetic force always in the magnetic conduction sheet 231 of magnetic conduction arm 23, the magnetic field which forms with The magnetic field phase separation of 30 upper conduction magnetic board 31 of mover increases maximum static magnetic force, preferably keeps being used for intelligent machine freedom degree The mover 30 of the linear motor 100 of control is stablized.

Further, which can make to generate on magnetic conduction arm 23 by the control coil 24 of each excitation component 22 of control Alternating magnetic field, and then can control the rotation of mover 30, to realize the freedom degree being axially moveable with around axial rotation both direction. Further, the fan-shaped setting of each magnetic conductive board 31.It is matched with better with corresponding magnetic conduction arm 23.

Further, casing 10 covers on stator 20, and the both ends of casing 10 offer the aperture passed through for mover 30, stator 20 both ends are equipped with gasket ring 18, and each gasket ring 18 is installed on the inner surface of casing 10.Gasket ring 18 is set, stator 20 can be made more preferable Be fixed in casing 10, while play the role of protect stator 20.

Further, each magnetic conductive board 31 is equipped with several first external tooths, to be formed on each magnetic arm 33 formed several First external tooth, each magnetic conduction arm 23 are equipped with several positioning internal tooths corresponding with each first external tooth 35 respectively.In each magnetic conductive board 31 The first external tooth 35 of upper setting, the corresponding setting positioning internal tooth on each magnetic conduction arm 23, can form the function of stepper motor, to realize It is axially moveable and the freedom degree around axial rotation both direction.

Embodiment six:

Please refer to Figure 13 and Figure 14, the linear motor 100 controlled for intelligent machine freedom degree of the present embodiment and implementation The difference of the linear motor 100 for the control of intelligent machine freedom degree of example one are as follows:

Each magnetic conductive board 31 be equipped with several first external tooths 35, each magnetic conduction arm 23 be equipped with it is several respectively with each first external tooth 35 Corresponding positioning internal tooth 235.First external tooth 35 is set on each magnetic conductive board 31, it is corresponding to be arranged in positioning on each magnetic conduction arm 23 Tooth 235 can form the function of stepper motor, to realize the freedom degree being axially moveable with around axial rotation both direction.

Embodiment seven:

Please refer to Figure 15 and Figure 16, the linear motor 100 controlled for intelligent machine freedom degree of the present embodiment and implementation The difference of the linear motor 100 for the control of intelligent machine freedom degree of example six are as follows:

In the present embodiment, casing 10 is cylindrical, and casing 10 is placed on mover 30, and stator 20 is slidably mounted on casing 10 In, each group excitation component 22 includes multiple magnetic conduction arms 23, and multiple 23 uniform rings of magnetic conduction arm are around the axial direction setting of casing 10, mover 30 are arranged around stator 20.The structure is that mover 30 is arranged in the periphery of stator 20, keeps casing 10 mobile with mover 30.

Further, which further includes gripping several sets to drive The grip block 17 of motivation structure 21, grip block 17 are slidably mounted in mover 30.Grip block 17 is set, preferably to fix stator 20, guarantee the stabilization of stator 20.

Further, the both ends of stator 20 are separately installed with gasket ring 18, and each gasket ring 18 is installed on respective clamp plate 17 Inner surface.Gasket ring 18 is set, can play the role of protecting stator 20.

Further, which further includes support shaft 15, multiple magnetic conductions 23 uniform ring of arm is around being installed in support shaft 15.Support shaft 15 is set, fixes and supports stator will pass through support shaft 15 20。

Further, each magnetic conduction arm 23 is equipped with permanent magnets 29 far from 30 one end of mover.So that this is used for intelligent machine certainly The function of thering is position to automatically keep after being powered off by the linear motor 100 of degree control.

Further, in this embodiment each magnetic conduction sheet 231 is in a ring.To make 30 structure of mover of production in a ring.

In other embodiments, mover 30 may include the multiple magnetic arms 33 for being installed on 10 inner surface of casing, each magnetic Arm 33 includes several magnetic conductive boards 31 and magnetic isolation plate 32 of alternately laminated setting；Each magnetic conduction sheet 231 is fan-shaped.

The other structures of the linear motor 100 for the control of intelligent machine freedom degree of the present embodiment and the use of embodiment six Identical in the other structures of the linear motor 100 of intelligent machine freedom degree control, details are not described herein.

