CN109167503A - Low pressure linear motor, motor mould group, auto instrument automatic needle press, system and control method - Google Patents
Low pressure linear motor, motor mould group, auto instrument automatic needle press, system and control method Download PDFInfo
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- CN109167503A CN109167503A CN201810971869.9A CN201810971869A CN109167503A CN 109167503 A CN109167503 A CN 109167503A CN 201810971869 A CN201810971869 A CN 201810971869A CN 109167503 A CN109167503 A CN 109167503A
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- Prior art keywords
- mover
- mould group
- linear motor
- track
- motor mould
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
- H02K11/33—Drive circuits, e.g. power electronics
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K13/00—Structural associations of current collectors with motors or generators, e.g. brush mounting plates or connections to windings; Disposition of current collectors in motors or generators; Arrangements for improving commutation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Linear Motors (AREA)
Abstract
The invention discloses a kind of low pressure linear motor, motor mould group, auto instrument automatic needle press, system and control method, the low pressure linear motor includes stator and mover, and stator includes stator yoke and magnets of stator, and stator yoke is U-shaped structure, and is arranged for straight line；Magnets of stator is set as multiple, and multiple magnets of stator are separately positioned on the two sides of stator yoke；Mover includes mover coil and coil fixing seat, and mover coil is arranged in the U-shaped structure of stator yoke, and is fixed in coil fixing seat；The open end of the U-shaped structure of stator yoke is arranged in coil fixing seat, and can move in a straight line along stator yoke；The magnetic field force that mover coil is generated by power drives and magnets of stator interaction, to drive mover to move in a straight line along stator yoke.Low pressure linear motor can carry out the combination of different length, the splicing of multiple master die groups is combined into circular pipeline, i.e. linear motor mould group can carry out Straight Combination, to form the assembly line of optional length.
Description
Technical field
The present invention relates to assembly line processing technique field more particularly to a kind of low pressure linear motors, motor mould group, assembly line
Body, system and control method.
Background technique
" made in China 2025 " clearly proposes that manufacturing industry is the emphasis of China's following macro policy and industrial policy, and intelligence
Collaborative Manufacturing is to realize one of an important factor for high-accuracy, high speed, high-efficiency soft manufacture system are equipped.In recent years, with hand-held
Widely available, the processing technology that the surge of shipment amount manufactures the field, production effect of terminal device such as mobile phone, tablet computer etc.
The new requirement of the propositions such as rate and finished appearance.How reducing cost of labor and improving production capacity is that current all manufacturing enterprises face
Problem, collaboration and modular manufacturing based on multistation are the important trends of entire automated arm industry development.
Collaborative Manufacturing makes full use of network technology, information technology, and serial manufacture work is become concurrent engineering, is realized polygonal
Degree, the design of multi-faceted enterprise product, the production model of manufacture, management, reach eventually by business management mode is changed with mode
The purpose that resource most makes full use of.With the production cycle is shortened, it is excellent to improve design, flexible production etc. for quick response customer demand
Gesture.
This project is directed to the industrial actual demand of current flexible manufacturing, to break through the limitation that manipulator realizes flexible manufacturing
Property, it develops based on the straight Modular Flexible processing for driving straight line multistation motion platform and mounting technology.Firstly, design has independently
High speed, the high-precision of intellectual property are straight to drive motion control drive system；Secondly, fit module chemical industry fixture designs, standard is realized
The recycling and any combination of clamping apparatus；By introduce distributed collaboration control technology, realize multistation movement collaboration and
High-precision is coordinated.It is with assembly based on the multistation modularization processing that Zhi Qu mechanism is nucleus movement control mechanism by designing
System realizes straight efficient feeding, carrying, positioning and the processing for driving forms of motion product and assembly integration movement, is advanced manufacture
The high-precision control of equipment provides new approaches.
What electronics industry production and assembly at present generallyd use is the transport models such as belt, synchronous belt, multiple chain；Product is single
Only stop to be assembled, welded after positioning using sensor perception, limited block when direction flow to specified station, dispensing, lock are paid,
The flow charts such as riveted, or be displaced to stand-alone workstation with mechanical arm, the crawl of mould group and carried out, it plays back passed into assembly line again after the completion
Transport to lower process.The disadvantage is that can only one-way transmission, speed be slow, low efficiency；Positioning accuracy is poor, adjustment is difficult, is not able to satisfy essence
Close electronic product high accuracy positioning, High-speed assembly requirement.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.For this purpose, of the invention
One purpose is to propose a kind of low pressure linear motor, motor mould group, auto instrument automatic needle press, system and control method.
To achieve the above object, low pressure linear motor according to an embodiment of the present invention, motor mould group, auto instrument automatic needle press, system
And control method, the low pressure linear motor include:
Stator, the stator include stator yoke and magnets of stator, and the stator yoke is U-shaped structure, and is set for straight line
It sets；
The magnets of stator is set as multiple, and multiple magnets of stator are separately positioned on the two sides of the stator yoke；
Mover, the mover include mover coil and coil fixing seat, and the mover coil is arranged in the stator yoke
The U-shaped structure in, and be fixed to the coil fixing seat on；
The open end of the U-shaped structure of the stator yoke is arranged in the coil fixing seat, and can be along the stator yoke
It moves in a straight line；
Terminals of connecting wire is additionally provided on the mover coil, the terminals of connecting wire is for connecting power drives, the mover line
The magnetic field force that circle is generated by the power drives and magnets of stator interaction, to drive the mover along the stator
Magnetic yoke moves in a straight line.
According to one embodiment of present invention, the mover further includes silicon steel laminations, and the silicon steel laminations are arranged described
In mover coil.
It according to one embodiment of present invention, further include mover coil fixing seat, the mover coil setting is described dynamic
In subcoil fixing seat, fixed by the way that the mover coil is fixed with the mover coil stationary phase.
According to one embodiment of present invention, the mover coil is a combination with three, and along the linear motion
Direction is arranged successively.
According to one embodiment of present invention, the stator yoke is set as multiple, and along the stator magnet conjugate length side
To being arranged successively, correspondingly the two sides of each stator yoke are respectively equipped with multiple magnets of stator.
On the other hand, the present invention also provides a kind of linear motor mould groups, comprising:
Upper shield, the upper shield are equipped with the mover seat that can be moved along a straight line, and the mover seat is equipped with sliding block；
Module group substrates, the module group substrates are fixedly connected with the upper shield, and the module group substrates are equipped with guide rail, described
Mover seat can be moved in a straight line by the sliding block and guide rail mutual cooperation；
The stator of above-mentioned low pressure linear motor, the low pressure linear motor is arranged in the module group substrates, described low
The mover of linear motor is pressed to be arranged on the mover seat, for driving the mover seat to move in a straight line.
