CN115023886A

CN115023886A - Long-stroke motion system

Info

Publication number: CN115023886A
Application number: CN202180011505.6A
Authority: CN
Inventors: 杨昊明; 孙源
Original assignee: Shanghai Yinguan Semiconductor Technology Co Ltd
Current assignee: Shanghai Yinguan Semiconductor Technology Co Ltd
Priority date: 2020-09-04
Filing date: 2021-07-12
Publication date: 2022-09-06
Also published as: WO2022048310A1; CN111917271A

Abstract

The invention discloses a long-stroke motion system. In the present invention, the long stroke motion system comprises: at least one mover, each mover comprising: the rotor comprises a rotor base, a coil array unit and a roller assembly, wherein the rotor base is provided with a first working part, a second working part and a third working part; a stator, comprising: the permanent magnet array unit and the sliding rail are arranged according to a preset track; the coil array unit and the permanent magnet array unit are arranged oppositely, and the roller assembly is arranged along the sliding rail in a sliding manner. Compared with the prior art, the rotor structure is more compact, the long-stroke motion system is simpler in structure, and the cost is reduced.

Description

Long-stroke motion system

Cross reference to related applications

This patent application claims priority to chinese patent application No. 2020109204870 entitled "long-stroke exercise system," filed on 4/9/2020, which is incorporated herein by reference in its entirety.

Technical Field

The present invention relates to transportation systems, and more particularly to long-stroke motion systems.

Background

With the development of high yield and high precision of manufacturing technology, the research of precision motion control technology becomes more and more important, and accordingly, the demand of precision motion transmission systems is also more and more large, so that the precision motion transmission system is widely applied to industries such as automatic production lines, packaging and transportation, assembly automation, screen printing and the like, and higher speed and processing flexibility are provided. The long-stroke motion system applies a motion magnetic field to directly drive the motion part, thereby reducing the structural complexity, and also reducing the cost and the speed increase caused by inertia, flexibility, damping, friction and abrasion. The concept of a long-stroke movement system is therefore increasingly used for production and manufacturing, transport systems, which can control a plurality of transport carriages and move transport paths independently of one another, making highly flexible production processes, for example for performing product grouping or allowing different processing times.

In the existing market, a coil array unit in a long-stroke motion system is electrified, and the coil array unit and a permanent magnet unit generate driving force under current excitation, so that a rotor moves, and the operation of a transport system is realized. The rotor is provided with a roller assembly and a coil array unit, the coil array unit is arranged opposite to the permanent magnet unit on the stator, the roller assembly moves along a slide rail on the stator, the roller assembly and the coil array unit are arranged on a bearing surface of the rotor, and a magnetic field of the permanent magnet unit can influence the roller assembly to ensure that the rotor cannot stably operate. In the prior art, in order to prevent interference between the permanent magnet unit and the roller assemblies, the interval between the coil array unit and the roller assemblies is large, so that the bearing surface of the rotor extends to the outer side of the stator to be long, the overall structure of the rotor is not compact, the rotor occupies a large space of a long-stroke motion system, and the cost is high.

Disclosure of Invention

The long-stroke motion system provided by the embodiment of the invention has the advantages that the structure of the rotor is more compact, the structure of the long-stroke motion system is simpler, and the cost is reduced.

In order to solve the above technical problem, an embodiment of the present invention provides a long stroke motion system, including:

at least one mover, each of the movers comprising: the coil array unit comprises a rotor base, a coil array unit and a roller assembly, wherein the rotor base is provided with a first working part, a second working part and a third working part, the coil array unit is arranged on the first working part, the roller assembly is arranged on the second working part, the second working part and the third working part are oppositely arranged, and at least part of the first working part is arranged between the second working part and the third working part and is connected with the second working part and the third working part;

a stator, comprising: the permanent magnet array unit is arranged on the stator base, the sliding rail is arranged on the stator base and is opposite to the second working part, and the permanent magnet array unit and the sliding rail are arranged according to a preset track;

the coil array unit and the permanent magnet array unit are arranged oppositely, and the roller assembly is arranged along the sliding rail in a sliding manner.

Compared with the prior art, the rotor base comprises the first working part, the second working part and the third working part, the first working part is at least partially arranged between the second working part and the third working part, the coil array unit is arranged on the first working part, the roller assemblies are arranged on the second working part, and the coil array unit and the roller assemblies are not coplanar, so that a magnetic field generated by the permanent magnet array unit cannot interfere with the roller assemblies in the moving process of the rotor, and the rotor can normally and stably operate. And the space of the second working part and the first working part is reasonably utilized, and an empty area is not required to be arranged, so that the whole space of the rotor is reasonably utilized, no waste is caused, the structure of the rotor is more compact, the layout is more reasonable, and the cost of the rotor is reduced.

In one embodiment, the first working portion is vertically disposed, and the second working portion is horizontally disposed.

In one embodiment, the slide rail includes:

the first slide way is arranged along the preset track;

the second slide way is arranged opposite to the first slide way and is arranged along the preset track;

the roller assembly includes:

the sliding seat is arranged on the second working part of the rotor base;

the first roller piece is arranged on the sliding seat and rolls along the first slide way;

the second roller piece is arranged on the sliding seat and rolls along the second slide way;

the plane connecting the first slide way and the second slide way is opposite to the second working part; the first and second roller members clamp the first and second slides.

