CN204835879U - Two side C types do not have iron core linear motor motion module - Google Patents
Two side C types do not have iron core linear motor motion module Download PDFInfo
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- CN204835879U CN204835879U CN201520462963.3U CN201520462963U CN204835879U CN 204835879 U CN204835879 U CN 204835879U CN 201520462963 U CN201520462963 U CN 201520462963U CN 204835879 U CN204835879 U CN 204835879U
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Abstract
The utility model discloses a two side C types do not have iron core linear motor motion module, including the C type do not have iron core linear motor, first guide rail, second guide rail, first grating chi, second grating chi, first reading module, second reading digifax group, firstly do not bear the keysets, the second bears the keysets, the C type does not have iron core linear motor and includes: stator, first active cell, second active cell, first magnet set, second magnet set, first guide rail and first grating chi are installed on a side of stator, and second guide rail and second grating chi are installed on the another side of stator, first active cell and first reading module install in first bear the keysets on, the equipment of second active cell and second reading digifax is located the second and is born on the keysets. The utility model discloses used the C type not have iron core linear motor to all set up an active cell at least in motor stator's both sides, material work all can independently be got to each active cell, and work efficiency promotes by a wide margin.
Description
Technical field
The utility model relates to techniques of linear motor, particularly a kind of bilateral C type ironless linear motors motion module.
Background technology
In commercial Application, ironless linear motors all often adopts moving-wire ring form at present, and its advantage is the lighter in weight of moving component, and acceleration is large, but shortcoming is cable is moving, and likely produces fault.And when the equipment such as weaving and SMT capture material, require motor movement module volume miniaturized and high-speed cruising.
At present, existing moving-coil type ironless linear motors technology on market generally all adopts bilateral track " U " type structure, although improve the actuating force of motor like this, but number of magnets is the twice of cored linear electric motors, and bilateral yoke and connection supporting bracket thereof make motor volume larger, the grating encoder of its motion module, read head, fixed guide guide rail are all placed on the bilateral track both sides of " U " type, seem that whole motion modular volume is larger.
In addition, during this " U " type bilateral track ironless linear motors high-speed motion, the back electromotive force of motor is comparatively large, is unfavorable for high-speed motion; If ironless linear motors adopts monolateral track structure, motor thrust is often not enough again, can only be with light running.
Thus prior art need to improve.
Utility model content
In view of above-mentioned the deficiencies in the prior art part, the purpose of this utility model is to provide the bilateral C type ironless linear motors motion module that a kind of compact conformation, rigidity are strong, operating efficiency is high.
In order to achieve the above object, the utility model takes following technical scheme:
A kind of bilateral C type ironless linear motors motion module, it comprises C type ironless linear motors, first guide rail, second guide rail, at the first slide block of the first guide rail slide block, at the second slide block of the second guide rail slide block, first grating scale, second grating scale, first reading module, second reading module and the first carrying keyset for carry load equipment, second carrying keyset, described C type ironless linear motors comprises: stator, first mover of at least one relatively described stator movement, second mover and the first group of magnets be arranged on described stator, second group of magnets, described first guide rail and the first grating scale are installed on a side of described stator, second guide rail and the second grating scale are installed on the another side of described stator, described first mover comprises the first coil groups, described first coil groups has the first recess for the end face and two sides surrounding described first group of magnets, have the first air gap between described first group of magnets and the first recess, described first coil groups and the first reading module are installed on described first carrying keyset, described second mover comprises the second coil groups, described second coil groups has the second recess for the end face and two sides surrounding described second group of magnets, have interstice between described second group of magnets and the second recess, described second coil groups and the second reading module are installed on described second carrying keyset.
In described bilateral C type ironless linear motors motion module, described stator comprises the first curvature, the second curvature and carrying standing part, the thickness of described first curvature is greater than the second curvature, and the thickness of described second curvature is greater than carrying standing part.
In described bilateral C type ironless linear motors motion module, the two ends of described stator are also provided with baffle plate.
In described bilateral C type ironless linear motors motion module, described first coil groups comprises the first kink and the second kink, the end face of described second kink and side are connected on described first carrying keyset, form described first recess between described first kink and the second kink.
In described bilateral C type ironless linear motors motion module, described first carrying keyset comprises Part I, Part II and Part III, and described coil groups is installed on described Part I, and described first reading module is installed on described Part III.
