CN106395392A - Self-driven magnetic suspension curvilinear and linear composite circulation type transferring unit with reasonable structure - Google Patents
Self-driven magnetic suspension curvilinear and linear composite circulation type transferring unit with reasonable structure Download PDFInfo
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- CN106395392A CN106395392A CN201610895402.1A CN201610895402A CN106395392A CN 106395392 A CN106395392 A CN 106395392A CN 201610895402 A CN201610895402 A CN 201610895402A CN 106395392 A CN106395392 A CN 106395392A
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- Prior art keywords
- magnetic suspension
- magnetic levitation
- guide rail
- levitation worktable
- self
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G54/00—Non-mechanical conveyors not otherwise provided for
- B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
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- Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)
- Non-Mechanical Conveyors (AREA)
Abstract
The invention discloses a self-driven magnetic suspension curvilinear and linear composite circulation type transferring unit with a reasonable structure. A flexible conveying belt is mounted on a rotor through connecting blocks. The rotor is connected with a magnetic suspension workbench. The magnetic suspension workbench is arranged on the periphery of a supporting guide rail in a sleeving mode. The supporting guide rail is mounted on a supporting block and composed of a linear section and a circular arc section. Multiple sets of symmetrically arranged supporting electromagnets and one set of symmetrically arranged guiding electromagnets are distributed on the inner side of the magnetic suspension workbench. Vertical displacement sensors and horizontal displacement sensors are mounted on the supporting electromagnets and the guiding electromagnets correspondingly. Supports are mounted on the two sides of the supporting guide rail. A plurality of stators are evenly distributed on linear sections of the supports. The mounting height of the stators is consistent with the height of the rotor when the magnetic suspension workbench suspends stably. Coils are wound on the stators. The self-driven magnetic suspension curvilinear and linear composite circulation type transferring unit is reasonable in structure, high in transferring precision and high in reliability, the cyclic circulation movement of magnetic suspension technologies is achieved, and the application field of magnetic suspension supporting technologies is further expanded.
Description
The application is application number：201510406883.0, the applying date：2015.7.13, " self-driving type magnetic suspension is right and wrong for title
The divisional application of combined-circulation type delivery unit ".
Technical field
The present invention relates to a kind of magnetic levitation switch magnetic resistance delivery unit.
Background technology
Conveyer is the middle device that a kind of power by power set transmits each operating mechanism, in pharmacy, mobile phone dress
Join, logistics sorting, all have application in the automation such as semiconductor die package transmission field it is desirable to have transmission steadily, positioning accurate
Really, the features such as reliable.But in existing transmission system, mainly adopt sprocket wheel chain, belt, roller, steel band, turbine snail
Bar, ball-screw, cylinder etc. are as transmission medium, and control its transfer rate by motor and gear, and this is on the one hand
Make motor there is many intermediate link such as bearing, shaft coupling, gear between moving component, increase the used of detent mechanism
Property amount, reduces response speed；On the other hand the friction and wear being present between moving component and support rails reduces fortune
The kinematic accuracy of dynamic component and service life, and increase the power attenuation of driver part.And more distinct issues are：Existing
Transmission system mostly only enable linear transmission function it is difficult to realize along various shapes, the closing that is made up of straight line and curve
The function that the right and wrong composite guide rail of formula is recycled.Therefore, how to simplify load mode, reduce and rub between guideway, realize
Stable, accurate, reliable right and wrong combined-circulation transmitting function, becomes the key factor that restriction transmission system develops further.
Magnetic suspension bearing technology and linear motor are combined by magnetic suspension linear delivery unit, are achieving driving element
And moving component between while " Zero-drive Chain ", eliminate the friction between motion guide rail and support rails, meet right and wrong compound
The demand for development of type loop transmission system.But would know that from existing report and pertinent literature, the magnetic suspension studied at present is straight
Line delivery unit only enables straight reciprocating motion it is impossible to realize right and wrong compound shuttling movement, this is because being studied at present
Magnetic suspension linear delivery unit in the form of support rails be linear pattern, and right and wrong compound shuttling movement can be completed
Guide rail usually will be composited by linear pattern and circumference type guide rail.Therefore, how in existing magnetic suspension linear delivery unit
On the basis of, the motion feature according to straight line and circular motion respectively, develop and freely can cut between straight line and circular motion
Changing thus realizing the magnetic suspension delivery unit of right and wrong compound shuttling movement, sending out to promoting transmission system high speed, high-precision densification
Exhibition is significant.