In an embodiment, the mover further includes: the sliding contact units are arranged on the third working part, and at least part of the sliding contact units are connected with the coil array unit;

the stator further includes: the transmission unit is arranged on the stator base and arranged along a preset track; the surface where the transmission unit is located is opposite to the third working part, and each sliding contact unit is abutted to the transmission unit.

In one embodiment, the transmission unit includes:

a plurality of conductive terminals, which are abutted with the conductive members of part of the sliding contact units; the conductive ends are arranged in one-to-one correspondence with the sliding contact units in the partial sliding contact units;

the communication ends are abutted with the conductive parts of the other part of the sliding contact units; and the communication end and the sliding contact units in the other part of sliding contact units are arranged in a one-to-one correspondence manner.

In one embodiment, the third working portion is provided with a pair of oppositely arranged panels which are parallel to each other and are spaced apart; wherein, some sliding contact units are arranged on one panel, and the other sliding contact units are arranged on the other panel.

In an embodiment, the mover further includes: the driving unit is electrically connected with the coil array unit and the sliding contact unit; the driving unit is arranged on the first working part;

the long stroke motion system further comprises: and the main control unit is connected with the driving unit and the transmission unit and controls the driving unit to drive the coil array unit.

In one embodiment, the long stroke motion system further comprises:

the first to-be-detected piece is arranged on the stator base according to the preset track;

each of the movers further includes:

the first detection unit is connected with the driving unit, reads the first unit to be detected and is used for detecting the real-time position of the rotor relative to the stator;

the second detection unit is connected with the driving unit and used for detecting the displacement of the rotor relative to the stator;

the driving unit is used for receiving and processing the information detected by the first detection unit and the second detection unit, and is also used for sending the received and processed information to the main control unit.

In one embodiment, the driving unit includes:

the processing subunit is electrically connected with the first detection unit and the second detection unit;

and the power driving subunit is electrically connected with the processing subunit and is connected with the coil array unit.

In one embodiment, the first detection unit is arranged on the second working part;

the second detection unit is arranged on the first working part.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings which correspond to and are not to be construed as limiting the embodiments, in which elements having the same reference numeral designations represent like elements throughout, and in which the drawings are not to be construed as limiting in scale unless otherwise specified.

FIG. 1 is a schematic diagram of a long stroke motion system in accordance with an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a long stroke motion system in another example of an implementation of the invention;

FIG. 3 is a schematic diagram of a long stroke motion system in yet another example of an embodiment of the present invention;

fig. 4 is a side view of a mover mounted on a stator in an embodiment of the present invention, wherein the stator is a sectional view;

FIG. 5 is a block diagram of the electrical circuitry of a long stroke motion system in an embodiment of the present invention in which the second sensing unit is a magnetic grid incremental encoder;

fig. 6 is a schematic perspective view of a trolley unit according to an embodiment of the present invention;

FIG. 7 is a front view of the wiping unit of FIG. 6;

fig. 8 is a schematic view of an installation orientation of a coil array unit of a mover and a permanent magnet array unit of a stator in an embodiment of the present invention;

FIG. 9 is a block diagram of the circuitry of a long stroke motion system in an embodiment of the present invention, wherein the second detection unit is a grating or a capacitance grating incremental encoder;

FIG. 10 is a block diagram of a driving control module of the mover in wired communication between the main control unit and the driving unit according to an embodiment of the present invention;

FIG. 11 is a driving control block diagram of a mover in wireless communication between a main control unit and a driving unit according to an embodiment of the present invention;

fig. 12 is a flowchart of a control method of a long stroke motion system in an embodiment of the present invention;

reference numbers of the drawings: 1. a stator; 12. a permanent magnet array unit; 11. a stator base; 13. a transmission unit; 13a, a first side; 13b, a second side; 131. a conductive terminal; 132. a communication terminal; 133. abutting against the fixing part; 2. a mover; 21. a mover base; 22. a coil array unit; 221. an iron core; 225. an iron core; 226. an iron core; 222. a coil winding; 223. a coil winding; 224. a coil winding; 221. an iron core; 23. a sliding contact unit; 231. a fixing member; 232. A conductive member; 233. a biasing member; 2321. a cantilever; 2322. a conductive contact; 234. a blocking portion; 27. a panel; 251. a first barrier member; 252. a second barrier; 250. a shielded area; 24. a drive unit; 241. a processing subunit; 242. a power driving subunit; 28. a first detection unit; 29. a second detection unit; 201. a first working section; 202. a second working section; 203. a third working section; 110. a slide rail; 111. a first slideway; 112. a second slideway; 261. a slide base; 262. a first roller member; 263. a second roller member; 3. a first to-be-detected piece; 4. a ruler grid; 5. a main control unit; 6. a back desk end.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.

In the following description, for the purposes of illustrating various disclosed embodiments, certain specific details are set forth in order to provide a thorough understanding of the various disclosed embodiments. One skilled in the relevant art will recognize, however, that the embodiments may be practiced without one or more of the specific details. In other instances, well-known devices, structures and techniques associated with this application may not be shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

Throughout the specification and claims, the word "comprise" and variations thereof, such as "comprises" and "comprising," are to be understood as an open, inclusive meaning, i.e., as being interpreted to mean "including, but not limited to," unless the context requires otherwise.

