CN102195439B - Multi-stator multi-rotor array linear motor driving device - Google Patents

Multi-stator multi-rotor array linear motor driving device Download PDF

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Publication number
CN102195439B
CN102195439B CN 201110139285 CN201110139285A CN102195439B CN 102195439 B CN102195439 B CN 102195439B CN 201110139285 CN201110139285 CN 201110139285 CN 201110139285 A CN201110139285 A CN 201110139285A CN 102195439 B CN102195439 B CN 102195439B
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linear motor
linear
motor rotor
line slideway
rotor
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CN102195439A (en
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叶佩青
赵彤
张震
尤政
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Tsinghua University
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Tsinghua University
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Abstract

The invention provides a multi-stator multi-rotor array linear motor driving device, which comprises a plurality of linear driving modules and a connection component, wherein the plurality of linear driving modules are mounted on the connection component; each linear driving module comprises a linear motor stator, an upper surface single linear guide pair, a lower surface single linear guide pair, and a plurality of linear motor rotors; the plurality of linear motor rotors comprise a plurality of upper linear motor rotors and a plurality of lower linear motor rotors; the upper linear motor rotors drive an upper sliding seat to do reciprocating linear movement along an axial direction of an upper linear guide under the action of a magnetic field provided by the linear motor stator; and the lower linear motor rotors drive a lower sliding seat to do the reciprocating linear movement along an axial direction of a lower linear guide under the action of the magnetic field provided by the linear motor stator. The device can directly drive a working platform without a reverse working dead zone; and the reciprocating linear movements between the plurality of linear driving modules and the plurality of linear motor rotors are not interfered by each other.

