CN205509831U - Linear motor - Google Patents
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- CN205509831U CN205509831U CN201620138992.9U CN201620138992U CN205509831U CN 205509831 U CN205509831 U CN 205509831U CN 201620138992 U CN201620138992 U CN 201620138992U CN 205509831 U CN205509831 U CN 205509831U
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Abstract
The utility model is suitable for a motor field provides a linear motor, including casing, stator, rotor, back shaft and control mechanism, the stator includes the electrically conductive and a plurality of isolating rings of magnetic conduction not of a plurality of magnetic conduction ring sums, and each magnetic conduction ring and the range upon range of setting in turn of each isolating ring, and the rotor includes support chassis and drive coil, and control mechanism is including leading magnetic arm and control coil. The stator uses magnetic conduction ring and the isolating ring that sets up in turn, can be less with the volume preparation of stator, and the drive coil of rotor produces along the axial driving magnetic field of back shaft, when the drive coil passes through current pulse, can produce induced -current in the stator, and then produce the magnetic field driving rotor and remove, therefore this linear motor can realize quick response, and when passing through great instantaneous pulse current, can produce great power, and the volume can be makeed less, magnetic force that in addition can be through the regulation control coil and the interact of the magnetic conduction ring of stator control the position of rotor, control more accurately.
Description
Technical field
This utility model belongs to machine field, particularly relates to a kind of linear electric motors.
Background technology
Linear electric motors are also referred to as linear electric machine, and its principle is: linear electric motors are that electric energy is directly changed into linear motion mechanical energy, without the actuating device of any intermediate conversion mechanism by one.It can be regarded an electric rotating machine as and cut open by radial direction, and generated plane forms.The side developed by stator is referred to as primary, rotor the side developed is referred to as secondary.When reality is applied, primary and secondary is manufactured into different length, to ensure that primary keeps constant with coupling between secondary in required stroke range.Linear electric motors can be short primary long secondary, it is also possible to is long primary short secondary.When armature winding is passed through alternating current power supply, just producing travelling-magnetic-field in air gap, secondary is expert under ripple magnetic field intercepts, will be induced electromotive force and produce electric current, and this electric current just produces electromagnetic push with the magnetic field phase separation in air gap.If primary fixing, then secondary moves along a straight line under thrust；Otherwise, then primary moves along a straight line.Thus the stator of existing linear electric motors is usually interval on long straight guide and arranges permanent magnet or the coil producing magnetic field, same interval on rotor guide rail arranges coil and forms.But this stator and rotor structure, arrange multiple coil or permanent magnet owing to be spaced, thus volume be bigger, separately being limited by volume size, either stator or rotor, the magnetic field intensity of its coil or permanent magnet generation is less, the volume causing linear electric motors is big, and power is less, controls difficulty.
Utility model content
The purpose of this utility model is to provide a kind of linear electric motors, it is intended to solve the problem that existing linear electric motors volume is big, power is little, control difficulty.
This utility model is realized in, a kind of linear electric motors, including casing, it is installed on the stator in described casing, the rotor being slidably mounted in described stator and the support shaft of the described rotor of support, described support shaft is installed in described casing, described stator include for some magnetic guiding loops of magnetic conduction and for conduction non-magnetic some shading rings, and described magnetic guiding loop and the alternately laminated setting of described shading ring, described rotor includes being installed on the support frame in described support shaft and for producing the driving coil of driving magnetic field, described driving magnetic field is axial along described support shaft, described driving coil is wound on described support frame, described linear electric motors also include the controlling organization for controlling described rotor-position, described controlling organization includes the magnetic conduction arm being connected with described support frame and the control coil being wound on magnetic conduction arm.
Further, described magnetic conduction arm includes some magnetic conduction sheets of the axially stacked setting along described support shaft and isolates some insulating trips of magnetic conduction sheet described in adjacent two panels.
Further, a piece of described magnetic guiding loop that adjacent on described magnetic conduction arm a piece of described magnetic conduction sheet is adjacent with on described stator with the thickness sum of a piece of described insulating trip is equal with the thickness sum of a piece of described shading ring.
Further, described magnetic conduction arm is arranged in pairs, and described magnetic conduction arm is at least one pair of, and two described magnetic conduction arms of every pair are respectively arranged on the opposite sides of described support shaft.
Further, described stator cylindrically, described magnetic conduction arm away from one end of described support shaft in the circular arc coordinated with described stator.
Further, each described magnetic guiding loop is the most uniformly convexly equipped with some first double wedges, and described magnetic conduction arm is convexly equipped with some second double wedges away from one end of described support shaft；Radial direction along described stator: the spacing of the first double wedge described in adjacent two is equal with the spacing of the second double wedge described in adjacent two.
Further, on described magnetic conduction arm, one end of close described support shaft is provided with permanent magnet.
Further, also including the controller controlling described driving coil current, described controller is installed on described support frame.
Further, the inner surface of described magnetic guiding loop cooperatively forms grating scale with the inner surface of described shading ring, offers containing cavity in described support frame, is provided with the Grating examinations device coordinating described grating scale to detect described rotor movement position in described containing cavity.