As shown in fig. 1, 2 and 3, the long-stroke motion system includes a stator 1, at least one mover 2 and a main control unit, wherein the main control unit controls the mover 2, and the mover 2 moves on the stator 1 according to a preset track. The stator 1 includes: stator base 11, permanent magnetism array unit 12 that sets up on stator base 11. The permanent magnet array unit 12 is constructed in a NS or Halbach magnetic array mode, and the NS or Halbach magnetic array can be applied with a periodic extension width, and so on. As shown in fig. 7, the NS in the permanent magnet array unit are periodically arranged in sequence, and stroke the moving track of the mover. As shown in fig. 1, a plurality of groups of permanent magnet array units 12 can be arranged on a base 21 of a stator 1, and the permanent magnet array units 12 can be manufactured according to modules with standard length and can be assembled and spliced for long-stroke application. The permanent magnet array unit 12 can be formed by splicing an arc-shaped section and a straight line section.

As shown in fig. 1 and 4, the stator 1 further includes: the transmission unit 13, the transmission unit 13 is also arranged on the stator base 11 according to a preset track, and is consistent with the arrangement track of the permanent magnet array unit 12. The transmission unit 13 may be a power transmission unit, or the power transmission unit and the communication transmission unit may be integrated. The transmission unit 13 is a power transmission unit, and in this case, the transmission unit 13 includes: the conductive terminals 131 may be metal conductive strips, which are disposed according to a predetermined track and fixed on the contact fixing portions 133, and the contact fixing portions 133 may be marble plates. When the transmission unit 13 is both a power transmission unit and a communication transmission unit, the transmission unit 13 includes: a plurality of conductive terminals 131 and a plurality of communication terminals 132, wherein the plurality of conductive terminals 131 and the plurality of communication terminals 132 are fixed on the interference fixing portion 133. As shown in fig. 4, there are three conductive ends 131, three corresponding communication ends 132, three metal conductive strips parallel to the corresponding communication ends 132 are disposed at the conductive ends 131 along the predetermined track, and three metal conductive strips parallel to the communication ends 132 are disposed at the communication ends 132 along the predetermined track. Therefore, the communication or power-on function of the long-stroke motion system is in parallel arrangement of three wires.

In some embodiments, as shown in fig. 1, 2, 3, and 4, a plurality of movers 2 are provided, and the respective movers 2 have the same structure, and the structure of one mover 2 will be specifically described as an example. The mover 2 includes: a base 21, and a coil array unit 22 disposed on the base 21. As shown in fig. 4 and 8, in order to achieve stable operation of the mover, the coil array unit 22 is disposed opposite to the permanent magnet array unit 12. There is the binding post interface on the coil array unit 22, and coil array unit 22 includes: the iron core 221, the iron core 225, the iron core 226, the coil winding 222, the coil winding 223, and the coil winding 224 are U, V, W three-phase coils of one armature winding. The air gap of each coil of the coil array unit 22 is very small and uniform, so that the thrust ripple is very small, the influence of the cogging force is small, and the method is particularly suitable for high-precision control application scenarios. As shown in fig. 4, the mover 2 further includes a plurality of sliding contact units 23, and the sliding contact units 23 are electrically connected to the coil array unit 22, are disposed on the base 21, and are in contact with the transmission unit 13.

As shown in fig. 4, 6, and 7, the trolley unit 23 includes: a fixing member 231, a conductive member 232, and a biasing member 233, the conductive member 232 being movably coupled to the fixing member 231 to be movable in a direction toward or away from the fixing member 231. The biasing member 233 is coupled between the fixing member 231 and the conductive member 232 and biases the conductive member 232 away from the fixing member 231. The biasing member 233 may be a spring or other resilient member.

Specifically, as shown in fig. 4, 6, and 7, a sliding contact unit 23 corresponds to one conductive end 131 of the transmission unit 13, and when the mover 2 moves along the stator 1, the conductive element 232 presses the transmission unit 13, and at this time, the conductive element 232 presses the biasing element 233, and the biasing element 233 generates an elastic force on the conductive element 232, so that the conductive element 232 keeps stably pressing against the transmission unit 13. The stator 1 can be in different shapes such as a circular arc convex closed loop, a closed loop polygonal curve shape and the like. The permanent magnet array units 12 and the conductive ends 131 are arranged at intervals along the circumferential direction of the outer shape of the stator 1. When the mover 2 moves to the curved surface of the stator 1, there is a tendency that a part of the conductive member 232 moves away from or approaches the conductive end 131 of the transmission unit 13, but the conductive member 232 is pushed by the elastic pushing force of the biasing member 233 to continue to press-contact the transmission unit 13. More specifically, since the biasing member 233 is always in a compressed state, there is always an elastic supporting force towards the outside, during the movement of the mover 2, when the conductive member 232 is pressed against the transmission unit 13 and further pressed, the conductive member 232 slides towards the fixing member 231, the biasing member 233 is further compressed, and when the pressure of the conductive member 232 pressed against the transmission unit 13 becomes smaller and tends to be away from the transmission unit, the elastic supporting force of the biasing member 233 pushes the conductive member 232, and at this time, the conductive member 232 slides towards the direction away from the fixing member 231, so that the conductive member 232 and the transmission unit 13 are continuously pressed against each other.

In addition, the biasing member 233 and the conductive member 232 form a sliding contact body, which is provided in plurality, preferably, as shown in fig. 6 and 7, two sliding contact bodies, such that one conductive end 131 of the transmission unit 13 in fig. 4 corresponds to two sliding contact bodies, thereby stabilizing the contact between the sliding contact unit 23 and the transmission unit 13. Similarly, one communication end 132 of the transmission unit 13 corresponds to two sliding contact bodies.

