CN109167503B

CN109167503B - Low-voltage linear motor, motor module, assembly line body, system and control method

Info

Publication number: CN109167503B
Application number: CN201810971869.9A
Authority: CN
Inventors: 史传民; 朱理仁; 黄丙耀; 汤德芳; 陈广增
Original assignee: Shenzhen Mototek Smart Technology Co ltd
Current assignee: Goertek Techology Co Ltd
Priority date: 2018-08-24
Filing date: 2018-08-24
Publication date: 2020-12-29
Anticipated expiration: 2038-08-24
Also published as: CN109167503A

Abstract

The invention discloses a low-voltage linear motor, a motor module, a production line body, a system and a control method, wherein the low-voltage linear motor comprises a stator and a rotor, the stator comprises a stator magnetic yoke and a stator magnet, and the stator magnetic yoke is of a U-shaped structure and is arranged linearly; the stator magnets are arranged on two sides of the stator magnet yoke respectively; the rotor comprises a rotor coil and a coil fixing seat, and the rotor coil is arranged in the U-shaped structure of the stator magnet yoke and is fixed on the coil fixing seat; the coil fixing seat is arranged at the opening end of the U-shaped structure of the stator magnet yoke and can do linear motion along the stator magnet yoke; the rotor coil is driven by a power supply to interact with the stator magnet to generate magnetic field force so as to drive the rotor to do linear motion along the stator magnet yoke. The low-voltage linear motor can be combined in different lengths, a plurality of standard modules are spliced and combined to form a circulating assembly line, namely, the linear motor modules can be combined linearly to form an assembly line with optional length.

Description

Low-voltage linear motor, motor module, assembly line body, system and control method

Technical Field

The invention relates to the technical field of assembly line processing, in particular to a low-voltage linear motor, a motor module, an assembly line body, a system and a control method.

Background

"china manufacturing 2025" clearly proposes that manufacturing is the key point of future macro policy and industry policy in china, and intelligent cooperative manufacturing is one of the important factors for realizing high-precision, high-speed, high-efficiency flexible manufacturing system equipment. In recent years, with the widespread use of handheld terminal devices such as mobile phones, tablet computers, and the like, the proliferation of shipment volume has put new demands on the processing technology, production efficiency, finished product appearance, and the like of manufacturing in this field. How to reduce labor cost and improve productivity is a problem faced by all current production enterprises, and multi-station-based cooperative and modular manufacturing is an important trend in the development of the whole automatic equipment industry.

The network technology and the information technology are fully utilized in cooperation with the manufacturing, serial manufacturing work is changed into parallel engineering, the production mode of multi-angle and multi-azimuth enterprise product design, manufacturing and management is realized, and finally the purpose of fully utilizing resources is achieved by changing the business operation mode and mode. The method has the advantages of shortening the production period, quickly responding to the customer requirements, improving the design and flexible production and the like.

Aiming at the actual industrial requirements of the current flexible manufacturing, the project develops the modularized flexible processing and assembling technology based on the direct-drive linear multi-station motion platform in order to break through the limitation of the manipulator for realizing the flexible manufacturing. Firstly, designing a high-speed and high-precision direct-drive motion control driving system with independent intellectual property rights; secondly, the modular fixture design is matched, and the reutilization and any combination of the standard fixture are realized; by introducing a distributed cooperative control technology, multi-station action cooperation and high-precision cooperation are realized. By designing the multi-station modular processing and assembling system based on the direct-drive mechanism as the core motion control mechanism, the integrated actions of efficient feeding, bearing, positioning, processing and assembling of the direct-drive motion form product are realized, and a new idea is provided for high-precision control of advanced manufacturing equipment.

Currently, conveying modes such as belts, synchronous belts, multiple chains and the like are generally adopted in the production and assembly of the electronic industry; when the product flows to an appointed station in a single direction, the sensor sensing and the limit stop are utilized for stopping and positioning, and then the operation procedures such as assembling, welding, dispensing, locking, riveting and the like are carried out, or the mechanical arm and the module are used for grabbing and shifting to an independent workstation, and the operation procedures are played back to an assembly line and transmitted to the next procedure after the operation is completed. The defects of the method are that the method can only realize one-way transmission, and has low speed and low efficiency; the positioning precision is poor, the adjustment is difficult, and the requirements of high-precision positioning and high-speed assembly of precise electronic products cannot be met.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, an object of the present invention is to provide a low voltage linear motor, a motor module, a line body, a system and a control method.

In order to achieve the above object, according to a low voltage linear motor, a motor module, a line body, a system, and a control method of an embodiment of the present invention, the low voltage linear motor includes:

the stator comprises a stator magnet yoke and a stator magnet, wherein the stator magnet yoke is of a U-shaped structure and is linearly arranged;

the stator magnets are arranged on two sides of the stator magnet yoke respectively;

the rotor comprises a rotor coil and a coil fixing seat, and the rotor coil is arranged in the U-shaped structure of the stator magnetic yoke and is fixed on the coil fixing seat;

the coil fixing seat is arranged at the opening end of the U-shaped structure of the stator magnet yoke and can do linear motion along the stator magnet yoke;

the rotor coil is provided with a connecting terminal, the connecting terminal is used for being connected with a power supply to drive, and the rotor coil drives the rotor to do linear motion along the stator magnet yoke through magnetic field force generated by interaction of the power supply and the stator magnet.

According to one embodiment of the present invention, the mover further includes silicon steel laminations disposed within the mover coils.

According to an embodiment of the present invention, the liquid crystal display further includes a mover coil fixing base, wherein the mover coil is disposed in the mover coil fixing base and fixed to the mover coil through the mover coil fixing base.

