CN105281535A - Rectilinear motion linear module group - Google Patents
Rectilinear motion linear module group Download PDFInfo
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- CN105281535A CN105281535A CN201510763403.6A CN201510763403A CN105281535A CN 105281535 A CN105281535 A CN 105281535A CN 201510763403 A CN201510763403 A CN 201510763403A CN 105281535 A CN105281535 A CN 105281535A
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Abstract
The invention provides a rectilinear motion linear module group comprising a groove type rigid body, a mover seat, a mover, and stators. Linear guiding chutes or guiding protruding rails are arranged on the groove type rigid body. The mover seat cooperating with the guiding chutes or guiding protruding rails can make reciprocating motions along the guiding chutes or guiding protruding rails. The mover arranged right below the mover seat contains iron-core-free multi-phase coil windings or iron-core-contained multi-phase coil windings. A plurality of permanent magnet blocks serving as stators are opposite to the mover and are distributed at intervals along the linear motion direction; and air gaps are reserved between the mover and the stators. The stators and the mover form a motor system that is driven by a controller, thereby driving the mover seat to move. According to the invention, the novel linear module group formed by organic combination of the groove type rigid body and the linear motor system has advantages of high precision, small size, fast speed, short response time, large thrust, and low cost and the like and can replace the traditional linear motion module group completely, thereby inducing revolution of the automation industry.
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.
Background technology
Currently can use a large amount of linear modules in automation industry, traditional linear block system is made up of components such as motor, ball screw, guide rail and nut mover seats, its operation principle drives this ball screw to rotate by motor, driving the nut mover seat on screw rod to do linear reciprocating motion along guide rail, is realize being driven from rotating the mobile platform becoming rectilinear motion from motor.Although conventional linear module is widely used in the intelligence manufacture fields such as automation equipment, industrial robot, precision instrument machine, mechanical industry, wisdom automation, raw skill medical treatment, also superperformance is possessed, but still there are some comparatively significantly shortcomings: as high in high-precision ball screw processing difficulties, cost, 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, comprise grooved rigid body, mover seat, mover and stator, this grooved rigid body be provided with straight line to guiding groove or guiding protruding rail, described mover seat coordinates this guiding groove or guiding protruding rail, and can along guiding groove or guiding protruding rail reciprocating motion; Described mover is positioned at the below of described mover seat, and it comprises iron-core-free polyphase winding winding or ribbon core polyphase winding winding; Described stator is some permanent magnets that, move along a straight line direction relative with described mover is intervally arranged, and is reserved with air gap between described mover and stator; This stator and mover form electric system, are driven by controller, mover seat motion described in connection; Described grooved rigid body is that permeability magnetic material is made, and forms closed magnetic loop between itself and stator, mover, air gap.
In the middle of one or more embodiment of the present invention, described guiding groove or guiding protruding rail are located at two madial walls of grooved rigid body, lateral wall or top side wall, described mover seat with between grooved rigid body by roll or sliding type realizes moving and coordinates.
In the middle of one or more embodiment of the present invention, described some permanent magnets are symmetrical, be intervally arranged on the madial wall of described grooved rigid body, described mover is positioned at the vallecular cavity of grooved rigid body, and equal apart from the air gap of both sides permanent magnets, forms bilateral linear motor structure.
In the middle of one or more embodiment of the present invention, be equipped with the cushion block of permeability magnetic material between the madial wall of described grooved rigid body and stator, adjust the spacing of mover and both sides stator with suitable pad thickness.
In the middle of one or more embodiment of the present invention, described some permanent magnets are symmetrical, be intervally arranged on the lateral wall of described grooved rigid body, described mover is positioned at the vallecular cavity of grooved rigid body, and equal apart from the air gap of both sides permanent magnets, forms bilateral linear motor structure.
In the middle of one or more embodiment of the present invention, described mover comprises a multiple tooth iron core, multiple teeth that this multiple tooth iron core comprises a trunk and stretched out by this trunk bilateral symmetry, forms groove, tooth is wound with some coil windings between each tooth.
In the middle of one or more embodiment of the present invention, described mover comprises a multiple tooth iron core, multiple teeth that this multiple tooth iron core comprises a trunk and stretched out by this trunk bilateral symmetry, forms groove, in this groove, be wound with some coil windings between each tooth.
