CN106516758A - Self-driven type magnetic levitation curved and straight compound circulation type conveying unit with application field expanded - Google Patents
Self-driven type magnetic levitation curved and straight compound circulation type conveying unit with application field expanded Download PDFInfo
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- CN106516758A CN106516758A CN201610895349.5A CN201610895349A CN106516758A CN 106516758 A CN106516758 A CN 106516758A CN 201610895349 A CN201610895349 A CN 201610895349A CN 106516758 A CN106516758 A CN 106516758A
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- Prior art keywords
- magnetic levitation
- support
- guide rail
- mover
- stator
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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 type magnetic levitation curved and straight compound circulation type conveying unit with the application field expanded. A flexible conveying belt is mounted on rotors through connecting blocks, the rotors are connected with magnetic levitation working tables, the magnetic levitation working tables are arranged at the periphery of a support guide rail in a sleeving manner, the support guide rail is mounted on support blocks, the support guide rail consists of a linear section and arc sections, multiple groups of symmetrically arranged support electromagnets and one group of symmetrically arranged guide electromagnets are distributed on the inner sides of the magnetic levitation working tables, vertical displacement sensors and horizontal displacement sensors are separately mounted at the support electromagnets and the guide electromagnets, brackets are mounted at the two sides of the support guide rail, a plurality of stators are uniformly distributed at the linear sections of the brackets, the mounting height of the stators is consistent with the height of the rotors during the stable levitation of the magnetic levitation working tables, and a coil is wound on each stator. The conveying unit is reasonable in structure, high in conveying precision and high in reliability. The periodical circulation movement of a magnetic levitation technology is realized, and the application field of a magnetic levitation support technology 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, is filled in pharmacy, mobile phone
With having application in the automation transmission such as, logistics sorting, semiconductor die package field, it is desirable to transmission is steady, positioning accurate
Really, reliable the features such as.But in existing transmission system, mainly adopt sprocket wheel chain, belt, roller, steel band, turbine snail
Bar, ball-screw, cylinder etc. are used as transmission medium, and control its transfer rate, this aspect by motor and gear
So that motor is to having many intermediate link such as bearing, shaft coupling, gear between moving component, the used of detent mechanism is increased
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 and service life of dynamic component, and increase the power attenuation of driver part.And more distinct issues are：It is existing
Transmission system is only capable of realizing linear transmission function mostly, it is difficult to realize along various shapes, the closing being 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 friction between guideway, realize
Stable, accurate, reliable right and wrong combined-circulation transmitting function, becomes the key factor that restriction transmission system further develops.
Magnetic suspension bearing technology and linear motor are combined by magnetic suspension linear delivery unit, are realizing driving element
And moving component between while " Zero-drive Chain ", the friction between motion guide rail and support rails is eliminated, 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 is only capable of realizing 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, respectively according to straight line and the motion feature of circular motion, develop and can freely cut between straight line and circular motion
The magnetic suspension delivery unit so as to realize right and wrong compound shuttling movement is changed, to promoting transmission system high speed, high-precision densification to send out
Exhibition is significant.
The application patent to realize magnetic levitation technology loop cycle feed motion as target, will with stronger active control and
Information processing capability, and can accurate, reliably realize the magnetic suspension bearing technology of on-line checking and automatic compensation function and have
The startup big, linear switched reluctance motor of high temperature resistant, low cost and other advantages of exerting oneself combines, develop it is a kind of it is new can be
Between straight line and rotary feed campaign, free switching had both met the modern times so as to the magnetic suspension delivery unit of shuttling movement performance period
Tranmission techniques field high accuracy, high speed demand for development, have expanded the application of magnetic suspension bearing and tranmission techniques again.
