CN1095527A

CN1095527A - Magneto-resistance stepping linear motor

Info

Publication number: CN1095527A
Application number: CN 93109776
Authority: CN
Inventors: 段汝熙
Original assignee: Individual
Current assignee: Individual
Priority date: 1993-05-15
Filing date: 1993-08-17
Publication date: 1994-11-23

Abstract

Magneto-resistance stepping linear motor of the present invention.By coil, contain cored guide rail, control circuit is formed, the technical problem underlying that needs to solve is that the coil of motor adopts simplex winding or multiple secondary winding, and the iron core of guide rail inside is discontinuous or not exclusively continuous, and coil and guide rail can be done linear relative movement, the coil power supply mode is step, the motor movement mode is stepping, and directly the on-load rectilinear motion has been simplified transmission device.

Description

Magneto-resistance stepping linear motor

The present invention is at invention " linear electric motors " (application number: 92104229.9) on the basis of basic principle and structure, made further substantial improvements and perfect, and given new function.

The rectilinear motion that this magneto-resistance stepping linear motor is realized, compare with the rectilinear motion that existing electric rotating machine is realized through variable transmission mechanism and induction type linear electric motors, operation principle is different with structure, have simple in structure, processing and fabricating is easy, control characteristics such as flexible, easy, easy speed governing, compare, also have following characteristics with invention " linear electric motors ":

1, increased elimination electric spark device.This device is between loading coil and power supply, has been connected in series a contactless electronic beam switch, has eliminated the electric spark that produces when former invention " linear electric motors " main circuit contact disconnects, and motor is improved useful life greatly.

2, the supply line of former invention " linear electric motors " and sensing circuit are on the tube outer wall that is produced on as guide rail, this no doubt has its advance, but because the restriction of manufacture craft and use occasion, sometimes need control circuit and the guide rail branch layout that comes, the present invention is directed to different situations and adopt the independent control of dedicated printed circuit board and power supply and cable power supply dual mode, the arrangement of sensing circuit and former invention " linear electric motors " are also inequality.In the moment of sensing contacting and deenergization, the relative position of coil and iron core, also different according to motor performance and purposes have been done corresponding change, make motor working efficiency improve, and do the stepping vertical line and move and created condition for adding electronic switch and control motor.Basic functional principle and structure according to these linear electric motors, position sensing circuit also can adopt magnetic coupler element or optocoupler components, be arranged on the sensing plate, so can save sliding contact, change by cable power supply, improve safety in utilization, for sake of convenience, only be illustrated with the position sensing circuit that sliding contact is arranged.Other sensing mode is no longer repeated.

3, the coil of former invention " linear electric motors " is a simplex winding coil, the power utilization rate is lower, and the motor runnability is restricted, the present invention (for example having increased yoke) except that invention " linear electric motors " simplex winding loop construction is improved has adopted many winding coils structure again, by changing and adjust electric the reaching in proper order when switching is electric of switching of each winding, the relative position of winding and iron core, make each winding within a certain period of time, take turns to operate according to certain rules or work simultaneously, increased the flexibility and the diversity of control.

The present invention is divided into: (one), the simplex winding coil magneto-resistance stepping linear motor of position sensing circuit and electronic switch arranged.The double winding coil magneto-resistance stepping linear motor that (two), position sensing circuit and electronic switch are arranged.(3), position sensing circuit and electronic switch are arranged, have three winding coil magneto-resistance stepping linear motors of time-delay energising function.(4), three winding coil magneto-resistance stepping linear motors of Digital Circuit Control.(5), position sensing circuit and electronic switch are arranged, have four winding coil magneto-resistance stepping linear motors of time-delay energising function.(6), four winding coil magneto-resistance stepping linear motors of Digital Circuit Control.Because of being several inventions under a total inventive concept, pretending is that an application proposes:

(1) the simplex winding coil magneto-resistance stepping linear motor of position sensing circuit and electronic switch is arranged.

The Principle of Electric Engine structure as shown in Figure 1, among Fig. 1,1 is the power supply main contacts, 2 is the sensing contact, 3 is control circuit board, 4 is coil, 5 is guide rail, 6 is iron core, 7 is electronic switch assembly 1, Fig. 2 is the control circuit layout plan.Control circuit is produced on the copper clad plate, and black line is an etched portions among the figure.Fig. 3 is the Principle of Electric Engine winding diagram, and among the figure: K is a reversing switch, and R is a current-limiting resistance, and SCR is an one-way SCR, and L is a coil windings, and D is a fly-wheel diode.

Guide rail and control circuit three parts that motor is equipped with iron core by coil, inside are formed.Guide rail is a pipe, and the pipe section shape is not limit, and at tube interior, is being spaced isometric iron core, and iron core and guide rail are fixed.Control circuit board is arranged in the top or the side of guide rail, parallel with guide rail, coil is enclosed within on the guide rail, slide on printed circuit board (PCB) by main contacts, sensing contact, leading to of control coil winding, power-cut time, and when the switching electricity, the relative position of coil and iron core, thereby control coil and guide rail are made linear relative movement (for sake of convenience, suppose that guide rail maintains static) contactless electronic beam switch is housed on coil, can select single, double to controllable silicon or other electron component according to the power supply type of coil.