According to one embodiment of the present invention, the mover coils are combined in three and sequentially arranged along the linear motion direction.

According to an embodiment of the present invention, the stator yoke is provided in plurality and arranged in sequence along a length direction of the stator yoke, and a plurality of the stator magnets are respectively provided on both sides of each of the stator yokes.

In another aspect, the present invention further provides a linear motor module, including:

the upper protective cover is provided with a rotor seat capable of moving linearly, and the rotor seat is provided with a sliding block;

the module substrate is fixedly connected with the upper shield, a guide rail is arranged on the module substrate, and the rotor base can move linearly through the mutual matching of the sliding block and the guide rail;

in the low-voltage linear motor, the stator of the low-voltage linear motor is arranged in the module substrate, and the rotor of the low-voltage linear motor is arranged on the rotor base and used for driving the rotor base to do linear motion.

According to an example of the present invention, further comprising:

the driver is arranged on the rotor base and electrically connected with the connecting terminal on the rotor coil, so that a driving power supply is provided for the rotor coil.

According to an example of the present invention, further comprising:

the carbon brush current collector is arranged on the rotor base and electrically connected with the driver, and a first carbon brush, a second carbon brush, a third carbon brush and a fourth carbon brush are respectively arranged on the carbon brush current collector;

be equipped with first conductor rail subassembly, second conductor rail subassembly, third conductor rail subassembly and fourth conductor rail subassembly on the module base plate respectively, first conductor rail subassembly, second conductor rail subassembly, third conductor rail subassembly and fourth conductor rail subassembly respectively with first carbon brush, second carbon brush, third carbon brush and fourth carbon brush electric connection, in order to pass through first conductor rail subassembly, second conductor rail, third conductor rail and fourth conductor rail subassembly guide external power supply and control signal to being connected to the driver.

According to an example of the present invention, the driver further comprises: the CAN bus interface is electrically connected with the carbon brush current collector, and the carbon brush current collector guides the external power supply and the control signal to the driver through the CAN bus interface;

the drive terminal is electrically connected with the rotor coil, and the driver drives and guides the external power supply to the rotor coil through the drive terminal.

According to an embodiment of the invention, the carbon brush energy storage device further comprises an energy storage capacitor and/or a ceramic capacitor, wherein two ends of the energy storage capacitor are respectively connected with an output end of an external power supply of the carbon brush current collector, and the energy storage capacitor is used for storing energy of the output of the external power supply;

and two ends of the ceramic chip capacitor are respectively connected with the output end of an external power supply of the carbon brush current collector, and the ceramic chip capacitor is used for performing power supply filtering on the output of the external power supply.

According to an example of the present invention, further comprising:

the magnetic grid ruler is arranged on the upper shield;

the magnetic grid reading head is arranged on the moving sub-base and used for acquiring the moving position of the moving sub-base through the magnetic grid ruler.

According to an embodiment of the present invention, the upper shield is further provided with a lower limit groove for attaching the magnetic scale, and the magnetic scale is disposed on the lower limit groove for attaching the magnetic scale.

In yet another aspect, the present invention also provides a circulating water line body, including:

a fixed table;

the first rail is provided with one or more linear motor modules, and the linear motor modules are arranged on the fixed table along the length direction;

the first rail and the second rail are arranged on the fixed platform in parallel;

the first turntable comprises at least two linear motor modules, the linear motor modules are arranged at one ends of the first track and the second track, one motor module is arranged on the fixed table and is perpendicular to the first track and the second track, and the other motor module is arranged on a rotor base of the linear motor module and is parallel to the first track and the second track;

the second revolving stage, the second revolving stage includes two at least foretell linear electric motor modules, the linear electric motor module sets up first track, the orbital other end of second, one the motor module sets up on the fixed station, and with first track, the orbital perpendicular setting of second, another the motor module sets up on the rotor seat of above-mentioned linear electric motor module, and with first track, second track parallel arrangement.

In another aspect, the present invention further provides a pipeline control driving system, including:

the above-described circulating line body;

the motor module industrial personal computer is in communication connection with the linear motor modules on the first track and the second track so as to control the displacement of the rotor base;

the motor module industrial personal computer is also in communication connection with the linear motor modules on the first rotary table and the second rotary table so as to control the displacement of the rotor base;

and the processing device industrial personal computer is in communication connection with the motor module industrial personal computer and the processing robot and is used for controlling the processing robot to process products according to the position signal of the motor module industrial personal computer.

According to one embodiment of the invention, the motor module industrial personal computer is in communication connection with the linear motor modules on the first track and the second track through communication cards;

the motor module industrial personal computer is in communication connection with the linear motor modules on the first rotary table and the second rotary table through the switch and the input/output port controller;

the motor module industrial personal computer is in communication connection with the processing device industrial personal computer through the switch.

In another aspect, the present invention further provides a method for controlling a pipeline, including:

a first origin A and a second origin C are arranged on the first track, and a third origin B is arranged on the second track;

the mover placed on the first track is controlled to pass through an origin A and move to the first rotary table, and the initial position of the mover is determined through the first origin A;

and controlling the first rotating table to move, moving the rotor to the second origin B through the first rotating table, determining the initial position of the rotor through the origin B, and performing displacement control on the rotor at the zero point of the initial position.

