WO2018119624A1

WO2018119624A1 - Linear motor for use in controlling degrees of freedom of intelligent machines

Info

Publication number: WO2018119624A1
Application number: PCT/CN2016/112281
Authority: WO
Inventors: 刘华
Original assignee: 刘华
Priority date: 2016-12-27
Filing date: 2016-12-27
Publication date: 2018-07-05
Also published as: CN107078622B; CN107078622A

Abstract

A linear motor (100) for use in controlling degrees of freedom of intelligent machines, comprising: a housing (10), a rotor (30), and a stator (20); the rotor (30) comprises a plurality of magnetic permeable plates (31) and a plurality of magnetic shielding plates (32), the magnetic permeable plates (31) and the magnetic shielding plates (32) being arranged in alternating stacks; the stator (20) comprises a plurality of drive mechanisms (21), each drive mechanism (21) comprising at least three groups of excitation components (22), while each group of excitation components comprises a magnetic permeable arm (23) and a control coil (24) which is wound on the magnetic permeable arm, and the magnetic permeable arm comprises at least one layer of magnetic permeable sheets (231) and magnetic shielding sheets (232) which wrap the magnetic permeable sheets (231). The linear motor for use in controlling degrees of freedom of intelligent machines has the advantages of having a small volume, high operating force, high precision in position control, little motion inertia, being simple to control, and the like, and may be applied in intelligent machine devices, such as a robot joint drive.

Description

Linear motor for intelligent machine degree of freedom control

[0001] The present invention belongs to the field of electric machines, and more particularly to a linear motor for intelligent mechanical degree of freedom control.

Background technique

[0002] A linear motor is also called a linear motor. A linear motor is a transmission that directly converts electrical energy into linear motion mechanical energy without any intermediate conversion mechanism. It can be seen as a rotating motor that is cut radially and flattened. The side that evolved from the stator is called the primary, and the side that evolved from the mover is called the secondary. In practical applications, the primary and secondary are manufactured to different lengths to ensure that the coupling between the primary and secondary remains constant over the desired range of travel. The linear motor can be a short primary long secondary or a long primary short secondary. When the primary winding is connected to the AC power source, a traveling wave magnetic field is generated in the air gap. When the secondary wave is cut by the traveling wave magnetic field, the electromotive force is induced and a current is generated. The current reacts with the magnetic field in the air gap to generate an electromagnetic thrust. . If the primary is fixed, the secondary moves linearly under the action of the thrust; otherwise, the primary performs a linear motion. Therefore, the stator of the conventional linear motor is generally provided with a permanent magnet or a coil which generates a magnetic field at intervals on the long straight guide rail, and is similarly provided with coils spaced apart on the mover guide rail. However, such a stator and mover structure has a large volume due to the arrangement of a plurality of coils or permanent magnets at intervals, which results in a large volume of the linear motor and difficulty in control.

technical problem

[0003] An object of the present invention is to provide a linear motor for intelligent machine degree of freedom control, which aims to solve the problem that the existing linear motor is bulky and difficult to control.

Problem solution

Technical solution

The present invention is achieved by a linear motor for intelligent machine degree of freedom control, comprising a casing, a mover, and a stator for driving the mover linearly, the mover including a magnetic guide. a plurality of magnetic conductive plates and a plurality of magnetic isolation plates separating the two adjacent magnetic conductive plates, wherein the magnetic conductive plates and the magnetic isolation plates are alternately stacked; the stator includes a plurality of sleeves for driving the movement of the mover a drive mechanism, each set of the drive mechanism includes at least three sets of excitation components for producing a drive magnetic field, each set of the excitation components including a magnetic arm And a control coil wound on the magnetic arm, the magnetic arm comprising at least one magnetic conductive sheet disposed along a moving direction of the mover and a magnetic insulating sheet encasing each of the magnetic conductive sheets.

[0005] Further, each of the adjacent two sets of the excitation components satisfies the following relationship:

[0006] a middle portion of one of the magnetizing members of the set of the excitation components is opposite to a middle position of a certain one of the magnetically permeable plates on the mover: a corresponding one of the other set of the excitation components The middle portion of the magnetic sheet is opposite to the central portion of the magnetic conductive sheet adjacent to the magnetic conductive sheet, and the central portion of the adjacent magnetic conductive sheets of the magnetic conductive sheet and the magnetic conductive sheet are opposite to each other. The distance between two of the magnetic conductive sheets corresponding to the same position in any two adjacent sets of the excitation components is equal.

[0007] Further, the distance between two adjacent magnetic conductive sheets in the same group of the excitation components is equal.

[0008] Further, a sum of a distance between two adjacent magnetic conductive sheets of the same set of the excitation components and a thickness of one of the magnetic conductive sheets is equal to the magnetic permeability of an adjacent one of the movers The sum of the thickness of the plate and a piece of the magnetic isolation plate.

[0009] Further, each set of the driving mechanism includes three sets of the excitation components, and the magnetic arm of each set of the excitation components includes a magnetic conductive sheet and the magnetic isolation sheet enclosing the magnetic conductive sheet. .

[0010] Further, each of the control coils is disposed in the magnetic isolation sheet.

[0011] Further, each of the control coils is etched into the magnetic isolation sheet.

[0012] Further, the distance between any two adjacent magnetic conductive sheets is equal.

[0013] Further, the distance L between the two central portions of the adjacent magnetic conductive sheets satisfies the following formula:

[0014] L=M*K, M≠3X;

[0015] K = (dl + d2) / 3;

[0016] wherein dl is the thickness of each of the magnetic conductive plates, d2 is the thickness of each of the magnetic isolation plates, X is a positive integer, and M is a positive integer.

[0017] Further, the mover and the stator are both elongated, and the stator is slidably mounted on the mover

[0018] Further, further comprising a slide rail supporting the mover, the mover is mounted in the slide rail, the casing is disposed on the stator, and the casing is slidably mounted on the stator On the rails.

[0019] Further, a roller that cooperates with the sliding rail is further mounted on the casing.

[0020] In another preferred embodiment, the mover has a cylindrical shape, and each set of the excitation components includes a plurality of the magnetically conductive arms. And a plurality of the magnetic guiding arms uniformly surround the mover.

[0021] Further, each of the magnetic conductive plates is provided with a plurality of first external teeth, and each of the magnetic conductive arms is provided with a plurality of positioning internal teeth respectively corresponding to the first external teeth.

[0022] Further, a support shaft supporting the mover is further included, and the mover is provided with a central hole through which the support shaft passes.

[0023] Further, the casing is disposed on the stator, and two ends of the casing are provided with a bore through which the mover passes.

[0024] Further, a bushing is installed in the bore.

[0025] Another preferred solution includes a support shaft, the mover includes a plurality of magnetic arms surrounding the support shaft, each of the magnetic arms includes a plurality of the magnetic conductive plates and the partitions alternately stacked a magnetic plate; each of the set of excitation components includes a plurality of the magnetically conductive arms respectively corresponding to the respective magnetic arms, and a plurality of the magnetically conductive arms uniformly surround the mover.

Further, each of the magnetic conductive plates is disposed in a fan shape.

[0027] Further, each of the magnetic conductive plates is provided with a plurality of first external teeth, and each of the magnetic conductive arms is provided with a plurality of positioning internal teeth respectively corresponding to the first external teeth.

[0028] Further, a permanent magnet is mounted on one end of each of the magnetic arms away from the magnetic arm.

[0029] Further, the casing is disposed on the stator, and two ends of the casing are provided with a bore for the mover to pass through, and the two ends of the stator are mounted with a back ring, The backing ring is mounted to an inner surface of the casing.

[0030] In another preferred embodiment, the casing is cylindrical, the casing is sleeved on the mover, the stator is slidably mounted in the casing, and each set of the excitation components includes a plurality of The magnetic arm, and a plurality of the magnetic arms are evenly disposed around the axial direction of the casing, and the mover is disposed around the stator.

Further, further comprising a clamping plate that clamps and fixes the plurality of sets of the driving mechanism, the clamping plate being slidably mounted in the mover.

[0032] Further, a support shaft is further included, and the plurality of the magnetic conductive arms are evenly mounted on the support shaft.

