WO2020078412A1 - 一种线性电机及自动化设备 - Google Patents

一种线性电机及自动化设备 Download PDF

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Publication number
WO2020078412A1
WO2020078412A1 PCT/CN2019/111640 CN2019111640W WO2020078412A1 WO 2020078412 A1 WO2020078412 A1 WO 2020078412A1 CN 2019111640 W CN2019111640 W CN 2019111640W WO 2020078412 A1 WO2020078412 A1 WO 2020078412A1
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Prior art keywords
guide
linear motor
mover
stator
guide portion
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PCT/CN2019/111640
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English (en)
French (fr)
Inventor
何国斌
贺智明
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南方电机科技有限公司
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Publication of WO2020078412A1 publication Critical patent/WO2020078412A1/zh

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors

Definitions

  • the invention relates to the field of driving technology, in particular to a linear motor and automation equipment.
  • FIG. 7 is a partial structural schematic diagram of an embodiment of a linear motor in the prior art.
  • the existing linear motor 20 includes a stator 21 and a mover 22.
  • the stator 21 is fixed on the bracket, and the stator bracket fixes the guide rail corresponding to the position of the mover 22, and the guide block is fixed on the mover 22, and the guide rail is located outside the motor.
  • the present invention provides a linear motor and automation equipment.
  • a first aspect of the present invention provides a linear motor including a mover, a stator, and a guide assembly; the guide assembly includes a first guide portion and a second guide portion that cooperate with each other;
  • One of the first guide portion and the second guide portion is provided on the mover; the other of the first guide portion and the second guide portion is provided on the stator; The first guide portion and the second guide portion are in relatively slidable contact along the direction of movement of the mover to define a uniform gap formed between the stator and the mover.
  • one of the mover and the stator is a cylinder, and the cylinder forms a penetration portion in the direction; the other of the mover and the stator is a bar passing through the penetration portion body.
  • the first guide portion or the second guide portion provided on the rod body is provided at least part of the corner of the rod body in the direction.
  • first magnetically conductive portion or the second magnetically conductive portion and the rod body are integrally formed on at least part of the corner of the rod body.
  • first guide portion and one of the stator and the mover, and / or the second guide portion and the other of the mover and the stator are integrally formed and fixed by a fixing member or The clamping structure is fixedly connected.
  • the guide assembly is a guide bar and guide block assembly, a guide rail and a slider assembly, or a guide shaft and a slider assembly.
  • the guide block includes a slider and a fixing member; the slider is fixed to the stator or the mover through the fixing member.
  • the slider includes a roller or a sliding block.
  • At least opposing contact surfaces of the first guide portion and the second guide portion are made of a material with a small friction coefficient and / or a high hardness.
  • first guide part and the magnetic permeable part of one of the mover and the stator form an integrated structure; and / or
  • the second guide part has an integral structure with the mover and the magnetic permeable part of the other stator.
  • a second aspect of the present invention provides an automation device, which includes the linear motor described in any one of the above.
  • the main advantage of adopting the technical solution of the present invention is that the guide assembly is used to define a uniform gap between the stator and the mover, so it has the advantages of simplifying the overall structural design of the linear motor, reducing weight, and improving the service life of the linear motor.
  • FIG. 1 is a schematic diagram of a first overall structure of an embodiment of a linear motor provided by the present invention.
  • FIG. 2 is a schematic diagram of a second overall structure of an embodiment of a linear motor provided by the present invention.
  • FIG. 3 is a schematic structural diagram of an embodiment of a barrel of a linear motor provided by the present invention.
  • FIG. 4A is a schematic structural diagram of an embodiment of a rod body of a linear motor provided by the present invention
  • FIG. 4B is an enlarged schematic structural diagram of a part A of an embodiment of the rod body of a linear motor provided by the present invention.
  • FIG. 5 is a schematic diagram of an explosion structure of an embodiment of a guide block of a linear motor provided by the present invention.
  • FIG. 6 is a schematic structural diagram of an embodiment of a guide assembly provided by the present invention.
  • FIG. 7 is a partial structural schematic diagram of an embodiment of a linear motor in the prior art.
  • the invention provides a linear motor and automatic equipment.