The invention provides a low-voltage linear motor, a motor module, a production line body, a system and a control method. Through the combination of splicing a plurality of standard modules into a circulating assembly line, the linear motor modules can be linearly combined to form an assembly line with optional length. The linear electric motor module passes through low pressure linear electric motor drive motion, low pressure linear electric motor adopts the magnetic field force fit of active cell and stator to carry out linear motion, and adopts high accuracy magnetic grid reading head to carry out the reading control of displacement, and high speed, the high accuracy advantage of make full use of linear electric motor satisfy high-speed, the high accuracy equipment requirement of precision electronic product production.

Drawings

Fig. 1 is a schematic structural diagram of a low-voltage linear motor according to an embodiment of the present invention;

fig. 2 is an exploded schematic view of a low-voltage linear motor according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a linear motor module according to an embodiment of the present invention;

fig. 4 is a schematic view of a module-assembled structure of a linear motor according to an embodiment of the present invention;

fig. 5 is a schematic view of a mold assembly of another linear motor according to an embodiment of the present invention;

fig. 6 is a schematic view of a mold component of another linear motor according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of an electrical control circuit of a linear motor module according to an embodiment of the present invention;

FIG. 8 is a schematic structural diagram of a circulating pipeline provided in an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a first turntable or a second turntable provided in an embodiment of the present invention;

FIG. 10 is a schematic structural diagram of a pipeline control driving system according to an embodiment of the present invention;

fig. 11 is a schematic diagram of a coordinate origin structure of a dual pipeline control method according to an embodiment of the present invention.

Reference numerals:

a circulating line 1;

a linear motor module 10;

a low-voltage linear motor 101;

a mover 1011;

a coil fixing seat 10111;

a mover coil fixing base 10112;

silicon steel lamination 10113;

mover coil 10114;

a wiring terminal 101141;

a stator 1012;

a stator yoke 10121;

a first stator yoke 101211;

a second stator yoke 101212;

a stator magnet 10122;

an upper shield 102;

a lower limit groove 1021 for attaching the magnetic grid ruler;

an armature seat 103;

a slider 104;

a magnetic scale 105;

a magnetic grid read head 106;

a driver 107;

a drive terminal 1071;

RS232 interface 1072;

an energy storage capacitor 1073;

a carbon brush current collector 108;

a first carbon brush 1081;

a second carbon brush 1082;

a third carbon brush 1083;

a fourth carbon brush 1084;

a module substrate 109;

a guide rail 1091;

a conductor rail assembly 1092;

a first conductive rail assembly 10921;

a second conductive rail assembly 10922;

a third conductive rail assembly 10923;

a fourth conductive rail assembly 10924;

a first turntable transverse line module 20;

a first turret linear die set 30;

a first turntable 11;

a second turntable 12;

a first rail 13;

a second track 14;

a first processing device 15;

a second processing device 16;

a fixed table 17;

an industrial personal computer 2 of the motor module;

a communication card 3;

a switch 4;

an input/output port controller 5;

and an industrial control computer 6 for the processing device.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

In one aspect, referring to fig. 1, the present invention provides a low voltage linear motor 101, including: the stator 1012 and the mover 1011, the stator 1012 includes a stator yoke 10121 and a stator magnet 10122, the stator yoke 10121 is a U-shaped structure and is linearly arranged; that is, the stator yoke 10121 has a straight structure, in one embodiment of the present invention, the stator yoke 10121 may be provided in a plurality, and the stator yoke 10121 may extend in a straight direction through the plurality of stator yokes 10121, so as to meet application requirements of different lengths. The stator yoke 10121 is a U-shaped structure, that is, the left and right sides and the bottom of the stator yoke 10121 are relatively fixed structures, and the top and the two ends are openings. Through the U-shaped structure, a plurality of stator yokes 10121 are conveniently connected in a straight line.

A plurality of stator magnets 10122 are provided, and the plurality of stator magnets 10122 are respectively disposed on both sides of the stator yoke 10121; by disposing a plurality of the stator magnets 10122 at positions on both sides of the stator yoke 10121, a corresponding magnetic field is generated inside the stator yoke 10121. The plurality of stator magnets 10122 are uniformly arranged on both sides of the stator yoke 10121. So that a uniform magnetic field space is generated inside the stator yoke 10121.

The mover 1011 includes a mover coil 10114 and a coil fixing seat 10111, the mover coil 10114 is disposed within the U-shaped structure of the stator yoke 10121 and fixed to the coil fixing seat 10111; referring to fig. 1 and 2, the mover coil 10114 is fixed to the coil fixing seat 10111, that is, the mover coil 10114 and the coil fixing seat 10111 are mutually fixed structures. And the mover coil 10114 falls into the magnetic field space inside the stator yoke 10121.

The coil fixing seat 10111 is arranged at an opening end of the U-shaped structure of the stator magnetic yoke 10121 and can move linearly along the stator magnetic yoke 10121; that is, the mover coil 10114 is disposed at a top open end of the stator yoke 10121 through the coil fixing seat 10111, and is slidable along the stator yoke 10121 by the coil fixing seat 10111.

The mover coil 10114 is further provided with a connection terminal 101141, the connection terminal 101141 is used for being connected to a power supply for driving, and the mover coil 10114 drives the mover 1011 to linearly move along the stator yoke 10121 by a magnetic field force generated by interaction between the power supply for driving and the stator magnet 10122. The connection terminal 101141 is connected to a driving power supply, and the driving power supply causes the mover coil 10114 to generate electromagnetic induction, and the interaction between the electromagnetic induction and the magnetic field generated by the stator magnet 10122 generates a magnetic field force extending in the longitudinal direction of the stator yoke 10121. The mover 1011 is driven by the magnetic force to move linearly along the stator magnetic yoke 10121. The left side, the right side and the bottom of the stator magnetic yoke 10121 of the low-voltage linear motor 101 are relatively fixed structures, and the top and the two ends are open. Through the U-shaped structure, a plurality of stator magnet yokes 10121 are conveniently connected in a straight line, and the rotor 1011 can move along the stator magnet yokes 10121, so that the combination of different lengths of the linear motor is realized.