[0033] Further, each of the magnetic conductive plates is provided with a plurality of first internal teeth, and each of the magnetic conductive arms is provided with a plurality of positioning external teeth respectively corresponding to the first external teeth.

[0034] Further, each of the magnetic conductive sheets has a ring shape.

[0035] Further, the mover includes a plurality of magnetic arms mounted on an inner surface of the casing, and each of the magnetic arms And comprising a plurality of the magnetic conductive plates and the magnetic isolation plates arranged alternately; each of the magnetic conductive sheets has a fan shape.

[0036] Further, each of the magnetic guiding arms is mounted with a permanent magnet block away from one end of the mover.

Advantageous effects of the invention

Beneficial effect

[0037] The mover of the linear motor for intelligent mechanical degree of freedom control of the present invention uses a magnetically permeable plate and a magnetically permeable plate which are alternately stacked, so that the mover volume can be made smaller; the stator uses alternating magnetic conductive sheets. Forming a magnetic conductive arm with the magnetic isolation piece, and winding a control coil on the magnetic conductive arm to form an excitation component. When the control coil is energized, a magnetic field is generated, and a magnetic force is generated on the magnetic conductive piece to attract the magnetic conductive plate of the mover. Thereby moving the mover; and setting at least three sets of excitation components to form a drive mechanism, sequentially energizing the control coils of each set of excitation components to drive the mover, the control is simple, and the structure of the stator can be made smaller, thereby Linear motors for intelligent machine degree of freedom control are small. The linear motor for intelligent machine degree of freedom control can be applied to intelligent mechanical devices such as robotic joint drives.

Brief description of the drawing

DRAWINGS

1 is a cross-sectional structural view of a linear motor for intelligent mechanical degree of freedom control along an axial direction thereof according to a first embodiment of the present invention;

2 is a schematic enlarged view of a portion E of FIG. 1;

3 is a cross-sectional structural view of the linear motor for intelligent mechanical degree of freedom control of FIG. 1 along a radial direction thereof; [0041] FIG. 4 is an excitation of the linear motor for intelligent mechanical degree of freedom control of FIG. Schematic diagram of the component's front view

5 is a schematic structural view of a single magnetic guide piece of the linear motor for intelligent mechanical degree of freedom control of FIG. 1 at different positions, wherein a picture is a P-position 吋 structure diagram of the magnetic conductive piece, and b is a picture. The magnetic permeable sheet is in the R position 吋 structure diagram;

Figure 6 is a schematic view showing the structure of the magnetic conductive sheet of Figure 5;

7 is a schematic structural diagram of the movement of a mover in a linear motor for intelligent mechanical degree of freedom control of FIG.

8 is a schematic structural diagram of a mover in a linear motor for intelligent machine degree of freedom control according to a second embodiment of the present invention. 9 is a schematic structural diagram of a mover in a linear motor for intelligent machine degree of freedom control according to a third embodiment of the present invention.

10 is a schematic structural diagram of a mover in a linear motor for intelligent machine degree of freedom control according to Embodiment 4 of the present invention.

11 is a cross-sectional structural view of a linear motor for intelligent mechanical degree of freedom control along an axial direction thereof according to Embodiment 5 of the present invention;

12 is a cross-sectional structural view of the linear motor for intelligent mechanical degree of freedom control of FIG. 11 along its radial direction. [0049] FIG.

13 is a cross-sectional structural view of a linear motor for intelligent mechanical degree of freedom control along its axial direction according to Embodiment 6 of the present invention;

14 is a cross-sectional structural view of the linear motor for intelligent mechanical degree of freedom control of FIG. 13 along the radial direction thereof.

15 is a cross-sectional structural view of a linear motor for intelligent mechanical degree of freedom control along its axial direction according to Embodiment 7 of the present invention;

16 is a cross-sectional structural view of the linear motor for intelligent mechanical degree of freedom control of FIG. 15 along its radial direction.

17 is a cross-sectional structural view of a linear motor for intelligent mechanical degree of freedom control along a radial direction thereof according to Embodiment 8 of the present invention.

18 is a cross-sectional structural view of a linear motor for intelligent mechanical degree of freedom control along its axial direction according to Embodiment 9 of the present invention;

19 is a cross-sectional structural view taken along line F-F of FIG. 18;

20 is a cross-sectional structural view taken along line G-G of FIG. 18.

21 is a cross-sectional structural view of a linear motor for intelligent mechanical degree of freedom control along a length direction thereof according to Embodiment 10 of the present invention;

22 is a cross-sectional structural view of the linear motor for intelligent mechanical degree of freedom control of FIG. 21 taken along a longitudinal direction thereof. [0059] FIG. Embodiments of the invention The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0061] Embodiment 1:

Referring to FIG. 1 to FIG. 7 , a linear motor 100 for intelligent machine degree of freedom control according to an embodiment of the present invention includes a casing 10, a mover 30 and a stator 20, and the casing 10 protects the movement. The function of the sub- 30 and the stator 20, and fixing the casing 10 at the same time, can fix the linear motor 100 for intelligent mechanical degree of freedom control, so that the casing 10 is integrally mounted and fixed for intelligent mechanical degree of freedom control. The role of the linear motor 100. The stator 20 is used to drive the mover 30 to move linearly to realize the function of the linear motor 100 for intelligent machine degree of freedom control. The movable body 30 includes a plurality of magnetic conductive plates 31 and a plurality of magnetic shielding plates 32, and the magnetic conductive plates 31 and the magnetic shielding plates 32 are alternately stacked; specifically, a magnetic conductive plate 31 is disposed along a direction in which the mover 30 moves linearly. A magnetic isolation plate 32, a magnetic conductive plate 31, and a magnetic isolation plate 32 are alternately arranged. The magnetic conductive plate 31 is used for magnetic conduction, and is moved in the direction in which the magnetic field reluctance is minimized after being subjected to the suction force of the magnetic field. The magnetic isolation plate 32 is non-magnetically conductive and is used to separate the adjacent two magnetic conductive plates 31. The stator 20 includes a plurality of sets of drive mechanisms 21 for producing a drive magnetic field to drive the mover 30 to move under the action of the drive magnetic field. Each of the drive mechanisms 21 includes at least three sets of excitation components 22, and a drive magnetic field is generated by each set of excitation components 22 to drive the mover 30 to move. Each set of field assembly 22 includes a magnetic arm 23 and a control coil 24 wound around the magnetic arm 23 such that when the control coil 24 is energized, an induced magnetic field is generated on the magnetic arm 23. Specifically, the magnetic arm 23 includes at least one magnetic conductive sheet 231 disposed along the moving direction of the mover 30 and a magnetic insulating sheet 232 surrounding the magnetic conductive sheet 231. Therefore, when the control coil 24 is energized, an induced magnetic field is generated on the magnetic conductive sheet 231, and under the action of the magnetic field, the closest magnetic conductive plate 31 on the mover 30 is attracted to pull the mover 30 to move, and when each group When the exciting assembly 22 is actuated in sequence, the mover 30 is driven to move linearly.

[0063] The mover 30 of the linear motor 100 for intelligent machine degree of freedom control uses the magnetic conductive plates 31 and the magnetic isolation plates 32 which are alternately stacked, so that the volume of the mover 30 can be made smaller; the stator 20 is alternately stacked. The magnetic conductive piece 231 and the magnetic isolation piece 232 form the magnetic conductive arm 23, and the control coil 24 is wound around the magnetic conductive arm 23 to form the excitation component 22. When the control coil 24 is energized, a magnetic field is generated, and the magnetic conductive piece 231 is generated. The magnetic force is generated to attract the magnetic conductive plate 31 of the mover 30 to move the mover 30; and at least three sets of the excitation components 22 are provided to form the drive mechanism 21, and the control coils 24 of the respective sets of the excitation components 22 are sequentially energized to drive Mover 30 moves The control is simple, and the structure of the stator 20 can be made small, so that the linear motor 100 for intelligent machine degree of freedom control is small in volume.

[0064] Since the magnetic conductive sheet 31 is magnetically attracted by the magnetic conductive sheet 231 of the excitation unit 22 to move the mover 30, the distance moved by the mover 30 in the turn of each group of the excitation unit 22 is performed. It is fixed so that the moving distance of the linear motor 100 for the intelligent machine degree of freedom control can be precisely controlled.