Now motor running condition is illustrated in conjunction with Fig. 1, Fig. 3.

In original position, t0 position, place, sensing contact among Fig. 1, when reversing switch K is removed to the K1 position, power supply triggers controllable silicon SCR (see figure 3) SCR conducting through resistance R, K, sensing contact, and power supply is powered to coil windings L through main contacts, winding gets electric generation electromagnetic force, according to electromagnetic theory, electromagnetic force will attract iron core to left movement, because iron core and guide rail are fixed, according to action-reaction law, coil moves right.When the sensing contact moves to the t1 position, the outage of sensing contact, SCR turn-offs, the winding L outage, coil continues to move right by inertia.(do not cut off the power supply as coil, according to the minimum reluctance theory, it is motionless that coil can hold iron core, at this moment magnetic resistance minimum), the sensing contact moves to the t2 position, and winding is switched on once more and made coil continue to move right, arrive the t3 position, winding cuts off the power supply once more, and coil continues to move right by inertia.By that analogy, arrive the t6 position until the sensing contact, coil is subjected to position-limiting action and stops.At stop position, when reversing switch being removed to the K2 position, the energising of sensing contact triggers the SCR conducting, the winding energising makes coil to left movement, and in running, the sensing contact is in t6, t8, t10, position energising, in t7, t9, t11, position outage, after the outage of t11 position, coil continues to left movement by inertia, and the arrival left end is subjected to position-limiting action and stops.At this moment the sensing contact is in the t0 position.Change supply voltage and can change the motor speed of service.

In Fig. 1, establishing coil height is h, and core length is l, and spacing distance is d, and h=l=d is then arranged.

The present invention is owing to adopted contactless electronic beam switch, then two contacts of main circuit (or carbon brush) contact with supply line all the time, thereby there is not spark to produce, the sensing contact is disconnected in running the time, the time is continuous, but owing to resistance step-down, current limliting, the electric current of the sensing of flowing through contact is minimum, belong to light current control, so spark is minimum, circuit is not worked the mischief, can omit suddenly and disregard, this does not produce spark with regard to having overcome the winding main contacts because of there being electronic switch, it is serious that circuit is ablated, until the deficiency of cisco unity malfunction.

Improvement has been done in the more former invention of the layout of this linear motor control circuit " linear electric motors ", see Fig. 2, black line is an etched portions among the figure, line plate etching extent is little, the contact is to move in same plane basically, and operating ratio is more steady, has prolonged wiring board useful life, such arrangement has also been created condition for motor adopts many winding coils structure and other control mode.

Motor is when the switching electricity, and the relative position of coil and iron core also according to different situations, has been done improvement within the specific limits, sees Fig. 4, position when solid line is represented the winding energising among Fig. 4, position when dotted line is represented to cut off the power supply.During energising, iron core stretches into loop length δ 1 and is about 1/10～1/5 of coil height, during outage, iron core stretches into loop length δ 2 and is about 1/2～4/5 of coil height, arrange like this, in the time of can guaranteeing the coil windings energising bigger starting power is arranged, can guarantee that again coil when outage, has bigger inertia force.

Realize the best way of this invention, be appropriate design coil and core structure and the relative position when the switching electricity, when making coil electricity, initial suction is big, and during outage, inertia force is bigger, for raising the efficiency, coil can be made armoring helix tube type, sees Fig. 6, among Fig. 6, the 8th, armoring (yoke), the 9th, coil rack, 10 is winding, and 11 is carbon brush, and 12 is carbon brush holder.Iron core can be made Fig. 5 shape, and Fig. 5 (a) is to improve the coil speed of service for two ends have the iron core of pole shoe, and Fig. 5 (b) is the iron core of hollow, helps ventilation and heat, and Fig. 5 (c) is a segmentation continous way iron core, helps processing and manufacturing and installing and locating.Yoke and core material can be direct currents or exchange and select industrial soft iron or electrical sheet lamination for use according to the winding type of powering, the guide rail tube wall will approach as far as possible, skeleton adopts nylon steel and wall thin as far as possible, be the minimizing power resistance that rubs, can consider to add sliding bearing at the coil two ends, the copper clad plate of wiring board will be thickeied or be customized, and makes deposited copper face down as far as possible, can prevent the fricative conductive powder in contact to be stranded among the groove and cause short circuit, increase the fail safe of using.For safety, available magnetic coupler element (for example tongue tube) optocoupler components (for example photodiode, triode etc.) is as position sensing element, replace the sensing contact, control coil logical, power-cut time and when power on/off, the relative position of coil and iron core, the control coil motion, its motion mode is identical, but has save all sliding contacts, change by cable power supply, but will consider setting up and motion mode of cable.During coil stationary, cable also maintains static.