The stator of linear electric motors of the present utility model uses magnetic guiding loop and the shading ring of alternately laminated setting, and shading ring conduction and not magnetic conduction, then can the volume of stator be made less, and the coil that drives of rotor produces along the axial driving magnetic field of support shaft, when driving coil by current impulse, the faradic current that can produce in stator, and then produce the magnetic field contrary with above-mentioned driving magnetic field, to drive rotor movement, thus these linear electric motors can realize quickly responding；During it addition, drive coil by bigger instant pulse current, bigger power can be produced；And the magnetic conduction arm being connected with support frame is set, and on magnetic conduction arm, it is wound around control coil, the position of rotor can be controlled by the interaction of the magnetic force of control coil Yu the magnetic guiding loop of stator, control the most accurate；Owing to driving coil to produce along the axial driving magnetic field of support shaft, then it is axial around support shaft for driving coil-winding direction, thus can make less, so the volume of these linear electric motors can make less by the volume of rotor.
Accompanying drawing explanation
Fig. 1 is the sectional structure schematic diagram of a kind of linear electric motors that this utility model embodiment one provides；
Fig. 2 is the sectional structure schematic diagram of line A-A along Fig. 1；
Fig. 3 is the structure for amplifying schematic diagram of N section in Fig. 1；
Fig. 4 is the magnetic guiding loop of the linear electric motors rotor of Fig. 1 stress schematic diagram when being displaced to the second magnetic guiding loop side neighbouring on stator；
Fig. 5 is the magnetic guiding loop of the linear electric motors rotor of Fig. 1 stress schematic diagram when being displaced to the second magnetic guiding loop opposite side neighbouring on stator；
Fig. 6 is the rotor of Fig. 1 when moving in the stator, magnetic guiding loop stress schematic diagram；
Fig. 7 is the schematic diagram of mean forced position between the linear electric motors rotor of Fig. 1 and stator；
Fig. 8 is the schematic diagram of the control circuit driving coil of the linear electric motors of Fig. 1；
Fig. 9 is the control process schematic driving coil of the linear electric motors of Fig. 1, wherein figure a is the H bridge brachium pontis grid voltage controlling to drive coil, figure b is the size of the power driving coil to produce, and figure c is the rotor axial speed of service of linear electric motors, and figure d is the size of the power that control coil produces.
Figure 10 is the sectional structure schematic diagram of a kind of linear electric motors that this utility model embodiment two provides；
Figure 11 is the sectional structure schematic diagram of G-G line along Figure 10.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, this utility model is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain this utility model, is not used to limit this utility model.
Embodiment one:
Referring to Fig. 1-Fig. 9, a kind of linear electric motors 100 that this utility model embodiment provides, including casing 11, stator 20, rotor 30, support shaft 13 and controlling organization 40；Stator 20 is installed in casing 11.In the present embodiment, stator 20 is installed in casing 11, can be supported by casing 11 and protect stator 20.Rotor 30 is slidably mounted in stator 20, in order to rotor 30 can move in stator 20, and rotor 30 is arranged in support shaft 13, can support rotor 30 by support shaft 13, and make rotor 30 can move along support shaft 13.Support shaft 13 is arranged in casing 11, so that casing 11 supports support shaft 13.Stator 20 includes some magnetic guiding loops 21 and some shading rings 22, and magnetic guiding loop 21 and the alternately laminated setting of shading ring 22, and magnetic guiding loop 21 is for magnetic conduction and conduction, and shading ring 22 is not magnetic conduction for conduction；Axial along support shaft 13, arranges 21, one layer of shading ring of one layer of magnetic guiding loop, 21, one layer of shading ring 22 of 22, one layer of magnetic guiding loop and is so arranged alternately.Rotor 30 includes support frame 31 and drives coil 32, support frame 31 is installed in support shaft 13, coil 32 is driven to be wound on support frame 31, when driving coil 32 to be energized, drive coil 32 can produce the axial driving magnetic field along support shaft 13, when being wrapped on support frame 31 by driving coil 32, drive coil 32 really around support shaft 13.When driving coil 32 by current impulse, the faradic current that can produce in stator 20, and then produce the magnetic field contrary with above-mentioned driving magnetic field, to drive rotor 30 to move；When current impulse is relatively big and the time is shorter, bigger driving force can be produced, thus realize the quick response of rotor 30.Controlling organization 40 is used for coordinating stator 20 to control rotor 30 position, controlling organization 40 includes magnetic conduction arm 41 and control coil 42, magnetic conduction arm 41 is connected with support frame 31, such that it is able to move with rotor 30, control coil 42 is wound on magnetic conduction arm 41, when being energized to control coil 42, control magnetic field can be produced, guided by magnetic conduction arm 41 again, and then can interact with the magnetic guiding loop 21 of stator 20, thus be possible not only to play deceleration and use, acceleration can also be realized with rotor relative to position according to stator, realize accurately regulation, and after driving coil 32 power-off, magnetic conduction arm 41 can be positioned, and then rotor 30 is positioned, such that it is able to realize controlling the position of rotor 30.
