WO2020223996A1 - 基于磁传动的直线定位平台及直线定位系统 - Google Patents

基于磁传动的直线定位平台及直线定位系统 Download PDF

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Publication number
WO2020223996A1
WO2020223996A1 PCT/CN2019/087128 CN2019087128W WO2020223996A1 WO 2020223996 A1 WO2020223996 A1 WO 2020223996A1 CN 2019087128 W CN2019087128 W CN 2019087128W WO 2020223996 A1 WO2020223996 A1 WO 2020223996A1
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Prior art keywords
magnetic
mover
yoke
linear positioning
magnetic pole
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English (en)
French (fr)
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刘吉柱
范立成
章晓琪
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Suzhou University
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Suzhou University
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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
    • H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
    • H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type

Definitions

  • the invention relates to the technical field of automation equipment, in particular to a linear positioning platform and a linear positioning system based on magnetic transmission.
  • the linear positioning platform is widely used in the field of manufacturing and testing.
  • the existing linear positioning platform is mainly realized by the "rotating motor + screw” method. Due to the limitation of the creep of the screw and the rotation driving mode, the existing rotation The large motor quality/output value makes the linear positioning platform have the shortcomings of slow response, poor accuracy, slow speed, and large volume, which greatly restricts the development of manufacturing and other industries.
  • the purpose of the present invention is to provide a linear positioning platform and a linear positioning system based on magnetic transmission.
  • the present invention develops a linear positioning platform with high speed, high precision and high dynamic characteristics based on the principle of magnetic transmission, which effectively solves the problem.
  • the existing linear motor positioning platform has the problems of poor accuracy, large volume, slow speed and poor stability.
  • the linear positioning platform includes a moving magnet linear motor module and a magnetic transmission linear positioning module, wherein:
  • the moving magnet linear motor module includes a base, a stator coil fixedly mounted on the base, a first yoke slidably mounted on the base and located above the electronic coil, and a motor magnetic pole mounted below the first yoke.
  • the stator coil and There is a gap between the magnetic poles of the motor;
  • the magnetic transmission linear positioning module includes a first mover magnetic pole installed above the first magnetic yoke, a magnetic modulation skeleton with a plurality of gaps fixedly installed on the base and located above the first magnetic yoke, and embedded in the gap on the magnetic modulation skeleton A number of magnetic tuning blocks, a second magnetic yoke slidably mounted on the magnetic tuning framework, and a second mover magnetic pole installed under the second magnetic yoke. Between the first mover magnetic pole and the magnetic tuning block, the magnetic tuning There is a gap between the block and the second mover magnetic pole.
  • the motor magnetic poles include a plurality of alternately distributed motor N magnetic poles and motor S magnetic poles
  • the first mover magnetic pole includes a plurality of alternate first mover N magnetic poles and first mover S magnetic poles.
  • the mover magnetic poles include a number of alternately distributed second mover N magnetic poles and second mover S magnetic poles.
  • the width of the motor N pole and the motor S pole are equal, the first mover N pole and the first mover S pole have the same width, and the second mover N pole and the second mover S pole have the same width.
  • the width of the magnetic modulation block, the gap width of the magnetic modulation skeleton, and the gap width between adjacent magnetic modulation blocks are equal.
  • the total width of the second mover magnetic poles is smaller than the total width of the first mover magnetic poles, the first mover magnetic poles are wider than the second mover magnetic poles, and all the second mover magnetic poles participate In transmission, the magnetic pole of the first mover partly participates in the transmission, and the number of magnetic pole pairs of the first mover participating in the transmission is greater than the number of magnetic pole pairs of the second mover.
  • the ratio of the thrust of the magnetic pole of the first mover to the thrust of the magnetic pole of the second mover is the ratio of the number of pairs of magnetic poles of the first mover and the number of pairs of magnetic poles of the second mover participating in the transmission.
  • the ratio of the displacement of the magnetic pole of one mover to the displacement of the magnetic pole of the second mover is the ratio of the number of magnetic pole pairs of the second mover to the number of magnetic pole pairs of the first mover participating in the transmission.
  • the first yoke is slidably mounted on the base through the first sliding block and the first linear guide rail
  • the second yoke is slidably mounted on the magnetic modulation framework through the second sliding block and the second linear guide rail. on.
  • baffles are fixedly installed on both sides of the base, and several anti-collision blocks are arranged inside the baffles.
  • a magnetic scale is arranged on the side of the base, a reading head is installed on the second magnetic yoke, and the reading head and the magnetic scale are used to obtain displacement information of the second magnetic yoke.
  • a number of photoelectric switches are provided on the base, and a number of baffles are mounted on the second yoke, and the baffles and photoelectric switches are used to control the movement of the second yoke.
  • the photoelectric switch includes one or more of an origin photoelectric switch, an end photoelectric switch, and a limit photoelectric switch
  • the baffle includes a first stop provided at the end of the side of the second yoke. ⁇ and second block.
  • an adapter plate is installed on the side of the second yoke, and the reading head is fixedly installed on the adapter plate.
  • a linear positioning system based on magnetic transmission includes an encoder, a driver connected to the encoder, a controller connected to the driver, and a computer connected to the controller.
  • the encoder is a reading head in a linear positioning platform, and the encoder
  • the controller is used to obtain the displacement information of the second magnetic yoke, and the controller is used to convert the acquired displacement information of the second magnetic yoke into the displacement signal of the first magnetic yoke and send a pulse signal to the driver.
  • Drive moving magnet linear motor module is used to obtain the displacement information of the second magnetic yoke
  • the controller is used to convert the acquired displacement information of the second magnetic yoke into the displacement signal of the first magnetic yoke and send a pulse signal to the driver.
