CN107078622A

CN107078622A - The linear electric motors controlled for the intelligent machine free degree

Info

Publication number: CN107078622A
Application number: CN201680001892.4A
Authority: CN
Inventors: 刘华
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-12-27
Filing date: 2016-12-27
Publication date: 2017-08-18
Anticipated expiration: 2036-12-27
Also published as: CN107078622B; WO2018119624A1

Abstract

A kind of linear electric motors (100) controlled for the intelligent machine free degree, including casing (10), mover (30) and stator (20), mover (30) includes some magnetic conductive boards (31) and some magnetic isolation plates (32), magnetic conductive board (31) and the alternately laminated setting of magnetic isolation plate (32)；Stator (20) includes some set drive mechanisms (21), each set drive mechanism (21) includes at least three groups excitation components (22), each group excitation component includes magnetic conduction arm (23) and the control coil (24) being wound on magnetic conduction arm, and magnetic conduction arm includes the antifreeze plate (232) of at least one layer of magnetic conduction sheet (231) and each magnetic conduction sheet (231) of parcel.The linear electric motors for being used for the control of the intelligent machine free degree have small volume, and work torque is big, and position control accuracy is high, and movement inertia is small, and the advantages of controlling simple can be applied in intelligent machine equipment, during such as joint of robot drives.

Description

The linear electric motors controlled for the intelligent machine free degree

Technical field

The invention belongs to machine field, more particularly to a kind of linear electric motors controlled for the intelligent machine free degree.

Background technology

Linear electric motors are also referred to as linear electric machine, and linear electric motors are that electric energy is directly changed into linear motion mechanical energy by one kind, and The transmission device of any intermediate conversion mechanism is not needed.It can regard an electric rotating machine as and be splitted by radial direction, and transform into flat Face is formed.By stator develop and come side be referred to as primary, by mover differentiation and Lai side be referred to as secondary.In practical application When, primary and secondary is manufactured into different length, to ensure that the coupling in required stroke range between primary and secondary is protected Hold constant.Linear electric motors can be short primary long secondary or long primary short secondary.When armature winding is passed through AC power When, travelling-magnetic-field is just produced in air gap, secondary will induce electromotive force and produce electric current under traveling wave magnetic field intercepts, the electricity Stream just produces electromagnetic push with the magnetic field phase separation in air gap.If primary is fixed, secondary does straight line fortune under thrust It is dynamic；Conversely, then primary moves along a straight line.Thus the stator of existing linear electric motors is usually and is arranged at intervals to produce on long straight guide The permanent magnet or coil in magnetic field, the same coil that is arranged at intervals on mover guide rail are formed.But this stator and Structure of mover, Due to be arranged at intervals multiple coils or permanent magnet, thus volume is larger, causes the volume of linear electric motors big, control difficulty.

The content of the invention

It is an object of the invention to provide a kind of linear electric motors controlled for the intelligent machine free degree, it is intended to solves existing The problem of linear electric motors volume is big, control is difficult.

The present invention is achieved in that a kind of linear electric motors controlled for the intelligent machine free degree, including casing, mover With the stator for driving the mover rectilinear movement, the mover is included for described in some magnetic conductive boards of magnetic conduction and isolation adjacent two Some magnetic isolation plates of magnetic conductive board, and the magnetic conductive board and the alternately laminated setting of the magnetic isolation plate；The stator includes some apply mechanically In the drive mechanism for driving the mover movement, respectively cover the drive mechanism is used to produce encouraging for driving magnetic field including at least three groups Magnetic assembly, excitation component described in each group includes magnetic conduction arm and the control coil being wound on the magnetic conduction arm, the magnetic conduction arm bag Include at least one layer of magnetic conduction sheet set along the mover moving direction and the antifreeze plate for wrapping up each magnetic conduction sheet.

Further, each magnetic conduction sheet meets following relation in excitation component described in two adjacent groups：

The middle part of a magnetic conduction sheet is just to some magnetic conductive board on the mover in excitation component described in one group During medium position：The middle part of the corresponding magnetic conduction sheet and the neighbouring magnetic conduction of the magnetic conduction sheet in excitation component described in another group The medium position of plate is staggered, and the magnetic conduction sheet it is closest with the magnetic conduction sheet adjacent two described in magnetic conductive board medium position phase Stagger；Distance in excitation component described in two groups of arbitrary neighborhood between corresponding two magnetic conduction sheets of same position is equal.

Further, the distance in excitation component described in same group between the two neighboring magnetic conduction sheet is equal.

Further, the distance in excitation component described in same group between the two neighboring magnetic conduction sheet and a piece of magnetic conduction The thickness sum of piece is equal to the thickness sum of a piece of magnetic conductive board adjacent in the mover and a piece of magnetic isolation plate.

Further, respectively covering the drive mechanism includes excitation component described in three groups, and excitation component is described described in each group Magnetic conduction arm includes one layer of magnetic conduction sheet and wraps up the antifreeze plate of the magnetic conduction sheet.

Further, each control coil is arranged in the antifreeze plate.

Further, each control coil is etched in the antifreeze plate.

Further, the distance between two magnetic conduction sheets of arbitrary neighborhood is equal.

Further, below equation is met apart from L between the two neighboring magnetic conduction sheet middle part：

L=M*K, M ≠ 3X；

K=(d1+d2)/3；

Wherein, d1 is the thickness of each magnetic conductive board, and d2 is the thickness of each magnetic isolation plate, and X is positive integer, and M is just whole Number.

Further, the mover is in strip with the stator, and the stator is slidably mounted on the mover.

Further, the slide rail of the support mover is included, the mover is installed in the slide rail, the chassis cover In on the stator, and the casing is slidably mounted on the slide rail.

Further, the roller being engaged with the slide rail is also equipped with the casing.

Another preferred scheme, the mover is cylindrical, and excitation component described in each group includes multiple magnetic conduction arms, and many The individual magnetic conduction arm uniform ring is around the mover.

Further, each magnetic conductive board be provided with some first external tooths, each magnetic conduction arm provided with it is some respectively with The corresponding positioning internal tooth of each first external tooth.

Further, include offering in the support shaft of the support mover, the mover passing through for the support shaft Fixed centre bore.

Further, the casing is covered on the stator, and the two ends of the casing offer what is passed through for the mover Perforate.

Further, axle sleeve is installed in the perforate.

Another preferred scheme, including support shaft, the mover include multiple magnetic arms around the support shaft, each described Magnetic arm includes some magnetic conductive boards and the magnetic isolation plate of alternately laminated setting；Excitation component described in each group include respectively with The corresponding multiple magnetic conduction arms of each magnetic arm, and multiple magnetic conduction arm uniform rings are around the mover.

Further, each magnetic conductive board is set in fan-shaped.

Further, each one end of the magnetic arm away from the magnetic conduction arm is provided with permanent magnet.

Further, the casing is covered on the stator, and the two ends of the casing offer what is passed through for the mover Perforate, the two ends of the stator are provided with gasket ring, and each gasket ring is installed on the inner surface of the casing.

Another preferred scheme, the casing is cylindrical, and the casing is placed on the mover, and the stator is slidably installed In the casing, excitation component described in each group includes multiple magnetic conduction arms, and multiple magnetic conduction arm uniform rings are around described Axially arranged, the circular stator setting of the mover of casing.

Further, in addition to the grip blocks of some sets drive mechanisms are gripped, the grip block is slidably installed In the mover.

Further, in addition to support shaft, multiple magnetic conduction arm uniform rings are around being installed in the support shaft.

Further, each magnetic conductive board be provided with some first internal tooths, each magnetic conduction arm provided with it is some respectively with The corresponding positioning external tooth of each first external tooth.

Further, each magnetic conduction sheet is in a ring.

Further, the mover includes the multiple magnetic arms for being installed on the casing inner surface, each magnetic arm bag Include some magnetic conductive boards and the magnetic isolation plate of alternately laminated setting；Each magnetic conduction sheet is in sector.

