CN111384837A - Automation equipment, linear motor, primary linear motor and assembly method thereof - Google Patents

Abstract

The invention relates to the field of linear motors, and provides automation equipment, a linear motor primary and an assembly method thereof. The invention provides a linear motor primary which comprises a primary iron core, wherein the primary iron core comprises a tooth part unit and a yoke part unit, the tooth part unit comprises at least two annular teeth, each annular tooth is distributed along the axial direction, the partial position of the radial inner side end of each annular tooth is fixedly connected with the partial position of the radial inner side end of the adjacent annular tooth, and the radial outer side end of each annular tooth is fixedly connected with the yoke part unit. The linear motor comprises the linear motor primary, and the automation equipment comprises the linear motor. Thus, the insulating framework and the winding are conveniently installed in the space between the radial outer side of the tooth part unit and the interval space, the winding difficulty of the winding is favorably reduced, the groove filling rate is favorably improved, the thrust performance of the linear motor is favorably improved, in addition, the magnetic leakage is favorably reduced, and the thrust performance of the linear motor is further favorably improved.

Description

Automation equipment, linear motor, primary linear motor and assembly method thereof

technical field

The invention relates to the field of linear motors, in particular to an automation device, a linear motor, a primary linear motor and an assembling method thereof.

Background technique

In order to reduce the cogging force of the motor, in the prior art, the cogging of the primary iron core is designed in a semi-closed form, but it is difficult to wind the wire on the primary iron core in this way.

In order to solve the above problems, the German Patent Application Publication No. DE102014220148A1 sets the tooth unit and the yoke unit of the primary iron core as separate types, which facilitates the winding of the tooth unit from the back of the tooth unit, and the After the unit winding is completed, the tooth unit and the yoke unit are assembled.

However, for a linear motor whose primary teeth are annular, especially in the primary where the teeth are located radially inward of the yoke, the primary coil is wound in the space between the annular teeth, so it cannot be used for individual The annular tooth unit is wound.

SUMMARY OF THE INVENTION

One of the objectives of the present invention is to provide a linear motor primary with lower difficulty in winding operation and better thrust performance.

In order to achieve the above purpose, the primary of the linear motor provided by the present invention includes a primary iron core, an insulating skeleton and a winding; the primary iron core includes a tooth unit and a yoke unit, and the tooth unit includes at least two annular teeth, each annular tooth edge Axial distribution, part of the radial inner end of each annular tooth is fixedly connected with part of the radial inner end of the adjacent annular tooth, and the radial outer end of each annular tooth is fixedly connected to the yoke unit; There is an interval between the teeth, the winding is wound in the interval along the circumferential direction, and the insulating frame is separated between the winding and the primary iron core.

It can be seen from the above that the present invention sets the yoke unit and the tooth unit separately by designing the primary structure of the linear motor, and the tooth unit is integrated before being assembled with the yoke unit, so that it is convenient to know the diameter of the tooth unit from the diameter of the tooth unit. Installing the insulating skeleton and winding windings in the outer space is beneficial to reduce the installation difficulty of the insulating skeleton, reduce the difficulty of winding winding, and improve the slot full rate and the thrust performance of the linear motor. In addition, In the present invention, the radially inner ends of adjacent annular teeth are not completely connected, which is beneficial to reducing magnetic leakage and further improving the thrust performance of the linear motor.

A preferred solution is that the central angle corresponding to the connecting portion between two adjacent annular teeth is less than or equal to 180°.

It can be seen from the above that this is conducive to reducing the magnetic leakage and improving the thrust performance of the linear motor.

Another preferred solution is that, two adjacent annular teeth are fixedly connected at least at two places distributed in the circumferential direction.

It can be seen from the above that this is beneficial to improve the structural strength and stability of the tooth unit, and is beneficial to reduce the deformation of the tooth unit.

A further solution is that the sum of the central angles corresponding to the connecting parts between two adjacent annular teeth is less than or equal to 180°.

Another preferred solution is that the tooth unit is formed by splicing at least two pieces.

It can be seen from the above that this is conducive to reducing the processing difficulty of the gear unit and improving the economy of the primary linear motor.

