CN109458397A - A kind of linear moving module unit block of wireless control - Google Patents
A kind of linear moving module unit block of wireless control Download PDFInfo
- Publication number
- CN109458397A CN109458397A CN201811624035.7A CN201811624035A CN109458397A CN 109458397 A CN109458397 A CN 109458397A CN 201811624035 A CN201811624035 A CN 201811624035A CN 109458397 A CN109458397 A CN 109458397A
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- guide rail
- wireless control
- module
- axle unit
- unit
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 8
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 7
- 238000003032 molecular docking Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 210000004027 cell Anatomy 0.000 description 3
- 210000003850 cellular structure Anatomy 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C29/00—Bearings for parts moving only linearly
-
- 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
-
- 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
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Linear Motors (AREA)
Abstract
A kind of linear moving module unit block of wireless control, including telecontrol equipment and stator apparatus；The telecontrol equipment is connected on the guide rail of stator apparatus by guide rail slide block, and current-collector and trolley are powered by wiping mode.The present invention realizes the control to telecontrol equipment by wireless control module, and for motion-promotion force by the way of directly driving, moving cell uses modularized design.Pass through the combination of this modular unit, the movement operating condition of all kinds of complexity may be implemented, it is simple for structure, using convenience, solve in sports applications demands such as longer move distance, Comlex-locus realization, the more movers movements of an axis, more mover independent controls and multifreedom motion combinations.
Description
Technical field
The present invention relates to technical field of automation in industry, more specifically, more particularly, to a kind of straight line of wireless control
Motion module unit block.
Background technique
Traditional linear motion is to add screw rod, belt, gear, linear motor driving by servo, general band drag chain and line
Cable operation, stroke are restricted, and structure is complicated, and a product only includes that a moving parts or multiple moving parts are whole
Movement, but it is unable to each mover of independent control, in longer move distance, Comlex-locus realization, the more movers fortune of an axis
When dynamic, more mover independent controls and multifreedom motion combine, implement that structure is complicated, it is bulky or be difficult to realize.
Summary of the invention
In view of the above drawbacks of the prior art and problem, the technical problems to be solved by the present invention are: providing a kind of wireless
The linear moving module unit block of control, the straight drive moving cell component controlled using wireless telecommunications, may be implemented to pass through
The unlimited stroke and a variety of flexible motion trajectory shapes of more mover movements, mover movement are realized in the combination of unit.
In order to achieve the above object, the invention provides the following technical scheme:
A kind of linear moving module unit block of wireless control, including telecontrol equipment and stator apparatus；
The telecontrol equipment includes current-collector, and the guide rail slide block, linear motor rotor, position of mover mounting plate is arranged in
Encoder, driver, power module and wireless control module are set, in mover mounting plate end, guide rail is sliding for position coder setting
Block is arranged in mover mounting plate lower part, and inductor, which directly incudes the permanent magnetic field of stator and is processed into location information, is given to driving
Device；The linear motor rotor, encoder, current-collector, wireless control module, power module are respectively connected to driver, driving
Device drives linear motor rotor；
The stator apparatus includes linear motor permanent-magnet stator, guide rail, the trolley that pedestal is arranged in, linear motor permanent magnetism
Stator is arranged among guide rail, and trolley setting is arranged in guide rail side, linear motor permanent-magnet stator and position coder face；
The telecontrol equipment is connected on the guide rail of stator apparatus by guide rail slide block, and current-collector and trolley pass through wiping
Mode is powered.
It further include host computer in above-mentioned technical proposal, the driver connects the control of host computer by wireless control module
System communication processed executes the movement instruction and feedback information of host computer.
In above-mentioned technical proposal, the trolley, guide rail are isometric with pedestal, and both ends are concordant.
In above-mentioned technical proposal, the power of the linear motor rotor drives mode using straight.
In above-mentioned technical proposal, at least two stator apparatus continuously connects, at least one telecontrol equipment passes through guide rail
Sliding block is connected on the guide rail on stator apparatus, forms linear moving module.
In above-mentioned technical proposal, the linear moving module includes at least two, and two linear moving modules are divided into axis
Unit and lower axle unit, upper axle unit and lower axle unit are that independent wireless control directly drives linear motion unit module, lower axle
At least one telecontrol equipment of unit is connected on the guide rail on upper axle unit stator apparatus by guide rail slide block, and upper axle unit is determined
Sub-device is fixed on the telecontrol equipment of lower axle unit, and upper axle unit is independent linear motion unit module, and lower axle unit drags
Dynamic upper axle unit, upper axle unit and lower axle unit move simultaneously.