Further, each magnetic conduction arm is provided with permanent magnets away from described mover one end.

The mover for being used for the linear electric motors that the intelligent machine free degree is controlled of the present invention uses the magnetic conduction of alternately laminated setting Plate and magnetic isolation plate, then mover volume can make smaller；Stator is led using the magnetic conduction sheet of alternately laminated setting with antifreeze plate formation Magnetic arm, and control coil is wound on magnetic conduction arm, excitation component is formed, when control coil is powered, magnetic field can be produced, and make to lead Magnetic force is produced on magnetic sheet, to attract the magnetic conductive board of mover, so that mover is moved；And set at least three groups excitation component formation to drive Motivation structure, is powered successively by the control coil of each group excitation component, to drive mover to move, and control is simple, and will can be determined The structure fabrication of son is smaller, so that this is used for into the linear electric motors small volume that the intelligent machine free degree is controlled.This is used for intelligence The linear electric motors of mechanical freedom control can be applied in intelligent machine equipment, in such as joint of robot driving.

Brief description of the drawings

Fig. 1 is a kind of linear electric motors controlled for the intelligent machine free degree that provide of the embodiment of the present invention one along its axial direction Cross section structure diagram；

Fig. 2 is the mplifying structure schematic diagram of E parts in Fig. 1；

Fig. 3 is the cross section structure diagram of Fig. 1 linear electric motors for being used for the control of the intelligent machine free degree radially；

Fig. 4 be Fig. 1 be used for the intelligent machine free degree control linear electric motors in excitation component positive structure diagram；

Fig. 5 be Fig. 1 be used for the intelligent machine free degree control linear electric motors in single magnetic conduction sheet be in diverse location when Structural representation, wherein a figures are configuration diagram when magnetic conduction sheet is in P position, and structure is shown when b figures are magnetic conduction sheet in R positions Figure；

Fig. 6 is the force structure schematic diagram of magnetic conduction sheet in Fig. 5；

Fig. 7 be Fig. 1 be used for the intelligent machine free degree control linear electric motors in mover move theory structure schematic diagram.

Fig. 8 is mover shifting in a kind of linear electric motors controlled for the intelligent machine free degree that the embodiment of the present invention two is provided Dynamic theory structure schematic diagram.

Fig. 9 is mover shifting in a kind of linear electric motors controlled for the intelligent machine free degree that the embodiment of the present invention three is provided Dynamic theory structure schematic diagram.

Figure 10 is mover in a kind of linear electric motors controlled for the intelligent machine free degree that the embodiment of the present invention four is provided Mobile theory structure schematic diagram.

Figure 11 is a kind of linear electric motors controlled for the intelligent machine free degree that provide of the embodiment of the present invention five along its axle To cross section structure diagram；

Figure 12 is the cross section structure diagram of Figure 11 linear electric motors for being used for the control of the intelligent machine free degree radially.

Figure 13 is a kind of linear electric motors controlled for the intelligent machine free degree that provide of the embodiment of the present invention six along its axle To cross section structure diagram；

Figure 14 is the cross section structure diagram of Figure 13 linear electric motors for being used for the control of the intelligent machine free degree radially.

Figure 15 is a kind of linear electric motors controlled for the intelligent machine free degree that provide of the embodiment of the present invention seven along its axle To cross section structure diagram；

Figure 16 is the cross section structure diagram of Figure 15 linear electric motors for being used for the control of the intelligent machine free degree radially.

Figure 17 is a kind of linear electric motors controlled for the intelligent machine free degree that provide of the embodiment of the present invention eight along its footpath To cross section structure diagram.

Figure 18 is a kind of linear electric motors controlled for the intelligent machine free degree that provide of the embodiment of the present invention nine along its axle To cross section structure diagram；

Figure 19 is the cross section structure diagram along Figure 18 center lines F-F；

Figure 20 is the cross section structure diagram along Figure 18 center lines G-G.

Figure 21 is that a kind of linear electric motors controlled for the intelligent machine free degree that the embodiment of the present invention ten is provided are grown along it Spend the cross section structure diagram in direction；

Figure 22 is Figure 21 section view of the linear electric motors edge for being used for the control of the intelligent machine free degree perpendicular to its length direction Structural representation.

Embodiment

In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.

Embodiment one：

Refer to Fig. 1-Fig. 7, a kind of linear electric motors controlled for the intelligent machine free degree provided in an embodiment of the present invention 100, including casing 10, mover 30 and stator 20, casing 10 plays a part of protection mover 30 and stator 20, while fixing machine The linear electric motors 100 that this can be used for the control of the intelligent machine free degree by shell 10 are fixed, so that casing 10 plays overall peace simultaneously Dress, which fixes this, is used for the effect for the linear electric motors 100 that the intelligent machine free degree is controlled.Stator 20 is used to drive the straight line of mover 30 to move It is dynamic, to realize the function of being used for the linear electric motors 100 that the intelligent machine free degree is controlled.If mover 30 include some magnetic conductive boards 31 and Dry magnetic isolation plate 32, and magnetic conductive board 31 and the alternately laminated setting of magnetic isolation plate 32；Specifically, the direction moved linearly along mover 30, if One layer of magnetic conductive board 31, one layer of magnetic isolation plate 32, one layer of magnetic conductive board 31, one layer of magnetic isolation plate 32 is put so to be arranged alternately.Magnetic conductive board 31 is used In magnetic conduction, so as in the suction by magnetic field, can be moved to the minimum direction of magnetic field magnetic resistance.The not magnetic conduction of magnetic isolation plate 32, For adjacent two panels magnetic conductive board 31 to be separated.Stator 20 includes some set drive mechanisms 21, and drive mechanism 21, which is used to produce, drives Moving field, so that in the presence of driving magnetic field, driving mover 30 is moved.Each set drive mechanism 21 includes at least three groups excitation groups Part 22, driving magnetic field is produced by each group excitation component 22, to drive mover 30 to move.Each group excitation component 22 includes magnetic conduction arm 23 With the control coil 24 being wound on magnetic conduction arm 23, so that when control coil 24 is powered, sensing can be produced on magnetic conduction arm 23 Magnetic field.Specifically, magnetic conduction arm 23 includes at least one layer of magnetic conduction sheet 231 set along the moving direction of mover 30 and parcel magnetic conduction sheet 231 antifreeze plate 232.So as to when control coil 24 is powered, produce induced field on magnetic conduction sheet 231, the work in the magnetic field Under, magnetic conductive board 31 closest on mover 30 can be attracted, to pull mover 30 to move, and work as each group excitation component 22 successively During mating reaction, then mover 30 can be driven to move linearly.

The mover 30 for being used for the linear electric motors 100 that the intelligent machine free degree is controlled uses the magnetic conductive board of alternately laminated setting 31 can make smaller with magnetic isolation plate 32, the then volume of mover 30；Stator 20 is using the magnetic conduction sheet 231 of alternately laminated setting and every magnetic The formation magnetic conduction of piece 232 arm 23, and control coil 24 is wound on magnetic conduction arm 23, excitation component 22 is formed, when control coil 24 is logical When electric, magnetic field can be produced, and makes to produce magnetic force on magnetic conduction sheet 231, to attract the magnetic conductive board 31 of mover 30, so that mover 30 is moved It is dynamic；And at least three groups excitation components 22 formation drive mechanisms 21 are set, by the control coil 24 of each group excitation component 22 successively It is powered, to drive mover 30 to move, control is simple, and can be smaller by the structure fabrication of stator 20, so that this is used for into intelligence The small volume of linear electric motors 100 of mechanical freedom control.

By the magnetic conduction sheet 231 for then passing through excitation component 22 is come the nearest magnetic conductive board 31 of magnetic, to drive mover 30 to move, So as to which within the time that each group excitation component 22 is powered, the distance that mover 30 is moved is certain, is used so as to accurate control The displacement of the linear electric motors 100 controlled in the intelligent machine free degree.