The application patent realizing magnetic levitation technology loop cycle feed motion as target, will have stronger active control and
Information processing capability, and can accurately, reliably realize the magnetic suspension bearing technology of on-line checking and automatic compensation function and have
Start big, high temperature resistant, low cost and other advantages linear switched reluctance motors of exerting oneself to combine, develop a kind of new can be
Free switching between straight line and rotary feed campaign, thus the magnetic suspension delivery unit of shuttling movement performance period, had both met the modern times
Tranmission techniques field high accuracy, high speed demand for development, have expanded the application of magnetic suspension bearing and tranmission techniques again.
Through retrieval, though having the related application of majority magnetic suspension linear feed unit both at home and abroad, it is with straight mostly
Line motor, as driving element, the mover of linear motor is connected with magnetic levitation worktable, using magnetic suspension bearing skill
After art realizes magnetic levitation worktable stable suspersion, by linear motor mover drive magnetic levitation worktable along line slideway do into
To motion, and there are no for requiring multiple magnetic levitation worktable to carry flexible conveyer belts along by line slideway and Bu Tong partly
The closed support rails of the circumference guide rail composition in footpath run thus the phase of the magnetic suspension delivery unit being recycled performance period
Close patent application.
For example, patent 201010017657.0,201110113611.3,200310107944.0,200820013968.8,
200610161995th, the magnetic levitation worktable in 02132839.0 etc. all only does feed motion along line slideway, does not refer to magnetcisuspension
Floating workbench can run along the closed guide rail that the circumference guide rail by line slideway and different radii forms.
Though patent 201310021053.7,201210502591.3 etc. refers to that several magnetic levitation worktable drive flexible biography
Send band to do feed motion along racetrack guide rail, but compared with the application patent, there is following difference：
1) the transmission guide rail in the application patent is by the circumference guide rail structure mutually in smoothing junction of line slideway and different radii
Become, the shape of transmission guide rail can change with the change of the quantity of circumference guide rail and radius, and patent 201310021053.7,
The transmission guide rail form of 201210502591.3 grades is fixed, only line slideway and radius unique circumference guide rail composition it is impossible to
Adapt to the complicated application scenario of transmitting path.
2) patent 201310021053.7,201210502591.3 etc. due to consider magnetic levitation worktable do respectively straight line and
During circular motion, the shape of suspension air gap is respectively rectangle and circular and devise straight line and the big guidance system of circumference two, i.e. magnetic
When suspension workbench runs on line slideway, enable the straight-line guidance system being made up of rectangle electromagnet, when magnetic suspension work
When platform runs on circumference guide rail, enable the circumference guidance system being made up of arc electromagnet.And magnetic suspension in the application patent
Only have a set of straight-line guidance system being made up of rectangle electromagnet in workbench, this is because in the application patent, each magnetic
Suspension workbench is less than 0.05 so that magnetic levitation worktable along the thickness of direction of feed with respect to the ratio of each circumference guide rail radius
When running on each circumference guide rail, the suspension air gap shape between rectangle guiding electromagnet and circumference guide rail is essentially rectangular；
On the other hand, the support rails in the application patent are made up of multiple different radii circumference guide rails, and adjacent circumferential guide rail
Between be mutually circumscribed, to design a set of guidance system for each circumference guide rail, both increased magnetic levitation worktable
Physical dimension, reduces stability and the reliability of control system again.Therefore, the application patent avoids patent
201310021053.7th, 201210502591.3 etc. two sets or caused stability of a system during many set guidance system switchings poor,
The problems such as control strategy is complicated, and effectively reduce the structural complexity of magnetic levitation worktable.
