WO2022048309A1 - 长行程运动系统 - Google Patents

长行程运动系统 Download PDF

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Publication number
WO2022048309A1
WO2022048309A1 PCT/CN2021/105704 CN2021105704W WO2022048309A1 WO 2022048309 A1 WO2022048309 A1 WO 2022048309A1 CN 2021105704 W CN2021105704 W CN 2021105704W WO 2022048309 A1 WO2022048309 A1 WO 2022048309A1
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WO
WIPO (PCT)
Prior art keywords
unit
mover
conductive
working part
long
Prior art date
Application number
PCT/CN2021/105704
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English (en)
French (fr)
Inventor
杨昊明
孙源
Original Assignee
上海隐冠半导体技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 上海隐冠半导体技术有限公司 filed Critical 上海隐冠半导体技术有限公司
Priority to CN202180011537.6A priority Critical patent/CN115088168A/zh
Publication of WO2022048309A1 publication Critical patent/WO2022048309A1/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
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R41/00—Non-rotary current collectors for maintaining contact between moving and stationary parts of an electric circuit
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K13/00—Structural associations of current collectors with motors or generators, e.g. brush mounting plates or connections to windings; Disposition of current collectors in motors or generators; Arrangements for improving commutation

Definitions

  • the present invention relates to transportation systems, and particularly to long-stroke motion systems.
  • the coil array unit and the permanent magnet unit generate a driving force under the current excitation, which makes the mover move and realizes the operation of the transportation system.
  • the coil array unit is connected by a wire and the power supply is used to supply the coil array unit, which requires wiring layout, which makes the overall structure of the long-stroke motion system complex and is not conducive to long-term stable operation of the long-stroke motion system.
  • the purpose of the embodiments of the present invention is to provide a long-stroke motion system, so that the long-stroke motion system has a simpler structure and can operate stably for a long time.
  • a long-stroke motion system including:
  • a stator comprising: a stator base, a permanent magnet array unit and a transmission unit arranged on the stator base, and both the transmission unit and the permanent magnet array unit are arranged according to preset trajectories;
  • At least one mover slidably arranged with the mover along the preset track, includes: a mover base, a coil array unit arranged on the mover base, and a plurality of sliding contact units; and
  • a main control unit connected with the transmission unit, to control the mover
  • the sliding contact unit includes:
  • a conductive member which is electrically connected to the coil array unit and abuts against the transmission unit; the conductive member is movably connected to the fixing member so as to be able to move in a direction toward or away from the fixing member; the conductive member a component is operable to electrically connect and communicate with the transmission unit when abutted with the transmission unit; and
  • the biasing member is connected between the fixing member and the conductive member and biases the conductive member in a direction away from the fixing member.
  • the sliding contact unit is provided with a fixing member, a conductive member and a biasing member
  • the conductive member will be pressed against the biasing member by the pressing force.
  • the biasing member is connected to the fixing member and the conductive member, and the biasing member is pressed to push the conductive member to move in a direction away from the fixing member, so that the conductive member is kept in contact with the transmission unit.
  • the biasing member can push the conductive member and the transmission unit to continue to abut stably, so that the conductive member can work normally, so as to realize the sliding contact
  • the sliding contact unit can also work stably, abutting with the transmission unit, and can normally receive the power transmitted by the transmission unit, and can keep the transmission unit and the sliding contact unit in communication all the time, so that the main control unit can stably control The mover, so that the mover can run stably and the transmission unit works stably.
  • the circuit layout can be reduced, and the overall structure of the long-stroke motion system is simpler.
  • the conductive member includes:
  • the cantilever is connected with the biasing member, is hinged with the fixing member, and can rotate toward or away from the fixing member;
  • the hinged position of the cantilever and the fixing member and the hinged position of the cantilever and the conductive contact are spaced apart from each other.
  • the cantilever includes: a first connection side connected to the biasing member, and a second connection side opposite to the first connection side;
  • the fixing member is provided with a blocking portion for supporting and blocking the second connection side, so as to limit the rotation angle of the cantilever arm away from the fixing member.
  • the end of the conductive contact abutting against the transmission unit is provided with a flat surface, and the surface of the flat surface is at least partially a carbon brush.
  • the sliding contact unit includes a plurality of the biasing members and a plurality of the conductive members, and the biasing members and the conductive members are in one-to-one correspondence.
  • the transmission unit includes: a conductive end and a communication end, and the main control unit communicates with the communication end;
  • the conductive ends are arranged in a one-to-one correspondence with a part of the sliding contact units, and the conductive ends are in contact with the conductive parts of the part of the sliding contact units;
  • the communication end is arranged in a one-to-one correspondence with another part of the sliding contact unit, and the communication end is in contact with the conductive member of the other part of the sliding contact unit.
  • the stator base is provided with a slide rail arranged along the preset track;
  • the mover further includes: a roller assembly, which is arranged on the mover base and is slidably arranged with the slide rail;
  • the mover base includes:
  • the coil array unit is arranged on the first working part
  • the second working part and the third working part are oppositely arranged, the first working part is at least partially located between the second working part and the third working part; and the second working part and the third working part are connected.
  • the roller assembly is arranged on the second working part; the sliding contact unit is arranged on the third working part;
  • the surface where the permanent magnet array unit is located is arranged opposite to the first working part; the surface where the sliding rail is located is arranged opposite to the second working part; the surface where the transmission unit is located is arranged opposite to the third working part.
  • a pair of panels parallel to and spaced apart from each other are disposed on the third working part, and the plurality of sliding contact units are respectively disposed on the pair of panels.
  • the first working part is arranged vertically, and the second working part is arranged horizontally. 10 .
  • the long-stroke motion system according to claim 7 wherein the mover further comprises: a driving unit, which is electrically connected with the coil array unit and at least part of the sliding contact unit; the driving unit is provided with on the first working part;
  • the long-stroke motion system further includes: a main control unit, which is connected to the driving unit and the transmission unit, and the main control unit controls the driving unit to drive the coil array unit.
  • the long-stroke motion system further includes:
  • the first to-be-detected piece is arranged on the stator according to the preset track;
  • the mover also includes:
  • a first detection unit which is electrically connected to the drive unit, and reads the first unit to be detected, so as to detect the real-time position of the mover relative to the stator;
  • a second detection unit electrically connected to the drive unit, for detecting the displacement of the mover relative to the stator
  • the driving unit is used to receive and process the information detected by the first detection unit and the second detection unit, and is also used to send the received and processed information to the main control unit.
  • the sliding contact unit is provided with a first blocking member and a second blocking member, and the first blocking member and the second blocking member are separated from each other along the preset track.
  • the opening forms a shielding area, and the sliding contact unit is at least partially arranged in the shielding area.
  • FIG. 1 is a schematic structural diagram of a long-stroke motion system in an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a long-stroke motion system in another example of an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a long-stroke motion system in yet another example of an embodiment of the present invention.
  • FIG. 4 is a side view of the mover mounted on the stator in the embodiment of the present invention, wherein the stator is a cross-sectional view;
  • FIG. 5 is a circuit block diagram of a long-stroke motion system in an embodiment of the present invention, wherein the second detection unit is a magnetic grid incremental encoder;
  • FIG. 6 is a schematic three-dimensional structure diagram of a sliding contact unit in an embodiment of the present invention.
  • Fig. 7 is the front view of the sliding contact unit in Fig. 6;
  • FIG. 8 is a schematic diagram of the installation orientation of the coil array unit of the mover and the permanent magnet array unit of the stator in the embodiment of the present invention.
  • FIG. 9 is a circuit block diagram of a long-stroke motion system in an embodiment of the present invention, wherein the second detection unit is a grating or capacitive grating incremental encoder;
  • FIG. 10 is a drive control module diagram of the mover in the wired communication between the main control unit and the drive unit in the embodiment of the present invention
  • 11 is a drive control module diagram of the mover in the wireless communication between the main control unit and the drive unit in the embodiment of the present invention
  • the long-stroke motion system includes a stator 1 , at least one mover 2 and a main control unit.
  • the main control unit controls the mover 2 , and the mover 2 moves on the stator 1 according to a preset trajectory.
  • the stator 1 includes: a stator base 11 , and a permanent magnet array unit 12 disposed on the stator base 11 .
  • the permanent magnet array unit 12 is constructed in a manner of NS or Halbach magnetic array, and the NS or Halbach magnetic array can be applied with a periodic extension width, and so on.
  • the NSs in the permanent magnet array unit are periodically arranged in sequence, and the track of the movement of the mover is traveled. As shown in FIG.
  • multiple groups of permanent magnet array units 12 can be arranged on the base 21 of the stator 1 , and the permanent magnet array units 12 can be manufactured in modules of standard length, and can be assembled and spliced for long-stroke applications.
  • the permanent magnet array unit 12 can be formed by splicing arc segments and straight segments.
  • the stator 1 further includes: a transmission unit 13 , and the transmission unit 13 is also arranged on the stator base 11 according to a preset track, which is consistent with the arrangement track of the permanent magnet array unit 12 .
  • the transmission unit 13 may be a power transmission unit, or may be an integrated power transmission unit and a communication transmission unit.
  • the transmission unit 13 is a power transmission unit.
  • the transmission unit 13 includes: a plurality of conductive ends 131.
  • the conductive ends 131 can be metal conductive strips. Marble slab.