  • the linear motor adopting this structure uses a guide assembly to define a uniform gap between the stator and the mover. Therefore, the linear motor overall structure design is simplified, the weight is reduced, and the weight is improved. Advantages of the service life of linear motors.
  • FIG. 1 is a schematic diagram of a first overall structure of an embodiment of a linear motor provided by the present invention.
  • 2 is a schematic diagram of a second overall structure of an embodiment of a linear motor provided by the present invention.
  • 3 is a schematic structural diagram of an embodiment of a barrel of a linear motor provided by the present invention.
  • 4A is a schematic structural diagram of an embodiment of a rod body of a linear motor provided by the present invention;
  • FIG. 4B is an enlarged schematic structural diagram of a part A of an embodiment of the rod body of a linear motor provided by the present invention.
  • 5 is a schematic diagram of an explosion structure of an embodiment of a guide block of a linear motor provided by the present invention.
  • an embodiment of the present invention provides a linear motor 10, the linear motor 10 includes a mover 12, a stator 11, and a guide assembly; the guide assembly includes a first guide portion 13 and guide guide The second guide 14;
  • first guide portion 13 and the second guide portion 14 is provided on the mover 12, specifically, it may be provided on a mover surface corresponding to the stator of the mover; the first The other of the guide portion 13 and the second guide portion 14 is provided on the stator 11, specifically, it may be provided on the stator surface of the stator corresponding to the mover; the first guide portion 13 and the The second guide portion 14 is relatively slidably contactable along the moving direction of the mover 12 to define a uniform gap formed between the stator 11 and the mover 12.
  • steel such as bearing steel
  • alloy materials such as bearing steel
  • magnetically conductive materials such as ceramics or carbon fiber, etc.
  • Made of materials, or the structure made of various materials is combined into a whole by physical means, so that the first guide portion and the second guide portion are more wear-resistant.
  • the linear motor with the above structure can achieve the function of defining the gap between the stator and the mover through the cooperation of the guide bar and the guide block, eliminating the structure of providing the guide rail and the bracket outside the linear motor, and simplifying the overall structure of the linear motor The design reduces the weight of the linear motor.
  • first guide portion and the second guide portion may include, but are not limited to: as shown in FIG. 1, the guide bar 13 and the guide block 14; as shown in FIG. 6, FIG. 6 provides the present invention A schematic structural view of the embodiment of the guide assembly, the guide rail 13 and the slider 14; or the guide shaft and the slider (not shown in the figure), or other structures that can be guided to each other now or designed and developed in the future.
  • the guide bar and the guide block are used as an example for further detailed description.
  • the linear motor described in the present invention may include a motor that converts electrical energy into kinetic energy output (the motor may include: a rotary motor that rotates in motion, and a linear motor that moves linearly); it may also include converting kinetic energy into electrical energy output. Generator.
  • the two can be implemented with the same structure. By using different electrical and mechanical connections to the same structure, the functions of the generator or the motor can be realized separately.
  • stator and the mover of the linear motor may be any matched structure that meets the design requirements of the linear motor for relative linear motion, such as: the mover 12 of the rod body and the stator 11 of the barrel body (as shown in the figure 1), the mover 12 of the rod body, the stator 11 of the concave body (as shown in FIG. 2), etc.
  • cross-section of the penetration portion of the 11-cylinder body can be designed into any shape as needed, such as: circular, polygonal, or elliptical; wherein, the polygon can be triangular or rectangular (as shown in Figure 1) Wait for any number of polygons.
  • the cross-sectional shape of the rod body 12 matches the cross-sectional shape of the penetrating portion, so that the rod body just passes through the penetrating portion, and there is a gap between the outer wall of the rod-shaped magnetic conductive portion and the inner wall of the cylinder, and then passes through the first guide
  • the gap formed between the mover and the stator with the second guide is defined as a uniform gap; in some preferred embodiments, the cross-section of the rod body is preferably polygonal (for example, as shown in FIG. 1, rectangular), which can be convenient The processing of the permanent magnet, and it is convenient to embed the permanent magnet in the groove. In this specific embodiment, an example is described in which the penetrating portion and the horizontal surface of the rod body are rectangular.
  • the mover of the linear motor is a rod body
  • the stator is a cylindrical body
  • the first guide portion is a guide bar
  • the second guide portion is a guide block as an example for further detailed description.