In one embodiment of the present invention, the magnet stator 1012 is a standard magnet stator 1012, and is composed of two specifications of standard fixed length (150 mm, 100 mm); the linear motors with different specifications and lengths can be freely combined and constructed.

Referring to fig. 2, the mover 1011 further includes silicon steel laminations 10113, the silicon steel laminations 10113 being disposed within the mover coil 10114. The electromagnetic induction strength of the mover coil 10114 is enhanced by laminating the silicon steel sheets 10113. The mover coil 10114 is driven by the same current to generate a larger magnetic field driving force, so that the mover 1011 is better driven to move linearly.

Referring to fig. 2, the magnetic driving device further includes a mover coil fixing seat 10112, and the mover coil 10114 is disposed in the mover coil fixing seat 10112 and fixed to the mover coil 10114 through the mover coil fixing seat 10112. The mover coil 10114 is fixed by the mover coil fixing base 10112, and is fixed to the coil fixing base 10111 by the mover coil fixing base 10112.

Referring to fig. 2, the mover coils 10114 are combined into three, and are sequentially arranged along the length direction of the stator yoke 10121. Three mover coils 10114 are used as one group, and the mover coils 10114 in fig. 2 are used as two groups of 6 coils. By providing a plurality of sets of the mover coils 10114, the magnetic field driving force of the mover 1011 is increased. Low-voltage direct current power supply (less than or equal to 60 VDC) and sine wave driving are adopted, three coils form a group, and the coils are lined with silicon steel lamination sheets 10113 to increase the motor thrust; in addition, according to the thrust requirement, the motor can be expanded to 3 groups of 9 coils so as to increase the driving force of the motor; combining the two specifications of the magnet stator 1012 into motor modules with different lengths according to the length of the motor stroke; different combinations are structurally realized to meet the application requirements of different occasions.

Referring to fig. 2, the stator yoke 10121 is provided in plurality and is sequentially arranged along a length direction of the stator yoke 10121, and a plurality of stator magnets 10122 are respectively disposed at two sides of each stator yoke 10121. As shown in fig. 2, the magnetic field generating device includes a first stator yoke 101211 and a second stator yoke 101212, two ends of the two stator yokes 10121 are connected to each other, and a plurality of stator magnets 10122 are respectively disposed on two sides of the corresponding stator yokes 10121. With the above arrangement, the stator 1012 can be extended in the longitudinal direction. In some linear assembly line applications, the length of the assembly line is different due to different processing procedures of the assembly line, and the stator 1012 can be adapted to the assembly line with different lengths by arranging a plurality of stator yokes 10121 and corresponding stator magnets 10122.

In another aspect, the present invention further provides a linear motor module 10, including: the low-voltage linear motor comprises an upper shield 102, a module substrate 109 and the low-voltage linear motor 101, wherein a rotor base 103 capable of moving linearly is arranged on the upper shield 102, and a sliding block 104 is arranged on the rotor base 103; referring to fig. 3 and 4, the driver seat 103 is disposed on the upper shield 102. Referring to fig. 4 in particular, the driver seat 103 is disposed on the upper shield 102 in a sleeved manner, and can slide along the upper shield 102 along the length direction. The slider 104 is fixed to the mover block 103, that is, the slider 104 slides integrally with the mover block 103 when the mover block 103 slides.

Referring to fig. 3 and 4, the module base plate 109 is fixedly connected to the upper shield 102, a guide rail 1091 is disposed on the module base plate 109, and the mover seat 103 can move linearly by the cooperation of the slider 104 and the guide rail 1091; the upper shield 102 and the module base plate 109 are fixedly connected. And packaging and fixing the linear motor module 10. The module substrate 109 and the upper shield 102 are provided with a guide rail 1091 at a corresponding position, and the slider 104 and the guide rail 1091 are matched with each other to guide the sliding of the rotor base 103.

Referring to fig. 4, a stator 1012 of the low voltage linear motor 101 is disposed in the module substrate 109, and a mover 1011 of the low voltage linear motor 101 is disposed on the mover base 103 and is configured to drive the mover base 103 to perform a linear motion. By fixing the stator 1012 of the low voltage linear motor 101 within the module base plate 109. The mover 1011 of the low voltage linear motor 101 is fixed to the mover base 103. That is, the mover 1011 of the low voltage linear motor 101 can drive the mover base 103 to move linearly.

In one example of the present invention, the linear motor module 10 is a standard fixed length module, and the standard fixed length module has a minimum length specification L =250mm, a maximum length specification L =2000mm, and a conventional size specification L =750, 1000, 1250, 1500.

Referring to fig. 5, further comprising: the driver 107 is disposed on the mover seat 103, and the driver 107 is electrically connected to the connection terminal 101141 on the mover coil 10114, so as to provide the driving power supply for the mover coil 10114. The driver 107 is fixed on the rotor base 103, and when the rotor base 103 moves under the driving of the rotor 1011, the driver 107 also moves along with the rotor base 103. That is, the driver 107 and the mover coil 10114 are in a relatively fixed position. The connection line between the driver 107 and the mover coil 10114 may be relatively fixed by a relatively fixed position. Cumbersome wiring between the driver 107 and the mover coil 10114 is avoided. The driver 107 is configured to generate a driving power, and the driving power causes the mover coil 10114 to generate electromagnetic induction. Thereby generating a magnetic force under the action of the magnetic field inside the stator yoke 10121, and the magnetic force drives the mover 1011 and the mover seat 103 to move linearly.