An example according to the present invention, further includes:
Driver, the driver are arranged on the mover seat, the line on the driver and the mover coil
Terminal is electrically connected, to provide the driving power for the mover coil.
An example according to the present invention, further includes:
Carbon brush collector, the carbon brush collector are arranged on the mover seat, the carbon brush collector and the driving
Device is electrically connected, and is respectively equipped with the first carbon brush, the second carbon brush, third carbon brush and the 4th carbon brush on the carbon brush collector；
Be respectively equipped on the module group substrates the first conductive rail assembly, the second conductive rail assembly, third conduction rail assembly and
4th conductive rail assembly, the described first conductive rail assembly, the second conductive rail assembly, third conduction rail assembly and the 4th conductor rail group
Part is electrically connected with first carbon brush, the second carbon brush, third carbon brush and the 4th carbon brush respectively, to pass through first conductor rail
The conductive rail assembly of component, the second conductor rail, third conductor rail and the 4th guides external power supply and control signal to being connected to
State driver.
An example according to the present invention, the driver further include: CAN interface and drive terminal, the CAN are total
Line interface and the carbon brush collector are electrically connected, and the carbon brush collector is by the CAN interface by the external electricity
Source and control signal are guided to the driver；
The drive terminal and the mover coil are electrically connected, and the driver is connect by the drive terminal by described
Power drives are guided to the mover coil.
An example according to the present invention further includes storage capacitor and/or ceramic disc capacitor, the both ends point of the storage capacitor
Do not connect with the external power supply output end of the carbon brush collector, the storage capacitor be used for by the output of the external power supply into
Row power supply energy storage；
The both ends of the both ends of the ceramic disc capacitor and the ceramic disc capacitor external power supply with the carbon brush collector respectively
Output end connection, the ceramic disc capacitor are used to the output of the external power supply carrying out power filter.
An example according to the present invention, further includes:
Magnetic railings ruler, the magnetic railings ruler are arranged on the upper shield；
Magnetic grid reading head, the magnetic grid reading head are arranged on the mover seat, and the magnetic grid reading head is for passing through institute
State the shift position that magnetic railings ruler obtains the mover seat.
An example according to the present invention is additionally provided with magnetic railings ruler attaching lower limit groove, the magnetic grid on the upper shield
Ruler is arranged in the magnetic railings ruler attaching on lower limit groove.
In another aspect, the present invention also provides a kind of circular pipeline bodies, comprising:
Fixed station；
First track, first track are equipped with one or more above-mentioned linear motor mould groups, multiple straight lines
Motor mould group is arranged in along its length on the fixed station；
Second track, second track are equipped with one or more above-mentioned linear motor mould groups, multiple straight lines
Motor mould group is arranged along its length, and first track and first parallel track are arranged on the fixed station；
First turntable, first turntable include at least two above-mentioned linear motor mould groups, the linear motor mould group
One end of first track, the second track is set, is vertically set on the fixed station with first track, the second track
On, another described motor mould group is arranged on the mover seat of above-mentioned linear motor mould group, and with first track, the second rail
Road is arranged in parallel；
Second turntable, second turntable include at least two above-mentioned linear motor mould groups, the linear motor mould group
The other end of first track, the second track is set, is vertically set on the fixation with first track, the second track
On platform, another described motor mould group is arranged on the mover seat of above-mentioned linear motor mould group, and with first track, second
Parallel track setting.
In another aspect, the present invention also provides a kind of Pipeline control drive systems, comprising:
Above-mentioned circular pipeline body；
Linear motor on motor mould group industrial personal computer, the motor mould group industrial personal computer and first track, the second track
Mould group communication connection, to control the displacement of the mover seat；
The motor mould group industrial personal computer also with the linear motor mould group communication link on first turntable, the second turntable
It connects, to control the displacement of the mover seat；
Processing unit (plant) industrial personal computer, the processing unit (plant) industrial personal computer are communicated with the motor mould group industrial personal computer and processing machine hand
Connection carries out product processing for controlling the processing machine hand according to the position signal of the motor mould group industrial personal computer.
An example according to the present invention, the motor mould group industrial personal computer pass through communication card and first track, second
Linear motor mould group communication connection on track；
The motor mould group industrial personal computer passes through interchanger and input/output port controller and first turntable, second turn
Linear motor mould group communication connection on platform；
The motor mould group industrial personal computer is communicated to connect by interchanger and the processing unit (plant) industrial personal computer.
In another aspect, the present invention also provides a kind of production line control methods, comprising:
First track is equipped with the first origin A and the second origin C, and third origin B is equipped on the second track；
By controlling the mover being put on first track by origin A, and it is moved to first turntable, led to
The initial position for crossing mover described in the first origin A determines；
The movement of the first turntable is controlled, institute's mover is moved to by the second origin B by first turntable, and pass through institute
The initial position for stating origin B progress mover determines, carries out Bit andits control to the mover with the initial position zero point.
The present invention provides a kind of low pressure linear motor, motor mould group, auto instrument automatic needle press, system and control method.By will be more
A master die group splicing is combined into circular pipeline, i.e. linear motor mould group can carry out Straight Combination, to form optional length
Assembly line.Linear motor mould group is moved by the low pressure straight line motor driven, and the low pressure linear motor is using mover and determines
The magnetic field force-fitting of son moves along a straight line, and the reading control being displaced using high-precision magnetic grid reading head, makes full use of
High speed, the high-precision advantage of linear motor meet precise electronic product production high speed, assembled with high precision requirement.
Detailed description of the invention
Fig. 1 is low pressure structure of the linear motion actuator schematic diagram provided in an embodiment of the present invention；
Fig. 2 is low pressure linear motor decomposition texture schematic diagram provided in an embodiment of the present invention；
Fig. 3 is linear motor modular structure schematic diagram provided in an embodiment of the present invention；
Fig. 4 is linear motor mould splits solution structure schematic diagram provided in an embodiment of the present invention；
Fig. 5 is another linear motor mould splits solution structure schematic diagram provided in an embodiment of the present invention；
Fig. 6 is another linear motor mould splits solution structure schematic diagram provided in an embodiment of the present invention；
Fig. 7 is linear motor mould group electric control circuit structural schematic diagram provided in an embodiment of the present invention；
Fig. 8 is circular pipeline body structural schematic diagram provided in an embodiment of the present invention；
Fig. 9 is the first turntable provided in an embodiment of the present invention or the second turntable structure schematic diagram；
Figure 10 is Pipeline control driving system structure schematic diagram provided in an embodiment of the present invention；
Figure 11 is the coordinate origin structural schematic diagram of double flow line control method provided in an embodiment of the present invention.
