CN103346645B - A kind of automatic bonding equipment of Halbach permanent magnet array - Google Patents

A kind of automatic bonding equipment of Halbach permanent magnet array Download PDF

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Publication number
CN103346645B
CN103346645B CN201310281861.7A CN201310281861A CN103346645B CN 103346645 B CN103346645 B CN 103346645B CN 201310281861 A CN201310281861 A CN 201310281861A CN 103346645 B CN103346645 B CN 103346645B
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China
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magnet steel
platform
sleeve
cylinder
push
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CN201310281861.7A
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Chinese (zh)
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CN103346645A (en
Inventor
彭倍
徐振源
秦东兴
丁莉
于慧君
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电子科技大学
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Priority to CN201310281861.7A priority Critical patent/CN103346645B/en
Publication of CN103346645A publication Critical patent/CN103346645A/en
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Abstract

The present invention relates to a kind of automatic bonding equipment of Halbach permanent magnet array, comprise square magnet steel delivery device (20), support component (20-1), the first platform (21), the second platform (22), the 3rd platform (23), base (24) and in magnet steel backboard (14). The manufacture process that makes whole permanent magnet array is more efficient, stable, safety.

Description

A kind of automatic bonding equipment of Halbach permanent magnet array
Technical field
The present invention relates to a kind of automatic bonding equipment of Halbach permanent magnet array.
Background technology
The permanent magnet array of Halbach type is the sub-subject study item of the great special litho machine project of current national science and technologyOrder, in the bonding magnetic steel for this project permanent magnet array, occur artificial bonding consuming time, efficiency is low, low precision,Working environment danger, personnel is the problem such as injured easily, has proposed automation solution.
This equipment is mainly used in the automatic adhesive of the permanent magnet array magnet steel of Halbach type, has realized picking up of magnet steel,Push, and last arrangement. The manufacture process that makes whole permanent magnet array is more efficient, stable, safety.
Along with the propelling of industrial automation process, the use of motor is more and more general, and motor layer miscellaneous goes outNot poor: stepper motor, direct current generator, servomotor, linear electric motors, planar motor, magnet is as Permanent Magnet and ElectricOne of critical piece in machine, the fixing of it is substantially all to rely on manual completing so far, therefore seriously restricting electricityThe production capacity of machine production line, is pursuing the society of efficient operation, if come with the bonding apparatus of automationBecome the fixing of permanent magnet, that will be liberated the productive forces greatly, will be an amount to the lifting of motor production efficiencyLeap.
The problem that this equipment solves is exactly to be the fixing of permanent magnet in planar motor, for common electric machine,Planar motor permanent magnet fixing more difficult, because the magnetic of permanent magnet more strengthens, and needs bonding permanent magnetismBody quantity is much more a lot of than common electric machine, and permanent magnet exists with array way, and current fixing means relies on hand completelyWork is installed and is coordinated frock clamp to complete the fixing of permanent magnet, but the manual bonding variety of issue that existed: 1.Inefficiency; 2. dangerous high; 3. for the irritant smell of bonding glue, can damage workman's respiratory tract;4. error rate is high. Therefore we have proposed the bonding apparatus of an automation of research and design, complete permanent magnet arrayBonding, for lower place mat is made in automated production.
Although at present very extensive to the research of Halbach array to academia and industrial quarters, some research is also tall and erectEffective, that still its manufacturing process is but discussed is few, coordinates by investigating to remain at present by handFrock is carried out the bonding of permanent magnet array. There is pertinent literature to propose a kind of easy one dimension Halbach arrayManufacture method, the tub groove of its use C font, coordinates fixture to complete the installation of whole array. SomebodyUse nonmagnetic columnar fixture to complete the bonding of annular permanent magnet array. Also someone has made special folderThe fixing mode of tool cooperative mechanical has completed the bonding of disk type coreless permanent-magnetism synchronous motor permanent magnetic array.
Compared with making to complete by hand the bonding way of this array with most, our automation solutionsBelong to unique. So our equipment is current in leading, novel solution,There is the wide market demand.
Summary of the invention
The present invention solves by technical scheme once, a kind of automatic bonding equipment of Halbach permanent magnet array,Comprise square magnet steel delivery device (20), support component (20-1), the first platform (21), the second platform(22), the 3rd platform (23), base (24) and in magnet steel backboard (14), is characterized in that:
Described support component (20-1) is positioned at the first platform (21) top, pushes for supporting square magnet steelMechanism (20) can move up and down along Z axis this square magnet steel delivery device (20);
Described the first platform (21) is positioned on the second platform (22), described the first platform (21) bottom twoSide has been fixed with the first ball-screw (21-1), and the second platform (22) both sides, top have the first chute (27),This first chute top has the first rolling guide (25), and described the first rolling guide (25) can be alongOne chute (27) slides along Y-axis, and described the first platform (21) can pass through the first ball-screw (21-1)Above slide along Y-axis at the first rolling guide (25);
Described the second platform (22) is positioned on the 3rd platform (23), described the second platform (22) bottom twoSide has been fixed with the second ball-screw (22-1), and the 3rd both sides, platform top have the second chute, this chuteTop has the second rolling guide (26), and described the second rolling guide (26) can be along the second chute along XAxle slides, and described the second platform (22) can be by the second ball-screw (22-1) in the second rolling guide (26)Above slide along X-axis;
Described the 3rd platform (23) is fixed on base (24) top, and base also has magnet steel backboard on (24)(14), this magnet steel backboard (14) has multiple magnet steel filling place (13), X, the Y of said mechanism, Z-direction fortuneMoving, make square magnet steel delivery device (20) that magnet steel is pushed to magnet steel filling place (13);
Described square magnet steel delivery device (20) comprises that power provides part successively, guide rail buffer portion and magneticSteel pushes conduit, it is characterized in that,
Described power provides part to comprise cylinder (1), cylinder block (1-1) and cylinder mounting plate (2);
Described guide rail buffer portion comprises slide block (3), sleeve (4), and guide rail (5), push rod (6), cylinder pushes awayBar (9) the suction dish (7) that eases up;
Described magnet steel pushes conduit and comprises magnet steel entrance (10), sleeve protecgulum (8), barrel forward end (11) andMagnet steel pushes outlet (12);
Described cylinder (1) is through cylinder block (1-1) and cylinder mounting plate (2) and cylinder push-rod (9) phaseConnect, this cylinder push-rod (9) is connected with push rod (6) by slide block (3), the tail end tool of described push rod (6)Have buffering sucker (7) for contacting magnet steel, described slide block (3) can be at the upper slip of guide rail (5), sleeve(4) be positioned at guide rail (5) outside, described cylinder mounting plate (2) is positioned at one end of sleeve (4), before sleeveEnd (11) is positioned at the other end of sleeve (4), and sleeve protecgulum (8) is positioned on barrel forward end (11), shapeBecome a space, for passing through magnet steel, this magnet steel is entered by magnet steel entrance (10), by described space, by cylinderThe magnet steel of front end (11) pushes outlet (12) and arrives magnet steel filling place (13), and described delivery device is used for pushing awaySend the square magnet steel that is of a size of 34mm.
Austenitic 304 stainless steels of material selection of described sleeve (4).
It is upper that filling place of described magnet steel is positioned at magnet steel backboard (14), described in state magnet steel filling place around have 8 rightAccess slot (15).
Described barrel forward end (11) has 8 protruding opposing teeths (16), for being connected with docking groove (15).
Described the first platform (21), the second platform (22), the 3rd platform (23) and base (24) are greatlyReason stone material matter. Beneficial effect:
The present invention is simple in structure, reasonable in design, easy to operate, has realized the dress piece of magnet steel, push, andAfter arrangement. The manufacture process that makes whole permanent magnet array is more efficient, stable, safety.
Brief description of the drawings
Below in conjunction with drawings and the embodiments, the present invention is further detailed explanation:
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of square magnet steel delivery device of the present invention;
Fig. 3 is magnet steel back board structure schematic diagram of the present invention;
Fig. 4 is magnet steel backboard partial structurtes schematic diagram of the present invention.
Detailed description of the invention
Below in conjunction with specific embodiment, further set forth the present invention.
As Figure 1-4: a kind of automatic bonding equipment of Halbach permanent magnet array, comprises that square magnet steel pushesMechanism (20), support component (20-1), the first platform (21), the second platform (22), the 3rd platform (23),Base (24) and in magnet steel backboard (14), is characterized in that:
Described support component (20-1) is positioned at the first platform (21) top, pushes for supporting square magnet steelMechanism (20) can move up and down along Z axis this square magnet steel delivery device (20);
Described the first platform (21) is positioned on the second platform (22), described the first platform (21) bottom twoSide is fixed with the first ball-screw (21-1), and the second platform (22) both sides, top have the first chute (27),This chute top has the first rolling guide (25), and described the first rolling guide (25) can be sliding along firstGroove (27) slides along Y-axis, and described the first platform (21) can be by the first ball-screw (21-1) theOne rolling guide (25) is upper to slide along Y-axis;