Further, as shown in fig. 6, the conductive member 232 includes: a cantilever 2321 and a conductive contact 2322, the cantilever 2321 being connected to the biasing member 233, the conductive contact 2322 being hingedly connected to the cantilever 2321. Conductive contact 2322 may be a metal piece or a device plated with a metal conductive layer.

In addition, as shown in fig. 6, the cantilever 2321 is hinged to the fixed member 231 and can rotate toward and away from the fixed member 231, and the hinged position of the cantilever 2321 to the fixed member 231 and the hinged position of the cantilever 2321 to the conductive contact 2322 are spaced apart from each other. The cantilever 2321 has one end hinged to the fixed member 231 and the other end hinged to the conductive contact 2322, and the biasing member 233 is connected between the two ends of the cantilever 2321 not to exceed the hinge center. Therefore, when the trolley unit 23 moves along the transmission unit 13, the cantilever 2321 and the fixed element 231 can twist according to the change of the track, and the cantilever 2321 and the conductive contact 2322 can also twist, so that the conductive contact 2322 and the transmission unit 13 are kept in contact.

Further, as shown in fig. 6, the side of the cantilever 2321 connected with the biasing member 233 is defined as a first connecting side (not shown), and the opposite side is defined as a second connecting side (not shown). The blocking portion 234 is disposed near the hinged position of the fixing element 231, and the blocking portion 234 is provided with an inclined surface for supporting and abutting against the second connecting side, and for limiting the angle of the rotation of the end of the cantilever 2321 hinged to the fixing element 231 in the direction away from the fixing element 231, so as to limit the cantilever 2321, prevent the cantilever 2321 from moving excessively, and make the conductive contact 2322 contact the transmission unit 13 unstably.

From the above structure, in the process that the mover 2 moves around the stator 1, when the biasing member 233 is further compressed under a certain pressure, one end of the cantilever 2321 hinged to the fixing member 231 rotates in a direction away from the fixing member 231, the other end of the cantilever 2321 hinged to the conductive contact 2322 slides in a direction close to the fixing member 231, and when the conductive contact 2322 collides with the transmission unit 13 and tends to be loosened, the biasing member 233 pushes the cantilever 2321, at this time, one end of the cantilever 2321 hinged to the fixing member 231 rotates in a direction close to the fixing member 231, and the other end of the cantilever 2321 hinged to the conductive contact 2322 slides in a direction away from the fixing member 231, so that the conductive contact 2322 and the transmission unit 13 are continuously pressed against each other.

The end of the conductive contact 2322 away from the cantilever 2321 is provided with a flat surface, and the flat surface is in contact with the side surface of the conductive end 131 of the transmission unit 13, as shown in fig. 4, at least part of the surface of the flat surface is a carbon brush surface. The conductive contact 2322 may be entirely made of graphite carbon. Thereby, the conductive contact 2322 and the transmission unit 13 can have a larger contact area, and the transmission is more stable. And the carbon brush surface is arranged, so that the stress between the conductive contact 2322 and the transmission unit 13 is uniform and smooth, the conductive contact 2322 is prevented from being worn, and the transmission unit 13 and the conductive contact 2322 can be stably conducted for a long time.

Further, as shown in fig. 1 and 4, the transmission unit 13 supplies power to the coil array unit 22 of the mover 2, and the coil array unit 22 generates a driving force under the current excitation of the permanent magnet array unit 12 to push the entire mover 2 to slide on the slide rail 110 of the stator 1. The mover 2 has a plurality of sliding contact units 23 therein, and the transmission unit 13 includes: and the conductive ends 131 are abutted against at least part of the conductive pieces 232 of the sliding contact unit 23, and the conductive ends 131 and the sliding contact unit 23 are arranged in a one-to-one correspondence manner. The power between the mover 2 and the transmission unit 13 is arranged in parallel by three wires, three conductive ends 131 of the transmission unit 13 are provided, and three sliding contact units 23 are provided to correspond to the three conductive ends 131 one to one.

The base 21 has a pair of panels 27 extending upward from the bottom thereof and spaced apart from and parallel to each other, and preferably, the panels 27 are substantially parallel to the permanent magnet array unit 12, and the plurality of wiping units 23 are fixed to the pair of panels, respectively, directly or indirectly. The number of the wiping units 23 on the two side panels may be the same or different; the fixed distance between the sliding contact unit 23 and the panel can be movably adjusted, and the fixed distance between the sliding contact unit 23 and the panel on the same panel can be adjusted according to different shapes and sizes of the transmission unit 13, so that the relative pretightening force can be adjusted. Preferably, the number of the panel sliding contact units 23 on both sides is the same, and the panel sliding contact units are approximately in one-to-one correspondence on the same horizontal plane; the transfer unit 13 is substantially rectangular as a whole, and the sliding contact units 23 on the same panel are substantially vertically arranged. As shown in fig. 4, in the present embodiment, three sliding contact units 23 are vertically fixed on one panel, and the other three sliding contact units 23 are vertically fixed on the other panel. The sliding contact units 23 on one surface are abutted to the transmission unit 13, the sliding contact units 23 on the other surface are also abutted to the transmission unit 13, the sliding contact units 23 are stably contacted with the transmission unit 13 through the double-sided clamping of the transmission unit 13, the sliding contact units 23 can also stably supply power to each electric element and stably transmit information, and the operation between the rotor 2 and the stator 1 is more stable.