In the middle of one or more embodiment of the present invention, described mover comprises a strip iron core, and this strip iron core is wound with some coil windings, and the spacing between each coil windings is equal.
In the middle of one or more embodiment of the present invention, described mover comprises some iron-core-free polyphase winding windings, and each winding linearly, equidistantly arranges.
In the middle of one or more embodiment of the present invention, described some permanent magnets are located on the vallecular cavity axis of grooved rigid body, be connected and fixed by stator support plate and grooved rigid body, described mover comprises the iron-core-free polyphase winding winding or ribbon core polyphase winding winding that are symmetrically set in those permanent magnets both sides respectively.
In the middle of one or more embodiment of the present invention, described mover seat coordinates with realizing rolling by ball or roller between grooved rigid body.
The present invention compared with prior art, its advantageous exists: have employed 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 overall structure schematic diagram of the linear module of rectilinear motion of the embodiment of the present invention one.
Fig. 2 is mover coil and the stator fit structure schematic diagram of the embodiment of the present invention one.
Fig. 3 is mover coil and the stator fit structure schematic diagram of the embodiment of the present invention two.
Fig. 4 is mover coil and the stator fit structure schematic diagram of the embodiment of the present invention three.
Fig. 5 is mover coil and the stator fit structure schematic diagram of the embodiment of the present invention four.
Fig. 6 is mover coil and the stator fit structure schematic diagram of the embodiment of the present invention five.
Fig. 7 is the lateral cross section structural representation of the linear module of rectilinear motion of the embodiment of the present invention six.
Fig. 8 is mover coil and the stator fit structure schematic diagram of the embodiment of the present invention six.
Fig. 9 is the overall structure schematic diagram of the linear module of rectilinear motion of the embodiment of the present invention seven.
Figure 10 is mover coil and the stator fit structure schematic diagram of the embodiment of the present invention seven.
Figure 11 is the lateral cross section structural representation of the linear module of rectilinear motion of the embodiment of the present invention eight.
Figure 12 is mover coil and the stator fit structure schematic diagram of the embodiment of the present invention nine.
Figure 13 is fit structure one schematic diagram between mover seat of the present invention and grooved rigid body.
Figure 14 is fit structure two schematic diagram between mover seat of the present invention and grooved rigid body.
Figure 15 is fit structure three schematic diagram between mover seat of the present invention and grooved rigid body.
Figure 16 is fit structure four schematic diagram between mover seat of the present invention and grooved rigid body.
Embodiment
As follows by reference to the accompanying drawings, the application's scheme is further described:
As shown in Figure 1-2, preferred embodiment one of the present invention:
The linear module of a kind of rectilinear motion, comprise grooved rigid body 1, mover seat 2, mover 3 and stator 4, this grooved rigid body 1 be provided with straight line to guiding groove 10, described guiding groove 10 is located at the madial wall of grooved rigid body 1, described mover seat 2 is provided with the groove 20 coordinating this guiding groove 10 in its sidewall, ball 5 is provided with between the groove 20 of described mover seat 2 and guiding groove 10, and can along guiding groove 10 reciprocating motion; Described mover 3 is positioned at the below of described mover seat 2, it comprises a multiple tooth iron core 31, multiple tooth 31b that this multiple tooth iron core 31 comprises a trunk 31a and stretched out by this trunk 31a bilateral symmetry, form groove 31c between each tooth 31b, tooth 31b are wound with coil windings 32; Described stator 4 is some permanent magnets that, move along a straight line direction relative with described mover 3 is intervally arranged, described some permanent magnets are symmetrical, be intervally arranged on the madial wall of described grooved rigid body 1, air gap is reserved with between described mover 3 and stator 4, described mover 3 is positioned at the vallecular cavity 100 of grooved rigid body 1, and equal apart from the air gap of both sides permanent magnets; This stator 4 forms electric system with mover 3, and driven by controller (omitting in figure), described in connection, mover seat 2 moves.