[0065] The magnetic conductive plate 31 may be made of a magnetic conductive material such as an iron plate, a steel plate, a silicon steel, an electrical pure iron, a permalloy, or a metal nanoalloy material. The magnetic isolation plate 32 can be made of a non-magnetic material such as a copper plate, an aluminum plate, or a plastic.

[0066] The magnetic permeable sheet 231 may be a sheet made of a magnetic conductive material such as iron sheet, steel sheet, silicon steel, electric iron, permalloy, or metal nano-alloy material. The magnetic spacer 232 may be a sheet made of an insulating material such as a plastic sheet or a resin sheet. Of course, an insulating coating such as an insulating varnish may be applied to the magnetic conductive sheet 231, and the magnetic insulating sheets 231 coated with the insulating cladding may be laminated to form the magnetic conductive arm 23.

The number of the drive mechanisms 21 can be determined according to the length of the stator 20 and the thickness of each of the magnetic arms 23.

[0068] Further, each of the magnetic conductive sheets 231 of the adjacent two sets of excitation components 22 satisfies the following relationship:

[0069] The central portion of one of the magnetic plates 231 of one set of the excitation components 22 is opposite to the central portion of a certain magnetic conductive plate 31 on the mover 30: the middle of the corresponding magnetic conductive plate 231 of the other set of excitation components 22 The central portion of the magnetic conductive plate 31 adjacent to the magnetic conductive sheet 231 is erroneously twisted, and the magnetic conductive piece 231 and the magnetic conductive piece 231 are in the wrong position from the middle of the adjacent two magnetic conductive plates 31; The distance between the two magnetic conductive sheets 231 corresponding to the same position in the group excitation unit 22 is equal.

[0070] In such a structure, in a middle portion of one of the magnetizing pieces 231 of a group of the exciting members 22, the middle portion of the magnetically permeable plate 31 on the mover 30 is 吋, and the magnetic field at the corresponding position of the other set of the exciting members 22 The suction force of the sheet 231 to the adjacent two magnetic conductive plates 31 of the magnetic conductive sheet 23 1 is not equal, so that the magnetic conductive sheet 31 closest to the magnetic conductive sheet 231 can be moved toward the magnetic conductive sheet 231. The two magnetic conductive sheets 231 corresponding to the same position in the two sets of excitation components 22, and one magnetic conductive sheet 231 of one of the excitation components 22 and the magnetic conductive sheet 231 of the corresponding position of the other excitation assembly 22 are For example, the nth magnetic conductive sheet 231 of the set of excitation components 22 and the nth magnetic conductive sheet 231 of the other set of excitation components 22, the nth magnetic conductive sheet 231 may be the first magnetic permeability of each of the excitation components 22. A sheet 231, a second magnetic sheet 231, and the like. The distance between the two magnetic conductive sheets 231 corresponding to the same position in any two adjacent excitation components 22 is equal, and the middle of a certain magnetic conductive sheet 231 of any group of excitation components 22 is opposite to a certain guide on the movable portion 30. In the middle of the magnetic plate 31, the corresponding magnetically permeable piece 231 in the adjacent group excitation assembly 22 is at a distance The same side of the magnetic conductive plate 31 of the magnetic permeable sheet 231 has the same distance, so as to ensure that the movement in one direction can be controlled and the movement is smooth after the energization.

[0071] In each of the driving mechanisms 21, the excitation components 22 may be three or more sets. In the present embodiment, the excitation components 22 are specifically described by taking three groups as an example.

Referring to FIG. 3, FIG. 4 and FIG. 7, in this embodiment, each set of driving mechanism 21 includes three sets of excitation components 22, and the magnetic conductive arms 23 of each set of excitation components 22 include a magnetic conductive sheet 231 and a package. The magnetic shield 231 of the magnetic conductive sheet 231. Each of the magnetic conductive arms 23 uses a magnetic conductive sheet 231, so that the respective magnetic conductive sheets 31 are magnetically moved by the respective magnetic conductive sheets 231, and the moving distance thereof can be relatively small, for example, it can be as small as a magnetic conductive sheet 231. One third of the distance from the middle portion to the middle of the other magnetic conductive sheet 231, so that the position control of the linear motor 100 for intelligent machine degree of freedom control can be made more precise; by setting the thickness of the magnetic conductive plate 31 and the magnetic conductive sheet 231 The thickness, the distance between the two magnetic conductive plates 31 and the distance between the two magnetic conductive sheets 231, and the driving of the subdivided driving circuit, can make the linear motion accuracy of the linear motor 100 for intelligent mechanical degree of freedom control reach 1 Micron, even up to 100 nanometers, meets industrial control requirements.

Further, in the present embodiment, each of the control coils 24 is disposed in the magnetic shield 232. This protects the control coil 24 by the magnetic shield 232. The control coil 24 is wound around the magnetic conductive sheet 231, so that an electric field is generated in the control coil 24, and an induced magnetic field is formed on the magnetic conductive sheet 231. Further, each control coil 24 is etched in the magnetic isolation sheet 232. Convenient processing and high precision control. In other embodiments, it may also be printed using an etching method, an electrochemical deposition method, or an electrochemical transfer method. In addition, the distance between the adjacent two magnetic sheets 231 is controlled to be controlled by the thickness of the magnetic shield 232. When the distance between the adjacent two magnetic conductive sheets 231 is larger, an additional spacer may be provided for control.

[0074] Further, in this embodiment, the distance between any two adjacent magnetic conductive sheets 231 is equal. This structure is easy to manufacture, low in cost, and relatively simple in design.

[0075] Further, referring to FIG. 5, FIG. 6, and FIG. 7, the distance L between the middle portions of the adjacent two magnetic conductive sheets 231 satisfies the following formula:

L=M*K, M≠3X;

K = (dl + d2) / 3;

[0078] wherein dl is the thickness of each of the magnetic conductive plates 31, d2 is the thickness of each magnetic isolation plate 32, X is a positive integer, and M is a positive integer. 5 and FIG. 6, the thickness of the magnetic conductive plate 31 is dl, the thickness of the magnetic isolation plate 32 is d2, and the thickness of the magnetic conductive sheet 23 1 is d3, then the middle portion of the magnetic conductive sheet 231 is guided. The middle portion of the magnetic plate 31 is directly opposite, that is, the magnetic conductive piece 231 is at the P position in FIG. 5, and the magnetic conductive piece 231 is subjected to the axial force F=0, which is a steady state, and according to the interaction of the force, the mover 30 is also In steady state, when there is external force, the tamper 30 maintains this position.

[0080] When the middle portion of the magnetic conductive sheet 231 is at the position of (dl+d3)/2, that is, the magnetic conductive sheet 231 is located at the R position 图 in FIG. 5, the magnetic conductive plate 31 just reaches the magnetic conductive sheet 231, and the magnetic conductive sheet The suction force of 31 is the largest, and the magnetic guide piece 231 is subjected to the maximum force F=Fmax°.

[0081] When the magnetic conductive sheet 231 is located between the two adjacent magnetic conductive plates 31, that is, the magnetic conductive sheet 231 is located at the Q position in FIG. 5, the magnetic conductive sheet 231 has the same force to the two magnetic conductive plates 31, and the magnetic conductive Sheet 231 is subjected to axial force F=0. This position is unstable, and when there is external force disturbance, the mover 30 cannot maintain this position.

[0082] The relationship between the magnitude F of the axial force received by the rotor 30 of the mover 30 and the distance H between the magnetically permeable sheet 231 and the magnetic conductive plate 31 of the stator 20 is as shown in FIG. 6. It should be noted that, due to the actual magnetic field, the thickness of the magnetic conductive plate 31, the thickness of the magnetic isolation plate 32, the thickness of the magnetic conductive sheet 231 and the magnetic spacer 232, the magnetic permeability of the magnetic conductive plate 31, and the magnetic property of the magnetic conductive sheet ₂₃₁ There are a number of nonlinear factors such as the conductivity, the gap between the stator 20 and the mover 30, so the relationship between the actual Fmax and H has a certain error.