Referring to fig. 4 and 5, further comprising: a carbon brush current collector 108, wherein the carbon brush current collector 108 is disposed on the rotor base 103, the carbon brush current collector 108 is electrically connected to the driver 107, and a first carbon brush 1081, a second carbon brush 1082, a third carbon brush 1083 and a fourth carbon brush 1084 are disposed on the carbon brush current collector 108; the carbon brush current collector 108 is disposed on the rotor base 103 so that the carbon brush current collector 108 can move synchronously with the rotor base 103. So that the position of the carbon brush relay and the driver 107 are relatively fixed. So that the connection line between the carbon brush current collector 108 and the driver 107 can be relatively fixed. Cumbersome wiring between the carbon brush current collector 108 and the driver 107 is avoided.

The module substrate 109 is provided with a first conductive rail assembly 10921, a second conductive rail assembly 10922, a third conductive rail assembly 10923 and a fourth conductive rail assembly 10924, the first conductive rail assembly 10921, the second conductive rail assembly 10922, the third conductive rail assembly 10923 and the fourth conductive rail assembly 10924 are electrically connected with the first carbon brush 1081, the second carbon brush 1082, the third carbon brush 1083 and the fourth carbon brush 1084 respectively, so that an external power supply and a control signal are guided to be connected to the driver 107 through the first conductive rail assembly 10921, the second conductive rail assembly, the third conductive rail assembly and the fourth conductive rail assembly 10924. Since the first carbon brush 1081, the second carbon brush 1082, the third carbon brush 1083 and the fourth carbon brush 1084 on the carbon brush current collector 108 are in electrical connection with the first conductive rail assembly 10921, the second conductive rail assembly 10922, the third conductive rail assembly 10923 and the fourth conductive rail assembly 10924 in a sliding manner, four electrical signals of the first conductive rail assembly 10921, the second conductive rail assembly 10922, the third conductive rail assembly 10923 and the fourth conductive rail assembly 10924 can be introduced into the carbon brush current collector 108, and the four electrical signals can be introduced into the driver 107 through the carbon brush current collector 108. In an embodiment of the present invention, the four paths of electrical signals are respectively an input positive and negative power signal and two paths of control signals. Positive and negative power supplies and two-segment control signals are introduced into the driver 107 through the carbon brush current collector 108, so that on one hand, a power supply is provided for the driver 107; on the other hand, a control signal is sent to the driver 107 to cause the driver 107 to generate power driving. Thereby driving the mover 1011 of the low voltage linear motor 101 to linearly move at a set speed.

Referring to fig. 6, in one embodiment of the present invention, the driver 107 further includes: the controller comprises a CAN bus interface and a driving terminal 1071, wherein the CAN bus interface is electrically connected with the carbon brush current collector 108, and the carbon brush current collector 108 guides the external power supply and the control signal to the driver 107 through the CAN bus interface.

The driving terminal 1071 is electrically connected to the mover coil 10114, and the driver 107 drives and guides the external power supply to the mover coil 10114 through the driving terminal 1071. It should be noted that in some other embodiments of the present invention, the external power and the control signal may be directed to the driver 107 by other manners. The connection is not limited to the above-described connection.

Referring to fig. 6, in one embodiment of the present invention, the driver 107 further includes: RS232 interface 1072, said RS232 interface 1072 is used for download update of the program of said drive 107 and debugging of the program.

Referring to fig. 5 and 7, the carbon brush holder further includes an energy storage capacitor 1073 and/or a ceramic capacitor, the energy storage capacitor 1073 is disposed on the rotor base 103, two ends of the energy storage capacitor 1073 are respectively connected to an external power output end of the carbon brush current collector 108, and the energy storage capacitor 1073 is configured to store energy of an output of the external power; the energy storage capacitor is a large-capacity capacitor, and certain electric energy can be stored through the energy storage capacitor 1073. Therefore, when the external power supply is powered off, the rotor 1011 is prevented from being suddenly stopped due to the fact that the power supply is not driven. Even causing the other processed products on the rotor base 103 to slip off, causing unnecessary loss.

Referring to fig. 7, the ceramic chip capacitor is disposed on the driver 107, two ends of the ceramic chip capacitor are respectively connected to an external power output end of the carbon brush current collector 108, and the ceramic chip capacitor is used for performing power filtering on the output of the external power. The energy storage capacitor 1073 and the ceramic chip capacitor are combined to filter low-frequency and high-frequency waveforms generated by impact vibration of relative sliding of the conductive rail and the carbon brush. Making the voltage over the driver 107 more stable.

Referring to fig. 7, the vehicle-mounted electronic device further comprises an anti-collision photoelectric switch and/or an origin photoelectric switch, wherein the anti-collision photoelectric switch is electrically connected with the external power supply and the driver 107, the anti-collision photoelectric switch is in a diffuse reflection working mode, and is used for emergency braking when an obstacle in front of the mover 1011 reaches a warning distance.

The origin photoelectric switch is electrically connected with the external power supply and the driver 107, and the origin switch is used for resetting the position of the rotor base 103 and initializing the position of the rotor base entering a track.