Another preferred solution is that the tooth unit includes a first segment and a second segment, the first segment has at least two, the first segment is a first arc-shaped tooth segment, and the second segment has at least two. The second arc tooth segment, each second arc tooth segment is distributed along the axial direction, the radial inner end of each second arc tooth segment is fixedly connected with the radial inner end of the adjacent second arc tooth segment, the third arc tooth segment is A piece is spliced with the second arc-shaped tooth segment to form a ring-shaped tooth.

As can be seen from the above, this is beneficial to reduce the processing difficulty of the tooth unit, and is beneficial to improve the economy; and, because this solution does not divide the connection position between the annular teeth, it is beneficial to connect the second arc-shaped tooth segments. The cross-section of the position is set smaller, which is further conducive to reducing magnetic leakage and improving the thrust performance of the linear motor; at the same time, it is beneficial to ensure that the installation position of each block is accurate and stable.

In a further solution, the first block is formed by stacking a plurality of silicon steel sheets distributed in the circumferential direction, and/or the second block is formed by stacking a plurality of silicon steel sheets distributed in the circumferential direction.

It can be seen from the above that this is further conducive to reducing the processing difficulty of the tooth unit and improving the economy.

A further solution is that the radial inner end of the first segment has a tooth shoe, the tooth shoe extends along the circumferential edge of the radial inner end of the first segment, and the tooth shoe protrudes toward the adjacent annular teeth in the axial direction, There is a space between the tooth shoes of two adjacent annular teeth.

It can be seen from the above that the design of the gear shoe is conducive to reducing the cogging force of the linear motor and further improving the thrust performance of the linear motor.

A further solution is that the first block is glued and connected with the second arc-shaped tooth segment.

A further solution is that there are at least two second blocks, each second block is distributed along the circumferential direction, and each annular tooth is formed by splicing at least two first blocks and at least two second arc tooth segments, In the same annular tooth, each first segment and each second arc tooth segment are staggered.

It can be seen from the above that this is beneficial to improve the structural stability of the tooth unit and to improve the positional accuracy of each segment.

Another preferred solution is that the insulating skeleton is formed by splicing at least two arcuately extending slot segments in the interval, the insulating skeleton has an annular groove with the notch facing the radial outer side, and the windings are wound in the annular groove of the insulating skeleton. .

It can be seen from the above that this is conducive to reducing the installation difficulty of the insulating frame, and is beneficial to the structural stability of the insulating frame.

The second purpose of the present invention is to provide a method for assembling the primary of a linear motor with lower difficulty in primary winding operation and better thrust performance of the linear motor.

In order to achieve the above object, the assembling method of the linear motor provided by the present invention is used for assembling the aforementioned linear motor primary, and the method includes: installing an insulating frame in the space; winding the insulating frame to form a winding; connecting the yoke unit to each The radially outer ends of the annular teeth.

It can be seen from the above that it is convenient to install the insulating skeleton and the winding winding from the radial outer side of the tooth unit to the space, which is beneficial to reduce the installation difficulty of the insulating skeleton, reduce the difficulty of winding winding, and improve the slot filling rate. , which is beneficial to improve the thrust performance of the linear motor. In addition, the radial inner ends of adjacent annular teeth in the present invention are not completely connected, which is conducive to reducing flux leakage and improving the thrust performance of the linear motor.

The third object of the present invention is to provide a linear motor with lower difficulty in primary winding operation and better thrust performance.

In order to achieve the above object, the linear motor provided by the present invention includes the aforementioned linear motor primary.

It can be seen from the above that the present invention adopts the aforementioned primary linear motor, which facilitates the installation of the insulating skeleton and the winding winding from the radial outer side of the tooth unit to the space, which is beneficial to reduce the installation difficulty of the insulating skeleton and the winding of the windings. In addition, in the present invention, the radial inner ends of adjacent annular teeth are not completely connected, which is conducive to reducing flux leakage and improving the thrust performance of the linear motor. Thrust performance of linear motors.

The fourth purpose of the present invention is to provide an automatic device with low difficulty in primary winding operation of the linear motor and better thrust performance of the linear motor.