In described bilateral C type ironless linear motors motion module, the end face of described first slide block is fixed on the Part II of described first carrying keyset.
In described bilateral C type ironless linear motors motion module, the cross section of described first coil and the second coil is C font.
In described bilateral C type ironless linear motors motion module, described first carrying keyset, the second carrying keyset are provided with the suction nozzle for adsorbing material.
In described bilateral C type ironless linear motors motion module, described first mover, the second mover are provided with dress envelope body.
In described bilateral C type ironless linear motors motion module, the quantity of described first mover, the second mover is respectively two or more.
Compared to prior art, the bilateral C type ironless linear motors motion module that the utility model provides, comprise C type ironless linear motors, first guide rail, second guide rail, first grating scale, second grating scale, first reading module, second reading module and the first carrying keyset for carry load equipment, second carrying keyset, described C type ironless linear motors comprises: stator, first mover of at least one relatively described stator movement, second mover and the first group of magnets be arranged on described stator, second group of magnets, described first guide rail and the first grating scale are installed on a side of described stator, second guide rail and the second grating scale are installed on the another side of described stator, described first mover comprises the first coil groups, described first coil groups has the first recess for the end face and two sides surrounding described first group of magnets, have the first air gap between described first group of magnets and the first recess, described first coil groups and the first reading module are installed on described first carrying keyset, described second mover comprises the second coil groups, described second coil groups has the second recess for the end face and two sides surrounding described second group of magnets, have interstice between described second group of magnets and the second recess, described second coil groups and the second reading module are installed on described second carrying keyset.The utility model employs C type ironless linear motors, and a mover is all at least set in the both sides of motor stator, each mover all can independent feeding work, operating efficiency significantly promotes, and end face and two sides of described respective magnets group are surrounded by arranging recess in the coil groups of each mover, make mover two ends closer to the end of permanent magnet, and pass through the transverse width decreasing mover after coil groups integer, add coil groups and the connection area of carrying keyset simultaneously, add the rigidity of mover.In addition, the utility model, by arranging multiple mover on two sides of single stator, makes yoke volume can do less, while the efficient work of realization, makes the more compact structure of bilateral C type ironless linear motors motion module.
Accompanying drawing explanation
The plan structure schematic diagram of the bilateral C type ironless linear motors motion module that Fig. 1 provides for the utility model first preferred embodiment.
The part isometric structural representation of one angle of the bilateral C type ironless linear motors motion module that Fig. 2 provides for the utility model first preferred embodiment.
The part isometric structural representation of another angle of the bilateral C type ironless linear motors motion module that Fig. 3 provides for the utility model first preferred embodiment.
The perspective view of one angle of the bilateral C type ironless linear motors motion module that Fig. 4 provides for the utility model second preferred embodiment.
The perspective view of another angle of the bilateral C type ironless linear motors motion module that Fig. 5 provides for the utility model second preferred embodiment.
Embodiment
The utility model provides the bilateral C type ironless linear motors motion module that pushing force density is comparatively large, compact conformation, rigidity are strong, speed is high, operating efficiency is high, be particularly useful for processing detection industry crawl blowing and have certain constraint to volume, and the occasion requiring high-speed cruising to boost productivity.
For making the purpose of this utility model, technical scheme and effect clearly, clearly, referring to the accompanying drawing embodiment that develops simultaneously, the utility model is further described.Should be appreciated that specific embodiment described herein only in order to explain the utility model, and be not used in restriction the utility model.
Refer to Fig. 1, Fig. 2 and Fig. 3, the bilateral C type ironless linear motors motion module that the utility model first preferred embodiment provides comprises C type ironless linear motors (in figure non-label), first guide rail 2061, second guide rail 2062, first grating scale 2051, second grating scale 2052, first reading module (in figure non-label), second reading module (in figure non-label) and the first carrying keyset 203 for carry load equipment, second carrying keyset 204, described first guide rail 2061 and the second guide rail 2062 play a part to support and guiding, first grating scale 2051, second grating scale 2052 is for feeding back motor operation signal, realize accurately location.
Wherein, described C type ironless linear motors comprises: the first mover 201, second mover 202 that stator 10, at least one relatively described stator 10 move and non-label in being arranged on described stator 10 the first group of magnets 301(figure), non-label in the second group of magnets 302(figure).
