CN105720782A - Linear motor capable of rotating and freely moving in plane - Google Patents
Linear motor capable of rotating and freely moving in plane Download PDFInfo
- Publication number
- CN105720782A CN105720782A CN201610251697.9A CN201610251697A CN105720782A CN 105720782 A CN105720782 A CN 105720782A CN 201610251697 A CN201610251697 A CN 201610251697A CN 105720782 A CN105720782 A CN 105720782A
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- Prior art keywords
- linear electric
- electric motor
- motor primary
- transverse shifting
- primary
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
Abstract
The invention relates to a linear motor capable of rotating and freely moving in a plane. The linear motor comprises a primary platform and a secondary platform, wherein the primary platform comprises a control and driving module, a framework and a shell, the shell is arranged outside the framework, the control and driving module is arranged on the framework, the control and driving module and the shell can be used for sealing the framework, a primary for longitudinally moving the linear motor and a plurality of primaries for transversely moving the linear motor are arranged in the framework, the plurality of primaries for transversely moving the linear motor are symmetrically arranged on the two sides of the primary for longitudinally moving the linear motor. By the linear motor, motion such as suspension, traverse moving, longitudinal moving, curve moving and rotation of the primary platform can be achieved, other devices can be additionally arranged on the primary platform, thus, complicated movement of the device in the plane is achieved, and a foundation is provided for wide application of the linear motor.
Description
Technical field
The present invention relates to techniques of linear motor field, particularly relate to a kind of linear electric motors that can planar rotate and move freely.
Background technology
At present, line inductance electromotor, owing to can directly produce rectilinear motion without drive mechanism, is applied widely so obtaining in current productive life.Existing linear electric motors are owing to can only realize unidirectional motion, it is impossible to enough planar move freely, can not meet the job requirement of complexity.In order to realize two kinds of freedoms of motion planar, being frequently used two linear electric motors superpositions to run, although being so capable of more complicated motion, but two linear electric motors being superimposed, make equipment become excessively complicated, severely impact the range of application of linear electric motors.
Summary of the invention
It is an object of the present invention to overcome above-mentioned the deficiencies in the prior art, and then a kind of linear electric motors that can planar rotate and move freely are provided, by multiple stage line inductance electromotor primary package to together, Polar Patform at the beginning of forming one, reduce the complexity of equipment, share a secondary platform, by the control unit control respectively to each line inductance electromotor, it is capable of primary platform suspension, laterally, longitudinally, curve, the motions such as rotation, first Polar Patform can install additional other equipment, thus realizing equipment compound movement planar, extensive use for linear electric motors provides the foundation.
Technical scheme:
A kind of linear electric motors that can planar rotate and move freely, including primary platform and secondary platform, described primary platform includes controlling and driving module, skeleton, shell, described shell is arranged on the outside of described skeleton, described control and drive module setting are above described skeleton, described skeleton can be closed by described control with driving module and described shell, it is provided with in described skeleton and vertically moves linear electric motor primary and multiple transverse shifting linear electric motor primary, multiple described transverse shifting linear electric motor primaries vertically move the both sides of linear electric motor primary described in symmetrically being arranged in.
Further, the described linear electric motor primary that vertically moves is by vertically moving linear electric motor primary iron core and vertically moving linear electric motor primary winding and form, and described transverse shifting linear electric motor primary is made up of transverse shifting linear electric motor primary iron core and transverse shifting linear electric motor primary winding.
Further, the described linear electric motor primary iron core that vertically moves is formed by silicon steel plate stacking, the described linear electric motor primary iron core that vertically moves is provided with multiple first open slot parallel to each other, and described longitudinal linear electric motor primary winding adopts double-deck half filling mode to be embedded in described first open slot.
Further, described transverse shifting linear electric motor primary iron core is formed by silicon steel plate stacking, described transverse shifting linear electric motor primary iron core is provided with multiple second open slot parallel to each other, and described transverse shifting linear electric motor primary winding adopts full packing mode to be embedded in described second open slot.
Further, described control includes control unit and driver element with driving module, described control unit is used for receiving, generating signal, and transmits signals to driver element, vertically moves linear electric motor primary, described transverse shifting linear electric motor primary start and stop described in described drive unit drives.