  • the transmission unit 13 When the transmission unit 13 is both a power transmission unit and a communication transmission unit, the transmission unit 13 includes: a plurality of conductive ends 131 and a plurality of communication ends 132, and the plurality of conductive ends 131 and the plurality of communication ends 132 are fixed on the interference fixing part 133 on. As shown in FIG. 4 , there are three conductive ends 131 and three corresponding communication ends 132 .
  • the conductive ends 131 are three metal conductive strips arranged parallel to the corresponding communication ends 132 , and are arranged along a preset track. For three parallel sets of metal conductive strips, set along the preset track. Therefore, the communication or power-on function of the long-stroke motion system is arranged in parallel with three wires.
  • the mover 2 includes a base 21 and a coil array unit 22 arranged on the base 21 . As shown in FIG. 4 and FIG. 8 , in order to realize the stable operation of the mover, the coil array unit 22 is disposed opposite to the permanent magnet array unit 12 .
  • the coil array unit 22 includes: iron core 221, iron core 225, iron core 226, coil winding 222, coil winding 223, coil winding 224, coil winding 222, coil winding 223, coil winding 224 are the U, V, and W three-phase coils of an armature winding, respectively.
  • the air gap of each coil of the coil array unit 22 is very small and relatively uniform, so that the thrust ripple is very small, and the influence of the cogging force is small, which is especially suitable for high-precision control application scenarios.
  • the mover 2 further includes a plurality of sliding contact units 23 .
  • the sliding contact units 23 are electrically connected to the coil array unit 22 , and are disposed on the base 21 and abut against the transmission unit 13 .
  • the sliding contact unit 23 includes a fixing member 231 , a conductive member 232 and a biasing member 233 .
  • the conductive member 232 is movably connected to the fixing member 231 to be able to move toward or away from the fixing member 231 . movement in the direction.
  • the biasing member 233 is connected between the fixing member 231 and the conductive member 232 and biases the conductive member 232 away from the fixing member 231 .
  • the biasing member 233 may be a spring or other resilient member.
  • one sliding contact unit 23 corresponds to one conductive end 131 of the transmission unit 13 .
  • the conductive member 232 is pressed against the transmission unit 13 .
  • the conductive member 232 presses the biasing member 233 , and the biasing member 233 generates an elastic pushing force on the conductive member 232 , so that the conductive member 232 maintains a stable pressing against the transmission unit 13 .
  • the stator 1 may have different shapes such as arc-convex closed-loop, closed-loop polygonal curve shape, and the like.
  • the permanent magnet array unit 12 and the conductive ends 131 are arranged at intervals in the circumferential direction of the outer shape of the stator 1 .
  • the mover 2 moves to the curved surface of the stator 1, some of the conductive members 232 tend to move away from or close to the conductive end 131 of the transmission unit 13, but through the elastic thrust of the biasing member 233, the conductive member 232 can be pushed to continue to press contact Transmission unit 13. More specifically, since the biasing member 233 is always in a compressed state, there is always an elastic supporting force to the outside.
  • the conductive member 232 presses against the transmission unit 13 and is further squeezed, the conductive member 232 moves toward the transmission unit 13.
  • the biasing member 233 When the direction of the fixing member 231 slides, the biasing member 233 is further compressed, and when the conductive member 232 presses against the transmission unit 13 with less pressure and tends to move away, the elastic supporting force of the biasing member 233 pushes the conductive member 232. At this time, the conductive member 232 slides away from the fixing member 231 , so that the conductive member 232 and the transmission unit 13 are continuously pressed.
  • the biasing member 233 and the conductive member 232 form a sliding contact body, and there are multiple sliding contact bodies.
  • there are two sliding contact bodies so that the transmission unit in FIG. 4
  • One conductive end 131 of the 13 corresponds to two sliding contact bodies, so that the contact between the sliding contact unit 23 and the transmission unit 13 is more stable.
  • one communication end 132 of the transmission unit 13 also corresponds to two sliding contact bodies.
  • the conductive member 232 includes a cantilever 2321 and a conductive contact 2322 , the cantilever 2321 is connected to the biasing member 233 , and the conductive contact 2322 is hinged to the cantilever 2321 .
  • the conductive contacts 2322 can be metal parts, and can also be devices plated with a metal conductive layer on the surface. .
  • the cantilever 2321 is hinged with the fixing member 231 and can be rotated toward and away from the fixing member 231, and the hinged position of the cantilever 2321 and the fixing member 231 and the hinged position of the cantilever 2321 and the conductive contact 2322 are spaced apart from each other.
  • One end of the cantilever 2321 is hinged with the fixing member 231, and the other end is hinged with the conductive contact 2322, and the biasing member 233 is connected between the two ends of the cantilever 2321, not exceeding the hinge center position.
  • the cantilever 2321 and the fixing member 231 can be twisted, and the cantilever 2321 and the conductive contact 2322 can also be twisted, so that the conductive contact 2322 and the transmission unit can be twisted. 13 to keep in touch.
  • the side connected to the cantilever 2321 and the biasing member 233 is defined as the first connection side (not marked), and the opposite side is defined as the second connection side (not marked).
  • a blocking portion 234 is provided at the hinge position attachment on the fixing member 231, and the blocking portion 234 is provided with an inclined surface for supporting against the second connecting side, and for limiting the direction of the hinged end of the cantilever 2321 and the fixing member 231 away from the fixing member 231 The angle of rotation can limit the cantilever 2321 to prevent excessive movement of the cantilever 2321 and make the contact between the conductive contact 2322 and the transmission unit 13 unstable.
  • the end of the conductive contact 2322 away from the cantilever 2321 is provided with a flat surface, and the flat surface is in contact with the side surface of the conductive end 131 of the transmission unit 13 .
  • the surface of the flat surface is at least partially a carbon brush surface.
  • the entire conductive contact 2322 may be made of graphitic carbon. Therefore, the conductive contact 2322 and the transmission unit 13 can have a larger contact area, so that the transmission is more stable. And the setting of the carbon brush surface makes the force between the conductive contact 2322 and the transmission unit 13 uniform and smooth, preventing the wear of the conductive contact 2322, and the transmission unit 13 and the conductive contact 2322 can be stably connected for a long time.
  • the transmission unit 13 supplies power to the coil array unit 22 of the mover 2, and the coil array unit 22 generates a driving force under the current excitation of the permanent magnet array unit 12 to push the entire mover 2 in the stator. 1 slide on the slide rail 110.
  • the transmission unit 13 includes: a plurality of conductive ends 131 abutting against at least part of the conductive members 232 of the sliding contact units 23 , and the conductive ends 131 are arranged in one-to-one correspondence with the sliding contact units 23 .
  • the energization between the mover 2 and the transmission unit 13 adopts a three-wire parallel arrangement.
  • There are three conductive ends 131 of the transmission unit 13 and three sliding contact units 23 are also arranged in a one-to-one correspondence with the three conductive ends 131 .
  • the bottom of the base 21 extends upward and is provided with a pair of panels 27 that are parallel and spaced apart from each other, and preferably, the panels 27 are substantially parallel to the permanent magnet array unit 12 , and the plurality of sliding contact units 23 are respectively directly or indirectly fixed thereon. on the panel.
  • the number of the sliding contact units 23 on the two side panels can be the same or different; the fixed distance between the sliding contact unit 23 and the panel can be adjusted movably, and the fixed distance between the sliding contact units 23 on the same panel is adjusted according to the different shapes and sizes of the transmission units 13, thereby Adjust the relative preload.
  • the number of sliding contact units 23 on both sides of the panel is the same, and they are approximately on the same horizontal plane. As shown in FIG.
  • three sliding contact units 23 are vertically arranged and fixed on one panel, and the other three sliding contact units 23 are vertically arranged and fixed on another panel.
  • the sliding contact unit 23 on one surface is in contact with the transmission unit 13
  • the sliding contact unit 23 on the other surface is also in contact with the transmission unit 13.
  • the sliding contact unit 23 is connected to the transmission unit 13.
  • the contact between the units 13 is stable, and the sliding contact unit 23 can also stably supply power to each electrical component and stably transmit information, so that the operation between the mover 2 and the stator 1 is more stable.
  • At least one of the panels is further provided with a first blocking member 251 and a second blocking member 252 on both sides, and the first blocking member 251 and the second blocking member 251
  • the spacer 252 extends toward the direction of the other panel.
  • the first blocking member 251 , the panel and the second blocking member 252 surround and form a shielding area 250
  • the sliding contact unit 23 is at least partially disposed in the shielding area 250 .
  • the three sliding contact units 23 on one panel are vertically located between the first blocking member 251 and the second blocking member 252 . Therefore, the first blocking member 251 and the second blocking member 252 can block part of the dust.
  • the mover 2 further includes: a driving unit 24 , which is arranged above the base 21 and is electrically connected to the coil array unit 22 and is also connected to at least part of the sliding contact unit. 23 is electrically connected, wherein the conductive member 232 of the sliding contact unit 23 is in contact with the conductive end 131 of the transmission unit 13, and the driving unit 24 is connected with the conductive member 232 through wires, so as to supply power to the driving unit 24, and the driving unit 24 is connected to the coil array.
  • the units 22 are connected by wires to realize power supply to the coil array unit 22 .