In order to reduce the volume of bilateral C type ironless linear motors motion module, described first guide rail 2061 and the first grating scale 2051 are installed on a side of described stator 10, second guide rail 2062 and the second grating scale 2052 are installed on the another side of described stator 10, when first mover 201, second mover 202 is energized and the magnetic field interaction of stator 10 produce electromagnetic push, the first mover 201, second mover 202 is made to do straight reciprocating motion on the two sides of stator 10, and each mover can the different work of complete independently, significantly improves operating efficiency.And the shared yoke of two cover kinematic systems, reduce the volume of motion module further, being applicable to processing detection industry crawl blowing has certain constraint to volume, and the occasion requiring high-speed cruising to boost productivity.
Wherein, described first mover 201 comprises the first coil groups, described first coil groups has for surrounding the described end face of the first group of magnets 301 and the first recess of two sides, make the end of two ends closer to permanent magnet of the first mover 201, and the C-shaped structure of the first mover 201, reduce the transverse width of the first mover 201, make bilateral C type ironless linear motors motion module compacter.
Between described first group of magnets 301 and the first recess, there is the first air gap, described first coil groups and the first reading module are installed on described first carrying keyset 203, and described first coil groups is positioned at the side of the first carrying keyset 203, first reading module is positioned at the opposite side of the first carrying keyset 203, makes the structure of motion module compacter.
Correspondingly, described second mover 202 comprises the second coil groups, and described second coil groups has for surrounding the described end face of the second group of magnets 302 and the second recess of two sides.Have interstice between described second group of magnets 302 and the second recess, described second coil groups and the second reading module are installed on described second carrying keyset 204.
In the bilateral C type ironless linear motors motion module that the utility model provides, described first mover 201, Slot force is not had between the magnetic pole of the second mover 202 and stator 10, by at the first mover 201, second mover 202 arranges recess, at the first mover 201, when second mover 202 moves, this recess can surround the first group of magnets 301 respectively, the end face of the second group of magnets 302 and two sides, make the first mover 201, a part of leakage field radiation is constrained between second mover 202 two ends and stator 10, decrease the leakage field radiation of C type ironless linear motors to surrounding environment, the structure of this recess makes the first mover 201, second mover 202 two ends are closer to the end of permanent magnet, make full use of end magnetic field, add coil and first and carry keyset 203, fastening force between second carrying keyset 204.
In addition, the utility model arranges recess by the lower part in coil groups, make the end face of coil groups be C font, decrease the transverse width of mover, add coil groups and the connection area carrying keyset simultaneously, add the rigidity of mover, make that structure of the linear motion actuator is compacter, volume is less, and only need use unilateral magnetic electrode structure, cost is low, operationally, response is fast, and control precision is high.
Wherein, described first guide rail 2061, second guide rail 2062 is line slideway, and be specially the brand line slideways such as IKO, NSK, HIWIN, and be not limited to certain model, its concrete structure is prior art, is not described further herein.
Please continue to refer to Fig. 1 to Fig. 3, described stator 10 comprises the first curvature 101, second curvature 102 and carrying standing part 103, the thickness of described first curvature 101 is greater than the second curvature 102, the thickness of described second curvature 102 is greater than carrying standing part 103, this stator 10 is symmetrical structure, and the two sides up and down of stator 10 form three step-like structures.Described first guide rail 2061 and the second guide rail 2062 symmetry are installed on two sides up and down of described carrying standing part 103, make the first mover 201 along the first guide rail 2061 linear slide, the second mover 202 along the second guide rail 2062 linear slide.
Wherein, first curvature 101, second curvature 102 and carrying standing part 103 are made up of permeability magnetic material Q235A steel etc., and the structure that is formed in one, enhance the intensity of stator 10, described stator 10 is not limited to Q235A Steel material, can select more excellent, that magnetic property is better, rigidity is firm material.
Please continue to refer to Fig. 1 and Fig. 2, described first group of magnets 301, second group of magnets 302 comprises several N poles, S pole is crisscross arranged and linearly aligned magnet.As the visual angle of Fig. 1 and Fig. 2, if the N pole of one block of magnet upwards, S is extremely downward, then the magnet be adjacent then for N extremely downwards, S pole upwards arranges, and each magnet array is in alignment.Particularly, each magnet can sectionally smooth join, and the length of each group of magnets can according to the length matched design of stator 10.Concrete, described magnet is Halbach permanent magnetic iron, Nd-Fe-B permanent magnetic magnet, rare earth permanent magnet magnet etc.Therefore, the length of stator 10 also can choose rational length according to need of work, is not limited to concrete size.