Appended drawing reference:
Circulating water wire body 1；
Linear motor mould group (the first turntable horizontal line mould group) (the first turntable straight line mould group) 10；
Low pressure linear motor 101；
Mover 1011；
Coil fixing seat 10111；
Mover coil fixing seat 10112；
Silicon steel laminations 10113；
Mover coil 10114；
Terminals of connecting wire 101141；
Stator 1012；
Stator yoke 10121；
First stator yoke 101211；
Second stator yoke 101212；
Magnets of stator 10122；
Upper shield 102；
Magnetic railings ruler, which attaches, uses lower limit groove 1021；
Mover seat 103；
Sliding block 104；
Magnetic railings ruler 105；
Magnetic grid reading head 106；
Driver 107；
Drive terminal 1071；
RS232 interface 1072；
Storage capacitor 1073；
Carbon brush collector 108；
First carbon brush 1081；
Second carbon brush 1082；
Third carbon brush 1083；
4th carbon brush 1084；
Module group substrates 109；
Guide rail 1091；
Conductive rail assembly 1092；
First conductive rail assembly 10921；
Second conductive rail assembly 10922；
Third conduction rail assembly 10923；
4th conductive rail assembly 10924；
First turntable 11；
Second turntable 12；
First track 13；
Second track 14；
First processing unit (plant) 15；
Second processing unit (plant) 16；
Fixed station 17；
Motor mould group industrial personal computer 2；
Communication card 3；
Interchanger 4；
Input/output port controller 5；
Processing unit (plant) industrial personal computer 6.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.Unless otherwise defined, used herein
All technical and scientific terms have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.Herein
Used term, which is only for the purpose of describing specific embodiments, in the description of the invention is not intended to limit this
Invention.
Referenced herein " embodiment " is it is meant that a particular feature, structure, or characteristic described can wrap in conjunction with the embodiments
Containing at least one embodiment of the present invention.Each position in the description occur the phrase might not each mean it is identical
Embodiment, nor the independent or alternative embodiment with other embodiments mutual exclusion.Those skilled in the art explicitly and
Implicitly understand, embodiment described herein can be combined with other embodiments.
On the one hand, refering to fig. 1, the present invention provides a kind of low pressure linear motor 101, comprising: stator 1012 and mover 1011,
The stator 1012 includes stator yoke 10121 and magnets of stator 10122, and the stator yoke 10121 is U-shaped structure, and is
Straight line setting；It is, the stator yoke 10121 is linear structure, and in an implementation of the invention, the stator yoke
10121 can be set as multiple, can linearly be extended the stator yoke 10121 by multiple stator yokes 10121,
To meet the application demand of different length.The stator yoke 10121 is U-shaped structure, that is, the stator yoke 10121
The left and right sides and bottom are relatively fixed structure, and top and both ends are opening.By the U-shaped structure, facilitating will be multiple described
The connection of 10121 straight line of stator yoke.
The magnets of stator 10122 is set as multiple, and multiple magnets of stator 10122 are separately positioned on the stator yoke
10121 two sides；By the way that multiple magnets of stator 10122 to be arranged in the position of the two sides of the stator yoke 10121, make
The inside for obtaining the stator yoke 10121 generates corresponding magnetic field.Multiple magnets of stator 10122 are evenly provided on described
The two sides of stator yoke 10121.So that the inside of the stator yoke 10121 generates uniform magnetic field space.
The mover 1011 includes mover coil 10114 and coil fixing seat 10111, and the mover coil 10114 is arranged
In the U-shaped structure of the stator yoke 10121, and it is fixed in the coil fixing seat 10111；Refering to fig. 1 and scheme
2, the mover coil 10114 be fixed to the coil fixing seat 10111 on, it is, the mover coil 10114 with it is described
Coil fixing seat 10111 is the structure that is fixed to each other.And the mover coil 10114 falls into 10121 inner magnet of stator yoke
In the space of field.
The open end of the U-shaped structure of the stator yoke 10121 is arranged in the coil fixing seat 10111, and can be along institute
Stator yoke 10121 is stated to move in a straight line；It is, the mover coil 10114 is arranged by the coil fixing seat 10111
In the open top end of the stator yoke 10121, and can be by the coil fixing seat 10111 along the stator yoke
10121 slidings.
Terminals of connecting wire 101141 is additionally provided on the mover coil 10114, the terminals of connecting wire 101141 is for connecting electricity
Source driving, the magnetic field that the mover coil 10114 is generated by the power drives and the magnets of stator 10122 interaction
Power, to drive the mover 1011 to move in a straight line along the stator yoke 10121.Pass through the terminals of connecting wire 101141 and drive
Dynamic power supply is connected, and makes the mover coil 10114 generate electromagnetic induction, the electromagnetic induction and institute by the driving power
The interaction for stating the magnetic field of the generation of magnets of stator 10122 generates magnetic field force, and the magnetic field force is along the stator yoke 10121
Length direction extend.The mover 1011 is driven to move in a straight line along the stator yoke 10121 by the magnetic field force.This
The left and right sides and bottom for inventing stator yoke 10121 described in the low pressure linear motor 101 provided are relatively fixed structure, top
And both ends are opening.By the U-shaped structure, facilitates and connect multiple 10121 straight lines of stator yoke, the mover 1011
It can be moved along the stator yoke 10121, to realize the combination of the different length of linear motor.
In an example of the invention, the magnetic stator 1012 is standard magnet stator 1012, standard fixed-length (150mm,
100mm) two kinds of specification compositions；Building different size length linear motor can be freely combined.
Referring to Fig.2, the mover 1011 further includes silicon steel laminations 10113, the setting of silicon steel laminations 10113 is described dynamic
In subcoil 10114.By the electromagnetic intensity that the silicon steel laminations 10113 are enhanced to the mover coil 10114.So that
Bigger field drives power is generated under the driving of the same electric current of the mover coil 10114, to preferably drive
The mover 1011 moves in a straight line.
Referring to Fig.2, further including mover coil fixing seat 10112, the mover coil 10114 is arranged in the mover coil
In fixing seat 10112, fixed by the way that the mover coil 10114 is fixed with 10114 stationary phase of mover coil.By described
The mover coil 10114 is fixed mover coil fixing seat 10112, and passes through the mover coil fixing seat 10112
Fixed in the coil fixing seat 10111.