Magnetic conductive board 31 can be the magnetic conductions such as iron plate, steel plate, silicon steel, electrical pure iron, permalloy, metal nano alloy material Material makes.Magnetic isolation plate 32 can make for the non-magnetic material such as copper coin, aluminium sheet, plastics.

Magnetic conduction sheet 231 can lead for iron plate, steel disc, silicon steel, electrical pure iron, permalloy, metal nano alloy material etc. The piece that magnetic material makes.The piece that antifreeze plate 232 can make for insulating materials such as plastic sheet, resin sheets.It is of course also possible to lead The insulated claddings such as insulated paint are wrapped up on magnetic sheet 231, then these magnetic conduction sheets 231 for being surrounded by insulated cladding are superimposed together, formation is led Magnetic arm 23.

The quantity of drive mechanism 21 can be determined according to the length of stator 20, the thickness of each magnetic conduction arm 23.

Further, each magnetic conduction sheet 231 meets following relation in two adjacent groups excitation component 22：

Medium position of the middle part of a magnetic conduction sheet 231 just to some magnetic conductive board 31 on mover 30 in one group of excitation component 22 When：The middle part of corresponding magnetic conduction sheet 231 and the middle position of the neighbouring magnetic conductive board 31 of the magnetic conduction sheet 231 in another group of excitation component 22 Put and be staggered, and the medium position of the magnetic conduction sheet 231 adjacent two magnetic conductive board 31 closest with the magnetic conduction sheet 231 is staggered； Distance in two groups of excitation components 22 of arbitrary neighborhood between corresponding two magnetic conduction sheets 231 of same position is equal.

This structure, the middle part of a magnetic conduction sheet 231 is just to some magnetic conductive board on mover 30 in one group of excitation component 22 During 31 medium position, 231 pairs of the magnetic conduction sheet of correspondence position and the magnetic conduction sheet 231 is two neighboring in another group of excitation component 22 The suction of magnetic conductive board 31 is unequal, can so attract the magnetic conductive board 31 nearest apart from the magnetic conduction sheet 231 to be moved to the magnetic conduction sheet 231 It is dynamic.And in corresponding two magnetic conduction sheets 231 of same position in two adjacent groups excitation component 22, and one group of excitation component 22 one lead The magnetic conduction sheet 231 of magnetic sheet 231 and correspondence position in another group of excitation component 22, refers to as n-th is led in certain group excitation component 22 Magnetic sheet 231 and n-th of magnetic conduction sheet 231 in another group of excitation component 22, during n-th of magnetic conduction sheet 231 can be each excitation component 22 First magnetic conduction sheet 231, second magnetic conduction sheet 231 etc..And by same position pair in two groups of excitation components 22 of arbitrary neighborhood Distance between two magnetic conduction sheets 231 answered is equal, then the middle part of some magnetic conduction sheet 231 of any group excitation component 22 is just to mover On 30 during the middle part of some magnetic conductive board 31, the corresponding magnetic conduction sheet 231 in neighbouring group excitation component 22 is in apart from the magnetic conduction sheet The same side of 231 nearest magnetic conductive boards 31, and apart from equal, so as to ensure when being powered, can control to move to a direction, and It is mobile steady.

In each set drive mechanism 21, excitation component 22 can be three groups and more than three groups, in the present embodiment, excitation component 22 It is specifically described exemplified by three groups.

Refer in Fig. 3, Fig. 4 and Fig. 7, the present embodiment, each set drive mechanism 21 includes three groups of excitation components 22, and each group is encouraged The magnetic conduction arm 23 of magnetic assembly 22 includes one layer of magnetic conduction sheet 231 and wraps up the antifreeze plate 232 of the magnetic conduction sheet 231.Each magnetic conduction arm 23 makes With one layer of magnetic conduction sheet 231, so that when the corresponding magnetic conductive board 31 of each magnetic of magnetic conduction sheet 231 is moved, its distance moved can phase To smaller, it such as may diminish to arrive 1/3rd of another middle part distance of magnetic conduction sheet 231 for a middle part of magnetic conduction sheet 231, so that It can cause this is used for the control of the position for the linear electric motors 100 that the intelligent machine free degree is controlled more accurate；By setting magnetic conductive board The distance between distance and two magnetic conduction sheets 231 between 31 thickness and the thickness of magnetic conduction sheet 231, two magnetic conductive boards 31, and pass through subdivision The driving of drive circuit, the rectilinear movement precision that can make this is used for the linear electric motors 100 that the intelligent machine free degree is controlled reaches 1 Micron, it might even be possible to reach 100 nanometers of precision, meet the requirement of Industry Control.

Further, in the present embodiment, each control coil 24 is arranged in antifreeze plate 232.So can be by every magnetic Piece 232 protects control coil 24.Control coil 24 is wrapped on magnetic conduction sheet 231, so that when being powered in control coil 24, meeting Induced field is formed on magnetic conduction sheet 231.Further, each control coil 24 is etched in antifreeze plate 232.It is easy to process, essence Degree control is high.In further embodiments, etch, electrochemical deposition method, the printing of electrochemistry transfer method can also be used to form. In addition, between adjacent two magnetic conduction sheet 231 of control apart from when, can be controlled by the thickness of antifreeze plate 232.Lead when adjacent two When in larger distance between magnetic sheet 231, it additionally can also set partition to be controlled.

Further, in the present embodiment, the distance between two magnetic conduction sheets 231 of arbitrary neighborhood is equal.This structure processing system Facilitate, cost is low, design also relatively easy.

Further, refer to and meet following public apart from L between Fig. 5, Fig. 6 and Fig. 7, the two neighboring middle part of magnetic conduction sheet 231 Formula：

L=M*K, M ≠ 3X；

K=(d1+d2)/3；

Wherein, d1 is the thickness of each magnetic conductive board 31, and d2 is the thickness of each magnetic isolation plate 32, and X is positive integer, and M is positive integer.

Specific to refer to Fig. 5 and Fig. 6, the thickness of magnetic conductive board 31 is d1, and the thickness of magnetic isolation plate 32 is d2, magnetic conduction sheet 231 Thickness is d3, then when the middle part of magnetic conduction sheet 231 and the middle part of magnetic conductive board 31 are just right, i.e., magnetic conduction sheet 231 is in P position in Fig. 5, Magnetic conduction sheet 231 is by the power F=0 of axial direction, and the position is stable state, and according to the interaction of power, mover 30 is also at stable state, outer when having Mover 30 keeps this position during portion's stress interference.

When the middle part of magnetic conduction sheet 231 is located at the position of (d1+d3)/2, i.e., when magnetic conduction sheet 231 is located at R positions in Fig. 5, magnetic conduction Plate 31 has just been reached at magnetic conduction sheet 231, maximum to the suction of magnetic conductive board 31, then the now stress of magnetic conduction sheet 231 maximum F=Fmax.

When magnetic conduction sheet 231 is located in the middle of two neighboring magnetic conductive board 31, i.e., magnetic conduction sheet 231 is located at Q positions in Fig. 5, magnetic conduction The active force of two magnetic conductive boards 31 of piece 231 pair is equal, power F=0 of the magnetic conduction sheet 231 by axial direction.The position is unstable state, when When having external force interference, mover 30 can not keep this position.

The size F of the axial force that the magnetic conduction sheet 231 of mover 30 is received and the magnetic conduction sheet 231 relative to stator 20 magnetic conductive board 31 it Between the function apart from H it is as shown in Figure 6.It should be noted that：Because magnetic field is thick by magnetic conductive board 31 under actual conditions The thickness of degree, the thickness of magnetic isolation plate 32, magnetic conduction sheet 231 and antifreeze plate 232, the magnetic conductivity of magnetic conductive board 31, the magnetic conductance of magnetic conduction sheet 231 Rate, the influence of multiple non-linear factors such as 20 mover of stator, 30 gaps, so actual Fmax and H relation has certain mistake Difference.