  • the linear motor 10 includes a mover 12, a stator 11, a guide bar 13 and a guide block 14.
  • the mover 12 can move relative to the stator 11.
  • the stator 11 is a cylindrical body 11 formed by a magnetic conductive part and the like, and the cylindrical body 11 forms a penetrating portion along the direction X in which the mover moves;
  • the mover 12 is a rod body 12 that includes a rod-shaped magnetically conductive portion 12 that passes through the penetrating portion.
  • the rod body 12 is provided with a guide bar 13 along the moving direction of the mover.
  • the guide block 14 in order for the guide block 14 to slidably contact the guide bar 13, it is necessary to ensure that when the cylinder generates an acting force relative to the rod in the direction X of movement of the mover according to the principle of electromagnetic reaction, the action The force can overcome the frictional force generated when the guide block and the guide bar are in contact with each other, so that the guide block moves relative to the guide bar along the track formed by the guide bar.
  • the position between the cylinder and the rod body can be defined so that a uniform gap is formed between the two to form a magnetic gap.
  • the guide block 14 includes a slider 141 and a fixing member 142.
  • the slider 141 may use any number greater than or equal to 1, and the slider 141 is fixed to the cylinder through the fixing member 142 ⁇ 11 ⁇ 11 on the body.
  • Multiple sliders 141 can be fixed together on one fixing member 142 (as shown in FIG. 2), or different sliders can be fixed on different fixing members, the first method is preferred, which saves the process and improves positioning Accuracy.
  • the fixing member 142 is a cylindrical structure 142 corresponding to the cylindrical body 11, the outer wall of the cylindrical structure 142 is fixed on the cylindrical body 11, and the inner wall is used to fix one or more Sliders.
  • the slider 141 may include, but is not limited to, a sliding block or a roller 141 (as shown in FIG. 5), preferably a roller, and the roller may be used to minimize the guide block 14 and the guide bar 13. Friction between.
  • the roller 141 may be rotatably provided on the fixing member 142 through a rotating shaft or the like.
  • the guide block may further include a roller frame 143.
  • the roller 141 is fixed on the fixing member 142 through the corresponding roller frame 143, and the fixing member 142 is fixed to the On the barrel 11, the slider 14 is fixed.
  • the linear motor may also include other structures such as multi-phase windings and / or permanent magnets.
  • the multi-phase windings and permanent magnets may be provided On the stator and / or mover.
  • the guide bar 13 is disposed on the rod body 12 along the direction in which the mover 12 moves At least part of the corners of each corner, in some embodiments, it is preferable to provide a guide bar at each corner of the rod body, which can better maintain the stability of the moving part.
  • the guide bars 13 may also be any number less than or equal to 4, such as : 2 pieces, set on the diagonal of the rod body (not shown in the figure).
  • the first guide portion and one of the stator and the mover, and / or the second guide portion and the other of the mover and the stator are magnetically conductive
  • the parts may be connected by means of, but not limited to, being designed as an integrally formed structure, fixing the two by a third fixing member, or clamping the two between them.
  • FIGS. 4A and 4B taking the guide bar 13 as an example, the guide bar 13 and the magnetic permeable part of the mover 12 can be designed into an integrated structure. The design of the magnetic permeable part can be achieved where the guide bar is required.
  • a guide angle for the magnetically conductive portion that is, at least four corners of the rod body 12 so that the guide angle 13 becomes the guide bar 13 so as to strengthen the guide bar and the first part of the magnetic guide unit combined
  • the advantage of compactness increases the firmness of the positioning of the guide bar and the mover, and reduces the possibility of loose separation between the two due to the relative movement of the mover and the stator.
  • each guide rail can correspond to is arbitrary, and the guide blocks can be fixed at any position on the barrel, as long as the guide blocks correspond to the guide bars.
  • the two guide blocks 14 are respectively fixed to the two ends of the barrel 11.
  • the present invention also provides an automation device (not shown in the figure).
  • the automation device includes the linear motor described in any one of the above embodiments.