  • the linear positioning platform and linear positioning system based on the magnetic drive of the present invention have the characteristics of low cost, compact structure, high utilization rate of permanent magnets, high speed, high precision, high dynamic response, etc., which greatly promote the development of related fields.
  • Figure 1 is a schematic diagram of an exploded structure of a linear positioning platform in an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a three-dimensional structure of a linear positioning platform in an embodiment of the present invention
  • FIG. 3 is a schematic sectional view of the structure of the linear positioning platform in an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of the lower surface structure of the high-speed mover (second mover) in an embodiment of the present invention
  • FIG. 5 is a schematic diagram of the upper surface structure of the magnetization device (magnetization skeleton and magnetism block) in an embodiment of the present invention
  • FIG. 6 is a schematic diagram of the upper surface structure of a low-speed mover (first mover) in an embodiment of the present invention
  • FIG. 7 is a schematic diagram of the lower surface structure of the low-speed mover (first mover) in an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of the movement principle of the linear positioning platform in an embodiment of the present invention.
  • FIG. 9 is a schematic diagram of the structure of the part that participates in the magnetic transmission at the moment of movement in an embodiment of the present invention.
  • FIG. 10 is a schematic diagram of the module structure of the linear positioning system in an embodiment of the present invention.
  • the terms such as “left”, “left”, “right”, “right” and the like used herein to indicate relative positions in space are for the purpose of facilitating explanation to describe a unit or feature shown in the drawings relative to The relationship of another unit or feature.
  • the term of the relative position in space may be intended to include different orientations of the device in use or operation other than those shown in the figures. For example, if the device in the figure is turned over, the unit described as being on the "left side” of other units or features will be on the “right side” of other units or features. Therefore, the exemplary term “left side” can encompass both left and right orientations.
  • the device can be oriented in other ways (rotated by 90 degrees or other orientations), and the space-related descriptors used herein are explained accordingly.
  • the invention discloses a linear positioning platform based on magnetic transmission, which includes a moving magnet linear motor module and a magnetic transmission linear positioning module, wherein:
  • the moving magnet linear motor module includes a base, a stator coil fixedly mounted on the base, a first yoke slidably mounted on the base and located above the electronic coil, and a motor pole mounted below the first yoke, the stator coil and the motor pole There is a gap between;
  • the magnetic transmission linear positioning module includes a first mover magnetic pole installed above the first magnetic yoke, a magnetic modulation skeleton with a plurality of gaps fixedly installed on the base and located above the first magnetic yoke, and embedded in the gap on the magnetic modulation skeleton A number of magnetic tuning blocks, a second magnetic yoke slidably mounted on the magnetic tuning framework, and a second mover magnetic pole installed under the second magnetic yoke, between the first mover magnetic pole and the magnetic tuning block, the magnetic tuning block and There is a gap between the magnetic poles of the second mover.
  • the invention also discloses a linear positioning system based on magnetic transmission, which includes an encoder, a driver connected to the encoder, a controller connected to the driver, and a computer connected to the controller.
  • the encoder is a reading in the linear positioning platform
  • the head and the encoder are used to acquire the displacement information of the second yoke
  • the controller is used to convert the acquired displacement information of the second yoke into the displacement signal of the first yoke and send a pulse signal to the driver.
  • the driver is used for Drive the moving magnet linear motor module according to the pulse signal.
  • a linear positioning platform based on a magnetic drive the linear positioning platform is composed of a moving magnet linear motor module and a magnetic drive linear positioning module, in which:
  • the moving magnet linear motor module includes a base 12, a stator coil 21 fixedly mounted on the base 12, a first yoke 9 slidably mounted on the base 12 and above the electronic coil 21, and a motor mounted below the first yoke 9 Magnetic pole, there is a gap between the stator coil and the magnetic pole of the motor;
  • the magnetic transmission linear positioning module includes a first mover magnetic pole installed above the first magnetic yoke 9, a magnetic modulation framework 5 with a number of gaps fixedly mounted on the base 12 and above the first magnetic yoke 9, and embedded in the magnetic modulation A number of magnetic tuning blocks 6 in the gap on the frame 5, a second magnetic yoke 26 slidably mounted on the magnetic tuning frame 5, and a second mover magnetic pole mounted below the second magnetic yoke 26. There are gaps between the magnetic blocks and between the magnetic adjustment block and the second mover magnetic pole.
  • the motor magnetic poles include several alternately distributed motor N magnetic poles 11 and motor S magnetic poles 10.
  • the first mover magnetic pole includes several alternately distributed first mover N magnetic poles 8 and first mover S magnetic poles 7, and second mover magnetic poles. It includes several second mover N magnetic poles 3 and second mover S magnetic poles 2 alternately distributed.
  • the first yoke 9 is slidably mounted on the base 12 through the first slider 17 and the first linear guide rail 16, and the second yoke 26 is slidably mounted on the magnetization frame 5 through the second slider 1 and the second linear guide 4 .
  • Baffle plates 14 are fixedly installed on both sides of the base 12, and a number of anti-collision blocks 13 are arranged inside the baffle plate 14.
  • a magnetic scale 18 is provided on the side of the base 12, a reading head 23 is installed on the second magnetic yoke 26, and the reading head 23 and the magnetic scale 18 are used to obtain the displacement information of the second magnetic yoke.
  • An adapter plate 24 is installed on the side of the second yoke 26, and the reading head 23 is fixedly installed on the adapter plate 24.
  • the photoelectric switch includes an origin photoelectric switch 19, an end photoelectric switch 15, and a limit photoelectric switch 20.
  • the baffle includes a first baffle 22 and a second baffle 25 arranged at the end of the side of the second yoke 26.