Dependence electrostatic magnet pair is referred in patent 201110381216.3,201210476597.8,201210476631.1
Electromagnetic attraction produced by motor magnet and the effect of electromagnetic repulsion force, realize dynamic guide rail along the no Motor drive of racetrack guide rail and
Automatic guide, but compared with the application patent, there is following difference：
1) in the magnetic levitation worktable in patent 201110381216.3,201210476597.8,201210476631.1
Only has lift magnet, that is, magnetic levitation worktable only has the function of realizing vertical direction stable suspersion, does not have horizontal direction
On guide function, when perturbed force in magnetic levitation worktable horizontal direction, be then difficult to ensure that the normal operation of system.
2) it is not wound with coil on the mover 7 in the application patent, and patent 201110381216.3,
201210476597.8th, it is wound with coil in motor magnet 4 in 201210476631.1, and this coil is located all the time when system works
In heating power state, therefore patent 201110381216.3,201210476597.8,201210476631.1 is operationally
Hot source point is many compared with the application patent, and the stability of system service behaviour is low compared with the application patent.
3) do not make a concrete analysis of dynamic electromagnetism in patent 201110381216.3,201210476597.8,201210476631.1
Stressing conditions when iron 4 runs in circumferential segment, which kind of control is centripetal force when that is, motor magnet 4 runs on circumference guide rail adopt
Mode processed adjusts and is guaranteed positioned at the electromagnetic force size of electrostatic magnet thereon, therefore the application patent reliability operationally
Property high compared with patent 201110381216.3,201210476597.8,201210476631.1.
4) the transmission guide rail form in patent 201110381216.3,201210476597.8,201210476631.1 is solid
Fixed, only line slideway and radius unique circumference guide rail composition is it is impossible to adapt to the complicated application scenario of transmitting path, and this Shen
Please the transmission guide rail in patent be made up of the circumference guide rail mutually smooth connection of line slideway and different radii, the shape of transmission guide rail
Shape can change with the change of the quantity of circumference guide rail and radius.
Content of the invention
It is an object of the invention to provide a kind of rational in infrastructure, using magnetic suspension bearing and drive can be in straight line and circle
Free switching between all feed motions is thus the self-driving type magnetic suspension right and wrong combined-circulation type transmission of shuttling movement performance period is single
Unit.
The technical solution of the present invention is：
A kind of right and wrong combined-circulation type delivery unit of self-driving type magnetic suspension, is characterized in that：Flexible conveyer belt passes through contiguous block
It is arranged on mover, mover and magnetic levitation worktable 5, is connected, magnetic levitation worktable is sleeved on support rails periphery, support rails
It is arranged on rest pad, support rails are made up of straightway and arc section, multigroup symmetrically arranged lift magnet and one group pair
The inner side being distributed in magnetic levitation worktable of the guiding electromagnet of setting, vertical displacement sensor and horizontal displacement sensors are claimed to divide
It is not arranged at lift magnet and guiding electromagnet, support rails both sides mounting bracket, the straightway of support is uniformly distributed
Several stators, when the setting height(from bottom) of stator and magnetic levitation worktable stable suspersion, mover is highly consistent, on each stator
It is wound with coil；During magnetic levitation worktable stable suspersion, the gap width Δ 1 between flexible conveyer belt and support is less than lift magnet
Gap width Δ 2 and support rails between.
The lift magnet being arranged in each magnetic levitation worktable and guiding electromagnet are rectangular-shaped.
Each magnetic levitation worktable is less than 0.05 along the thickness of direction of feed with respect to the ratio of each circumference guide rail radius.
Support rails form closed by the circumference guide rail of line slideway and several different radiis, and in adjacent rails
Heart line is circumscribed.
The shape being arranged on support rails two side stand is consistent with support rails, and straight in support rails straightway both sides
Uniform installation stator on line bracket, when the setting height(from bottom) of stator and magnetic levitation worktable stable suspersion, mover is highly consistent.
The stator being arranged on linear support guide rail two side stand is bilateral n phase, n >=4, and mover is bilateral n-1 phase, each
Mover corresponds to a magnetic levitation worktable；Each phase stator equidistantly arranges, and each phase promoter also equidistantly arranges, between each phase stator
The ratio of the gap length between gap length and each phase promoter is equal to the ratio of the mover number of phases and the stator number of phases.