Only include the straight-line electric controlled for the intelligent machine free degree of three groups of excitation components 22 for each drive mechanism 21 For machine 100, as preferred embodiment, also referring to Fig. 7, further, in selection magnetic conduction sheet 231 and magnetic conductive board 31 Material, is determined after its magnetic conductivity, adjusts the thickness of magnetic conductive board 31, magnetic isolation plate 32, magnetic conduction sheet 231 and antifreeze plate 232.Make adjacent two In individual magnetic conduction sheet 231：The middle part of one magnetic conduction sheet 231 and the centre of neighbouring magnetic conductive board 31 are aligned, and make another magnetic conduction sheet 231 The Fmax of axially loaded position adjusts the thickness of antifreeze plate 232 in stator 20, makes this just at (d1+d2)/3 in Fig. 5 Another magnetic conduction sheet 231 is located in three groups of different positions, such as Fig. 7 in tri- groups of excitation components 22 of A, B, C, then can control A, B, C The control coil 24 of three groups of excitation components 22 is powered successively, to drive mover 30 to move.Assuming that K=(d1+d2)/3, two neighboring Between the middle part of magnetic conduction sheet 231 apart from L can be K, 2K, 4K, 5K, 7K, 8K ....That is L=M*K, M ≠ 3X；X is positive integer, and M is Positive integer.In the present embodiment, L values are K.In real work or application, it is only necessary to make each in two adjacent groups excitation component 22 Magnetic conduction sheet 231 meets following relation --- and the middle part of a magnetic conduction sheet 231 is just on mover 30 in one group of excitation component 22 During the medium position of some magnetic conductive board 31：The middle part of corresponding magnetic conduction sheet 231 and the magnetic conduction sheet 231 in another group of excitation component 22 The medium position of neighbouring magnetic conductive board 31 is staggered, and the magnetic conduction sheet 231 and closest adjacent two magnetic conduction of the magnetic conduction sheet 231 The medium position of plate 31 is staggered；In two groups of excitation components 22 of arbitrary neighborhood between corresponding two magnetic conduction sheets 231 of same position Apart from equal.

Fig. 1, Fig. 3 and Fig. 5 are referred to, further, each magnetic conduction arm 23 is provided with permanent magnets 29 away from the one end of mover 30. The one end away from mover 30 of magnetic conduction arm 23 sets permanent magnets 29, when the control coil 24 on magnetic conduction arm 23 is powered, can with forever The magnetic field of magnetic patch 29 is superimposed, to strengthen or weaken the suction of magnetic conduction arm 23, by controlling the control in each group excitation component 22 Coil 24, making the magnetic force of magnetic conduction arm 23 in the group excitation component 22 only moved as driving mover 30 strengthens, and other each groups are encouraged The magnetic force of magnetic conduction arm 23 weakens in magnetic assembly 22, to increase the driving for being used for the linear electric motors 100 that the intelligent machine free degree is controlled Power；And when control coil 24 is powered off, there is magnetic force in the magnetic conduction sheet 231 of magnetic conduction arm 23 all the time, it is used for intelligent machine certainly when whole When being powered off by the linear electric motors 100 of degree control, the magnetic field that permanent magnets 29 are produced is in the axial direction by the magnetic conduction of the magnetic circuit part of stator 20 Material (magnetic conduction sheet 231) and non-magnet_conductible material (antifreeze plate 232) segmentation.When the distance between stator 20 and the permeability magnetic material of mover 30 When sufficiently small, if the relative axial position of soft magnetic materials is offset, magnetic field makes the mover 30 of stator 20 by static magnetic force is produced Be maintained on the minimum position of magnetic resistance, if be applied to this be used for it is outer on the linear electric motors 100 that the intelligent machine free degree is controlled Portion's active force is less than maximum static magnetic force, and this is used for the mover 30 of 100 stator of linear electric motors 20 of intelligent machine free degree control This relative position will be kept, therefore this is used for having position automatic after the linear electric motors 100 of intelligent machine free degree control are powered off The function of holding.

Further, in the present embodiment, mover 30 is cylindrical, and each group excitation component 22 includes multiple magnetic conduction arms 23, and Multiple uniform rings of magnetic conduction arm 23 are around mover 30.So that the linear electric motors 100 for being used for the control of the intelligent machine free degree are in cylinder Shape.Further, in the present embodiment, the quantity of the magnetic conduction arm 23 of each group excitation component 22 is four, and uniform ring is set around mover 30 Put.

Further, the linear electric motors 100 for being used for the control of the intelligent machine free degree also include the support of support mover 30 The centre bore through fixation for support shaft 15 is offered in axle 15, mover 30.Support shaft 15 is set, can preferably be supported dynamic Son 30.In further embodiments, mover 30 can be processed into a single integrated structure.

Further, casing 10 is covered on stator 20, and the two ends of casing 10 offer the perforate for supplying mover 30 to pass through (in figure Do not mark).Stator 20 is supported by casing 10, while playing a part of protection stator 20 and mover 30.Specifically, this implementation In example, casing 10 is cylindrical, and each magnetic conduction arm 23 of stator 20 is arranged in the inner surface of casing 10, to fix stator 20.

Further, axle sleeve 11 is installed in the perforate at the two ends of casing 10, to reduce frictional force, this is used for intelligent machine The mover 30 of the linear electric motors 100 of tool free degree control moves more flexible.

In further embodiments, the two ends of support shaft 15 and the two ends of casing 10 can be fixedly linked, and will be dynamic Sub 30 slip caps open up through hole, and the connecting stay wire on mover 30 in support shaft 15 on casing 10, make to be drawstring through logical Hole, so as to when mover 30 is moved, drive bracing wire movement.The structural advantages are that the support shaft of mover 30 is not take up space, and And motor may be mounted at locus enough elsewhere, the side driven in motor or so both direction by bracing wire Formula drives load movement so that the volume of the space of mover 30 is also smaller, and then this can be used for into the intelligent machine free degree The linear electric motors 100 of control make smaller.Certainly, can be by mover 30 and the stationary phase of support shaft 15 in further embodiments Connect, and the length of mover 30 is less than the length of support shaft 15, the two ends of support shaft 15 are slidably mounted in casing 10, so that mover During 30 movement, support shaft movement is driven, the structure equally can be by the linear electric motors 100 controlled for the intelligent machine free degree Volume makes smaller.

Further, in the present embodiment, each magnetic conduction sheet 231 of stator 20 is in sector, so as to when mounted, can make stator The magnetic conduction arm 23 of 20 each excitation component 22 is preferably set around mover 30.