  • the assembly process of the linear positioning platform in this embodiment is as follows:
  • the baffle 14 and the base 12 are connected by bolts, the anti-collision block 13 is connected to the baffle 14 by bolts, and the anti-collision block 13 plays a protective role;
  • the magnetic scale 18 is pasted on the side of the base 12, the reading head 23 and the adapter plate 24 are connected by bolts, and the adapter plate 24 is connected with the second magnetic yoke 26 by bolts. There is a certain gap between the reading head 23 and the magnetic scale 18 , Adjust the gap appropriately to ensure that the reading head receives accurate motion information;
  • the end photoelectric switch 15, the origin photoelectric switch 19, and the limit photoelectric switch 20 are all connected to the base 12 by bolts. The distance between the origin photoelectric switch 19 and the end photoelectric switch 15 is adjusted, and this distance is used as the movement stroke of the high-speed mover;
  • the first baffle 22 and the second baffle 25 are bolted to the side of the second yoke 26 and used in conjunction with the end photoelectric switch 15, the origin photoelectric switch 19, and the limit photoelectric switch 20 to control the movement of the mover;
  • the magnetic modulation block 6 is inserted into the gap of the magnetic modulation framework 5, and the magnetic modulation framework 5 and the magnetic modulation block 6 are connected together by glue to prevent the magnetic steel from being sucked off;
  • the stator coil 21 is connected to the base 12 by bolts after being filled with glue;
  • the first linear guide rail 16 is fixed on the base 12 by bolts. To ensure smooth movement of the linear positioning platform, the guide rails must be parallel;
  • the first yoke 9 and the first sliding block 17 on the first linear guide 16 are connected by bolts.
  • the motor S magnetic pole 10 and the motor N magnetic pole 11 are fixed on the lower side of the first yoke 9 through structural glue to ensure that the motor S
  • the magnetic pole 10 and the motor N magnetic pole 11 are alternately arranged to ensure the normal operation of the electromagnetic drive module;
  • the first mover S magnetic pole 7 and the first mover N magnetic pole 8 are glued and fixed on the upper side of the first yoke 9 with structural glue to ensure that the first mover S magnetic pole 7 and the first mover N magnetic pole 8 are alternately arranged to This guarantees the normal operation of the magnetic transmission structure;
  • the magnetization skeleton 5 embedded with the magnetization block 6 is connected to the base 12 by bolts, and then the second linear guide 4 is fixed on the magnetism skeleton 5 by bolts.
  • the guide rails In order to ensure the smooth movement of the linear positioning platform, The guide rails must be parallel;
  • the second yoke 26 is connected to the second slider 1 on the second linear guide 4 by bolts, and the second mover S magnetic pole 2 and the second mover N magnetic pole 3 are glued and fixed under the second yoke 26 by structural glue. On the side, ensure that the second mover S magnetic pole 2 and the second mover N magnetic pole 3 are alternately arranged to ensure the normal operation of the magnetic transmission structure.
  • the first yoke and the second yoke in this embodiment are the low-speed mover yoke and the high-speed mover yoke, respectively, the motor S pole 10 and the motor N pole 11 are the motor magnet S pole and the motor magnet N pole respectively , the first mover S magnetic pole 7 and the first mover N magnetic pole 8 are the low-speed mover magnet S pole and the low-speed mover magnet N pole respectively, the second mover S magnetic pole 2, the second mover N magnetic pole 3 are respectively It is the S pole of the high-speed mover magnet and the N pole of the high-speed mover magnet.
  • the second mover S magnetic pole 2 and the second mover N magnetic pole 33 are pasted on the second yoke 26.
  • the second mover S magnetic pole 2 and the second mover N magnetic pole 3 are arranged alternately, each The shape and size of the magnetic poles are the same, and the width a1 of the second mover N magnetic pole 33 is equal to the width a2 of the second mover S magnetic pole 2.
  • a plurality of magnetic tuning blocks 6 are inserted into the gaps of the magnetic tuning skeleton 5.
  • the width of the magnetic tuning blocks 6 is b1
  • the gap width of the magnetic tuning skeleton 5 is b2
  • the magnetic tuning blocks 6 are inserted into the magnetic tuning skeleton.
  • the first mover S magnetic pole 7 and the first mover N magnetic pole 8 are pasted on the upper side of the first yoke 9.
  • the first mover S magnetic pole 7 and the first mover N magnetic pole 8 are alternately arranged, each The shape and size of the block magnetic poles are the same, and the width c1 of the first mover N magnetic pole 8 is equal to the width c2 of the first mover S magnetic pole 7.
  • the motor S magnetic pole 10 and the motor N magnetic pole 11 are pasted on the lower side of the first yoke 9.
  • the motor S magnetic pole 10 and the motor N magnetic pole 11 are alternately arranged, and the shape and size of each magnetic pole are the same.
  • the motor N magnetic pole 11 The width d1 is equal to the width d2 of the motor S magnetic pole 10.
  • the linear positioning platform is composed of a moving magnet linear motor module and a magnetic drive linear positioning module.
  • the number of magnetic pole pairs of the motor magnetic poles (motor S magnetic pole 10 and motor N magnetic pole 11) is N d
  • the width of the motor N magnetic pole 11 is d1
  • the width of the motor S magnetic pole 10 is d2
  • motor stator coils 21 are used to ensure the stable operation of the motor. There is a gap between the motor stator coil 21 and the motor magnetic pole (the gap has been enlarged in the figure).
  • the stator coil 21 When the stator coil 21 is connected When a three-phase alternating current is used, a traveling wave magnetic field is generated in the air gap. When the magnetic poles of the motor are cut by the traveling wave magnetic field, an electromotive force is induced and a current is generated. The current interacts with the magnetic field in the air gap to generate electromagnetic thrust. The low-speed mover will be pushed to move in a straight line.
  • the dotted line frame in Figure 8 and Figure 9 is the part of the magnetic drive platform that participates in the magnetic drive momentarily.