Description

A kind of multi-stator multi-rotor array linear motor driving device
Technical field
The present invention relates to mechanical manufacturing field, particularly a kind of multi-stator multi-rotor array linear motor driving device.
Background technology
Linear electric motors are a kind of electric energy to be directly changed into rectilinear motion mechanical energy, and without any need for the transmission device of intermediate conversion mechanism.A side of being come by the stator differentiation is called elementary, and a side of being come by the rotor differentiation is called secondary.When practical application, primary and secondary is manufactured different length, remain unchanged to guarantee the coupling between elementary and secondary in required travel range.Linear electric motors can be that short elementary length is secondary, can be also long elementary short secondary.Consider manufacturing cost, operating cost, generally all adopt at present short elementary length secondary.
The operation principle of linear induction motor is as described below: when elementary winding passes into AC power, just produce travelling-magnetic-field in air gap, under the secondary ripple magnetic field intercepts of being expert at, will induce electromotive force and generation current, this electric current acts on mutually with magnetic field in air gap and just produces electromagnetic push.If elementary fixing, secondaryly do rectilinear motion under thrust; Otherwise, the elementary rectilinear motion of doing.
The straight-line occasion of a lot of needs is arranged in punch press, wafer manufacturing.In order to enhance productivity, straight-line speed and acceleration there is very high requirement.The intermediate transmission link of traditional " electric rotating machine+ball-screw " makes stiffness degradation, and strain uprises the order of system, thereby the robustness of system reduces.
Summary of the invention
Purpose of the present invention is intended to solve at least one of above-mentioned technological deficiency, proposes especially the multi-stator multi-rotor array linear motor driving device of the linear reciprocating motion mutually noninterfere between a kind of many movers
for achieving the above object, embodiments of the invention propose a kind of multi-stator multi-rotor array linear motor driving device, comprise a plurality of linear drives modules and link, described a plurality of linear drives module is installed on described link, and wherein each linear drives module comprises: a linear motor stator electric, the single line slideway auxiliary in upper surface, the single line slideway auxiliary in described upper surface is positioned at the upper surface of described linear motor stator electric, comprise the upper line slideway of the upper surface of being fixed in described linear motor stator electric, a plurality of upper saddle and a plurality of top shoe, wherein, described a plurality of upper saddle and a plurality of top shoe are slidably mounted on described upper line slideway and the two ends of each described upper saddle are connected with respectively a top shoe, the single line slideway auxiliary in lower surface, the single line slideway auxiliary in described lower surface is positioned at the lower surface of described linear motor stator electric, comprise the lower line slideway of the lower surface of being fixed in described linear motor stator electric, a plurality of lower slider and a plurality of sliding block, wherein, described a plurality of lower slider and a plurality of sliding block are slidably mounted on described lower line slideway and the two ends of each described lower slider are connected with respectively a sliding block, a plurality of linear motor rotors, described a plurality of linear motor rotor comprises a plurality of upper linear motor rotors and a plurality of lower linear motor rotor, wherein each described upper linear motor rotor is fixedly connected with described each upper saddle, described upper linear motor rotor is under the effect in the magnetic field that described linear motor stator electric provides, the described upper saddle that drive is connected with described upper linear motor rotor axially carries out linear reciprocating motion along described upper line slideway, described each described lower linear motor rotor is fixedly connected with described each lower slider, described lower linear motor rotor is under the effect in the magnetic field that described linear motor stator electric provides, the described lower slider that drive is connected with described lower linear motor rotor axially carries out linear reciprocating motion along described lower line slideway.
Multi-stator multi-rotor array linear motor driving device according to the embodiment of the present invention, can directly drive workbench to you, there is no reverse operation dead band and the linear reciprocating motion mutually noninterfere between a plurality of linear drives module and a plurality of linear motor rotor.
The aspect that the present invention adds and advantage part in the following description provide, and part will become obviously from the following description, or recognize by practice of the present invention.
Description of drawings
Above-mentioned and/or the additional aspect of the present invention and advantage will become from the following description of the accompanying drawings of embodiments and obviously and easily understand, wherein:
Fig. 1 is the perspective view of multi-stator multi-rotor array linear motor driving device according to an embodiment of the invention;
Fig. 2 is the perspective view of many movers of multiple stators array linear drive apparatus according to another embodiment of the invention;
Fig. 3 is the upper surface schematic diagram according to the linear drives module of the embodiment of the present invention; With
Fig. 4 is the lower surface schematic diagram according to the linear drives module of the embodiment of the present invention.
Embodiment
The below describes embodiments of the invention in detail, and the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or the element with identical or similar functions from start to finish.Be exemplary below by the embodiment that is described with reference to the drawings, only be used for explaining the present invention, and can not be interpreted as limitation of the present invention.
In description of the invention, it will be appreciated that, term " vertically ", " laterally ", " on ", orientation or the position relationship of the indications such as D score, 'fornt', 'back', " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", " outward " be based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, rather than indicate or hint that the device of indication or element must have specific orientation, construct and operation with specific orientation, therefore can not be interpreted as limitation of the present invention.
In description of the invention, need to prove, unless otherwise prescribed and limit, term " installation ", " being connected ", " connection " should be done broad understanding, for example, can be mechanical connection or electrical connection, can be also the connection of two element internals, can be directly to be connected, and also can indirectly be connected by intermediary, for the ordinary skill in the art, can understand as the case may be the concrete meaning of above-mentioned term.
Below with reference to the multi-stator multi-rotor array linear motor driving device 1000 of Fig. 1 to Fig. 4 description according to the embodiment of the present invention.