Referring to Fig.2, the mover coil 10114 is a combination with three, and along the 10121 length side of stator yoke
To being arranged successively.With three mover coils 10114 for one group, mover coil 10114 described in Fig. 2 is two groups 6.Pass through
Mover coil 10114 described in multiple groups is set, to increase the field drives power of the mover 1011.Using low-voltage DC supply
(≤60VDC), sine wave drive, three coils are one group, and coil liner silicon steel laminations 10113 increase its motor thrust；Another root
According to thrust requirements, 3 groups of 9 coils are extended to, to increase motor driving force；According to motor range length by magnetic stator 1012
Each length specification motor mould group of two kinds of specification combined schedules；Realize that various combination meets different occasions with demand from structure.
Referring to Fig.2, the stator yoke 10121 is set as multiple, and successively along 10121 length direction of stator yoke
Arrangement, correspondingly the two sides of each stator yoke 10121 are respectively equipped with multiple magnets of stator 10122.Such as institute in Fig. 2
It states and shows, including the first stator yoke 101211 and the first stator yoke 101212, the both ends of two stator yokes 10121 mutually interconnect
It connects, the two sides of the corresponding stator yoke 10121 are respectively equipped with multiple magnets of stator 10122.It, can by above-mentioned setting
The stator 1012 is extended along its length.In the application of some straight line assembly lines, since the processing program of assembly line is different,
The length of assembly line is also different, by the way that multiple stator yokes 10121 and corresponding magnets of stator 10122 is arranged, so that
The stator 1012 is adaptable to the assembly line of different length.
On the other hand, the present invention also provides a kind of linear motor mould groups 10, comprising: upper shield 102,109 and of module group substrates
Above-mentioned low pressure linear motor 101, the upper shield 102 are equipped with the mover seat 103 that can be moved along a straight line, the mover seat 103
It is equipped with sliding block 104；Refering to Fig. 3 and Fig. 4, the mover seat 103 is arranged on the upper shield 102.Specific ginseng Fig. 4, it is described
Mover seat 103 is connected to mode and is arranged on the upper shield 102 by set, can along the upper shield 102 along its length into
Row sliding.The sliding block 104 is fixed on the mover seat 103, it is, in the mover seat 103 sliding, the cunning
Block 104 and the whole sliding block 104 of the mover seat 103.
Refering to Fig. 3 and Fig. 4, the module group substrates 109 are fixedly connected with the upper shield 102, on the module group substrates 109
Equipped with guide rail 1091, the mover seat 103 can be moved in a straight line by the sliding block 104 and the mutual cooperation of guide rail 1091；It is described
Upper shield 102 is fixedly connected with the module group substrates 109.The linear motor mould group 10 is packaged fixation.The mould group
The corresponding section of substrate 109 and the upper shield 102 is equipped with guide rail 1091, and the sliding block 104 and guide rail 1091 cooperate, can
The sliding of the mover seat 103 is oriented to.
Refering to Fig. 4, the stator 1012 of the low pressure linear motor 101 is arranged in the module group substrates 109, the low pressure
The mover 1011 of linear motor 101 is arranged on the mover seat 103, for driving the mover seat 103 to move in a straight line.It is logical
It crosses and the stator 1012 of the low pressure linear motor 101 is fixed in the module group substrates 109.The low pressure linear motor 101
Mover 1011 be fixed to the mover seat 103 on.It is, can band by the mover 1011 of the low pressure linear motor 101
The mover seat 103 is moved to move in a straight line.
In an example of the present invention, the linear motor mould group 10 is standard fixed-length mould group, the standard fixed-length mould
Group minimum length specification L=250mm；Maximum length specification L=2000mm；Stock size specification L=750,1000,1250,
1500。
Refering to Fig. 5, further includes: driver 107, the driver 107 are arranged on the mover seat 103, the driving
Terminals of connecting wire 101141 on device 107 and the mover coil 10114 is electrically connected, to mention for the mover coil 10114
For the driving power.The driver 107 is fixed on the mover seat 103, and the mover seat 103 is in the mover 1011
Drive under when moving, the driver 107 also follows the mover seat 103 to move together.It is, the driver 107
It is relatively fixed position with the mover coil 10114.By relatively fixed position, so that the driver 107 and institute
The connecting line stated between mover coil 10114 can be relatively fixed.It avoids numerous between driver 107 and the mover coil 10114
Trivial wiring.The driver 107 makes the mover coil 10114 generate electromagnetism for generating driving power, the driving power
Induction.To generate magnetic field force, mover described in the magnetic field power drive under the magnetic fields inside the stator yoke 10121
1011 and the mover seat 103 move in a straight line.
Refering to Fig. 4 and Fig. 5, further includes: carbon brush collector 108, the carbon brush collector 108 are arranged in the mover seat
On 103, the carbon brush collector 108 is electrically connected with the driver 107, and the is respectively equipped on the carbon brush collector 108
One carbon brush 1081, the second carbon brush 1082, third carbon brush 1083 and the 4th carbon brush 1084；The carbon brush collector 108 is arranged in institute
It states and makes the carbon brush collector 108 that can follow 103 synchronizing moving of mover seat on mover seat 103.So that the carbon brush after
The position of electric appliance and the driver 107 is relatively fixed.So that between the carbon brush collector 108 and the driver 107
Connecting line can be relatively fixed.Avoid cumbersome wiring between carbon brush collector 108 and the driver 107.
The first conductive rail assembly 10921, second conductive rail assembly 10922, third is respectively equipped on the module group substrates 109
Conductive rail assembly 10923 and the 4th conductive rail assembly 10924, the described first conductive rail assembly of conductive rail assembly 10921, second
10922, third conduction rail assembly 10923 and the 4th conductive rail assembly 10924 respectively with first carbon brush 1081, the second carbon brush
1082, third carbon brush 1083 and the 4th carbon brush 1084 are electrically connected, to be led by the described first conductive rail assembly 10921, second
Electric rail, third conductor rail and the 4th conductive rail assembly 10924 guide external power supply and control signal to being connected to the driving
Device 107.Due to the first carbon brush 1081, the second carbon brush 1082, third carbon brush 1083 and the 4th carbon on the carbon brush collector 108
Brush 1084 and the described first conductive rail assembly 10921, second conductive rail assembly 10922, third conduction rail assembly 10923 and the 4th
Conductive rail assembly 10924 slides its electric connection, so as to will described first conductive the 10921, second conduction of rail assembly rail assembly
10922, four road electric signals of third conduction rail assembly 10923 and the 4th conductive rail assembly 10924 are introduced into the carbon brush current collection
In device 108, and four road electric signal is introduced on the driver 107 by the carbon brush collector 108.In the present invention
One embodiment in, four road electric signal be respectively input positive-negative power signal and two-way control signal.It is positive and negative
Power supply and two sections control signal the driver 107 introduced by the carbon brush collector 108, on the one hand give the drive
Dynamic device 107 provides power supply；On the other hand, control instruction is sent to the driver 107 by control signal, makes the drive
Dynamic device 107 generates power drives.To drive the mover 1011 on the low pressure linear motor 101 to do straight line by the speed of setting
Movement.
