SU936264A1 - Two-coordinate linear electric drive - Google Patents

Description

The invention relates to electrical engineering, in particular, to electric machines, and can be used as an electric drive for small-sized automatic thermal cutting machines, coordinate tables for metalworking equipment, in industrial robots and manipulators, as well as peripheral devices of electronic computing machines-plotters and coordinators. . dinatographers.

A two-coordinate linear electric motor is known, which contains a common toothed inductor, made in the form of a plate, and rigidly interconnected measles, which ensure the movement of the working element in two coordinates 1.

The disadvantage of this drive is the presence of a common plate and the difficulty of making supports that move the koreas with the working body in two coordinates.

Closest to the invention, the technical essence is a two-coordinate linear electric drive consisting of two magnetically coupled linear motors, the fixed toothed inductors of which are located perpendicular to each other, and the moving measles are connected with the working element by the kinematic node 2.

The disadvantage of this drive is the presence of a kinematic node that combines the measles of both coordinates, which significantly complicates the mechanical part of the engine.

The purpose of the invention is to simplify the drive design.

The goal is achieved by the fact that in a two-coordinate linear electric drive with two magnetic motors with linear motors, the kinematic node is made in the form of two rods rigidly connected to each other at right angles, and each measles is equipped with supports that allow the rod located between them to move in a plane, perpendicular to the plane of motion of the core.

In addition, two additional magnetically coupled linear motors, similar to the main ones, can be introduced into the drive, the gear inductors of which, together with the main ones, form a closed rectangular frame, and the rods of the kinematic node, rigidly connected to each other at right angles, form a cross, in a plane parallel to the plane of the inductor.

Figure 1 shows the magnetic core of the linear motor, a general view; figure 2 - linear motor, cross section; Fig. 3 shows a two-axis drive with four linear motors forming a rectangular frame, a plan view; Fig.4 movable cross kinematic node; Fig. 5 is a two-axis drive with two linear motors, a view in plan; Figure 6 shows the movable part of a two-coordinate drive with two linear motors.

The linear motor, which forms each coordinate of the two-axis drive, contains a ferromagnetic strip 1 of variable cross section, carrying pole protrusions 2, forming the main field of the machine (Fig. 1 and 2). The armature of the linear motor consists of two T-shaped magnetic cores 3 with grooves 4. A groove 6 in length is formed between the magnetic cores 3 and the plate 5 on which they are fixed. the location of the field winding.

The anchor winding 7, laid in the grooves 4 of both magnetic cores 3, is switched by a semiconductor switch or an electrical mechanic collector (not shown). The excitation windings 8, laid in the grooves 6, create the main magnetic flux of the machine Fr, which is closed by pole-forming protrusions 2 and plates 1 and 5 through the magnetic cores 3.

The linear motor of each coordinate of the two-coordinate drive shown in Fig. 3 consists of two modules, simplifiedly depicted by a rectangle. Modules that move along the X coordinate are indicated by the number 9, and along the Y coordinate by the number 10. Similar designations are accepted for Fig. 5. The movable crosspiece 11 (Figs. 3 and 4) is mechanically connected with the modules 9 and 10 guides, made, for example, in the form of rolling bearings 12 and 13.

The reduction of the two-axis drive area is achieved in the embodiment shown in FIG. Here, the fixed element is designed as a square from two ferromagnetic strips 1, which are located at a right angle to each other.

On the rolling bearings 12 and 13 of the movable modules 9 and 10, the movable element 14 moves, also in the form of a square, the top of which is located in the coordinate plane, and the sides slide in the rolling bearings 12 and 13. The square 14 is formed by two rods rigidly connected ends at right angles. To eliminate distortions of the element 14 in the vertical plane, it is necessary to use rolling bearings 15, which prevent rotation of the movable element.

The two-axis drive operates as follows.

When power is applied to the windings 0 of the core 7 and the excitation of 8 modules 9, the electromagnetic force generated by the interaction of the teeth of the core with pole protrusions 2 begins to move the modules 9, for example, to the right, 5 at a speed Vx (Figs. 3 and 5). Modules

9, the mechanically integrated vertical part of the crosspiece 11, begin to move in this direction / since the horizontal part

Q crosses 11 freely move in their supports 13 fixed on modules 10. When modules 9 begin to move, electromechanical or semiconductor switches switch sections of the main windings 7 so that the directions of the electromagnetic force and velocity V) (they did not change. The drive in the same way works power supply to the windings 7 core and excitation of 8 modules

10, since the part of the cross is obviously vertical 11 is also free

moves in its supports 12, mounted on modules 9. The power supply to pairs of modules 9 and 10 simultaneously leads to the displacement, for example, the center of the cross 11 (A) from point A. with coordinates x, to point Aij, with coordinates Xi, (ino any predetermined trajectory,

0 defined by the ratio of the velocities Vy and specified by the governing body. Reverse and speed control are performed by methods common to permanent electric motors.

5 current.

Claims (2)

1. A two-coordinate linear electric drive consisting of two magnetically coupled linear motors, the stationary toothed inductors of which are perpendicular to each other, and movable measles are connected to the working member by a kinematic node, characterized in that, for the purpose of simplification, the kinematic node is in the form of two rods, rigidly interconnected by ends at a right angle, and each bark is provided with stops that allow the rod located between them to move in a plane, perpendicular to the plane movement cor. 2. The actuator according to claim 1, characterized in that two additional magnetically coupled linear motors, similar to the main ones, are introduced in it, the gear inductors of which, together with the main ones, form a closed rectangular frame, and the kinematic rod bars rigidly connected to each other angle, form a cross, located in a plane parallel to the plane of the inductors. 9 Sources of information taken into account during the examination 1.Lutsenko V.E., Solomakhin D.V. and Grigoriev V.E. The principle of construction and design of multi-axis stepper motors. Works Mosk. energy in-that, 1979, vol. 440, p.2030. 2.Ivabotenko B.A. and others. Two-axis linear stepper motor. Report on research 226/78, Mosk. energy Inst, 1979, p. 5-8. J 8 5 Figure 2