  • the automation equipment may include: robots; various functions of automation equipment may include: transportation equipment (such as: linear motors used in subway or maglev trains); precision instruments (such as: drawing instruments, medical equipment, Aerospace instruments, etc.); transmission equipment (such as: elevators); acceleration equipment (such as: launchers); living equipment (such as: electric sliding doors, electric opening and closing curtains), etc.
  • the robot can be regarded as a kind of advanced automation equipment.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Linear Motors (AREA)

Abstract

本发明提供一种线性电机和自动化设备。其中，所述线性电机包括动子、定子和导向组件；所述导向组件包括相互配合导向的第一导向部和第二导向部；所述第一导向部和所述第二导向部的其中之一设置在所述动子上；所述第一导向部和所述第二导向部中的另一个设置在所述定子上；所述第一导向部和所述第二导向部沿所述动子运动的方向可相对滑动的接触，以限定所述定子和所述动子之间形成均匀的间隙。。采用本发明的技术方案，省去了在线性电机外部设置导轨和支架的结构，简化了线性电机整体结构设计，减轻了线性电机的重量。

Description

一种线性电机及自动化设备 技术领域
本发明涉及驱动技术领域，具体涉及一种线性电机及自动化设备。
背景技术
如图7所示，图7为现有技术的线性电机的实施例的部分结构示意图。现有的线性电机20包括定子21和动子22，为了限制定子21和动子22之间的相对位置，以使得动子22和定子21在相对运动过程中始终形成均匀的间隙，需要将定子21固定在支架上，定子支架对应动子22的位置固定导轨，动子22上固定导向块，导轨位于电机的外部，这样的线性电机结构设计复杂，同时造成线性电机的整体过于笨重。
发明内容
有鉴于此，本发明提供一种线性电机及自动化设备。
本发明第一方面提供一种线性电机，所述线性电机包括动子、定子和导向组件；所述导向组件包括相互配合导向的第一导向部和第二导向部；
所述第一导向部和所述第二导向部的其中之一设置在所述动子上；所述第一导向部和所述第二导向部中的另一个设置在所述定子上；所述第一导向部和所述第二导向部沿所述动子运动的方向可相对滑动的接触，以限定所述定子和所述动子之间形成均匀的间隙。
进一步，所述动子和所述定子的其中之一为筒体，所述筒体沿所述方向形成贯穿部；所述动子和所述定子中的另一个为穿越所述贯穿部的棒体。
进一步，当所述棒体的横截面为多边形，设置在所述棒体上的所述第一导向部或所述第二导向部沿所述方向设置在所述棒体的至少部分角上。
进一步，所述第一导磁部或所述第二导磁部与所述棒体通过一体成型的方式设置在所述棒体的至少部分角上。
进一步，所述第一导向部与所述定子和动子的其中之一，和/或所述第二导向部与所述动子和所述定子中的另一个通过一体成型、固定件固定或者卡接结构固定连接。
进一步，所述导向组件为导向条和导向块组件、导轨和滑块组件、或导向轴和滑块组件。
进一步，所述导向块包括滑块和固定件；所述滑块通过所述固定件固定于定子或所述动子上。
进一步，所述滑块包括滚轴或滑动块。
进一步，所述第一导向部和所述第二导向部的至少相对的接触面采用摩擦系数小和/或硬度高的材料。
进一步，所述第一导向部与所述动子和所述定子的其中一个的导磁部形成一体的结构；和/或
所述第二导向部与所述动子和所述定子中的另一个的导磁部形成一体的结构。
本发明第二方面提供一种自动化设备，所述自动化设备包括上面任意一项所述的线性电机。
采用本发明的技术方案的主要优势在于，采用导向组件限定定子和动子之间形成均匀的间隙，因此具有简化了线性电机整体结构设计，减轻了重量；提高了线性电机的使用寿命的优势。