The width of flexible conveyer belt is not less than the mounting distance between two stands.
Present configuration rationally, transmits high precision, highly reliable it is achieved that the loop cycle motion of magnetic levitation technology, enter
One step has expanded the application of magnetic suspension bearing technology.
Brief description
The invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is a kind of present invention self-driving type magnetic suspension right and wrong combined-circulation type delivery unit top view；
Fig. 2 is the A-A view of Fig. 1；
Fig. 3 is straight-line feed motion operation principle schematic diagram；
Fig. 4 is different circumference track combination schematic diagram；
Fig. 5 is the suspension air gap shape when linear support guide rail runs for the guiding electromagnet；
Fig. 6 is the suspension air gap shape when circle bearing guide rail runs for the guiding electromagnet；
Fig. 7 is guiding electromagnet operation schematic diagram in large radius circle bearing guide rail.
Specific embodiment
A kind of self-driving type magnetic suspension right and wrong combined-circulation type delivery unit unit, mainly by supporting member and drive disk assembly group
Become, according to motion with realize maglev requirement, flexible conveyer belt 3 is arranged on mover 7 by contiguous block 4,9, mover 7 and magnetic
Suspension workbench (sleeve-like structure that magnetic levitation worktable is made up of part 5,12,14,19,21) is connected, magnetic levitation worktable set
It is contained in support rails 17 periphery, support rails 17 are arranged on rest pad 16, and support rails 17 are made up of straightway and arc section,
Lift magnet 6,8,15,18 and the symmetrical inner side being distributed in magnetic levitation worktable of guiding electromagnet 13,20, vertical displacement passes
Sensor 22 and horizontal displacement sensors 23 are separately mounted at lift magnet and guiding electromagnet, and support rails both sides are installed and propped up
Frame 1,11, the straightway of support is uniformly dispersed with several stators 2,10, the setting height(from bottom) of stator 2,10 and magnetic suspension work
During platform stable suspersion, mover 7 is highly consistent, and each stator is wound with coil.For ensureing to support when magnetic levitation worktable does not work
Electromagnet 6,8,15,18 and support rails 17 do not interfere, and should make flexible conveyer belt 3 during magnetic levitation worktable stable suspersion
Gap width Δ and support 1,11 between1Less than the gap width Δ between lift magnet 6,8,15,18 and support rails 172.
The stator design being arranged on linear support guide rail two side stand is bilateral four phase structures (referring to accompanying drawing 3), respectively
NA, NB, NC, ND tetra- phase on the right of SA, SB, SC, SD tetra- phase for the X-axis left side and X-axis, every phase stator is mutually right along X-direction
Claim, and distance is ls each other along Z-direction.According to the general principle of reluctance motor, when stator is bilateral n phase (n
>=4), when, mover is bilateral n-1 phase, and therefore, the mover of this delivery unit should include 3 bilateral mover phases TA, TB, TC (i.e. 3
Magnetic levitation worktable), only by a rectangle and the mover core of no winding forms every phase promoter, and the straight line between adjacent mover away from
From being lm, and the ratio of stator spacing ls and mover spacing lm is equal to the ratio of the mover number of phases and the stator number of phases, that is,：
For ensureing, in magnetic levitation worktable stroke range needed for doing straight-line feed and moving, to be arranged on linear support guide rail two
Number of phases coupled relation between stator on side stand and mover remain constant (i.e. stator be bilateral n phase, mover be bilateral
N-1 phase, n >=4), when manufacturing and designing, the stator number of phases being arranged on linear support guide rail two side stand can use bilateral K1×n
Phase (K1For positive integer), the number of phases of mover can use bilateral K2× (n-1) phase (K2For positive integer).
When magnetic levitation worktable is in circle bearing guide rail, rotary feed campaign need to be carried out, now magnetic suspension works
In platform, between guiding electromagnet 13,20 and circle bearing guide rail 27, the shape of suspension air gap is no longer it in linear support guide rail 24
During operation rectangular-shaped 25,26 (as shown in Figure 5), but as shown in Figure 6 irregular 28,29, but control system exists
It is all that the rectangle being rule with suspension air gap between electromagnet and support rails is carried out during design, therefore, magnetic levitation worktable
When running in circle bearing guide rail 27, the control accuracy of alignment control system can substantially reduce.