Jing is retrieved, though the related application of existing majority magnetic suspension linear feed unit both at home and abroad, is with straight mostly
The mover of linear motor is connected with magnetic levitation worktable by line motor as driving element, 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 that multiple magnetic levitation worktables carry flexible conveyer belts along by line slideway and Bu Tong partly
The closed support rails operation of the circumference guide rail composition in footpath is so as to the phase of the magnetic suspension delivery unit of cyclic transfer 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. only does feed motion along line slideway, does not refer to magnetcisuspension
The closed guide rail operation that floating workbench can be constituted along the circumference guide rail by line slideway and different radii.
Though patent 201310021053.7,201210502591.3 etc. refers to that several magnetic levitation worktables drive flexible biography
Send band feed motion to be done along racetrack guide rail, but compared with the application patent, there is following difference：
1) circumference guide rail mutually smooth connection structure of the transmission guide rail in the application patent by line slideway and different radii
Into, the shape for transmitting 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 the unique circumference guide rail composition of radius, 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 annular shape and devises two big guidance system of straight line and circumference, i.e. magnetic
When suspension workbench is run on line slideway, the straight-line guidance system being made up of rectangle electromagnet is enabled, when magnetic suspension works
When platform is run on circumference guide rail, the circumference guidance system being made up of arc electromagnet is enabled.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 along the thickness of direction of feed relative to the ratio of each circumference guide rail radius so that magnetic levitation worktable
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 the stability and reliability of control system again.Therefore, the application patent avoids patent
201310021053.7th, 201210502591.3 etc. the two sets or many set guidance systems stability of a system caused when switching it is poor,
The problems such as control strategy is complicated, and effectively reduce the structural complexity of magnetic levitation worktable.
Refer to by electrostatic magnet pair in patent 201110381216.3,201210476597.8,201210476631.1
The effect of electromagnetic attraction and electromagnetic repulsion force produced by motor magnet, realize dynamic guide rail along racetrack guide rail without Motor drive 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 lift magnet, i.e. magnetic levitation worktable only have the function of realizing vertical direction stable suspersion, not with horizontal direction
On guide function, when perturbed force occurs in magnetic levitation worktable horizontal direction, be then difficult to ensure that the normal operation of system.
2) coil is not wound with the mover 7 in the application patent, and patent 201110381216.3,
201210476597.8th, coil is wound with motor magnet 4 in 201210476631.1, and the 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 more compared with the application patent, and the stability of system service behaviour is low compared with the application patent.
3) dynamic electromagnetism is not made a concrete analysis of in patent 201110381216.3,201210476597.8,201210476631.1
Centripetal force when stressing conditions when iron 4 is run in circumferential segment, i.e. motor magnet 4 are run on circumference guide rail is using which kind of control
Mode processed adjusts the electromagnetic force size of electrostatic magnet disposed thereon and is guaranteed, therefore the application patent reliability operationally
Property is 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
It is fixed, only line slideway and the unique circumference guide rail composition of radius, it is impossible to adapt to the complicated application scenario of transmitting path, and this Shen
Transmission guide rail that please be in patent is made up of the mutual smooth connection of circumference guide rail of line slideway and different radii, transmits the shape of guide rail
Shape can change with the change of the quantity of circumference guide rail and radius.
The 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
Between all feed motions, free switching is so as to the right and wrong combined-circulation type transmission list of the self-driving type magnetic suspension of shuttling movement performance period
Unit.
The present invention technical solution be：
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
On mover, mover and magnetic levitation worktable 5, it is connected, magnetic levitation worktable is sleeved on support rails periphery, support rails
On rest pad, support rails are made up of straightway and arc section, multigroup symmetrically arranged lift magnet and one group pair
Claim the inner side for being distributed in magnetic levitation worktable of the guiding electromagnet of setting, vertical displacement sensor and horizontal displacement sensors point
An Zhuan not be at lift magnet and guiding electromagnet, support rails both sides mounting bracket, the straightway of support are uniformly distributed
Several stators, the setting height(from bottom) of stator with during magnetic levitation worktable stable suspersion mover it is highly consistent, on each stator
It is wound with coil；Gap width Δ 1 during magnetic levitation worktable stable suspersion between flexible conveyer belt and support is less than lift magnet
Gap width Δ 2 between support rails.