(2) the magneto-resistance stepping double winding coil linear electric motors of position sensing circuit and electronic switch are arranged.

The single winding of these linear electric motors, guide rail, and core structure, size and above-mentioned simplex winding coil linear electric motors are identical, different is to have increased a simplex winding coil and supporting with it electronic switch and sensing contact, coil can make all-in-one-piece or two coil spacing certain distances arranged apart, the mode of control circuit has also been done corresponding change.

Fig. 7 is the Principle of Electric Engine winding diagram, and R is a current-limiting resistance among the figure, and K is a reversing switch, and SCR1, SCR2 are one-way SCRs, and D1D2 is a fly-wheel diode, and L1, L2 are coil windings.

Fig. 8 is the Principle of Electric Engine structure chart.14 is that sensing contact 2,15 is that sensing

contact

1,16 is that winding L 2,17 is that electronic switch assembly 2,18 is a winding L 1 among the figure.

Now in conjunction with the accompanying drawings 7,8 pairs of motor movement situations of accompanying drawing are done with explanation:

As shown in Figure 8: in original position, 1 t0 of living in position, sensing contact is when remove to the K1 position sensing contact 1 contact power supply turning round sub-K switch, controllable silicon SCR 1 conducting (see figure 7) L1 gets the electric coil that makes and moves right, arrive the t1 position, 1 outage of sensing contact, SCR1 turn-offs, the L1 outage, coil moves forward by inertia, in the t0 position, and sensing contact 2 contact power supplys, the SCR2 conducting, L2 gets the electric coil that makes to be continued to move right, and like this, the sensing contact is at t0, t2 position wheel flow-thru electrode, at t1, the t3 position is outage in turn, play a part relay, be in the t4 position until sensing contact 2, coil is subjected to position-limiting action and stops.In the t4 position, when reversing switch is removed to K2, contact 2 at first switches on, the SCR2 conducting, the L2 energising makes coil to left movement, like this, two contacts switch on L2, L1 on t4, t6 position successively, on t5, t7 position L2, L1 are cut off the power supply successively, move to the t0 position until sensing contact 1, coil is subjected to position-limiting action and stops.Most of stroke of coil operation is by the electromagnetic attraction effect, and this has just improved the power utilization rate, and motor running stability and unfailing performance are improved, and within the specific limits, changes supply voltage, can change the motor speed of service.

Realize the best way of this invention, except the mode that should take with aforementioned motor, the physical dimension that should make each coil is symmetry as far as possible, and when two coils were arranged apart, the interval between the coil will rationally be 2nl, i.e. the even of core length times.The layout of control circuit is shown in Fig. 9 shape, and original position is consistent with operation conditions in the time of guaranteeing the forward and reverse motion of coil like this, and when coil was in the initial sum final position, coil was in automatic off-position.Impact when reaching home in order to reduce coil can be considered to add buffer spring at end winding and spacing point.For safety, can adopt other contactless sensing mode (photoelectricity coupling, magnetic coupling) to use cable to coil power supply.

(3) position sensing circuit and electronic switch are arranged, have three winding coil magneto-resistance stepping linear motors of time-delay energising function.

Above-mentioned two kinds of linear electric motors carry out speed governing by adjusting supply voltage, and speed adjustable range is narrower, and the speed of service is very fast, and low speed is difficult for realizing.Often require motor speed slower in actual applications, for example these linear electric motors are applied to electric controller for curtain, people wish to see that curtain opens and closes slowly, and in addition, people wish that also motor can stop in a certain position, and operation round about.For this reason, designed the magneto-resistance stepping three winding coil linear electric motors that have delay circuit, these linear electric motors and above-mentioned two kinds of linear electric motors differences are: 1, replaced singly connecting toggle switch by a doubly-linked toggle switch.2, increased resistance, the time-delay power-on circuit that electric capacity is formed.3, coil is formed by three simplex winding coil combination.4, the spacing distance of iron core shortens.

Figure 10 is that Principle of Electric Engine is connected into figure, and among the figure, W is a potentiometer, K is that doubly-linked is turned round sub-switch, and R is a discharge resistance, and BCR1, BCR2, BCR3 are bidirectional triode thyristor, DS1, DS2, DS3 are bidirectional diode, and C1, C2, C3 are charge and discharge capacitance, and L1, L2, L3 are coil windings.

Figure 11 is the Principle of Electric Engine structure chart, and among the figure: 20 is that sensing

contact

1,21 is sensing

contact

2,22 is that sensing

contact

3,23 is that winding L 1 24 is a winding L 3 for winding

L

2,25,26 for electronic switch assembly 3(comprises bidirectional triode thyristor, bidirectional diode, resistance, electric capacity etc.).