  • the magnetic tuning block adjusts the magnetic field generated by the two mover poles, and generates spatial harmonics in the space gap.
  • the adjusted magnetic field interacts with the magnetic field on the other side through the tuning block, thereby transmitting Thrust and speed.
  • N pole width of the second mover 3 is a1
  • the width of the S pole of the second movable element 2 is a2
  • the second movable element of the magnetic poles N a total magnetic pole
  • the second pole mover total width L a v is the velocity a
  • the movement time is t
  • the movement displacement is X 2
  • the thrust is F 2
  • the magnetic pole of the second mover participates in the entire transmission;
  • the width of the first mover N magnetic pole 8 is c1
  • the first mover S magnetic pole 7 has a width c2
  • the first mover magnetic poles have N c1 pairs of magnetic poles
  • the total width of the first mover magnetic poles is L C1
  • the moving speed is v c
  • the movement time is t
  • the movement displacement is X 1
  • the thrust magnitude is F 1
  • the logarithm of the first mover magnetic pole participating in the transmission is N c2
  • the total width of the first mover magnetic pole participating in the transmission is L C2 ;
  • the width of the magnetization block 6 is b1, and the gap width of the magnetization block skeleton 5 is b2.
  • N b N c2 +N a ;
  • the magnetic transmission positioning platform can obtain high-speed and large-displacement output, but it will reduce the thrust to a certain extent.
  • the two movers move in opposite directions, and the displacement ratio is:
  • a magnetic drive-based linear positioning system in another specific embodiment of the present invention includes a computer 27, a controller 28, a driver 29, and an encoder 30.
  • the computer 27 and the controller 28 are connected through an Ethernet cable, and Information can be exchanged, and the controller 28 can be programmed through the computer 27.
  • the controller 28 transmits the parameters fed back by the system to the computer 27 for display, so as to send corresponding pulse signals to the driver 29 according to the program.
  • the controller 28 and the driver 29 are connected by wires, and the encoder 30 and the driver 29 are connected by wires.
  • the controller 28 transmits the calculated number of pulses to the driver, and the driver also outputs corresponding signals to drive the motor to move.
  • the encoder 30 collects the position information of the motor and feeds back the position parameters of the motor to the driver, thereby judging whether the motor moves to the corresponding position.
  • the received displacement signal belongs to the high-speed mover, and the driver 29 can only drive the motor to move. Therefore, the received displacement signal X 2 cannot be directly fed back to the driver to control the movement of the motor. , The displacement signal X 2 needs to be multiplied by X 1 into displacement signal, the displacement signal X 1 and the direction X and the second direction opposite to the displacement signal, the displacement signal X 1 and then fed back to the drive to control the movement of the motor to control the high-speed movement of the mover.
  • the invention is composed of a moving magnet linear motor module and a magnetic transmission linear positioning module.
  • the linear motor adopts a moving magnet structure, the coil is a stator, and the total volume is small; the motor and the magnetic transmission platform are mechanically connected.
  • the magnetic transmission platform contains three parts: a low-speed mover, a magnetization block, and a high-speed mover.
  • the low-speed mover has many magnetic poles and the high-speed mover has very few magnets.
  • the purpose of speed increase can be achieved through the action of electromagnetic force, and it is based on magnetic field modulation.
  • the use of magnetic tuning block can increase the permanent magnet utilization rate, thrust density, accuracy and stability of the positioning platform, and the magnetic transmission platform has built-in overload protection, which has high reliability due to frictionless operation and does not require lubrication.
  • the linear motor mover yoke is the low-speed mover yoke.
  • the first mover magnetic pole and the linear motor magnetic pole are respectively pasted on the upper and lower sides of the mover yoke to realize the combination of the linear motor and the magnetic transmission platform.
  • the movement of the motor magnetic pole drives the first mover
  • the movement of the magnetic poles and the movement of low speed and small displacement can obtain the movement of the second mover with high speed and large displacement, which greatly reduces the volume of the stator and reduces the use cost.
  • the linear positioning platform and linear positioning system based on the magnetic transmission of the present invention have the characteristics of low cost, compact structure, high utilization rate of permanent magnets, high speed, high precision, high dynamic response, etc., which greatly promote the development of related fields.