As shown in fig. 4, 6, 7 and 8, a first blocking member 251 and a second blocking member 252 are further disposed on both sides of at least one of the panels, the first blocking member 251 and the second blocking member 252 extend toward the other panel, the first blocking member 251, the panel and the second blocking member 252 form a blocking region 250 around, and the sliding contact unit 23 is at least partially disposed in the blocking region 250. In the present embodiment, three sliding contact units 23 on one panel are vertically located between the first stopper 251 and the second stopper 252. So that the first and

second barriers

251 and 252 may block a portion of dust.

As shown in fig. 4, 6, 7, and 8, the mover 2 further includes: the driving unit 24 is disposed above the base 21, and is electrically connected to the coil array unit 22, and also electrically connected to at least a part of the sliding contact unit 23, wherein a conductive member 232 of the sliding contact unit 23 abuts against the conductive end 131 of the transmission unit 13, the driving unit 24 is connected to the conductive member 232 through a wire, so as to supply power to the driving unit 24, and the driving unit 24 is connected to the coil array unit 22 through a wire, so as to supply power to the coil array unit 22. As shown in fig. 1, 5, 9, 10, and 11, the long stroke motion system further includes: the main control unit 5, the main control unit 5 controls at least one runner 2, the main control unit 5 is connected with the driving unit 24. The main control unit 5 controls the driving units 24 on the movers 2, so that each driving unit 24 drives the corresponding coil array unit 22 on the mover 2, thereby realizing the regulation and control of each mover 2. Therefore, the long-stroke motion system is adjusted by controlling each rotor 2, the number of the coil array units 22 to be controlled is less than the total number of the coil array units 22 arranged on the stator 1, the required algorithm is simpler, the control difficulty is reduced, the global control can be realized by one main control unit 5, and the cost is reduced. And a plurality of movers 2 are controlled by one main control unit 5, so that comprehensive coordination control is facilitated. In addition, each mover 2 is provided with a coil array unit 22 and a driving unit 24, so that the coil array units 22 of the movers 2 and the corresponding driving units 24 are integrally mounted on each mover 2.

The long-stroke motion system of the present invention may be in wired or wireless communication, and specifically, the main control unit 5 and the driving units 24 of the movers 2 may be in wired or wireless communication.

Preferably, the main control unit 5 is in wired communication with the driving units 24 of each mover 2, as shown in fig. 4, 8 and 9, in this embodiment, the transmission unit 13 is further provided with communication ends 132, the communication ends 132 can be provided with 3, and are uniformly distributed on the abutting fixing portions 133, each communication end 132 is a metal conductive strip and is arranged along a preset track, wherein 3 sliding contact units 23 on one side panel 27 of the mover 2 are abutted to the communication ends 132, the middle portions of the other 3 sliding contact units 23 on the other side panel 27 are abutted to the conductive ends 131 on the transmission unit 13, the right side of the transmission unit 13 is entirely a conductive end 131, and the left side of the transmission unit 13 is entirely a communication end 132. Three lines are arranged in parallel for communication between the rotor 2 and the transmission unit 13, three communication ends 132 are provided, three sliding contact units 23 abutting against the communication ends 132 on the rotor 2 are provided, one sliding contact unit 23 corresponds to one communication end 132. The sliding contact unit 23 is electrically connected to the communication terminal 132, and the main control unit 5 is connected to the transmission unit 13 via a communication line, that is, the main control unit transmits high and low frequency signals to the driving unit 24 via the communication terminal 132, so that the main control unit 5 controls the driving unit 24 of the mover 2.

The long-stroke motion system of the present invention may also be a wireless communication, and may be implemented by a wireless network or bluetooth, and at this time, as shown in fig. 10, the main control module is connected with the processing subunit of the driving unit 24 by wireless communication, and will not pass through the transmission unit.

In addition, as shown in fig. 9, the main control unit 5 may be connected to a backend 6 such as a computer or a mobile phone, the backend 6 sends the motion plan of the mover 2 to the main control unit 5, the main control unit 5 sends the motion plan to the driving unit 24, and the driving unit 24 controls the coils of the movers 2 accordingly.

As shown in fig. 5, 9, 10, and 11, the driving unit 24 includes: a processing sub-unit 241 and a power driving sub-unit 242, the power driving sub-unit 242 being electrically connected with the coil array unit 22. The processing subunit 241 is connected to the main control unit 5. The input/output processing sub-unit 241 may communicate with the main control unit via a wireless network or bluetooth, or via a wired communication. The input/output processing subunit 241 is connected to the communication terminal 132, and the input/output processing subunit 241 is connected to the sliding contact unit 23 abutting against the communication terminal 132. The main control unit 5 sends signals required by the driving coil array unit 22 to the input and output processing sub-unit 241, including but not limited to the magnitude of current and moment. The power subunit converts the electrical signal into an output current to drive each coil array unit 22. The power driving subunit 242 is a power amplifier, and may be other elements.

As shown in fig. 4, 5, and 9, the mover 2 further includes: a first detection unit 28 and a second detection unit 29. The long stroke motion system further comprises: the first to-be-detected element 3 is arranged on the stator 1 according to a preset track. The first detection unit 28 is connected to the drive unit 24 for reading the first item to be detected 3 for detecting a real-time position of the mover 2 relative to the stator 1. The second detection unit 29 is connected to the drive unit 24 for detecting a relative displacement of the mover 2 with respect to the stator 1. The driving unit 24 is configured to receive and process the information detected by the first detecting unit 28 and the second detecting unit 29, and is further configured to send the received and processed information to the main control unit 5. The first detection unit 28 and the second detection unit 29 are both arranged on the mover 2, the driving unit 24 is also arranged on the mover 2, the first to-be-detected element 3 is arranged on the stator 1, the number of the first detection unit 28 and the number of the second detection unit 29 are the same as the number of the movers 2, one mover 2 comprises one detection unit 28 and one second detection unit 29, the number is not excessive, the overall cost is reduced, and the circuit structure is simplified. When the stroke of the stator 1 is prolonged, the first detection unit 28 and the second detection unit 29 do not need to be added, and a circuit is added, so that the improvement of a long-stroke motion system in different use occasions is facilitated.