Please continue to refer to Fig. 1 to Fig. 3, in bilateral C type ironless linear motors motion module of the present utility model, described first mover 201, second mover 202 is provided with dress envelope body (not shown).In the present embodiment, dress Feng Tiwei epoxy resin body, the first coil groups, the second coil groups are all formed by epoxide resin vacuum perfusion, then correspondingly carry keyset 203, second carry that keyset 204 is firm to be connected with first, further increase the rigidity of mover.
In the utility model embodiment, the cross section of described first coil and the second coil is C font, and each coil groups is three groups, and each coil in each coil groups is all in C font, and therefore, each coil groups is formed by several C font coil lap wounds.
As shown in Figure 1 to Figure 3, described first coil groups comprises the first kink 2011, second kink 2012 and the first pars intermedia 2014, the end face of described second kink 2012 and side are connected on described first carrying keyset 203, described first recess is formed between described first kink 2011 and the second kink 2012, thus add the contact area that the first coil groups and first carries keyset 203, make the rigidity of the first coil groups stronger.Form described first recess between described first kink 2011 and the second kink 2012, thus end face and two sides of the first group of magnets 301 can be surrounded, decrease bilateral C type ironless linear motors motion module to the leakage field radiation of surrounding environment.Because the second coil groups is identical with the structure of the first coil groups, repeat no more herein.
The utility model adopts single stator 10, bilateral field structure, and cost is low, and operating efficiency is high, and the response when reciprocating motion is frequently done in Direct driver load is fast, can realize the High-speed precision positioning of load, be particularly useful on underloading High-speed precision positioning motion platform.
Please continue to refer to Fig. 1 to Fig. 3, described first carrying keyset 203 comprises Part I 2031, Part II 2034 and Part III 2035, described first coil assembling is located on described Part I 2031, and described first reading module is installed on described Part III 2035.Concrete, end face and the side of the second kink 2012 of the first coil groups are connected on Part I 2031, and this Part I 2031 is in reverse L type, large with the connection area of the first coil groups.The structure carrying keyset 203 due to the second carrying keyset 204 and first is identical, repeats no more herein.
Described first carrying keyset 203, second carrying keyset 204 is provided with the suction nozzle 2033 for adsorbing material, this suction nozzle 2033, for adsorbing material, is mainly used in SMT dress and pastes operation.Suction nozzle 2033 is arranged on institute first carrying keyset 203, second carrying keyset 204 and is convenient to quick fetching material.
In the present embodiment, described first reading module comprises the first read head 205 and the first read head 205 keyset, and described first read head 205 keyset is installed on Part III 2035, and described first read head 205 is installed on the first read head 205 keyset.The grating encoder that described first grating scale 2051 can adopt the company such as Reinshaw, Heidenhain to dispatch from the factory, and be not limited to certain model, concrete structure is prior art, is not described further herein.When moving, the first read head 205 obtains the data of the first grating scale 2051, obtains the displacement that the first mover 201 moves.Described second reading module comprises the second read head 206 and the second read head 206 keyset, and the second read head 206 is installed on the second read head 206 keyset, for obtaining the data of the second grating scale 2052, obtains the displacement that the second mover 202 moves.
Refer to Fig. 1 to Fig. 3, described C type ironless linear motors also comprises described C type ironless linear motors and also comprises the first slide block 2032 and the second slide block 2042, described first slide block 2032 is slidably arranged on described first guide rail 2061, second slide block 2042 is slidably arranged on the second guide rail 2062, the end face of described first slide block 2032 is fixed on the Part II 2034 of described first carrying keyset 203, make the first coil groups with the first slide block 2032, first motion is done along the first guide rail 2061, and the size of the first air gap when can ensure that the first mover 201 runs and between stator 10, grating encoder matches with the first read head 205 on the first mover 201, carry out real time position feedback, motor positioning trip accurately can be ensured.Because the second slide block 2042 is and the first slide block 2032 symmetrical structure, its installation site is similar to the first slide block 2032 with working method, repeats no more herein.
Described first carrying keyset 203, second carrying keyset 204 all can connect load transfer plate (not shown) and form by nonmagnetic substance, the first carrying end face of keyset 203 and the either flush of the first mover 201 after mounting, the second carrying end face of keyset 204 and the either flush of the second mover 202, thus it is rear smooth to guarantee that mover and stator 10 assemble.