Further, described secondary platform is made up of copper coin and steel plate, and described copper coin is arranged on upper strata, and described steel plate is arranged on lower floor.
Further, described skeleton is overrided to form by non-directional cold-rolling silicon steel disc, is provided with the transverse concave groove for placing multiple described transverse shifting linear electric motor primary and for vertically moving the longitudinal fluting of linear electric motor primary described in placing in described skeleton.
The present invention has the advantages that the linear electric motors that can planar rotate and move freely disclosed by the invention relative to prior art, including primary platform and secondary platform, in primary platform, it is provided with control and drives module, skeleton, shell, shell is arranged on the outside of skeleton, control with drive module setting above skeleton, by controlling and driving module, the setting of shell, skeleton can be closed, it is provided with in skeleton and vertically moves linear electric motor primary and multiple transverse shifting linear electric motor primary, enclosed skeleton can ensure that arrange in skeleton vertically move linear electric motor primary and multiple transverse shifting linear electric motor primary can stably run；Multiple transverse shifting linear electric motor primaries symmetrically are arranged in the both sides vertically moving linear electric motor primary, so arrange, can pass through to control to control the energising of transverse shifting linear electric motor primary respectively with driving module to run, or control to vertically move linear electric motor primary energising operation, also or control transverse shifting linear electric motor primary and vertically move linear electric motor primary and be jointly energized operation, primary platform so can be made to be formed with the magnetic induction district of multiple magnetic strength power, therefore, primary platform can realize being formed relative to secondary platform and suspend, transverse shifting, vertically move, curvilinear motion and rotary motion.
Multiple linear electric motor primaries are packaged together by the present invention, Polar Patform at the beginning of forming one, reduce the complexity of equipment, share a secondary platform, by controlling and driving module that the induction machine primary in primary platform is controlled respectively, it is possible to realize primary platform suspension, transverse direction, longitudinal direction, curve, rotation etc. are moved, can installing other equipment on first Polar Patform additional, thus realizing equipment compound movement planar, the extensive use for linear electric motors provides the foundation.
The additional aspect of the present invention and advantage will part provide in the following description, and part will become apparent from the description below, or is recognized by the practice invented.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention；
Fig. 2 is the structural representation of embodiment of the present invention primary platform；
Fig. 3 is the structural representation of embodiment of the present invention skeleton；
Fig. 4 is the structural representation that the embodiment of the present invention vertically moves linear electric motor primary iron core；
Fig. 5 is the structural representation that the embodiment of the present invention vertically moves that linear electric motor primary iron core coordinates with winding；
Fig. 6 is the structural representation of embodiment of the present invention transverse shifting linear electric motor primary iron core；
Fig. 7 is the structural representation that embodiment of the present invention transverse shifting linear electric motor primary iron core coordinates with winding；
Fig. 8 is the schematic perspective view that embodiment of the present invention transverse shifting linear electric motor primary iron core coordinates with winding；
1-primary platform in figure；2-secondary platform；3-controls and drives module；4-skeleton；5-shell；6-vertically moves linear electric motor primary；7-transverse shifting linear electric motor primary；8-copper coin；9-steel plate；10-transverse concave groove；11-longitudinal fluting；12-vertically moves linear electric motor primary iron core；13-vertically moves linear electric motor primary winding；14-transverse shifting linear electric motor primary iron core；15-transverse shifting linear electric motor primary winding；16-the first open slot；17-the second open slot.
Detailed description of the invention
Below with reference to accompanying drawing, the present invention is described in detail.
In conjunction with shown in Fig. 1 to Fig. 8, the linear electric motors that can planar rotate and move freely disclosed in the present embodiment, including primary platform 1 and secondary platform 2, linear electric motors form disclosed in the present embodiment is for belonging to short primary long secondary, namely secondary platform 2 belongs to fixed platform, when primary platform 1 passes into alternating current power supply, just in air gap, produce travelling-magnetic-field, secondary platform 2 is under traveling wave magnetic field intercepts, electromotive force will be induced and produce electric current, this electric current acts on mutually with the magnetic field in air gap and just produces electromagnetic push, after secondary platform 2 is fixing, then primary platform 1 does rectilinear motion under thrust.