Specifically, the first detecting unit 28 is an absolute encoder, and the first object 3 to be detected is a scale grating. The absolute encoder 28 is electrically connected to the processing subunit 241, the absolute encoder 28 is mainly used for aligning phases and correcting absolute positions to achieve global real-time measurement, and the absolute encoder 28 reads a corresponding ruler grid at the position of the mover 2, that is, obtains position parameters of the mover 2. The processing sub-unit 241 receives the parameters acquired by the absolute encoder 28 and processes the parameters. The processing subunit 241 transmits the processed parameters to the main control unit 5, the backend 6 connected to the main control unit 5 receives the parameters and then feeds back appropriate control instructions to the main control unit 5, and the main control unit 5 controls the corresponding mover 2 to automatically align the phase, so that the long-stroke motion system automatically aligns the phase after starting up, the restart time can be saved, and the efficiency can be improved. The first detection unit 28 may be a magnetic grating, a capacitive grating encoder, or a photoelectric sensor.

Specifically, as shown in fig. 5, when the second detection unit 29 is a magnetic grid type incremental encoder, the magnetic grid type incremental encoder reads the permanent magnet array unit 12. The reading head of the second detection unit 29 is electrically connected to the processing subunit 241. The magnetic grid type incremental encoder is used for measuring the magnetic field intensity or the direction included angle of the position of the rotor 2 to calculate the movement increment, and the movement increment is arranged into a period through each NS magnet. The rotor 2 moves along the array direction of the permanent magnet array unit 12, the coil array unit 22 on the rotor 2 returns the current to the power driving subunit 242 to correct the current, meanwhile, the incremental encoder returns a position signal to the processing subunit 241, the processing subunit 241 detects whether the correction displacement, speed or torque are in accordance with the planned amount, and if the difference exists, the output amount is correspondingly increased and decreased. The processing subunit 241 outputs the received parameters to the main control unit 5, so that the main control unit 5 integrally schedules the motion trajectory of the mover 2. The master control unit 5 delivers various parameters to the backend 6, including but not limited to speed, position, torque, current, to facilitate the backend 6 and artificial correction.

As shown in fig. 9, when the second detecting unit 29 is not a magnetic incremental encoder, but is another incremental encoder such as a grating type or a capacitive grating type, the stator 1 is further provided with the ruler grid 4, and the installation track of the ruler grid 4 is the same as the moving track of the mover 2 on the stator 1. The second detection unit 29 reads the scale grid 4, thereby acquiring the displacement of the mover 2. In the embodiment of fig. 9, the permanent magnet array unit 12 is constructed in an NS magnetic array manner, but it should be understood that the permanent magnet array unit may also be constructed in a Halbach or other magnetic array manner.

From the above, it can be seen that the incremental encoder is used as the main sensor for position measurement, and the absolute encoder compensates the deficiencies of the incremental sensor, including but not limited to automatic phase alignment, automatic zero calibration for closed-loop motion, etc., wherein the incremental encoder has higher precision and resolution, and the absolute encoder may have lower measurement precision. Through first detecting element 28 and second detecting element 29 all set up on active cell 2, directly obtain active cell 2 real-time position information, be favorable to carrying out the precision motion location, and when the slide rail 110 of stator 1 extends, need not increase corresponding first detecting element 28 and second detecting element 29 quantity according to the length of the slide rail 110 of stator 1, reduce cost also reduces the calculated amount, can realize more high-efficient reaction rate. And one main control unit 5 can be used for controlling all the movers 2, which is beneficial to the integrated scale control.

In addition, as shown in fig. 8 and 9, in the long stroke motion system, the mover 2 is provided in plurality, and the incremental encoder on each mover 2 cooperates with the absolute encoder to adjust the motion of the corresponding mover 2. The processing subunit 241 calculates the positions sampled by each incremental encoder and each absolute encoder to obtain global position information of each mover 2, and sends the information to each power driving subunit 242, each processing subunit 241 calculates the positions of each incremental encoder and each absolute encoder to obtain global position information of each mover 2 and simultaneously sends the global position information to the main control unit 5 in real time, the main control unit 5 calculates the coil power of each mover 2 according to the global position information of each mover 2, when the calculated coil power of the mover 2 is inconsistent with the preset power, corresponding adjustment is performed on the mover 2, a control signal is sent to the processing subunit 241, then the processing subunit 241 sends the control signal to the power driving subunit 242 in real time, and the power driving subunit 2 controls the coil array unit 22 to realize control over the movers 2. The main control unit 5 may overall control a single or a plurality of movers 2 in real time.