In order to achieve the above object, the automation equipment provided by the present invention includes the aforementioned linear motor.

Description of drawings

1 is a structural diagram of an embodiment of a linear motor of the present invention;

Fig. 2 is the sectional view of the linear motor embodiment of the present invention;

Fig. 3 is the structure diagram of the gear unit in the primary embodiment of the linear motor of the present invention;

Fig. 4 is the structure diagram of the second block in the primary embodiment of the linear motor of the present invention;

5 is a structural diagram of a first block located at an axial end in the primary embodiment of the linear motor of the present invention;

6 is a structural diagram of a first block located in the middle of the axial direction in the primary embodiment of the linear motor of the present invention;

Fig. 7 is the structure diagram of the slot section in the primary embodiment of the linear motor of the present invention;

FIG. 8 is a structural diagram of a semi-cylindrical body in the primary embodiment of the linear motor of the present invention.

Detailed ways

Primary embodiment of linear motor:

1 and 2 , the primary 1 of the linear motor in this embodiment includes a primary iron core 11 , an insulating frame 12 and a winding 13 , the primary iron core 11 includes a yoke unit 111 and a tooth unit 112 , and the tooth unit 112 has seven 3, each annular tooth in this embodiment is formed by splicing the first segment 1121 and the second arc tooth segment 11221 described below, and each annular tooth is distributed along the axial direction, and the yoke The unit 111 is a cylindrical structure, and the yoke unit 111 includes two cylindrical arc plate-shaped semi-cylindrical bodies 1111. The two semi-cylindrical bodies 1111 are assembled into a cylindrical yoke unit 111. The inner cylindrical wall of the yoke unit 111 is connected.

Please refer to FIGS. 3 and 4 , the tooth unit 112 includes twenty-eight first segments 1121 and four second segments 1122 . The first segments 1121 are first arc tooth segments, and each first arc The central angle corresponding to the tooth segment is 75°, each second block 1122 includes seven second arc tooth segments 11221, and the central angle corresponding to the second arc tooth segments 11221 is 15°, please refer to FIG. In the second block 1122, the second arc tooth segments 11221 are distributed in turn in the axial direction, and the radial inner end of each second arc tooth segment 11221 is integrally connected with the radial inner end of the adjacent second arc tooth segment 11221. A second tile 1122 is formed.

Please refer to FIG. 3 , each second segment 1122 is distributed along the circumferential direction, and each annular tooth is formed by splicing four first segments 1121 and four second arc tooth segments 11221. In the same annular tooth, four The first block 1121 and the four second arc-shaped tooth segments 11221 are alternately distributed in the circumferential direction and connected in sequence.

Specifically, the first block 1121 and the second arc tooth segment 11221 are adhesively connected.

2 , 3 and 7 , the insulating frame 12 has six, six annular spacers 1123 are formed between the seven annular teeth, the six spacers 1123 are distributed along the axial direction, and the six insulating frames Each insulating frame 12 includes two circumferentially extending groove sections 121, and the two groove sections 121 are spliced to form an annular groove-shaped insulating frame 12. The arc of the groove section 121 The annular groove of the insulating frame 12 is formed by splicing to the groove 122 , and the annular groove of the insulating frame 12 faces radially outward.

Referring to FIG. 2 , there are six windings 13 . The six windings 13 are respectively wound in the annular grooves of the six insulating skeletons 12 . The windings 13 are wound from the radial outer side of the insulating skeleton 12 to the insulating skeleton 12 , and the windings 13 are circumferential to winding.

When assembling the primary 1 of the linear motor, the first step is to splicing the first block 1121 and the second block 1122 to form the tooth unit 112 (as shown in FIG. 3 ); Two slot segments 121, the slot segments 121 in the same interval 1123 are spliced to form an insulating skeleton 12; the third step is to wind the winding 13 in the annular groove of each insulating skeleton 12; 1111 are respectively installed and connected to the radially outer ends of the respective annular teeth, and the two semi-cylindrical bodies 1111 enclose a cylindrical yoke unit 111 .