Refering to Fig. 6, in one embodiment of the invention, the driver 107 further include: CAN interface and driving
Terminal 1071, the CAN interface and the carbon brush collector 108 are electrically connected, and the carbon brush collector 108 passes through described
CAN interface guides the external power supply and control signal to the driver 107.
The drive terminal 1071 is electrically connected with the mover coil 10114, and the driver 107 passes through the driving
Terminal 1071 guides the power drives that connect to the mover coil 10114.It should be noted that it is of the invention it is some its
In his example, the external power supply and control signal can also be guided to the driver 107 by other means.And it is unlimited
In above-mentioned connection type.
Refering to Fig. 6, in one embodiment of the invention, the driver 107 further include: RS232 interface 1072, it is described
Downloading of the RS232 interface 1072 for the program of the driver 107 updates and the debugging of program.
It further include storage capacitor 1073 and/or ceramic disc capacitor refering to Fig. 5 and Fig. 7, the storage capacitor 1073 is arranged in institute
It states on mover seat 103, the both ends of the storage capacitor 1073 connect with the external power supply output end of the carbon brush collector 108 respectively
It connects, the storage capacitor 1073 is used to the output of the external power supply carrying out power supply energy storage；The energy storage capacitor is large capacity
Capacitor can store certain electric energy by the storage capacitor 1073.When to avoid the external power supply from powering off, the mover
1011 occur stopping phenomenon suddenly due to the not no driving of power supply.Even result in the other converted products on the mover seat 103
Landing, cause unnecessary loss.
Refering to Fig. 7, the ceramic disc capacitor is arranged on the driver 107, the both ends of the ceramic disc capacitor and the porcelain
The both ends of chip capacitor are connect with the external power supply output end of the carbon brush collector 108 respectively, and the ceramic disc capacitor is used for institute
The output for stating external power supply carries out power filter.It can by small one and large one combination of the storage capacitor 1073 and ceramic disc capacitor
Filter out the low frequency and high frequency waveforms that the impact vibration of conductor rail sliding opposite with carbon brush generates.So that on the driver 107
Voltage it is more stable.
Refering to Fig. 7, also anticollision optoelectronic switch and/or origin optoelectronic switch, the anticollision optoelectronic switch and the external electricity
Source and driver 107 are electrically connected, and the anticollision optoelectronic switch is irreflexive working method, and barrier is encountered in front of mover 1011
Hinder reach warning apart from when for emergency braking.
The origin optoelectronic switch and the external power supply and driver 107 are electrically connected, and the origin switch is for moving
103 position of stroma is reset and injection position initialization.
With continued reference to Fig. 2, the power supply of the mover 1011, signal all pass through contact of the carbon brush with conductor rail and are introduced into electrically
System, supply voltage avoid counter electromotive force from entering and device are caused to burn in 24-48V range in positive inflow direction addition diode
It ruins.Small one and large one the combination of two capacitors of current supply circuit may filter that the impact vibration of conductor rail sliding opposite with carbon brush generates
Low frequency and high frequency waveforms, bulky capacitor also carry accumulation of energy effect, be conducive to rush across the carbon brush short time at conductor rail docking crack
The phenomenon that being detached from power supply.Voltage value needed for the variable value of supply voltage is converted into optoelectronic switch by 24V voltage-stabiliser tube, origin switch
For the clearing of 1011 position of mover and injection position initialization, anticollision optoelectronic switch is irreflexive working method, when dynamic
1011 front of son encounter obstacle reach warning apart from when for emergency braking.DB9 interface is connected by CAN bus Serial Port Line and PC
It connects, is downloaded for software setting adjustment 1011 control parameter of mover and program.
Refering to Fig. 4 and Fig. 5 further include: magnetic railings ruler 105 and magnetic grid reading head 106, the magnetic railings ruler 105 are arranged on described
On shield 102；By the way that the magnetic railings ruler 105 to be arranged on the upper shield 102, so that the position of the magnetic railings ruler 105 is opposite
It is fixed.
The magnetic grid reading head 106 is arranged on the mover seat 103, and the magnetic grid reading head 106 is used for by described
Magnetic railings ruler 105 obtains the shift position of the mover seat 103.By being arranged the magnetic grid reading head 106 in the mover seat
On 103, so that the magnetic railings ruler 105 can follow the mover 1011 to do does line movement together, it is, the magnetic railings ruler 105
With 105 relative motion of magnetic railings ruler.The relative position of the magnetic railings ruler 105 is read by the magnetic grid reading head 106, thus
The relative position of the movement of the mover seat 103 can be obtained.Magnetic grid reading head 106 can be connect with 107 signal of driver, be led to
It crosses the driver 107 and the relative position of the mover seat 103 is transmitted to outer connected control system.To the mover seat 103
Carry out Bit andits control.
Refering to Fig. 4, magnetic railings ruler attaching lower limit groove 1021 is additionally provided on the upper shield 102, the magnetic railings ruler 105 is set
It sets on the magnetic railings ruler attaching lower limit groove 1021.In an example of the present invention, lower limit is used in the magnetic railings ruler attaching
The perpendicular setting in top of groove 1021 and the upper shield 102, to facilitate the fixation of the magnetic railings ruler 105.Refering to Fig. 5,
The fixed side of the magnetic railings ruler 105 is arranged in the magnetic grid reading head 106, to preferably read the magnetic railings ruler 105
Location information.
In another aspect, the present invention also provides a kind of circular pipeline bodies 1 refering to Fig. 8, comprising: fixed station 17, the first track
13, the second track 14, the first turntable 11 and the second turntable 12；First track 13 is equipped with one or more above-mentioned straight lines
Motor mould group 10, multiple linear motor mould groups 10 are arranged in along its length on the fixed station 17；It is arranged multiple described
Linear motor mould group 10 can be extended along its length first track 13 by way of combination.In one embodiment,
First track 13 can also only be set as the linear motor mould group 10.
Accordingly, second track 14 is equipped with one or more above-mentioned linear motor mould groups 10, multiple described straight
Line motor mould group 10 is arranged along its length, and first track 13 is arranged in parallel in the fixed station with second track 14
On 17；Multiple linear motor mould groups 10 are set, first track 13 can be prolonged along its length by way of combination
It is long.In one embodiment, first track 13 can also only be set as the linear motor mould group 10.