Now in conjunction with the accompanying drawings motor running condition is illustrated:

As Figure 10, shown in Figure 11: in original position, t0 position, 1 place, sensing contact, remove to K1 when doubly-linked being turned round sub-switch, power supply is through potentiometer W, K switch 1, sensing contact 1 is to capacitor C 1 charging, (establish the electric capacity initial potential be zero) behind time-delay a period of time τ, when the electric capacity current potential rises to the breakover voltage of bidirectional diode DS1, the DS1 conducting, trigger bidirectional triode thyristor BCR1 conducting, L1 gets the electric coil that makes to left movement, after coil moves a segment distance, and sensing contact 2 contact power supplys, behind time-delay a period of time τ, winding L 2 energisings continue to left movement, in like manner coil: after coil reruns a segment distance, and sensing contact 3 contact power supplys, behind time-delay a period of time τ, winding L 3 energisings continue to left movement motor.Like this, three sensing contacts make the winding energising in turn in t0, t1, t2, t3 position.Make coil blackout in turn in t5, t6, t7, t8 position, when the winding power on/off, lotus that electric capacity charges is through the sensing contact, and K switch and discharge resistance R discharge are for energising next time is prepared.

In the t5 position, sensing contact 3 cuts off the power supply at last, and coil continues operation by inertia, and 3 arrive the t4 position in the contact, and coil is subjected to position-limiting action and stops.

Like this, from sensing contact contact power supply, only bring into operation to the winding hot-wire coil, a delay time τ is arranged, in this delay time, previous winding sensing contact does not break away from power supply, and it is motionless to make winding hold iron core, at this moment magnetic resistance minimum, this has just played self-align effect for winding center line and core center line alignment (with reference to t1 position among Figure 17).When second winding energising, coil travels forward and makes previous sensing contact ground connection, previous winding outage, and back winding sensing contact contact power supply is for winding time-delay energising is prepared.By that analogy, like this, whole motor coil is made the batch (-type) step motion, by regulating W, changes capacitor charging time τ, thereby regulates the motor speed of service.

In t5, t8 position, the layout of control circuit makes the sensing contact shift to an earlier date a period of time outage, (seeing Figure 12) like this, when coil will move to terminal point, last sensing contact ground connection, make coil can lean on the long segment distance of inertia operation, and it is motionless can not hold iron core, makes coil move to original position when doing counter motion, prepare for counter motion, winding is in off-position in original position.

In the t4 position, when removing to K2 turning round sub-switch, sensing contact 3 at first contacts power supply, and behind time-delay a period of time τ, winding L 3 is at first switched on coil is moved right.Until moving to t0 position, 1 place, sensing contact, the right, coil is subjected to position-limiting action and stops.

It is to be noted: in any position of the whole stroke of motor, move and turn round sub-K switch and can make motor reverse, this has just overcome aforementioned two types of linear electric motors and has only moved K switch in original position, just can make the deficiency of motor operation.

Motor is in whole stroke, only coil windings is cut off the power supply in advance during near terminal point at coil, coil moves a segment distance by inertia, the most of the time of coil operation is by the electromagnetic attraction effect, it is motionless perhaps to be subjected to electromagnetic attraction to hold iron core, perhaps by the motion of electromagnetic attraction sucking coil, having overcome aforementioned two kinds of linear electric motors needs to move a segment distance by inertia in running.Thereby running reliability of motor and on-load ability have been improved.

Realize the best way of this invention, be reasonably to select single coil height h, core length l and spacing distance d establish iron core spacing distance d and single coil height here and equate, are 1/2 of core length, i.e. h=d=(1/2) l., see Figure 11, for the sake of security, power supply can adopt low-voltage safety power supply or photoelectricity coupling, and magnetic coupling position sensing mode is by cable power supply.

(4) the magneto-resistance stepping three winding coil linear electric motors of Digital Circuit Control

Above-mentioned three kinds of linear electric motors, its common trait is to adopt circuit board as power supply circuits and sensing circuit, need contact Sliding Control motor coil motion on printed substrate, this just causes the mechanical wear of contact and printed circuit inevitably, in addition, in some use occasion, because the existence of circuit board, make and install and use inconvenience, if adopt than high power supply voltage, the circuit board electric conductor is because part is exposed, there is unsafe factor to exist, and the flexibility of motor movement and control is restricted, and in order to overcome the deficiency of above-mentioned linear electric motors, opens up the application of this motor, the magneto-resistance stepping three winding coil linear electric motors of Digital Circuit Control have been designed for this reason, save position sensing circuit and sliding contact, changed by cable and directly power, improved the diversity of motor safety in utilization and control to motor windings.

This linear motor coil and guide rail internal structure and above-mentioned three winding coil magneto-resistance stepping linear motors are identical, running status is slightly different, it is characterized in that producing the time sequential pulse electric current by digital circuit, by conduction time and the power-up sequence of controlling each winding, and when power on/off, the relative position of coil and iron core, make coil with respect to the guide rail moving linearly, motor has two kinds of basic running statuses, by changing clock pulse frequency, can regulate the motor speed of service, change phase sequence any two groups in three phase windings and can change the motor traffic direction.And can add regularly location and distant control function.