The stator 20 of linear electric motors 100 uses magnetic guiding loop 21 and the shading ring 22 of alternately laminated setting, and shading ring 22 conducts electricity and not magnetic conduction, then can the volume of stator 20 be made less, and the coil 32 that drives of rotor 30 produces along the axial driving magnetic field of support shaft 13, when driving coil 32 by current impulse, the faradic current that can produce in stator 20, and then produce the magnetic field contrary with above-mentioned driving magnetic field, to drive rotor 30 to move, thus these linear electric motors 100 can realize quickly responding；During it addition, drive coil by bigger instant pulse current, bigger power can produced；And the magnetic conduction arm 41 being connected with support frame 31 is set, and on magnetic conduction arm 41, it is wound around control coil 42, the position of rotor 30 can be controlled by the interaction of the magnetic force of control coil 42 Yu the magnetic guiding loop 21 of stator 20, control precisely；Driving magnetic field owing to driving coil 32 to produce is axial along support shaft 13, then driving coil 32 direction of winding is around support shaft 13 axially, thus can make less, so the volume of these linear electric motors 100 can make less by the volume of rotor 30.
Magnetic guiding loop 21 can be the ring plate that the permeability magnetic materials such as iron hoop, steel loop, silicon steel, electrical pure iron, permalloy, metal nano alloy material make.Shading ring 22 can be the ring plate that copper ring, aluminum ring etc. conduct electricity and non-magnetic material makes.
Further, drive coil 32 that at least two groups can be set, when at least two groups drive coil 32 by different time sequencings by current impulse, drive coil 32 can produce straight-line traveling wave magnetic field, and the size and Orientation in straight-line traveling wave magnetic field drives the size of current of coil 32 and ON time order relevant with many groups, owing to row wave speed and the stator 20 in straight-line traveling wave magnetic field exist slip speed, faradic current is produced in stator 20, and then produce the magnetic field contrary with above-mentioned straight-line traveling wave magnetic field, to drive rotor 30 to move.Certainly, in further embodiments, it is also possible to make at least two groups drive coil 32 to produce the magnetic field of other waveform, and then in stator 20, produce faradic current, and produce contrary magnetic field, to drive rotor 30 to move.
Each group drives coil 32 that the anaerobic fine copper enamel-covered wire that sectional area is big, resistivity is low can be used to be wound on support frame 31 1～2 layer.So that transient high-current can be passed through.
Further, magnetic conduction arm 41 includes some magnetic conduction sheets 411 and some insulating trips 412, magnetic conduction sheet 411 and the alternately laminated setting of insulating trip 412, and axial along support shaft 13: 411, one layer of insulating trip of one layer of magnetic conduction sheet, 411, one layer of insulating trip 412 of 412, one layer of magnetic conduction sheet is set and is so arranged alternately.Each insulating trip 412 isolates adjacent two panels magnetic conduction sheet 411.The control magnetic field that the magnetic conduction arm 41 that this structure is arranged can be produced by control coil 42.Further, magnetic conduction sheet 411 can be the sheet that the permeability magnetic materials such as iron plate, steel disc, silicon steel, electrical pure iron, permalloy, metal nano alloy material make.Insulating trip 412 can be the sheet that the insulant such as plastic sheet, resin sheet makes.It is of course also possible to wrap up the insulated claddings such as insullac on magnetic conduction sheet 411, then the magnetic conduction sheet 411 that these are surrounded by insulated cladding is superimposed together, and forms magnetic conduction arm 41.
Referring to Fig. 3-Fig. 7, further, adjacent a piece of magnetic conduction sheet 411 is equal with the thickness sum of a piece of shading ring 22 with adjacent a piece of magnetic guiding loop 21 with the thickness sum of a piece of insulating trip 412.When the thickness of magnetic conduction sheet 411 is D11, the thickness of insulating trip 412 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 being energized to control coil 42, this structure can realize being automatically positioned the function of locking.Specifically, when in magnetic conduction arm 41 by controlling magnetic field B, the magnetic guiding loop 21 of stator 20 also can pass through corresponding magnetic field B, to interact with magnetic conduction arm 41.Refer to Fig. 4, when the magnetic conduction sheet 411 of magnetic conduction arm 41 is positioned at the left side of the neighbouring magnetic guiding loop of stator 20 21, is controlled magnetic field suction F to the right and uses, then can move right.Refer to Fig. 5, when the magnetic conduction sheet 411 of magnetic conduction arm 41 is positioned at the right side of the neighbouring magnetic guiding loop of stator 20 21, is controlled magnetic field suction F to the left and uses, then can be moved to the left.Refer to Fig. 6 and Fig. 7, when aliging in the middle part of the middle part of the magnetic conduction sheet 411 of magnetic conduction arm 41 magnetic guiding loop 21 neighbouring with stator 20, as with S in Fig. 70、S2、S4Position is controlled suction left-right balance or the magnetic force F minimum in magnetic field to the magnetic conduction sheet 411 of magnetic conduction arm 41 during correspondence, and now the magnetic conduction sheet 411 of magnetic conduction arm 41 is in stable state.And when aliging in the middle part of the middle part of the magnetic conduction sheet 411 of magnetic conduction arm 41 dead ring neighbouring with stator 20, as with S in Fig. 71、S3Position to correspondence time the magnetic conduction sheet 411 of magnetic conduction arm 41 is controlled the suction in magnetic field also can left-right balance, if but now magnetic conduction sheet 411 slightly offsets or by External Force Acting, then can break this balance, make the magnetic conduction sheet 411 of magnetic conduction arm 41 move to neighbouring magnetic guiding loop 21 corresponding position.Then when energising in control coil 42, can play deceleration, and then be positioned by rotor 30, it is also possible to make rotor be accelerated according to stator with the relative position of rotor, it is the most accurate to regulate.