The present invention realizes the control to telecontrol equipment by wireless control module, motion-promotion force by the way of directly driving,
Moving cell uses modularized design.By the combination of this modular unit, the movement operating condition of all kinds of complexity, structure may be implemented
Succinctly, only in longer move distance, Comlex-locus realization, the more movers movements of an axis, more movers using conveniently, solving
The sports applications demand such as vertical control and multifreedom motion combination.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is overall structure of the present invention.
Fig. 2 is telecontrol equipment structural schematic diagram of the present invention.
Fig. 3 is stator apparatus structural schematic diagram of the present invention.
Fig. 4 is telecontrol equipment and stator apparatus combination 1 structural schematic diagram of embodiment.
Fig. 5 is telecontrol equipment and stator apparatus combination 2 structural schematic diagram of embodiment.
Fig. 6 is telecontrol equipment and stator apparatus combination 3 structural schematic diagram of embodiment.
Fig. 7 is telecontrol equipment and stator apparatus combination 4 structural schematic diagram of embodiment.
Fig. 8 is telecontrol equipment and stator apparatus combination 5 structural schematic diagram of embodiment.
Wherein: 1, trolley；2, pedestal；3, position coder；4, power module；5, wireless control module；6, straight-line electric
Motor-driven son；7, linear motor permanent-magnet stator；8, guide rail；9, driver；10, mover mounting plate；11, current-collector；12, guide rail is sliding
Block；21, telecontrol equipment；22, stator apparatus；31, upper axle unit；32, lower axle unit.
Specific embodiment
Below in conjunction with attached drawing of the invention, technical solution of the present invention is clearly and completely described, it is clear that institute
The embodiment of description is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention,
Every other embodiment obtained by those of ordinary skill in the art without making creative efforts, belongs to this hair
The range of bright protection.
According to Fig. 1, the linear moving module unit block as a kind of wireless control shown in embodiment, including
Telecontrol equipment and stator apparatus, host computer；
According to Fig.2, telecontrol equipment includes current-collector, and the guide rail slide block of mover mounting plate, straight-line electric is arranged in
Motor-driven son, position coder, driver, power module and wireless control module, current-collector are modulated by power module, for driving
Device and wireless control module power supply, for the feedback of linear motor rotor position, the position coder used is magnetic position volume
Code device, magnetic positioner setting are arranged in mover mounting plate end, guide rail slide block in mover mounting plate lower part, magnetic code
Device inductor, which directly incudes the permanent magnetic field of stator and is processed into location information, is given to driver；Linear motor rotor, encoder,
Current-collector, wireless control module, power module are respectively connected to driver, and the power line of linear motor rotor accesses driver,
Driver receives encoder position feedback information and drives to linear motor rotor, and electrical source of power is powered using wiping, directly
The power of line electric mover drives mode using straight, and current-collector is connected with linear motor rotor and mover mounting plate, and with straight
The movement of line electric mover, power module is for handling current-collector input voltage and being adjusted output.
The wireless control module that telecontrol equipment carries is generally wireless router, is connected by cable with driver, drives
Device supports EtherNet/IP agreement and has disclosed instruction set and format, and wireless router is generalized machine by wifi signal
Connection；Host computer is generally the industrial personal computer with wireless network card or supports the PLC or control card module of udp protocol communication, can
Router is connected by wifi signal, is communicated using Ethernet/IP agreement and driver；Host computer passes through EtherNet/IP
The address driver ip is arranged as identification code in agreement, carries out motion control and monitoring to linear motor rotor by driver.
The realization agreement of wireless module include but is not limited to Ethernet/IP, MODBUS, CANopen, EtherCAT,
PROFIBUS, Interbus, ControlNet, PROFINET, CC-Link, CAN, bluetooth etc..
According to Fig.3, stator apparatus includes linear motor permanent-magnet stator, guide rail, the trolley that pedestal is arranged in, guide rail
Fixation is layed on pedestal, and trolley, guide rail are isometric with pedestal, and both ends are concordant.Linear motor permanent-magnet stator is arranged in guide rail
Centre, trolley setting are arranged in guide rail side, linear motor permanent-magnet stator and position coder face.