Described grooved rigid body 1 is cast or the extrusion modlings such as silicon steel, pure iron or the low charcoal steel that employing permeability is high, and described mover seat 2 and grooved rigid body 1 are matched by ball spout that is U-shaped or V-type, can realize high accuracy, high speed linear reciprocating motion; Described mover seat 2 also has corresponding installing hole, and can connect thereon need other equipments unit of movement.
The operation principle of the linear module of rectilinear motion:
When the mover winding of electric system passes into three-phase alternating current, the travelling-magnetic-field linearly advanced is produced in the air gap of mover and stator, the excitation field of travelling-magnetic-field and permanent magnet interacts and just can produce electromagnetic push, under the promotion of this electromagnetic force, mover just can follow the contrary direction of ripple Movement in Magnetic Field and do rectilinear motion under the guiding of the guiding groove of grooved rigid body, its speed equals synchronizing speed, is namely directly proportional to driving power frequency; The phase sequence changing three-phase current just can change the magnetic direction of row ripple, thus changes the direction of mover motion.Meanwhile, because stator is in the distribution of mover bilateral symmetry, forms bilateral linear motor structure, counteract the suction between the iron core of mover and stator, make motor thrust be at least more than a times of common monolateral motor.
The linear module of above-mentioned rectilinear motion is aided with grating scale or magnetic railings ruler, limit switch etc., and composition linear position controls servo system.
The novel linear module organically combined by grooved rigid body and linear induction motor system of the present invention, there is the advantages such as precision is high, volume is little, speed is fast, the response time is short, thrust is large, cost is low, traditional linear movement module can be replaced completely, the linear module of picture KK, causes the great change of automation industry.
As shown in Figure 3, preferred embodiment two of the present invention:
The difference of itself and above-described embodiment one is, described mover 3 is combined back-to-back by two identical monolateral multiple tooth iron cores 34, multiple tooth 34b that each monolateral multiple tooth iron core 34 comprises a trunk 34a and stretched out by this trunk 34a side, the tooth of two multiple tooth iron cores 34 and tooth aligned in position, groove 34c is formed between each tooth 34b, tooth 34b is wound with coil windings 32, mover 3 forms bilateral linear motor with the stator 3 of grooved rigid body 1 both sides again.
As shown in Figure 4, preferred embodiment three of the present invention:
The difference of itself and above-described embodiment one is, described mover 3 comprises a multiple tooth iron core 31, multiple tooth 31b that this multiple tooth iron core 31 comprises a trunk 31a and stretched out by this trunk 31a bilateral symmetry, form groove 31c between each tooth 31b, in this groove 31c, are wound with coil windings 32.
As shown in Figure 5, preferred embodiment four of the present invention:
The difference of itself and above-described embodiment one is, described mover 3 comprises a strip iron core 33, and this strip iron core 33 is wound with some coil windings 32, and the spacing between each coil windings 32 is equal.
As shown in Figure 6, preferred embodiment five of the present invention:
The difference of itself and above-described embodiment one is, described some permanent magnets are symmetrical, be intervally arranged on the lateral wall of described grooved rigid body 1, and described mover 3 is positioned at the vallecular cavity 100 of grooved rigid body 1, and equal apart from the air gap of both sides permanent magnets.
As Figure 7-8, preferred embodiment six of the present invention:
The linear module of a kind of rectilinear motion, comprise grooved rigid body 1, mover seat 2, mover 3 and stator 4, this grooved rigid body 1 be provided with straight line to guiding groove 10, described guiding groove 10 is located at the lateral wall of grooved rigid body 1, described mover seat 2 is provided with the groove 20 coordinating this guiding groove 10, ball 5 is provided with between the groove 20 of described mover seat 2 and guiding groove 10, and can along guiding groove 10 reciprocating motion; Described mover 3 is positioned at the below of described mover seat 2, and it comprises some iron-core-free polyphase winding windings 35, and each winding linearly, equidistantly arranges; Described stator 4 is some permanent magnets that, move along a straight line direction relative with described mover 3 is intervally arranged, described some permanent magnets are symmetrical, be intervally arranged on the madial wall of described grooved rigid body 1, air gap is reserved with between described mover 3 and stator 4, described mover 3 is positioned at the vallecular cavity 100 of grooved rigid body 1, and equal apart from the air gap of both sides permanent magnets; This stator 4 forms electric system with mover 3, and driven by controller (omitting in figure), described in connection, mover seat 2 moves.