Refering to Fig. 8, the first processing unit (plant) 15 and the second processing unit (plant) 16 have also been set separately on the fixed station 17.It is described
First processing unit (plant) 15 can process first track 13 to upper workpiece, and second processing unit (plant) 16 can be to described
Second track 14 is processed to upper workpiece.Linear motor mould group 10 on first track 13, the second track 14 it is dynamic
Stroma 103 drives the workpiece to carry out straight-line displacement.
First turntable 11 includes at least two above-mentioned linear motor mould groups 10, and the linear motor mould group 10 is arranged
In one end of first track 13, the second track 14, it is vertically set on first track 13, the second track 14 described solid
Determine on platform 17, another described motor mould group is arranged on the mover seat 103 of above-mentioned linear motor mould group 10, and with described first
Track 13, the second track 14 are arranged in parallel；Two above-mentioned linear motor mould groups 10 are respectively 11 straight line mould group 10 of the first turntable
With 11 horizontal line mould group 10 of the first turntable.
Second turntable 12 includes at least two above-mentioned linear motor mould groups 10, and the linear motor mould group 10 is arranged
In first track 13, the other end of the second track 14, it is vertically set on first track 13, the second track 14 described
On fixed station 17, another described motor mould group is arranged on the mover seat 103 of above-mentioned linear motor mould group 10, and with described
One track 13, the second track 14 are arranged in parallel；Two above-mentioned linear motor mould groups 10 are respectively 12 straight line mould group of the second turntable
With 12 horizontal line mould group of the second turntable.
Refering to Fig. 8 and Fig. 9, first track 13, the second track 14 both ends be respectively equipped with a turntable.Each turntable
Respectively include two linear motor mould groups 10, respectively turntable straight line mould group and turntable horizontal line mould group；It is arranged in the fixed station
Horizontal line mould group on 17 drives the straight line mould group edge and first track 13,14 movement in vertical direction of the second track, and straight
Line mould group drives the mover seat 103 to move along with first track 13,14 parallel direction of the second track.First turntable
11 and second turntable 12 be arranged in parallel respectively with first guide rail 1091 and the second guide rail 1091.Pass through above-mentioned first turn
Platform 11 and the second turntable 12 can be to the workpieces processings on first guide rail 1091, the second guide rail 1091 by the transformation of track.From
And it realizes workpieces processing and carries out the processing operation of different processes on different tracks.
In another aspect, refering to fig. 10, the present invention also provides a kind of Pipeline control drive systems, comprising: above-mentioned circulation
Auto instrument automatic needle press 1, motor mould group industrial personal computer 2 and processing unit (plant) industrial personal computer 6；The motor mould group industrial personal computer 2 and first track
13, the linear motor mould group 10 on the second track 14 communicates to connect, to control the displacement of the mover seat 103；It is, described
Motor mould group industrial personal computer 2 is led to by connecting line with the linear motor mould group 10 on first track 13, the second track 14
Letter.For example, control command is sent to the linear motor mould group 10, to control the mover seat in the linear motor mould group 10
103 movement.To drive the workpiece on the mover seat 103 to be displaced.The position for being moved to processing unit (plant) carries out adding for tool
Work industry.The motor mould group industrial personal computer 2 can also be read by the linear motor mould group 10 to be arranged on the mover seat 103
Magnetic grid reading head 106 numerical value, the specific displacement of the mover seat 103 is obtained by the magnetic grid reading head 106, with realize
Displacement is precisely controlled.
The motor mould group industrial personal computer 2 also with the linear motor mould group on first turntable 11, the second turntable 12
10 communication connections, to control the displacement of the mover seat 103；It is, the motor mould group industrial personal computer 2 passes through connecting line and institute
State the first turntable 11, the linear motor mould group 10 on the second turntable 12 is communicated.For example, being sent out to the linear motor mould group 10
Control command is sent, to control the movement of the mover seat 103 in the linear motor mould group 10.The turntable horizontal line mould group passes through dynamic
Stroma 103 drives the turntable straight line mould group mobile at the both ends of first track 13, the second track 14, the turntable straight line
Mould group drives machining tool to move along the length direction of first guide rail 1091, the second guide rail 1091 by mover seat 103.
To drive the workpiece on the mover seat 103 to be displaced.Realize the processing track up conversion of workpiece.The motor mould group industrial personal computer
2 can also read the numerical value for the magnetic grid reading head 106 being arranged on the mover seat 103 by the linear motor mould group 10, lead to
The specific displacement that the magnetic grid reading head 106 obtains the mover seat 103 is crossed, to realize being precisely controlled for displacement.
The processing unit (plant) industrial personal computer 6 is communicated to connect with the motor mould group industrial personal computer 2 and processing machine hand, is used for basis
The position signal of the motor mould group industrial personal computer 2 controls the processing machine hand and carries out product processing.Refering to fig. 10, the processing
Device industrial personal computer 6 can be set as multiple, to carry out machining control to the processing unit (plant).The processing unit (plant) industrial personal computer 6 passes through
It is communicated to connect with the motor mould group industrial personal computer 2, to obtain the specific position of workpiece to be machined by the motor mould group industrial personal computer 2
It sets, to control the processing that the processing unit (plant) carries out workpiece.
Optionally, in one embodiment of the invention, the motor mould group industrial personal computer 2 passes through communication card 3 and described the
Linear motor mould group 10 on one track 13, the second track 14 communicates to connect；The motor mould group industrial personal computer 2 can pass through Ethernet
ICP/IP protocol communicated with the communication card 3, the communication card 3 can pass through CANopen (Controller Area
Network, CAN) agreement communicated with the linear motor mould group 10.By the CANopen agreement to the straight-line electric
Machine mould group 10 sends order.
The motor mould group industrial personal computer 2 by interchanger 4 and input/output port controller 5 and first turntable 11,
Linear motor mould group 10 on second turntable 12 communicates to connect；Refering to fig. 10, can first turntable 11, the second turntable 12 with
Be equipped with I/O port controller between the interactive machine, the motor mould group industrial personal computer 2 can by the ICP/IP protocol of Ethernet with
The interchanger 4 is communicated, and the interactive machine is connect by ICP/IP protocol with the I/O port controller, passes through the IO
Port controller and first turntable 11, the second turntable 12 communicate to connect, on first turntable 11, the second turntable 12
Linear motor mould group 10 send order.It should be noted that the I/O port controller can also be above-mentioned communication card 3, with
It is sent and is ordered by the motor mould group of CANopen agreement and first turntable 11, the second turntable 12.