More specifically, primary platform 1 includes controlling and driving module 3, skeleton 4, shell 5, shell 5 is arranged on the outside of skeleton 4, the top controlled and drive module 3 to be arranged on skeleton 4, control can be closed by skeleton 4 with driving module 3 and shell 5, be provided with in skeleton 4 and vertically move linear electric motor primary 6 and multiple transverse shifting linear electric motor primary 7, enclosed skeleton 4 can ensure that arrange in skeleton 4 vertically move linear electric motor primary 6 and multiple transverse shifting linear electric motor primary 7 can stably run.
The transverse concave groove 10 for placing multiple transverse shifting linear electric motor primary 7 it is provided with in skeleton 4, it is additionally provided with for placing the longitudinal fluting 11 vertically moving linear electric motor primary 6, multiple transverse shifting linear electric motor primaries 7 can just be installed in transverse concave groove 10, vertically move linear electric motor primary 6 can just be installed in longitudinal fluting 11, preferably, the quantity of transverse shifting linear electric motor primary 7 disclosed in the present embodiment is six, six transverse shifting linear electric motor primaries 7 are arranged on the left and right sides vertically moving linear electric motor primary 6 respectively symmetrically, namely three transverse shifting linear electric motor primaries 7 it are provided with in the left side vertically moving linear electric motor primary 6, three transverse shifting linear electric motor primaries 7 it are again provided with on the right side vertically moving linear electric motor primary 6, so arrange, the transverse shifting linear electric motor primary 7 being arranged symmetrically ensure that primary platform 1 all produces stable magnetic strength power at regional, and then can pass through to control transverse shifting linear electric motor primary 7 energising operation, or control to vertically move linear electric motor primary 6 energising operation, also or control transverse shifting linear electric motor primary 7 and vertically move linear electric motor primary 6 and be jointly energized operation, and then realize primary platform 1 can relative to the suspension of secondary platform 2, transverse shifting, vertically move, curvilinear motion and rotary motion；Preferably, skeleton 4 is overrided to form by non-directional cold-rolling silicon steel disc, so can ensure the rigidity of skeleton 4, bearing capacity and electromagnetic performance well.
Further, vertically moving linear electric motor primary 6 by vertically moving linear electric motor primary iron core 12 and vertically moving linear electric motor primary winding 13 and form, transverse shifting linear electric motor primary 7 is made up of transverse shifting linear electric motor primary iron core 14 and transverse shifting linear electric motor primary winding 15；Vertically move linear electric motor primary iron core 12 to be formed by silicon steel plate stacking, vertically move linear electric motor primary iron core 12 and be provided with multiple first open slot 16 parallel to each other, longitudinal linear electric motor primary winding 13 adopts double-deck half filling mode to be embedded in described first open slot 16, transverse shifting linear electric motor primary iron core 14 is formed by silicon steel plate stacking, transverse shifting linear electric motor primary iron core 14 is provided with multiple second open slot 17 parallel to each other, and transverse shifting linear electric motor primary winding 15 adopts full packing mode to be embedded in the second open slot 17.
Preferably, controlling to include control unit and driver element with driving module 3, control unit is used for receiving, generating signal, and transmits signals to driver element, and drive unit drives vertically moves linear electric motor primary 6, transverse shifting linear electric motor primary 7 start and stop.
Preferably, secondary platform 2 is made up of copper coin 8 and steel plate 9, and copper coin 8 is arranged on upper strata, and steel plate 9 is arranged on lower floor, so arranges, and while ensureing secondary platform 2 rigidity, can effectively promote the electromagnetic performance of secondary platform 2.
The present invention can realize primary platform relative to the suspension of secondary platform, transverse shifting, vertically move, curvilinear motion and rotary motion, concrete control principle and work process are as follows:
Suspend: by controlling and driving module 3 that just transverse shifting linear electric motors are applied pole 7 less electric current, make transverse shifting linear electric motors just pole winding 15 produces travelling-magnetic-field, secondary Polar Patform 2 will induce another magnetic field, two magnetic field interactions will produce electromagnetic force, make just Polar Patform 1 depart from time Polar Patform 2 to suspend, but the size of electromagnetic force is not sufficient to promote just Polar Patform 1 to move, thus realize the suspension relative to secondary platform 2 of the first Polar Patform 1.