  • the long-stroke motion system further includes: a main control unit 5 , the main control unit 5 controls at least one mover 2 , and the main control unit 5 is connected with the drive unit 24 .
  • the driving unit 24 on each mover 2 is controlled by the main control unit 5 , so that each driving unit 24 drives the coil array unit 22 on the corresponding mover 2 , so as to realize the regulation of each mover 2 . Therefore, by controlling each mover 2 to adjust the long-stroke motion system, the number of coil array units 22 to be controlled is less than the total number of coil array units 22 set on the stator 1, and the required algorithm is also relatively simple, reducing control Difficulty, through a main control unit 5 can achieve global control and reduce costs.
  • each mover 2 is controlled by one main control unit 5, which is convenient for comprehensive coordinated control.
  • each mover 2 is provided with a coil array unit 22 and a drive unit 24 , so that the coil array unit 22 of the mover 2 and the corresponding drive unit 24 of the mover 2 can be installed and integrated.
  • the long-stroke motion system of the present invention may be wired communication or wireless communication. Specifically, wired communication or wireless communication may be performed between the main control unit 5 and the driving unit 24 of each mover 2 .
  • each communication terminal 132 is a metal conductive strip and is arranged along a preset track. It is in contact with the communication terminal 132, and the other three sliding contact units 23 on the other side panel 27 are in contact with the conductive terminals 131 on the transmission unit 13.
  • the right side of the transmission unit 13 is all conductive terminals 131, and the left side of the transmission unit 13
  • the sides are all communication terminals 132 .
  • the communication between the mover 2 and the transmission unit 13 adopts a three-wire parallel arrangement.
  • the sliding contact unit 23 is in contact with the communication terminal 132 and conducts electricity, and the main control unit 5 is connected with the transmission unit 13 through a communication line, that is, the main control unit transmits high and low frequency signals to the drive unit 24 through the communication terminal 132, so that the main control unit 5
  • the drive unit 24 of the mover 2 is controlled.
  • the long-stroke motion system of the present invention can also be wireless communication, which can be realized through wireless network or bluetooth.
  • the main control module and the processing sub-unit of the drive unit 24 are connected through wireless communication, and will not be transmitted through the transmission. unit.
  • the main control unit 5 can be connected to a backend 6 such as a computer and a mobile phone, and the backend 6 sends the motion plan of the mover 2 to the main control unit 5, and the main control unit 5 sends the motion plan to the driver unit 24, the drive unit 24 controls the coils of each mover 2 accordingly.
  • a backend 6 such as a computer and a mobile phone
  • the driving unit 24 includes: a processing subunit 241 and a power driving subunit 242 , and the power driving subunit 242 is electrically connected to the coil array unit 22 .
  • the processing sub-unit 241 is connected to the main control unit 5 .
  • the input and output processing sub-unit 241 and the main control unit may be wireless network or Bluetooth communication, and may also be wired communication.
  • the input and output processing sub-unit 241 is connected with the communication terminal 132 , and the input and output processing sub-unit 241 is connected with the sliding contact unit 23 which is opposed to the communication terminal 132 .
  • the main control unit 5 sends the signal required by the driving coil array unit 22 to the input and output processing sub-unit 241, including but not limited to the magnitude of current and torque.
  • the electrical signal is then converted into an output current to drive each coil array unit 22 through the power sub-unit.
  • the power driving sub-unit 242 is a power amplifier, and can also be other components.
  • the mover 2 further includes: a first detection unit 28 and a second detection unit 29 .
  • the long-stroke motion system further includes: a first to-be-detected piece 3 , which is arranged on the stator 1 according to a preset track.
  • the first detection unit 28 is connected to the drive unit 24 and reads the first to-be-detected component 3 for detecting the real-time position of the mover 2 relative to the stator 1 .
  • the second detection unit 29 is connected to the drive unit 24 for detecting the relative displacement of the mover 2 with respect to the stator 1 .
  • the driving unit 24 is used to receive and process the information detected by the first detection unit 28 and the second detection unit 29 , and is also used to send the received and processed information to the main control unit 5 .
  • the first detection unit 28 and the second detection unit 29 are both arranged on the mover 2, the drive unit 24 is also on the mover 2, the first to-be-detected piece 3 is on the stator 1, the first detection unit 28 and the second detection unit
  • the number of 29 will be the same as the number of movers 2.
  • One mover 2 includes one detection unit 28 and one second detection unit 29. There is no need for too much, the overall cost will be reduced, and the circuit structure will also be simplified. And when the stroke of the stator 1 is extended, there is no need to add the first detection unit 28 and the second detection unit 29, and further lines are added, which facilitates the improvement of the long-stroke motion system in different applications.
  • the first detection unit 28 is an absolute encoder
  • the first to-be-detected component 3 is a ruler grid.
  • the absolute encoder 28 is electrically connected with the processing sub-unit 241.
  • the absolute encoder 28 is mainly used for aligning phase and absolute position correction to realize global real-time measurement.
  • the absolute encoder 28 reads the corresponding ruler at the position of the mover 2. Grid, that is, to obtain the position parameter of mover 2.
  • the processing subunit 241 receives the parameters obtained by the absolute encoder 28 and processes the parameters.
  • the processing sub-unit 241 transmits the processed parameters to the main control unit 5, and the background terminal 6 connected to the main control unit 5 feeds back the appropriate control instructions to the main control unit 5 after receiving the parameters, and the main control unit 5 controls the corresponding
  • the mover 2 automatically aligns the phase, and realizes the automatic phase alignment after the long-stroke motion system is turned on, which can save the restart time and improve the efficiency.
  • the first detection unit 28 can be a magnetic grating, grating, capacitive grating encoder, and can also be a photoelectric sensor or the like.
  • the magnetic grid incremental encoder reads the permanent magnet array unit 12 .
  • the read head of the second detection unit 29 is electrically connected to the processing sub-unit 241 .
  • the magnetic grid incremental encoder is used to measure the magnetic field strength or the included angle of the direction of the mover 2 to calculate the movement increment, which is arranged as a cycle after each NS magnet.
  • the mover 2 moves along the array direction of the permanent magnet array unit 12, the coil array unit 22 on the mover 2 returns the current size to the power drive sub-unit 242 to correct the current size, and the incremental encoder returns the position signal to the processing sub-unit 241 for processing.
  • the sub-unit 241 detects whether the calibration displacement, speed or torque is in line with the planned amount, and if there is a gap, the output amount is increased or decreased accordingly.
  • the processing sub-unit 241 outputs the received parameters to the main control unit 5 so that the main control unit 5 can coordinate the movement trajectory of the mover 2 .
  • the main control unit 5 transmits various parameters to the background terminal 6, and each parameter includes but is not limited to speed, position, torque, and current, which is convenient for the background terminal 6 and manual correction.
  • the stator 1 is also provided with a ruler grid 4 , and the ruler grid
  • the setting track of 4 is the same as the movement track of mover 2 on stator 1.
  • the second detection unit 29 reads the scale grid 4 to obtain the displacement of the mover 2 .
  • the permanent magnet array unit 12 is constructed in a manner of an NS magnetic array, but it should be understood that it can also be constructed in a manner of Halbach or other magnetic arrays.
  • the incremental encoder is used as the main sensor for position measurement, and the absolute encoder makes up for the shortcomings of the incremental sensor, including but not limited to automatic phase alignment, automatic zero calibration of closed-loop motion, etc.
  • the incremental encoder has more advantages. High precision and resolution, absolute encoder measurement accuracy can be lower.
  • Both the first detection unit 28 and the second detection unit 29 are arranged on the mover 2, and the real-time position information of the mover 2 can be directly obtained, which is conducive to precise motion positioning, and when the slide rail 110 of the stator 1 is extended, it is not necessary to The length of the sliding rail 110 of the stator 1 increases the corresponding number of the first detection unit 28 and the second detection unit 29 , which reduces the cost and the amount of calculation, and can achieve a more efficient response speed.
  • one main control unit 5 can also be used to control all the movers 2, which is beneficial to the overall scale control.
  • each mover 2 in the long-stroke motion system, there are multiple movers 2 , and the incremental encoder on each mover 2 cooperates with the absolute encoder to adjust the movement of the corresponding mover 2 .
  • the global position information of each mover 2 is obtained by calculating the positions sampled by each incremental encoder and each absolute encoder through the processing subunit 241, and the information is sent to each power driving subunit 242, and each processing subunit 241 will The position calculation of each incremental encoder and each absolute encoder obtains the global position information of each mover 2 and transmits it to the main control unit 5 in real time.
  • the main control unit 5 calculates the coil of mover 2 according to the global position information of each mover 2 power, when the calculated coil power of mover 2 is inconsistent with the preset power, adjust mover 2 accordingly, send the control signal to the processing sub-unit 241, and then the processing sub-unit 241 transmits the control signal to the power driver in real time
  • the sub-unit 242, the power driver 2 controls the coil array unit 22, and realizes the control of the mover 2.
  • the main control unit 5 can overall control single or multiple movers 2 in real time.
  • the first detection unit 28 and the second detection unit 29 are arranged in parallel along the vertical direction.
  • the first detection unit 28 is an absolute encoder
  • the second detection unit 29 is an incremental encoder
  • the first detection unit 28 and the second detection unit 29 measure the same horizontal relative position on the stator 1, which mainly It is used to align the phase to avoid aligning the phase again after the closed-loop long-stroke motion system restarts.