附图说明
为了更清楚地说明本发明实施例技术方案，下面将对实施例和现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。
图1为本发明提供的线性电机的实施例的第一整体结构示意图。
图2为本发明提供的线性电机的实施例的第二整体结构示意图。
图3为本发明提供的线性电机的筒体的实施例的结构示意图。
图4A为本发明提供的直线电动机的棒体的实施例的结构示意图；图4B为本发明提供的直线电动机的棒体的实施例的局部A的放大结构示意图。
图5为本发明提供的线性电机的导向块的实施例的爆炸结构示意图。
图6为本发明提供的导向组件的实施例的结构示意图。
图7为现有技术的线性电机的实施例的部分结构示意图。
具体实施方式
为了使本领域的人员更好地理解本发明方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分的实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都应当属于本发明保护的范围。
本发明提供一种线性电机及自动化设备，采用这种结构的线性电机，采用导向组件限定定子和动子之间形成均匀的间隙，因此具有简化了线性电机整体结构设计，减轻了重量；提高了线性电机的使用寿命的优势。
图1为本发明提供的线性电机的实施例的第一整体结构示意图。图2为本发明提供的线性电机的实施例的第二整体结构示意图。图3为本发明提供的线性电机的筒体的实施例的结构示意图。图4A为本发明提供的直线电动机的棒体的实施例的结构示意图；图4B为本发明提供的直线电动机的棒体的实施例的局部A的放大结构示意图。图5为本发明提供的线性电机的导向块的实施例的爆炸结构示意图。
如图1或2所示，本发明实施例提供一种线性电机10，所述线性电机10包括动子12、定子11和导向组件；所述导向组件包括相互配合导向的第一导向部13和第二导向部14；
所述第一导向部13和所述第二导向部14的其中之一设置在所述动子12上，具体的，可以设置在动子对应所述定子的动子面上；所述第一导向部13和所述第二导向部14中的另一个设置在所述定子11上，具体的，可以设置在定子对应 所述动子的定子面上；所述第一导向部13和所述第二导向部14沿所述动子12的运动方向可相对滑动的接触，以限定所述定子11和所述动子12之间形成均匀的间隙。
在一些优选实施例中，为使得第一导向部13和第二导向部14之间可滑动的接触，而二者之间因相对滑动产生的摩擦力尽可能小的影响动子相对定子运动，因此需要使得至少二者的相对的接触面的滑动摩擦系数比较小(可以使得二者的表面尽量光滑平整，或者尽量采用摩擦系数小(比如：摩擦系数小于0.1的材料)；和/或，在另一些实施例中，需要采用硬度比较高的材料，具体的，比如采用：采用钢(比如：轴承钢)、合金材料、导磁材料、陶瓷或碳纤维等等现在已经或将来开发的具有类似功能的材料制成，或者通过物理的方式将各种材料制成的结构组合成一个整体，以使得第一导向部和第二导向部之间更耐磨。
采用上述结构的线性电机，通过导向条和导向块的配合，可以实现限定定子和动子之间的间隙的功能，省去了在线性电机外部设置导轨和支架的结构，简化了线性电机整体结构设计，减轻了线性电机的重量。
需要说明的是，所述第一导向部和所述第二导向部可以包括但不限于：如图1所示，导向条13和导向块14；如图6所示，图6为本发明提供的导向组件的实施例的结构示意图，导轨13和滑块14；或导向轴和滑块(图未示意出)，或者其它现在已有或者将来设计开发的能够彼此进行导向的结构。本具体实施例下面以导向条和导向块为例进一步详细说明。
需要说明的是，本发明所述的线性电机即可以包括将电能转换成动能输出的电动机(电动机可以包括：旋转运动的旋转电动机、直线运动的直线电动机)；也可以包括将动能转化为电能输出的发电机。二者之间在一些情况中是可以采用同一结构实现的，通过对相同的结构采用不同的电连接和机械连接的方式，从而分别实现发电机或电动机的功能。
需要说明的是，所述线性电机的定子和动子可以为任意相配合的相对进行线性运动的符合线性电机设计要求的结构，比如：棒体的动子12和筒体的定子11(如图1所示)、棒体的动子12和凹形体的定子11(如图2所示)等等。