Refer in Fig. 1, Fig. 4, Fig. 5 and Fig. 7, the present embodiment, the drive mechanism 21 of stator 20 covers more for, in the present embodiment Three sets are depicted, each set drive mechanism 21 includes three groups of excitation components 22, corresponding each 231 points of the magnetic conduction sheet of three groups of excitation components 22 Wei not A1, B1, C1, A2, B2, C2, A3, B3, C3；The wherein corresponding excitation components 22 of tri- groups of A1, B1, C1 form a set of driving machine Structure 21, the corresponding excitation components 22 of tri- groups of A2, B2, C2 form a set of drive mechanism 21, the corresponding excitation groups of tri- groups of A3, B3, C3 Part 22 forms a set of drive mechanism 21.Mover 30 is shown in Fig. 7 in movement, each magnetic conduction sheet 231 of three sets of drive mechanisms 21 With the relative position of mover 30.In Fig. 7, when A1 magnetic conduction sheets 231 are just to a magnetic conductive board 31, B1 magnetic conduction sheets 231 are located at (d1+ D2 at)/3, C1 magnetic conduction sheets 231 are located at 2* (d1+d2)/3；Meanwhile, A2 magnetic conduction sheets 231 are just to next magnetic conductive board 31, and A3 is led Magnetic sheet 231 is just to next one magnetic conductive board 31, and B2 magnetic conduction sheets 231 are at (d1+d2)/3 of next magnetic conductive board 31, and B3 is led Magnetic sheet 231 is at (d1+d2)/3 of next one magnetic conductive board 31, and C2 magnetic conduction sheets 231 are apart from next magnetic conductive board 31 At 2* (d1+d2)/3, C3 magnetic conduction sheets 231 are at the 2* (d1+d2)/3 of next one magnetic conductive board 31.When each B groups excitation group When the control coil 24 of part 22 is powered, i.e., when B1 groups, B2 groups, the control coil 24 of B3 groups excitation component 22 are powered, magnetic mover 30 magnetic conductive board 31 moves the distance of (d1+d2)/3；Then each C groups excitation component 22 control coil 24 be powered when, i.e., C1 groups, C2 groups, the control coil 24 of C3 groups excitation component 22 are powered, the magnetic conductive board 31 of magnetic mover 30 move again (d1+d2)/3 away from From；When the control coil 24 of each A groups excitation component 22 is powered afterwards, i.e. A1 groups, A2 groups, the control coil of A3 groups excitation component 22 24 are powered, and the magnetic conductive board 31 of magnetic mover 30 moves the distance of (d1+d2)/3 again, so that (A, B, C group are encouraged in a power cycles Magnetic assembly 22 is powered successively), mover 30 advances the distance of (d1+d2).Then energization SECO is BCABCABCA ..., can be with Control mover 30 advances；And energization SECO is CBACBACBA ..., then mover 30 can be controlled to retreat, the simple side of control Just.And when the control coil 24 of each group excitation component 22 is powered every time, mover 30 can advance the distance of (d1+d2)/3, then lead to The thickness of control magnetic conductive board 31, magnetic isolation plate 32, magnetic conduction sheet 231 and antifreeze plate 232 is crossed, can be accurately controlled for intelligent machine The displacement and precision of the linear electric motors 100 of free degree control, and without accumulated error.

Make and be wrapped on magnetic conduction sheet 231 referring to Fig. 4, control coil 24 can lead to overetched mode, this mode The precision of the position of 20 magnetic conduction arm of stator 23 can be ensured, volume is reduced, also relatively good processing radiating.Furthermore it is possible to by each set The control coil 24 of corresponding excitation component 22 carries out (serial or parallel connection) and linked together in drive component, each to control simultaneously Cover corresponding excitation component 22 in drive component, specifically such as by A1 groups in Fig. 7, A2 groups, A3 groups excitation component 22 control coil Larger tandem-in-space or parallel connection between 24 progress serial or parallel connections, the stator magnetic conduction arm of motor, although around each magnetic conduction arm Coil current it is smaller, but the operating current of motor is larger after the coil connection in series-parallel of magnetic conduction arm, can produce larger magnetic Field and work torque.Further, it can also place axle sleeve 11 between the magnetic conduction arm 23 of stator 20 to reduce friction and reduction stator Space between 20 movers 30.It is further possible to place detection mover 30 absolute position between the magnetic conduction arm 23 of stator 20 Device or place quick, temperature sensor of power etc..

Further, this is used in the linear electric motors 100 of intelligent machine free degree control, and permanent magnet can be produced in itself first Raw stronger magnetic field, and this structure of motor makes that the contact area between stator mover magnetic conduction sheet is big, and magnetic field can be produced Larger work torque.When stator 20 and the axial location of mover 30 skew very little apart from when, stator 20 be laminated structure make partially The distance for moving very little generates very big torque accumulation, and the linear electric motors 100 that thus be accordingly used in the control of the intelligent machine free degree are relative Larger work torque can be produced under the volume of very little in the existing linear electric motors controlled for the intelligent machine free degree, And three sets of drive mechanisms 21 can work, raising work torque further.And magnetic conduction sheet can process very thin, use The linear electric motors motion smoothing controlled in the intelligent machine free degree, improves control accuracy.Moreover, coil is made in spacer, The volume of motor is reduced, the power-mass ratio of motor is improved.

It is possible to further select the light reflectance factor of mover magnetic conduction sheet and insulating trip, motor internal increase detection electricity The device of machine relative position, so as to measure the relative displacement of stator mover and the direction of motion, reduces whole control system The volume of system.Because the part for being used for the motion of linear electric motors 100 that the intelligent machine free degree is controlled only has mover 30, mover 30 Quality simple in construction is small, and the movement inertia for being used in the linear electric motors 100 of intelligent machine free degree control is small.Work is more stablized Reliably.

Further, stator can be in ellipticity or frame-shaped, and mover can also coordinate stator for oval or frame-shaped.

Further, the current driving circuit of motor control coil can add sub-driver circuit, so that motor movement Smoother, position control is more accurate.

Typically, since intelligent machine requires that small volume, multiaxis multi-joint multiple degrees of freedom, motor imagination speed are fast, held By load is big and load variations fast, the control accuracy requirement of locus is high.Having inside intelligent machine largely needs straight line to drive Dynamic joint or the free degree.The driving of the intelligent machine free degree requires that motor has maximum power-mass ratio, moment of torsion inertia Than, broader smooth speed adjustable range, particularly machine people end effector (paw) should be as small as possible using volume, quality Motor, when especially requiring quick response, servomotor must have higher reliability, and have larger mistake in short-term Loading capability.Thus the linear electric motors 100 for being used for the control of the intelligent machine free degree can be applied in various intelligent machines, including Various bionic mechanicals, Digit Control Machine Tool, automatic production line and can substitute mankind's manual labor or complete difference in functionality dress Put, for example manipulator, operating robot, service robot etc..

Embodiment two：

Referring to Fig. 8, also referring to Fig. 1, the linear electric motors 100 controlled for the intelligent machine free degree of the present embodiment With being distinguished as the linear electric motors 100 for being used for the control of the intelligent machine free degree of embodiment one：

Between the middle part of two neighboring magnetic conduction sheet 231 apart from L=2K=2* (d1+d2)/3 wherein, d1 is each magnetic conductive board 31 Thickness, d2 is the thickness of each magnetic isolation plate 32.

Also referring to Fig. 4, it is specially：In the present embodiment, three sets are depicted, each set drive mechanism 21 includes three groups of excitations Component 22, the corresponding each magnetic conduction sheet 231 of three groups of excitation components 22 is respectively A1, B1, C1, A2, B2, C2, A3, B3, C3；Wherein The corresponding excitation components 22 of tri- groups of A1, B1, C1 form a set of drive mechanism 21, the corresponding shapes of excitation component 22 of tri- groups of A2, B2, C2 Into a set of drive mechanism 21, the corresponding excitation components 22 of tri- groups of A3, B3, C3 form a set of drive mechanism 21.Shown in Fig. 8 dynamic Son 30 is in movement, each magnetic conduction sheet 231 of three sets of drive mechanisms 21 and the relative position of mover 30.In Fig. 8, when A1 magnetic conduction sheets 231 just to a magnetic conductive board 31 when, B1 magnetic conduction sheets 231 be located at 2 (d1+d2)/3 at, (d1+d2)/3 of the next magnetic conduction sheets 231 of C1 Place；Distance between A1 magnetic conduction sheets 231 and A2 magnetic conduction sheets 231 is equal to the distance between A2 magnetic conduction sheets 231 and A3 magnetic conduction sheets 231, and A1 Distance between magnetic conduction sheet 231 and A2 magnetic conduction sheets 231 is equal to twice of distance between two adjacent middle parts of magnetic conductive board 31.When each C groups are encouraged When the control coil 24 of magnetic assembly 22 is powered, i.e., when C1 groups, C2 groups, the control coil 24 of C3 groups excitation component 22 are powered, magnetic The magnetic conductive board 31 of mover 30 moves the distance of (d1+d2)/3；Then when the control coil 24 of each B groups excitation component 22 is powered, i.e., B1 groups, B2 groups, the control coil 24 of B3 groups excitation component 22 are powered, and the magnetic conductive board 31 of magnetic mover 30 moves (d1+d2)/3 again Distance；When the control coil 24 of each A groups excitation component 22 is powered afterwards, i.e. A1 groups, A2 groups, the control of A3 groups excitation component 22 Coil 24 is powered, and the magnetic conductive board 31 of magnetic mover 30 moves the distance of (d1+d2)/3 again, so that in power cycles (A, B, a C Group excitation component 22 is powered successively), mover 30 advances the distance of (d1+d2).Then energization SECO is CBACBACBA ..., Mover 30 can be controlled to advance；And energization SECO is BCABCABCA ..., then mover 30 can be controlled to retreat, control letter Folk prescription is just.

