SU983927A2

SU983927A2 - Two-coordinate linear electric drive

Info

Publication number: SU983927A2
Application number: SU803001825A
Authority: SU
Inventors: Виктор Трифонович Беликов; Генрих Максович Гольдрайх; Михаил Яковлевич Тальянкер
Original assignee: Belikov Viktor T; Goldrajkh Genrikh M; Talyanker Mikhail Ya
Priority date: 1980-11-05
Filing date: 1980-11-05
Publication date: 1982-12-23

Description

Изобретение относится к электротехнике, в частности к электрическим ма- , шинам, и может быть использовано в качестве электрического привода для машин термической резки, координатных сто*₅. лов металлообрабатывающего оборудования промышленных роботов и манипуляторов и т. д.The invention relates to electrical engineering, in particular to electrical machines, buses, and can be used as an electric drive for thermal cutting machines, coordinate hundred * ₅ . fishing metalworking equipment of industrial robots and manipulators, etc.

По авт. св. № 936264 известен двухкоординагный линейный электрический привод, состоящий из двух магнитонесвязанных линейных двигателей, неподвижные зубчатые индукторы котороых расположены перпендикулярно друг другу, а подвижные якори связаны с рабочим органом кинематическим узлом, выполненным в виде двух штанг, жестко соединенных между собой концами под прямым углом, а каждый якорь снабжен jp опорами, допускающими перемещение расположенной между ними штанги в плоскости, перпендикулярной плоскости движения якоря. Кроме того, привод со2 держит два дополнительных магнитонесвязанных линейных двигателя, аналогия- . ные основным, зубчатые индукторы которых образуют совместно с основными замкнутую прямоугольную раму, а штанги кинематического узла, жестко связанные между собой концами под прямыми углами, образуют крестовину, расположенную в плоскости, параллельной плоскости индукторов f1J .By author St. No. 936264, a two-axis linear electric drive is known, consisting of two magnetically coupled linear motors, the fixed gear inductors of which are perpendicular to each other, and the movable anchors are connected to the working body by a kinematic unit made in the form of two rods rigidly connected to each other by ends at right angles, and each anchor is equipped with jp supports allowing the rod located between them to move in a plane perpendicular to the plane of movement of the anchor. In addition, the co2 drive holds two additional magnetically non-linear linear motors, analogy -. main ones, the gear inductors of which together with the main ones form a closed rectangular frame, and the rods of the kinematic assembly, rigidly interconnected by ends at right angles, form a cross located in a plane parallel to the plane of the inductors f1J.

Недостатком привода является пониженная точность, обусловленная низкой жесткостью подвижного элемента.The disadvantage of the drive is reduced accuracy due to the low stiffness of the movable element.

Дель изобретения - повышение точности отработки перемещения.Del of the invention is improving the accuracy of the movement.

Поставленная цель достигается тем, что кинематический узел снабжен дополнительной штангой, жестко связанной с концом одной из основных под прямым углом и образующей совместно с основными П—образную раму, и введен дополнительный магнитонесвязанный линейный • двигатель, ;индуктор которого совместно с основными образует жесткую Т-образную раму, расположенную в плоскости, параллельной плоскости кинематического узла.This goal is achieved by the fact that the kinematic unit is equipped with an additional rod rigidly connected to the end of one of the main ones at right angles and forming together with the main U-shaped frame, and an additional magnetically non-linear linear motor is introduced, the inductor of which together with the main ones forms a rigid T- a shaped frame located in a plane parallel to the plane of the kinematic node.

Кроме того, кинематический узел снабжен дополнительной штангой, жестко связаннюй с концом одной из основных под прямым углом и образующей совместно с основными замкнутую прямоугольную раму, и введен дополнительный магнитонесвязанный линейный двигатель, индуктор которого совместно с основными образует жесткую крестовину, располоЖенную в плоскости параллельной плоскости кинематического узла.In addition, the kinematic unit is equipped with an additional rod, rigidly connected to the end of one of the main ones at right angles and forming a closed rectangular frame together with the main ones, and an additional magnetically non-linear linear motor is introduced, the inductor of which together with the main ones forms a rigid cross located in a plane parallel to the kinematic plane node.