It is more worth mentioning that, as shown in fig. 9, the first detection unit 28 and the second detection unit 29 are disposed in parallel in the vertical direction. The first detection unit 28 is an absolute encoder, the second detection unit 29 is an incremental encoder, so that the first detection unit 28 and the second detection unit 29 measure the same horizontal relative position on the stator 1, the first detection unit and the second detection unit are mainly used for aligning phases, the phases are prevented from being aligned again after the closed-loop long-stroke motion system is restarted, then the absolute encoder corrects data overflow and incremental error accumulation generated after long-stroke cycle measurement of the incremental encoder in the closed-loop long-stroke motion system, and the distance which can be measured by resetting the incremental encoder every time the stator moves for one circle can be obtained. That is, after the mover 2 runs for one cycle, the incremental encoder accumulates the stroke, and the absolute encoder clears the accumulated stroke of the incremental encoder, so that the mover 2 can restart a new displacement measurement when running for a new cycle, and thus, the real-time position of the mover 2 can be obtained even though the mover 2 repeatedly passes through the previous moving position during the new cycle.

In addition, a hall sensor (not identified) may be further disposed on the mover 2, the hall sensor (not identified) is electrically connected to the processing subunit 241, the obtained parameter is transmitted to the processing subunit 241, the processing subunit 241 performs calculation processing on the parameter, when the preset parameter is inconsistent, corresponding adjustment is performed, the corresponding adjusted parameter is transmitted to the power driving subunit 242, and the power driving subunit 242 drives the coil array unit 22 on the mover 2 to perform fast phase change. Of course, the base 21 of the mover 2 may also be provided with sensors for obtaining signals such as temperature and switch, so that the main control unit 5 may obtain other auxiliary signals, which facilitates the overall adjustment of all the movers 2 by the back end 6.

Further, as shown in fig. 1 and 4, the stator base 11 is provided with a slide rail 110 disposed along a predetermined track, and the mover 2 slides along the slide rail 110. The mover 2 further includes: and the roller assemblies are arranged at the tops of the movers 21 and slide along the slide rails 110 on the stator 1. The slide rail 110 may be arc-shaped or linear, and is disposed according to a track that the mover 2 needs to run.

Specifically, as shown in fig. 1 and 4, the slide rail 110 includes: a first slideway 111 and a second slideway 112. The first slideway 111 and the second slideway 112 are arranged along a preset track, and the second slideway 112 is arranged opposite to the first slideway 111. The mover 2 further includes: and the roller assemblies are arranged at the tops of the movers 21 and slide along the slide rails 110 on the stators 1. The roller subassembly includes: a slide seat 261, a first roller member 262 and a second roller member 263, the slide seat 261 being disposed on the base 21, the first roller member 262 and the second roller member 263 being disposed on the slide seat 261, the first roller member 262 rolling along the first slideway 111, the second roller member 263 rolling along the second slideway 112. The first and

second roller members

262 and 263 clamp the first and

second skids

111 and 112 for movement.

Further, as shown in fig. 1 and 4, the base 21 of the mover 2 includes: the first working part 201, the second working part 202 and the third working part 203 are oppositely arranged, and the first working part 201 is connected with the second working part 202 and the third working part 203. The coil array unit 22 is disposed on the first working part 201, and the scroll wheel assembly is disposed on the second working part 202. The surface of the permanent magnet array unit 12 is opposite to the first working part 201, and the surface of the slide rail 110 is opposite to the second working part 202. The first working portion 201 may be entirely sandwiched between the third working portion 203 and the second working portion 202, or may be partially sandwiched outside the third working portion 203 and the second working portion 202.

Further, as shown in fig. 4, the first working portion 201 is vertically disposed, and the second working portion 203 is horizontally disposed. It is understood that the first working portion 201 can be disposed in a different direction, and the second working portion 203 can be disposed in a different direction.

As shown in fig. 1 and 4, the surface on which the transfer unit 13 is located is disposed opposite to the second working portion 203. The first roller member 262 and the second roller member 263 clamp the slide rail 110, move along the axial direction of the stator 1 array, and support the deformation of the side surface of the mover 2 generated by the excitation adsorption force.

Therefore, the permanent magnet array units 12, the slide rails 110 and the transmission units 13 are located at different working parts, the magnetic field of the permanent magnet array units 12 will not affect the roller assemblies and the sliding contact units 23, and the mover 2 can work normally. When the permanent magnet array unit 12 and the roller assemblies or the sliding contact units 23 are arranged in one working part, in order to prevent the interference of the permanent magnet array unit 12, the permanent magnet array unit 12 and the roller assemblies or the sliding contact units 23 need to be separated, the overall layout of the rotor 2 is not easy to plan, one side of the rotor 2 is larger, the structure is not tight, the layout of the three working parts is performed at present, the structure of the rotor 2 is more compact, the electric elements are concentrated, and the cost is reduced.

In the long-stroke motion system, the second working portion 202 of the mover 2 may be provided with a carrying tray for placing articles, and the first roller member 262 and the second roller member 263 are provided to stably carry the carrying tray, thereby ensuring the stability of the long-stroke motion system for carrying articles. In addition, as shown in fig. 4, the first detection unit 28 is provided on the second working portion 202. The second detection unit 29 is provided on the first working portion 201. Therefore, the mover 2 is compact and reasonable in layout, and appropriate information data can be detected.

As can be seen from the above, the second working portion 202 is located above the stator, the first working portion 201 is located on the side surface of the stator, the third working portion 203 is located below the stator, and the three working portions are nested and clamped on the stator. The first roller member 262 and the second roller member 263 are located above the stator to clamp the slide rail 110, the first detection unit 28 is also located above the stator, the coil array unit 22 and the second detection unit 29 are located on the side surface of the stator, the coil array unit 22 is arranged opposite to the permanent magnet array unit 12 on the stator, and the sliding contact unit 23 is located below the stator and is matched with the transmission unit 13 below the stator. The elements on the rotor are distributed reasonably, the internal space of the rotor is saved, and the structure of the rotor is more compact.