Referring to Fig. 1, Fig. 2 and Fig. 3, further, magnetic conduction arm 41 is arranged in pairs, and magnetic conduction arm 41 is at least one pair of, and two magnetic conduction arms 41 of every pair are respectively arranged on the opposite sides of support shaft 13.Being arranged in pairs by magnetic conduction arm 41, the stress that can make rotor 30 both sides is steady, so that rotor 30 can more smoothly move 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 can also be other logarithm, as three to, four to etc..In further embodiments, magnetic conduction arm 41 can also be ringwise.
Further, stator 20 cylindrically, magnetic conduction arm 41 away from one end 415 of support shaft 13 in the circular arc coordinated with stator 20.Magnetic conduction arm 41 is arranged in circular arc away from one end 415 of support shaft 13, the area that the magnetic guiding loop 21 with stator 20 coordinates can be increased, improve control coil 42 and produce the magnetic attraction controlling magnetic field.In other embodiments, stator 20 can also the cross section of ovalize or stator 20 in the shape of a frame.
It is possible to further arrange less by the gap between magnetic conduction arm 41 and stator 20, and then reduce magnetic force loss, improve control coil 42 and produce the magnetic attraction controlling magnetic field.
Further, casing 11 is provided with axle sleeve 12, and axle sleeve 12 is sleeved in support shaft 13.Axle sleeve 12 is set to support support shaft 13, can preferably reduce support shaft 13 and wear and tear.
Further, control coil 42 produce control magnetic field be perpendicular to the axial of support shaft 13.It is perpendicular to the axial of support shaft 13 by controlling magnetic field, then controls magnetic field vertical magnetic drive field, such that it is able to prevent from controlling influencing each other between magnetic field and driving magnetic field.
Further, on magnetic conduction arm 41, one end of close support shaft 13 is provided with permanent magnet 45.On magnetic conduction arm 41, the one end near support shaft 13 arranges permanent magnet 45, can make to have all the time on magnetic conduction arm 41 magnetic force, then when rotor 30 stops mobile, it is possible to achieve locking action automatically.In the present embodiment, permanent magnet 45 is in sleeve-shaped, and magnetic conduction arm 41 is fixed on permanent magnet 45.
Refer to Fig. 1-Fig. 9, during linear electric motors 100 power-off of this embodiment, magnetic field B on magnetic conduction arm 41 is split by stator 20 and the permeability magnetic material of the magnetic circuit part of magnetic conduction arm 41 and non-magnet_conductible material in the axial direction, is i.e. split by the magnetic guiding loop 21 of stator 20 and the magnetic conduction sheet 411 of magnetic conduction arm 41.Distance between the permeability magnetic material of stator 20 and magnetic conduction arm 41 is sufficiently small, when i.e. distance between magnetic guiding loop 21 and the magnetic conduction sheet 411 of magnetic conduction arm 41 of stator 20 is sufficiently small, if magnetic guiding loop 21 offsets with the relative axial position of neighbouring magnetic conduction sheet 411, magnetic field B makes on the position being maintained at magnetic resistance minimum of magnetic conduction arm 41 by producing static magnetic force F, this position i.e. Fig. 4 and position shown in dotted lines in Figure 5, distance S of deviation dotted line position and the magnitude relationship of magnetic force F are as shown in Figure 6.S in Fig. 6 and Fig. 71And S3Although position active force is 0, but this position is labile state, as long as there are some interference, S in the external world1And S3Position can not keep.And S0、S2、S4These positions are steady statue, as long as the applied external force being applied on these linear electric motors 100 is less than maximum static magnetic force F, the stator 20 of linear electric motors 100 will keep this relative position, therefore having the function that position keeps automatically after linear electric motors 100 power-off with rotor 30.
After the control coil 42 of controlling organization 40 is energized, the magnetic field producing magnetic field and permanent magnet 45 is overlapped mutually, the magnetic field that will strengthen or weaken between stator 20 and magnetic conduction arm 41 in whole magnetic circuit.The gap length that superposition magnetic field produces between the relative position between size direction and the size in superposition magnetic field, stator 20 rotor 30 of power, stator 20 magnetic conduction arm 41 is relevant, choose the length of linear electric motors 100 magnetic circuit part, the size in permanent magnet 45 magnetic field, the number of turn of control coil 42, the peak load that the maximum force making superposition magnetic field produce bears when working more than linear electric motors 100.This active force is for controlling position and the speed of linear electric motors 100 axial linear movement.After linear electric motors 100 structure determines, deviate the distance of magnetic resistance minimum position, the size of control coil 42 electric current according to stator 20 position relative with rotor 30 time static, the external world can be obtained and be applied to the size of linear electric motors 100 active force.The structure of the magnetic circuit of linear electric motors 100 stator 20 and rotor 30 and magnetic conduction arm 41 understands, and this linear electric motors 100 position accuracy is D21+D22, axial location controls do not have cumulative error.And during producing, by regulation stator 20 and the thickness of magnetic conduction arm 41 magnetic circuit material, i.e. the thickness of the magnetic conduction sheet 411 of the magnetic guiding loop 21 of stator 20 and magnetic conduction arm 41 and shading ring 22 and the thickness of insulating trip 412, meet the axial location control accuracy requirement of linear electric motors 100.In order to reach higher control performance, the assemblage gap between stator 20 and magnetic conduction arm 41 requires the least.And when the thickness of stator 20 and magnetic conduction arm 41 and permeability magnetic material and non-magnet_conductible material arranges as far as possible hour, the precision that can make these linear electric motors 100 reaches higher precision, even can reach the precision of 1 μm, certainly, 1 μm is also wanted in gap for 1 μm required precision stator rotor, if otherwise gap is too big, the control moment that control coil produces has almost no change when moving, cause influence on Harmonic Armature, so the motion control accuracy of linear electric motors reality is limited to the gap length between stator and magnetic conduction arm, the thickness being additionally limited to magnetic conduction and non-magnet material limits.