The use of the other structures for being used for the linear electric motors 100 that the intelligent machine free degree is controlled and embodiment one of the present embodiment The other structures of the linear electric motors 100 controlled in the intelligent machine free degree are identical, will not be repeated here.

Embodiment three：

Referring to Fig. 9, also referring to Fig. 1, the linear electric motors 100 controlled for the intelligent machine free degree of the present embodiment With being distinguished as the linear electric motors 100 for being used for the control of the intelligent machine free degree of embodiment one：

Between the middle part of two neighboring magnetic conduction sheet 231 apart from L=4K=4* (d1+d2)/3 wherein, d1 is each magnetic conductive board 31 Thickness, d2 is the thickness of each magnetic isolation plate 32.

Example IV：

Referring to Fig. 10, also referring to Fig. 1, the linear electric motors controlled for the intelligent machine free degree of the present embodiment 100 are distinguished as with the linear electric motors 100 that the intelligent machine free degree controls that are used for of embodiment one：

Each set drive mechanism 21 includes four groups of excitation components 22, and the corresponding each magnetic conduction sheet 231 of four groups of excitation components 22 is distinguished For A1, B1, C1, D1, A2, B2, C2, D2, A3, B3, C3, D3, A4, B4, C4, D4, A5, B5, C5, D5；Wherein A1, B1, C1, D1 Four groups of corresponding excitation components 22 form a set of drive mechanism 21, the corresponding formation of excitation component 22 one of tetra- groups of A2, B2, C2, D2 Drive mechanism 21 is covered, the corresponding excitation components 22 of tetra- groups of A3, B3, C3, D3 form a set of drive mechanism 21, A4, B4, C4, D4 tetra- The corresponding excitation component 22 of group forms a set of drive mechanism 21, and the corresponding excitation components 22 of tetra- groups of A5, B5, C5, D5 form a set of Drive mechanism 21.Mover 30 is shown in Figure 10 in movement, the phase of each magnetic conduction sheet 231 and mover 30 of four sets of drive mechanisms 21 To position.

Between the middle part of two neighboring magnetic conduction sheet 231 apart from L=(d1+d2)/4 wherein, d1 is the thickness of each magnetic conductive board 31, d2 For the thickness of each magnetic isolation plate 32.Energization SECO is BCDABCDABCDA ..., and mover 30 can be controlled to advance；And when being powered Sequence control is DCBADCBADCBA ..., then mover 30 can be controlled to retreat, and is controlled simple and convenient.Each corresponding excitation component 22 Power cycles, mover 30 moves (d1+d2)/4.

Drive mechanism 21 draws five sets in the present embodiment.In other embodiments, drive mechanism can be arranged as required to 21 quantity.In addition, in other embodiments, each set drive mechanism 21 can also include five groups of excitation components 22, six groups of excitations Component 22, seven groups of excitation components 22 etc..

Embodiment five：

Figure 11 and Figure 12 are referred to, the linear electric motors 100 for being used for the control of the intelligent machine free degree of the present embodiment are with implementing The linear electric motors 100 that the intelligent machine free degree controls that are used for of example one are distinguished as：

In the present embodiment, the linear electric motors 100 controlled for the intelligent machine free degree include support shaft 15, and mover 30 includes Around multiple magnetic arms 33 of support shaft 15, each magnetic arm 33 includes some magnetic conductive boards 31 and magnetic isolation plate of alternately laminated setting 32；Each group excitation component 22 includes multiple magnetic conduction arms 23 corresponding with each magnetic arm 33 respectively, and multiple magnetic conduction arms 23 are uniform Around mover 30.This structure sets each magnetic conduction arm 23 of correspondence in multiple magnetic conduction arms 23, support shaft 15 in the inner surface ring of casing 10 Position magnetic arm 33 is set, each magnetic arm 33 using alternately laminated setting some magnetic conductive boards 31 and magnetic isolation plate 32, to be formed The structure of mover 30.This structure is used by the magnetic of each magnetic conduction arm 23, and mover 30 can be positioned, and prevents that mover 30 is inclined Turn.

Also referring to Fig. 4, further, the one end of each magnetic arm 33 away from stator 20 sets permanent magnet 39, so may be used So as to there is magnetic force in the magnetic conduction sheet 231 of mover 30 all the time, when mobile, the suction with the magnetic conductive board 31 of stator 20 can be increased, increased Driving force；When the linear electric motors 100 entirely controlled for the intelligent machine free degree are powered off, the magnetic field that permanent magnet 39 is produced is in axle Split upwards by the permeability magnetic material (magnetic conductive board 31) of the magnetic circuit part of mover 30 and non-magnet_conductible material (magnetic isolation plate 32).When the He of stator 20 When the distance between the permeability magnetic material of mover 30 is sufficiently small, if the relative axial position of soft magnetic materials is offset, magnetic field will be produced Static magnetic force makes the mover 30 of stator 20 be maintained on the minimum position of magnetic resistance, as long as being applied to this is used for the intelligent machine free degree Applied external force on the linear electric motors 100 of control is less than maximum static magnetic force, and this is used for the control of the intelligent machine free degree The mover 30 of 100 stator of linear electric motors 20 will keep this relative position, therefore this is used for the straight line of intelligent machine free degree control Motor 100 has the function that position is kept automatically after powering off.

Further, the one end of magnetic conduction arm 23 away from mover 30 sets permanent magnets 29, free when being entirely used for intelligent machine When the linear electric motors 100 of degree control are powered off, have magnetic force all the time in the magnetic conduction sheet 231 of magnetic conduction arm 23, the magnetic field of magnetic force formation with The magnetic field phase separation of the upper conduction magnetic board 31 of mover 30, the maximum static magnetic force of increase, preferably keeps being used for the intelligent machine free degree The stabilization of mover 30 of the linear electric motors 100 of control.

Further, the structure can make to produce on magnetic conduction arm 23 by controlling the control coil 24 of each excitation component 22 Alternating magnetic field, and then mover 30 can be controlled to rotate, to realize the free degree being axially moveable with around axial rotation both direction. Further, each magnetic conductive board 31 is set in fan-shaped.It is engaged with more preferable with corresponding magnetic conduction arm 23.

Further, casing 10 is covered on stator 20, and the two ends of casing 10 offer the perforate passed through for mover 30, stator 20 two ends are provided with gasket ring 18, and each gasket ring 18 is installed on the inner surface of casing 10.Gasket ring 18 is set, stator 20 can be made more preferable Be fixed in casing 10, while play a part of protect stator 20.

Further, each magnetic conductive board 31 is provided with some first external tooths, forms some on each magnetic arm 33 formed by First external tooth, each magnetic conduction arm 23 is provided with some positioning internal tooths corresponding with each first external tooth 35 respectively.In each magnetic conductive board 31 The first external tooth 35 of upper setting, correspondence sets positioning internal tooth on each magnetic conduction arm 23, can form the function of stepper motor, to realize It is axially moveable and the free degree around axial rotation both direction.

Embodiment six：

Figure 13 and Figure 14 are referred to, the linear electric motors 100 for being used for the control of the intelligent machine free degree of the present embodiment are with implementing The linear electric motors 100 that the intelligent machine free degree controls that are used for of example one are distinguished as：

Each magnetic conductive board 31 be provided with some first external tooths 35, each magnetic conduction arm 23 provided with it is some respectively with each first external tooth 35 Corresponding positioning internal tooth 235.First external tooth 35 is set on each magnetic conductive board 31, and correspondence is set in positioning on each magnetic conduction arm 23 Tooth 235, can form the function of stepper motor, to realize the free degree being axially moveable with around axial rotation both direction.