Since the primary iron core 11 is set as the tooth unit 112 and the yoke unit 111 in this embodiment, the purpose of winding the winding 13 from the radially outer side of the tooth unit 112 can be achieved, which is beneficial to reduce the difficulty of winding and is beneficial to Increasing the full ratio of the groove is beneficial to improve the performance of the primary of the linear motor, and then improve the thrust performance of the linear motor. Moreover, since the adjacent annular teeth are fixedly connected at the radial inner end, on the one hand, the tooth unit 112 is connected to the The yoke unit 111 can be formed as a whole before being assembled, which facilitates the installation of the insulating skeleton 12 and the winding winding 13 in the interval space 1123, which is beneficial to reduce the difficulty of winding the winding 13. On the other hand, the adjacent annular teeth of this embodiment are The radial inner ends of the s are not completely connected, which is beneficial to reduce the magnetic leakage of the linear motor and improve the thrust performance of the linear motor.

Preferably, please refer to FIG. 2 , FIG. 3 and FIG. 8 , the radial outer side wall of the annular tooth has a limiting groove 1124 , the inner cylinder wall of the yoke unit 111 has a limiting protrusion 1112 , the limiting groove 1124 and The limiting protrusions 1112 are all annular extending in the circumferential direction, and the limiting protrusions 1112 are embedded in the limiting grooves 1124 , which is conducive to limiting and positioning the cooperation between the tooth unit 112 and the yoke unit 111 , which is beneficial to Ensuring the accuracy and stability of the positions between the pieces of the primary iron core 11 is conducive to improving the assembling precision and reducing the difficulty of assembling.

5 and 6 , the radially outer sidewall of the first segment 1121 has a circumferentially extending groove 11212, and the radially outer sidewall of the second arc-shaped tooth segment 11221 has a circumferentially extending groove 11222, Slot 1124 is defined as slot 11212 and slot 11222 spliced together.

Preferably, please refer to FIG. 3 , FIG. 5 and FIG. 6 , the radial inner end of the first block 1121 has a tooth shoe 11211 , the tooth shoe 11211 extends along the circumferential edge of the radial inner end of the first block 1121 , and the tooth shoe 11211 It protrudes toward the adjacent first blocks 1121 in the axial direction, and there is a distance between the tooth shoes 11211 of the adjacent first blocks 1121. The insulating frame 12 is in radial contact with the tooth shoes 11211. The radial inner end is provided with a tooth shoe 11211 to reduce the distance between the radial inner end of each annular tooth in the axial direction and the notch at the radial inner end of the tooth unit 112, which is beneficial to reduce the distance between the annular teeth. The cogging force is conducive to improving the thrust performance of the linear motor, and is conducive to improving the stability and reliability of the primary 1 of the linear motor. Moreover, the radial positioning of the insulating skeleton 12 by the gear shoe 11211 is beneficial to the insulating skeleton 12 and the The installation position of the winding 13 is accurate and stable. In addition, since the tooth unit 112 of this embodiment can be wound from the radially outer side, the installation of the tooth shoe 11211 will not adversely affect the winding operation.

Specifically, please refer to FIGS. 5 and 6 , there are two types of first blocks 1121 . The two types of first blocks 1121 are respectively a block 1121 a and a block 1121 b , and the block 1121 a is located at the axial end of the tooth unit 112 . , the block 1121b is located between the two blocks 1121a at both ends in the axial direction. In the axial direction, the radial inner end of the block 1121a has a tooth shoe 11211 only on one side, and the radial inner end of the block 1121b is on both sides. With tooth shoe 11211.

Optionally, in other embodiments of the present invention, the tooth unit may also be divided into other blocks. For example, the tooth unit is formed by splicing a third block and a fourth block, and the third block is a whole ring. Ring-shaped teeth, the third block has a fitting groove at the radial inner end, the fourth block is strip-shaped, and the fourth block is embedded in each fitting groove, so as to realize the connection between the third block and the fourth block. For connection, it is preferable that there are more than two fourth blocks, and each fourth block is distributed along the circumferential direction. The accurate position and posture between the two are beneficial to the regularity of the structure and shape of the tooth unit 112, and is beneficial to ensure the excellent performance of the linear motor.