  • the absolute encoder corrects the data overflow and incremental error accumulation generated by the incremental encoder after the long-stroke cyclic measurement in the closed-loop long-stroke motion system. The distance that the stator moves one revolution can be reset incrementally by an absolute encoder.
  • the incremental encoder will accumulate the stroke, and the accumulated stroke of the incremental encoder will be cleared by the absolute encoder, so that the mover 2 can start a new cycle again when the mover 2 runs for a new week. so that the real-time position of the mover 2 can be obtained even though the mover 2 repeats the orientation of the previous movement in the new cycle.
  • a Hall sensor (not marked) can also be set on the mover 2, and the Hall sensor (not marked) is electrically connected to the processing subunit 241, and the acquired parameters are sent to the processing subunit 241, and the processing subunit 241 performs the parameter analysis.
  • the preset parameters are inconsistent, corresponding adjustment is performed, and the corresponding adjusted parameters are sent to the power driving subunit 242 , so that the power driving subunit 242 drives the coil array unit 22 on the mover 2 to rapidly commutate.
  • the base 21 of the mover 2 can also be provided with sensors that take temperature and switch signals, so that the main control unit 5 can obtain other auxiliary signals, so as to facilitate the overall adjustment of all movers 2 by the background terminal 6 .
  • the stator base 11 is provided with a slide rail 110 along a preset track, and the mover 2 slides along the slide rail 110 .
  • the mover 2 further includes: a roller assembly disposed on the top of the mover 21 , and the roller assembly slides along the slide rail 110 on the stator 1 .
  • the slide rail 110 can be arc-shaped or linear, and is set according to the trajectory that the mover 2 needs to run.
  • the slide rail 110 includes: a first slide way 111 and a second slide way 112 .
  • the first slideway 111 and the second slideway 112 are arranged along a preset track, and the second slideway 112 is arranged opposite to the first slideway 111 .
  • the mover 2 further includes: a roller assembly disposed on the top of the mover 21 , and the roller assembly slides along the slide rail 110 on the stator 1 .
  • the roller assembly includes: a sliding seat 261, a first roller member 262 and a second roller member 263, the sliding seat 261 is arranged on the base 21, the first roller member 262 and the second roller member 263 are arranged on the sliding seat 261, the first The roller member 262 rolls along the first slideway 111 , and the second roller member 263 rolls along the second slideway 112 .
  • the first roller member 262 and the second roller member 263 clamp the first slideway 111 and the second slideway 112 to move.
  • the base 21 of the mover 2 includes: a first working part 201 , a second working part 202 and a third working part 203 , and the second working part 202 and the third working part 203 Relatively arranged, the first working part 201 connects the second working part 202 and the third working part 203 .
  • the coil array unit 22 is arranged on the first working part 201
  • the roller assembly is arranged on the second working part 202 .
  • the surface where the permanent magnet array unit 12 is located is arranged opposite to the first working part 201
  • the surface where the sliding rail 110 is located is arranged opposite to the second working part 202 .
  • the first working part 201 may be entirely clamped between the third working part 203 and the second working part 202 , or may be partially outside the third working part 203 and the second working part 202 .
  • the first working part 201 is arranged vertically, and the second working part 203 is arranged horizontally. It can be understood that the first working part 201 can also be inclined in different directions, and the second working part 203 can also be inclined in different directions.
  • the surface where the transmission unit 13 is located is disposed opposite to the second working part 203 .
  • the first roller member 262 and the second roller member 263 clamp the slide rail 110 and move axially along the array of the stator 1 to support the deformation of the side surface of the mover 2 caused by the magnetic attraction force.
  • the permanent magnet array unit 12, the slide rail 110, and the transmission unit 13 are on different working parts, and the magnetic field of the permanent magnet array unit 12 will not affect the roller assembly and the sliding contact unit 23, so that the mover 2 can work normally.
  • the permanent magnet array unit 12 and the roller assembly or the sliding contact unit 23 are arranged in a working part, in order to prevent the interference of the permanent magnetic array unit 12, it is necessary to separate the permanent magnet array unit 12 and the roller assembly or the sliding contact unit 23.
  • the overall layout of the mover 2 will be difficult to plan, and the mover 2 will have one side larger and the structure is not tight. Now the layout of the three working parts will make the structure of the mover 2 more compact, and the electrical components will be concentrated, reducing the cost.
  • a carrying tray can be set on the second working part 202 of the mover 2 for placing items.
  • the setting of the first roller member 262 and the second roller member 263 can stably carry the tray and ensure a long stroke.
  • the first detection unit 28 is provided on the second working part 202 .
  • the second detection unit 29 is provided on the first working part 201 . Therefore, the layout of the mover 2 is compact and reasonable, and suitable information data can be detected.
  • the second working part 202 is above the stator
  • the first working part 201 is located on the side of the stator
  • the third working part 203 is located below the stator
  • the three working parts are nested on the stator.
  • the first roller member 262 and the second roller member 263 are located above the stator to clamp the slide rail 110
  • the first detection unit 28 is also located above the stator
  • the coil array unit 22 and the second detection unit 29 are located on the side of the stator
  • the permanent magnet array units 12 on the stator are arranged opposite to each other
  • the sliding contact unit 23 is located below the stator to cooperate with the transmission unit 13 below the stator.
  • the elements on the mover are reasonably arranged and distributed, the internal space of the mover is saved, and the structure of the mover is more compact.
  • control method of the long-stroke motion system includes the following steps:
  • Step 110 providing the above-mentioned long-stroke motion system
  • Step 120 detect the absolute position of the mover 2 relative to the stator 1 through the first detection unit 28 installed on the mover, and obtain the position parameter Y of the mover 2;
  • Step 130 detect the relative displacement of the mover 2 relative to the stator 1 through the second detection unit 29 installed on the mover 2, and obtain the accumulated displacement X;
  • Step 140 Control the running position of each mover 2 on the stator 1 according to the position parameter Y and the accumulated displacement X.
  • step 140 includes steps 141, 142 and 143:
  • Step 141 determine whether the position parameter Y of the mover is 0;
  • step 142 control the relative displacement X of the mover 2 to set 0;
  • step 143 control the second detection unit 29 on the mover to continue to detect the relative displacement, and continue to obtain the accumulated displacement X;
  • Step 144 obtain the global position information of the mover 2 according to the cumulative displacement of the mover 2;
  • Step 145 adjust the position of each mover 2 according to the global position information of each mover 2 .
  • This embodiment is a system embodiment corresponding to the foregoing embodiment, and this embodiment may be implemented in cooperation with the foregoing embodiment.
  • the related technical details mentioned in the foregoing embodiments are still valid in this embodiment, and are not repeated here in order to reduce repetition.
  • the relevant technical details mentioned in this embodiment can also be applied to the above-mentioned embodiments.
  • each module involved in this embodiment is a logical module.
  • a logical unit may be a physical unit, a part of a physical unit, or multiple physical units.
  • a composite implementation of the unit in order to highlight the innovative part of the present invention, this embodiment does not introduce units that are not closely related to solving the technical problem proposed by the present invention, but this does not mean that there are no other units in this embodiment.