Embodiment seven：

Figure 15 and Figure 16 are referred to, the linear electric motors 100 for being used for the control of the intelligent machine free degree of the present embodiment are with implementing The linear electric motors 100 that the intelligent machine free degree controls that are used for of example six are distinguished as：

In the present embodiment, casing 10 is cylindrical, and casing 10 is placed on mover 30, and stator 20 is slidably mounted on casing 10 In, each group excitation component 22 includes multiple magnetic conduction arms 23, and multiple uniform rings of magnetic conduction arm 23 are around axially arranged, the mover of casing 10 30 are set around stator 20.The structure is that mover 30 is arranged on to the periphery of stator 20, casing 10 is moved with mover 30.

Further, the linear electric motors 100 for being used for the control of the intelligent machine free degree also include gripping some set drives The grip block 17 of motivation structure 21, grip block 17 is slidably mounted in mover 30.Grip block 17 is set, preferably to fix stator 20, it is ensured that the stabilization of stator 20.

Further, the two ends of stator 20 are separately installed with gasket ring 18, and each gasket ring 18 is installed on respective clamp plate 17 Inner surface.Gasket ring 18 is set, can play a part of protecting stator 20.

Further, the linear electric motors 100 for being used for the control of the intelligent machine free degree also include support shaft 15, multiple magnetic conductions The uniform ring of arm 23 is around being installed in support shaft 15.Support shaft 15 is set, stator is fixed and support will pass through support shaft 15 20。

Further, each magnetic conduction arm 23 is provided with permanent magnets 29 away from the one end of mover 30.So that this is used for intelligent machine certainly The function that the linear electric motors 100 controlled by degree have position to keep automatically after powering off.

Further, in the present embodiment, each magnetic conduction sheet 231 is in a ring.So that the structure of mover 30 made is in a ring.

In other embodiments, mover 30 can include the multiple magnetic arms 33 for being installed on the inner surface of casing 10, each magnetic Arm 33 includes some magnetic conductive boards 31 and magnetic isolation plate 32 of alternately laminated setting；Each magnetic conduction sheet 231 is in sector.

The use of the other structures for being used for the linear electric motors 100 that the intelligent machine free degree is controlled and embodiment six of the present embodiment The other structures of the linear electric motors 100 controlled in the intelligent machine free degree are identical, will not be repeated here.

Embodiment eight：

Refer to Figure 17, the linear electric motors 100 for being used for the control of the intelligent machine free degree and embodiment seven of the present embodiment The linear electric motors 100 controlled for the intelligent machine free degree are distinguished as：

Each magnetic conductive board 31 be provided with some first internal tooths 34, each magnetic conduction arm 23 provided with it is some respectively with each first external tooth 35 Corresponding positioning external tooth 234.First internal tooth 34 is set on each magnetic conductive board 31, and correspondence sets positioning outer on each magnetic conduction arm 23 Tooth 234, can form the function of stepper motor, to realize the free degree being axially moveable with around axial rotation both direction.

The use of the other structures for being used for the linear electric motors 100 that the intelligent machine free degree is controlled and embodiment seven of the present embodiment The other structures of the linear electric motors 100 controlled in the intelligent machine free degree are identical, will not be repeated here.

Embodiment nine：

Refer to Figure 18, Figure 19 and Figure 20, the present embodiment be used for linear electric motors 100 that the intelligent machine free degree controls with The linear electric motors 100 that the intelligent machine free degree controls that are used for of embodiment one are distinguished as：

In the present embodiment, the magnetic conduction arm 23 of each excitation component 22 includes multiple magnetic conduction sheets 231 being stacked.In other realities Apply in example, the magnetic conduction sheet 231 of each magnetic conduction arm 23 can be two layers, three layers, four layers etc..

Specifically, in the present embodiment, drive mechanism 21 is one, certainly, in other embodiments, along for intelligent machine The length direction of the linear electric motors 100 of free degree control, drive mechanism 21 can also set multiple.In the present embodiment, driving machine Structure 21 includes three groups of excitation components 22, as shown in Figure 18, tri- groups of excitation components 22 of A, B, C is corresponded to respectively.This structure Excitation component 22 is easy to make, and cost is low.

Further, in the present embodiment, the linear electric motors 100 controlled for the intelligent machine free degree are cylindrical, adjacent The magnetic conduction arm 23 of two groups of excitation components 22 diametrically mutually staggers, while its control coil 24 can be staggered, so as to Make more compact with the linear electric motors 100 that this is used for the control of the intelligent machine free degree.

Further, the distance in same group of excitation component 22 between two neighboring magnetic conduction sheet 231 is equal.The structure can be square Just the processing and fabricating of each magnetic conduction arm 23.Further, the distance in same group of excitation component 22 between two neighboring magnetic conduction sheet 231 With the thickness sum of a piece of magnetic conduction sheet 231 be equal to a piece of magnetic conductive board 31 adjacent in mover 30 and a piece of magnetic isolation plate 32 thickness it With.The structure can make each magnetic conduction sheet 231 of same group of excitation component 22 while the neighbouring magnetic conductive board 31 of magnetic, torque is bigger.

Preferably embodiment, understands for convenience, some corresponding magnetic conduction sheet 231 in tri- groups of excitation components 22 of A, B, C Exemplified by illustrate：If the middle part of the 3rd magnetic conduction sheet 231 in A groups excitation component 22 is just to some magnetic conductive board 31 on mover 30 During medium position, the 3rd magnetic conduction sheet 231 of correspondence and the 3rd neighbouring magnetic conductive board of magnetic conduction sheet 231 in B groups excitation component 22 31 medium position is staggered, and the 3rd magnetic conduction sheet 231 of the B group excitation components and the 3rd magnetic conduction sheet 231 are closest The medium position of adjacent two magnetic conductive board 31 is staggered.Corresponding two magnetic conductions of same position in two groups of excitation components 22 of arbitrary neighborhood Distance between piece 231 is equal.If the middle part of the 3rd magnetic conduction sheet 231 in A groups excitation component 22 is into B groups excitation component 22 the 3rd The distance between middle part of individual magnetic conduction sheet 231 is equal to the middle part of the 3rd magnetic conduction sheet 231 in B groups excitation component 22 to C group excitations The distance between middle part of 3rd magnetic conduction sheet 231 in component 22；Meanwhile, second magnetic conduction sheet 231 in A groups excitation component 22 Middle part the distance between middle part of second magnetic conduction sheet 231 into B groups excitation component 22 is equal in B groups excitation component 22 second The middle part of magnetic conduction sheet 231 the distance between middle part of second magnetic conduction sheet 231 into C groups excitation component 22.

Embodiment ten：

Figure 21 and Figure 22 are referred to, the linear electric motors 100 for being used for the control of the intelligent machine free degree of the present embodiment are with implementing The linear electric motors 100 that the intelligent machine free degree controls that are used for of example one are distinguished as：

In the present embodiment, stator 20 and mover 30 are in strip, and mover 30 is slidably mounted on stator 20.The structure can So that mover 30 is made as into track structure, and closes stator 20 and moved on mover 30.Certainly in other embodiments, can also be by Stator 20 is made as track structure, and mover 30 is moved on stator 20.

Further, casing 10 is covered on stator 20, to protect the structure of stator 20.Further, this is used for intelligent machine The linear electric motors 100 of tool free degree control also include the slide rail 16 of support mover 30, and mover 30 is arranged in slide rail 16, and casing 10 are slidably mounted on slide rail 16.Slide rail 16 is set, can preferably guide stator 20 to be moved relative to mover 30, while can rise To the effect of protection mover 30.Further, roller 161 is also equipped with casing 10, roller 161, which coordinates, is placed in slide rail 16 On, so that casing 10 can be slided preferably on slide rail 16, to reduce frictional force.

The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.