Embodiment eight:

Please refer to Figure 17, the linear motor 100 and embodiment seven for the control of intelligent machine freedom degree of the present embodiment The difference of linear motor 100 for the control of intelligent machine freedom degree are as follows:

Each magnetic conductive board 31 be equipped with several first internal tooths 34, each magnetic conduction arm 23 be equipped with it is several respectively with each first internal tooth 34 Corresponding positioning external tooth 234.First internal tooth 34 is set on each magnetic conductive board 31, and the corresponding setting positioning on each magnetic conduction arm 23 is outer Tooth 234 can form the function of stepper motor, to realize the freedom degree being axially moveable with around axial rotation both direction.

The other structures of the linear motor 100 for the control of intelligent machine freedom degree of the present embodiment and the use of embodiment seven Identical in the other structures of the linear motor 100 of intelligent machine freedom degree control, details are not described herein.

Embodiment nine:

Please refer to Figure 18, Figure 19 and Figure 20, the linear motor 100 for the control of intelligent machine freedom degree of the present embodiment with The difference of the linear motor 100 for the control of intelligent machine freedom degree of embodiment one are as follows:

In the present embodiment, the magnetic conduction arm 23 of each excitation component 22 includes multiple magnetic conduction sheets 231 being stacked.In other realities It applies in example, the magnetic conduction sheet 231 of each magnetic conduction arm 23 can be two layers, three layers, four layers etc..

Specifically, in the present embodiment, driving mechanism 21 is one, certainly, in other embodiments, along for intelligent machine The length direction of the linear motor 100 of freedom degree control, driving mechanism 21 also can be set multiple.In the present embodiment, driving machine Structure 21 includes that three groups of excitation components 22 respectively correspond as shown in Figure 18 as tri- groups of excitation components 22 of A, B, C.This structure Excitation component 22 is easy to make, at low cost.

Further, in this embodiment the linear motor 100 for the control of intelligent machine freedom degree is cylindrical, it is adjacent The magnetic conduction arm 23 of two groups of excitation components 22 mutually staggers radially, while its control coil 24 can be staggered, so as to It is more compact with the production of linear motor 100 that this is used for the control of intelligent machine freedom degree.

Further, being equidistant between two neighboring magnetic conduction sheet 231 in same group of excitation component 22.The structure can be square Just the processing and fabricating of each magnetic conduction arm 23.Further, the distance in same group of excitation component 22 between two neighboring magnetic conduction sheet 231 With the sum of the thickness of a piece of magnetic conduction sheet 231 be equal to a piece of magnetic conductive board 31 and a piece of magnetic isolation plate 32 adjacent in mover 30 thickness it With.The structure can make each magnetic conduction sheet 231 while the neighbouring magnetic conductive board 31 of magnetic of same group of excitation component 22, and torque is bigger.

Preferably embodiment, for convenience of understanding, some corresponding magnetic conduction sheet 231 in tri- groups of excitation components 22 of A, B, C For be illustrated: such as some magnetic conductive board 31 on the middle part face mover 30 of third magnetic conduction sheet 231 in A group excitation component 22 When medium position, third magnetic conduction sheet 231 and the neighbouring magnetic conductive board of the third magnetic conduction sheet 231 are corresponded in B group excitation component 22 31 medium position is staggered, and the third magnetic conduction sheet 231 of the B group excitation component and the third magnetic conduction sheet 231 are apart from nearest The medium position of adjacent two magnetic conductive board 31 is staggered.Corresponding two magnetic conductions of same position in two groups of excitation components 22 of arbitrary neighborhood Being equidistant between piece 231.As third magnetic conduction sheet 231 in A group excitation component 22 middle part into B group excitation component 22 third The distance between middle part of a magnetic conduction sheet 231 is equal to the middle part of third magnetic conduction sheet 231 in B group excitation component 22 to C group excitation The distance between the middle part of third magnetic conduction sheet 231 in component 22；Meanwhile second magnetic conduction sheet 231 in A group excitation component 22 Middle part the distance between middle part of second magnetic conduction sheet 231 into B group excitation component 22 is equal in B group excitation component 22 second The distance between the middle part of the middle part of magnetic conduction sheet 231 second magnetic conduction sheet 231 into C group excitation component 22.