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Abstract

一种长行程运动系统，包括：定子（1），包括：定子基座（11）、设置在定子基座（11）上的永磁阵列单元（12）和传输单元（13），传输单元（13）和永磁阵列单元（12）均按预设轨迹设置；至少一个动子（2），与定子（1）沿预设轨迹滑动设置，包括：动子基座（21）、线圈阵列单元（22）以及多个滑触单元（23）；主控单元（5），与传输单元（13）相连，控制动子（2）；滑触单元（23）包括：固定件（231），设置在动子基座（21）上；导电件（232），与线圈阵列单元（22）电连接，且与传输单元（13）相抵接；导电件（232）可操作地在与传输单元（13）抵接时与传输单元（13）电连接并相通讯；以及偏压件（233），将导电件（232）向远离固定件（231）的方向偏压。该长行程运动系统结构简单，且可长期稳定运行。

Description

长行程运动系统
相关申请交叉引用
本专利申请要求于2020年9月4日提交的、申请号为2020109203793、发明名称为“长行程运动系统”的中国专利申请的优先权，上述申请的全文以引用的方式并入本文中。
技术领域
本发明涉及运输系统，特别涉及长行程运动系统。
背景技术
随着制造技术向高产率、高精密化方向发展，精密运动控制技术的研究变得越来越重要，相应地，精密的运动传输系统需求量也越来越大，广泛应用于自动化生产线、包装与运输、装配自动化、丝网印刷等行业，提供具有更高速度和加工柔性。长行程运动系统应用了一种运动磁场来直接驱动运动部件，降低了结构复杂性，还降低了成本和因减小惯量、柔顺性、阻尼、摩擦和磨损而带来的速度增加等优点。因此，长行程运动系统的概念越来越多地用于生产和制造、运输系统，其可以控制多个运输支架和移动彼此独立的传输路径，使高弹性的生产流程，例如为了执行产品分组或允许不同的处理时间。
在现有市场中，通过对长行程运动系统中的线圈阵列单元通电，线圈阵列单元与永磁体单元在电流励磁下产生驱动力，让动子进行运动，实现运输系统的运行。但现有技术中，通过导线连接线圈阵列单元，让电源对线圈阵列单元供电，需要对线路进行布局，使得长行程运动系统整体结构较为复杂，且不利于长行程运动系统的长期稳定运行。
发明内容
本发明实施方式的目的在于提供一种长行程运动系统，使得长行程运动系统结构更为简单，且可长期稳定运行。
为解决上述技术问题，本发明的实施方式提供了一种长行程运动系统，包括：
定子，包括：定子基座、设置在所述定子基座上的永磁阵列单元和传输单元，所述传输单元和所述永磁阵列单元均按预设轨迹设置；
至少一个动子，与所述动子沿所述预设轨迹滑动设置，包括：动子基座、设置在所述动子基座上的线圈阵列单元以及多个滑触单元；以及
主控单元，与所述传输单元相连，控制所述动子；
所述滑触单元包括：
固定件，设置在所述动子基座上；
导电件，与所述线圈阵列单元电连接，且与所述传输单元相抵接；所述导电件与所述固定件可动连接以能够沿朝向或远离所述固定件的方向运动；所述导电件可操作的在与所述传输单元抵接时与所述传输单元电连接并相通讯；以及
偏压件，所述偏压件连接于所述固定件与所述导电件之间并将所述导电件向远离所述固定件的方向偏压。
本发明实施方式相对于现有技术而言，由于滑触单元设有固定件、导电件和偏压件，导电件与传输单元抵接时，导电件受到挤压力会压持偏压件，偏压件又连接固定件和导电件，偏压件被压持产生推动导电件朝向远离固定件的方向运动，让导电件保持与传输单元抵接。在滑触单元运动中，导电件与传输单元之间的抵压力减小时，偏压件可推动导电件与传输单元之间可继续稳定抵接，让导电件可正常工作，从而实现在滑触单元运动过程中，滑触单元也可稳定工作，与传输单元抵接，可正常接收传输单元传输的电量，且可让传输单元与滑触单元一直保持通讯，从而让主控单元可稳定的控制动子，进而让动子可稳定运行，传输单元稳定工作。且通过滑触单元的设置，可减少线路布局，让长行程运动系统整体结构更为简单。
在一实施例中，所述导电件包括：
悬臂，所述悬臂与所述偏压件连接，且与所述固定件相铰接并能朝向或背离所述固定件转动；
导电触头，所述导电触头铰接至所述悬臂，且所述导电触头与所述传输单元相抵；
其中，所述悬臂与所述固定件的铰接位置和所述悬臂与所述导电触头的铰接位置彼此间隔开。
在一实施例中，所述悬臂包括：与所述偏压件相连的第一连接侧、与所述第一连接侧相对设置在第二连接侧；
所述固定件上设有用于支撑阻挡所述第二连接侧的阻挡部，用于限定悬臂远离所述固定件方向转动的角度。
在一实施例中，所述导电触头与所述传输单元相抵接的一端设有平坦面，所述平坦面的表面至少部分为碳刷。
在一实施例中，所述滑触单元包括多个所述偏压件和多个所述导电件，所述偏压件和所述导电件一一对应。
在一实施例中，所述传输单元包括：导电端和通讯端，所述主控单元与所述通讯端相通讯；
所述导电端与一部分所述滑触单元一一对应设置，且所述导电端与所述一部分所述滑触单元的导电件相抵接；
所述通讯端与另一部分所述滑触单元一一对应设置，且所述通讯端与所述另一部分所述滑触单元的导电件相抵接。
在一实施例中，所述定子基座上设有沿所述预设轨迹设置的滑轨；
所述动子还包括：滚轮组件，设置在所述动子基座上，与所述滑轨可滑动设置；
所述动子基座包括：
第一工作部，所述线圈阵列单元设置在所述第一工作部上；
相对设置的第二工作部和第三工作部，所述第一工作部至少部分位于所述第二工作部和所述第三工作部之间；且连接所述第二工作部和所述第三工作部；
所述滚轮组件设置在所述第二工作部上；所述滑触单元设置在所述第三工作部上；
所述永磁阵列单元所在面与所述第一工作部相对设置；所述滑轨所在面与所述第二工作部相对设置；所述传输单元所在面与所述第三工作部相对设置。
在一实施例中，所述第三工作部上设有彼此平行且间隔开的一对面板，所述多个滑触单元分别设置在所述一对面板上。
在一实施例中，所述第一工作部垂向设置，所述第二工作部水平设置。10.根据权利要求7所述的长行程运动系统，其特征在于，所述动子还包括：驱动单元，与所述线圈阵列单元和至少部分所述滑触单元电连接；所述驱动单元设置在所述第一工作 部上；
所述长行程运动系统还包括：主控单元，与所述驱动单元、所述传输单元相连，所述主控单元控制所述驱动单元驱动所述线圈阵列单元。
在一实施例中，所述长行程运动系统还包括：
第一待检测件，按所述预设轨迹设置在所述定子上；
所述动子还包括：
第一检测单元，与所述驱动单元电连接，读取所述第一待检测单元，用于检测动子相对于定子的实时位置；
第二检测单元，与所述驱动单元电连接，用于检测动子相对于定子的位移；
所述驱动单元用于接收并处理所述第一检测单元和所述第二检测单元检测到的信息，还用于将接收并处理的信息发送给主控单元。
在一实施例中，所述滑触单元上设有第一挡隔件和第二挡隔件，所述第一挡隔件和所述第二挡隔件沿所述预设轨迹上相互隔开形成遮挡区，所述滑触单元至少部分设置在所述遮挡区中。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是本发明的实施方式中一种长行程运动系统的结构示意图；
图2是本发明的实施方式中另一实施例中的长行程运动系统的结构示意图；
图3是本发明的实施方式中再一实施例中的长行程运动系统的结构示意图；
图4是本发明的实施方式中动子安装在定子上的侧面视图，其中定子为剖视图；
图5是本发明的实施方式中本发明的实施方式中长行程运动系统的电路模块图，其中第二检测单元为磁栅式增量编码器；
图6是本发明的实施方式中滑触单元的立体结构示意图；
图7是图6中滑触单元的主视图；
图8是本发明的实施方式中动子的线圈阵列单元与定子的永磁阵列单元安装方位示意图；
图9是本发明的实施方式中长行程运动系统的电路模块图，其中第二检测单元为光栅式或容栅式增量编码器；
图10是本发明的实施方式中主控单元与驱动单元有线通讯中动子的驱动控制模块图；
图11是本发明的实施方式中主控单元与驱动单元无线通讯中动子的驱动控制模块图；
图12是本发明的实施方式中长行程运动系统的控制方法的流程图；
图示标号：1、定子；12、永磁阵列单元；11、定子基座；13、传输单元；13a、第一侧面；13b、第二侧面；131、导电端；132、通讯端；133、抵触固定部；2、动子；21、动子基座；22、线圈阵列单元；221、铁芯；225、铁芯；226、铁芯；222、线圈绕组；223、线圈绕组；224、线圈绕组；221、铁芯；23、滑触单元；231、固定件；232、导电件；233、偏压件；2321、悬臂；2322、导电触头；234、阻挡部；27、面板；251、第一挡隔件；252、第二挡隔件；250、遮挡区；24、驱动单元；241、处理子单元；242、功率驱动子单元；28、第一检测单元；29、第二检测单元；201、第一工作部；202、第二工作部；203、第三工作部；110、滑轨；111、第一滑道；112、第二滑道；261、滑座；262、第一滚轮件；263、第二滚轮件；3、第一待检测件；4、尺栅；5、主控单元；6、后台端。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合附图对本发明的各实施方式进行详细的阐述。然而，本领域的普通技术人员可以理解，在本发明各实施方式中，为了使读者更好地理解本申请而提出了许多技术细节。但是，即使没有这些技术细节和基于以下各实施方式的种种变化和修改，也可以实现本申请所要求保护的技术方案。