Seeing also Fig. 8 and Fig. 9, these linear electric motors 100 also include the controller controlling to drive coil 32 electric current, are provided with control circuit 50 in this controller.Controller is set, the volume of linear electric motors 100 can be reduced, be also convenient for controlling this linear electric motors 100 simultaneously.Controller can be arranged in support frame 31.Support frame 31 can offer containing cavity 33, to install this controller.
Further, controller is additionally provided with the integrating control chip of this control circuit 50 of control.Integrating control chip is set and can preferably control to drive the conducting of coil 32 electric current, and then can preferably control these linear electric motors 100.Integrating control chip is set and can also quickly detect the applied external force suffered by linear electric motors and load quality size.
Coil 32 is driven to use the wire that sectional area is big, resistivity is low to be wound on by the heat conduction support frame 31 that magnetic conduction electrically non-conductive material is not made.Drive coil 32 can bear bigger electric current.Further, control circuit 50 includes connecting the on-off circuit driving coil 32 and the charging circuit 58 being connected with on-off circuit.This on-off circuit is provided with to the electric capacity 55 driving coil 32 power supply.Use on-off circuit, in that context it may be convenient to control to drive the break-make of coil 32, to control rotor 30 and to move.Further, in the present embodiment, device for switching can be H-bridge circuit.Referring to Fig. 8 and Fig. 9, in Fig. 9, a is H bridge brachium pontis 52 grid voltage controlling to drive coil 32, and b is the size of the power driving coil 32 to produce, and c is the axial speed of service of rotor 30 of linear electric motors 100, and d is the size of the power that control coil 42 produces.Integrating control chip regulates the charging voltage of electric capacity 55 by charging circuit 58.When after electric capacity 55 charging complete, integrating control chip produces a narrowest control pulse of pulsewidth and is loaded on H-bridge circuit one pair of which brachium pontis 52, this makes this electric capacity 55 drive coil 32 to spark rotor 30 when turning on brachium pontis 52, now drive the primary coil that coil 32 is similar in coilgun；And when driving coil 32 is at least two group, then drive coil 32 can form the driving coil being similar to asynchronous induction coilgun, electric current Ic is the biggest for transient switching, the driving magnetic field produced and the conductive material interaction of the stator 20 near support frame 31 outer rim driving coil 32, produce big electromagnetic force FQDrive rotor 30 axial linear movement.The pulsewidth controlling pulse is the narrowest, and the conducting brachium pontis 52 of H-bridge circuit is quickly closed, and now drives the electric current In in coil 32 to be gradually reduced and wires back through another pair brachium pontis 52 inversion of H bridge and holds 55 and power supply, and this electric current will produce electromagnetic resistance F in opposite directionZHinder the motion of rotor 30.When integrating control chip drives the turn-on sequence of coil 32 on-off circuit with charging voltage height, each group of certain periodic Control electric capacity 55 and can change the stress size and Orientation of rotor 30 interval time.
Owing to the direction of winding of control coil 42 and driving coil 32 is spatially mutually perpendicular to, the magnetic field that they produce influences each other low.The heat driving coil 32 and control circuit 50 to produce is dispelled the heat by support frame 31 and the support shaft 13 of rotor 30.This control mode driving coil 32 can provide bigger driving force in a short period of time.
The highest owing to driving coil 32 to control frequency, control coil 42 is due to the reason of own inductance, control frequency relatively low, the control mode of these linear electric motors 100 is: need speed and the position of movement according to rotor, altofrequency controls to drive coil 32 size of current and direction, when rotor 30 moves very fast, displacement is D11+D12Time, active force a period of time deceleration that control coil 42 and stator 20 produce, a period of time acceleration, the effect major part of rotor 30 is offset, at this moment controls speed and the position of motor by controlling driving coil 32.When rotor 30 translational speed is slower, the active force that control coil 32 and stator 20 produce is increasing to the effect of rotor 20, when the momentum of rotor 20 is not enough to offset the momentum that the active force of control coil 32 and stator 20 generation produces, and rotor 30 will be fixed on relevant position.
