CN109038995A - Linear motor and its control method - Google Patents

Linear motor and its control method Download PDF

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Publication number
CN109038995A
CN109038995A CN201811237230.4A CN201811237230A CN109038995A CN 109038995 A CN109038995 A CN 109038995A CN 201811237230 A CN201811237230 A CN 201811237230A CN 109038995 A CN109038995 A CN 109038995A
Authority
CN
China
Prior art keywords
stator module
stator
linear motor
mover
mover assembly
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
CN201811237230.4A
Other languages
Chinese (zh)
Inventor
谢芳
郜曦
焦雷
刘伟健
肖智勇
张智超
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Gree Electric Appliances Inc of Zhuhai
Original Assignee
Gree Electric Appliances Inc of Zhuhai
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Gree Electric Appliances Inc of Zhuhai filed Critical Gree Electric Appliances Inc of Zhuhai
Priority to CN201811237230.4A priority Critical patent/CN109038995A/en
Publication of CN109038995A publication Critical patent/CN109038995A/en
Priority to PCT/CN2019/104635 priority patent/WO2020082909A1/en
Withdrawn legal-status Critical Current

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Classifications

    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K33/00Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
    • H02K33/16Motors with reciprocating, oscillating or vibrating magnet, armature or coil system with polarised armatures moving in alternate directions by reversal or energisation of a single coil system
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/032Reciprocating, oscillating or vibrating motors

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Linear Motors (AREA)

Abstract

The present invention provides a kind of linear motor and its control method.The linear motor includes pedestal (1), stator module (2) and mover assembly (3), and stator module (2) can be slidably arranged on pedestal (1).Linear motor according to the present invention can shorten the length of stator while guaranteeing the movement length of mover, reduce linear motor cost.