As depicted in figs. 1 and 2, the multi-stator multi-rotor array linear motor driving device 1000 according to the embodiment of the present invention comprises a plurality of linear drives modules 100 and link 200.Wherein, a plurality of linear drives modules 100 are arranged on link 200.Particularly, each linear drives module 100 is bolted on link 200.In one embodiment of the invention, the left end of each linear drives module 100 and right-hand member are separately fixed in the groove of link 200 by bolt.
As shown in Figure 3 and Figure 4, each linear drives module 100 comprises a linear motor stator electric 110, the single line slideway auxiliary in upper surface, the single line slideway auxiliary in lower surface and a plurality of linear motor rotor.Linear motor stator electric 110 and linear motor rotor connect to form " n " character form structure by the single line slideway auxiliary in upper surface, the single line slideway auxiliary in lower surface.
Be embedded with magnet steel 111 in the inside of linear motor stator electric 110.In an example of the present invention, be embedded with row's magnet steel 111 in the inside of linear motor stator electric 110, and the end face of magnet steel 111 is cellular hexagon.
In one embodiment of the invention, linear motor stator electric 110 can be austenite stainless steel plate.
As shown in Figure 3, the single line slideway auxiliary in upper surface is arranged in the upper surface (Fig. 3 makes progress) of linear motor stator electric 110, comprises upper line slideway 121, a plurality of upper saddle 131 and a plurality of top shoe of the upper surface of being fixed in linear motor stator electric 110.A plurality of upper saddles 131 and a plurality of top shoe are slidably mounted on line slideway 121.The two ends of each upper saddle 131 are connected with respectively a top shoe.Be connected with respectively the first top shoe 141a and the second top shoe 141b at the two ends of upper saddle 131.In one embodiment of the invention, on each the two ends of line slideway 131 by bolt respectively with the first top shoe 141a be connected top shoe 141b and be connected.
As shown in Figure 4, the single line slideway auxiliary in lower surface is arranged in the lower surface (Fig. 4 is downward) of linear motor stator electric 110, comprises lower line slideway 122, a plurality of lower slider 132 and a plurality of sliding block of the upper surface of being fixed in linear motor stator electric 110.A plurality of lower sliders 132 and a plurality of sliding block are slidably mounted on lower line slideway 122.The two ends of each lower slider 132 are connected with respectively a sliding block.Be connected with respectively the first sliding block 142a and the second sliding block 142b at the two ends of lower slider 132.In one embodiment of the invention, the two ends of each lower line slideway 132 by bolt respectively with the first sliding block 142a be connected sliding block 142b and be connected.
A plurality of linear motor rotors comprise a plurality of upper linear motor rotors 151 and a plurality of lower linear motor rotor 152.As shown in Figure 3, on each, linear motor rotor 151 is fixedly connected with correspondingly with each upper saddle 131.As shown in Figure 4, each lower linear motor rotor 152 is fixedly connected with correspondingly with each lower slider 132.
In one embodiment of the invention, on each, linear motor rotor 151 is fixedly connected with each upper saddle 131 correspondingly by bolt.Each lower linear motor rotor 152 is fixedly connected with each lower slider 132 correspondingly by bolt.
Each linear motor rotor is the bloom that is comprised of the PCB-type coil, and namely on each, linear motor rotor 151 descends all blooms for being comprised of the PCB-type coil of linear motor rotor 152 with each.In an example of the present invention, upper linear motor rotor 151 and lower linear motor rotor 152 can be rectangle.
In one embodiment of the invention, upper linear motor rotor 151 and lower linear motor rotor 152 can along the axial each interval of linear motor rotor 110 turn up the soil along the vertical direction (above-below direction in Fig. 3 and Fig. 4) be staggered.
Certainly the mounting means that it will be appreciated by persons skilled in the art that linear motor rotor is not limited to this.The upper linear motor rotor group that a plurality of upper linear motor rotors 151 form can be along the axial continuous arrangement of linear motor rotor 110, the lower linear motor rotor group that a plurality of lower linear motor rotors 152 form can be along the axial continuous arrangement of linear motor rotor 110, and upper linear motor rotor group and lower linear motor rotor group each interval are turned up the soil and be staggered along the vertical direction.And the quantity of the upper linear motor rotor 151 in different upper linear motor rotor groups can be different, and the quantity of the lower linear motor rotor 152 in different lower linear motor rotor groups can be different.
When the linear motor driver that the embodiment of the present invention provides was worked, linear motor stator electric 110 interacted with upper linear motor rotor 151 and lower linear motor rotor.Upper linear motor rotor 151 is subject to the thrust with upper line slideway 121 axially parallels under the effect in the magnetic field that linear motor stator electric 110 provides.Upper linear motor rotor 151 drives upper saddles 131 and axially carries out linear reciprocating motion along upper line slideway 121.Lower linear motor rotor 152 is subject to the thrust with lower line slideway 122 axially parallels under the effect in the magnetic field that linear motor stator electric 110 provides.Lower linear motor rotor 152 drives lower sliders 132 and axially carries out linear reciprocating motion along lower line slideway 122.
In one embodiment of the invention, the linear reciprocating motion of each linear motor rotor is independent of one another.Particularly, the linear reciprocating motion of upper linear motor rotor 151 and lower linear motor rotor 152 is independent of one another, mutually noninterfere.Linear reciprocating motion between a plurality of upper linear motor rotors 151 is independent of one another, mutually noninterfere.Linear reciprocating motion between a plurality of lower linear motor rotors 153 is also independent each other, mutually noninterfere.
In one embodiment of the invention, the linear reciprocating motion of each linear drives module 100 is independent of one another.
Multi-stator multi-rotor array linear motor driving device according to the embodiment of the present invention, can directly drive workbench to you, there is no reverse operation dead band and the linear reciprocating motion mutually noninterfere between a plurality of linear drives module and a plurality of linear motor rotor.
In the description of this specification, the description of reference term " embodiment ", " some embodiment ", " example ", " concrete example " or " some examples " etc. means to be contained at least one embodiment of the present invention or example in conjunction with specific features, structure, material or the characteristics of this embodiment or example description.In this manual, the schematic statement of above-mentioned term not necessarily referred to identical embodiment or example.And the specific features of description, structure, material or characteristics can be with suitable mode combinations in any one or more embodiment or example.
Although illustrated and described embodiments of the invention, for the ordinary skill in the art, be appreciated that without departing from the principles and spirit of the present invention and can carry out multiple variation, modification, replacement and modification to these embodiment, scope of the present invention is by claims and be equal to and limit.