На фиг. 1 показан двухкоординатный линейный привод с тремя двигателями, индукторы которых образуют Т-образную раму, план*, на фиг. 2 - двухкоординатный привод с четырьмя двигателями, индукторы которых образуют крестовину, план; на фиг. 3 - кинематический узел . с опорами, общий вид.In FIG. 1 shows a two-axis linear drive with three motors, the inductors of which form a T-frame, plan *, in FIG. 2 - two-axis drive with four engines, the inductors of which form a cross, a plan; in FIG. 3 - kinematic node. with supports, general view.

Двухкоординатный привод содержит неподвижные ферромагнитные безобмоточные индукторы 1, образующие жесткую Т-образную (фиг. 1) или прямоугольную (фиг. 2 ) раму. Якори 2 линейных двигателей, снабженные обмотками (непоказаны) , охватывают индукторы 1 и имеют возможность перемещаться вдоль них. Якори 2 снабжены опорами 3 качения (фиг. 2-3), ограничивающими перемещение кинематической рамы 4 в плоскости параллельной плоскости индукторов 1. Для предотвращения смещения рамы 4 в плоскости, перпендикулярной плоскости индукторов 1', введены опоры 5 качения. Рама 4 может быть выполнена П-образной при выполнении индукторов в виде Т-образной рамы (фиг. 1).The two-axis drive contains fixed ferromagnetic windingless inductors 1, forming a rigid T-shaped (Fig. 1) or rectangular (Fig. 2) frame. Anchors 2 linear motors equipped with windings (not shown), cover the inductors 1 and have the ability to move along them. The anchors 2 are provided with rolling bearings 3 (Figs. 2-3), restricting the movement of the kinematic frame 4 in the plane parallel to the plane of the inductors 1. To prevent the frame 4 from moving in the plane perpendicular to the plane of the inductors 1 ', rolling bearings 5 are introduced. Frame 4 can be made U-shaped when making inductors in the form of a T-shaped frame (Fig. 1).

Двухкоординатный электрический привод работает следующим образом.Two-axis electric drive operates as follows.

При подаче питания, например на обмотке якорей 2, расположенных вдоль координаты X (фиг. 1 и 2), создается усилие, смещающее якори 2 влево.When power is applied, for example, on the winding of the anchors 2 located along the X coordinate (Figs. 1 and 2), a force is created that biases the anchors 2 to the left.

В связи с тем, что якори 2 объединены рамой 4, последняя под действием усилий со стороны опор 3 качения гак4 же начнет перемещаться влево, свободно двигаясь в опорах 3 якорей 2 координаты У (фиг. 2). Аналогично работает привод и при возбуждении обмоток якорей 5 2, расположенных по координате У , когда создается усилие F-y . Одновременная подача питания на обмотки якорей 2 обеих координат приводит к перемещению рамы 4 по траектории, определяемой ско10 рости движения якорей 2 каждой координаты.Due to the fact that the anchors 2 are connected by a frame 4, the latter, under the action of forces from the side of the rolling bearings 3, starts to move to the left, freely moving in the supports 3 of the anchors 2 of the coordinate U (Fig. 2). The drive works similarly when the windings of the anchors 5 2 are excited, located along the coordinate Y, when the force F-y is created. Simultaneous supply of power to the windings of the anchors 2 of both coordinates leads to the movement of the frame 4 along a trajectory determined by the speed of movement of the anchors 2 of each coordinate.

Для устранения перекосов подвижной рамы 4, возникающих при приближении якорей 2 к крайнему положению, якори 15 2 Снабжаются, кроме вертикальных опор качения, горизонтальными опорами , качения (фиг. 3).To eliminate the distortions of the movable frame 4 that occur when the anchors 2 approach the extreme position, the anchors 15 2 are equipped, in addition to the vertical rolling bearings, with horizontal bearings, rolling bearings (Fig. 3).