Description

Linear motor and its control method
Technical field
The invention belongs to technical field of motors, and in particular to a kind of linear motor and its control method.
Background technique
Traditional line movement is rotated rotating electric machine using screw structure using the structure of " rotating electric machine+ball-screw " The movement in direction is converted to using required linear motion, but there is problems for this kind of drive.With related skill The progress of art, the linear servo-actuator risen again in recent years (hereinafter referred to as " linear motor ") efficiently solve " electric rotating The problem of machine+ball-screw " structure: linear motor does not have lead screw, so length is not limited by lead screw length, linear motor Absolute precision, repeatable accuracy, maximum speed and peak acceleration are higher etc..
The working principle of linear motor can simply be understood as rotating electric machine tangentially pulling into straight line, stationary part along motor As stator, mobile rotor portion becomes mover.On the one hand, linear motor product currently on the market, is all to consolidate stator It is scheduled on the fixed position such as stator base and arranges whole length along the mover direction of motion, sliding rail is also fixed, and only mover is on the slide rail It moves along a straight line.On the other hand, considering for motor Material Cost and production technology, linear motor product currently on the market Mostly using winding as mover, permanent magnet as the short mover of stator primary, the structure of long stator secondary.To sum up two o'clock, stator edge The length of the direction of motion is equal to the movement length of mover, and the price of rare-earth permanent magnet is up to 350 yuan/kg, some high trades mark Permanent magnet price it is even higher, and the materials such as winding copper wire and steel are only its 1/8 price, thus by set of permanent magnets at determine Sub- Material Cost is high.
Summary of the invention
Therefore, it the technical problem to be solved in the present invention is that providing a kind of linear motor and its control method, can protect The length for shortening stator while demonstrate,proving the movement length of mover, reduces linear motor cost.
To solve the above-mentioned problems, the present invention provides a kind of linear motor, including pedestal, stator module and mover assembly, Stator module can be slidably arranged on pedestal.
Preferably, mover assembly corresponds to stator module setting, and can be slidably arranged on pedestal.
Preferably, stator guiding track is provided on pedestal, stator module can be slidably arranged on stator guiding track.
Preferably, stator module includes the stator core of magnetic steel of stator with two opposite sides that magnetic steel of stator is arranged in, fixed Sub- iron core can be slidably arranged on stator guiding track.
Preferably, mover sliding rail is provided on pedestal, mover assembly can be slidably arranged on mover sliding rail.
Preferably, thrust device is additionally provided on pedestal, thrust device is used to provide thrust for stator module, so that Stator module moves in the same direction with mover assembly.
Preferably, thrust device further includes trigger unit, and trigger unit is arranged on the motion path of stator module, and Stator module triggers control thrust device work after trigger unit.
Preferably, pedestal is provided with trigger unit along the both ends of stator module glide direction.
Preferably, thrust device includes spring, hydraulic device, pneumatic shuttle, spiro driving device or electric power pushing meanss.
Preferably, mover sliding rail is two, and two mover sliding rails are arranged in parallel, and is located on sustained height, mover assembly It is supported and is suspended on stator module by mover sliding rail.
According to another aspect of the present invention, a kind of control method of above-mentioned linear motor is provided, comprising:
S1: it is powered on to linear motor;
S2: being powered to mover assembly, move mover assembly to predeterminated position, controls mover assembly and stator module along phase Opposite direction movement;
S3: detecting the movement position of stator module, when stator module moves to predeterminated position, applies to stator module anti- To thrust, move stator module and mover assembly in the same direction;
S4: after mover assembly moves to predeterminated position, being reversely powered to mover assembly, controls mover assembly and stator pack Part moves in opposite directions;
S5: step S3 and S4 are repeated.
Preferably, step S3 includes:
Detect the trigger signal of stator module;
After receiving the trigger signal of stator module, control thrust device reversely pushes stator module.