For solving this problem, as shown in Figure 7, when designing this delivery unit so that guiding in magnetic levitation worktable
The ratio of electromagnet 13,20 radius r along at length d of direction of feed and circumference center line of guide rail, all less than 0.05, is now led
Essentially rectangular to the shape 30,32 of the suspension air gap between electromagnet 13,20 and each circle bearing guide rail 31, can substantially ignore
The impact to guidance system control accuracy for the suspension air gap shape.
Before work, the equal no power of all coils, the upper surface of flexible conveyer belt 3 and support 1,11, vertical displacement
Sensor 22 and horizontal displacement sensors 23 all do not work.
During work, give the lift magnet in each magnetic levitation worktable and guiding electromagnet energising first, treat vertical position
After displacement sensor and horizontal displacement sensors detect that magnetic levitation worktable all realizes stable suspersion along the vertical and horizontal directions, root
According to direction of transfer and transfer rate to the coil in each stator being arranged on linear support guide rail two side stand by a set pattern
Rule energising.Referring to accompanying drawing 2, if requiring flexible conveyer belt to transmit in the counterclockwise direction, it is arranged on linear support guide rail two collateral
Winding in stator on frame is according to left side SB → SC → SD → SA → SB sequential energising, right side NB → NC → ND → NA → NB sequential
Energising, when SB, NB are energized, produces electromagnetic attraction to TB, thus TB drives TA and TC to do straight-line feed fortune along Z axis negative direction
Dynamic；When SC, NC are energized, electromagnetic attraction is produced to TC, thus TC drives TA and TB to do straight-line feed along Z axis negative direction moving；
When SD, ND are energized, electromagnetic attraction is produced to TA, thus TA drives TB and TC to do straight-line feed along Z axis negative direction moving.So
Circulation is so that the magnetic levitation worktable being located at support rails straightway is done straight-line feed by certain speed along Z axis negative direction and moved.
And for the magnetic levitation worktable in support rails circumferential segment, then according to residing for it radius of circumference guide rail and
The straight-line feed velocity magnitude of magnetic levitation worktable in linear support guide rail, the electromagnetic force of adjustment two guiding electromagnets is so that two
The electromagnetic force of person make a concerted effort value be each magnetic levitation worktable along circumference guide rail residing for it move in a circle needed for centripetal force size.
For example, with reference to accompanying drawing 4, when magnetic levitation worktable is run in A type circumference guide rail, guiding electromagnetism in left side in magnetic levitation worktable
Electromagnetic force F produced by iron 2020Electromagnetic force F produced by right side guiding electromagnet 13 need to be more than13, and both sizes of making a concerted effort
Equal to centripetal force size, that is,：
In formula：M is the gross mass of all magnetic levitation worktable, mover, contiguous block and flexible conveyer belt；N is magnetic suspension
The number of workbench；The linear velocity that v moves in a circle for magnetic levitation worktable；r1For the radius at circumferential center line of guide rail.
When magnetic levitation worktable is run in Type B circumference guide rail, left side guiding electromagnet 20 institute in magnetic levitation worktable
Electromagnetic force F producing20Electromagnetic force F produced by right side guiding electromagnet 13 need to be less than13, and both make a concerted effort size be equal to
Mental and physical efforts size, that is,：
In formula：M is the gross mass of all magnetic levitation worktable, mover, contiguous block and flexible conveyer belt；N is magnetic suspension
The number of workbench；The linear velocity that v moves in a circle for magnetic levitation worktable；r2For the radius at circumferential center line of guide rail.
In the same manner, if requiring flexible conveyer belt to transmit along clockwise direction, it is arranged on linear support guide rail two side stand
Winding in stator leads to according to left side SD → SC → SB → SA → SD sequential energising, right side ND → NC → NB → NA → ND sequential
Electricity.Change the exciting current amplitude in each stator winding, you can control flexible conveyer belt along the transfer rate of support rails.