According to Fig. 1, telecontrol equipment is connected on the guide rail of stator apparatus by guide rail slide block, current-collector and trolley
It is powered by wiping mode, driver connects upper computer control system by wireless control module and communicates, and executes the fortune of host computer
Dynamic instruction and feedback information.
It according to Fig.4, is linear moving module as embodiment 1, including at least two stator apparatus continuously connect,
At least one telecontrol equipment is connected on the guide rail on stator apparatus by guide rail slide block, i.e., multiple stator apparatus continuously connect,
The continuous of long range may be implemented in straight line continuous laying, since telecontrol equipment and stator apparatus are two independent modules, movement
Device can cross over the stator apparatus of multiple fixations and freely move between continuous fixed stator；Telecontrol equipment point can use
One or more any combination, these movers are freely programmed by host computer, and self-movement control or aggregate motion may be implemented
Control, realizes motion requirement abundant.
According to Fig.5, it as embodiment 2, is closed using 2 example 1 groups, realizes that " ten " font is intersected, can execute
The motion profile of " ten " font.2 embodiments 1 are divided for upper axle unit and lower axle unit, and upper axle unit and lower axle unit are only
Vertical wireless control directly drives linear motion unit module, and lower at least one telecontrol equipment of axle unit is connected to by guide rail slide block
On guide rail on axle unit stator apparatus, the stator apparatus of upper axle unit is fixed on the telecontrol equipment of lower axle unit, upper axis list
Member is independent linear motion unit module, and lower axle unit drags upper axle unit, and upper axle unit and lower axle unit move simultaneously, real
The existing space XY stroke range.
According to Fig.6, it as embodiment 3, is combined by 1 embodiment 1 and 1 embodiment 2, passes through an end respectively
Portion's connection, forms "L" shaped, realizes that the motion profile that can execute "L" shaped, at least one telecontrol equipment pass through guide rail slide block
It is connected on the guide rail on stator apparatus, the stator apparatus of the upper axle unit of " ten " font of embodiment 2 is determined in addition parallel
Sub-device continuous horizontal connects, and telecontrol equipment can cross over the stator apparatus of multiple fixations and freely fill in continuous fixed stator
It is moved between setting.
According to Fig.7, it as embodiment 4, is combined by 2 Examples 1 and 2 embodiments 2, forms " mouth " font,
The shuttling movement track of " mouth " font can be executed, the upper axle unit of the cross case of embodiment 3 can under the dragging of lower axle unit
To move along the vertical direction, the motion profile of left and right about two is formed；Intermediate parallel two units up and down, may be implemented two
The parallel horizontal movement track of item；The upper axle unit of cross and two intermediate parallel units, which are that level is contour, to be put, cross
The upper axis stator of case can be driven by lower axle in addition parallel stator apparatus and realize that continuous horizontal connect, and telecontrol equipment can be with
Across multiple fixations stator apparatus and freely moved between continuous fixed stator, realize closed " mouth " font shuttling movement
Track.
According to Fig.8, as embodiment 5, the group of 1 embodiment, 2 left and right sides is located at by 2 embodiments 1
It closes, forms " Z " font, the motion profile of " Z " font can be executed, embodiment 1 is independent wireless control and directly drives linear motion
The stator apparatus level of the upper axle unit of unit module, stator apparatus and embodiment 2 " ten " font module is contour；" ten " type matrix
Axle unit stator apparatus thereon and embodiment 1 may be implemented under the dragging of lower axle unit motion device in the upper axle unit of block
Stator apparatus to positive docking, realizes telecontrol equipment free back and forth movement on two stator apparatus of docking in parallel.Left side is real
Apply realization telecontrol equipment horizontal movement on the stator apparatus and embodiment 2 of example 1 after the docking of axle unit stator apparatus；In embodiment 2
Under the dragging of lower axle unit, telecontrol equipment realizes vertical movement；Axle unit on the stator apparatus and embodiment 2 of right hand embodiment 1
Stator apparatus docking after, telecontrol equipment horizontal movement may be implemented；Telecontrol equipment can be across the stator of multiple horizontal docking
Device simultaneously freely moves between continuous stator apparatus, realizes " Z " font motion profile.
The characteristics of directly driving present invention utilizes permanent magnetic linear synchronous motor realizes modular power combination；Pass through nothing
The mode of line communication, realizes the communication of host computer and motion device unit；It is powered by wiping, realizes the continuity of power supply；
Position feedback realizes continuous location information output using the magnetic resistance encoder for directly incuding permanent-magnet stator magnetic field；Pass through drive
Dynamic device is directly integrated in motion module, realizes compact motion control unit, cable-pulling chain is omitted, and realizes no limitation
Stroke and changeable motion profile.