Transverse shifting: by controlling and driving module 3 that just transverse shifting linear electric motors are imposed pole 7 identical electric current, after energising, transverse shifting linear electric motors just pole winding 15 can produce travelling-magnetic-field, secondary Polar Patform 2 will induce another magnetic field, two magnetic field interactions, produce electromagnetic push, promote primary platform 1 transverse movement.By changing the phase sequence of transverse shifting linear electric motors just pole winding 15 energising, thus it is possible to vary first Polar Patform 1 is relative to the direction of secondary platform 2 transverse shifting.
Vertically move: by controlling and driving module 3 just to impose electric current in pole 6 to vertically moving linear electric motors, after energising, vertically move in linear electric motors just pole winding 13 and can produce travelling-magnetic-field, secondary Polar Patform 2 will induce another magnetic field, two magnetic field interactions, produce electromagnetic push, promote primary platform 1 lengthwise movement.By changing the phase sequence vertically moving linear electric motors just pole winding 13 energising, thus it is possible to vary the direction that first Polar Patform 1 vertically moves relative to secondary platform 2.
Curvilinear motion: vertically move linear electric motors just pole 6 and transverse shifting linear electric motors just pole 7 all by energising, control and driving module 3 can control according to demand and driving vertically moves linear electric motors just pole 6 and transverse shifting linear electric motors just pole 7, by changing the longitudinal thrust vertically moving linear electric motors just pole 6 and the lateral thrust of transverse shifting linear electric motors just pole 7, both thrusts combine and make the curvilinear motion that just Polar Patform 1 sets along user, and first Polar Patform 1 can be monitored in real time relative to secondary platform 2 location by the position sensor being arranged in secondary platform 2, positional information is fed back to control and drives module 3, to be revised.
Rotary motion: by controlling and driving module 3 just to impose less electric current in pole 6 to vertically moving linear electric motors, making just Polar Patform 1 is suspended state, two pairs of transverse shifting linear electric motors that primary 1 four corners of platform are arranged diagonal just pole 7 imposes the electric current that phase sequence is different for a pair, two transverse shifting linear electric motors so can be made just to produce sufficiently large, in opposite direction thrust in pole 7, and so just Polar Patform 1 will realize rotation clockwise or counterclockwise.
Multiple linear electric motor primaries are packaged together by the present invention, Polar Patform 1 at the beginning of forming one, reduce the complexity of equipment, share a secondary platform 2, by controlling and driving module 3 that the induction machine primary in primary platform 1 is controlled respectively, it is possible to realize primary platform suspension, transverse direction, longitudinal direction, curve, rotation etc. are moved, can installing other equipment on first Polar Patform additional, thus realizing equipment compound movement planar, the extensive use for linear electric motors provides the foundation.
Above example is the exemplary illustration to this patent, does not limit its protection domain, and its local can also be changed by those skilled in the art, as long as no the spirit beyond this patent, all in the protection domain of this patent.
Claims (7)
1. the linear electric motors that can planar rotate and move freely, it is characterized in that, including primary platform (1) and secondary platform (2), described primary platform (1) includes controlling and driving module (3), skeleton (4), shell (5), described shell (5) is arranged on the outside of described skeleton (4), described control and the top driving module (3) to be arranged on described skeleton (4), described skeleton (4) can be closed by described control with driving module (3) and described shell (5), it is provided with in described skeleton (4) and vertically moves linear electric motor primary (6) and multiple transverse shifting linear electric motor primary (7), multiple described transverse shifting linear electric motor primaries (7) vertically move the both sides of linear electric motor primary (6) described in symmetrically being arranged in.
2. a kind of linear electric motors that can planar rotate and move freely according to claim 1, it is characterized in that, the described linear electric motor primary (6) that vertically moves is by vertically moving linear electric motor primary iron core (12) and vertically moving linear electric motor primary winding (13) and form, and described transverse shifting linear electric motor primary (7) is made up of transverse shifting linear electric motor primary iron core (14) and transverse shifting linear electric motor primary winding (15).
3. a kind of linear electric motors that can planar rotate and move freely according to claim 2, it is characterized in that, the described linear electric motor primary iron core (12) that vertically moves is formed by silicon steel plate stacking, the described linear electric motor primary iron core (12) that vertically moves is provided with multiple first open slot (16) parallel to each other, and described longitudinal linear electric motor primary winding (13) adopts double-deck half filling mode to be embedded in described first open slot (16).