Described the second platform (22) is positioned on the 3rd platform (23), described the second platform (22) bottom twoSide has been fixed with the second ball-screw (22-1), and the 3rd both sides, platform top have the second chute, this chuteTop has the second rolling guide (26), and described the second rolling guide (26) can be along the second chute along XAxle slides, and described the second platform (22) can be by the second ball-screw (22-1) in the second rolling guide (26)Above slide along X-axis;
Described the 3rd platform (23) is fixed on base (24) top, and base also has magnet steel backboard on (24)(14), this magnet steel backboard (14) has multiple magnet steel filling place (13), X, the Y of said mechanism, Z-direction fortuneMoving, make square magnet steel delivery device (20) that magnet steel is pushed to magnet steel filling place (13).
Described square magnet steel delivery device (20) comprises that power provides part successively, guide rail buffer portion and magneticSteel pushes conduit, it is characterized in that,
Described power provides part to comprise cylinder (1), cylinder block (1-1) and cylinder mounting plate (2);
Described guide rail buffer portion comprises slide block (3), sleeve (4), and guide rail (5), push rod (6), cylinder pushes awayBar (9) the suction dish (7) that eases up;
Described magnet steel pushes conduit and comprises magnet steel entrance (10), sleeve protecgulum (8), barrel forward end (11) andMagnet steel pushes outlet (12);
Described cylinder (1) is through cylinder block (1-1) and cylinder mounting plate (2) and cylinder push-rod (9) phaseConnect, this cylinder push-rod (9) is connected with push rod (6) by slide block (3), the tail end tool of described push rod (6)Have buffering sucker (7) for contacting magnet steel, described slide block (3) can be at the upper slip of guide rail (5), sleeve(4) be positioned at guide rail (5) outside, described cylinder mounting plate (2) is positioned at one end of sleeve (4), before sleeveEnd (11) is positioned at the other end of sleeve (4), and sleeve protecgulum (8) is positioned on barrel forward end (11), shapeBecome a space, for passing through magnet steel, this magnet steel is entered by magnet steel entrance (10), by described space, by cylinderThe magnet steel of front end (11) pushes outlet (12) and arrives magnet steel filling place (13), and described delivery device is used for pushing awaySend the square magnet steel that is of a size of 34mm.
Austenitic 304 stainless steels of material selection of described sleeve (4).
It is upper that filling place of described magnet steel is positioned at magnet steel backboard (14), described in state magnet steel filling place around have 8 rightAccess slot (15).
Described barrel forward end (11) has 8 protruding opposing teeths (16), for being connected with docking groove (15).
Described base (24) is marble base.
Because the positioning precision of our desired adhesive system is 0.02mm, relatively high, whole in order to makeIndividual bonding function reaches higher bonding precision, and we have adopted the end of marble platform as whole splicing machineSeat, its main feature is stable accuracy, easy to maintenance. This be because:
1) marble platform institutional framework is dense, smooth surface is wear-resisting, roughness value is little;
2) marble is through long-term seasoning, and internal stress disappears completely, and stable material quality can not be out of shape;
3) acidproof, alkaline-resisting, corrosion-resistant, diamagnetic;
4) can not make moist and get rusty, use, easy to maintenance;
5) linear expansion coefficient is little, and temperature influence is little;
After working face is collided or scratches, only can produce pit, not produce burr, burr, to certainty of measurement withoutImpact.
The automatic bonding equipment of Halbach permanent magnet array
The motion of X, Y-direction has all adopted two cover servomotors to drive ball screw motion, the servo electricity of this two coverMachine need to adopt the principle of Synchronization Control, and guarantee two overlaps synchronous, the same speed of servomotor, with acceleration groundLoad to X, Y-direction drives, and has eliminated well the unbalance loading problem in X, Y-direction in scheme one.
This both direction all adopts the mode of ball-screw, rolling guide to drive simultaneously, why selects to rollMode and do not select sliding type be because, transmission efficiency higher (can reach 0.96) when rolling friction, and itsPositioning precision is higher during with respect to sliding friction, moves more flexible, and the driving power needing is little. And whole leadingThe installation of rail is to be all installed on marble platform, so when the used time of doing that slide block is received power in running,It can pass to guide rail by power, and guide rail can pass to power marble platform, but marble hasHigh rigidity, distortion can be ignored completely, has so just effectively ensured the precision of location and stablizing of structureProperty.
The motion of Z direction has all adopted two cover servomotors to drive ball screw motion equally, due to Z directionThe limitation in space and movement characteristic, we have selected line style module, facilitate the later stage to install, safeguard. Z sideTo mainly completing moving up and down of magnet steel sleeve.
Realizing behind magnet steel X, Y, the accurate location of Z plane, we put into magnet steel the porch of sleeve guide groove,Due to the magneticaction between iron block and magnet steel, magnet steel will be adsorbed in sleeve wall, now just need a lower pressStructure is pressed into the magnet steel together with inhaling with sleeve wall to treat in bonding filler opening along sleeve wall, adopts hereWhat the scheme that presses down was used is the mode of cylinder force feed.