Linear motor provided by the invention, including pedestal, stator module and mover assembly, stator module can slidably be set It sets on the base.Since stator module itself also can be relative to base motion, can use stator module can be moved The characteristics of achieve the purpose that realize longer move distance with relatively short stroke, can greatly shorten the length dimension of stator module, mention The utilization rate of high stator module length direction reduces the dosage of permanent magnet on stator module, reduces linear motor moving-coil type material Cost.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the linear motor of the embodiment of the present invention;
Fig. 2 is the structural schematic diagram of the linear motor of the embodiment of the present invention;
Fig. 3 is the A-A of Fig. 2 to schematic cross-sectional view;
The control method flow chart of the linear motor of Fig. 4 embodiment of the present invention.
Appended drawing reference indicates are as follows:
1, pedestal;2, stator module;3, mover assembly;4, stator guiding track;5, magnetic steel of stator;6, stator core;7, mover Sliding rail;8, thrust device.
Specific embodiment
In conjunction with referring to shown in Fig. 1 to Fig. 3, according to an embodiment of the invention, linear motor includes pedestal 1,2 and of stator module Mover assembly 3, stator module 2 can be slidably arranged on pedestal 1.Preferably, the corresponding stator module 2 of mover assembly 3 is arranged, And it can be slidably arranged on pedestal 1.
Since stator module 2 itself can also be moved relative to pedestal 1, can use stator module 2 can be moved The characteristics of achieve the purpose that realize longer move distance with relatively short stroke, can guarantee the constant feelings of 3 movement length of mover assembly Greatly shorten the length dimension of stator module under condition, improve the utilization rate of stator module length direction, reduces on stator module The dosage of permanent magnet reduces linear motor material cost.
Stator guiding track 4 is provided on pedestal 1, stator module 2 can be slidably arranged on stator guiding track 4.The stator is led The bottom of stator module 2 is arranged in rail 4, bottom support can be formed to stator module 2, so that stator module 2 is relative to pedestal 1 Vacantly, the contact area between stator module 2 and pedestal 1 is reduced, the sliding friction of stator module 2 is reduced.
In the present embodiment, stator module 2 includes magnetic steel of stator 5 and two opposite sides of magnetic steel of stator 5 are arranged in determine Sub- iron core 6, stator core 6 can be slidably arranged on stator guiding track 4.Wherein stator core 6 is T-shaped structure, and stator is led Rail 4 is two, the two sides of the T-shaped structure supported respectively, and at the middle part of T-shaped structure, setting is fluted, for placing stator Magnet steel 5, wherein magnetic steel of stator 5 is consistent with the overhead height of stator core 6.Stator core 6 is designed as T-shaped, can reduced The material utilization amount of stator module 2 rationally carries out the setting of magnetic steel of stator 5 using the structure of stator core 6, reduces stator module 2 Overall volume, and can effectively ensure that the structural strength of stator core 6.
Mover sliding rail 7 is provided on pedestal 1, mover assembly 3 can be slidably arranged on mover sliding rail 7.In this implementation In example, the both ends of mover sliding rail 7 are fixed on pedestal 1, and mover sliding rail 7 is threaded through on mover assembly 3, to mover assembly 3 It while playing guiding role, plays a supporting role to mover assembly 3, so that mover assembly 3 is suspended on stator module 2, keeps away Exempt to be in contact between mover assembly 3 and stator module 2, and can effectively ensure that the gas between mover assembly 3 and stator module 2 Gap guarantees the movenent performance of mover assembly 3.Preferably, the height of mover sliding rail 7 is adjustable, dynamic so as to rationally adjust Air gap between sub-component 3 and stator module 2 improves the magnetic property that mover assembly 3 and stator module 2 cooperate.Preferably, mover Sliding rail 7 is two, and two mover sliding rails 7 are arranged in parallel, and is located on sustained height.Mover sliding rail 7 can be round bar, can also be with For square bar, or other rod-like structures.
Thrust device 8 is additionally provided on pedestal 1, thrust device 8 is used to provide thrust for stator module 2, so that fixed Sub-component 2 and mover assembly 3 move in the same direction.The thrust device 8 includes spring, hydraulic device, pneumatic shuttle, spiro driving device Or electric power pushing meanss, or it is other to provide thrust for stator module 2, so that stator module 2 is along mover The mechanism or device of the direction of motion movement of component 3.