Claims

1. a kind of linear electric motors controlled for the intelligent machine free degree, including casing, mover and the driving mover straight line are moved Dynamic stator, it is characterised in that the mover is included for magnetic conductive board described in some magnetic conductive boards of magnetic conduction and isolation adjacent two Some magnetic isolation plates, and the magnetic conductive board and the alternately laminated setting of the magnetic isolation plate；The stator includes some cover for driving institute The drive mechanism of mover movement is stated, respectively covering the drive mechanism includes at least three groups excitation components for being used to produce driving magnetic field, Excitation component described in each group includes magnetic conduction arm and the control coil being wound on the magnetic conduction arm, and the magnetic conduction arm is included along described At least one layer of magnetic conduction sheet and the antifreeze plate of each magnetic conduction sheet of parcel that mover moving direction is set.

2. the linear electric motors controlled as claimed in claim 1 for the intelligent machine free degree, it is characterised in that two adjacent groups institute State each magnetic conduction sheet in excitation component and meet following relation：

Middle part of the middle part of a magnetic conduction sheet just to some magnetic conductive board on the mover in excitation component described in one group During position：The middle part of the corresponding magnetic conduction sheet and the neighbouring magnetic conductive board of the magnetic conduction sheet in excitation component described in another group Medium position is staggered, and the magnetic conduction sheet it is closest with the magnetic conduction sheet adjacent two described in the medium position of magnetic conductive board be staggered Open；Distance in excitation component described in two groups of arbitrary neighborhood between corresponding two magnetic conduction sheets of same position is equal.

3. the linear electric motors controlled as claimed in claim 2 for the intelligent machine free degree, it is characterised in that described in same group Distance in excitation component between the two neighboring magnetic conduction sheet is equal.

4. the linear electric motors controlled as claimed in claim 3 for the intelligent machine free degree, it is characterised in that described in same group Distance and the thickness sum of a piece of magnetic conduction sheet in excitation component between the two neighboring magnetic conduction sheet are equal in the mover The thickness sum of the adjacent a piece of magnetic conductive board and a piece of magnetic isolation plate.

5. the linear electric motors controlled as claimed in claim 2 for the intelligent machine free degree, it is characterised in that respectively cover the drive Motivation structure includes excitation component described in three groups, and the magnetic conduction arm of excitation component described in each group includes one layer of magnetic conduction sheet and parcel should The antifreeze plate of magnetic conduction sheet.

6. the linear electric motors controlled as claimed in claim 5 for the intelligent machine free degree, it is characterised in that each control Coil is arranged in the antifreeze plate.

7. the linear electric motors controlled as claimed in claim 6 for the intelligent machine free degree, it is characterised in that each control Coil is etched in the antifreeze plate.

8. the linear electric motors controlled as claimed in claim 5 for the intelligent machine free degree, it is characterised in that arbitrary neighborhood two Distance between the individual magnetic conduction sheet is equal.

9. the linear electric motors controlled as claimed in claim 8 for the intelligent machine free degree, it is characterised in that two neighboring institute Between stating in the middle part of magnetic conduction sheet below equation is met apart from L：

L=M*K, M ≠ 3X；

K=(d1+d2)/3；

Wherein, d1 is the thickness of each magnetic conductive board, and d2 is the thickness of each magnetic isolation plate, and X is positive integer, and M is positive integer.

10. it is used for the linear electric motors that the intelligent machine free degree is controlled as described in claim any one of 1-9, it is characterised in that The mover is in strip with the stator, and the stator is slidably mounted on the mover.

11. the linear electric motors controlled as claimed in claim 10 for the intelligent machine free degree, it is characterised in that also including branch The slide rail of the mover is supportted, the mover is installed in the slide rail, and the casing is covered on the stator, and the casing is slided It is dynamic to be installed on the slide rail.

12. the linear electric motors controlled as claimed in claim 11 for the intelligent machine free degree, it is characterised in that the casing On be also equipped with the roller that is engaged with the slide rail.

13. it is used for the linear electric motors that the intelligent machine free degree is controlled as described in claim any one of 1-9, it is characterised in that The mover is cylindrical, excitation component described in each group include multiple magnetic conduction arms, and multiple magnetic conduction arm uniform rings around The mover.

14. the linear electric motors controlled as claimed in claim 13 for the intelligent machine free degree, it is characterised in that led described in each Magnetic sheet is provided with some first external tooths, and each magnetic conduction arm is provided with some positioning corresponding with each first external tooth respectively Internal tooth.

15. the linear electric motors controlled as claimed in claim 13 for the intelligent machine free degree, it is characterised in that also including branch Support the centre bore offered in the support shaft of the mover, the mover for the support shaft through fixation.

16. the linear electric motors controlled as claimed in claim 13 for the intelligent machine free degree, it is characterised in that the casing Cover on the stator, the two ends of the casing offer the perforate passed through for the mover.

17. the linear electric motors controlled as claimed in claim 16 for the intelligent machine free degree, it is characterised in that the perforate In axle sleeve is installed.

18. it is used for the linear electric motors that the intelligent machine free degree is controlled as described in claim any one of 1-9, it is characterised in that Including support shaft, the mover includes multiple magnetic arms around the support shaft, and each magnetic arm includes alternately laminated set Some magnetic conductive boards put and the magnetic isolation plate；Excitation component described in each group includes corresponding with each magnetic arm respectively Multiple magnetic conduction arms, and multiple magnetic conduction arm uniform rings are around the mover.

19. the linear electric motors controlled as claimed in claim 18 for the intelligent machine free degree, it is characterised in that led described in each Magnetic sheet is set in fan-shaped.

20. the linear electric motors controlled as claimed in claim 19 for the intelligent machine free degree, it is characterised in that led described in each Magnetic sheet is provided with some first external tooths, and each magnetic conduction arm is provided with some positioning corresponding with each first external tooth respectively Internal tooth.

21. the linear electric motors controlled as claimed in claim 18 for the intelligent machine free degree, it is characterised in that each magnetic Inhale the one end of arm away from the magnetic conduction arm and permanent magnet is installed.

22. the linear electric motors controlled as claimed in claim 18 for the intelligent machine free degree, it is characterised in that the casing Cover on the stator, the two ends of the casing offer the perforate passed through for the mover, and the two ends of the stator are provided with Gasket ring, each gasket ring is installed on the inner surface of the casing.

23. it is used for the linear electric motors that the intelligent machine free degree is controlled as described in claim any one of 1-9, it is characterised in that The casing is cylindrical, and the casing is placed on the mover, and the stator is slidably mounted in the casing, described in each group Excitation component includes multiple magnetic conduction arms, and multiple magnetic conduction arm uniform rings are around the axially arranged of the casing, described dynamic Subring is set around the stator.

24. the linear electric motors controlled as claimed in claim 23 for the intelligent machine free degree, it is characterised in that also including folder The grip block of fixed some set drive mechanisms is held, the grip block is slidably mounted in the mover.

25. the linear electric motors controlled as claimed in claim 23 for the intelligent machine free degree, it is characterised in that also including branch Axle is supportted, multiple magnetic conduction arm uniform rings are around being installed in the support shaft.

26. the linear electric motors controlled as claimed in claim 23 for the intelligent machine free degree, it is characterised in that led described in each Magnetic sheet is provided with some first internal tooths, and each magnetic conduction arm is provided with some positioning corresponding with each first external tooth respectively External tooth.

27. the linear electric motors controlled as claimed in claim 23 for the intelligent machine free degree, it is characterised in that led described in each Magnetic sheet is in a ring.

28. the linear electric motors controlled as claimed in claim 23 for the intelligent machine free degree, it is characterised in that the mover Multiple magnetic arms including being installed on the casing inner surface, each magnetic arm, which includes some of alternately laminated setting, described leads Magnetic sheet and the magnetic isolation plate；Each magnetic conduction sheet is in sector.

29. it is used for the linear electric motors that the intelligent machine free degree is controlled as described in claim any one of 1-9, it is characterised in that Each magnetic conduction arm is provided with permanent magnets away from described mover one end.