在下文的描述中，出于说明各种公开的实施例的目的阐述了某些具体细节以提供对各种公开实施例的透彻理解。但是，相关领域技术人员将认识到可在无这些具体细节中的一个或多个细节的情况来实践实施例。在其它情形下，与本申请相关联的熟知的装置、结构和技术可能并未详细地示出或描述从而避免不必要地混淆实施例的描述。
除非语境有其它需要，在整个说明书和权利要求中，词语“包括”和其变型，诸 如“包含”和“具有”应被理解为开放的、包含的含义，即应解释为“包括，但不限于”。
如图1、图2、图3，长行程运动系统包括定子1、至少一个动子2和主控单元，主控单元控制动子2，动子2在定子1上按预设轨迹运动。定子1包括：定子基座11、设置在定子基座11上的永磁阵列单元12。永磁阵列单元12为NS或Halbach磁阵列构建方式，NS或Halbach磁阵列可应用周期性延展宽度，并以此类推。如图7，永磁阵列单元中的NS周期性顺次排列，行程动子运行的轨迹。如图1中，在定子1的基座21上可设置多组永磁阵列单元12，永磁阵列单元12可按照标准长度的模块制造，针对长行程应用可组装拼接。永磁阵列单元12可设置弧形段和直线段拼接而成。
另外，如图1和图4所示，定子1还包括：传输单元13，传输单元13也按预设轨迹设置在定子基座11上，与永磁阵列单元12排列轨迹一致。传输单元13可以为电源传输单元，也可以是电源传输单元与通讯传输单元一体。传输单元13为电源传输单元，此时传输单元13包括：多个导电端131，导电端131可为金属导电条，按预设轨迹设置，固定在抵触固定部133上，抵触固定部133可为大理石板。当传输单元13既是电源传输单元又是通讯传输单元，此时传输单元13包括：多个导电端131和多个通讯端132，多个导电端131和多个通讯端132均固定在抵触固定部133上。如图4所示，导电端131设有三个，对应的通讯端132设有三个，导电端131为三条平行于对应的通讯端132设置的金属导电条，沿预设轨迹设置，通讯端132也为三条平行设置在金属导电条，沿预设轨迹设置。从而长行程运动系统通讯或通电功能为三线并列布置。
在部分实施例中，如图1、图2、图3、图4所示，动子2设有多个，各动子2的结构相同，现以一个动子2的结构为例进行具体说明。动子2包括：基座21、设置在基座21上的线圈阵列单元22。如图4和图8所示，为实现动子的稳定运行，线圈阵列单元22与永磁阵列单元12相对设置。线圈阵列单元22上有接线端子接口，线圈阵列单元22包括：铁芯221、铁芯225、铁芯226、线圈绕组222、线圈绕组223、线圈绕组224，线圈绕组222、线圈绕组223、线圈绕组224分别为一个电枢绕组的U、V、W三相线圈。线圈阵列单元22的每个线圈的气隙非常小，且比较均匀，从而推力纹波非常小，齿槽力的影响较小，尤其适应于高精密控制应用场景。如图4所示，动子2还包括多个滑触单元23，滑触单元23与线圈阵列单元22电连接，且设置在基座21上，与传输单元13相抵接。
如图4、图6和图7所示，滑触单元23包括：固定件231、导电件232和偏压件233，导电件232与固定件231可动连接以能够沿朝向或远离固定件231的方向运动。偏压件233连接于固定件231与导电件232之间并将导电件232向远离固定件231的方向偏压。偏压件233可为弹簧或其他有弹性的部件。
具体的说，如图4、图6、图7所示，一个滑触单元23对应传输单元13的一个导电端131，动子2沿定子1运动时，导电件232与传输单元13压持，此时导电件232压住偏压件233，偏压件233对导电件232产生弹推力，让导电件232保持与传输单元13保持稳定抵压。定子1可为圆弧凸形闭环、闭环多边曲线外形等不同的形状。永磁阵列单元12、导电端131均按此定子1的外形周向间隔设置。在动子2运动到定子1的曲面处时，会有部分导电件232远离或靠近传输单元13的导电端131的趋势，但通过偏压件233的弹推力，可推动导电件232继续压触传输单元13。较具体地，由于设置偏压件233始终为压缩状态，故而对外一直有弹性支撑力，在动子2运动过程中，当导电件232压触传输单元13进一步受到挤压时，导电件232向固定件231的方向滑动，偏压件233被进一步压缩，而当导电件232压触传输单元13压力变小有远离趋势时，偏压件233的弹性支撑力推动导电件232，此时导电件232向远离固定件231方向滑动，从而使得导电件232与传输单元13之间持续抵压。
另外，偏压件233与导电件232形成滑触主体，滑触主体设有多个，较优地，如图6和图7所示，滑触主体为两个，让图4中的传输单元13的一个导电端131对应两个滑触主体，从而滑触单元23与传输单元13之间的接触更为稳定。同样的，传输单元13的一个通讯端132也对应两个滑触主体。
进一步的，如图6所示，导电件232包括：悬臂2321和导电触头2322，悬臂2321与偏压件233连接，导电触头2322铰接至悬臂2321。导电触头2322可为金属件，也可是外表镀有金属导电层的器件。。
另外，如图6所示，悬臂2321与固定件231相铰接并能朝向和远离固定件231转动，悬臂2321与固定件231的铰接位置和悬臂2321与导电触头2322的铰接位置彼此间隔开。悬臂2321的一端与固定件231相铰接，而另一端与导电触头2322相铰接，且偏压件233连接于悬臂2321的两端之间，不超过铰接中心位置之间。从而在滑触单元23沿传输单元13运动时，按照轨迹的变化，悬臂2321与固定件231之间可扭转，悬臂2321与导电触头2322之间也可以扭转，让导电触头2322与传输单元13之间保持接触。
进一步的，如图6所示，定义悬臂2321与偏压件233相连接的一侧为第一连接侧(未标识)，对面相对设置的为第二连接侧(未标识)。固定件231上铰接位置附件设有阻挡部234，且该阻挡部234设有倾斜面，用于支撑抵触第二连接侧，用于限定悬臂2321与固定件231相铰接的一端远离固定件231方向转动的角度，从而对悬臂2321进行限位，防止悬臂2321过度运动，让导电触头2322与传输单元13接触不稳定。
由以上结构可得知，在动子2绕定子1运动过程中，在偏压件233受到一定压力被进一步压缩时，悬臂2321的与固定件231相铰接的一端远离固定件231的方向转动，悬臂2321与导电触头2322铰接的另一端向靠近固定件231的方向滑动，而导电触头2322与传输单元13抵触发生松弛趋势时，偏压件233推动悬臂2321，此时悬臂2321的与固定件231相铰接的一端向靠近固定件231的方向转动，悬臂2321与导电触头2322铰接的另一端向远离固定件231方向滑动，从而导电触头2322与传输单元13之间持续抵压。
导电触头2322远离悬臂2321的一端设有平坦面，平坦面与传输单元13的导电端131侧表面接触，如图4所示，平坦面的表面至少部分为碳刷面。另外，也可以是导电触头2322整体为石墨碳。从而给导电触头2322与传输单元13可有更大的接触面积，让传输更为稳定。且碳刷面的设置，让导电触头2322与传输单元13之间受力均匀、光滑，防止导电触头2322的磨损，传输单元13与导电触头2322之间可长期稳定导通。
进一步的，如图1和4所示，传输单元13对动子2的线圈阵列单元22进行供电，线圈阵列单元22在永磁阵列单元12电流励磁下产生驱动力，推动整个动子2在定子1的滑轨110上滑动。动子2中有多个滑触单元23，传输单元13包括：多个导电端131，与至少部分滑触单元23的导电件232相抵接，导电端131与滑触单元23一一对应设置。动子2与传输单元13之间的通电采用三线并列布置，传输单元13的导电端131设有三个，滑触单元23也有三个与该三个导电端131一一对应设置。
基座21的底部向上延伸设有彼此平行且间隔开的一对面板27，且较优地，面板27与永磁体阵列单元12大致平行，多个滑触单元23分别直接或间接地固定在这对面板上。在两边面板上的滑触单元23的数量可相同或不同；滑触单元23与面板固定间距可动调整，与在同一面板上的滑触单元23根据传输单元13不同形状大小调整固定间距，从而调整相对预紧力。较优地，在两边的面板滑触单元23数量相同，且大致在同一水平面上一一对应；传输单元13整体大致呈矩形，在同一面板上的滑触单元23 大致垂直排列。如图4所示，在本实施例中，三个滑触单元23垂向排列地固定在一个面板上，，另三个滑触单元23垂向排列地固定在另一个面板。，一个表面上的滑触单元23与传输单元13抵接，另一个表面上的滑触单元23也与传输单元13抵接，通过双面夹持传输单元13，使得滑触单元23均与传输单元13之间接触稳定，滑触单元23也可稳定的对各电气元件供电以及稳定信息传输，让动子2与定子1之间的运行更为稳定。
如图4、图6、图7和图8所示，面板中的至少一个面板两侧还设有第一挡隔件251和第二挡隔件252，第一挡隔件251和第二挡隔件252朝向另一个面板的方向延伸，第一挡隔件251、面板和第二挡隔件252围绕形成遮挡区250，滑触单元23至少部分设置在遮挡区250中。在本实施例中，一面板上的三个滑触单元23垂直均位于第一挡隔件251和第二挡隔件252之间。从而第一挡隔件251和第二挡隔件252可挡住部分灰尘。