When the rotor 30 of linear electric motors 100 needs axial linear movement, if setting the quality of linear electric motors 100 dragging load as MF, it is F that the external world is applied to the active force of linear electric motors 100W, the conduction interval time T of on-off circuiton, now drive coil 32 to produce big driving electromagnetic force FQDrive linear electric motors 100 to move, then the relation of these parameters is (FQ-FW)*Ton=MF*ΔVon.Regulated the control magnetic field of stator 20 and magnetic conduction arm 41 simultaneously by control coil 42, control magnetic field and produce electromagnetic force FKThe motion of regulation mover, the velocity variations value that linear electric motors 100 rotor 30 produces is Δ Von.When linear electric motors 100 movement velocity is very fast, the distance that the relative position of linear electric motors 100 stator 20 rotor 30 is often added through one group of magnetic guiding loop 21 and shading ring 22 thickness, FKDirection occur once change, therefore FKThe major part that affects of linear electric motors 100 velocity variations is offset.After on-off circuit cuts out, coil 32 electric current is driven to start reduce and produce electromagnetic resistance FZ, the rotor 30 of linear electric motors 100 keeps inertia to continue motion, and taking wherein movement velocity a period of time faster is shut-in time Toff, measure velocity variations value Δ Voff, then the relation of these parameters is (FZ+FW)*Toff=MF*ΔVoff.When linear electric motors 100 speed is gradually reduced, the momentum of linear electric motors 100 is not enough to offset FKImpact on linear electric motors 100 speed, the now whole directed force F of linear electric motors 100K-FW-FZThe momentum produced, more than the momentum of linear electric motors 100 rotor, makes linear electric motors 100 keep balance in new position.If T during whole controlonAnd ToffTime is the shortest, then linear electric motors 100 drive the frequency of coil 32 motor control can be the highest, and then the movement velocity of linear electric motors 100 can be made soft smooth.
When linear electric motors work, the mass M of dragging loadF, the external world is applied to the directed force F of linear electric motorsW, the two parameter needs detection in real time.Wherein the extraneous amount of force being applied to linear electric motors and direction may all change in each moment, and the quality of dragging load is likely to moment change.The linear electric motors of prior art all detect the size and Orientation of active force by pressure transducer, but the speed that the amount of force detected by this mode is moved with above-mentioned two parameter and linear electric motors is relevant with acceleration, thus is difficult to obtain the external world and is applied to the directed force F of linear electric motorsWWith dragging load mass MFThe two thinning parameter.The control of the linear electric motors of prior art is degenerative control mode, first a certain size the active force that linear electric motors apply to external world, after a period of time, linear electric motors position, speed and acceleration change, detect that data and the target component of relevant parameter contrast, then adjust the size of the active force that linear electric motors apply to external world.Owing to after the active force that linear electric motors apply to external world, the change of linear electric motors speed and acceleration needs the regular hour, it is low that the most this control mode controls frequency, need torque that the machinery increases such as reductor are bigger to offset dragging load quality and the external world is applied to being continually changing of active force of linear electric motors, increase the volume of whole control system.
After linear electric motors 100 structure of the present embodiment and control circuit 50 are fixed, drive electric capacity 55 charging voltage, the ON time T of on-off circuit in the control circuit 50 of coil 32onOne timing, driving electromagnetic force F of generationQWith electromagnetic resistance FZSize be also fixing.When linear electric motors 100 move, integrating control chip is by electric capacity 55 charging voltage in acquisition control circuit 50 and controls pulse ON time, can obtain driving when linear electric motors 100 move electromagnetic force FQWith electromagnetic resistance FZSize, i.e. drive 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 VonAll can immediately arrive at or directly measure, i.e. Toff、ΔVoff、TonWith Δ VonAlso it is known parameters.Thus according to these associated motion parameter data, the external world can be calculated and be applied to the load mass the two thinning parameter that the size of linear electric motors 100 active force, direction and linear electric motors 100 drag.When linear electric motors 100 are static, measure stator 20 and rotor 30 deviates the distance of magnetic resistance minimum position, the size of control coil 42 electric current, and then obtain the external world and be applied to the size of linear electric motors 100 active force, and the active force that this value and linear electric motors 100 apply to external world is equal.Owing to the frequency of linear electric motors 100 motor control is the highest, every secondary control can calculate the external world in a short period of time and be applied to active force and the size of linear electric motors 100 dragging load quality of linear electric motors 100, adjusts driving electromagnetic force F driving coil 32 in timeQAnd ON time, the F provided additionally, due to control coil 42KStill can be supplied to the bigger moment of linear electric motors 100 and offset the quality of extraneous dragging load and the impact of the extraneous active force change being applied to linear electric motors 100, therefore linear electric motors 100 whole system can eliminate the mechanical adjustable speed drives such as reductor.This control mode is adapted to the external world and is applied to linear electric motors 100 active force and linear electric motors 100 dragging load quality does not stop situation about changing.
Thus the structure of the linear electric motors 100 according to the present embodiment, the present embodiment also provides for the control method of a kind of linear electric motors, including step: control to drive coil 32 by pulse current by control circuit 50, and conduction time is Ton, and at TonIn time, according to pulse current size, show that driving coil 32 produces big driving electromagnetic force FQWith measure rotor 30 velocity variations value Δ Von；And draw equation: (FQ-FW)*Ton=MF*ΔVon；
After taking pulse power-off, rotor 30 movement velocity a period of time faster is Toff, show that driving coil 32 electric current produces electromagnetic resistance FZWith measure respective rotor 30 velocity variations value Δ Voff, and draw equation: (FZ+FW)*Toff=MF*ΔVoff；
The mass M of linear electric motors 100 dragging load is calculated out according to above two equatioiesF, the external world is applied to the directed force F of linear electric motors 100W；
The mass M of the load according to detectionFAnd directed force FW, regulation drives pulse current size and the time of coil 32 to control speed and the position of these linear electric motors.Above-mentioned time ToffCan be configured, as being set to tens nanoseconds or a few microsecond etc. according to the precision of detection equipment.