Figure 13 is the output state figure of first kind of running status of motor, digital circuit.The winding switching electricity order corresponding with it is L2L1-L1-L1L3-L3-L3L2-L2-L2L1-... step pitch of motor operation is 1/4 core length, Figure 14 is the digital circuit schematic diagram, Figure 15 is second kind of running status digital circuit of motor output state figure, waveform shown in the solid line among the figure, the winding corresponding with it is logical, power down sequence is L1-L2-L3-L1-... waveform shown in the dotted line among the figure, the winding corresponding with it is logical, power down sequence is L2L3-L3L1-L1L2-L2L3-..., two kinds of supply power mode motor coils move a step pitch and are 1/2 core length.Figure 16 is the motor main circuit diagram, and Figure 17 is the motor operating state exploded view.

Among Figure 13, Figure 15, CP is a clock pulse, and Q, Q are the output state of digital circuit, and when Q was high level, Q was a low level, and Q, Q are the complementary output state.

Ic1, Ic2, Ic3 are 1/2 double D triggers among Figure 14, Ic4, Ic5 are 1/4 4 NAND gate, NAND gate Ic4, Ic5 and resistance R 1, potentiometer W, capacitor C are formed an astatic multivibrator, at the trigger impulse of d end output one square-wave pulse (change W and can change the impulse hunting frequency) as d type flip flop, three triggers are connected into count status, when clock pulse arrived, the output of one-level was thereafter determined by the input state of previous stage D end.AN1 is the zero setting button, AN2 is for putting 1 button, K1 is a reversing switch, move K1 and can change the phase sequence of motor windings A, C two-phase, thereby change the motor traffic direction, K3 is the clock pulse output control switch, and K2 is the motor operating state change over switch, K4 is the oscillation circuit power control switch, and R2, R3, R4 are set resistance.

When K2 is removed to K2-3, the K2-1 position clicks reset button AN1, K3 closes, K4, its Q1, Q2, Q3 output waveform as shown in figure 13, when K2 is removed to K2-4, the K2-2 position, click reset button AN1, click again and put 1 button AN2, the K3 that closes, K4, then Q1, Q2Q3 end output state is shown in Figure 15 solid line, and Q1, Q2, Q3 end output state are shown in Figure 15 dotted line.Among Figure 16, current-limiting resistance R4, R5, R6, triode BG1, BG2, BG3 form transistor amplifier circuit, and this amplifying circuit removes to trigger 3 controllable silicon SCR 1, SCR2, SCR3 by current-limiting resistance R1, R2, R3 after the trigger output signal is amplified.L1, L2, L3 be coil windings (for make the controllable silicon reliable turn-off can be in L two ends and Continuous Flow diode figure the end draw) C1 is decompression capacitor, R7 is a dropping resistor, BW is a voltage-stabiliser tube, D is a rectifier diode, C2 is a filter capacitor.C1, C2, BW, R7, D form step-down rectifying circuit, and output 12V direct voltage is as control voltage.

Be that example is described to motor windings with the running status of L1-L2-L3-L1 order supply power mode now in conjunction with Figure 15, Figure 17:

Among Figure 17,27 is the A phase coil, and 28 is the B phase coil, and 29 is the C phase coil, Figure 17 (a) is an initial state, when first clock pulse arrived, A phase winding L1 energising moved right coil, in the t1 position, as a fixed length is arranged conduction time, it is motionless that the A phase coil holds iron core, the alignment of A phase coil center line and core center line, the self-locating function of Here it is coil.Iron core stretches into B phase coil certain-length δ simultaneously, coil position is seen Figure 17 (b), when second clock pulse arrives, the outage of A phase coil, the energising of B phase coil moves right coil continuously, in the t1 position, B phase coil center line and the alignment of core center line, at this moment the C phase coil stretches into the iron core certain-length, coil position is seen Figure 17 (c), when the 3rd clock pulse arrives, the energising of C phase coil makes coil continue to move right, in the t1 position, C phase coil center line and the alignment of core center line, at this moment, the A phase coil stretches into second iron core certain-length, coil position is seen Figure 17 (d), and when the 4th clock pulse arrived, the A phase coil was switched on once more and made coil continue to move right, in the t2 position, A phase coil center line and the alignment of core center line, at this moment the B phase coil stretches into second iron core certain-length, and coil position is seen Figure 17 (e), by that analogy ... when clock pulse arrived, three coils were logical successively, outage, whole winding will move right continuously with step-by-step system, change A, B, the phase sequence of any two-phase of C three-phase coil, can change the motor traffic direction, change clock pulse frequency, can change the motor speed of service.