Thrust device 8 further includes trigger unit, and trigger unit is arranged on the motion path of stator module 2, and in stator Control thrust device 8 works after component 2 triggers trigger unit.The trigger unit is travel switch or microswitch etc..The touching Bill member is connect with the control unit of thrust device 8, trigger signal can be conveyed to control unit, so that control unit Corresponding control signal is issued, control thrust device 8 pushes stator module 2 to move relative to pedestal 1.
Pedestal 1 is provided with trigger unit along the both ends of 2 glide direction of stator module, can move in stator module 2 The predetermined position at 1 both ends of pedestal, having thrust device 8 is that stator module 2 provides thrust, guarantees that stator module 2 can Enough distances are moved along pedestal 1, shorten the dosage of permanent magnet on stator module 2 by the movement of stator module 2, reduce stator The cost of component 2.
After being powered to linear motor, stator module 2 and mover assembly 3 generate the thrust to interact because of electromagnetic induction, Mover assembly 3 is moved horizontally along mover sliding rail 7 towards assigned direction, and stator module 2 is due to the phase negative side by mover assembly 3 To active force along moving with 3 opposite direction of mover assembly, when stator module 2 moves to predeterminated position, touching can be squeezed Thrust device 8, thrust device 8 trigger and reversely push stator module 2, make the direction of motion of stator module 2 and mover assembly 3 The direction of motion is consistent, and when mover assembly 3 moves to extreme position, motor driver inputs electrical-coil winding signal and generates instead To travelling-magnetic-field, mover assembly 3 is started reversely to move horizontally by opposing magnetic field effect, and stator module 2 passes through the other end at this time Thrust device 8 makes stator module 2 and mover assembly 3 still keep reversed horizontal movement, final to realize that linear motor is transported back and forth horizontally Dynamic effect.
In conjunction with shown in Figure 4, according to an embodiment of the invention, a kind of control method of above-mentioned linear motor includes: S1: it is powered on to linear motor;S2: being powered to mover assembly 3, move mover assembly 3 to predeterminated position, controls mover assembly 3 It is moved in opposite directions with stator module 2;S3: the movement position of detection stator module 2, when stator module 2 moves to default position When setting, deboost is applied to stator module 2, moves stator module 2 and mover assembly 3 in the same direction;S4: when mover assembly 3 is transported After moving predeterminated position, reversely it is powered to mover assembly 3, controls mover assembly 3 and stator module 2 moves in opposite directions;S5: Repeat step S3 and S4.
After motor is initially powered up, between mover assembly 3 and stator module 2 due to electromagnetic induction generate interaction force, two Person moves along mover sliding rail 7 and stator guiding track 4 to opposite direction respectively.Wherein stator module 2 can move to motor rectilinear seats 1 One end, stator module 2 triggers by the modes such as squeezing and is mounted on the thrust device 8 of the inside of motor one end marble pedestal 1.It pushes away Power device 8 is triggered, and generates the thrust opposite with the former direction of motion of stator module 2.The stator pack reversely pushed by thrust device 8 Part 2 changes the direction of motion, moves round about, i.e., consistent with 3 direction of motion of mover assembly.Pass through 3 He of mover assembly again Interaction force between stator module 2, stator module 2 give the thrust " transmitting " of thrust device 8 to mover assembly 3, so that dynamic Sub-component 3 can finally move to target position, so just complete the trigger process of a thrust device 8, hereafter can be according to upper Control process is stated back and forth to carry out.
Step S3 includes: the trigger signal for detecting stator module 2;After receiving the trigger signal of stator module 2, control Thrust device 8 reversely pushes stator module 2.
Those skilled in the art will readily recognize that above-mentioned each advantageous manner can be free under the premise of not conflicting Ground combination, superposition.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all in spirit of the invention and Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within principle.Above only It is the preferred embodiment of the present invention, it is noted that for those skilled in the art, do not departing from this hair Under the premise of bright technical principle, several improvements and modifications can also be made, these improvements and modifications also should be regarded as guarantor of the invention Protect range.