Lift magnet and guiding electromagnet in each magnetic levitation worktable is rectangular-shaped.
Each magnetic levitation worktable is less than 0.05 along the thickness of direction of feed relative to the ratio of each circumference guide rail radius.
Support rails are made up of in closed, and adjacent rails the circumference guide rail of line slideway and several different radiis
Heart line is circumscribed.
Shape installed in two side stand of support rails is consistent with support rails, and in the straight of support rails straightway both sides
It is uniform on line bracket that stator is installed, the setting height(from bottom) of stator with during magnetic levitation worktable stable suspersion mover it is highly consistent.
Stator on two side stand of linear support guide rail is bilateral n phases, and n >=4, mover are bilateral n-1 phases, each
Mover one magnetic levitation worktable of correspondence；Each phase stator is equidistantly arranged, and each phase promoter is also equidistantly arranged, 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, realizes the loop cycle motion of magnetic levitation technology, enters
One step has expanded the application of magnetic suspension bearing technology.
Description of the drawings
The invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is a kind of right and wrong combined-circulation type delivery unit top view of self-driving type magnetic suspension of the invention；
A-A views of the Fig. 2 for Fig. 1；
Fig. 3 is straight-line feed motion operation principle schematic diagram；
Fig. 4 is different circumference track combination schematic diagrames；
Fig. 5 is suspension air gap shape of the guiding electromagnet when linear support guide rail runs；
Fig. 6 is suspension air gap shape of the guiding electromagnet when circle bearing guide rail runs；
Fig. 7 is guiding electromagnet operation schematic diagram in large radius circle bearing guide rail.
Specific embodiment
A kind of right and wrong combined-circulation type delivery unit unit of self-driving type magnetic suspension, mainly by supporting member and drive disk assembly group
Into according to moving and realizing 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
17 periphery of support rails is mounted in, support rails 17 are arranged on rest pad 16, and support rails 17 are made up of straightway and arc section,
The symmetrical inner side for being distributed in magnetic levitation worktable of lift magnet 6,8,15,18 and guiding electromagnet 13,20, vertical displacement pass
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 are 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, is wound with coil on each stator.For ensureing to support when magnetic levitation worktable does not work
Electromagnet 6,8,15,18 is not interfered with support rails 17, flexible conveyer belt 3 when should cause magnetic levitation worktable stable suspersion
With the gap width Δ between support 1,111Less than the gap width Δ between lift magnet 6,8,15,18 and support rails 172。
Stator design on two side stand of linear support guide rail is bilateral four phase structure (referring to accompanying drawing 3), respectively
For tetra- phase of NA, NB, NC, ND on the right of tetra- phase of SA, SB, SC, SD and X-axis on the X-axis left side, often 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 phases (n
>=4) when, mover be bilateral n-1 phases, therefore, the mover of the delivery unit should include 3 bilateral mover phases TA, TB, TC (i.e. 3
Magnetic levitation worktable), per phase promoter is only by a rectangle and the mover core without winding is constituted, 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, i.e.,：
For ensureing in magnetic levitation worktable stroke range needed for straight-line feed motion is done, installed in linear support guide rail two
Number of phases coupled relation between stator on side stand and mover remains that constant (i.e. stator is bilateral n phases, and mover is for bilateral
N-1 phases, n >=4), when manufacturing and designing, the stator number of phases on two side stand of linear support guide rail 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, now magnetic suspension work need to be carried out
In platform, between guiding electromagnet 13,20 and circle bearing guide rail 27, the shape of suspension air gap is no longer which in linear support guide rail 24
Rectangular-shaped 25,26 (as shown in Figure 5) during operation, but as shown in Figure 6 irregular 28,29, but control system exists
It is to be carried out with the rectangle that suspension air gap between electromagnet and support rails is rule during design, therefore, magnetic levitation worktable
When running in circle bearing guide rail 27, the control accuracy of alignment control system can be substantially reduced.