4. a kind of linear electric motors that can planar rotate and move freely according to Claims 2 or 3, it is characterized in that, described transverse shifting linear electric motor primary iron core (14) is formed by silicon steel plate stacking, described transverse shifting linear electric motor primary iron core (14) is provided with multiple second open slot (17) parallel to each other, and described transverse shifting linear electric motor primary winding (15) adopts full packing mode to be embedded in described second open slot (17).
5. a kind of linear electric motors that can planar rotate and move freely according to claim 4, it is characterized in that, described control includes control unit and driver element with driving module (3), described control unit is used for receiving, generating signal, and transmit signals to driver element, vertically move linear electric motor primary (6), described transverse shifting linear electric motor primary (7) start and stop described in described drive unit drives.
6. a kind of linear electric motors that can planar rotate and move freely according to claim 5, it is characterized in that, described secondary platform (2) is made up of copper coin (8) and steel plate (9), described copper coin (8) is arranged on upper strata, and described steel plate (9) is arranged on lower floor.
7. a kind of linear electric motors that can planar rotate and move freely according to claim 6, it is characterized in that, described skeleton (4) is overrided to form by non-directional cold-rolling silicon steel disc, be provided with in described skeleton (4) transverse concave groove (10) for placing multiple described transverse shifting linear electric motor primary (7) and being used for place described in vertically move the longitudinal fluting (11) of linear electric motor primary (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610251697.9A CN105720782A (en) | 2016-04-21 | 2016-04-21 | Linear motor capable of rotating and freely moving in plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610251697.9A CN105720782A (en) | 2016-04-21 | 2016-04-21 | Linear motor capable of rotating and freely moving in plane |
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| Publication Number | Publication Date |
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| CN105720782A true CN105720782A (en) | 2016-06-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610251697.9A Pending CN105720782A (en) | 2016-04-21 | 2016-04-21 | Linear motor capable of rotating and freely moving in plane |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020079747A1 (en) * | 2000-12-21 | 2002-06-27 | Thk Co., Ltd. | Linear motor system and driving apparatus driven by same |
| CN1996726A (en) * | 2006-12-29 | 2007-07-11 | 清华大学 | An ultra-thin 3-freedom degree plane motor |
| CN101958633A (en) * | 2010-09-26 | 2011-01-26 | 华中科技大学 | Composite core-based primary permanent magnet synchronous linear motor |
| CN102723842A (en) * | 2012-07-09 | 2012-10-10 | 哈尔滨工业大学 | Multi-freedom and long travel magnetic suspension working bench |
| CN203504386U (en) * | 2013-10-25 | 2014-03-26 | 肖俊东 | Permanent magnet linear motor and permanent magnet array assembly thereof, permanent magnet motor and component thereof |
| CN104518639A (en) * | 2013-10-02 | 2015-04-15 | 徐建宁 | Plane induction motor |
| CN105322755A (en) * | 2014-06-08 | 2016-02-10 | 徐建宁 | Planar induction motor |
-
2016
- 2016-04-21 CN CN201610251697.9A patent/CN105720782A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020079747A1 (en) * | 2000-12-21 | 2002-06-27 | Thk Co., Ltd. | Linear motor system and driving apparatus driven by same |
| CN1996726A (en) * | 2006-12-29 | 2007-07-11 | 清华大学 | An ultra-thin 3-freedom degree plane motor |
| CN101958633A (en) * | 2010-09-26 | 2011-01-26 | 华中科技大学 | Composite core-based primary permanent magnet synchronous linear motor |
| CN102723842A (en) * | 2012-07-09 | 2012-10-10 | 哈尔滨工业大学 | Multi-freedom and long travel magnetic suspension working bench |
| CN104518639A (en) * | 2013-10-02 | 2015-04-15 | 徐建宁 | Plane induction motor |
| CN203504386U (en) * | 2013-10-25 | 2014-03-26 | 肖俊东 | Permanent magnet linear motor and permanent magnet array assembly thereof, permanent magnet motor and component thereof |
| CN105322755A (en) * | 2014-06-08 | 2016-02-10 | 徐建宁 | Planar induction motor |
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Application publication date: 20160629 |
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