CN105006940A - Rectilinear motion linear module and position control servo system provided with module - Google Patents
Rectilinear motion linear module and position control servo system provided with module Download PDFInfo
- Publication number
- CN105006940A CN105006940A CN201510435848.1A CN201510435848A CN105006940A CN 105006940 A CN105006940 A CN 105006940A CN 201510435848 A CN201510435848 A CN 201510435848A CN 105006940 A CN105006940 A CN 105006940A
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- steel body
- mover
- linear module
- rectilinear motion
- block
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 63
- 239000010959 steel Substances 0.000 claims abstract description 63
- 238000004804 winding Methods 0.000 claims abstract description 12
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 9
- 239000003610 charcoal Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 229910052742 iron Inorganic materials 0.000 claims description 3
- 230000035699 permeability Effects 0.000 claims description 3
- 238000007493 shaping process Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 8
- 230000008859 change Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000000819 phase cycle Methods 0.000 description 1
- 238000010791 quenching Methods 0.000 description 1
- 230000000171 quenching effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Landscapes
- Bearings For Parts Moving Linearly (AREA)
- Linear Motors (AREA)
Abstract
The invention provides a rectilinear motion linear module, and aims to solve the operation accuracy, the speed, the module size, the cost and other problems in the linear module application field. According to the technical scheme of the invention, the rectilinear motion linear module comprises a trough type steel body, a mover base capable of conducting the reciprocating motion on the trough type steel body, a mover block and a stator block. The mover block and the stator block cooperate with each other to drive the mover base to move. The inner sidewall of the trough type steel body is provided with a guide groove or a guide bump orbit along the linear direction. The mover base is arranged in the trough of the trough type steel body. The surfaces of the two sides of the mover base are provided with a guiding structure matched with the guide groove/guide bump orbit of the trough type steel body. The mover blocks comprise multi-phase coreless coil windings or multi-phase coil windings with high-permeability cores, and are arranged below the mover base. The mover blocks are connected with a motor driver to be controlled by the motor driver. The stator blocks are in the form of permanent magnets and are arranged alternately along the inner bottom surface of the trough of the trough type steel body or along the extending direction of the guide bump orbit. Gaps are reserved between the mover blocks and the stator blocks.
Description
Technical field
The present invention relates to technical field of automation, be specifically related to the linear module of a kind of rectilinear motion and apply the position control servosysterm of this module.
Background technology
Currently can use a large amount of linear modules in automation industry, such as shown in Fig. 1, the conventional linear module of KK, it is by motor, ball screw, guide rail and nut mover seat, drive this ball screw to rotate by motor, drive the nut mover seat on screw rod to do linear reciprocating motion along guide rail.Although this linear module is widely used, also superperformance is possessed, but also there are some comparatively significantly shortcomings: high-precision ball screw processing difficulties, cost are high, make ball screw implement length dimension and be subject to larger restriction, also there is the difficulty that device runs up simultaneously.
Summary of the invention
For problem mentioned in background technology, the present invention proposes the linear module of a kind of rectilinear motion, and object is the problem of the aspect such as running precision, speed, module size, cost solving the application of linear module, and its technical scheme is as follows:
The linear module of a kind of rectilinear motion, comprises U-steel body, reciprocating mover seat and the mover block cooperatively interacting to drive described mover seat to move and stator block on described U-steel body;
The madial wall of described U-steel body is provided with some straight lines to guide channel or guiding protruding rail;
Described mover seat is placed in the groove of described U-steel body, and its both side surface is provided with the guiding structural of guide channel or the guiding protruding rail coordinating described U-steel body;
Described mover block comprises heterogeneous iron-less core coil winding or the polyphase winding winding with high permeability iron core, and it is arranged at below described mover seat, by motor driver control connection;
Described stator block is permanent magnet, its in the groove inner bottom surface of described U-steel body along guide channel or guiding protruding rail bearing of trend interval post; Gap is left between described mover block and stator block.
In the middle of one or more embodiment of the present invention, described U-steel body is due to pure iron or the machine-shaping of low charcoal steel.