As shown in figs. 9-10, preferred embodiment seven of the present invention:
The linear module of a kind of rectilinear motion, comprise grooved rigid body 1, mover seat 2, mover 3 and stator 4, this grooved rigid body 1 be provided with straight line to guiding groove 10, described guiding groove 10 is located at the madial wall of grooved rigid body 1, described mover seat 2 is provided with the groove 20 coordinating this guiding groove 10 in its sidewall, ball 5 is provided with between the groove 20 of described mover seat 2 and guiding groove 10, and can along guiding groove 10 reciprocating motion; Described stator 4 comprises some permanent magnets be located on vallecular cavity 100 axis of grooved rigid body, this permanent magnets is connected and fixed by stator support plate 41 and grooved rigid body 1, described mover 3 comprises the iron-core-free polyphase winding winding or ribbon core polyphase winding winding that are symmetrically set in those permanent magnets both sides respectively, in the present embodiment, described mover comprises a multiple tooth iron core 34, multiple tooth 34b that this multiple tooth iron core 34 comprises a trunk 34a and stretched out towards stator 4 by this trunk 34a, form groove 34c between each tooth 34b, tooth 34b is wound with coil windings 32; Be reserved with air gap between described mover 3 and stator 4, described mover 3 is positioned at the vallecular cavity 100 of grooved rigid body 1, and equal apart from the air gap of permanent magnets; This stator 4 forms electric system with mover 3, and driven by controller (omitting in figure), described in connection, mover seat 2 moves.
As described in Figure 11, preferred embodiment eight of the present invention:
The difference of itself and above-described embodiment one is, described guiding groove 10 is located at the inside and outside both sides at the top, two side of grooved rigid body 1, described mover seat 2 both sides have the C type groove 28 coordinating this grooved rigid body 1 respectively, are contacted inside this C type groove 28 with between grooved rigid body 1 by the rolling type of ball or roller.
As shown in figure 12, preferred embodiment nine of the present invention:
The difference of itself and above-described embodiment six is, the cushion block 5 of permeability magnetic material is equipped with between the madial wall of described grooved rigid body 1 and stator 3, adjust the spacing of mover 3 and both sides stator 4 with suitable pad thickness, the spacing adjustment mode of the present embodiment is all applicable to above-described embodiment one to four.
In the various embodiments described above, the sliding matching structure between described grooved rigid body 1 and mover seat 2 can be:
1) some straight lines that the sidewall of grooved rigid body 1 is arranged to guide channel or guiding protruding rail;
2) be convexly equipped in mover seat 2 surface, embed and the projection slided along the guide channel of described grooved rigid body 1 or raised line; Or be that recessed guiding protruding rail that is surperficial in mover seat 2, the described grooved rigid body 1 of confession embeds and the structures such as the groove slided.
The guiding groove of above-mentioned channel-section steel both sides or guiding protruding rail, adopt the method for laser surface hardening or other Surface hardening treatment etc. to carry out cure process, and to strengthen its durability, it can be U-shaped, V-type, matrix, with combined shaped such as ball spouts.
And in above-mentioned fit structure, U-steel 1 body with can be that direct slidingtype contacts between mover seat 2, or be provided with ball 5 or cylindrical roller 6 rolling type contact.
In the various embodiments described above, described permanent magnets can be provided with madial wall or the lateral wall of grooved rigid body 1.
In the various embodiments described above, described mover 3 can be iron-core-free or ribbon core polyphase winding winding, and wherein, core material is the ferromagnetic material of silicon steel sheet, amorphous sheet, the contour permeability of ultra micro wafer.