Square magnet steel delivery device
Because whole sleeve is the guide groove of magnet steel while pressing down, together with preventing that magnet from inhaling with sleeve, instituteShould avoid selecting ferrimagnet when to the choosing of material that sleeve is used, what therefore we adopted is Ovshinsky304 stainless steels of body.
Cylinder mounting plate is used for guaranteeing the stable installation between cylinder and sleeve, wherein cylinder and installing plate, installationBeing connected between plate and sleeve is all that the bolt using connects, and in order to ensure installation accuracy, sleeve and installation are joinedTouch all need fine grinding. The assembling of sleeve is with bolts equally, and the face being in contact with one another needs fine grinding too,Simultaneously the inner surface of whole sleeve needs fine grinding equally, this be for magnet steel can be smoothly under sleeve liningSliding. The positioning precision of the whole mechanism of the present invention, at ± 0.02mm, coordinates between each to be also ± 0.02mm level.All part processing all reaches grinds level, ensures accurately filling smoothly of magnetic steel ingot.
Magnet steel is 17cm along the haul distance of sleeve lining, why designs so longly, is because carrying outWhen Comsol emulation, the simulation result that we obtain shows: magnet steel is at the whole array plane 15cm of distanceAbove, the suffered power of magnet steel can be ignored, therefore in the time that magnet steel is pushed to the porch of magnet steel, as long as overcomeThe gravity of magnet steel self just can prevent that magnet steel oneself from falling in magnet steel, when magnet steel is delivered to entrance by delivery deviceTime, due to the effect of magnetic force and stiction, magnet steel can, with iron block together with sleeve wall suction, now only needWant magnet steel press mechanism to go to press magnet steel to overcome force of sliding friction and magnet steel can be pressed into magnet steel filling corresponding to belowPlace.
Realizing behind magnet steel X, Y, the accurate location of Z plane, magnet steel porch put into by magnet steel by we, due toMagneticaction between iron block and magnet steel, magnet steel will be adsorbed in sleeve wall, now just need a press mechanism to incite somebody to actionMagnet steel together with inhaling with sleeve wall is pressed into along sleeve wall to be treated in bonding filler opening, and what adopt here presses downWhat scheme was used is the mode of cylinder force feed. The present invention does not adopt and directly presses down magnet steel with ejecting rod of cylinderMode, and used the mode of slide block guide rail, can effectively play like this effect of protection ejecting rod of cylinder,Also can make to press down magnet steel more stable simultaneously. If directly press down magnet steel with cylinder, due to magnet steel underStressed more complicated in pressure process, the power being subject to is a non-coplanar force, the unavoidable like this cylinder that can make is subject to radiallyPower, the long-time words that use can make the cylinder lost of life, have therefore adopted the mode of guide rail slide block, because nowThe suffered radial load of push rod will be applied on guide rail completely, thereby has played the effect of protection cylinder.
When work, first another cylinder drives push rod to top, and fill square magnet steel to magnet steel simultaneously and push entrance,Because magnet steel can attract to overcome self gravitation mutually with the iron block on four angles of sleeve, prevent from that (this magnetic force is largeLittlely only ensure that magnet steel can not drop, but while applying external force, magnet steel can slide smoothly).
Make delivery device operation put and treat directly over magnet steel backboard, the magnet steel that magnet steel is pushed on outlet aligning backboard is filled outFill place, make magnet steel delivery device decline simultaneously and put backboard level, be inserted into docking by corresponding 8 opposing teethsIn groove, now show that the position of delivery device is aimed at substantially, put to magnet steel preparing after further fine setting.
After magnet steel release mouth is aimed at backboard filler opening, on the guide rail of two positioned vertical of cylinder promotionSlide block, slide block is connected with push rod, is now pushed in the lump, makes square magnet steel along delivery device sleeve slidewayGlide, it pushes stroke through calculating design, just meets the distance of glide that magnet steel is filled. Now join againClose the high tenacity buffering sucker that pushes push rod end, magnet steel push-tight is put on backboard; Sucker plays certain simultaneouslyCushioning effect, absorbs a part of residual stress, and guarantee magnet steel is filled safely.
After filling, delivery device is withdrawn, and completes filling overall process.
Should be understood that these embodiment are only not used in and limit the scope of the invention for the present invention is described. In addition shouldUnderstand, after having read the content of the present invention's instruction, those skilled in the art can do various changing to the present inventionMove or amendment, these equivalent form of values fall within the application's appended claims limited range equally.