[0083] For the linear motor 100 for intelligent mechanical degree of freedom control in which each driving mechanism 21 includes only three sets of excitation components 22, as a preferred embodiment, please refer to FIG. 7 together, and further, in the selection guide After the magnetic sheets 231 and the magnetic conductive sheets 31 are made of materials, the magnetic permeability is determined, and the thicknesses of the magnetic conductive plates 31, the magnetic shielding plates 32, the magnetic conductive sheets 231, and the magnetic spacers 232 are adjusted. In the adjacent two magnetic conductive sheets 231: the middle of one magnetic conductive sheet 231 is aligned with the middle of the adjacent magnetic conductive plate 31, and the position of Fmax of the axial force of the other magnetic conductive sheet 231 is just in FIG. (dl+d2)/3, adjusting the thickness of the magnetic spacer 232 in the stator 20, so that the other magnetic conductive sheet 231 is located at three different positions, as shown in the eight sets of excitation components 22 of eight, B, and C in FIG. Then, the control coils 24 of the three sets of excitation components 22 of A, B, and C can be controlled to be sequentially energized to drive the mover 30 to move. Assuming K = (dl + d2) / 3, the distance L between the two central portions of the adjacent magnetically permeable sheets 231 may be K, 2 Κ, 4 Κ, 5 Κ, 7 Κ, 8 Κ. L=M*K

, Μ≠3Χ; X is a positive integer, Μ is a positive integer. In this embodiment, L is a value of Κ. In practical work or application, only the magnetic conductive sheets 231 of the adjacent two sets of excitation components 22 need to satisfy the following relationship: a middle of one of the magnetic conductive sheets 231 of one set of the excitation components 22 is opposite to the movable part 30 The middle position of the magnetic conductive plate 31 is: the middle of the corresponding magnetic conductive piece 231 of the other set of excitation components 22 and the magnetic conductive plate 31 adjacent to the magnetic conductive sheet 231 The middle position is erroneously 幵, and the magnetic conductive piece 231 is opposite to the central portion of the adjacent two magnetic conductive plates 31 closest to the magnetic conductive piece 231; two of the adjacent positions of any two adjacent excitation components 22 The distance between the magnetic sheets 231 is equal.

Referring to FIG. 1, FIG. 3 and FIG. 5, further, each of the magnetic arm 23 is mounted with a permanent magnet block 29 away from the end of the mover 30. A permanent magnet block 29 is disposed at one end of the magnetic arm 23 away from the mover 30. When the control coil 24 on the magnetic arm 23 is energized, it may be superimposed with the magnetic field of the permanent magnet block 29 to enhance or weaken the magnetic arm 23. Suction, by controlling the control coils 24 in each set of excitation assemblies 22, the magnetic force of the magnetic arms 23 in the group excitation assembly 22 that only moves as the drive mover 30 is enhanced, while the magnetic arms 23 of the other sets of excitation assemblies 22 are The magnetic force is weakened to increase the driving force of the linear motor 100 for the intelligent machine degree of freedom control; and when the control coil 24 is de-energized, the magnetic flux 231 of the magnetic guiding arm 23 always has a magnetic force, when the whole is used for intelligent mechanical freedom. The linear motor 100 controlled by the degree is turned off, and the magnetic field generated by the permanent magnet block 29 is axially divided by the magnetic conductive material (magnetic conductive sheet 231) of the magnetic circuit portion of the stator 20 and the non-magnetic conductive material (magnetic spacer 232). When the distance between the magnetically permeable material of the stator 20 and the mover 30 is sufficiently small, if the axial relative position of the soft magnetic material is offset, the magnetic field will generate a static magnetic force to keep the stator 20 mover 30 at the position with the smallest magnetic resistance. In the above, as long as the external force applied to the linear motor 100 for the intelligent machine degree of freedom control is smaller than the maximum static magnetic force, the linear motor 100 for the intelligent machine degree of freedom control, the stator 20 mover 30, will maintain the relative position. Therefore, the linear motor 100 for the intelligent machine degree of freedom control has a function of automatically maintaining the position after the power is turned off.

Further, in this embodiment, the mover 30 has a cylindrical shape, and each set of the excitation assembly 22 includes a plurality of magnetic conductive arms 23, and the plurality of magnetic conductive arms 23 uniformly surround the mover 30. Thereby, the linear motor 100 for intelligent machine degree of freedom control is cylindrical. Further, in this embodiment, the number of the magnetic conductive arms 23 of each group of the excitation components 22 is four, and is evenly arranged around the mover 30.

Further, the linear motor 100 for intelligent machine degree of freedom control further includes a support shaft 15 for supporting the mover 30. The mover 30 is provided with a central hole through which the support shaft 15 passes. The support shaft 15 is provided to better support the mover 30. In other embodiments, the mover 30 can be machined into a unitary structure.

[0087] Further, the casing 10 is placed on the stator 20, and the two ends of the casing 10 are provided with a bore (not shown) through which the mover 30 passes. The stator 20 is supported by the casing 10, and serves to protect the stator 20 and the mover 30. Specifically, in the present embodiment, the casing 10 has a cylindrical shape, and the respective magnetic guiding arms 23 of the stator 20 are mounted in the inner surface of the casing 10 to fix the stator 20. Further, a bushing 11 is installed in the bores at both ends of the casing 10 to reduce friction, and the mover 30 of the linear motor 100 for intelligent machine degree of freedom control is more flexible.

[0089] In some embodiments, both ends of the support shaft 15 may be fixedly coupled to the two ends of the casing 10, and the mover 30 is slidably sleeved on the support shaft 15, and is disposed on the casing 10. The hole, and the pull wire is connected to the mover 30, so that the pull wire passes through the through hole, so that the mover 30 moves and drives the pull wire to move. The structural advantage is that the support shaft of the mover 30 does not occupy the movement space, and the motor can be installed in other places where the space position is sufficient, and the movement of the load is driven by the pull wire in the left and right directions of one motor, so that the movement space of the mover 30 is The volume is also small, and the linear motor 100 for intelligent machine degree of freedom control can be made smaller. Of course, in some embodiments, the mover 30 can be fixedly coupled to the support shaft 15, and the length of the mover 30 is smaller than the length of the support shaft 15, and both ends of the support shaft 15 are slidably mounted in the casing 10, thereby moving The sub 30 moves the 吋 to drive the support shaft to move, and the structure can also make the volume of the linear motor 100 for the intelligent machine degree of freedom control smaller.

Further, in this embodiment, each of the magnetic conductive sheets 231 of the stator 20 is fan-shaped, so that the magnetically permeable arms 23 of the excitation components 22 of the stator 20 can be better arranged around the mover 30 after installation.

Referring to FIG. 1 , FIG. 4 , FIG. 5 and FIG. 7 , in the embodiment, the driving mechanism 21 of the stator 20 is multiple sets. In this embodiment, three sets are drawn, and each set of driving mechanism 21 includes three sets. The excitation components 22, the respective magnetic conductive sheets 231 corresponding to the three sets of excitation components 22 are Al, Bl, CI, A2, B2, C2, A3, B3, C3; wherein the excitation components 22 corresponding to the three groups of Al, Bl, and CI are formed. A set of drive units 21, A2, B2, C2 corresponding to the excitation assembly 22 forms a set of drive mechanisms 21, and the three sets of corresponding excitation assemblies 22 of A3, B3, C3 form a set of drive mechanisms 21. In Fig. 7, the relative positions of the respective magnetic sheets 231 and the movers 30 of the three sets of drive mechanisms 21 are shown when the mover 30 is moved. In Fig. 7, when the A1 magnetic conductive sheet 231 faces a magnetic conductive plate 31, the B1 magnetic conductive sheet 231 is located at (dl + d2) / 3, and the C1 magnetic conductive sheet 231 is located at 2 * (dl + d2) / 3. Similarly, the A2 magnetic conductive sheet 231 faces the next magnetic conductive plate 31, the A3 magnetic conductive sheet 231 faces the next magnetic conductive plate 31, and the B2 magnetic conductive sheet 231 is separated from the next magnetic conductive plate 31 (dl+ At d2)/3, the B3 magnetic conductive sheet 231 is located at (dl+d2)/3 of the next magnetic conductive plate 31, and the C2 magnetic conductive sheet 231 is 2* (dl+d2) from the next magnetic conductive plate 31. At /3, the C3 magnetic conductive sheet 231 is located 2*(dl+d2)/3 of the next magnetic conductive plate 31. When the control coil 24 of each group B excitation component 22 is energized, that is, the control coils 24 of the B1 group, the B2 group, and the B3 group excitation assembly 22 are energized, the magnetic conductive plate 31 of the magnetic mover 30 moves (dl+d2)/ The distance of 3; then the control coil 24 of each group C excitation component 22 is energized, that is, the C1 group, the C2 group, The control coil 24 of the C3 group excitation component 22 is energized, and the magnetic permeability plate 31 of the magnetic attraction 30 moves again (dl + d2) / 3; then the control coil 24 of each group A excitation component 22 is energized, that is, the A1 group The control coil 24 of the excitation assembly 22 of the A2 group and the A3 group is energized, and the magnetic conductive plate 31 of the magnetic attraction 30 moves again (dl+d2)/3, so that the excitation is performed in one power-on period (A, B, and C groups). The component 22 is energized in sequence, and the mover 30 advances by a distance of (dl + d2). Then, the power-on sequence control is BCABCABCA ..., and the mover 30 can be controlled to advance; and the power-on sequence control is CBACBACBA ..., the mover 30 can be controlled to retreat, and the control is simple and convenient. And each time the control coil 24 of each group of excitation components 22 is energized, the mover 30 can advance (dl + d2) / 3 distance, by controlling the magnetic conductive plate 31, the magnetic isolation plate 32, the magnetic conductive sheet 231 and the magnetic separation The thickness of the sheet 232 can accurately control the moving distance and accuracy of the linear motor 100 for intelligent machine degree of freedom control, and there is no cumulative error