Embodiment ten:

Please refer to Figure 21 and Figure 22, the linear motor 100 controlled for intelligent machine freedom degree of the present embodiment and implementation The difference of the linear motor 100 for the control of intelligent machine freedom degree of example one are as follows:

In the present embodiment, stator 20 and mover 30 are in long strip, and mover 30 is slidably mounted on stator 20.The structure can Mover 30 is made as track structure, and closes stator 20 and moved on mover 30.Certainly in other embodiments, can also incite somebody to action Stator 20 is made as track structure, and moves mover 30 on stator 20.

Further, casing 10 covers on stator 20, to protect 20 structure of stator.Further, this is used for intelligent machine The linear motor 100 of tool freedom degree control further includes the sliding rail 16 for supporting mover 30, and mover 30 is mounted in sliding rail 16, and casing 10 are slidably mounted on sliding rail 16.Sliding rail 16 is set, it is mobile relative to mover 30 can preferably to guide stator 20, while can rise To the effect of protection mover 30.Further, idler wheel 161 is also equipped on casing 10, the cooperation of idler wheel 161 is placed in sliding rail 16 On, to allow casing 10 preferably to slide on sliding rail 16, to reduce frictional force.

The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.

Claims

1. a kind of linear motor for the control of intelligent machine freedom degree, including casing, mover and the driving mover straight line move Dynamic stator, which is characterized in that the mover includes several magnetic conductive boards and adjacent two magnetic conductive board of isolation for magnetic conduction Several magnetic isolation plates, and the magnetic conductive board and the alternately laminated setting of the magnetic isolation plate；The stator includes several sets for driving institute The mobile driving mechanism of mover is stated, respectively covering the driving mechanism includes at least three groups for producing the excitation component of driving magnetic field, Excitation component described in each group includes magnetic conduction arm and the control coil that is wound on the magnetic conduction arm, and the magnetic conduction arm includes along described At least one layer of magnetic conduction sheet of mover moving direction setting and the antifreeze plate for wrapping up each magnetic conduction sheet；Excitation group described in two adjacent groups Each magnetic conduction sheet meets following relationship in part:

In excitation component described in one group on mover described in the middle part face of a magnetic conduction sheet some magnetic conductive board middle part When position: the middle part of the corresponding magnetic conduction sheet and the neighbouring magnetic conductive board of the magnetic conduction sheet in excitation component described in another group Medium position is staggered, and the medium position of adjacent two magnetic conductive board of the magnetic conduction sheet with magnetic conduction sheet distance recently is staggered It opens；Being equidistant between corresponding two magnetic conduction sheets of same position in excitation component described in two groups of arbitrary neighborhood.

2. the linear motor for the control of intelligent machine freedom degree as described in claim 1, which is characterized in that described in same group Being equidistant between the two neighboring magnetic conduction sheet in excitation component.

3. the linear motor for the control of intelligent machine freedom degree as claimed in claim 2, which is characterized in that described in same group The sum of thickness of distance and a piece of magnetic conduction sheet in excitation component between the two neighboring magnetic conduction sheet is equal in the mover The sum of the thickness of the adjacent a piece of magnetic conductive board and a piece of magnetic isolation plate.

4. the linear motor for the control of intelligent machine freedom degree as described in claim 1, which is characterized in that respectively cover the drive Motivation structure includes excitation component described in three groups, and the magnetic conduction arm of excitation component described in each group includes one layer of magnetic conduction sheet and package should The antifreeze plate of magnetic conduction sheet.

5. the linear motor for the control of intelligent machine freedom degree as claimed in claim 4, which is characterized in that each control Coil is set in the antifreeze plate.

6. the linear motor for the control of intelligent machine freedom degree as claimed in claim 5, which is characterized in that each control Coil is etched in the antifreeze plate.

7. the linear motor for the control of intelligent machine freedom degree as claimed in claim 4, which is characterized in that arbitrary neighborhood two Being equidistant between a magnetic conduction sheet.

8. the linear motor for the control of intelligent machine freedom degree as claimed in claim 7, which is characterized in that two neighboring institute Distance L between stating in the middle part of magnetic conduction sheet meets following formula:

L=M*K, M ≠ 3X；

K=(d1+d2)/3；

Wherein, d1 is the thickness of each magnetic conductive board, and d2 is the thickness of each magnetic isolation plate, and X is positive integer, and M is positive integer.

9. such as the described in any item linear motors for the control of intelligent machine freedom degree of claim 1-8, which is characterized in that institute It states mover and the stator is in long strip, the stator is slidably mounted on the mover.