In the middle of one or more embodiment of the present invention, the guiding structural of described mover seat is be convexly equipped in mover seating face, embedding the projection slided along the guide channel of described U-steel body or raised line; Or be that the recessed guiding protruding rail in mover seating face, the described U-steel body of confession embeds and the groove slided.
In the middle of one or more embodiment of the present invention, the guiding structural of the guide channel of described U-steel body or guiding protruding rail and described mover seat is in " U " type or " V " type or other combined shaped of cooperatively interacting.
In the middle of one or more embodiment of the present invention, described mover seat comprises a horizontal part and by two vertical portions of horizontal part edge-perpendicular towards downward-extension, and is enclosed to form open slot down by horizontal part and vertical portion, and this slot is built-in with described mover block.
In the middle of one or more embodiment of the present invention, between the guide channel of described U-steel body and the raised line of mover seat or between the guiding protruding rail of described U-steel body and the groove of mover seat, be provided with ball.
In the middle of one or more embodiment of the present invention, the madial wall of described U-steel body is provided with caulking groove, and this caulking groove, for coordinating installation one abaculus, this abaculus is provided with described guide channel or guiding protruding rail.
In the middle of one or more embodiment of the present invention, the madial wall of described U-steel body is provided with setting-in block, this setting-in block is provided with described guide channel or guiding protruding rail.
In the middle of one or more embodiment of the present invention, described mover seat is provided with some installing holes, for being connected with miscellaneous equipment or parts.
The present invention also proposes the position control servosysterm applying the linear module of above-mentioned rectilinear motion, and its technical scheme is as follows:
A kind of position control servosysterm, comprises the linear module of above-mentioned rectilinear motion, grating scale or Magnetic ruler, read head, motor driver and controller; Described grating scale or Magnetic ruler are arranged on the outer wall of the U-steel body of the linear module of described rectilinear motion, inwall or other support consistent with the direction of motion; The mover seat of described read head and the linear module of described rectilinear motion fixes, and relative with described grating scale or Magnetic ruler, and its signal output part is connected to described controller.
Present invention employs linear electric motors and U-steel integrated design scheme, there is the advantages such as precision is high, speed is fast, the response time is short, thrust is large, cost is low, traditional linear module can be replaced completely, cause the great change of automation industry.
Accompanying drawing explanation
Fig. 1 is the linear modular structure figure of existing KK.
Fig. 2 is the overall structure schematic diagram of the linear module of rectilinear motion of the present invention.
Fig. 3 is the cross section structure schematic diagram of the linear module embodiment one of rectilinear motion of the present invention.
Fig. 4 is the cross section structure schematic diagram of the linear module embodiment two of rectilinear motion of the present invention.
Fig. 5 is the cross section structure schematic diagram of the linear module embodiment three of rectilinear motion of the present invention.
Fig. 6 is the cross section structure schematic diagram of the linear module embodiment four of rectilinear motion of the present invention.
Fig. 7 is the cross section structure schematic diagram of the linear module embodiment five of rectilinear motion of the present invention.
Fig. 8 is the cross section structure schematic diagram of the linear module embodiment six of rectilinear motion of the present invention.
Fig. 9 is the cross section structure schematic diagram of the linear module embodiment seven of rectilinear motion of the present invention.
Figure 10 is the structural representation one of position control servosysterm of the present invention.
Figure 11 is the structural representation two of position control servosysterm of the present invention.
Embodiment
Following 2-9 by reference to the accompanying drawings, is further described the application's scheme:
As shown in Figures 2 and 3, specific embodiments of the invention one:
The linear module of a kind of rectilinear motion, comprise due to the U-steel body 1 of pure iron or the machine-shaping of low charcoal steel, on described U-steel body 1 reciprocating mover seat 3 and the mover block 4 cooperatively interacting to drive described mover seat 3 to move and stator block 2;
The madial wall of described U-steel body 1 is symmetrically set with one group of straight line to guide channel 11;
Described mover seat 3 is placed in the groove of described U-steel body 1, its both side surface is provided with the guiding structural of the guide channel 11 coordinating described U-steel body 1, and described guiding structural is be convexly equipped in mover seat 3 surface, embed and the projection slided along the guide channel 11 of described U-steel body 1 or raised line 31; Described guide channel 11 or lug surface adopt laser quenching or other forms surface stiffened Wear-resistant Treatment.