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Abstract

一种基于磁传动的直线定位平台及直线定位系统，直线定位平台包括动磁式直线电机模块及磁传动直线定位模块，动磁式直线电机模块包括底座（12）、定子线圈（21）、第一磁轭（9）、及电机磁极，定子线圈（21）与电机磁极之间具有间隙；磁传动直线定位模块包括第一动子磁极、调磁骨架（5）、调磁块（6）、第二磁轭（26）、及第二动子磁极，第一动子磁极与调磁块（6）之间、调磁块（6）与第二动子磁极之间均具有间隙。该基于磁传动的直线定位平台及直线定位系统具有低成本、结构紧凑、永磁体利用率高、高速度、高精度、高动态响应等特点。

Description

基于磁传动的直线定位平台及直线定位系统 技术领域
本发明涉及自动化设备技术领域，特别是涉及一种基于磁传动的直线定位平台及直线定位系统。
背景技术
当前IC、半导体、3C产业的发展日益昌盛，现代自动化工厂持续升级，现代工业对高速高精高动态定位平台的要求越来越高。
直线定位平台广泛应用于制造和测试领域，现有的直线定位平台主要通过“旋转电机+丝杆”的方式来实现，由于丝杆的蠕变和旋转的驱动方式的限制，同时现有的旋转电机质量/出力的值较大，使得直线定位平台具有响应慢、精度差、速度慢、体积大等缺点，极大的制约了制造业以及其他行业的发展。
因此，针对上述技术问题，有必要提供一种基于磁传动的直线定位平台及直线定位系统。
发明内容
有鉴于此，本发明的目的在于提供一种基于磁传动的直线定位平台及直线定位系统，本发明基于磁传动原理开发了一种高速、高精、高动态特性的直线定位平台，有效的解决了现有直线电机定位平台精度差、体积大、速度慢、稳定性差等问题。
为了实现上述目的，本发明一实施例提供的技术方案如下：
一种基于磁传动的直线定位平台，所述直线定位平台包括动磁式直线电机模块及磁传动直线定位模块，其中：
动磁式直线电机模块包括底座、固定安装于底座上的定子线圈、滑动安 装于底座上且位于电子线圈上方的第一磁轭、及安装于第一磁轭下方电机磁极，所述定子线圈与电机磁极之间具有间隙；
磁传动直线定位模块包括安装于第一磁轭上方的第一动子磁极、固定安装于底座上且位于第一磁轭上方的具有若干空隙的调磁骨架、嵌设于调磁骨架上空隙内的若干调磁块、滑动安装于调磁骨架上的第二磁轭、及安装于第二磁轭下方的第二动子磁极，所述第一动子磁极与调磁块之间、调磁块与第二动子磁极之间均具有间隙。
作为本发明的进一步改进，所述电机磁极包括若干交替分布的电机N磁极和电机S磁极，第一动子磁极包括若干交替分布的第一动子N磁极和第一动子S磁极，第二动子磁极包括若干交替分布的第二动子N磁极和第二动子S磁极。
作为本发明的进一步改进，所述电机N磁极和电机S磁极的宽度相等，第一动子N磁极和第一动子S磁极的宽度相等，第二动子N磁极和第二动子S磁极的宽度相等，调磁块的宽度、调磁骨架的空隙宽度、及相邻调磁块之间的间隙宽度相等。
作为本发明的进一步改进，所述第二动子磁极的总宽度小于第一动子磁极的总宽度，第一动子磁极的宽度大于第二动子磁极的宽度，第二动子磁极全部参与传动，第一动子磁极部分参与传动，参与传动的第一动子磁极对数大于第二动子磁极对数。
作为本发明的进一步改进，所述第一动子磁极的推力与第二动子磁极的推力大小之比为参与传动的第一动子磁极对数与第二动子磁极对数之比，第一动子磁极的位移与第二动子磁极的位移大小之比为第二动子磁极对数与参与传动的第一动子磁极对数之比。
作为本发明的进一步改进，所述第一磁轭通过第一滑块和第一直线导轨滑动安装于底座上，第二磁轭通过第二滑块和第二直线导轨滑动安装于调磁 骨架上。
作为本发明的进一步改进，所述底座两侧固定安装有挡板，所述挡板内侧设有若干防撞块。
作为本发明的进一步改进，所述底座侧面设有磁栅尺，第二磁轭上安装有读数头，所述读数头与磁栅尺用于获取第二磁轭的位移信息。
作为本发明的进一步改进，所述底座上设有若干光电开关，第二磁轭上安装有若干挡片，所述挡片与光电开关用于控制第二磁轭的运动。
作为本发明的进一步改进，所述光电开关包括原点光电开关、终点光电开关、限位光电开关中的一种或多种，所述挡片包括设于第二磁轭侧面端部的第一挡片及第二挡片。
作为本发明的进一步改进，所述第二磁轭侧面安装有转接板，所述读数头固定安装于转接板上。
本发明一实施例提供的技术方案如下：
一种基于磁传动的直线定位系统，包括编码器、与编码器相连的驱动器、与驱动器相连的控制器、及与控制器相连的计算机，所述编码器为直线定位平台中的读数头，编码器用于获取的第二磁轭的位移信息，控制器用于将获取到的第二磁轭的位移信息转化为第一磁轭的位移信号后发送脉冲信号至驱动器，所述驱动器用于根据脉冲信号驱动动磁式直线电机模块。
本发明的有益效果是：
本发明基于磁传动的直线定位平台及直线定位系统具有低成本、结构紧凑、永磁体利用率高、高速度、高精度、高动态响应等特点，极大地促进相关领域的的发展。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或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中记载的一些实施例，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他的附图。
图1为本发明一实施例中直线定位平台的爆炸结构示意图；
图2为本发明一实施例中直线定位平台的立体结构示意图；
图3为本发明一实施例中直线定位平台的剖视结构示意图；
图4为本发明一实施例中高速动子(第二动子)的下表面结构示意图；
图5为本发明一实施例中调磁装置(调磁骨架和调磁块)的上表面结构示意图；