Claims (8)

1. multi-stator multi-rotor array linear motor driving device, it is characterized in that, described linear motor driver comprises a plurality of linear drives modules and link, described a plurality of linear drives module is installed on described link, the left end of each linear drives module and right-hand member are separately fixed at by bolt in the groove of described link, and wherein each linear drives module comprises:
A linear motor stator electric;
The single line slideway auxiliary in upper surface, the single line slideway auxiliary in described upper surface is positioned at the upper surface of described linear motor stator electric, comprise the upper line slideway of the upper surface of being fixed in described linear motor stator electric, a plurality of upper saddle and a plurality of top shoe, wherein, described a plurality of upper saddle and a plurality of top shoe are slidably mounted on described upper line slideway and the two ends of each described upper saddle are connected with respectively a top shoe;
The single line slideway auxiliary in lower surface, the single line slideway auxiliary in described lower surface is positioned at the lower surface of described linear motor stator electric, comprise the lower line slideway of the lower surface of being fixed in described linear motor stator electric, a plurality of lower slider and a plurality of sliding block, wherein, described a plurality of lower slider and a plurality of sliding block are slidably mounted on described lower line slideway and the two ends of each described lower slider are connected with respectively a sliding block;
A plurality of linear motor rotors, described a plurality of linear motor rotors comprise a plurality of upper linear motor rotors and a plurality of lower linear motor rotor,
Wherein each described upper linear motor rotor is fixedly connected with described each upper saddle, described upper linear motor rotor is under the effect in the magnetic field that described linear motor stator electric provides, the described upper saddle that drive is connected with described upper linear motor rotor axially carries out linear reciprocating motion along described upper line slideway, wherein, described upper linear motor rotor and described lower linear motor rotor are turned up the soil along the axial each interval of described linear motor stator electric and are staggered along the vertical direction;
Each described lower linear motor rotor is fixedly connected with described each lower slider, described lower linear motor rotor drives the described lower slider be connected with described lower linear motor rotor and axially carries out linear reciprocating motion along described lower line slideway under the effect in the magnetic field that described linear motor stator electric provides.
2. linear motor driver as claimed in claim 1, is characterized in that, described linear motor stator electric is the inner austenite stainless steel plate that is embedded with magnet steel.
3. linear motor driver as claimed in claim 2, is characterized in that, the end face of described magnet steel is cellular hexagon.
4. linear motor driver as claimed in claim 1, is characterized in that, each described linear motor rotor is the bloom that is comprised of the PCB-type coil.
5. linear motor driver as claimed in claim 1, is characterized in that, described on each linear motor rotor be fixedly connected with described each upper saddle by bolt, described each lower linear motor rotor is fixedly connected with described each lower slider by bolt.
6. linear motor driver as claimed in claim 1, is characterized in that, the two ends of described each upper saddle are connected with a described top shoe respectively by bolt, and the two ends of described each lower slider are connected with a described sliding block respectively by bolt.
7. linear motor driver as claimed in claim 1, is characterized in that, the linear reciprocating motion of described each linear drives module is independent of one another.
8. linear motor driver as claimed in claim 1, is characterized in that, the linear reciprocating motion of described each linear motor rotor is independent of one another.
CN 201110139285 2011-05-26 2011-05-26 Multi-stator multi-rotor array linear motor driving device Active CN102195439B (en)

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Publication number Priority date Publication date Assignee Title
CN103560643B (en) * 2013-10-24 2016-01-13 清华大学 A kind of printed circuit board (PCB) winding linear motor
CN104440343B (en) * 2014-11-26 2017-05-10 广东工业大学 Co-stator double-drive macro and micro integration high-speed precision movement one-dimensional platform for linear motor
CN104440344B (en) * 2014-11-26 2017-05-10 广东工业大学 Co-stator multi-drive macro and micro integration high-speed precision movement two-dimensional platform for linear motor
CN105922756A (en) * 2016-06-16 2016-09-07 深圳市全印图文技术有限公司 Printing machine capable of combined jet printing

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