With reference to fig. 2, both the power supply and the signal of the mover 1011 are introduced into the electrical system through the contact between the carbon brush and the conductive rail, the power supply voltage is in the range of 24-48V, and a diode is added in the positive electrode inflow direction to avoid the back electromotive force from entering and burning the device. The combination of the two capacitors of the power supply loop with one large capacitor and one small capacitor can filter low-frequency and high-frequency waveforms generated by impact vibration of relative sliding of the conductive rail and the carbon brushes, and the large capacitor also plays a role in energy storage, so that the phenomenon that the carbon brushes break away from power supply in a short time when the carbon brushes break through the butt joint crack of the conductive rail is facilitated. The variable value of the power supply voltage is converted into a voltage value required by a photoelectric switch by a 24V voltage-stabilizing tube, an origin switch is used for zero clearing of the position of the rotor 1011 and initialization of the position of entering a track, an anti-collision photoelectric switch is a diffuse reflection working mode, and the anti-collision photoelectric switch is used for emergency braking when the front of the rotor 1011 meets an obstacle and reaches a warning distance. The DB9 interface is connected with a PC through a CAN bus serial port line and is used for software setting and adjusting the control parameters of the rotor 1011 and downloading programs.

Referring to fig. 4 and 5, further includes: a magnetic grid ruler 105 and a magnetic grid reading head 106, wherein the magnetic grid ruler 105 is arranged on the upper shield 102; the magnetic scale 105 is arranged on the upper shield 102, so that the position of the magnetic scale 105 is relatively fixed.

The magnetic grid reading head 106 is arranged on the moving sub-base 103, and the magnetic grid reading head 106 is used for acquiring the moving position of the moving sub-base 103 through the magnetic grid ruler 105. By arranging the magnetic grid reading head 106 on the rotor base 103, the magnetic grid ruler 105 can move linearly along with the rotor 1011, that is, the magnetic grid ruler 105 and the magnetic grid reading head 106 move relatively. The relative position of the magnetic scale 105 is read by the magnetic scale reading head 106, so that the relative position of the motion of the rotor base 103 can be obtained. The magnetic grid reading head 106 can be in signal connection with the driver 107, and the relative position of the rotor base 103 is transmitted to an external control system through the driver 107. So as to control the displacement of the rotor base 103.

Referring to fig. 4, the upper shield 102 is further provided with a lower limit groove 1021 for magnetic grid ruler attachment, and the magnetic grid ruler 105 is disposed on the lower limit groove 1021 for magnetic grid ruler attachment. In one example of the present invention, the lower limit groove 1021 for magnetic scale attachment is disposed perpendicular to the top of the upper shield 102, thereby facilitating the fixing of the magnetic scale 105. Referring to fig. 5, the magnetic grid reading head 106 is disposed at the fixed side end of the magnetic grid ruler 105, so as to better read the position information of the magnetic grid ruler 105.

In still another aspect, referring to fig. 8, the present invention further provides a circulating water line body 1, including: a fixed table 17, a first rail 13, a second rail 14, a first turntable 11, and a second turntable 12; one or more linear motor modules 10 are arranged on the first track 13, and the linear motor modules 10 are arranged on the fixed table 17 along the length direction; a plurality of linear motor modules 10 are provided, and the first rail 13 may be extended in a length direction by a combination. In one embodiment, the first rail 13 may be only provided with one linear motor module 10.

Correspondingly, one or more linear motor modules 10 are arranged on the second rail 14, the linear motor modules 10 are arranged along the length direction, and the first rail 13 and the second rail 14 are arranged on the fixed table 17 in parallel; a plurality of linear motor modules 10 are provided, and the first rail 13 may be extended in a length direction by a combination. In one embodiment, the first rail 13 may be only provided with one linear motor module 10.

Referring to fig. 8, a first processing device 15 and a second processing device 16 are respectively set on the fixing table 17. The first machining device 15 can machine the workpiece on the first rail 13 to the second rail 14, and the second machining device 16 can machine the workpiece on the first rail 13 to the second rail. The linear motor module 10 on the first rail 13 and the second rail 14 has a movable sub-base 103 for driving the workpiece to perform linear displacement.

The first rotary table 11 comprises at least two linear motor modules 10, the linear motor modules 10 are arranged at one ends of the first rail 13 and the second rail 14 and are arranged on the fixed table 17 perpendicular to the first rail 13 and the second rail 14, and the other linear motor module is arranged on a rotor base 103 of the linear motor module 10 and is arranged in parallel with the first rail 13 and the second rail 14; the two linear motor modules 10 are the first turntable linear module 30 and the first turntable transverse module 20, respectively.

The second turntable 12 includes at least two linear motor modules 10, the linear motor modules 10 are disposed at the other ends of the first rail 13 and the second rail 14, and are disposed on the fixed table 17 perpendicular to the first rail 13 and the second rail 14, and the other linear motor module is disposed on the rotor base 103 of the linear motor module 10 and is disposed parallel to the first rail 13 and the second rail 14; the two linear motor modules 10 are a second turntable 12 linear module and a second turntable 12 transverse module respectively.

Referring to fig. 8 and 9, a turntable is provided at each of both ends of the first and

second rails

13 and 14. Each rotary table comprises two linear motor modules 10 which are respectively a rotary table linear module and a rotary table transverse line module; the transverse line module arranged on the fixed table 17 drives the linear module to move along the direction perpendicular to the first rail 13 and the second rail 14, and the linear module drives the rotor base 103 to move along the direction parallel to the first rail 13 and the second rail 14. The first turntable 11 and the second turntable 12 are disposed in parallel with the first track 13 and the second track 14, respectively. The first turn table 11 and the second turn table 12 described above can change the track of the work on the first track 13 and the second track 14. Therefore, the processing operation of different procedures of the processed workpiece on different tracks is realized.