进一步需要说明的是，所述11筒体的贯穿部的横截面可以根据需要设计成任意形状，比如：圆形、多边形、椭圆形；其中，多边形可以为三角形、矩形(如图1所示)等等任意边数的多边形。所述棒体12的横截面的形状与贯穿部的横截面形状相配合，使得棒体正好穿越贯穿部，且棒状导磁部外壁与筒体的内壁之间存在间隙，进而通过第一导向部和第二导向部在动子和定子之间形成的间隙限定为均匀的间隙；在一些优选实施例中，棒体的横截面优选多边形(比如，如图1所示，矩形)，这样可以方便永磁体的加工，且方便将永磁体嵌入槽内。本具体实施例以贯穿部和所述棒体的横街面为矩形为例进行说明。
进一步，为进一步理解本发明，以线性电机的动子为棒体，而定子为筒体，第一导向部为导向条，而第二导向部为导向块为例进一步详细说明。
如图1、3所示，该线性电机10包括动子12、定子11、导向条13和导向块14，动子12可相对定子11运动。
所述定子11为由导磁部等等共同形成的筒体11，筒体11沿所述动子运动的方向X形成贯穿部；
动子12为棒体12，该棒体12包括棒状导磁部12，所述棒状导磁部12穿越该贯穿部。所述棒体12沿所述动子运动的方向设置导向条13。
需要说明的是，为使导向块14可滑动地接触所述导向条13，需保证当筒体根据电磁反应原理产生相对棒体沿所述动子运动的方向X运动的作用力时，该作用力可以克服导向块和导向条之间相互接触后产生的摩擦力，从而使得导向块沿导向条形成的轨道相对导向条运动。另外，由于导向块14抵接在所述导向条上，从而可以限定筒体和棒体之间的位置，使得二者之间形成均匀的间隙以形成磁隙。
如图3所示，在一些实施例中，所述导向块14包括滑块141和固定件142，滑块141可以根据需要采用大于等于1的任意个，滑块141通过固定件142固定于筒体11上。可以多个滑块141共同固定在一个固定件142上(如图2所示)，也可以将不同的滑块固定于不同的固定件上，优选第一种方式，这样节省工序，并提高定位的精度。
在一些实施例中，则所述固定件142为一对应所述筒体11的筒状结构142， 所述筒状结构142的外壁固定在所述筒体11上，内壁用于固定一个或者多个滑块。
在一些实施例中，所述滑块141可以包括但不限于滑动块或者滚轴141(如图5所示)，优选滚轴，采用滚轴的方式可以尽量减少导向块14与导向条13之间的摩擦力。滚轴141可以通过转轴等可转动的设置在所述固定件142上。
如图5所示，在另一些实施例中，导向块还可以包括滚轴架143，滚轴141通过对应的滚轴架143统一固定在所述固定件142上，将固定件142固定于所述筒体11上，从而实现滑块14的固定。
除上面所述的结构外，在一些实施例中，该线性电机还可以包括多相绕组和/或永磁体等等其它的结构，所述多相绕组和永磁体(图未示意出)可以设置在定子和/或动子上。
如图4A、4B所示，在一些实施例中，当棒体12内壁的横截面围成多边形(比如：矩形)，所述导向条13沿所述动子12运动的方向设置在棒体12的各个角的至少部分角处，在一些实施例中，优选棒体的每个角设置导向条，这样可以更好的保持运动部分的稳定性。以横截面为矩形的棒体为例，优选导向条13为4个，分别设置在棒体12的4个角处；除此之外，导向条13也可以为小于等于4的任意个，比如：2个，分别设置在棒体的对角上(图未示意出)。
在一些优选实施例中，所述第一导向部与所述定子和动子的其中之一，和/或所述第二导向部与所述动子和所述定子中的另一个的导磁部可以通过但不限于设计成为一体成型的结构、通过第三个固定件两二者固定或者二者之间进行卡接等的方式连接。如图4A、4B所示，以导向条13为例，可以将导向条13和动子12的导磁部设计成为一体的结构，可以在需要设置导向条的位置，通过对导磁部的设计，比如：对导磁部，即上述棒体12的至少4个角的位置进行导角设计，从而使得该导角13成为导向条13，从而具有加强导向条和第一部分的导磁部结合的紧密度的优势，增加了导向条和动子定位的牢固性，减少了因动子和定子相对运动过程中，二者之间发生松动分离的可能性。
需要说明的是，每个导轨可以对应的导向块的数量为任意，导向块可以固定于筒体上的任意位置，只要保证导向块与导向条相对应即可。
如图5所示，在一些实施例中，导向块14为2个，2个导向块14分别固定于筒体11的两端。
在一些实施例中，本发明还提供一种自动化设备(图未示意出)，所述自动化设备包括上面任意一个实施例所述的线性电机。需要说明的是，所述自动化设备可以包括：机器人；各种功能的自动化设备，可以包括：交通设备(比如：地铁或磁悬浮列车中应用线性电机)；精密仪器(比如：绘图仪器、医疗设备、航空航天仪器等)；传送设备(比如：电梯)；加速设备(比如：发射装置)；生活设备(比如：电动推拉门、电动开关窗帘)等等。其中，机器人可以看作是一种高级的自动化设备。
有关线性电机的描述参见上面所述，在此不再重复赘述。