The motor mould group industrial personal computer 2 is communicated to connect by interchanger 4 and the processing unit (plant) industrial personal computer 6.Pass through exchange
Machine 4 connects the motor mould group industrial personal computer 2 and processing unit (plant) industrial personal computer 6, to facilitate multiple motor mould group industrial personal computers 2
And processing unit (plant) industrial personal computer 6 carries out networking.
Refering to fig. 11, production line control method of the invention, comprising: the first origin A and the is equipped on the first track 13
Two origin C, and third origin B is equipped on the second track 14.
The coordinate of first origin A to the first turntable 11 is known as being initialized into coordinate, finds initialization for mover 1011
The coordinate of upper turntable 1 after origin.The coordinate of second origin C to first turntable 11 is known as 1 coordinate of position that switches tracks, and is used for mover
1011 from direct orbit turntable 1 coordinate.The coordinate of third origin B to second turntable 12 is known as 2 coordinate of position that switches tracks,
For mover 1011 by the coordinate of turntable 2 on negative sense track.
Pass through origin A by controlling the mover 1011 being put on first track 13, and is moved to described first
Turntable 11 is determined by the initial position of mover 1011 described in the first origin A.
The origin A is used for position initialization, and when first track 13, the second track 14 just power on or mover 1011 is rigid
Track is put into, mover 1011 (mover seat 103) can not determine itself specific location, and mover 1011 is uniformly put into the first rail before starting
Road 13, successively sequence passes through the first origin A, the first origin A in 13 end of the first track, then is displaced first on a fixed range
Turntable 11 determines the position of mover 1011 with this.First origin A is only used in first time identification 1011 position of mover, mover
1011 have determined that the first origin A failure after self-position, use the second origin B and third origin C after running well.
The movement of the first turntable 11 is controlled, institute's mover 1011 is moved to by the second origin B by first turntable 11,
And by the origin B carry out mover 1011 initial position determine, with the initial position zero point to the mover 1011 into
Row Bit andits control.
The second origin B is used for the initial position into the second track 14, the displacement coordinate of mover 1011 position here
Clearing is set, for the coordinate data for distinguishing the first track 13, the second origin B defines the origin that is negative, therefore 14 coordinate of the second track is only
There is negative value.
Similarly, third origin C is used for the initial position into the first track 13, the displacement coordinate of mover 1011 position here
Clearing is set, for the coordinate data for distinguishing the second track 14, third origin C is defined as positive origin, therefore 13 coordinate of the first track is only
There is positive value.
The present invention provides a kind of low pressure linear motor, motor mould group, auto instrument automatic needle press, system and control method.By will be more
A master die group splicing is combined into circular pipeline, i.e. linear motor mould group 10 can carry out Straight Combination, to form optional length
Assembly line.Linear motor mould group 10 is driven by the low pressure linear motor 101 and is moved, and the low pressure linear motor 101 is adopted
It is moved along a straight line with mover 1011 and the magnetic field force-fitting of stator 1012, and position is carried out using high-precision magnetic grid reading head 106
The reading of shifting controls, and makes full use of high speed, the high-precision advantage of linear motor, meets precise electronic product production high speed, high-precision
Degree group reload request.
The above is only the embodiment of the present invention, are not intended to limit the scope of the patents of the invention, although with reference to the foregoing embodiments
Invention is explained in detail, still can be to aforementioned each specific reality for coming for those skilled in the art
It applies technical solution documented by mode to modify, or equivalence replacement is carried out to part of technical characteristic.It is all to utilize this
The equivalent structure that description of the invention and accompanying drawing content are done directly or indirectly is used in other related technical areas, similarly
Within the invention patent protection scope.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case where can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.
Claims (16)
1. a kind of low pressure linear motor characterized by comprising
Stator, the stator include stator yoke and magnets of stator, and the stator yoke is U-shaped structure, and is arranged for straight line；
The magnets of stator is set as multiple, and multiple magnets of stator are separately positioned on the two sides of the stator yoke；
Mover, the mover include mover coil and coil fixing seat, and the institute of the stator yoke is arranged in the mover coil
It states in U-shaped structure, and is fixed in the coil fixing seat；
The open end of the U-shaped structure of the stator yoke is arranged in the coil fixing seat, and can do directly along the stator yoke
Line movement；
Terminals of connecting wire is additionally provided on the mover coil, for the terminals of connecting wire for connecting power drives, the mover coil is logical
It crosses the power drives and magnets of stator interaction generates magnetic field force, to drive the mover to do along the stator yoke
Linear motion.
2. low pressure linear motor according to claim 1, which is characterized in that the mover further includes silicon steel laminations, described
Silicon steel laminations are arranged in the mover coil.
3. low pressure linear motor according to claim 1, which is characterized in that it further include mover coil fixing seat, it is described dynamic
Subcoil is arranged in the mover coil fixing seat, fixed solid with the mover coil stationary phase by the mover coil
It is fixed.
4. low pressure linear motor according to claim 1, which is characterized in that the mover coil is a combination with three,
And it is arranged successively along the linear movement direction.
5. low pressure linear motor according to claim 1, which is characterized in that the stator yoke is set as multiple, and along
The stator yoke length direction is arranged successively, and correspondingly the two sides of each stator yoke are respectively equipped with multiple stators
Magnet.
6. a kind of linear motor mould group characterized by comprising
Upper shield, the upper shield are equipped with the mover seat that can be moved along a straight line, and the mover seat is equipped with sliding block；
Module group substrates, the module group substrates are fixedly connected with the upper shield, and the module group substrates are equipped with guide rail, the mover
Seat can be moved in a straight line by the sliding block and guide rail mutual cooperation；
The stator of low pressure linear motor described in claim 1 to 5 any one, the low pressure linear motor is arranged in the mould
In group substrate, the mover of the low pressure linear motor is arranged on the mover seat, for driving the mover seat to do straight line fortune
It is dynamic.
7. linear motor mould group according to claim 6, which is characterized in that further include:
Driver, the driver are arranged on the mover seat, the terminals of connecting wire on the driver and the mover coil
It is electrically connected, to provide the driving power for the mover coil.
8. linear motor mould group according to claim 7, which is characterized in that further include:
Carbon brush collector, the carbon brush collector are arranged on the mover seat, the carbon brush collector and driver electricity
Property connection, be respectively equipped with the first carbon brush, the second carbon brush, third carbon brush and the 4th carbon brush on the carbon brush collector；
The first conductive rail assembly, the second conductive rail assembly, third conduction rail assembly and the 4th are respectively equipped on the module group substrates
Conductive rail assembly, the described first conductive rail assembly, the second conductive rail assembly, third conduction rail assembly and the 4th conductive rail assembly point
It is not electrically connected with first carbon brush, the second carbon brush, third carbon brush and the 4th carbon brush, to pass through the first conductor rail group
The conductive rail assembly of part, the second conductor rail, third conductor rail and the 4th guides external power supply and control signal described to being connected to
Driver.