The characteristics of the characteristics of present invention combination linear motor Modularized splice, wiping power supply system Modularized splice, induction
The encoder position output continuity feature and wireless telecommunications realizability in motor stator magnetic field provide a kind of succinct module
Change straight line and directly drives moving cell.Modularization based on the moving cell, if embodiment 1-5 it is similar by splicing and combining, can be with
Realize all kinds of motion profiles.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. a kind of linear moving module unit block of wireless control, it is characterised in that: including telecontrol equipment and stator apparatus；
The telecontrol equipment includes current-collector, and guide rail slide block, linear motor rotor, the position volume of mover mounting plate is arranged in
Code device, driver, power module and wireless control module, position coder are arranged in mover mounting plate end, and guide rail slide block is set
It sets in mover mounting plate lower part, inductor, which directly incudes the permanent magnetic field of stator and is processed into location information, is given to driver；Institute
It states permanent magnetic linear synchronous motor mover, encoder, wireless control module, power module and is respectively connected to driver, current-collector connects
Enter power module, power module is powered after ovennodulation for wireless control module and driver, and driver is to linear motor rotor
It is driven；
The stator apparatus includes permanent magnetic linear synchronous motor permanent-magnet stator, guide rail, the trolley that pedestal is arranged in, linear motor
Permanent-magnet stator is arranged among guide rail, and trolley setting is in guide rail side, linear motor permanent-magnet stator and position coder face
Setting；
The telecontrol equipment is connected on the guide rail of stator apparatus by guide rail slide block, and current-collector and trolley pass through wiping mode
Power supply, current-collector input driver and wireless control module after accessing power module modulation.
2. a kind of linear moving module unit block of wireless control according to claim 1, it is characterised in that: also wrap
Host computer is included, the driver is communicated by the control system that wireless control module connects host computer, executes the movement of host computer
Instruction and feedback information.
3. a kind of linear moving module unit block of wireless control according to claim 1 or 2, it is characterised in that:
The trolley, guide rail are isometric with pedestal, and both ends are concordant.
4. a kind of linear moving module unit block of wireless control according to claim 3, it is characterised in that: described
The power of linear motor rotor drives mode using straight.
5. a kind of linear moving module unit block of wireless control according to claim 4, it is characterised in that: described
At least two stator apparatus continuously connect, at least one telecontrol equipment is connected to the guide rail on stator apparatus by guide rail slide block
On, form linear moving module.
6. a kind of linear moving module unit block of wireless control according to claim 5, it is characterised in that: described
Linear moving module includes at least two, and two linear moving modules are divided into axle unit and lower axle unit, and upper axle unit is under
Axle unit is independent wireless control and directly drives linear motion unit module, and lower at least one telecontrol equipment of axle unit passes through guide rail
Sliding block is connected on the guide rail on axle unit stator apparatus, and the stator apparatus of upper axle unit is fixed on the sportswear of lower axle unit
It sets, upper axle unit is independent linear motion unit module, and lower axle unit drags upper axle unit, upper axle unit and lower axle unit
It moves simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811624035.7A CN109458397A (en) | 2018-12-28 | 2018-12-28 | A kind of linear moving module unit block of wireless control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811624035.7A CN109458397A (en) | 2018-12-28 | 2018-12-28 | A kind of linear moving module unit block of wireless control |
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| Publication Number | Publication Date |
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| CN109458397A true CN109458397A (en) | 2019-03-12 |
Family
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| CN201811624035.7A Pending CN109458397A (en) | 2018-12-28 | 2018-12-28 | A kind of linear moving module unit block of wireless control |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111267875A (en) * | 2020-02-19 | 2020-06-12 | 深圳市博智达机器人有限公司 | Magnetic suspension motor bearing vehicle system |
| CN111711337A (en) * | 2020-07-22 | 2020-09-25 | 上海电机学院 | Linear motor and transportation system |
| WO2021212747A1 (en) * | 2020-04-22 | 2021-10-28 | 歌尔股份有限公司 | Rotor assembly and linear electric motor |
| CN117353540A (en) * | 2023-11-13 | 2024-01-05 | 东莞希思克传动科技有限公司 | Linear module of single-station wireless transmission structure and conductive method |
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