Referring to FIG. 4, the control coil 24 can be woven on the magnetic conductive sheet 231 by etching, which can ensure the accuracy of the position of the magnetic arm 23 of the stator 20, reduce the volume, and better handle heat dissipation. In addition, the control coils 24 of the corresponding excitation components 22 of each set of drive components may be connected (series or parallel) together to control the corresponding excitation components 22 of the respective sets of drive components, as shown in FIG. The control coils 24 of the excitation components 22 of the A1 group, the A2 group, and the A3 group are connected in series or in parallel, and a large space between the stator magnetic arms of the motor is connected in series or in parallel, although the coil current around each of the magnetic guiding arms is small, However, after the coils surrounding the magnetic arm are connected in series, the operating current of the motor is large, and a large magnetic field and working torque can be generated. Further, a sleeve 11 may be placed between the stator 20 of the stator 20 to reduce friction and reduce the gap between the stators 30 of the stator 20. Further, it is also possible to place a device for detecting the absolute position of the mover 30 or a force sensitive sensor, a temperature sensor or the like between the stator 20 of the stator 20.

[0093] Further, in the linear motor 100 for intelligent machine degree of freedom control, first, the permanent magnet itself can generate a strong magnetic field, and the structure of the motor makes the contact area between the stator mover magnetic sheets large. The magnetic field can generate a large working torque. When the axial position of the stator 20 and the mover 30 is offset by a small distance 吋, the structure in which the stator 20 is stacked causes a large torque accumulation at a small offset distance, and thus the linear motor 100 for intelligent machine degree of freedom control is used. Compared with the existing linear motor for intelligent machine degree of freedom control, a large working torque can be generated in a small volume, and the three sets of driving mechanisms 21 can be operated, and the working torque is further improved. Moreover, the magnetic conductive sheet can be processed very thin, and the linear motor used for intelligent mechanical degree of freedom control is smoothed, thereby improving the control precision. Moreover, the coil is made in the spacer, minus The size of the motor is reduced, and the power-to-weight ratio of the motor is increased.

[0094] Further, the light reflection coefficient of the mover magnetic sheet and the insulating sheet may be selected, and the device for detecting the relative position of the motor is added inside the motor, so that the relative displacement and the moving direction of the stator mover can be measured, and the entire control is reduced. The volume of the system. Since the portion of the linear motor 100 for the intelligent machine degree of freedom control moves only the mover 30, the mover 30 has a simple structure and a small mass, and the linear motor 100 used for the intelligent machine degree of freedom control has a small motion inertia. The work is more stable and reliable.

[0095] Further, the stator may be elliptical or frame-shaped, and the mover may also be elliptical or frame-shaped to fit the stator.

[0096] Further, the current driving circuit of the motor control coil can be added to the subdivision driving circuit to make the motor movement smoother and the position control more precise.

[0097] In general, smart machines require small volume, multi-axis, multi-joint and multiple degrees of freedom, fast motion response speed, large load bearing and fast load change, and high control accuracy of space position. There are a large number of joints or degrees of freedom inside the intelligent machine that require linear drive. The intelligent mechanical degree of freedom drive requires the drive motor to have the largest power-to-mass ratio, torque inertia ratio, and a wide and smooth speed range. Especially for robot-end actuators (hands), motors with the smallest possible volume and mass should be used, especially In order to respond quickly, the servo motor must have high reliability and a large short-load overload capability. Therefore, the linear motor 100 for intelligent machine degree of freedom control can be applied to various intelligent machines, including various bionic machines, numerically controlled machine tools, automated production lines, and devices capable of replacing human physical labor or performing different functions, such as robots, surgery. Robots, service robots, etc.

Embodiment 2:

Referring to FIG. 8, referring to FIG. 1, the linear motor 100 for intelligent machine degree of freedom control of the present embodiment is different from the linear motor 100 for intelligent machine degree of freedom control of the first embodiment:

[0100] The distance between the middle portions of the adjacent two magnetic conductive sheets 231 is L=2K=2*(dl+d2)/3, where dl is the thickness of each magnetic conductive plate 31, and d2 is the thickness of each magnetic shielding plate 32.

[0101] Please refer to FIG. 4 together, specifically: In this embodiment, three sets are drawn, each set of driving mechanism 21 includes three sets of excitation components 22, and each of the magnetic conductive pieces 231 corresponding to the three sets of excitation components 22 are respectively Al, Bl, CI, A2, B2, C2, A3, B3, C3; wherein the excitation components 22 corresponding to the three groups of Al, Bl, CI form a set of drive mechanisms 21, A2, B2, C2 three sets of corresponding excitation components 22 forms a set of drive mechanisms 21, and the three sets of corresponding excitation assemblies 22 of A3, B3, C3 form a set of drive mechanisms 21. Figure 8 shows that the mover 30 is moving, three The relative position of each of the magnetic conductive sheets 231 of the driving mechanism 21 and the mover 30 is set. In Fig. 8, when the A1 magnetic conductive sheet 231 faces a magnetic conductive plate 31, the B1 magnetic conductive sheet 231 is located at 2 (dl + d2) / 3, and the next magnetic conductive sheet 231 of C1 (dl + d2) / 3 The distance between the A1 magnetic conductive sheet 231 and the A2 magnetic conductive sheet 231 is equal to the distance between the A2 magnetic conductive sheet 231 and the A3 magnetic conductive sheet 231, and the distance between the A1 magnetic conductive sheet 231 and the A2 magnetic conductive sheet 231 is equal to two. The distance between the middle portions of the adjacent magnetic conductive plates 31 is twice. When the control coils 24 of the C-group excitation components 22 are energized, that is, the control coils 24 of the C1 group, the C2 group, and the C3 group excitation assembly 22 are energized, the magnetic permeability plate 31 of the magnetic mover 30 moves (dl+d2)/ The distance of 3; then the control coil 24 of each group B excitation assembly 22 is energized, that is, the control coil 24 of the B1 group, the B2 group, the B3 group excitation assembly 22 is energized, and the magnetic conductive plate 31 of the magnetic mover 30 is moved again (dl The distance of +d2)/3; after that, the control coils 24 of each group A excitation component 22 are energized, that is, the control coils 24 of the group A1, group A2, and group A3 are energized, and the magnetic conductive plate 31 of the magnetic actuator 30 The distance of (dl + d2) / 3 is moved again, so that in one power-on period (A, B, and C groups of excitation components 22 are sequentially energized), the mover 30 advances (dl + d2). Then, the power-on sequence control is CBACBACBA......, and the mover 30 can be controlled to advance; and the power-on sequence control is BCABCAB.

CA ......, then the mover 30 can be controlled to retreat, and the control is simple and convenient.

The other structures of the linear motor 100 for the intelligent machine degree of freedom control of the present embodiment are the same as those of the linear motor 100 for the intelligent machine degree of freedom control of the first embodiment, and are not described herein again.