当一个元件被表述“固定于”、“固定在”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书使用的术语“垂直的”、“水平的”、“左”、“右”、“内”、“外”以及类似的表述只是为了说明的目的。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本说明书中在本发明的说明书中所使用的属于只是为了描述具体的实施方式的目的，不是用于限制本发明。
本文术语中“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如：A和/或B,可以表示单独存在A,同时存在A和B,单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
本发明的权利要求书和说明书及上述附图中的术语“第一”、“第二”、“第 三”等等(如果存在)是用来区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的实施例能够以除了在这里图示或描述的内容以外的顺序实施。此外，术语“包括”“具有”以及他们的任何变形，意图在于覆盖不排他的包含。例如：包括了一系列步骤或者模块的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或者模块，而是包括没有清楚地列出的或对于这些过程、方法、系统、产品或设备固有的其它步骤或模块。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详细描述的部分，可以参见其它实施例的相关描述。
需要说明的是，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的结构和模块并不一定是本发明所必须的。
以上对本发明实施例所提供的线性电机及自动化设备进行了详细介绍，但以上实施例的说明只是用于帮助理解本发明的方法及其核心思想，不应理解为对本发明的限制。本技术领域的技术人员，依据本发明的思想，在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。

Claims (11)

  1. 一种线性电机，其特征在于，所述线性电机包括动子、定子和导向组件；所述导向组件包括相互配合导向的第一导向部和第二导向部；
    所述第一导向部和所述第二导向部的其中之一设置在所述动子上；所述第一导向部和所述第二导向部中的另一个设置在所述定子上；所述第一导向部和所述第二导向部沿所述动子运动的方向可相对滑动的接触，以限定所述定子和所述动子之间形成均匀的间隙。
  2. 根据权利要求1所述的线性电机，其特征在于，所述动子和所述定子的其中之一为筒体，所述筒体沿所述方向形成贯穿部；所述动子和所述定子中的另一个为穿越所述贯穿部的棒体。
  3. 根据权利要求2所述的线性电机，其特征在于，当所述棒体的横截面为多边形，设置在所述棒体上的所述第一导向部或所述第二导向部沿所述方向设置在所述棒体的至少部分角上。
  4. 根据权利要求3所述的线性电机，其特征在于，所述第一导磁部或所述第二导磁部与所述棒体通过一体成型的方式设置在所述棒体的至少部分角上。
  5. 根据权利要求1或2或3所述的线性电机，其特征在于，所述第一导向部与所述定子和动子的其中之一，和/或所述第二导向部与所述动子和所述定子中的另一个通过一体成型、固定件固定或者卡接结构固定连接。
  6. 根据权利要求1或2或3所述的线性电机，其特征在于，所述导向组件为导向条和导向块组件、导轨和滑块组件、或导向轴和滑块组件。
  7. 根据权利要求6所述的线性电机，其特征在于，所述导向块包括滑块和固定件；所述滑块通过所述固定件固定于定子或所述动子上。
  8. 根据权利要求7所述的线性电机，其特征在于，所述滑块包括滚轴或滑动块。
  9. 根据权利要求1-4任意一项所述的线性电机，其特征在于，所述第一导向部和所述第二导向部的至少相对的接触面采用摩擦系数小和/或硬度高的材料。
  10. 根据权利要求1-4任意一项所述的线性电机，其特征在于，所述第一 导向部与所述动子和所述定子的其中一个的导磁部形成一体的结构；和/或
    所述第二导向部与所述动子和所述定子中的另一个的导磁部形成一体的结构。
  11. 一种自动化设备，所述自动化设备包括权利要求1-10任意一项所述的线性电机。
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