10. the linear motor for the control of intelligent machine freedom degree as claimed in claim 9, which is characterized in that further include branch The sliding rail of the mover is supportted, the mover is installed in the sliding rail, and the casing covers on the stator, and the casing is sliding It is dynamic to be installed on the sliding rail.

11. the linear motor for the control of intelligent machine freedom degree as claimed in claim 10, which is characterized in that the casing On be also equipped with the idler wheel matched with the sliding rail.

12. such as the described in any item linear motors for the control of intelligent machine freedom degree of claim 1-8, which is characterized in that The mover is cylindrical, and excitation component described in each group includes multiple magnetic conduction arms, and multiple magnetic conduction arm uniform rings around The mover.

13. the linear motor for the control of intelligent machine freedom degree as claimed in claim 12, which is characterized in that led described in each Magnetic sheet is equipped with several first external tooths, and each magnetic conduction arm is equipped with several positioning corresponding with each first external tooth respectively Internal tooth.

14. the linear motor for the control of intelligent machine freedom degree as claimed in claim 12, which is characterized in that further include branch The support shaft of the mover is supportted, is offered in the mover and passes through fixed centre bore for the support shaft.

15. the linear motor for the control of intelligent machine freedom degree as claimed in claim 12, which is characterized in that the casing It covers on the stator, the both ends of the casing offer the aperture passed through for the mover.

16. the linear motor for the control of intelligent machine freedom degree as claimed in claim 15, which is characterized in that the aperture In axle sleeve is installed.

17. such as the described in any item linear motors for the control of intelligent machine freedom degree of claim 1-8, which is characterized in that Including support shaft, the mover includes multiple magnetic arms around the support shaft, and each magnetic arm includes alternately laminated sets Several magnetic conductive boards set and the magnetic isolation plate；Excitation component described in each group includes corresponding with each magnetic arm respectively Multiple magnetic conduction arms, and multiple magnetic conduction arm uniform rings are around the mover.

18. the linear motor for the control of intelligent machine freedom degree as claimed in claim 17, which is characterized in that led described in each The fan-shaped setting of magnetic sheet.

19. the linear motor for the control of intelligent machine freedom degree as claimed in claim 18, which is characterized in that led described in each Magnetic sheet is equipped with several first external tooths, and each magnetic conduction arm is equipped with several positioning corresponding with each first external tooth respectively Internal tooth.

20. the linear motor for the control of intelligent machine freedom degree as claimed in claim 17, which is characterized in that each magnetic It inhales arm and permanent magnet is installed far from one end of the magnetic conduction arm.

21. the linear motor for the control of intelligent machine freedom degree as claimed in claim 17, which is characterized in that the casing It covers on the stator, the both ends of the casing offer the aperture passed through for the mover, and the both ends of the stator are equipped with Gasket ring, each gasket ring are installed on the inner surface of the casing.

22. such as the described in any item linear motors for the control of intelligent machine freedom degree of claim 1-8, which is characterized in that The casing is cylindrical, and the casing is placed on the mover, and the stator is slidably mounted in the casing, described in each group Excitation component includes multiple magnetic conduction arms, and multiple magnetic conduction arm uniform rings are around the axial direction setting of the casing, described dynamic Subring is arranged around the stator.

23. the linear motor for the control of intelligent machine freedom degree as claimed in claim 22, which is characterized in that further include folder The grip block of driving mechanism described in fixed several sets is held, the grip block is slidably mounted in the mover.

24. the linear motor for the control of intelligent machine freedom degree as claimed in claim 22, which is characterized in that further include branch Axis is supportted, multiple magnetic conduction arm uniform rings are around being installed in the support shaft.

25. the linear motor for the control of intelligent machine freedom degree as claimed in claim 22, which is characterized in that led described in each Magnetic sheet is equipped with several first internal tooths, and each magnetic conduction arm is equipped with several positioning corresponding with each first internal tooth respectively External tooth.

26. the linear motor for the control of intelligent machine freedom degree as claimed in claim 22, which is characterized in that led described in each Magnetic sheet is in a ring.

27. the linear motor for the control of intelligent machine freedom degree as claimed in claim 22, which is characterized in that the mover Multiple magnetic arms including being installed on the casing inner surface, each magnetic arm include that the several of alternately laminated setting described lead Magnetic sheet and the magnetic isolation plate；Each magnetic conduction sheet is fan-shaped.

28. such as the described in any item linear motors for the control of intelligent machine freedom degree of claim 1-8, which is characterized in that Each magnetic conduction arm is equipped with permanent magnets far from described mover one end.