For solving this problem, as shown in Figure 7, when the delivery unit is designed so that be oriented in magnetic levitation worktable
Electromagnet 13,20 is less than 0.05 along the ratio of radius r at length d of direction of feed and circumference center line of guide rail, now leads
Shape 30,32 to the suspension air gap between electromagnet 13,20 and each circle bearing guide rail 31 is essentially rectangular, can ignore substantially
Impact of the suspension air gap shape to guidance system control accuracy.
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 do not work.
During work, it is powered to the lift magnet in each magnetic levitation worktable and guiding electromagnet first, treats vertical position
After displacement sensor and horizontal displacement sensors detect that magnetic levitation worktable realizes stable suspersion along the vertical and horizontal directions, root
The coil in each stator on two side stand of linear support guide rail is established rules by one according to direction of transfer and transfer rate
Rule is powered.Referring to accompanying drawing 2, if it is desired to flexible conveyer belt is transmitted in the counterclockwise direction, then it is collateral installed in linear support guide rail two
Winding on frame in stator is powered according to left side SB → SC → SD → SA → SB sequential, right side NB → NC → ND → NA → NB sequential
Be powered, when SB, NB are powered, electromagnetic attraction produced to TB, so as to TB drives TA and TC straight-line feed fortune to be done along Z axis negative direction
It is dynamic；When SC, NC are powered, electromagnetic attraction is produced to TC, move so as to TC drives TA and TB straight-line feed to be done along Z axis negative direction；
When SD, ND are powered, electromagnetic attraction is produced to TA, move so as to TA drives TB and TC straight-line feed to be done along Z axis negative direction.So
Circulation so that do straight-line feed by certain speed along Z axis negative direction positioned at the magnetic levitation worktable of support rails straightway and move.
And for the magnetic levitation worktable in the support rails circumferential segment, then according to residing for which radius of circumference guide rail and
The straight-line feed velocity magnitude of magnetic levitation worktable in linear support guide rail, adjusts the electromagnetic force of two guiding electromagnets so that two
The electromagnetic force of person make a concerted effort value circumference guide rail for residing for each magnetic levitation worktable is along which 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 rails, in magnetic levitation worktable, left side is oriented to electromagnetism
Electromagnetic force F produced by iron 2020Need to be more than electromagnetic force F produced by right side guiding electromagnet 1313, and both sizes of making a concerted effort
Equal to centripetal force size, i.e.,：
In formula：M is the gross mass of all magnetic levitation worktables, 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 20 institute of guiding electromagnet in magnetic levitation worktable
Electromagnetic force F of generation20Need to be less than electromagnetic force F produced by right side guiding electromagnet 1313, and both make a concerted effort size equal to
Mental and physical efforts size, i.e.,：
In formula：M is the gross mass of all magnetic levitation worktables, 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 it is desired to flexible conveyer belt is transmitted along clockwise direction, then on two side stand of linear support guide rail
Winding in stator is powered according to left side SD → SC → SB → SA → SD sequential, and right side ND → NC → NB → NA → ND sequential is led to
Electricity.Change the exciting current amplitude in each stator winding, you can transfer rate of the control flexible conveyer belt along support rails.