Further, the control method of these linear electric motors drive the control circuit 50 of coil 32 include on-off circuit, the electric capacity 55 at connecting valve circuit two ends and power supply circuits 57.The most above-mentioned take pulse power-off after rotor 30 movement velocity a period of time faster be Toff, can be configured, as being set to tens nanoseconds or a few microsecond etc. according to the precision of detection equipment.In the present embodiment, on-off circuit can be H-bridge circuit.
The present embodiment is also disclosed a kind of integrating control chip, for detecting the mass M of linear electric motors dragging load as mentionedFWith the linear electric motors directed force F described in external world's applyingWIncluding controlling to drive the control circuit of coil, detection module, memorizer and processing module, described control circuit includes controlling the on-off circuit of described driving coil, the electric capacity connecting described on-off circuit two ends and the power supply circuits charging described electric capacity, and described detection module measures described electric capacity charging voltage and described on-off circuit ON time TonAnd time TonCorresponding velocity variations value Δ Von, described detection module also measures a period of time T after described on-off circuit cuts outoffCorresponding velocity variations value Δ Voff, and by this time TonAnd ToffAnd Δ VonWith Δ VoffBeing stored in described memorizer, described processing module is according to the ON time T of described on-off circuiton, the charging voltage of described electric capacity, obtain drive electromagnetic force FQAnd electromagnetic resistance FZValue, further according to formula (FQ-FW)*Ton=MF*ΔVonWith (FZ+FW)*Toff=MF*ΔVoffCalculate the mass M of described loadFWith described extraneous applying directed force FW。
Further, integrating control chip can be connected with outer computer or server, controls integrated control chip by computer or server, and then controls linear electric motors 100.
Further, on-off circuit can be H-bridge circuit, with more preferable ON time and the sense of current controlling to drive coil 32, and then can preferably control rotor 30 and shift position and direction.
Further, being additionally provided with temperature detecting module in this integrating control chip, temperature when running with detection of straight lines motor 100, so that this integrating control chip preferably detects driving electromagnetic force FQAnd electromagnetic resistance FZ, and then make the mass M of the described load detectedFWith described extraneous applying directed force FWMore accurate.
Further, when this integrating control chip uses on these linear electric motors 100, it is possible to achieve above-mentioned control method, accurately to control these linear electric motors 100.
Further, can polish or electroplate the inner surface of magnetic guiding loop 21 and the inner surface of shading ring 22, the inner surface of magnetic guiding loop 21 and the inner surface of shading ring 22 is made to cooperatively form grating scale, in support frame 31, offer containing cavity 33, containing cavity 33 is provided with the Grating examinations device coordinating grating scale detection rotor 30 shift position.Using the inner surface of the inner surface of magnetic guiding loop 21 and shading ring 22 as grating scale, simple in construction, and make detecting system volume reduce, and Grating examinations device can detect the position of grating scale, and then accurately control the position of rotor 30.Specifically, choose the inner surface of the magnetic guiding loop 21 of stator 20 and the light reflection parameters of the inner surface of shading ring 22, Grating examinations device sends light to grating scale, through lens focus, a part projects on grating scale, the light being reflected back is after the indication grating and lens focus of Grating examinations device, then is received by optoelectronic position testing circuit, the axially opposing displacement between stator 20 and rotor 30 and the direction of motion is carried out high-resolution and detects in real time.Another part light projects on the position representing absolute location information coding, and the light being reflected back also is received and parsed through out absolute location information by optoelectronic position testing circuit.Integrating control chip or controller can obtain the kinematic parameters such as rotor 30 position, speed, acceleration in real time according to above-mentioned detection data.Further, can in integrating control chip integrated electro position detecting 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 integrating control chip, can arrange optoelectronic position testing circuit in integrating control chip, such that it is able to detected the kinematic parameters such as rotor 30 position, speed, acceleration in real time by integrating control chip.In other embodiments, it is also possible at the inner surface pad pasting of stator 20, the inner surface of magnetic guiding loop 21 and the inner surface of shading ring 22 is made to cooperatively form grating scale.
Further, the linear electric motors 100 of the present embodiment can use above-mentioned integrating control chip.
Embodiment two:
Referring to Figure 10 and Figure 11, the linear electric motors 100 of the present embodiment and being distinguished as of the linear electric motors of embodiment one: be inwardly convexly equipped with some first double wedges 23 on each magnetic guiding loop 21, these first double wedges 23 are evenly distributed on each magnetic guiding loop 21；Magnetic conduction arm 41 is convexly equipped with some second double wedges 416 away from one end 415 of support shaft 13；Radial direction along stator 20: the spacing of adjacent two first double wedges 23 is equal with the spacing of adjacent two second double wedges 416.Each magnetic guiding loop 21 arranges the first double wedge 23, magnetic conduction arm 41 arranges the second double wedge 416, the function of motor can be formed, by the suction between the first double wedge 23 and the second neighbouring double wedge 416, can automatically adjust the radial position of rotor 30.These linear electric motors 100 are possible not only to realize linear motion, it is also possible to realize the rotational motion of motor.
Further, the position each shading ring 22 corresponding to the first double wedge 23 is also convexly equipped with isolation tooth.Isolation tooth is set and can increase the intensity of the first double wedge 23.
It addition, the controlling organization 40 of the linear electric motors 100 of the present embodiment includes three pairs of magnetic conduction arms 41.