Claims (1)

1. the automatic bonding equipment of a Halbach permanent magnet array, comprise square magnet steel delivery device (20), support component (20-1), the first platform (21), the second platform (22), the 3rd platform (23), base (24) and magnet steel backboard (14), is characterized in that:
Described support component (20-1) is positioned at the first platform (21) top, for supporting square magnet steel delivery device (20), this square magnet steel delivery device (20) can be moved up and down along Z axis;
Described the first platform (21) is positioned on the second platform (22), described the first platform (21) both sides, bottom are fixed with the first ball-screw (21-1), the second platform (22) both sides, top have the first chute (27), this the first chute top has the first rolling guide (25), described the first rolling guide (25) can slide along the first chute (27) along Y-axis, and described the first platform (21) can above slide along Y-axis at the first rolling guide (25) by the first ball-screw (21-1);
Described the second platform (22) is positioned on the 3rd platform (23), described the second platform (22) both sides, bottom are fixed with the second ball-screw (22-1), the 3rd both sides, platform top has the second chute, the top of this second chute has the second rolling guide (26), described the second rolling guide (26) can slide along X-axis along the second chute, and described the second platform (22) can above slide along X-axis at the second rolling guide (26) by the second ball-screw (22-1);
Described the 3rd platform (23) is fixed on base (24) top, on base (24), also there is magnet steel backboard (14), this magnet steel backboard (14) has multiple magnet steel filling place (13), X, the Y of said mechanism, Z-direction motion, make square magnet steel delivery device (20) that magnet steel is pushed to magnet steel filling place (13);
Described square magnet steel delivery device (20) comprises that power provides part successively, and guide rail buffer portion and magnet steel push conduit, it is characterized in that,
Described power provides part to comprise cylinder (1), cylinder block (1-1) and cylinder mounting plate (2);
Described guide rail buffer portion comprises slide block (3), sleeve (4), guide rail (5), push rod (6), cylinder push-rod (9) the suction dish (7) that eases up;
Described magnet steel pushes conduit and comprises magnet steel entrance (10), sleeve protecgulum (8), and barrel forward end (11) and magnet steel push outlet (12);
Described cylinder (1) is connected with cylinder push-rod (9) with cylinder mounting plate (2) through cylinder block (1-1), this cylinder push-rod (9) is connected with push rod (6) by slide block (3), the tail end of described push rod (6) has buffering sucker (7) for contacting magnet steel, described slide block (3) can be in the upper slip of guide rail (5), sleeve (4) is positioned at guide rail (5) outside, described cylinder mounting plate (2) is positioned at one end of sleeve (4), barrel forward end (11) is positioned at the other end of sleeve (4), sleeve protecgulum (8) is positioned on barrel forward end (11), form a space, be used for passing through magnet steel, this magnet steel is entered by magnet steel entrance (10), by described space, push outlet (12) by the magnet steel of barrel forward end (11) and arrive magnet steel filling place (13), described delivery device is for pushing the square magnet steel that is of a size of 34mm,
Austenitic 304 stainless steels of material selection of described sleeve (4);
It is upper that filling place of described magnet steel is positioned at magnet steel backboard (14), and filling place of described magnet steel has 8 docking grooves (15) around;
Described barrel forward end (11) has 8 protruding opposing teeths (16), for being connected with docking groove (15);
Described the first platform (21), the second platform (22), the 3rd platform (23) and base (24) are marble material.
CN201310281861.7A 2013-07-05 2013-07-05 A kind of automatic bonding equipment of Halbach permanent magnet array CN103346645B (en)

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CN105024496B (en) * 2014-04-16 2017-12-29 上海微电子装备(集团)股份有限公司 For straight line or the assembling device and its installation method of planar motor magnetic array
CN105416662A (en) * 2015-11-23 2016-03-23 东莞市东神自动化设备有限公司 Film laminator with marble base
CN105790515B (en) * 2016-04-28 2018-04-10 中国科学院合肥物质科学研究院 A kind of assemble mechanism applied to linear electric motors secondary array element permanent magnet
CN105914966B (en) * 2016-05-11 2018-04-17 浙江厚达智能科技股份有限公司 Rotor plastic packaging handling equipment

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