Embodiment 3:

Referring to FIG. 9, referring to FIG. 1, the linear motor 100 for intelligent mechanical degree of freedom control of the present embodiment is different from the linear motor 100 for intelligent mechanical degree of freedom control of the first embodiment:

[0105] The distance between the middle portions of the adjacent two magnetic conductive sheets 231 is L=4K=4*(dl+d2)/3, where dl is the thickness of each magnetic conductive plate 31, and d2 is the thickness of each magnetic isolation plate 32.

Embodiment 4:

Referring to FIG. 10, please refer to FIG. 1. The difference between the linear motor 100 for intelligent mechanical degree of freedom control of the present embodiment and the linear motor 100 for intelligent mechanical degree of freedom control of the first embodiment is as follows:

[0109] Each set of driving mechanism 21 includes four sets of excitation components 22, and the respective magnetic conductive sheets 231 corresponding to the four sets of excitation components 22 are Al, Bl, Cl, Dl, A2, B2, C2, D2, A3, B3, C3, respectively. , D3, A4, B4, C4, D4, A5, B5, C5, D5; wherein the excitation components 22 corresponding to the four groups of Al, Bl, Cl, Dl form a set The excitation components 22 corresponding to the four groups of drive mechanisms 21, A2, B2, C2, and D2 form a set of drive mechanisms 21, and the four sets of corresponding excitation components 22 of A3, B3, C3, and D3 form a set of drive mechanisms 21, A4, B4. The excitation components 22 corresponding to the four groups C4 and D4 form a set of driving mechanisms 21, and the corresponding excitation components 22 of the four groups A5, B5, C5 and D5 form a set of driving mechanisms 21. In Fig. 10, the relative positions of the respective magnetic conductive sheets 231 and the movers 30 of the four sets of drive mechanisms 21 are shown when the mover 30 is moved.

[0110] The distance between the middle portions of the adjacent two magnetic conductive sheets 231 is L = (dl + d2) / 4 where dl is the thickness of each of the magnetic conductive plates 31, and d 2 is the thickness of each of the magnetic shielding plates 32. The power-on sequence control is BCDABCDABCDA......, which can control the mover

30 forward; and the power-on sequence control is DCBADCBADCBA......, then the mover 30 can be controlled to retreat, and the control is simple and convenient. During the energization period of each of the respective excitation components 22, the mover 30 moves (dl + d2) / 4.

[0111] In the present embodiment, the drive mechanism 21 draws five sets. In other embodiments, the number of drive mechanisms 21 can be set as desired. Additionally, in other embodiments, each set of drive mechanisms 21 may also include five sets of excitation assemblies 22, six sets of excitation assemblies 22, seven sets of excitation assemblies 22, and the like.

Embodiment 5:

Referring to FIG. 11 and FIG. 12, the difference between the linear motor 100 for intelligent machine degree of freedom control of the present embodiment and the linear motor 100 for intelligent machine degree of freedom control of the first embodiment is:

[0115] In the present embodiment, the linear motor 100 for intelligent machine degree of freedom control includes a support shaft 15, and the mover 30 includes a plurality of magnetic arms 33 surrounding the support shaft 15, and each of the magnetic arms 33 includes alternately stacked layers. A plurality of magnetic conductive plates 31 and magnetic isolation plates 32; each of the excitation components 22 includes a plurality of magnetic conductive arms 23 corresponding to the respective magnetic arms 33, and the plurality of magnetic conductive arms 23 evenly surround the mover 30. In this structure, a plurality of magnetic conductive arms 23 are disposed on the inner surface of the casing 10. The magnetically movable arms 33 are disposed on the supporting shaft 15 at positions corresponding to the respective magnetic conductive arms 23. Each of the magnetic attracting arms 33 uses a plurality of magnetically conductive electrodes arranged alternately. The plate 31 and the magnetic shield 32 are formed to form a mover 30 structure. This structure is used by the magnetic attraction of the respective magnetic arms 23 to position the mover 30 to prevent the mover 30 from being deflected.

[0116] Please refer to FIG. 4 together, further, a permanent magnet 39 is disposed at one end of each of the magnetic attraction arms 33 away from the stator 20, so that the magnetic flux 231 of the mover 30 always has a magnetic force, and the movement can be increased. The suction force of the magnetic pole plate 31 of the stator 20 increases the driving force; when the entire linear motor 100 for intelligent mechanical degree of freedom control is de-energized, the magnetic field generated by the permanent magnet 39 is axially passive. (magnetic guide plate 31) and The non-magnetic material (magnetic isolation plate 32) is divided. When the distance between the magnetically permeable material of the stator 20 and the mover 30 is sufficiently small, if the axial relative position of the soft magnetic material is offset, the magnetic field will generate a static magnetic force to keep the stator 20 mover 30 at the position with the smallest magnetic resistance. In the above, as long as the external force applied to the linear motor 100 for the intelligent machine degree of freedom control is smaller than the maximum static magnetic force, the linear motor 100 for the intelligent machine degree of freedom control, the stator 20 mover 30, will maintain the relative position. Therefore, the linear motor 100 for the intelligent machine degree of freedom control has a function of automatically maintaining the position after the power is turned off.

[0117] Further, the magnetic arm 23 is disposed away from the end of the mover 30 with a permanent magnet block 29, and when the entire linear motor 100 for intelligent mechanical degree of freedom control is powered off, the magnetic conductive piece 231 of the magnetic conductive arm 23 is always There is a magnetic force, and the magnetic field formed by the magnetic force acts on the magnetic field of the magnetic conductive plate 31 on the mover 30 to increase the maximum static magnetic force, and better maintain the mover 30 of the linear motor 100 for intelligent mechanical degree of freedom control.

[0118] Further, by controlling the control coil 24 of each excitation component 22, the alternating magnetic field can be generated on the magnetic arm 23, and then the movement of the mover 30 can be controlled to realize the axial movement and the axial rotation. Degree of freedom in both directions. Further, each of the magnetic conductive plates 31 is arranged in a fan shape. Better match with the corresponding magnetic arm 2 3 .

[0119] Further, the casing 10 is placed on the stator 20, and the two ends of the casing 10 are provided with a bore through which the mover 30 passes. The two ends of the stator 20 are provided with a backing ring 18, and each of the backing rings 18 is mounted. On the inner surface of the casing 10. By providing the backing ring 18, the stator 20 can be better mounted and fixed in the casing 10, and the same function as the stator 20.

[0120] Further, each of the magnetic conductive plates 31 is provided with a plurality of first external teeth, so that a plurality of first external teeth are formed on each of the formed magnetic arms 33, and each of the magnetic conductive arms 23 is provided with a plurality of first and first The external teeth 35 correspond to the positioning internal teeth. A first external tooth 35 is disposed on each of the magnetic conductive plates 31, and a positioning internal tooth is disposed on each of the magnetic conductive arms 23, so that the function of the stepping motor can be formed to realize the two directions of moving in the axial direction and rotating in the axial direction. Degree of freedom.

[0122] Embodiment 6:

Referring to FIG. 13 and FIG. 14, the difference between the linear motor 100 for the intelligent machine degree of freedom control of the present embodiment and the linear motor 100 for the intelligent machine degree of freedom control of the first embodiment is as follows:

[0124] Each of the magnetic conductive plates 31 is provided with a plurality of first external teeth 35, and each of the magnetic conductive arms 23 is provided with a plurality of positioning internal teeth 235 corresponding to the respective first external teeth 35. A first external tooth 35 is disposed on each of the magnetic conductive plates 31, corresponding to each of the magnetic conductive arms 23 The positioning of the internal teeth 235 is performed, and the function of the stepping motor can be formed to realize the degrees of freedom in both the axial movement and the axial rotation.

[0125] Further, the casing 10 is placed on the stator 20, and the two ends of the casing 10 are provided with a bore through which the mover 30 passes. The two ends of the stator 20 are provided with a backing ring 18, and each of the backing rings 18 is mounted. On the inner surface of the casing 10. By providing the backing ring 18, the stator 20 can be better mounted and fixed in the casing 10, and the same function as the stator 20.