After end-of-job, the stator winding on two side stand of linear support guide rail stops being powered first, treats flexible biography
After sending band transfer rate be zero, the lift magnet being gradually reduced in all magnetic levitation worktables 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 right and wrong combined-circulation type delivery unit of self-driving type magnetic suspension for expanding application, is characterized in that：Flexible transmission
Band is arranged on mover by contiguous block, and mover is connected with magnetic levitation worktable, and magnetic levitation worktable is sleeved on outside support rails
Week, support rails are arranged on rest pad, and support rails are made up of straightway and arc section, multigroup symmetrically arranged supporting electromagnetism
The inner side for being distributed in magnetic levitation worktable of iron and one group of symmetrically arranged guiding electromagnet, vertical displacement sensor and horizontal position
Displacement sensor is separately mounted at lift magnet and guiding electromagnet, support rails both sides mounting bracket, the straightway of support
Uniformly be dispersed with several stators, the setting height(from bottom) of stator with during magnetic levitation worktable stable suspersion mover it is highly consistent,
Coil is wound with each stator；Gap width Δ 1 during magnetic levitation worktable stable suspersion between flexible conveyer belt and support is less than
Gap width Δ 2 between lift magnet and support rails；
Each magnetic levitation worktable is less than 0.05 along the thickness of direction of feed relative to the ratio of each circumference guide rail radius；
Stator on two side stand of linear support guide rail be bilateral n phases, n >=4, mover be bilateral n-1 phases, each mover
One magnetic levitation worktable of correspondence；Each phase stator is equidistantly arranged, and each phase promoter is also equidistantly arranged, the spacing between each phase stator
The ratio of the gap length between length and each phase promoter is equal to the ratio of the mover number of phases and the stator number of phases.
2. it is according to claim 1 expand application the right and wrong combined-circulation type delivery unit of self-driving type magnetic suspension, its
It is characterized in that：Each magnetic levitation worktable is less than 0.05 along the thickness of direction of feed relative to the ratio of each circumference guide rail radius.
3. it is according to claim 1 expand application the right and wrong combined-circulation type delivery unit of self-driving type magnetic suspension, its
It is characterized in that：Gap width Δ 1 during magnetic levitation worktable stable suspersion between flexible conveyer belt and support less than lift magnet with
Gap width Δ 2 between support rails.
4. it is according to claim 1 expand application the right and wrong combined-circulation type delivery unit of self-driving type magnetic suspension, its
It is characterized in that：The straightway of support is uniformly dispersed with several stators, and setting height(from bottom) and the magnetic levitation worktable of stator are stably hanged
When floating, mover is highly consistent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610895349.5A 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 |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610895349.5A 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 |
| CN201510406883.0A CN105059945B (en) | 2015-07-13 | 2015-07-13 | Self-driven magnetic suspension curved-straight composite cyclic type transmission unit |
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106516758A true CN106516758A (en) | 2017-03-22 |
| CN106516758B CN106516758B (en) | 2018-08-10 |
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| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| CN201510406883.0A Active CN105059945B (en) | 2015-07-13 | 2015-07-13 | Self-driven magnetic suspension curved-straight composite cyclic type transmission unit |
| 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 |
| 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 |
| 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 |
| 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 |
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| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| CN201510406883.0A Active CN105059945B (en) | 2015-07-13 | 2015-07-13 | Self-driven magnetic suspension curved-straight composite cyclic type transmission unit |
| 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 |
| 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 |
| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106564759A (en) | 2017-04-19 |
| CN106395390A (en) | 2017-02-15 |
| CN106395392A (en) | 2017-02-15 |
| CN106564758B (en) | 2019-01-04 |
| CN106516758B (en) | 2018-08-10 |
| CN106429461B (en) | 2019-02-22 |
| CN106429460A (en) | 2017-02-22 |
| CN106429460B (en) | 2018-08-10 |
| CN105059945B (en) | 2017-04-12 |
| CN106395389B (en) | 2018-08-10 |
| CN106429461A (en) | 2017-02-22 |
| CN106395391A (en) | 2017-02-15 |
| CN106564758A (en) | 2017-04-19 |
| CN105059945A (en) | 2015-11-18 |
| CN106395392B (en) | 2018-08-10 |
| CN106395391B (en) | 2018-08-10 |
| CN106564759B (en) | 2018-08-28 |
| CN106395390B (en) | 2018-08-10 |
| CN106348022A (en) | 2017-01-25 |
| CN106395389A (en) | 2017-02-15 |
| CN106348022B (en) | 2018-08-10 |
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