Described mover block 4 comprises heterogeneous iron-less core coil winding or the polyphase winding winding with high permeability iron core, and it is arranged at below described mover seat 3, by motor driver control connection;
Described stator block 2 is permanent magnet, and it posts in the groove inner bottom surface of described U-steel body 1 along the bearing of trend interval of guide channel; Gap is left between described mover block 4 and stator block 2.
The guide channel 11 of described U-steel body 1 and the projection of described mover seat 3 or raised line 31 are in " U " type or " V " type or other combined shaped of cooperatively interacting.
Described mover seat 3 comprises a horizontal part 301 and by two vertical portions 302 of horizontal part 301 edge-perpendicular towards downward-extension, and is enclosed to form open slot 303 down by horizontal part 301 and vertical portion 302, and this slot 303 is built-in with described mover block 4.
Described mover seat 3 is provided with some installing holes 30, for being connected with miscellaneous equipment or parts.
As shown in Figure 4, specific embodiments of the invention two:
The difference of itself and above-mentioned specific embodiment one is, the madial wall of described U-steel body 1 is provided with straight line to guiding protruding rail 12, described mover seat 3 is placed in the groove of described U-steel body 1, its both side surface is provided with the guiding structural of the guiding protruding rail 12 coordinating described U-steel body 1, and described guiding structural is that recessed guiding protruding rail 12 that is surperficial in mover seat 3, the described U-steel body 1 of confession embeds and the groove 32 slided;
The guiding protruding rail 12 of described U-steel body 1 and the groove 32 of described mover seat 3 are in " U " type or " V " type or other combined shaped of cooperatively interacting.
As shown in Figure 5, specific embodiments of the invention three:
The difference of itself and above-mentioned specific embodiment one is, ball 5 is provided with between the guide channel 11 of described U-steel body 1 and the raised line 31 of mover seat 3, adopt single row or multiple rows ball 5 and the fit system of guide channel 11, reduce the frictional force between raised line 31 and guide channel 11 with Structure deformation.
As shown in Figure 6, specific embodiments of the invention four:
The difference of itself and above-mentioned specific embodiment two is, ball 5 is provided with between the guiding protruding rail 12 of described U-steel body 1 and the groove 32 of mover seat 3, adopt the fit system of single row or multiple rows ball and groove 32, reduce the frictional force between guiding protruding rail 12 and groove 32 with Structure deformation.
As shown in Figure 7, specific embodiments of the invention five:
The difference of itself and above-mentioned specific embodiment one is, described mover seat 3 is placed in the groove of described U-steel body 1, its both side surface is provided with groove 32, be placed with ball 5 in the passage jointly enclosed by the guide channel 11 of U-steel body 1 and the groove 32 of mover seat 3, described ball 5 plays the effect connecting and support and reduce friction.
As shown in Figure 8, specific embodiments of the invention six:
The difference of itself and above-mentioned specific embodiment one is, the madial wall of described U-steel body 1 is provided with caulking groove 13, and this caulking groove 13, for coordinating installation one abaculus 130, this abaculus 130 is provided with described guide channel 11.
As shown in Figure 9, specific embodiments of the invention seven:
The difference of itself and above-mentioned specific embodiment one is, the madial wall of described U-steel body 1 is provided with setting-in block 14, this setting-in block 14 is provided with described guide channel 11.
Except the coordinating of U-steel body 1 cited in above-described embodiment one to seven and mover seat 3, other straight-line guidance sliding matching structure all can adopt by the present invention, and do not depart from spirit of the present invention.
As shown in Figure 10, position control servosysterm of the present invention, comprises the linear module of above-mentioned rectilinear motion, grating scale or Magnetic ruler 6, read head 7, motor driver and controller (not shown);
Described grating scale or Magnetic ruler 6 are arranged at the outer wall of the U-steel body 1 of the linear module of described rectilinear motion, described read head 7 is fixed with the mover seat 3 of the linear module of described rectilinear motion by a fixed support 8, and relative with described grating scale or Magnetic ruler 6, its signal output part is connected to described controller.