After end-of-job, the stator winding on linear support guide rail two side stand stops being energized first, treats flexible biography
After sending band transfer rate will be zero, it is gradually reduced the lift magnet in all magnetic levitation worktable and guiding electromagnet coil
The size of electric current, until flexible conveyer belt is contacted with rack upper surface.Due to flexible when magnetic levitation worktable stable suspersion
Gap width Δ between conveyer belt and support1Less than the gap width Δ between lift magnet and support rails2, so, work as flexibility
When conveyer belt is contacted with rack upper surface, the upper lift magnet in magnetic levitation worktable will not be with the upper surface of support rails
Contact.
Claims (4)
1. a kind of self-driving type magnetic suspension right and wrong combined-circulation type delivery unit rational in infrastructure, is characterized in that：Flexible conveyer belt leads to
Cross contiguous block to be arranged on mover, mover is connected with magnetic levitation worktable, magnetic levitation worktable is sleeved on support rails periphery,
Hold guide rails assembling on rest pad, support rails are made up of straightway and arc section, multigroup symmetrically arranged lift magnet and
The inner side being distributed in magnetic levitation worktable of one group of symmetrically arranged guiding electromagnet, vertical displacement sensor and horizontal displacement pass
Sensor is separately mounted at lift magnet and guiding electromagnet, support rails both sides mounting bracket, and the straightway of support is uniform
Be dispersed with several stators, when the setting height(from bottom) of stator and magnetic levitation worktable stable suspersion, mover is highly consistent, each
Coil is wound with stator；During magnetic levitation worktable stable suspersion, the gap width Δ 1 between flexible conveyer belt and support is less than supporting
Gap width Δ 2 between electromagnet and support rails；
Each magnetic levitation worktable is less than 0.05 along the thickness of direction of feed with respect to the ratio of each circumference guide rail radius；
The lift magnet being arranged in each magnetic levitation worktable and guiding electromagnet are rectangular-shaped.
2. self-driving type magnetic suspension right and wrong combined-circulation type delivery unit rational in infrastructure according to claim 1, its feature
It is：Each magnetic levitation worktable is less than 0.05 along the thickness of direction of feed with respect to the ratio of each circumference guide rail radius.
3. self-driving type magnetic suspension right and wrong combined-circulation type delivery unit rational in infrastructure according to claim 1, its feature
It is：During magnetic levitation worktable stable suspersion, the gap width Δ 1 between flexible conveyer belt and support is less than lift magnet and supporting
Gap width Δ 2 between guide rail.
4. self-driving type magnetic suspension right and wrong combined-circulation type delivery unit rational in infrastructure according to claim 1, its feature
It is：The straightway of support is uniformly dispersed with several stators, when the setting height(from bottom) of stator and magnetic levitation worktable stable suspersion
Mover highly consistent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610895402.1A CN106395392B (en) | 2015-07-13 | 2015-07-13 | The right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension reasonable for structure |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510406883.0A CN105059945B (en) | 2015-07-13 | 2015-07-13 | Self-driven magnetic suspension curved-straight composite cyclic type transmission unit |
| CN201610895402.1A CN106395392B (en) | 2015-07-13 | 2015-07-13 | The right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension reasonable for structure |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510406883.0A Division CN105059945B (en) | 2015-07-13 | 2015-07-13 | Self-driven magnetic suspension curved-straight composite cyclic type transmission unit |
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| Publication Number | Publication Date |
|---|---|
| CN106395392A true CN106395392A (en) | 2017-02-15 |
| CN106395392B CN106395392B (en) | 2018-08-10 |
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| CN201610895349.5A Active CN106516758B (en) | 2015-07-13 | 2015-07-13 | Expand the right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension of application field |
| CN201610895348.0A Active CN106395390B (en) | 2015-07-13 | 2015-07-13 | Realize the right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension of shuttling movement |