In still another aspect, referring to fig. 10, the present invention further provides a pipeline control driving system, including: the circulating line body 1, the motor module industrial personal computer 2 and the processing device industrial personal computer 6 are arranged in the circulating line body; the motor module industrial personal computer 2 is in communication connection with the linear motor modules 10 on the first track 13 and the second track 14 so as to control the displacement of the rotor base 103; that is, the motor module industrial personal computer 2 communicates with the linear motor modules 10 on the first track 13 and the second track 14 through connecting wires. For example, a control command is sent to the linear motor module 10 to control the movement of the moving part 103 on the linear motor module 10. Thereby driving the workpiece on the rotor base 103 to displace. The tool is moved to the position of the machining device to perform the machining operation of the tool. The motor module industrial personal computer 2 can also read the numerical value of a magnetic grid reading head 106 arranged on the moving sub-base 103 through the linear motor module 10, and the magnetic grid reading head 106 acquires the specific displacement of the moving sub-base 103 so as to realize the accurate control of the displacement.

The motor module industrial personal computer 2 is also in communication connection with the linear motor modules 10 on the first rotary table 11 and the second rotary table 12 so as to control the displacement of the rotor base 103; that is, the motor module industrial personal computer 2 communicates with the linear motor modules 10 on the first rotary table 11 and the second rotary table 12 through connecting wires. For example, a control command is sent to the linear motor module 10 to control the movement of the moving part 103 on the linear motor module 10. The turntable transverse line module drives the turntable linear module to move at two ends of the first track 13 and the second track 14 through the movable sub-base 103, and the turntable linear module drives the machining tool to move along the length direction of the first track 13 and the length direction of the second track 14 through the movable sub-base 103. Thereby driving the workpiece on the rotor base 103 to displace. The processing track of the workpiece is changed. The motor module industrial personal computer 2 can also read the numerical value of a magnetic grid reading head 106 arranged on the moving sub-base 103 through the linear motor module 10, and the magnetic grid reading head 106 acquires the specific displacement of the moving sub-base 103 so as to realize the accurate control of the displacement.

The processing device industrial personal computer 6 is in communication connection with the motor module industrial personal computer 2 and the processing robot hand and is used for controlling the processing robot hand to process products according to the position signals of the motor module industrial personal computer 2. Referring to fig. 10, the processing device industrial personal computer 6 may be provided in plurality so as to control processing of the processing device. The processing device industrial personal computer 6 is in communication connection with the motor module industrial personal computer 2, so that the specific position of the processed workpiece is obtained through the motor module industrial personal computer 2, and therefore the processing device is controlled to process the workpiece.

Optionally, in an embodiment of the present invention, the motor module industrial personal computer 2 is in communication connection with the linear motor modules 10 on the first rail 13 and the second rail 14 through a communication card 3; the motor module industrial personal computer 2 CAN communicate with the communication card 3 through a TCP/IP protocol of an Ethernet, and the communication card 3 CAN communicate with the linear motor module 10 through a CANopen (Controller Area Network, CAN) protocol. And sending a command to the linear motor module 10 through the CANopen protocol.

The motor module industrial personal computer 2 is in communication connection with the linear motor modules 10 on the first rotary table 11 and the second rotary table 12 through the switch 4 and the input/output port controller 5; referring to fig. 10, an IO port controller may be disposed between the first turntable 11, the second turntable 12 and the interactive machine, the motor module industrial personal computer 2 may communicate with the switch 4 through a TCP/IP protocol of an ethernet, the interactive machine is connected with the IO port controller through the TCP/IP protocol, and is in communication connection with the first turntable 11 and the second turntable 12 through the IO port controller, so as to send a command to the linear motor modules 10 on the first turntable 11 and the second turntable 12. It should be noted that the IO port controller may also send a command to the motor modules of the first rotating table 11 and the second rotating table 12 through the CANopen protocol by using the communication card 3.

The motor module industrial personal computer 2 is in communication connection with the processing device industrial personal computer 6 through the switch 4. Will through switch 4 motor module industrial computer 2 and processingequipment industrial computer 6 are connected to it is convenient with a plurality of motor module industrial computer 2 and processingequipment industrial computer 6 carry out the network deployment.

Referring to fig. 11, the pipeline control method of the present invention includes: a first origin a and a second origin C are provided on the first track 13, and a third origin B is provided on the second track 14.

The coordinates from the first origin a to the first turntable 11 are referred to as initial entry coordinates, and are used for the rotor 1011 to find the coordinates of the upper turntable I after the initial origin is found. The coordinates of the second origin C to the first turntable 11 are referred to as track change position 1 coordinates for the coordinates of the turntable I on the mover 1011 from the forward track. The coordinate from the third origin B to the second turntable 12 is called a track-change position 2 coordinate, and is used for the coordinate of the turntable II on the negative track of the mover 1011.

By controlling the mover 1011 placed on the first rail 13 to pass through the origin a and displace to the first turn table 11, the initial position of the mover 1011 is determined by the first origin a.

The origin a is used for position initialization, when the first track 13 and the second track 14 are just powered on or the mover 1011 is just installed in the tracks, the specific position of the mover 1011 (the mover seat 103) cannot be determined, the mover 1011 is placed on the first track 13 before starting, the first origin a passes through the first origin a sequentially, the first origin a is at the tail end of the first track 13, and the first turntable 11 is displaced by a fixed distance, so that the position of the mover 1011 is determined. The first origin a is used only when the position of the mover 1011 is recognized for the first time, the first origin a is invalid after the mover 1011 has determined its own position, and the second origin B and the third origin C are used after the mover operates normally.