Further, the cross section of described first recess and the second recess is right-angled trapezium or rectangle, and the cross section of recess is preferably right-angled trapezium, namely the side that the second kink 2012 is adjacent with the first group of magnets 301 is inclined-plane, the side that 4th kink is adjacent with the second group of magnets 302 is also inclined-plane, the utility model adopts the design on inclined-plane to add the assembly space of the first mover 201 and the second mover 202 on the one hand, be convenient to the assembling of the first mover 201 and the second mover 202 and stator 10, also help the first coil groups and the second coil groups ventilation and heat on the other hand, guarantee the performance of motor.
Please again consult Fig. 1 to Fig. 3, described first carrying keyset 203, second carrying keyset 204 is provided with the through hole 2013 for extracting power supply cord and holding wire, power line and holding wire are drawn from the first carrying keyset 203 and the second carrying keyset 204, be convenient to wiring, prevent from breaking down in motion process, and also save wiring space.
Please again consult Fig. 1 to Fig. 3, the two ends of described stator 10 are also provided with baffle plate 501, and this baffle plate 501 is mainly used in the range of restriction first mover 201 and the second mover 202, prevent the first mover 201 and the second mover 202 from skidding off from stator 10.Described baffle plate 501 is provided with fixing hole (in figure non-label) etc. is installed, bilateral C type ironless linear motors motion module can be fixed on process equipment.
In order to increase work efficiency further, the quantity that described first mover 201, second mover 202, first reading module, the second reading module, the first carrying keyset 203, second carry keyset 204 is two or more, can work alone between different movers and drive as suction nozzle 2033 even load is run, work while carrying out same operation or different operation, operational efficiency is high.Further, the utility model can have multiple first mover 201, second mover 202 to work simultaneously, and carry out the carrying out of different operation, each the first mover 201, second mover 202 motion mode maneuverabilities, can arrange according to actual condition, improve the adaptive capacity of equipment, each the first mover 201, second mover 202 is accurate at a high speed to be run, and also substantially increases operating efficiency.
In order to make the first mover 201, second mover 202 more compact structure, each first mover 201, second mover 202 shares a stator 10, the first all movers 201 shares the first grating scale 2051, the second all movers 202 shares the second grating scale 2052, under different driving device controls, by different read head, Real-time Feedback sample motor position signalling, each mover just can work independently, capture different material at one time, carry out different operation, also both synchronous working can be realized under same driver effect, make the structure of bilateral C type ironless linear motors motion module compacter further, and compared with one-sided motion module, substantially increase operating efficiency.In order to save cost, indivedual application scenario also can realize synchronous working by multiple mover under same driver control.
Due to the first mover 201, second mover 202 is respectively two or more, so respectively with the first mover 201, first reading module of the second mover 202 cooperating, second reading module, first carrying keyset 203, second carrying keyset 204, first, second slide block 2042, suction nozzle 2033 etc. is two or more, the quantity of baffle plate 501 is also according to the first mover 201, the quantity of the second mover 202 is arranged, when baffle plate 501 is two, the two ends of stator 10 can be arranged on, when baffle plate 501 is three, one of them baffle plate 501 can be arranged in the middle of stator 10, first mover 201 is limited by two baffle plates 501, the stroke of the second mover 202.
The utility model compared with prior art beneficial effect is as follows:
1, the bilateral C type ironless linear motors motion module that provides of the utility model, its stator and the first mover, the second mover all can modularizations, pushing force density is moderate, flat structure, rigidity are strong, speed is fast, is particularly useful for the occasion that the accurate fast fetching blowing of requirement is enhanced productivity.
2, the bilateral C type ironless linear motors motion module that the utility model provides adopts bilateral C type ironless linear motors to drive, the monolateral ironless linear motors that thrust ratio is traditional is large, although pushing force density is not as bilateral " U " type magnetic pole ironless linear motors, but its high-speed cruising back-emf can be made to be unlikely to excessive, can to run more reliably at a high speed, during band light running, advantage is more obvious.
3, in the bilateral C type ironless linear motors motion module provided at the utility model, the stator magnet pole plate of motor integrates the multifunctional usages such as conducting magnetic circuit, fixed guide mover, cooperation position control, and structure is more flat, compacter.