图6为本发明一实施例中低速动子(第一动子)的上表面结构示意图；
图7为本发明一实施例中低速动子(第一动子)的下表面结构示意图；
图8为本发明一实施例中直线定位平台的运动原理示意图；
图9为本发明一实施例中运动瞬时参与磁传动部分的结构示意图；
图10为本发明一实施例中直线定位系统的模块结构示意图。
其中，1为第二滑块；2为第二动子S磁极；3为第二动子N磁极；4为第二直线导轨；5为调磁骨架；6为调磁块；7为第一动子S磁极；8为第一动子N磁极；9为第一磁轭；10为电机S磁极；11为电机N磁极；12为底座；13为防撞块；14为挡板；15为终点光电开关；16为第一直线导轨；17为第一滑块；18为磁栅尺；19为原点光电开关；20为限位光电开关；21为定子线圈；22为第一挡片；23为读数头；24为转接板；25为第二挡片；26为第二磁轭；27为计算机；28为控制器；29为驱动器；30为编码器(编码器即为读数头)。
具体实施方式
为了使本技术领域的人员更好地理解本发明中的技术方案，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他实施例，都应当属于本发明保护的范围。
本文使用的例如“左”、“左侧”、“右”、“右侧”等表示空间相对位置的术语是出于便于说明的目的来描述如附图中所示的一个单元或特征相对于另一个单元或特征的关系。空间相对位置的术语可以旨在包括设备在使用或工作中除了图中所示方位以外的不同方位。例如，如果将图中的设备翻转，则被描述为位于其他单元或特征“左侧”的单元将位于其他单元或特征“右侧”。因此，示例性术语“左侧”可以囊括左侧和右侧这两种方位。设备可以以其他方式被定向(旋转90度或其他朝向)，并相应地解释本文使用的与空间相关的描述语。
本发明公开了一种基于磁传动的直线定位平台，包括动磁式直线电机模块及磁传动直线定位模块，其中：
动磁式直线电机模块包括底座、固定安装于底座上的定子线圈、滑动安装于底座上且位于电子线圈上方的第一磁轭、及安装于第一磁轭下方电机磁极，定子线圈与电机磁极之间具有间隙；
磁传动直线定位模块包括安装于第一磁轭上方的第一动子磁极、固定安装于底座上且位于第一磁轭上方的具有若干空隙的调磁骨架、嵌设于调磁骨架上空隙内的若干调磁块、滑动安装于调磁骨架上的第二磁轭、及安装于第二磁轭下方的第二动子磁极，第一动子磁极与调磁块之间、调磁块与第二动子磁极之间均具有间隙。
本发明还公开了一种基于磁传动的直线定位系统，包括编码器、与编码器相连的驱动器、与驱动器相连的控制器、及与控制器相连的计算机，编码 器为直线定位平台中的读数头，编码器用于获取的第二磁轭的位移信息，控制器用于将获取到的第二磁轭的位移信息转化为第一磁轭的位移信号后发送脉冲信号至驱动器，所述驱动器用于根据脉冲信号驱动动磁式直线电机模块。
以下结合具体实施例对本发明作详细说明。
参图1至图3所示，本发明一具体实施例中基于磁传动的直线定位平台，直线定位平台由动磁式直线电机模块及磁传动直线定位模块复合而成，其中：
动磁式直线电机模块包括底座12、固定安装于底座12上的定子线圈21、滑动安装于底座12上且位于电子线圈21上方的第一磁轭9、及安装于第一磁轭9下方电机磁极，定子线圈与电机磁极之间具有间隙；
磁传动直线定位模块包括安装于第一磁轭9上方的第一动子磁极、固定安装于底座12上且位于第一磁轭9上方的具有若干空隙的调磁骨架5、嵌设于调磁骨架5上空隙内的若干调磁块6、滑动安装于调磁骨架5上的第二磁轭26、及安装于第二磁轭26下方的第二动子磁极，第一动子磁极与调磁块之间、调磁块与第二动子磁极之间均具有间隙。
其中，电机磁极包括若干交替分布的电机N磁极11和电机S磁极10，第一动子磁极包括若干交替分布的第一动子N磁极8和第一动子S磁极7，第二动子磁极包括若干交替分布的第二动子N磁极3和第二动子S磁极2。
第一磁轭9通过第一滑块17和第一直线导轨16滑动安装于底座12上，第二磁轭26通过第二滑块1和第二直线导轨4滑动安装于调磁骨架5上。
底座12两侧固定安装有挡板14，挡板14内侧设有若干防撞块13。底座12侧面设有磁栅尺18，第二磁轭26上安装有读数头23，读数头23与磁栅尺18用于获取第二磁轭的位移信息。第二磁轭26侧面安装有转接板24，读数头23固定安装于转接板24上。
进一步地，底座12上设有若干光电开关，第二磁轭26上安装有若干挡片，挡片与光电开关用于控制第二磁轭的运动。光电开关包括原点光电开关 19、终点光电开关15、限位光电开关20，挡片包括设于第二磁轭26侧面端部的第一挡片22及第二挡片25。
具体地，本实施例中直线定位平台的装配过程如下：
挡板14与底座12通过螺栓相连，防撞块13通过螺栓与挡板14相连，防撞块13起到保护的作用；
磁栅尺18粘贴在底座12的侧面，读数头23与转接板24通过螺栓连接，转接板24通过螺栓与第二磁轭26相连，读数头23与磁栅尺18之间有一定间隙，将该间隙调整至适当确保读数头接收到准确的运动信息；
终点光电开关15、原点光电开关19、限位光电开关20均通过螺栓与底座12连接，调整好原点光电开关19与终点光电开关15的距离，该距离作为高速动子的运动行程；
第一挡片22与第二挡片25通过螺栓连接在第二磁轭26侧面，与终点光电开关15、原点光电开关19、限位光电开关20配合使用来控制动子的运动；
调磁块6插入调磁骨架5的空隙中，调磁骨架5和调磁块6通过粘胶连接在一起，防止被磁钢吸落；
定子线圈21灌胶后通过螺栓与底座12连接在一起；
第一直线导轨16通过螺栓固定在底座12上，为保证直线定位平台运动顺畅，导轨需确保平行；
第一磁轭9与第一直线导轨16上的第一滑块17通过螺栓连接，电机S磁极10、电机N磁极11通过结构胶粘合固定在第一磁轭9下侧，确保电机S磁极10、电机N磁极11交替排列，以此来保证电磁驱动模块的正常工作；