And controlling the first rotating table 11 to move, moving the mover 1011 to the second origin B through the first rotating table 11, determining the starting position of the mover 1011 through the origin B, and controlling the displacement of the mover 1011 at the starting position zero point.

The second origin B is used to enter the starting position of the second track 14, where the displacement coordinates of the mover 1011 are cleared, and is defined as a negative origin for distinguishing the coordinate data of the first track 13, so that the coordinates of the second track 14 have a negative value.

Similarly, the third origin C is used for entering the initial position of the first track 13, the displacement coordinate of the mover 1011 is cleared at this position, and in order to distinguish the coordinate data of the second track 14, the third origin C is defined as a positive origin, so that the coordinate of the first track 13 has only a positive value.

The invention provides a linear motor, a motor module, a production line body, a system and a control method. By splicing and combining a plurality of standard modules into a circulating assembly line, the linear motor module 10 can be linearly combined to form an assembly line with optional length. Linear motor module 10 passes through linear motor 101 drive motion, linear motor 101 adopts runner 1011 and stator 1012's magnetic field force cooperation to carry out linear motion, and adopts high accuracy magnetic grid reading head 106 to carry out the reading control of displacement, and high speed, the high accuracy advantage of make full use of linear motor satisfy high-speed, the high accuracy equipment requirement of precision electronic product production.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing detailed description, or equivalent changes may be made in some of the features of the embodiments. All equivalent structures made by using the contents of the specification and the attached drawings of the invention can be directly or indirectly applied to other related technical fields, and are also within the protection scope of the patent of the invention.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.

Claims

1. A linear motor module, comprising:

a low-voltage linear motor;

a driver;

a carbon brush current collector;

an energy storage capacitor and/or a ceramic capacitor;

wherein:

a low voltage linear motor comprising:

the rotor coil is also provided with a connecting terminal which is used for being connected with a power supply for driving, and the rotor coil generates magnetic field force through the interaction of the power supply for driving the rotor and the stator magnet so as to drive the rotor to do linear motion along the stator magnet yoke;

the rotor also comprises silicon steel laminations, and the silicon steel laminations are arranged in the rotor coil;

the low-voltage linear motor also comprises a rotor coil fixing seat, wherein the rotor coil is arranged in the rotor coil fixing seat and is fixed with the rotor coil through the rotor coil fixing seat;

the three rotor coils are combined and are sequentially arranged along the linear motion direction;

the stator magnetic yokes are arranged in a plurality of numbers and are sequentially arranged along the length direction of the stator magnetic yokes, and a plurality of stator magnets are respectively arranged on two sides of each stator magnetic yoke correspondingly;

the stator of the low-voltage linear motor is arranged in the module substrate, and the rotor of the low-voltage linear motor is arranged on the rotor base and used for driving the rotor base to do linear motion;

wherein:

the driver is arranged on the rotor base and is electrically connected with the connecting terminal on the rotor coil, so that a driving power supply is provided for the rotor coil;

wherein:

the module substrate is provided with a first conductive rail assembly, a second conductive rail assembly, a third conductive rail assembly and a fourth conductive rail assembly respectively, and the first conductive rail assembly, the second conductive rail assembly, the third conductive rail assembly and the fourth conductive rail assembly are electrically connected with the first carbon brush, the second carbon brush, the third carbon brush and the fourth carbon brush respectively so as to guide an external power supply and a control signal to be connected to the driver through the first conductive rail assembly, the second conductive rail assembly, the third conductive rail assembly and the fourth conductive rail assembly;

the driver further includes: the CAN bus interface is electrically connected with the carbon brush current collector, and the carbon brush current collector guides the external power supply and the control signal to the driver through the CAN bus interface;

the driving terminal is electrically connected with the rotor coil, and the driver drives and guides the external power supply to the rotor coil through the driving terminal;

wherein:

two ends of the energy storage capacitor are respectively connected with the output end of an external power supply of the carbon brush current collector, and the energy storage capacitor is used for storing energy of the external power supply;

2. The linear motor module of claim 1, further comprising:

the magnetic grid ruler is arranged on the upper shield;

3. The linear motor module according to claim 2, wherein the upper shield is further provided with a lower limit groove for attaching a magnetic scale, and the magnetic scale is disposed on the lower limit groove for attaching the magnetic scale.

4. A circulating assembly line body, comprising:

a fixed table;

a first rail, on which one or more linear motor modules according to any one of claims 1 to 3 are disposed, the plurality of linear motor modules being disposed on the fixing table in a length direction;

a second rail, on which one or more linear motor modules according to any one of claims 1 to 3 are disposed, the plurality of linear motor modules being disposed along a length direction, the first rail and the second rail being disposed in parallel on the fixed stage;

a first turntable including at least two linear motor modules according to any one of claims 1 to 3, the linear motor modules being disposed at one end of the first and second rails, one of the linear motor modules being disposed on the stationary stage and being disposed perpendicular to the first and second rails, and the other of the linear motor modules being disposed on a movable sub-mount of the linear motor module and being disposed parallel to the first and second rails;

a second turntable, the second turntable comprising at least two linear motor modules according to any one of claims 1 to 3, the linear motor modules being disposed at the other ends of the first and second rails, one of the linear motor modules being disposed on the stationary stage and being disposed perpendicular to the first and second rails, and the other of the linear motor modules being disposed on a moving sub-mount of the linear motor module and being disposed parallel to the first and second rails.

5. A pipeline control drive system, comprising:

the circulating line body of claim 4;

6. Pipeline control drive system according to claim 5,

the motor module industrial personal computer is in communication connection with the linear motor modules on the first track and the second track through communication cards;