In the various embodiments described above, following several fit structures between mover seat and grooved rigid body, can be selected:
The first, outside mover seat, the oblique triangle convex in both sides coordinates the structure of sliding with the oblique triangle groove in both sides cylindrical roller 6 inside grooved rigid body, (omit inner stator and mover) as shown in figure 13;
The second, outside mover seat, the oblique triangle groove in both sides coordinates the structure of sliding with skew back triangle convex cylindrical roller 6 in grooved rigid body both sides, (omits inner stator and mover) as shown in figure 14;
Three, inside mover seat, the oblique triangle groove in both sides coordinates the structure of sliding with skew back triangle convex cylindrical roller 6 outside grooved rigid body both sides, (omits inner stator and mover) as shown in figure 15;
Four, inside mover seat, the oblique triangle convex in both sides coordinates the structure of sliding with skew back triangular fovea groove cylindrical roller 6 outside grooved rigid body both sides, (omits inner stator and mover) as shown in figure 16;
Five, mover seat two inner edge adopts ball to match with guiding groove inside grooved rigid body both sides the structure of sliding, as shown in Fig. 1 and Fig. 9;
Six, mover seat two inner edge adopts ball and the structure of sliding that matches outside grooved rigid body both sides, as shown in Figure 7.
Above-mentioned preferred implementation 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, it is characterized in that: comprise grooved rigid body, mover seat, mover and stator, this grooved rigid body be provided with straight line to guiding groove or guiding protruding rail, described mover seat coordinates this guiding groove or guiding protruding rail, and can along guiding groove or the reciprocating motion of guiding protruding rail; Described mover is positioned at the below of described mover seat, and it comprises iron-core-free polyphase winding winding or ribbon core polyphase winding winding; Described stator is some permanent magnets that, move along a straight line direction relative with described mover is intervally arranged, and is reserved with air gap between described mover and stator; This stator and mover form electric system, are driven by controller, mover seat motion described in connection; Described grooved rigid body is that permeability magnetic material is made, and forms closed magnetic loop between itself and stator, mover, air gap.
2. the linear module of rectilinear motion according to claim 1, it is characterized in that: described guiding groove or guiding protruding rail are located at two madial walls of grooved rigid body, lateral wall or top side wall, described mover seat with between grooved rigid body by roll or sliding type realizes moving and coordinates.
3. the linear module of rectilinear motion according to claim 2, it is characterized in that: described some permanent magnets are symmetrical, be intervally arranged on the madial wall of described grooved rigid body, described mover is positioned at the vallecular cavity of grooved rigid body, and equal apart from the air gap of both sides permanent magnets.
4. the linear module of rectilinear motion according to claim 3, is characterized in that: the cushion block being equipped with permeability magnetic material between the madial wall of described grooved rigid body and stator, adjusts the spacing of mover and both sides stator with suitable pad thickness.
5. the linear module of rectilinear motion according to claim 2, it is characterized in that: described some permanent magnets are symmetrical, be intervally arranged on the lateral wall of described grooved rigid body, described mover is positioned at the vallecular cavity of grooved rigid body, and equal apart from the air gap of both sides permanent magnets.
6. the linear module of the rectilinear motion according to claim 1-5 any one, it is characterized in that: described mover comprises a multiple tooth iron core, multiple teeth that this multiple tooth iron core comprises a trunk and stretched out by this trunk bilateral symmetry, form groove between each tooth, tooth is wound with some coil windings.
7. the linear module of the rectilinear motion according to claim 1-5 any one, it is characterized in that: described mover comprises a multiple tooth iron core, multiple teeth that this multiple tooth iron core comprises a trunk and stretched out by this trunk bilateral symmetry, form groove between each tooth, in this groove, be wound with some coil windings.
8. the linear module of the rectilinear motion according to claim 1-5 any one, is characterized in that: described mover comprises a strip iron core, and this strip iron core is wound with some coil windings, and the spacing between each coil windings is equal.
9. the linear module of the rectilinear motion according to claim 1-5 any one, is characterized in that: described mover comprises some iron-core-free polyphase winding windings, and each winding linearly, equidistantly arranges.
10. the linear module of rectilinear motion according to claim 1 and 2, it is characterized in that: described some permanent magnets are located on the vallecular cavity axis of grooved rigid body, be connected and fixed by stator support plate and grooved rigid body, described mover comprises the iron-core-free polyphase winding winding or ribbon core polyphase winding winding that are symmetrically set in those permanent magnets both sides respectively.
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| CN201510763403.6A CN105281535A (en) | 2015-11-10 | 2015-11-10 | Rectilinear motion linear module group |
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Application publication date: 20160127 |