Realize the best way of this invention, be reasonably to design digital circuit and select components and parts, make the output state of digital circuit reach Figure 13, requirement shown in Figure 15, and can realize the conversion of motor operating state easily, improve the reliability of control circuit and main circuit, owing to adopt cable to power to motor coil, the layout of service cable and erection mode also should award due attention.

(5) the magneto-resistance stepping four winding coil linear electric motors of position sensing circuit and electronic switch are arranged.

These linear electric motors are on the basis of above-mentioned second kind of linear electric motors, each coil is divided into two, every coil has a sensing contact, every contact separation distance equals a coil height, be 1/2 of core length, arrangement mode and above-mentioned second kind of linear electric motors of the inner iron core of its guide rail are identical.

When making motor reciprocating, original position and operation conditions are consistent, and the arrangement of control circuit board has been done bigger change, and Figure 18 is the Principle of Electric Engine structure chart, and Figure 19 is the Principle of Electric Engine winding diagram, and Figure 20 is the control circuit layout plan.

Now in conjunction with the accompanying drawings motor running condition is described.

Among Figure 18,30 is that sensing

contact

1,31 is that sensing

contact

2,32 is that sensing

contact

4,34 is coil windings L1 for sensing

contact

3,33, and 35 is that winding

L

2,36 is that winding

L

3,37 is that winding

L

4,38 is an electronic switch assembly 4.

In Figure 19, W is a potentiometer, and K is the doubly-linked toggle switch, and R is a discharge resistance, and SCR1～SCR4 is an one-way SCR, and C1～C4 is a charging capacitor, and L1～L4 is a coil windings.

In original position, t0 position, 1 place, sensing contact, sensing contact 1 contact power supply, power supply is through K switch, potentiometer W, sensing contact 1 is to capacitor C 1 charging, behind time-delay a period of time τ, when electric capacity charges to certain voltage value, trigger controllable silicon SCR 1, the SCR1 conducting, winding L 1 energising makes coil to left movement, because contact 1 does not break away from power supply, it is motionless that winding L 1 holds iron core, in the t2 position, winding L 1 center line and the alignment of core center line, winding L 2 sensing contacts contact power supply in the t1 position: behind time-delay a period of time τ, L1L2 acting in conjunction propelling coil continues to left movement, in the t2 position, sensing contact 1 ground connection, winding L 1 outage, sensing contact 3 is at t1 position contact power supply, in delay time τ, have only winding L 2 energisings, so in the t1 position, winding L 2 center lines and the alignment of core center line, behind time-delay a period of time τ, winding L 3L2 acting in conjunction propelling coil continues to left movement, in the t2 position, sensing contact 2 ground connection, the L2 outage, winding L 3 center lines and the alignment of core center line are in the t1 position, sensing contact 4 contact power supplys, behind time-delay a period of time τ, winding L 3L4 acting in conjunction continues to left movement, in the t2 position coil, sensing contact 3 ground connection L3 outage, winding L 4 center lines and and core center line alignment.In the t3 position, sensing contact 1 contacts power supply once more, behind time-delay a period of time τ, L4L1 acting in conjunction propelling coil continues to left movement, in the t2 position, sensing contact 4 ground connection, the L4 outage, in the t3 position, sensing contact 2 contacts power supply once more ... by that analogy, like this, four windings are logical successively in order, outage, motor operating state is fully by the electromagnetic attraction effect, the motor operation is by two winding energising actings in conjunction, coil is static to be leaned on a winding energising and holds motionlessly, and the distance that coil whenever takes a step forward is 1/2 core length, when reaching home, the last power supplys that break away from sensing contact 4 move motor to be subjected to position-limiting action behind one segment distance and stop by inertia.Remove to the K2 position when doubly-linked being turned round sub-switch, L4 sensing contact at first contacts power supply, behind time-delay a period of time τ, L4 at first switches on and makes coil begin to move right, in the motor coil running, move and turn round sub-switch and always can make coil change traffic direction, by regulating W, change capacitor charging time, can change the motor speed of service.

In Figure 18, the layout of control circuit board is cut off the power supply the sensing contact in advance in the time will reaching terminal point, 39 is right lateral current-carrying parts among the figure, the 40th, the left lateral current-carrying part, the 41st, the outage part, the 42nd, left lateral, the common current-carrying part of right lateral, the purpose of the arrangement of this circuit board is to make a motor left side, right operation original position and operation conditions unanimity, by turning round sub-switch control motor left lateral, right lateral, when the motor right lateral, the left lateral partial earthing, when the motor left lateral, the right lateral partial earthing, the purpose of ground connection: being provides a discharge path by the sensing contact to electric capacity, so that the charging again once more of next electric capacity.

Realize the best way of this invention: the reasonable Arrangement that is sensing circuit, make the left and right capable running status of motor consistent with original position, when motor will be reached home, reasonably select the sensing contact to shift to an earlier date de-energized, make motor after outage, carry out the transition to spacing point reposefully, the bigger impact of unlikely again generation by inertia, for reducing impact, can consider near reload buffer spring motor coil two ends or spacing point, for safety, main circuit can change by cable power supply.