Other structure of the linear electric motors 100 of the present embodiment is identical with other structure of the linear electric motors of embodiment one, the most burdensome at this.
Intelligent machine refers to that computer can control the device of machinery position relatively by controlling bus.In general, intelligent machine also wants that cube is little, multiaxis multi-joint multiple degrees of freedom, motion response speed fast, it is big to bear load and load variations fast, the control accuracy of locus requires height.Intelligent machine includes various bionic mechanical, Digit Control Machine Tool, automatic production line and can substitute mankind's physical work or complete the device of difference in functionality, such as mechanical hand, operating robot, service robot etc..The function needed due to intelligent machine is complicated, so the freedom of motion needed is many.And linear electric motors 100 of the present utility model can accomplish miniaturization, by driving coil 32 by big pulse current, produce bigger magnetic field, such that it is able to provide bigger power, thus multiple linear electric motors 100 can be installed under same volume so that freedom of motion is more.It addition, these linear electric motors 100 can also quickly detect the change of load, to realize quickly response and to control.And relative to existing linear electric motors and AC/DC motor degree of freedom control system, linear electric motors of the present utility model can remove the use of reductor.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all any amendment, equivalent and improvement etc. made within spirit of the present utility model and principle, within should be included in protection domain of the present utility model.
Claims (9)
1. linear electric motors, the stator including casing, being installed in described casing, be slidably mounted on described
Rotor in stator and the support shaft of the described rotor of support, described support shaft is installed in described casing, and it is special
Levying and be, described stator includes for some magnetic guiding loops of magnetic conduction and non-magnetic some isolation for conduction
Ring, and described magnetic guiding loop and the alternately laminated setting of described shading ring, described rotor includes being installed on described support
Support frame on axle and for producing the driving coil of driving magnetic field, described driving magnetic field is along described support shaft
Axial, described driving coil is wound on described support frame, and described linear electric motors also include for controlling
The controlling organization of described rotor-position, described controlling organization include the magnetic conduction arm that is connected with described support frame and
It is wound in the control coil on magnetic conduction arm.
2. linear electric motors as claimed in claim 1, it is characterised in that described magnetic conduction arm includes along described
Some insulating trips of magnetic conduction sheet described in some magnetic conduction sheets of the axially stacked setting of support axle and the adjacent two panels of isolation.
3. linear electric motors as claimed in claim 2, it is characterised in that adjacent a piece of on described magnetic conduction arm
The a piece of described magnetic guiding loop that described magnetic conduction sheet is adjacent with on described stator with the thickness sum of a piece of described insulating trip
Equal with the thickness sum of a piece of described shading ring.
4. the linear electric motors as described in any one of claim 1-3, it is characterised in that described magnetic conduction arm is paired
Arranging, and described magnetic conduction arm is at least one pair of, two described magnetic conduction arms of every pair are respectively arranged on described support shaft
Opposite sides.
5. the linear electric motors as described in any one of claim 1-3, it is characterised in that described stator is cylinder
Shape, described magnetic conduction arm away from one end of described support shaft in the circular arc coordinated with described stator.
6. linear electric motors as claimed in claim 5, it is characterised in that each described magnetic guiding loop is the most convex
Being provided with some first double wedges, described magnetic conduction arm is convexly equipped with some second double wedges away from one end of described support shaft；
Radial direction along described stator: the spacing of the spacing of the first double wedge described in adjacent two and the second double wedge described in adjacent two
Equal.
7. the linear electric motors as described in any one of claim 1-3, it is characterised in that lean on described magnetic conduction arm
One end of nearly described support shaft is provided with permanent magnet.
8. the linear electric motors as described in any one of claim 1-3, it is characterised in that also include that control is described
Driving the controller of coil current, described controller is installed on described support frame.
9. the linear electric motors as described in any one of claim 1-3, it is characterised in that described magnetic guiding loop interior
Surface cooperatively forms grating scale with the inner surface of described shading ring, offers containing cavity in described support frame,
Described containing cavity is provided with the Grating examinations device coordinating described grating scale to detect described rotor movement position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620138992.9U CN205509831U (en) | 2016-02-24 | 2016-02-24 | Linear motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620138992.9U CN205509831U (en) | 2016-02-24 | 2016-02-24 | Linear motor |
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| CN205509831U true CN205509831U (en) | 2016-08-24 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105591520A (en) * | 2016-02-24 | 2016-05-18 | 刘华 | Linear motor and integrated control chip |
| WO2018119624A1 (en) * | 2016-12-27 | 2018-07-05 | 刘华 | Linear motor for use in controlling degrees of freedom of intelligent machines |
| CN113410972A (en) * | 2021-05-27 | 2021-09-17 | 中国科学院高能物理研究所 | Magnetic field isolation device for linear motor |
-
2016
- 2016-02-24 CN CN201620138992.9U patent/CN205509831U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105591520A (en) * | 2016-02-24 | 2016-05-18 | 刘华 | Linear motor and integrated control chip |
| CN105591520B (en) * | 2016-02-24 | 2017-11-24 | 刘华 | Linear electric motors and integrated control chip |
| WO2018119624A1 (en) * | 2016-12-27 | 2018-07-05 | 刘华 | Linear motor for use in controlling degrees of freedom of intelligent machines |
| CN113410972A (en) * | 2021-05-27 | 2021-09-17 | 中国科学院高能物理研究所 | Magnetic field isolation device for linear motor |
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