第一动子S磁极7、第一动子N磁极8通过结构胶粘合固定在第一磁轭9上侧，确保第一动子S磁极7、第一动子N磁极8交替排列，以此保证磁传动结构的正常工作；
上述装配完成后，将嵌有调磁块6的调磁骨架5通过螺栓连接在底座12 上，再将第二直线导轨4通过螺栓固定在调磁骨架5上，为保证直线定位平台运动顺畅，导轨需确保平行；
第二磁轭26通过螺栓与第二直线导轨4上的第二滑块1相连，第二动子S磁极2、第二动子N磁极3通过结构胶粘合固定在第二磁轭26下侧，确保第二动子S磁极2、第二动子N磁极3交替排列，以此保证磁传动结构的正常工作。
其中，本实施例中的第一磁轭和第二磁轭分别为低速动子轭和高速动子轭，电机S磁极10、电机N磁极11分别为电机磁钢S极和电机磁钢N极，第一动子S磁极7、第一动子N磁极8分别为低速动子磁钢S极和低速动子磁钢N极，第二动子S磁极2、第二动子N磁极3分别为高速动子磁钢S极和高速动子磁钢N极。
参图4所示，第二动子S磁极2和第二动子N磁极33粘贴在第二磁轭26上，第二动子S磁极2和第二动子N磁极3交替排列，每块磁极的形状大小均相同，第二动子N磁极33的宽度a1等于第二动子S磁极2的宽度a2。
参图5所示，多个调磁块6插入到调磁骨架5的空隙之中，调磁块6的宽度为b1，调磁骨架5的空隙宽度为b2，调磁块6插入调磁骨架5后，每个调磁块之间的间隙宽度为b3，满足b1＝b2＝b3。
参图6所示，第一动子S磁极7和第一动子N磁极8粘贴在第一磁轭9上侧，第一动子S磁极7和第一动子N磁极8交替排列，每块磁极的形状大小均相同，第一动子N磁极8的宽度c1等于第一动子S磁极7的宽度c2。
参图7所示，电机S磁极10和电机N磁极11粘贴在第一磁轭9下侧，电机S磁极10和电机N磁极11交替排列，每块磁极的形状大小均相同，电机N磁极11的宽度d1等于电机S磁极10的宽度d2。
以下结合图4至图9对磁传动高精度直线平台的运动原理进行详细说明，直线定位平台由动磁式直线电机模块及磁传动直线定位模块复合而成。
动磁式直线电机模块中，电机磁极(电机S磁极10和电机N磁极11)的磁极对数为N d，电机N磁极11的宽度为d1，电机S磁极10的宽度为d2，电机磁极总宽度为L d，每组电机定子线圈的宽度为L e，各参数间的关系为：
L d＝N d·(d1+d2)
L d＝L e
因此可实现电机磁极与电机定子线圈的耦合，使用多组电机定子线圈21，确保电机稳定运行，电机定子线圈21与电机磁极之间存在间隙(图中间隙已放大)，当定子线圈21通入三相交变电流时，便在气隙中产生行波磁场，电机磁极在行波磁场切割下，将感应出电动势并产生电流，该电流与气隙中的磁场相互作用就产生电磁推力，电磁推力将推动低速动子做直线运动。
磁传动直线定位模块中，图8、图9点划线框内为磁传动平台运动瞬时参与磁传动的部分，第一动子磁极、调磁块、第二动子磁极之间均存在较小间隙(图中已放大)，调磁块调整两个动子磁极产生的磁场，并在空间间隙中生成空间谐波，经过调整的磁场经调磁块与另一侧的磁场相互作用，从而传递推力与速度。
第二动子N磁极3的宽度为a1，第二动子S磁极2的宽度为a2，第二动子磁极共有N a对磁极，第二动子磁极总宽度为L a，运动速度为v a，运动时间为t，运动位移为X 2，推力大小为F 2，第二动子磁极全程参与传动；
第一动子N磁极8的宽度为c1，第一动子S磁极7的宽度为c2，第一动子磁极共有N c1对磁极，第一动子磁极总宽度为L C1，运动速度为v c，运动时间为t，运动位移为X 1，推力大小为F 1，参与传动的第一动子磁极的对数为N c2，参与传动的第一动子磁极总宽度为L C2；
调磁块6的宽度为b1，调磁块骨架5的空隙宽度为b2，调磁块6嵌入调磁块骨架5后，每个调磁块之间的间隙宽度为b3，b1＝b2＝b3，调磁块整体固定不动，速度为v b＝0，参与传动的调磁块个数为N b，参与传动的调磁块总宽 度为L b。
各参数间的关系具体如下：
Figure PCTCN2019087128-appb-000001
Figure PCTCN2019087128-appb-000002
Figure PCTCN2019087128-appb-000003
为使推力密度最高，应使：
N b＝N c2+N a；
此时各部分速度关系为：
Figure PCTCN2019087128-appb-000004
因为调磁块固定不动，所以v b＝0，所以：
Figure PCTCN2019087128-appb-000005
为得到高速大位移的输出，N c2＞N a，动子推力之间关系为：
Figure PCTCN2019087128-appb-000006
由此可知，该磁传动定位平台能得到高速大位移的输出，但会在一定程度上降低推力，此时两动子运动的方向相反，位移大小之比为：
Figure PCTCN2019087128-appb-000007
且动子由极限位置1运动至极限位置2时，可以得出：
L c1＝X 2+L a+X 1。
参图10所示，本发明另一具体实施例中的基于磁传动的直线定位系统，包括计算机27、控制器28、驱动器29、编码器30，计算机27和控制器28通过以太网线连接，并且可以交互信息，通过计算机27对控制器28进行编 程，控制器28将系统反馈的参数传送给计算机27显示出来，从而根据程序对驱动器29发出相应的脉冲信号。控制器28与驱动器29通过电线连接，编码器30与驱动器29通过电线连接，控制器28将所计算出来的脉冲数传送到驱动器中，驱动器也将输出相应的信号驱动电机运动。编码器30采集电机的位置信息并将电机所在的位置参数反馈给驱动器，从而判断电机是否运动到相应的位置。