另外，如图4、图6、图7和图8所示，动子2还包括：驱动单元24，设置在基座21上方，且与线圈阵列单元22电连接，也与至少部分滑触单元23电连接，其中，滑触单元23的导电件232与传输单元13的导电端131相抵，驱动单元24通过导线与该导电件232相连，从而实现对驱动单元24供电，驱动单元24与线圈阵列单元22又通过导线连接，实现对线圈阵列单元22的供电。如图1、图5、图9、图10和图11所示，长行程运动系统还包括：主控单元5，主控单元5控制至少一个动子2，主控单元5与驱动单元24相连。通过主控单元5控制各动子2上的驱动单元24，让各驱动单元24驱动对应的动子2上的线圈阵列单元22，实现对各动子2的调控。从而通过控制各动子2来调节长行程运动系统，需要被控制的线圈阵列单元22的数量小于设定在定子1上的线圈阵列单元22的全部的数量，需要的算法也较为简单，降低控制难度，通过一个主控单元5可实现全局控制，降低成本。且通过一个主控单元5控制多个动子2，便于全面协调控制。另外，每个动子2上设有线圈阵列单元22和驱动单元24，实现动子2的动子2线圈阵列单元22与对应的驱动单元24安装一体化。
本发明长行程运动系统可以是有线通讯或无线通讯，具体地，主控单元5与各动子2的驱动单元24之间可以是有线通讯或无线通讯。
较优地，主控单元5与各动子2的驱动单元24之间是有线通讯，如图4、图8和图9所示，本实施例在传输单元13上还设置通讯端132，通讯端132可设置3个，均匀分布在抵触固定部133上，各通讯端132为金属导电条，沿预设轨迹设置，其中， 动子2上的一侧面板27上的3个滑触单元23与通讯端132相抵接，另一侧面板27说的另3个滑触单元23中部分与传输单元13上的导电端131抵接，传输单元13右侧全为导电端131，传输单元13左侧全为通讯端132。动子2与传输单元13之间的通讯采用三线并列布置，通讯端132设有三个，动子2上与通讯端132相抵接的滑触单元23设有三个，一一对应，一个滑触单元23对应一个通讯端132。滑触单元23与通讯端132接触导电，主控单元5与传输单元13通过通讯线相连接，即主控单元通过通讯端132向驱动单元24传入的高低电频信号，使得主控单元5控制动子2的驱动单元24。
本发明长行程运动系统也可以是无线通讯，可通过无线网络或蓝牙实现，此时，如图10所示，主控模块与驱动单元24的处理子单元间通过无线通讯连接，将不通过传输单元。
另外，如图9所示，主控单元5可与电脑、手机等后台端6相连，后台端6将动子2的运动规划发送给主控单元5，主控单元5将运动规划发送给驱动单元24，驱动单元24再相应地控制各动子2的线圈。
如图5、图9、图10和图11所示，驱动单元24包括：处理子单元241和功率驱动子单元242，功率驱动子单元242与线圈阵列单元22电连接。处理子单元241，与主控单元5相连。输入输出处理子单元241与主控单元之间可以是无线网络或蓝牙通讯，也可以是有线通讯。输入输出处理子单元241与通讯端132相连，输入输出处理子单元241与和通讯端132相抵的滑触单元23相连。主控单元5发送驱动线圈阵列单元22需要的信号给输入输出处理子单元241，包括但不限于电流、力矩的大小。再通过功率子单元将电信号转化为输出电流驱动每个线圈阵列单元22。其中，功率驱动子单元242为功率放大器，也可为其他元件。
如图4、图5和图9所示，动子2还包括：第一检测单元28和第二检测单元29。长行程运动系统还包括：第一待检测件3，按预设轨迹设置在定子1上。第一检测单元28与驱动单元24连接，读取第一待检测件3，用于检测动子2相对于定子1的实时位置。第二检测单元29与驱动单元24连接，用于检测动子2相对于定子1的相对位移。驱动单元24用于接收并处理第一检测单元28和第二检测单元29检测到的信息，还用于将接收并处理的信息发送给主控单元5。第一检测单元28和第二检测单元29均设置在动子2上，驱动单元24也在动子2上，第一待检测件3在定子1上，第一检测单元28和第二检测单元29的数量将与动子2数量一致，一个动子2包括一个检测 单元28和一个第二检测单元29，无需过多，整体成本降低，线路结构也将得到简化。且在定子1的行程延长时，无需增加第一检测单元28和第二检测单元29，再增加线路，便于长行程运动系统在不同使用场合的改进。
具体地说，第一检测单元28为绝对编码器，第一待检测件3为尺栅。绝对编码器28与处理子单元241电连接，绝对编码器28主要是用于对齐相位及绝对位置矫正，实现全局实时测量，绝对式编码器28读取动子2所在位置处的相对应的尺栅，即获取动子2的位置参数。处理子单元241接收绝对编码器28获取的参数，并对该参数进行处理。处理子单元241将处理过的参数输送给主控单元5，与主控单元5相连的后台端6接收到参数后将合适的控制指令反馈给主控单元5，主控单元5再控制对应的动子2自动对齐相位，实现长行程运动系统开机启动后自动对齐相位，可节约重启的时间，提高效率。第一检测单元28可为磁栅式、光栅式、容栅式编码器，另外也可为光电传感器等。
具体地说，如图5所示，当第二检测单元29为磁栅式增量编码器时，磁栅式增量编码器读取永磁阵列单元12。第二检测单元29的读数头与处理子单元241电连接。磁栅式增量编码器用于测量动子2所在位置的磁场强度或方向夹角计算移动增量，经过每个NS磁铁排列为一个周期。动子2沿永磁体阵列单元12阵列方向运动，动子2上的线圈阵列单元22返回电流大小至功率驱动子单元242矫正电流大小，同时增量编码器返回位置信号至处理子单元241，处理子单元241检测校对位移、速度或力矩大小是否符合计划量，若有差距则对应增大减少输出量。处理子单元241将接收的各参数输出至主控单元5便于主控单元5统筹调度动子2运动轨迹。主控单元5将各参数输送给后台端6，各参数包括但不限于速度、位置、力矩、电流，便于后台端6以及人工矫正。
如图9所示，当第二检测单元29不为磁式增量编码器，而是光栅式或容栅式等其他增量编码器时，定子1上还设有尺栅4，且尺栅4的设置轨迹与动子2在定子1上的运动轨迹相同。第二检测单元29读取该尺栅4，从而获取动子2的位移。在图9本实施例中，永磁阵列单元12为NS磁阵列构建方式，但应理解也可为Halbach或其他形式的磁阵列构建方式。
从上述内容可以看出，增量编码器作为位置测量的主要传感器，绝对编码器弥补增量传感器的不足，包括但不限于自动对齐相位、闭环运动自动校零等，其中增量编码器有较高精度及分辨率，绝对编码器测量精度可以较低。通过第一检测单元28和第 二检测单元29均设置在动子2上，直接获得动子2实时位置信息，有利于进行精密运动定位，且在定子1的滑轨110延长时，不需要根据定子1的滑轨110的长度增加相应的第一检测单元28和第二检测单元29数量，降低成本，也减少计算量，可实现更高效反应速度。并且也可使用一个主控单元5控制所有的动子2，有利于整体化规模控制。
另外，如图8和9所示，在长行程运动系统中，动子2设有多个，每个动子2上的增量编码器与绝对编码器配合调节相应的动子2的运动。通过处理子单元241将各增量编码器和各绝对编码器采样得到的位置计算得到各个动子2的全局位置信息，并将此信息发送给各功率驱动子单元242，各处理子单元241将各增量编码器和各绝对编码器的位置计算得到各个动子2的全局位置信息同时实时传送给主控单元5，主控单元5根据每个动子2的全局位置信息计算出动子2线圈功率，在计算出的动子2线圈功率与预设功率不一致时，对动子2进行相应的调节，将控制信号发送给处理子单元241，然后处理子单元241将控制信号实时传送给功率驱动子单元242，功率驱动子2控制线圈阵列单元22，实现对动子2的控制。主控单元5可实时统筹控制单个或多个动子2。
更值得一提的是，如图9所示，第一检测单元28与第二检测单元29沿垂线方向上平行设置。其中，第一检测单元28为绝对编码器，第二检测单元29为增量编码器，从而第一检测单元28和第二检测单元29测量的是定子1上的同一水平向相对位置，其主要用于对齐相位，避免闭环长行程运动系统重启后再次对齐相位，其次绝对编码器修正增量编码器在闭环长行程运动系统中长行程循环测量后产生的数据溢出以及增量误差累计，每绕定子移动一周可通过绝对编码器重置增量测量的距离。也就是说，在动子2运行一周后，增量编码器会累计行程，通过绝对编码器将增量编码器的累计行程清零，让动子2在新的一周运行时，可重新开始新的位移测量，从而尽管动子2在新的一周运行中重复经过之前运动的方位，也可获取动子2的实时位置。
另外，动子2上还可以设置霍尔传感器(未标识)，霍尔传感器(未标识)与处理子单元241电连接，将获取的参数输送给处理子单元241，处理子单元241对参数进行计算处理，在于预设参数不一致时，进行相应的调节，发送相应的调节后参数给功率驱动子单元242，让功率驱动子单元242驱动该动子2上的线圈阵列单元22快速换相。当然，动子2的基座21上也可以设置采取如温度、开关信号的传感器，让主控单元5可获得其他辅助信号，便于后台端6对所有动子2的统筹调节。
进一步的，如图1和图4所示，定子基座11上设有沿预设轨迹设置的滑轨110，动子2沿滑轨110滑动。动子2还包括：设置在动子21顶部的滚轮组件，滚轮组件沿定子1上的滑轨110滑动。滑轨110可以为弧形也可以为直线型，按照动子2需要运行的轨迹进行设置。
具体的说，如图1和图4所示，滑轨110包括：第一滑道111和第二滑道112。第一滑道111和第二滑道112沿预设轨迹设置，且第二滑道112与第一滑道111相对设置。动子2还包括：设置在动子21顶部的滚轮组件，滚轮组件沿定子1上的滑轨110滑动。滚轮组件包括：滑座261、第一滚轮件262和第二滚轮件263，滑座261设置在基座21上，第一滚轮件262和第二滚轮件263设置在滑座261上，第一滚轮件262沿第一滑道111滚动，第二滚轮件263沿第二滑道112滚动。第一滚轮件262和第二滚轮件263夹持第一滑道111和第二滑道112运动。