Embodiment 7:

Referring to FIG. 15 and FIG. 16, the difference between the linear motor 100 for the intelligent machine degree of freedom control of the present embodiment and the linear motor 100 for the intelligent machine degree of freedom control of the sixth embodiment is as follows:

[0129] In this embodiment, the casing 10 has a cylindrical shape, the casing 10 is sleeved on the mover 30, and the stator 20 is slidably mounted on the casing.

In 10, each set of excitation components 22 includes a plurality of magnetically conductive arms 23, and a plurality of magnetically conductive arms 23 are evenly disposed around the axial direction of the casing 10, and the movers 30 are disposed around the stator 20. This structure is to arrange the mover 30 on the outer periphery of the stator 20, so that the casing 10 moves with the mover 30.

Further, the linear motor 100 for intelligent machine degree of freedom control further includes a holding plate 17 for holding and fixing a plurality of sets of driving mechanisms 21, and the holding plate 17 is slidably mounted in the mover 30. The holding plate 17 is provided to better hold the stator 20 to ensure the stability of the stator 20.

Further, the two ends of the stator 20 are respectively mounted with the backing rings 18, and the respective backing rings 18 are mounted on the inner surfaces of the respective holding plates 17. The spacer ring 18 is provided to protect the stator 20.

Further, the linear motor 100 for intelligent machine degree of freedom control further includes a support shaft 15, and a plurality of magnetic arms 23 are evenly mounted around the support shaft 15. A support shaft 15 is provided to fix and support the stator 20 through the support shaft 15.

[0133] Further, each of the magnetic arm 23 is mounted with a permanent magnet block 29 away from the end of the mover 30. In order to make the linear motor 100 for the intelligent machine degree of freedom control power off, the position is automatically maintained.

[0134] Further, in this embodiment, each of the magnetic conductive sheets 231 has a ring shape. Thereby, the produced mover 30 is formed in a ring shape.

[0135] In other embodiments, the mover 30 may include a plurality of magnetic arms 33 mounted on the inner surface of the casing 10, each of the magnetic arms 33 includes a plurality of magnetically permeable plates 31 and magnetically permeable plates 32 arranged alternately; Each of the magnetic conductive sheets 231 has a fan shape. The other structure of the linear motor 100 for the intelligent machine degree of freedom control of the present embodiment is the same as the other structure of the linear motor 100 for the intelligent machine degree of freedom control of the sixth embodiment, and details are not described herein again.

[Embodiment 8]

Referring to FIG. 17, the difference between the linear motor 100 for the intelligent machine degree of freedom control of the present embodiment and the linear motor 100 for the intelligent machine degree of freedom control of the seventh embodiment is as follows:

[0139] Each of the magnetic conductive plates 31 is provided with a plurality of first internal teeth 34, and each of the magnetic conductive arms 23 is provided with a plurality of first external teeth respectively.

35 corresponding positioning external teeth 234. The first internal teeth 34 are disposed on the respective magnetic conductive plates 31, and the positioning external teeth 234 are disposed on the respective magnetic conductive arms 23, so that the function of the stepping motor can be formed to realize the two directions of moving in the axial direction and rotating in the axial direction. The degree of freedom.

[0140] The other structure of the linear motor 100 for the intelligent machine degree of freedom control of the present embodiment is the same as that of the linear motor 100 for the intelligent machine degree of freedom control of the seventh embodiment, and details are not described herein again.

Example 9:

Referring to FIG. 18, FIG. 19 and FIG. 20, the difference between the linear motor 100 for the intelligent machine degree of freedom control of the present embodiment and the linear motor 100 for the intelligent machine degree of freedom control of the first embodiment is:

In the present embodiment, the magnetic arm 23 of each of the excitation components 22 includes a plurality of magnetically conductive sheets 231 stacked in a stack. In other embodiments, the magnetic conductive sheets 231 of the respective magnetic conductive arms 23 may be two layers, three layers, four layers, or the like.

Specifically, in the embodiment, the driving mechanism 21 is one. Of course, in other embodiments, a plurality of driving mechanisms 21 may be disposed along the longitudinal direction of the linear motor 100 for intelligent mechanical degree of freedom control. In this embodiment, the driving mechanism 21 includes three sets of excitation components 22, as shown in FIG. 18, corresponding to three sets of excitation components 22 of A, B, and C, respectively. The excitation assembly 22 of this structure is easy to manufacture and low in cost.

[0145] Further, in the embodiment, the linear motor 100 for the intelligent mechanical degree of freedom control has a cylindrical shape, and the magnetic conductive arms 23 of the adjacent two sets of the excitation components 22 are mutually offset in the radial direction, and the same can be used. The control coil 24 is erroneously twisted, so that the linear motor 100 for intelligent machine degree of freedom control can be made more compact.

[0146] Further, the distance between adjacent two magnetic conductive sheets 231 in the same set of excitation components 22 is equal. This structure can facilitate the fabrication of each of the magnetic arms 23. Further, the sum of the distance between two adjacent magnetic conductive sheets 231 of the same set of excitation components 22 and the thickness of one magnetic conductive sheet 231 is equal to the adjacent one of the magnetic conductive sheets 31 and one magnetic isolation plate in the mover 30. The sum of the thicknesses of 32. The structure can make the respective magnetic conductive sheets 231 of the same set of excitation components 22 magnetically attract the adjacent magnetic conductive plates 31 with a larger torque. [0147] Further, each of the magnetic conductive sheets 231 of the adjacent two sets of excitation components 22 satisfies the following relationship:

[0148] The middle portion of one of the magnetic plates 231 of the set of excitation components 22 is opposite to the central position of a certain magnetic conductive plate 31 on the mover 30: the middle of the corresponding magnetic conductive plate 231 of the other set of excitation components 22 The central portion of the magnetic conductive plate 31 adjacent to the magnetic conductive sheet 231 is erroneously twisted, and the magnetic conductive piece 231 and the magnetic conductive piece 231 are in the wrong position from the middle of the adjacent two magnetic conductive plates 31; The distance between the two magnetic conductive sheets 231 corresponding to the same position in the group excitation unit 22 is equal.

[0149] As a preferred embodiment, for convenience of understanding, a corresponding one of the three sets of excitation components 22 of A, B, and C is described as an example: For example, the third magnetic conductive piece of the A group excitation component 22 The middle portion of the 231 is opposite to the central portion 某个 of a certain magnetic conductive plate 31 on the mover 30, and the magnetic conductive plate 31 of the B group excitation assembly 22 corresponding to the third magnetic conductive sheet 231 and the third magnetic conductive sheet 231 The middle position is erroneously 幵, and the third magnetic conductive sheet 231 of the B group excitation assembly and the third magnetic conductive sheet 231 are offset from each other in the middle position of the adjacent two magnetic conductive sheets 31. The distance between the two magnetic permeable sheets 231 corresponding to the same position in any two adjacent excitation components 22 is equal. For example, the distance between the middle of the third magnetic conductive sheet 231 of the A group excitation assembly 22 and the middle of the third magnetic conductive sheet 231 of the B group excitation assembly 22 is equal to the third magnetic conductive sheet 231 of the B group excitation assembly 22. The distance from the middle to the middle of the third magnetically permeable piece 231 of the C group excitation assembly 22; meanwhile, the middle of the second magnetically permeable piece 231 of the A group of excitation components 22 to the second of the B set of excitation components 22 The distance between the middle portions of the magnetic conductive sheets 231 is equal to the distance between the middle of the second magnetic conductive sheet 231 of the B group excitation unit 22 to the middle of the second magnetic conductive sheet 231 of the C group excitation unit 22.

[0150] The other structures of the linear motor 100 for the intelligent machine degree of freedom control of the present embodiment are the same as those of the linear motor 100 for the intelligent machine degree of freedom control of the first embodiment, and are not described herein again.

Embodiment 10:

Referring to FIG. 21 and FIG. 22, the difference between the linear motor 100 for intelligent machine degree of freedom control of the present embodiment and the linear motor 100 for intelligent machine degree of freedom control of the first embodiment is:

In the embodiment, the stator 20 and the mover 30 are each elongated, and the mover 30 is slidably mounted on the stator 20. This structure can make the mover 30 a track structure, and the combined stator 20 moves on the mover 30. Of course, in other embodiments, the stator 20 can also be fabricated as a track structure with the mover 30 moving over the stator 20.