4, in the bilateral C type ironless linear motors motion module provided at the utility model, be packaged into class " C " type profile by epoxy resin etc., make mover transverse width less; Adopt stagger-wound coil larger than concentratred winding pushing force density, and " C " type structure is compared with the T-shape structure of traditional single side type, add the contact area of winding overhang and elementary connector, improve radiating efficiency, rigidity is stronger.
5, in the bilateral C type ironless linear motors motion module provided at the utility model, multiple C type ironless linear motors mover can be placed in stator both sides, can be worked alone between different movers drive load running, work while carrying out same operation or different operation, operational efficiency is high, can improve very large than one-sided motion module.
In a word, the utility model adopts bilateral C type ironless linear motors to drive, and respectively place multiple mover in the both sides of stator, the bringing onto load that can work alone between different movers runs, and work while carrying out same operation or different operation, operational efficiency is high.And C type ironless linear motors compact overall structure, pushing force density are moderate, when being with light running, straight reciprocating motion can being carried out frequently with very high speed, being especially useful in the occasion requiring that fast fetching blowing is enhanced productivity.
Be understandable that; for those of ordinary skills; can be equal to according to the technical solution of the utility model and utility model design thereof and replace or change, and all these change or replace the protection range that all should belong to the claim appended by the utility model.
Claims (10)
1. a bilateral C type ironless linear motors motion module, it is characterized in that, comprise C type ironless linear motors, first guide rail, second guide rail, at the first slide block of the first guide rail slide block, at the second slide block of the second guide rail slide block, first grating scale, second grating scale, first reading module, second reading module and the first carrying keyset for carry load equipment, second carrying keyset, described C type ironless linear motors comprises: stator, first mover of at least one relatively described stator movement, second mover and the first group of magnets be arranged on described stator, second group of magnets, described first guide rail and the first grating scale are installed on a side of described stator, second guide rail and the second grating scale are installed on the another side of described stator, described first mover comprises the first coil groups, described first coil groups has the first recess for the end face and two sides surrounding described first group of magnets, have the first air gap between described first group of magnets and the first recess, described first coil groups and the first reading module are installed on described first carrying keyset, described second mover comprises the second coil groups, described second coil groups has the second recess for the end face and two sides surrounding described second group of magnets, have interstice between described second group of magnets and the second recess, described second coil groups and the second reading module are installed on described second carrying keyset.
2. bilateral C type ironless linear motors motion module according to claim 1, it is characterized in that, described stator comprises the first curvature, the second curvature and carrying standing part, the thickness of described first curvature is greater than the second curvature, and the thickness of described second curvature is greater than carrying standing part.
3. bilateral C type ironless linear motors motion module according to claim 2, it is characterized in that, the two ends of described stator are also provided with baffle plate.
4. bilateral C type ironless linear motors motion module according to claim 1, it is characterized in that, described first coil groups comprises the first kink and the second kink, the end face of described second kink and side are connected on described first carrying keyset, form described first recess between described first kink and the second kink.
5. bilateral C type ironless linear motors motion module according to claim 1, it is characterized in that, described first carrying keyset comprises Part I, Part II and Part III, described coil groups is installed on described Part I, and described first reading module is installed on described Part III.
6. bilateral C type ironless linear motors motion module according to claim 5, is characterized in that, the end face of described first slide block is fixed on the Part II of described first carrying keyset.
7. bilateral C type ironless linear motors motion module according to claim 1, it is characterized in that, the cross section of described first coil and the second coil is C font.
8. the bilateral C type ironless linear motors motion module according to claim 1-7 any one, is characterized in that, described first carrying keyset, the second carrying keyset is provided with the suction nozzle for adsorbing material.
9. bilateral C type ironless linear motors motion module according to claim 1, is characterized in that, described first mover, the second mover is provided with dress envelope body.
10. bilateral C type ironless linear motors motion module according to claim 1, it is characterized in that, the quantity of described first mover, the second mover is respectively two or more.
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| CN112027676A (en) * | 2019-06-03 | 2020-12-04 | 上海铼钠克数控科技股份有限公司 | Rotor control method and control system of long stator conveying system |
| CN112027676B (en) * | 2019-06-03 | 2022-05-10 | 上海铼钠克数控科技有限公司 | Rotor control method and control system of long stator conveying system |
| CN116066683A (en) * | 2023-03-14 | 2023-05-05 | 中科源码(成都)服务机器人研究院有限公司 | Electromagnetic lifting device based on checking robot |
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