Six, four winding coil magneto-resistance stepping linear motors of Digital Circuit Control.

Inner core structure of this linear motor coil and guide rail and above-mentioned the 5th kind of linear electric motors are identical, different is to have save position sensing circuit and sliding contact, and produce the time sequential pulse electric current by digital circuit, by cable respectively to four coil power supplies, can regulate motor speed easily, change traffic direction and can add timing, locate and shake the control function.

Figure 20 is each coil electricity sequential chart of this motor, and CD is a clock pulse among the figure, and Q1, Q2, Q1, Q2 are the digital circuit output state, and Q, Q are complementary output end.Figure 21 is the control circuit schematic diagram, and among the figure: Ic1, Ic2 are 1/2 double D trigger, and Ic3, Ic4, Ic5, Ic6 are 1/4 4 NAND gate, K is a reversing switch, and BG1, BG2, BG3, BG4 are triode, and BCR1～BCR4 is a bidirectional triode thyristor, C3 is a decompression capacitor, R7 is a current-limiting resistance, and BW is a voltage-stabiliser tube, and D is a rectifying tube, C2 is a filter capacitor, R2 is a discharge resistance, and R3, R4, R5, R6 are that controllable silicon triggers resistance, and R1 and W are respectively oscillating circuit resistance and potentiometer.

Now in conjunction with the accompanying drawings the control circuit principle is illustrated:

Among Figure 21, digital circuit is formed by clock pulse and circuits for triggering are formed, and pulse shaping circuit is made up of NAND gate Ic3, Ic4, R1, W1, C1, and circuits for triggering are made up of double D trigger Ic1, Ic2.

When removing to the K1 position turning round sub-switch, start working by the astatic multivibrator that Ic3, Ic4, R1, W, C1 form, at a end square-wave pulse output is arranged.Pulse period can change the output pulse period by R1, W1, C1 decision by regulating W1.

Assumed initial state Q1=Q2=0 is a low level, when first clock pulse arrives, Ic1 is triggered in the forward position, Ic2 is triggered along after Ic6 swings in the back, then Ic1 upset earlier, overturn behind the Ic2, the order of output high level is Q1, Q2, Q1, Q2, and the coil windings power-up sequence is L4L1-L1L2-L2L3-L3L4-L4L1, supposes that motor moves right.When removing to the K2 position turning round sub-switch, when first clock pulse arrives, the forward position is through Ic5, trigger Ic2 after the paraphase of Ic6 two-stage, the back is along trigger Ic1 after the Ic5 paraphase, then Ic2 upset earlier, overturn behind the Ic1, the order of output high level is Q2, Q1, Q2, Q1, the coil windings power-up sequence is L4L3-L3L2-L2L1-L1L4, motor is to left movement, when K being removed to the K0 position, control circuit cuts off the power supply, and motor is out of service, the function of R2 is after making the oscillating circuit outage, lotus that electric capacity charges is bled off rapidly, when doing counter motion after avoiding cutting off the power supply, cause the asynchronous commutation failure (being that motor is still by the original direction operation) that causes of oscillating circuit thereupon with circuits for triggering because of there is electric charge in electric capacity.

Can change the output impulse hunting cycle by regulating W, thereby change coil electrify time.Comprise that the time and the coil that make coil movement hold the motionless static time of iron core conduction time, when supply voltage one timing, the time of sucking coil motion is certain, and the cycle is long more, and conduction time is long more, motor coil is long more quiescent time, motor speed is slow more, otherwise motor speed is fast more, pulse of every output, coil just takes a step forward, and the distance that coil takes a step forward is 1/2 core length.

Figure 22 is the motor operating state exploded view:

43 is the D phase coil among the figure, and 44 is the C phase coil, and 45 is the B phase coil.46 is the A phase coil, and 47 is the integral type yoke.Now motor operating state is further described in conjunction with Figure 20, Figure 21 and Figure 22:

Figure 22 (a) is the motor original position, from Figure 20, Figure 21 as can be known, when first clock pulse arrives, Q1, Q2 successively exports high level, BG1, BG2 conducting successively triggers controllable silicon BCR1, BCR2, the L1L2 winding is successively switched on, then A mutually and the motion of successively switching on of B phase coil, during this pulse keeps, coil position shown in Figure 22 (b) (because of A, the B coil is switched on simultaneously, according to minimum reluctance theory, at this moment A, it is motionless that B two coils can hold iron core simultaneously, at this moment magnetic resistance minimum) can see from Figure 22 (b), A, B for just in "on" position, C, D is equipped with "on" position for giving, and has only C phase B to keep "on" position may make motor continue to move right mutually) when second clock pulse arrives, the Q1 output low level, Q ₁The output high level, BG2 keeps conducting, and BG3 begins conducting, and BCR1, BCR4 turn-off, BCR2, BCR3 conducting make the L2L3 energising, then C phase and the energising of B phase coil make motor continue to move right, and during pulse kept, the coil movement position was shown in Figure 22 (c), in like manner: when the 3rd clock pulse arrives, D is conducted, and B turn-offs mutually, and C phase, the energising of D phase coil make coil continue to move right; During pulse kept, the coil present position was shown in Figure 22 (d), when the 4th clock pulse arrives, C turn-offs mutually, A switches on mutually, and D phase, A switch on mutually and make coil continue to move right, during pulse keeps, the coil present position is shown in Figure 22 (e), by that analogy, when clock pulse output is constantly arranged, four coils will alternately have two coil electricities, two coil blackouts, (noticing that two coil switching electricity are sequential) thus coil is continued towards a direction motion.When removing to the K2 position turning round sub-switch, then when clock pulse arrived, D phase, C phase coil were successively switched on, and D phase, C phase coil are at first switched on coil is begun to left movement as can be known from Figure 22 (a) original position.

Realize the best way of this invention, be reasonably to select the size and the mutual alignment thereof of coil and guide rail, height as single coil equals 1/2 core length, core length and spacing distance equate, reasonably design the parameter of digital circuit and components and parts to reach output state function shown in Figure 20, and after motor was stopped towards a direction motion, moving control switch can make motor reverse at an easy rate, can also adopt other control circuit and method certainly.In addition, on loop construction, adopted integral type yoke as shown in figure 23, this yoke material is industrial soft iron, be easy to processing and manufacturing, very convenient to the winding installation, maintenance, and can make the symmetrical configuration of each winding and performance equate that this integral type yoke is equally applicable to the loop construction of above-mentioned various linear electric motors.

Claims

1, magneto-resistance stepping linear motor (one) has the simplex winding coil magneto-resistance stepping linear motor (two) of position sensing circuit and electronic switch to have the double winding coil magneto-resistance stepping linear motor (three) of position sensing circuit and electronic switch that position sensing circuit and electronic switch are arranged, magneto-resistance stepping linear motor (five) with three winding coil magneto-resistance stepping linear motor (four) Digital Circuit Control of time-delay energising function has position sensing circuit and electronic switch, has four winding coil magneto-resistance stepping linear motors of four winding coil magneto-resistance stepping linear motor (six) Digital Circuit Control of time-delay energising function.These linear electric motors are by coil, and the guide rail (pipe) and control circuit (the comprising position sensing circuit) composition of discontinuous iron core contained in inside, and coil is enclosed within on the guide rail, can do linear relative movement vertically by control circuit power supply, coil and guide rail.It is characterized in that: the coil of these linear electric motors is simplex winding coil and the combination thereof that yoke is housed, the physical dimension h of coil and iron core, 1 and iron core between spacing distance d corresponding relation is arranged, the switching of the control circuit control coil winding electricity time, in proper order, frequency, and during the switching electricity, the relative position of coil and iron core.

2, according to claim 1 described linear electric motors (), (two), (three), (five), it is characterized in that: position sensing circuit is produced on the strip printed circuit board (PCB), be installed in apart from the top of guide rail certain distance, and below or side, parallel with guide rail.

3, according to claim, 1,2 described linear electric motors (), (two), (three), (five) is characterized in that: the shared a pair of power supply power supply main contacts of coil, on each coil with a sensing contact, sensing contact separation distance and single coil height h equate, the contact is contained on the carbon brush holder that is fixed on the coil and the printed circuit on the printed circuit board (PCB) face contacts.

4, according to claim 1 described linear electric motors (), (two), (three).(5), it is characterized in that: first contact electronic switch supporting with the simplex winding coil is housed on coil.

5, according to claim 2,3,4 described linear electric motors (two), it is characterized in that: the double winding coil can be an integral type, also can be arranged apart, when arranged apart the spacing distance of two coils be core length l even doubly, single coil height h and core length l, iron core spacing distance d equates that step pitch of motor operation is a core length l.

6, according to claim 1,2,3,4 described linear electric motors (three), (four) is characterized in that coil height h equals iron core spacing distance d; Be 1/2 of core length l.

7, according to claim 2,3,4,6 described linear electric motors (three), (five) is characterized in that: a time-delay power-on circuit is arranged in the control circuit, and motor operation step pitch is 1/2 of core length l.

8, according to claim 1,6 described linear electric motors (four), (six), it is characterized in that: produce by digital circuit, and the sequential electric current of control is powered to coil in turn through cable.

9, according to claim 6,8 described linear electric motors (four), it is characterized in that: motor has two kinds of stepping states, is 1/4,1/2 core length, changes the phase sequence of any two-phase in three phase windings, can change the motor traffic direction.

10, according to claim 2,3,4,7,8 described linear electric motors (five), (six) is characterized in that: each coil height is 1/2 of core length l, core length l and spacing distance d equate.