[0154] Further, the casing 10 is covered on the stator 20 to protect the structure of the stator 20. Further, the linear motor 100 for intelligent machine degree of freedom control further includes a slide rail 16 supporting the mover 30, and the mover 30 is mounted on the slide In the rail 16, the casing 10 is slidably mounted on the slide rail 16. By providing the slide rail 16, the stator 20 can be better guided to move relative to the mover 30, and the same function can be used to protect the mover 30. Further, a roller 161 is further mounted on the casing 10, and the roller 161 is fitted on the sliding rail 16, so that the casing 10 can be better on the sliding rail 1

Slide 6 to reduce friction.

[0155] The other structures of the linear motor 100 for the intelligent machine degree of freedom control of the present embodiment are the same as those of the linear motor 100 for the intelligent machine degree of freedom control of the first embodiment, and are not described herein again.

The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalents, and improvements made within the spirit and scope of the present invention should be included in the present invention. Within the scope of protection of the invention.

Claims

Claim

A linear motor for intelligent mechanical degree of freedom control, comprising a casing, a mover and a stator for driving the mover linearly, wherein the mover comprises a plurality of magnetic plates for shielding and isolating a plurality of magnetic isolation plates adjacent to the two magnetic conductive plates, wherein the magnetic conductive plates and the magnetic separation plates are alternately stacked; the stator includes a plurality of driving mechanisms for driving the movement of the mover, each set The drive mechanism includes at least three sets of excitation components for producing a drive magnetic field, each set of the excitation components includes a magnetically conductive arm and a control coil wound on the magnetically conductive arm, the magnetically conductive arm including the mover At least one magnetic conductive sheet disposed in a moving direction and a magnetic insulating sheet encasing each of the magnetic conductive sheets.

The linear motor for intelligent machine degree of freedom control according to claim 1, wherein each of said two adjacent said magnetizing components satisfies the following relationship: one of said one of said exciting components The middle portion of the magnetic conductive sheet is opposite to a central position of a certain one of the magnetic conductive plates on the mover: a middle portion of the corresponding one of the excitation members is adjacent to the magnetic conductive sheet The middle position of the magnetic conductive plate is erroneously 幵, and the central portion of the adjacent two magnetic conductive plates whose magnetic conductive piece is closest to the magnetic conductive piece is erroneous; the same one of the two adjacent excitation components The distance between the two magnetic guide sheets corresponding to the position is equal. A linear motor for intelligent machine degree of freedom control according to claim 2, wherein a distance between two adjacent ones of the same group of said magnetizing members is equal. A linear motor for intelligent machine degree of freedom control according to claim 3, wherein a distance between two adjacent said magnetically permeable sheets of said same set of said exciting members and a thickness of said one of said magnetic conductive sheets The sum is equal to the sum of the thicknesses of the adjacent one of the magnetic plates and the one of the magnetic plates.

A linear motor for intelligent machine degree of freedom control according to claim 2, wherein each of said driving mechanisms comprises three sets of said exciting components, and said magnetically permeable arms of said set of said exciting components comprise a a layer magnetic conductive sheet and the magnetic isolation sheet encasing the magnetic conductive sheet.

A linear motor for intelligent machine degree of freedom control according to claim 5, wherein each of said control coils is disposed in said magnetic isolation sheet.

A linear motor for intelligent machine degree of freedom control according to claim 6, characterized in that The control coils are etched into the magnetic isolation sheets.

A linear motor for intelligent machine degree of freedom control according to claim 5, wherein the distance between any two adjacent said magnetic sheets is equal.

A linear motor for intelligent machine degree of freedom control according to claim 8, wherein the distance L between the two central portions of the adjacent magnetically permeable sheets satisfies the following formula:

L=M*K, M≠3X;

K = (dl + d2) / 3;

Wherein dl is the thickness of each of the magnetic conductive plates, d2 is the thickness of each of the magnetic isolation plates, X is a positive integer, and M is a positive integer.

The linear motor for intelligent machine degree of freedom control according to any one of claims 1 to 9, wherein the mover and the stator are each elongated, and the stator is slidably mounted to the mover. On the child.

A linear motor for intelligent machine degree of freedom control according to claim 10, further comprising a slide rail supporting said mover, said mover being mounted in said slide rail, said casing cover And on the stator, and the casing is slidably mounted on the sliding rail.

The linear motor for intelligent machine degree of freedom control according to claim 11, wherein the casing is further provided with a roller that cooperates with the slide rail.

The linear motor for intelligent machine degree of freedom control according to any one of claims 1 to 9, wherein the mover has a cylindrical shape, and each of the sets of the excitation components includes a plurality of the magnetically conductive arms. And a plurality of the magnetic guiding arms uniformly surround the mover.

The linear motor for intelligent machine degree of freedom control according to claim 13, wherein each of the magnetic conductive plates is provided with a plurality of first external teeth, and each of the magnetic conductive arms is provided with a plurality of respectively The first external teeth correspond to the positioning internal teeth.

A linear motor for intelligent machine degree of freedom control according to claim 13, further comprising a support shaft supporting said mover, wherein said mover is provided with a support for said support shaft to pass through Center hole.

The linear motor for intelligent machine degree of freedom control according to claim 13, wherein the casing is disposed on the stator, and both ends of the casing are provided for the mover to wear The pupil that passed.

A linear motor for intelligent machine degree of freedom control according to claim 16, wherein a bushing is mounted in said bore.

A linear motor for intelligent machine degree of freedom control according to any one of claims 1 to 9, characterized by comprising a support shaft, the mover comprising a plurality of magnetic arms surrounding the support shaft, each The magnetic attraction arm includes a plurality of the magnetic conductive plates and the magnetic isolation plates which are alternately stacked; each of the excitation components includes a plurality of the magnetic conductive arms respectively corresponding to the respective magnetic arms, and The magnetically conductive arms evenly surround the mover.

A linear motor for intelligent machine degree of freedom control according to claim 18, wherein each of said magnetic conductive plates is arranged in a sector.

The linear motor for intelligent machine degree of freedom control according to claim 19, wherein each of the magnetic conductive plates is provided with a plurality of first external teeth, and each of the magnetic conductive arms is provided with a plurality of respectively The first external teeth correspond to the positioning internal teeth.

A linear motor for intelligent machine degree of freedom control according to claim 18, wherein a permanent magnet is attached to one end of each of said magnetic arms away from said magnetic arm.

The linear motor for intelligent machine degree of freedom control according to claim 18, wherein the casing is disposed on the stator, and both ends of the casing are provided with the mover through The two sides of the stator are mounted with a backing ring, and each of the backing rings is mounted on an inner surface of the casing.

The linear motor for intelligent machine degree of freedom control according to any one of claims 1 to 9, wherein the casing has a cylindrical shape, and the casing is sleeved on the mover, The stator is slidably mounted in the casing, each set of the excitation components includes a plurality of the magnetic arms, and a plurality of the magnetic arms are evenly disposed around an axial direction of the casing, and the mover surrounds Said stator settings.

A linear motor for intelligent machine degree of freedom control according to claim 23, further comprising: a clamping plate for holding and fixing a plurality of said driving mechanisms, said clamping plate being slidably mounted to said mover in.

A linear motor for intelligent machine degree of freedom control according to claim 23, characterized in that The utility model further includes a support shaft, wherein the plurality of magnetic guiding arms are evenly mounted on the support shaft.

[Claim 26] The linear motor for intelligent machine degree of freedom control according to claim 23, wherein each of the magnetic conductive plates is provided with a plurality of first internal teeth, and each of the magnetic arms is provided There are a plurality of positioning external teeth respectively corresponding to the first outer teeth.

[Claim 27] The linear motor for intelligent machine degree of freedom control according to claim 23, wherein each of said magnetic conductive sheets has a ring shape.

[Claim 28] The linear motor for intelligent machine degree of freedom control according to claim 23, wherein the mover comprises a plurality of magnetic arms mounted on an inner surface of the casing, each of the The magnetic attraction arm includes a plurality of the magnetic conductive plates and the magnetic isolation plates which are alternately stacked; each of the magnetic conductive sheets has a fan shape.

[Claim 29] The linear motor for intelligent machine degree of freedom control according to any one of claims 1 to 9, wherein each of the magnetic arm is mounted with a permanent magnet block away from one end of the mover.