Optionally, in other embodiments of the present invention, the tooth unit may also be an integral structure, and the entire tooth unit is a part. Of course, the processing of the tooth unit 112 is difficult in this way. The primary iron core of this embodiment is 11 The use of a block structure is beneficial to the simple production of the primary iron core 11, especially the block method of the first block 1121 and the second block 1122 in this embodiment, so that the first block 1121 and the second block 1122 are composed of It is composed of a plurality of circumferentially stacked silicon steel sheets, and the first block 1121 and the second block 1122 are easy to process and produce.

Preferably, in other embodiments of the present invention, the connection between the first block 1 and the second arc-shaped tooth segment has a positioning structure, for example, a positioning groove is provided on the circumferential end surface of the first arc-shaped tooth segment, There are positioning protrusions on the circumferential end surfaces of the two arc-shaped arc segments, and the positioning protrusions are embedded in the positioning grooves. Of course, the positioning method of the first segment and the second arc-shaped tooth segment can also refer to the prior art. The specific setting is performed in the limiting mode, which will not be repeated here.

Optionally, in other embodiments of the present invention, the yoke unit may also be a cylinder with an integrated structure, and the tooth unit with the insulating frame and the windings installed is axially inserted into the cylinder of the yoke unit, and the yoke unit The fixation with the tooth unit can be, for example, setting an axially extending limit bar on the inner cylinder wall of the yoke unit, and setting an axially through limit groove on the radially outer side wall of the annular tooth to limit the position of the tooth. The strip is embedded in the limiting groove, and the radially outer side wall of the annular tooth is glued to the inner cylinder wall of the yoke unit; The processing and installation of the yoke unit 111 is difficult, and the cooperation between the circumferentially extending limiting groove 1124 and the limiting protrusion 1112 is more conducive to bearing the axial thrust, which is beneficial to ensure the stable connection between the tooth unit 112 and the yoke unit 111 reliable.

Alternatively, in other embodiments of the present invention, the insulating frame may also be integrally injection-molded on the tooth unit, so that the insulating frame is not formed by splicing two or more slot segments.

In this embodiment, there are four second blocks 1122, and the sum of the central angles corresponding to each of the second blocks 1122 is 60°. Of course, in other embodiments of the present invention, the number of the second blocks 1122 is also It may not be four, for example, the number of second blocks 1122 is two or three, and the sum of the central angles corresponding to each second block 1122 is not necessarily 60°, preferably the center corresponding to each second block 1122 The sum of the angles is less than or equal to 180°, that is, the sum of the central angles corresponding to the connecting parts between the adjacent annular teeth is less than or equal to 180°, so as to minimize the connection between the annular teeth and minimize the magnetic leakage.

Example of the assembly method of the primary linear motor:

The assembling method of the primary linear motor of this embodiment includes: the first step, splicing each first block 1121 and each second block 1122 to form the tooth unit 112; In the third step, the windings 13 are wound in the annular grooves of the insulating skeletons 12; The bodies 1111 are respectively mounted and connected to the radially outer ends of the respective annular teeth, and the two semi-cylindrical bodies 1111 enclose the cylindrical yoke unit 111 . The winding difficulty of the winding 13 is relatively low, and the economy is good.

Examples of linear motors:

1 and 2, the linear motor of this embodiment includes a primary and a secondary 2. The primary uses the aforementioned linear motor primary 1, and the secondary 2 includes a secondary iron core 21 and a plurality of permanent magnets 22. The secondary iron core 21 is cylindrical, the permanent magnet 22 is annular, the permanent magnet 22 is sleeved on the secondary iron core 21 , and each permanent magnet 22 is distributed along the axial direction of the secondary iron core 21 .

The primary is sleeved on the secondary 2, and the secondary 2 is located in the ring of the annular tooth.

Due to the use of the aforementioned primary 1 of the linear motor, on the one hand, it is beneficial to reduce the winding difficulty of the primary winding 13, and it is beneficial to improve the slot filling rate, which is beneficial to improve the thrust performance of the linear motor, and on the other hand, it is beneficial to reduce the magnetic leakage, It is further beneficial to improve the thrust performance of the linear motor.