9. linear motor mould group according to claim 8, which is characterized in that the driver further include: CAN interface
And drive terminal, the CAN interface and the carbon brush collector are electrically connected, the carbon brush collector passes through the CAN
Bus interface guides the external power supply and control signal to the driver；
The drive terminal and the mover coil are electrically connected, and the driver connects power supply for described by the drive terminal
Driving is guided to the mover coil.
10. linear motor mould group according to claim 9, which is characterized in that further include storage capacitor and/or tile electricity
Hold, the both ends of the storage capacitor are connect with the external power supply output end of the carbon brush collector respectively, and the storage capacitor is used
In the output of the external power supply is carried out power supply energy storage；
The both ends of the ceramic disc capacitor and the both ends of the ceramic disc capacitor are exported with the external power supply of the carbon brush collector respectively
End connection, the ceramic disc capacitor are used to the output of the external power supply carrying out power filter.
11. linear motor mould group according to claim 6, which is characterized in that further include:
Magnetic railings ruler, the magnetic railings ruler are arranged on the upper shield；
Magnetic grid reading head, the magnetic grid reading head are arranged on the mover seat, and the magnetic grid reading head is used to pass through the magnetic
Grid ruler obtains the shift position of the mover seat.
12. linear motor mould group according to claim 11, which is characterized in that be additionally provided with magnetic railings ruler patch on the upper shield
Attached to use lower limit groove, the magnetic railings ruler is arranged in the magnetic railings ruler attaching on lower limit groove.
13. a kind of circular pipeline body characterized by comprising
Fixed station；
First track, first track are equipped with described in one or more claims 6 to claim 12 any one
Linear motor mould group, multiple linear motor mould groups are arranged in along its length on the fixed station；
Second track, second track are equipped with described in one or more claims 6 to claim 12 any one
Linear motor mould group, multiple linear motor mould groups are arranged along its length, and first track and first track are flat
Row is arranged on the fixed station；
First turntable, first turntable include straight line described at least two claims 6 to claim 12 any one
One end of first track, the second track is arranged in motor mould group, the linear motor mould group, with first track,
Two tracks are vertically set on the fixed station, and the mover seat of above-mentioned linear motor mould group is arranged in another motor mould group
On, and be arranged with first track, the second parallel track；
Second turntable, second turntable include straight line described at least two claims 6 to claim 12 any one
The other end of first track, the second track is arranged in motor mould group, the linear motor mould group, with first track,
Second track is vertically set on the fixed station, and the mover of above-mentioned linear motor mould group is arranged in another motor mould group
On seat, and it is arranged with first track, the second parallel track.
14. a kind of Pipeline control drive system characterized by comprising
Circular pipeline body described in claim 13；
Linear motor mould group on motor mould group industrial personal computer, the motor mould group industrial personal computer and first track, the second track
Communication connection, to control the displacement of the mover seat；
The motor mould group industrial personal computer is also communicated to connect with the linear motor mould group on first turntable, the second turntable,
To control the displacement of the mover seat；
Processing unit (plant) industrial personal computer, the processing unit (plant) industrial personal computer and the motor mould group industrial personal computer and processing machine hand communication link
It connects, carries out product processing for controlling the processing machine hand according to the position signal of the motor mould group industrial personal computer.
15. Pipeline control drive system according to claim 14, which is characterized in that
The motor mould group industrial personal computer passes through the linear motor mould group communication link on communication card and first track, the second track
It connects；
The motor mould group industrial personal computer passes through on interchanger and input/output port controller and first turntable, the second turntable
Linear motor mould group communication connection；
The motor mould group industrial personal computer is communicated to connect by interchanger and the processing unit (plant) industrial personal computer.
16. a kind of production line control method characterized by comprising
First track is equipped with the first origin and the second origin, and third origin is equipped on the second track；
By controlling the mover being put on first track by origin, and it is moved to first turntable, passes through institute
The initial position for stating mover described in the first origin determines；
The movement of the first turntable is controlled, institute's mover is moved to by second origin by first turntable, and pass through the original
The initial position for clicking through action determines, carries out Bit andits control to the mover with the initial position zero point.
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| CN201810971869.9A CN109167503B (en) | 2018-08-24 | 2018-08-24 | Low-voltage linear motor, motor module, assembly line body, system and control method |
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| CN201810971869.9A CN109167503B (en) | 2018-08-24 | 2018-08-24 | Low-voltage linear motor, motor module, assembly line body, system and control method |
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| CN109167503B CN109167503B (en) | 2020-12-29 |
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| WO2020223996A1 (en) * | 2019-05-07 | 2020-11-12 | 苏州大学 | Magnetic transmission-based linear positioning platform and linear positioning system |
| US11522434B2 (en) | 2019-05-07 | 2022-12-06 | Soochow University | Linear positioning platform and linear positioning system based on magnetic transmission |
| CN112777250A (en) * | 2019-11-08 | 2021-05-11 | 上海铼钠克数控科技股份有限公司 | Linear conveying device |
| CN110912374A (en) * | 2019-12-13 | 2020-03-24 | 深圳市杰普特光电股份有限公司 | Double-drive gantry linear motor platform |
| CN111146918A (en) * | 2019-12-31 | 2020-05-12 | 深圳市杰普特光电股份有限公司 | Double-shaft linear motor module platform |
| CN111355357A (en) * | 2020-04-22 | 2020-06-30 | 歌尔股份有限公司 | Mover assembly and linear motor |
| WO2021212747A1 (en) * | 2020-04-22 | 2021-10-28 | 歌尔股份有限公司 | Rotor assembly and linear electric motor |
| CN112234795A (en) * | 2020-09-04 | 2021-01-15 | 瑞声新能源发展(常州)有限公司科教城分公司 | Linear motor |
| CN112857358A (en) * | 2021-01-14 | 2021-05-28 | 东莞市远程自动化科技有限公司 | Linear actuator and position detection method thereof |
| CN115043219A (en) * | 2022-05-18 | 2022-09-13 | 惠州市艾美珈磁电技术股份有限公司 | Annular line structure |
| CN115367483A (en) * | 2022-10-26 | 2022-11-22 | 苏州博古特智造有限公司 | Linear motion conveying mechanism |
| WO2024113463A1 (en) * | 2022-11-29 | 2024-06-06 | 瑞声科技（南京）有限公司 | Multi-mover direct-drive conveying system |
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| CN109167503B (en) | 2020-12-29 |
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