In another embodiment, as shown in fig. 1, 5 and 12, the control method of the long stroke motion system includes the steps of:

step 110, providing the long-stroke motion system;

step 120, detecting an absolute position of the mover 2 relative to the stator 1 by a first detecting unit 28 mounted on the mover, and acquiring a position parameter Y of the mover 2;

step 130, detecting the relative displacement of the mover 2 with respect to the stator 1 by the second detecting unit 29 mounted on the mover 2, and obtaining the accumulated displacement X;

and 140, controlling the running position of each mover 2 on the stator 1 according to the position parameter Y and the accumulated displacement X.

Further, step 140 includes steps 141, 142 and 143:

step 141, judging whether the position parameter Y of the rotor is 0;

if Y is equal to 0, in step 142, controlling the relative displacement X of the mover 2 to be set to 0;

if Y is not equal to 0, step 143, controlling the second detecting unit 29 on the mover to continue detecting the relative displacement and continue to obtain the accumulated displacement X;

step 144, obtaining global position information of the mover 2 according to the accumulated displacement of the mover 2;

and step 145, adjusting the position of each mover 2 according to the global position information of each mover 2.

The present embodiment is a system embodiment corresponding to the above embodiments, and the present embodiment can be implemented in cooperation with the above embodiments. The related technical details mentioned in the above embodiment are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related-art details mentioned in the present embodiment can also be applied to the above-described embodiments.

It should be noted that each module referred to in this embodiment is a logical module, and in practical applications, one logical unit may be one physical unit, may be a part of one physical unit, and may be implemented by a combination of multiple physical units. In addition, in order to highlight the innovative part of the present invention, elements that are not so closely related to solving the technical problems proposed by the present invention are not introduced in the present embodiment, but this does not indicate that other elements are not present in the present embodiment.

It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.

Claims

A long stroke motion system, comprising:

at least one mover, each of the movers comprising: the coil array unit is arranged on the first working part, and the roller wheel assembly is arranged on the second working part, wherein the second working part and the third working part are oppositely arranged, and at least part of the first working part is arranged between the second working part and the third working part and is connected with the second working part and the third working part;

a stator, comprising: the permanent magnet array unit is arranged on the stator base, the sliding rail is arranged on the stator base and is opposite to the second working part, and the permanent magnet array unit and the sliding rail are arranged according to a preset track;

the coil array unit and the permanent magnet array unit are arranged oppositely, and the roller assembly is arranged along the sliding rail in a sliding mode.
The long stroke exercise system of claim 1, wherein the first work portion is vertically disposed and the second work portion is horizontally disposed.
The long travel motion system of claim 2, wherein the slide rail comprises:

the first slide way is arranged along the preset track;

the second slide way is arranged opposite to the first slide way and is arranged along the preset track;

the roller assembly includes:

the sliding seat is arranged on the second working part of the rotor base;

the first roller piece is arranged on the sliding seat and rolls along the first slide way;

the second roller piece is arranged on the sliding seat and rolls along the second slide way;

the plane connecting the first slide way and the second slide way is opposite to the second working part; the first and second roller members clamp the first and second slides.
The long stroke motion system of claim 1, wherein the mover further comprises: the sliding contact units are arranged on the third working part, and at least part of the sliding contact units are connected with the coil array units;

the stator further includes: the transmission unit is arranged on the stator base and is arranged along a preset track; the surface where the transmission unit is located is opposite to the third working part, and each sliding contact unit is abutted to the transmission unit.
The long stroke motion system of claim 4, wherein the transmission unit comprises:

a plurality of conductive terminals, which are abutted with the conductive members of part of the sliding contact units; the conductive ends are arranged in one-to-one correspondence with the sliding contact units in the partial sliding contact units;

the communication ends are abutted with the conductive pieces of the other part of the sliding contact units; and the communication end and the sliding contact units in the other part of sliding contact units are arranged in a one-to-one correspondence manner.
The long travel motion system of claim 4, wherein the third work portion has a pair of oppositely disposed panels disposed thereon in parallel and spaced apart relation to one another; wherein, some sliding contact units are arranged on one panel, and the other sliding contact units are arranged on the other panel.
The long stroke motion system of claim 4, wherein the mover further comprises: the driving unit is electrically connected with the coil array unit and the sliding contact unit; the driving unit is arranged on the first working part;

the long stroke motion system further comprises: and the main control unit is connected with the driving unit and the transmission unit and controls the driving unit to drive the coil array unit.
The long stroke motion system of claim 7, further comprising:

the first to-be-detected piece is arranged on the stator base according to the preset track;

each of the movers further includes:

the first detection unit is connected with the driving unit, reads the first unit to be detected and is used for detecting the real-time position of the rotor relative to the stator;

the second detection unit is connected with the driving unit and used for detecting the displacement of the rotor relative to the stator;

the driving unit is used for receiving and processing the information detected by the first detection unit and the second detection unit, and is also used for sending the received and processed information to the main control unit.
The long stroke motion system of claim 8, wherein the drive unit comprises:

the processing subunit is electrically connected with the first detection unit and the second detection unit;

and the power driving subunit is electrically connected with the processing subunit and is connected with the coil array unit.
The long stroke motion system of claim 8, wherein the first detection unit is disposed on the second working portion;

the second detection unit is arranged on the first working part.