Optionally, the linear motor in this embodiment may be a moving coil type linear motor or a moving magnet type linear motor.

Examples of automation equipment:

The automation equipment in this embodiment is a numerical control machine tool (not shown in the figure), and the linear motor is applied to the feeding system of the numerical control machine tool. Of course, in other embodiments of the present invention, the automation equipment can also be a machining center, an automatic production line etc., especially the drive equipment on the automated production line, the linear motor is used to drive the actuator movement on the automated production line.

Finally, it should be emphasized that the above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Within the scope of the present invention, any modifications, equivalent replacements, improvements, etc. made should be included within the protection scope of the present invention.

Claims (14)

1. The linear motor primary comprises a primary iron core, an insulating framework and a winding;

the method is characterized in that:

the primary iron core comprises a tooth part unit and a yoke part unit, the tooth part unit comprises at least two annular teeth, each annular tooth is distributed along the axial direction, the partial position of the radial inner side end of each annular tooth is fixedly connected with the partial position of the radial inner side end of the adjacent annular tooth, and the radial outer side end of each annular tooth is fixedly connected with the yoke part unit;

and a spacing space is formed between each annular tooth, the winding is wound in the spacing space along the circumferential direction, and the insulating framework is separated between the winding and the primary iron core.

2. The linear motor primary of claim 1, wherein:

the corresponding central angle of the connecting part between two adjacent annular teeth is less than or equal to 180 degrees.

3. The linear motor primary of claim 1, wherein:

two adjacent annular teeth are fixedly connected at least at two circumferentially distributed positions.

4. A linear motor primary as claimed in claim 3, wherein:

the sum of the corresponding central angles of all connecting parts between two adjacent annular teeth is less than or equal to 180 degrees.

5. A linear motor primary as claimed in any one of claims 1 to 4, wherein:

the tooth unit is formed by splicing at least two splicing blocks.

6. A linear motor primary as claimed in any one of claims 1 to 4, wherein:

the tooth part unit comprises at least two first split blocks and at least two second split blocks, the first split blocks are first arc-shaped tooth sections, the second split blocks are provided with at least two second arc-shaped tooth sections, each second arc-shaped tooth section is distributed along the axial direction, the radial inner side end of each second arc-shaped tooth section is fixedly connected with the radial inner side end of the adjacent second arc-shaped tooth section, and the first split blocks and the second arc-shaped tooth sections are spliced into the annular teeth.

7. The linear motor primary of claim 6, wherein:

the radial inner end of the first segment is provided with a tooth shoe, the tooth shoe extends along the circumferential edge of the radial inner end of the first segment, the tooth shoe axially protrudes towards the adjacent annular teeth, and a space is reserved between the tooth shoes of the adjacent two annular teeth.

8. The linear motor primary of claim 6, wherein:

the first segment is connected with the second arc-shaped tooth section in an adhesive mode.

9. The linear motor primary of claim 6, wherein:

the number of the second segments is at least two, the second segments are distributed along the circumferential direction, each annular tooth is formed by splicing at least two first segments and at least two second arc-shaped tooth sections, and in the same annular tooth, the first segments and the second arc-shaped tooth sections are distributed in a staggered mode.

10. The linear motor primary of claim 6, wherein:

the first splicing block is formed by superposing a plurality of silicon steel sheets distributed along the circumferential direction, and/or the second splicing block is formed by superposing a plurality of silicon steel sheets distributed along the circumferential direction.

11. A linear motor primary as claimed in any one of claims 1 to 4, wherein:

the insulating skeleton is in by two at least arcs to the groove section that extends the concatenation forms in the interval space, insulating skeleton has the notch and faces the ring channel in the radial outside, the winding coiling in the ring channel.

12. A method of assembling a linear motor primary as claimed in any one of claims 1 to 11, wherein:

installing the insulating framework in the interval space;

winding the insulating framework to form the winding;

connecting the yoke unit to a radially outer end of each of the annular teeth.

13. Linear electric motor, its characterized in that:

comprising a linear motor primary as claimed in any one of claims 1 to 11.

14. Automated equipment, its characterized in that:

comprising a linear motor according to claim 13.

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