由于读数头23连接在第二磁轭26上，接收到的位移信号属于高速动子，而驱动器29只能驱动电机运动，因此，接收的位移信号X 2不能直接反馈到驱动器中控制电机的运动，位移信号X 2需乘以
Figure PCTCN2019087128-appb-000008
转化为位移信号X 1，且位移信号X 1方向与位移信号X 2方向相反，再将位移信号X 1反馈到驱动器中来控制电机的运动从而控制高速动子的运动。
本发明由动磁式直线电机模块及磁传动直线定位模块复合而成，直线电机采用动磁式结构，线圈为定子，总体积小；电机与磁传动平台通过机械方式连接。
磁传动平台含有低速动子、调磁块、高速动子三部分，低速动子的磁极多，高速动子的磁极少，通过电磁力的作用可以到达增速的目的，同时基于磁场调制式磁传动的原理，使用调磁块可增加定位平台的永磁体利用率、推力密度、精度、稳定性，且磁传动平台内置过载保护，因工作时无摩擦而具有高可靠性，无需润滑。
直线电机动子轭即为低速动子轭，第一动子磁极与直线电机磁极分别粘贴该动子轭上下两侧，实现直线电机与磁传动平台的复合，电机磁极的运动带动第一动子磁极的运动，且低速小位移的运动就可得到第二动子高速大位移的运动，大大减小了定子体积，减少了使用成本。
由以上技术方案可以看出，本发明具有如下有益效果：
本发明基于磁传动的直线定位平台及直线定位系统具有低成本、结构紧 凑、永磁体利用率高、高速度、高精度、高动态响应等特点，极大地促进相关领域的的发展。
对于本领域技术人员而言，显然本发明不限于上述示范性实施例的细节，而且在不背离本发明的精神或基本特征的情况下，能够以其他的具体形式实现本发明。因此，无论从哪一点来看，均应将实施例看作是示范性的，而且是非限制性的，本发明的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本发明内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。
此外，应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。

Claims (12)

  1. 一种基于磁传动的直线定位平台，其特征在于，所述直线定位平台包括动磁式直线电机模块及磁传动直线定位模块，其中：
    动磁式直线电机模块包括底座、固定安装于底座上的定子线圈、滑动安装于底座上且位于电子线圈上方的第一磁轭、及安装于第一磁轭下方电机磁极，所述定子线圈与电机磁极之间具有间隙；
    磁传动直线定位模块包括安装于第一磁轭上方的第一动子磁极、固定安装于底座上且位于第一磁轭上方的具有若干空隙的调磁骨架、嵌设于调磁骨架上空隙内的若干调磁块、滑动安装于调磁骨架上的第二磁轭、及安装于第二磁轭下方的第二动子磁极，所述第一动子磁极与调磁块之间、调磁块与第二动子磁极之间均具有间隙。
  2. 根据权利要求1所述的基于磁传动的直线定位平台，其特征在于，所述电机磁极包括若干交替分布的电机N磁极和电机S磁极，第一动子磁极包括若干交替分布的第一动子N磁极和第一动子S磁极，第二动子磁极包括若干交替分布的第二动子N磁极和第二动子S磁极。
  3. 根据权利要求2所述的基于磁传动的直线定位平台，其特征在于，所述电机N磁极和电机S磁极的宽度相等，第一动子N磁极和第一动子S磁极的宽度相等，第二动子N磁极和第二动子S磁极的宽度相等，调磁块的宽度、调磁骨架的空隙宽度、及相邻调磁块之间的间隙宽度相等。
  4. 根据权利要求3所述的基于磁传动的直线定位平台，其特征在于，所述第二动子磁极的总宽度小于第一动子磁极的总宽度，第一动子磁极的宽度大于第二动子磁极的宽度，第二动子磁极全部参与传动，第一动子磁极部分参与传动，参与传动的第一动子磁极对数大于第二动子磁极对数。
  5. 根据权利要求4所述的基于磁传动的直线定位平台，其特征在于，所述第一动子磁极的推力与第二动子磁极的推力大小之比为参与传动的第一动子磁极对数与第二动子磁极对数之比，第一动子磁极的位移与第二动子磁极 的位移大小之比为第二动子磁极对数与参与传动的第一动子磁极对数之比。
  6. 根据权利要求1所述的基于磁传动的直线定位平台，其特征在于，所述第一磁轭通过第一滑块和第一直线导轨滑动安装于底座上，第二磁轭通过第二滑块和第二直线导轨滑动安装于调磁骨架上。
  7. 根据权利要求1所述的基于磁传动的直线定位平台，其特征在于，所述底座两侧固定安装有挡板，所述挡板内侧设有若干防撞块。
  8. 根据权利要求1所述的基于磁传动的直线定位平台，其特征在于，所述底座侧面设有磁栅尺，第二磁轭上安装有读数头，所述读数头与磁栅尺用于获取第二磁轭的位移信息。
  9. 根据权利要求8所述的基于磁传动的直线定位平台，其特征在于，所述底座上设有若干光电开关，第二磁轭上安装有若干挡片，所述挡片与光电开关用于控制第二磁轭的运动。
  10. 根据权利要求9所述的基于磁传动的直线定位平台，其特征在于，所述光电开关包括原点光电开关、终点光电开关、限位光电开关中的一种或多种，所述挡片包括设于第二磁轭侧面端部的第一挡片及第二挡片。
  11. 根据权利要求8所述的基于磁传动的直线定位平台，其特征在于，所述第二磁轭侧面安装有转接板，所述读数头固定安装于转接板上。
  12. 一种基于磁传动的直线定位系统，其特征在于，包括编码器、与编码器相连的驱动器、与驱动器相连的控制器、及与控制器相连的计算机，所述编码器为直线定位平台中的读数头，编码器用于获取的第二磁轭的位移信息，控制器用于将获取到的第二磁轭的位移信息转化为第一磁轭的位移信号后发送脉冲信号至驱动器，所述驱动器用于根据脉冲信号驱动动磁式直线电机模块。
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