进一步的，如图1和图4所示，动子2的基座21包括：第一工作部201、第二工作部202和第三工作部203，第二工作部202和第三工作部203相对设置，第一工作部201连接第二工作部202和第三工作部203。线圈阵列单元22设置在第一工作部201上，滚轮组件设置在第二工作部202上。永磁阵列单元12所在面与第一工作部201相对设置，滑轨110所在面与第二工作部202相对设置。第一工作部201可全部夹持在第三工作部203和第二工作部202之间，也可部分在第三工作部203和第二工作部202之外。
进一步的，如图4所示，第一工作部201垂向设置，第二工作部203水平设置。可以理解的，第一工作部201也可向不同方向倾斜设置，第二工作部203也可向不同方向倾斜设置。
如图1和4所示，传输单元13所在面与第二工作部203相对设置。第一滚轮件262和第二滚轮件263夹持滑轨110，沿定子1阵列轴向移动，支撑动子2侧面受励磁吸附力产生的形变。
从而永磁阵列单元12、滑轨110、传输单元13在不同的工作部上，永磁阵列单元12的磁场将不会对滚轮组件和滑触单元23产生影响，让动子2可正常工作。且永磁阵列单元12和滚轮组件或滑触单元23设置在一个工作部时，为了防止永磁阵列单元12的干扰性，需要将永磁阵列单元12和滚轮组件或滑触单元23之间隔开，动子2的整体布局将不易规划，且动子2将有一侧较大，结构不紧密，现进行三个工作部的布局，让动子2的结构也更为紧凑，电气元件集中，降低成本。
长行程运动系统中，动子2的第二工作部202上可设置承载托盘，用于放置物品，通过第一滚轮件262和第二滚轮件263的设置，可稳定的承载托盘，保证长行程运动系统承载物品的稳定性。另外，如图4所示，第一检测单元28设置在第二工作部202上。第二检测单元29设置在第一工作部201上。从而使得动子2的布局紧凑、合理，且能检测到合适的信息数据。
由上述内容可知，第二工作部202于定子上方，第一工作部201位于定子侧面，第三工作部203位于定子下方，三个工作部成嵌套式卡在定子上。其中第一滚轮件262和第二滚轮件263位于定子上方夹持滑轨110，第一检测单元28也位于定子上方，线圈阵列单元22和第二检测单元29位于定子侧面，线圈阵列单元22与定子上的永磁阵列单元12相对设置，滑触单元23位于定子下方与定子下方的传输单元13相配合。使得动子上的各元件合理布局分配，节省动子的内部空间，让动子的结构更为紧凑。
在另一实施例中，如图1、图5和图12所示，长行程运动系统的控制方法包括如下步骤：
步骤110，提供上述长行程运动系统；
步骤120，通过安装在动子上的第一检测单元28检测该动子2相对于定子1的绝对位置，并获取该动子2的位置参数Y；
步骤130，通过安装在动子2上的第二检测单元29检测该动子2相对于定子1的相对位移，并获取累计位移X；
步骤140，根据位置参数Y和累计位移X，控制各动子2在定子1上的运行位置。
进一步的，在步骤140中包括步骤141、142和143：
步骤141，判断动子的位置参数Y是否为0；
若Y等于0，步骤142，控制动子2的相对位移X置0；
若Y不等于0，步骤143，控制该动子上的第二检测单元29继续检测相对位移，并继续获取累计位移X；
步骤144，根据动子2的累计位移，获取动子2的全局位置信息；
步骤145，根据各动子2的全局位置信息，调节各动子2的位置。
本实施例为与上述实施例相对应的系统实施例，本实施例可与上述实施例互相配合实施。上述实施例方式中提到的相关技术细节在本实施方式中依然有效，为了减少重复，这里不再赘述。相应地，本实施方式中提到的相关技术细节也可应用在上述实施方式中。
值得一提的是，本实施方式中所涉及到的各模块均为逻辑模块，在实际应用中，一个逻辑单元可以是一个物理单元，也可以是一个物理单元的一部分，还可以以多个物理单元的组合实现。此外，为了突出本发明的创新部分，本实施方式中并没有将与解决本发明所提出的技术问题关系不太密切的单元引入，但这并不表明本实施方式中不存在其它的单元。
本领域的普通技术人员可以理解，上述各实施方式是实现本发明的具体实施例，而在实际应用中，可以在形式上和细节上对其作各种改变，而不偏离本发明的精神和范围。

Claims (12)

  1. 一种长行程运动系统，其特征在于，包括：
    定子，包括：定子基座、设置在所述定子基座上的永磁阵列单元和传输单元，所述传输单元和所述永磁阵列单元均按预设轨迹设置；
    至少一个动子，与所述动子沿所述预设轨迹滑动设置，包括：动子基座、设置在所述动子基座上的线圈阵列单元以及多个滑触单元；以及
    主控单元，与所述传输单元相连，控制所述动子；
    所述滑触单元包括：
    固定件，设置在所述动子基座上；
    导电件，与所述线圈阵列单元电连接，且与所述传输单元相抵接；所述导电件与所述固定件可动连接以能够沿朝向或远离所述固定件的方向运动；所述导电件可操作地在与所述传输单元抵接时与所述传输单元电连接并相通讯；以及
    偏压件，所述偏压件连接于所述固定件与所述导电件之间并将所述导电件向远离所述固定件的方向偏压。
  2. 根据权利要求1所述的长行程运动系统，其特征在于，所述导电件包括：
    悬臂，所述悬臂与所述偏压件连接，且与所述固定件相铰接并能朝向或背离所述固定件转动；
    导电触头，所述导电触头铰接至所述悬臂，且所述导电触头与所述传输单元相抵；
    其中，所述悬臂与所述固定件的铰接位置和所述悬臂与所述导电触头的铰接位置彼此间隔开。
  3. 根据权利要求2所述的长行程运动系统，其特征在于，所述悬臂包括：与所述偏压件相连的第一连接侧、与所述第一连接侧相对设置在第二连接侧；
    所述固定件上设有用于支撑阻挡所述第二连接侧的阻挡部，用于限定悬臂远离所述固定件方向转动的角度。
  4. 根据权利要求2所述的长行程运动系统，其特征在于，所述导电触头与所述传输单元相抵接的一端设有平坦面，所述平坦面的表面至少部分为碳刷。
  5. 根据权利要求1至4中任意一项所述的长行程运动系统，其特征在于，所述滑触单元包括多个所述偏压件和多个所述导电件，所述偏压件和所述导电件一一对应。
  6. 根据权利要求1所述的长行程运动系统，其特征在于，所述传输单元包括：导 电端和通讯端，所述主控单元与所述通讯端相通讯；
    所述导电端与一部分所述滑触单元一一对应设置，且所述导电端与所述一部分所述滑触单元的导电件相抵接；
    所述通讯端与另一部分所述滑触单元一一对应设置，且所述通讯端与所述另一部分所述滑触单元的导电件相抵接。
  7. 根据权利要求1所述的长行程运动系统，其特征在于，所述定子基座上设有沿所述预设轨迹设置的滑轨；
    所述动子还包括：滚轮组件，设置在所述动子基座上，与所述滑轨可滑动设置；
    所述动子基座包括：
    第一工作部，所述线圈阵列单元设置在所述第一工作部上；
    相对设置的第二工作部和第三工作部，所述第一工作部至少部分位于所述第二工作部和所述第三工作部之间；且连接所述第二工作部和所述第三工作部；
    所述滚轮组件设置在所述第二工作部上；所述滑触单元设置在所述第三工作部上；
    所述永磁阵列单元所在面与所述第一工作部相对设置；所述滑轨所在面与所述第二工作部相对设置；所述传输单元所在面与所述第三工作部相对设置。
  8. 根据权利要求7所述的长行程运动系统，其特征在于，所述第三工作部上设有彼此平行且间隔开的一对面板，所述多个滑触单元分别设置在所述一对面板上。
  9. 根据权利要求7所述的长行程运动系统，其特征在于，所述第一工作部垂向设置，所述第二工作部水平设置。
  10. 根据权利要求7所述的长行程运动系统，其特征在于，所述动子还包括：驱动单元，与所述线圈阵列单元和至少部分所述滑触单元电连接；所述驱动单元设置在所述第一工作部上；
    所述长行程运动系统还包括：主控单元，与所述驱动单元、所述传输单元相连，所述主控单元控制所述驱动单元驱动所述线圈阵列单元。
  11. 根据权利要求10所述的长行程运动系统，其特征在于，所述长行程运动系统还包括：
    第一待检测件，按所述预设轨迹设置在所述定子上；
    所述动子还包括：
    第一检测单元，与所述驱动单元电连接，读取所述第一待检测单元，用于检测动子相对于定子的实时位置；
    第二检测单元，与所述驱动单元电连接，用于检测动子相对于定子的位移；
    所述驱动单元用于接收并处理所述第一检测单元和所述第二检测单元检测到的信息，还用于将接收并处理的信息发送给主控单元。
  12. 根据权利要求1所述的长行程运动系统，其特征在于，所述滑触单元上设有第一挡隔件和第二挡隔件，所述第一挡隔件和所述第二挡隔件沿所述预设轨迹上相互隔开形成遮挡区，所述滑触单元至少部分设置在所述遮挡区中。
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CN111917268A (zh) * 2020-09-04 2020-11-10 上海隐冠半导体技术有限公司 长行程运动系统
CN111917269A (zh) * 2020-09-04 2020-11-10 上海隐冠半导体技术有限公司 长行程运动系统
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