Claims

Equipogregion is related to electric heaters, in particular, electric machines, and can be used as an electric drive for thermal cutting machines, co-ordinates for metalworking industrial robots and manipulators, etc. According to the authors. St. No. 936264 is known for a two-coordinate linear electrically driven drive consisting of two magnetically coupled linear motors, fixed toothed gearboxes of which are arranged to each other, and movable measles are connected to the working member by a kinematic unit made in the form of two rods rigidly connected to each other by ends under the my angle, and each measles is provided with supports that allow movement between the shtangs in the plane, perpendicular; In addition, the wire contains two additional magnetized linear motors, similar-. The main, serrated inductors of which, together with the main ones, form a closed rectangular frame, and the rods of the kinematic knot, which are rigidly interconnected at their right angles, intersect the cross, located in a plane parallel to the plane of the inductors C1J. The disadvantage of the drive is reduced accuracy due to the low fluidity of the moving element. Lel of the invention - improving the accuracy of working out the mix. The goal is achieved by the fact that the kinematic unit is provided with an additional rod rigidly connected to the end of one of the main ones at a right angle in the generator along with the main P-oz frame, and an additional magnetic-connected linear motor is introduced, whose inductor) together with 3 s the main forms a rigid Tr-shaped frame, located in a plane parallel to the plane of the kinematic node. In addition, the kinematic unit is equipped with an additional bar, rigidly connected to the end of one of the main ones at right angles and forming a closed rectangular frame together with the main ones, and an additional magnetically coupled linear motor is introduced, the inductor of which, together with the main ones, forms a rigid cross-piece, located in the plane parallel to the plane of the kinematic node. FIG. 1 shows a two-axis linear drive with TpeNra engines, whose inductors form a T-shaped frame, planed in FIG. 2 — two-axis drive with four engines, the inductor of which forms a cross, a plan; in fig. 3 - kinematic node. with supports, general view. The two-axis drive contains non-ferromic magnetic solenoid-free inductors 1, forming a rigid T-shaped (Fig. 1) or straight angle (Fig. 2) frame. The anchors of the 2 linear motors, provided with windings (not shown), cover the inductors 1 and have the ability to move along them. Anchors 2 are provided with rolling bearings 3 (Fig. 2-3), which limit the movement of the kinematic frame 4 in a plane parallel to the plane of the inductors 1. To prevent the frame 4 from moving in a plane perpendicular to the plane of the inductors 1, rolling bearings 5 are inserted. The frame 4 can be performed U-shaped when performing inductors in the form of a T-shaped frame (Fig. 1). The two-coordinate electric drive works as follows. When power is applied, for example, on the winding of the core 2, located along the X coordinate (Figs. 1 and 2), a force is created which biases the measles 2 to the left. Due to the fact that measles 2 is united by frame 4, the latter: under the action of efforts from the side of the supports 3, rolling 57 will also begin to move to the left, moving freely in the supports 3 of korea 2 V coordinates (Fig. 2). The drive works in a similar way when driving the windings of Korea 2, located along the Y coordinate, when a force F is generated. The simultaneous feeding of the power to the core 2 of both coordinates leads to the movement of the frame 4 along the path determined by the speed of movement of the core 2 of each coordinate. To eliminate the distortions of the movable frame 4 that occur when the korea 2 approaches the extreme position, measles 2 are supplied, in addition to the vertical rolling supports 3, with horizontal supports, rolling (Fig. 3). The invention claims 1. Two-coordinate linear electric drive according to aut. St. No. 936264, characterized in that, in order to increase the accuracy of displacement processing, the kinematic unit is provided with an additional rod rigidly connected to the end of one of the main ones at a right angle and forming together with the main U-shaped frame, and an additional magnetic-coupled linear motor is introduced An inductor which, together with the main ones, forms a rigid T-shaped frame located in a plane parallel to the plane of the kinematic node.

2. The actuator according to claim 1, characterized in that the kinematic assembly is provided with an additional rod rigidly connected with the end of one of the main ones. direct angle and forming together with the main a closed rectangular frame, and introduced an additional magnetic-coupled linear motor, the inductor of which together with the main forms a rigid cross, located in a plane parallel to the plane of the kinematic node. Sources of information taken into account during the examination 1. USSR Author's Certificate No. 936264, cl. H O2 K 41 / OO, 198O.,

1