Claims (12)

1. a kind of linear motor, which is characterized in that including pedestal (1), stator module (2) and mover assembly (3), the stator pack Part (2) can be slidably arranged on the pedestal (1).
2. linear motor according to claim 1, which is characterized in that the corresponding stator module of the mover assembly (3) (2) it is arranged, and can be slidably arranged on the pedestal (1).
3. linear motor according to claim 1, which is characterized in that stator guiding track (4) are provided on the pedestal (1), The stator module (2) can be slidably arranged on the stator guiding track (4).
4. linear motor according to claim 3, which is characterized in that the stator module (2) include magnetic steel of stator (5) and Stator core (6) in two opposite sides of the magnetic steel of stator (5) is set, and the stator core (6) can be slidably arranged On the stator guiding track (4).
5. linear motor according to claim 2, which is characterized in that mover sliding rail (7) are provided on the pedestal (1), The mover assembly (3) can be slidably arranged on the mover sliding rail (7).
6. linear motor according to any one of claim 1 to 5, which is characterized in that be additionally provided on the pedestal (1) Thrust device (8), the thrust device (8) is used to provide thrust for the stator module (2), so that the stator module (2) it is moved in the same direction with the mover assembly (3).
7. linear motor according to claim 6, which is characterized in that the thrust device (8) further includes trigger unit, institute It states trigger unit to be arranged on the motion path of the stator module (2), and triggers the triggering list in the stator module (2) The thrust device (8) work is controlled after member.
8. linear motor according to claim 7, which is characterized in that the pedestal (1) is slided along the stator module (2) The both ends in direction are provided with the trigger unit.
9. linear motor according to claim 6, which is characterized in that the thrust device (8) includes spring, hydraulic dress It sets, pneumatic shuttle, spiro driving device or electric power pushing meanss.
10. linear motor according to claim 5, which is characterized in that the mover sliding rail (7) is two, described in two Mover sliding rail (7) is arranged in parallel, and is located on sustained height, and the mover assembly (3) is supported simultaneously by the mover sliding rail (7) It is suspended on the stator module (2).
11. a kind of control method of the linear motor as described in any one of claims 1 to 10 characterized by comprising
S1: it is powered on to linear motor;
S2: being powered to mover assembly (3), move mover assembly (3) to predeterminated position, controls mover assembly (3) and stator pack Part (2) moves in opposite directions;
S3: the movement position of detection stator module (2), when stator module (2) moves to predeterminated position, to stator module (2) Apply deboost, moves stator module (2) and mover assembly (3) in the same direction;
S4: it after mover assembly (3) moves to predeterminated position, is reversely powered to the mover assembly (3), controls mover assembly (3) it is moved in opposite directions with stator module (2);
S5: step S3 and S4 are repeated.
12. control method according to claim 10, which is characterized in that the step S3 includes:
Detect the trigger signal of stator module (2);
After receiving the trigger signal of stator module (2), control thrust device (8) reversely pushes stator module (2).
CN201811237230.4A 2018-10-23 2018-10-23 Linear motor and its control method Withdrawn CN109038995A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201811237230.4A CN109038995A (en) 2018-10-23 2018-10-23 Linear motor and its control method
PCT/CN2019/104635 WO2020082909A1 (en) 2018-10-23 2019-09-06 Linear motor and control method therefor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811237230.4A CN109038995A (en) 2018-10-23 2018-10-23 Linear motor and its control method

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Publication Number Publication Date
CN109038995A true CN109038995A (en) 2018-12-18

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WO (1) WO2020082909A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020082909A1 (en) * 2018-10-23 2020-04-30 珠海格力电器股份有限公司 Linear motor and control method therefor
CN116418190A (en) * 2023-04-18 2023-07-11 上海世禹精密设备股份有限公司 High-speed moving shock absorbing method and device

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Publication number Priority date Publication date Assignee Title
US5208497A (en) * 1989-04-17 1993-05-04 Sharp Kabushiki Kaisha Linear driving apparatus
CN1150716A (en) * 1995-05-31 1997-05-28 松下电工株式会社 Linear oscillating motor
KR101258407B1 (en) * 2011-12-06 2013-04-26 주식회사 져스텍 Reaction force compensation linear motion system
CN209030063U (en) * 2018-10-23 2019-06-25 珠海格力电器股份有限公司 Linear motor

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6176239A (en) * 1984-09-25 1986-04-18 Hiroshi Teramachi Xy table with linear motor
CN205160337U (en) * 2015-10-26 2016-04-13 物必达智能设备南通有限公司 Express delivery is transported crossover band formula dolly and is removed linear electric motor
CN109038995A (en) * 2018-10-23 2018-12-18 珠海格力电器股份有限公司 Linear motor and its control method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5208497A (en) * 1989-04-17 1993-05-04 Sharp Kabushiki Kaisha Linear driving apparatus
CN1150716A (en) * 1995-05-31 1997-05-28 松下电工株式会社 Linear oscillating motor
KR101258407B1 (en) * 2011-12-06 2013-04-26 주식회사 져스텍 Reaction force compensation linear motion system
CN209030063U (en) * 2018-10-23 2019-06-25 珠海格力电器股份有限公司 Linear motor

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020082909A1 (en) * 2018-10-23 2020-04-30 珠海格力电器股份有限公司 Linear motor and control method therefor
CN116418190A (en) * 2023-04-18 2023-07-11 上海世禹精密设备股份有限公司 High-speed moving shock absorbing method and device

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Application publication date: 20181218