As shown in figure 11, the another embodiment of position control servosysterm of the present invention, the main distinction of itself and above-described embodiment is that the guide channel 11 of U-steel body 1 inwall is provided with two groups.
Above-mentioned each embodiment operation principle:
When the winding of mover block 4 passes into three-phase alternating current, the travelling-magnetic-field linearly advanced is produced by mover block 4 with the gap of stator block 2, the excitation field of travelling-magnetic-field and magnetic stator block 2 interacts and just can produce electromagnetic push, under the promotion of this electromagnetic force, mover block just can follow the contrary direction of ripple Movement in Magnetic Field and do rectilinear motion under the guide channel 11 of U-steel body 1 is guided, its speed equals synchronizing speed, namely be directly proportional to driving power frequency, the phase sequence changing three-phase current just can change the magnetic direction of row ripple, thus change the direction of mover motion.And described grating scale or Magnetic ruler 6 are used as the monitoring of stroke with read head 7, being judged by controller when arriving preset strokes, controlling motor driver from face and performing reverse stroke or shutdown.
Above-described embodiment should be considered as illustrating of the application's scheme implementation mode, allly to duplicate with the application's scheme, technology that is approximate or that make based on this is deduced, replaces, improvement etc., all should be considered as the protection range of this patent.
Claims (10)
1. the linear module of rectilinear motion, is characterized in that: comprise U-steel body, reciprocating mover seat and the mover block cooperatively interacting to drive described mover seat to move and stator block on described U-steel body;
The madial wall of described U-steel body is provided with some straight lines to guide channel or guiding protruding rail;
Described mover seat is placed in the groove of described U-steel body, and its both side surface is provided with the guiding structural of guide channel or the guiding protruding rail coordinating described U-steel body;
Described mover block comprises heterogeneous iron-less core coil winding or the polyphase winding winding with high permeability iron core, and it is arranged at below described mover seat, by motor driver control connection;
Described stator block is permanent magnet, its in the groove inner bottom surface of described U-steel body along guide channel or guiding protruding rail bearing of trend interval post; Gap is left between described mover block and stator block.
2. the linear module of rectilinear motion according to claim 1, is characterized in that: described U-steel body is due to pure iron or the machine-shaping of low charcoal steel.
3. the linear module of rectilinear motion according to claim 1, is characterized in that: the guiding structural of described mover seat is be convexly equipped in mover seating face, embedding the projection slided along the guide channel of described U-steel body or raised line; Or be that the recessed guiding protruding rail in mover seating face, the described U-steel body of confession embeds and the groove slided.
4. the linear module of rectilinear motion according to claim 3, is characterized in that: the guiding structural of the guide channel of described U-steel body or guiding protruding rail and described mover seat is in " U " type or " V " type or other combined shaped of cooperatively interacting.
5. the linear module of the rectilinear motion according to Claims 1-4 any one, it is characterized in that: described mover seat comprises a horizontal part and by two vertical portions of horizontal part edge-perpendicular towards downward-extension, and being enclosed to form open slot down by horizontal part and vertical portion, this slot is built-in with described mover block.
6. the linear module of the rectilinear motion according to Claims 1-4 any one, is characterized in that: be provided with ball between the guide channel of described U-steel body and the raised line of mover seat or between the guiding protruding rail of described U-steel body and the groove of mover seat.
7. the linear module of the rectilinear motion according to Claims 1-4 any one, is characterized in that: the madial wall of described U-steel body is provided with caulking groove, and this caulking groove, for coordinating installation one abaculus, this abaculus is provided with described guide channel or guiding protruding rail.
8. the linear module of the rectilinear motion according to Claims 1-4 any one, is characterized in that: the madial wall of described U-steel body is provided with setting-in block, this setting-in block is provided with described guide channel or guiding protruding rail.
9. the linear module of the rectilinear motion according to Claims 1-4 any one, is characterized in that: described mover seat is provided with some installing holes, for being connected with miscellaneous equipment or parts.