| CN201610896763.8A Active CN106348022B (en) | 2015-07-13 | 2015-07-13 | Reasonable for structure, the reliable right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension |
| CN201610895346.1A Active CN106564759B (en) | 2015-07-13 | 2015-07-13 | The right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension that application field is expanded |
| CN201610895084.9A Active CN106564758B (en) | 2015-07-13 | 2015-07-13 | A kind of right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension |
| CN201610895402.1A Active CN106395392B (en) | 2015-07-13 | 2015-07-13 | The right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension reasonable for structure |
| CN201610895401.7A Active CN106395391B (en) | 2015-07-13 | 2015-07-13 | Transmit the right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension with high accuracy |
| CN201610895347.6A Active CN106395389B (en) | 2015-07-13 | 2015-07-13 | The right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension of height transmission precision |
| CN201610895350.8A Active CN106429461B (en) | 2015-07-13 | 2015-07-13 | The right and wrong combined-circulation type transmission unit of highly reliable self-driving type magnetic suspension |
| CN201510406883.0A Active CN105059945B (en) | 2015-07-13 | 2015-07-13 | Self-driven magnetic suspension curved-straight composite cyclic type transmission unit |
| CN201610894955.5A Active CN106429460B (en) | 2015-07-13 | 2015-07-13 | A kind of right and wrong combined-circulation type transmission unit of the self-driving type magnetic suspension of high reliability |
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| CN201610895349.5A Active CN106516758B (en) | 2015-07-13 | 2015-07-13 | Expand the right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension of application field |
| CN201610895348.0A Active CN106395390B (en) | 2015-07-13 | 2015-07-13 | Realize the right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension of shuttling movement |
| CN201610896763.8A Active CN106348022B (en) | 2015-07-13 | 2015-07-13 | Reasonable for structure, the reliable right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension |
| CN201610895346.1A Active CN106564759B (en) | 2015-07-13 | 2015-07-13 | The right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension that application field is expanded |
| CN201610895084.9A Active CN106564758B (en) | 2015-07-13 | 2015-07-13 | A kind of right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension |
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| CN201610895401.7A Active CN106395391B (en) | 2015-07-13 | 2015-07-13 | Transmit the right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension with high accuracy |
| CN201610895347.6A Active CN106395389B (en) | 2015-07-13 | 2015-07-13 | The right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension of height transmission precision |
| CN201610895350.8A Active CN106429461B (en) | 2015-07-13 | 2015-07-13 | The right and wrong combined-circulation type transmission unit of highly reliable self-driving type magnetic suspension |
| CN201510406883.0A Active CN105059945B (en) | 2015-07-13 | 2015-07-13 | Self-driven magnetic suspension curved-straight composite cyclic type transmission unit |
| CN201610894955.5A Active CN106429460B (en) | 2015-07-13 | 2015-07-13 | A kind of right and wrong combined-circulation type transmission unit of the self-driving type magnetic suspension of high reliability |
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| CN110697424A (en) * | 2019-11-28 | 2020-01-17 | 安徽理工大学 | Electromagnetism-permanent magnetism hybrid suspension conveyor and control system thereof |
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| CN106516758B (en) * | 2015-07-13 | 2018-08-10 | 南通大学 | Expand the right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension of application field |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106564758A (en) | 2017-04-19 |
| CN106395392B (en) | 2018-08-10 |
| CN106395391B (en) | 2018-08-10 |
| CN106348022B (en) | 2018-08-10 |
| CN105059945A (en) | 2015-11-18 |
| CN106564758B (en) | 2019-01-04 |
| CN105059945B (en) | 2017-04-12 |
| CN106395389A (en) | 2017-02-15 |
| CN106564759B (en) | 2018-08-28 |
| CN106564759A (en) | 2017-04-19 |
| CN106429460B (en) | 2018-08-10 |
| CN106395390A (en) | 2017-02-15 |
| CN106429460A (en) | 2017-02-22 |
| CN106516758B (en) | 2018-08-10 |
| CN106429461B (en) | 2019-02-22 |
| CN106395391A (en) | 2017-02-15 |
| CN106429461A (en) | 2017-02-22 |
| CN106348022A (en) | 2017-01-25 |
| CN106516758A (en) | 2017-03-22 |
| CN106395389B (en) | 2018-08-10 |
| CN106395390B (en) | 2018-08-10 |
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