10. a position control servosysterm, is characterized in that: comprise the linear module of rectilinear motion as described in claim 1-9 any one, grating scale or Magnetic ruler, read head, motor driver and controller; Described grating scale or Magnetic ruler are arranged on the outer wall of the U-steel body of the linear module of described rectilinear motion, inwall or other support consistent with the direction of motion; The mover seat of described read head and the linear module of described rectilinear motion fixes, and relative with described grating scale or Magnetic ruler, and its signal output part is connected to described controller.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510435848.1A CN105006940A (en) | 2015-07-22 | 2015-07-22 | Rectilinear motion linear module and position control servo system provided with module |
| TW105122631A TW201705655A (en) | 2015-07-22 | 2016-07-18 | Rectilinear motion linear module and position control servo system provided with module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510435848.1A CN105006940A (en) | 2015-07-22 | 2015-07-22 | Rectilinear motion linear module and position control servo system provided with module |
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| Publication Number | Publication Date |
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| CN105006940A true CN105006940A (en) | 2015-10-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510435848.1A Pending CN105006940A (en) | 2015-07-22 | 2015-07-22 | Rectilinear motion linear module and position control servo system provided with module |
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| CN (1) | CN105006940A (en) |
| TW (1) | TW201705655A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105281535A (en) * | 2015-11-10 | 2016-01-27 | 北京顿一科技有限公司 | Rectilinear motion linear module group |
| CN110034655A (en) * | 2019-03-28 | 2019-07-19 | 深圳市赫瑞科技有限公司 | Ball-type linear motor built in a kind of high-precision |
| CN110957888A (en) * | 2018-09-27 | 2020-04-03 | 东佑达自动化科技股份有限公司 | Sliding table device |
| CN111245194A (en) * | 2018-11-29 | 2020-06-05 | 高明铁企业股份有限公司 | Linear motor assembly with rolling support structure |
| CN111564949A (en) * | 2020-05-28 | 2020-08-21 | 歌尔股份有限公司 | Linear motor |
| CN111564950A (en) * | 2020-05-28 | 2020-08-21 | 歌尔股份有限公司 | Linear motor |
| CN111585417A (en) * | 2020-05-28 | 2020-08-25 | 歌尔股份有限公司 | Linear motor |
| WO2021238124A1 (en) * | 2020-05-28 | 2021-12-02 | 歌尔股份有限公司 | Linear motor |
| CN115441364A (en) * | 2022-08-16 | 2022-12-06 | 国网江苏省电力有限公司无锡供电分公司 | Light-weight high-precision cutting mechanism for cable insulation stripping and cutting intelligent robot |
| CN116044967A (en) * | 2023-01-18 | 2023-05-02 | 东莞市科士威传动科技有限公司 | Accurate module and equipment convenient to equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105281535A (en) * | 2015-11-10 | 2016-01-27 | 北京顿一科技有限公司 | Rectilinear motion linear module group |
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| CN111245194A (en) * | 2018-11-29 | 2020-06-05 | 高明铁企业股份有限公司 | Linear motor assembly with rolling support structure |
| CN110034655A (en) * | 2019-03-28 | 2019-07-19 | 深圳市赫瑞科技有限公司 | Ball-type linear motor built in a kind of high-precision |
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| CN111564950A (en) * | 2020-05-28 | 2020-08-21 | 歌尔股份有限公司 | Linear motor |
| CN115441364A (en) * | 2022-08-16 | 2022-12-06 | 国网江苏省电力有限公司无锡供电分公司 | Light-weight high-precision cutting mechanism for cable insulation stripping and cutting intelligent robot |
| CN115441364B (en) * | 2022-08-16 | 2024-03-05 | 国网江苏省电力有限公司无锡供电分公司 | Light-weight high-precision cutting mechanism for cable insulation stripping and cutting intelligent robot |
| CN116044967A (en) * | 2023-01-18 | 2023-05-02 | 东莞市科士威传动科技有限公司 | Accurate module and equipment convenient to equipment |
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|---|---|
| TW201705655A (en) | 2017-02-01 |
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Effective date of registration: 20170705 Address after: 112500, No. five, village committee, five village, Changtu Town, Changtu County, Liaoning Province, No. 10 Applicant after: Yang Guang Address before: 102400, 804, building eight, building 12, building No. 1, Fangshan District Chen Chen street, Beijing Applicant before: BEIJING DUNYI TECHNOLOGY CO., LTD. |
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Application publication date: 20151028 |
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