WO2022048310A1 - Long-stroke motion system - Google Patents

Abstract

Disclosed is a long-stroke motion system. In the present invention, the long-stroke motion system comprises: at least one rotor, each rotor comprising: a rotor base provided with a first working part, a second working part, and a third working part, a coil array unit provided on the first working part, and a roller component provided on the second working part, the second working part and the third working part being provided opposite each other, the first working part being at least partly provided between the second working part and the third working part and being connected to the second working part and the third working part; a stator, comprising: a stator base, a permanent magnet array unit provided on the stator base, and a slide rail provided on the stator base and provided opposite the second working part, the permanent magnet array unit and the slide rail being provided according to a preset track; the coil array unit and the permanent magnet array unit being provided opposite each other, and the roller component being provided as slidable along the slide rail. Compared with the prior art, the rotor is structurally more compact, the long-stroke motion system is structurally simpler, and costs are reduced.

Description

Long stroke motion system

Cross-reference to related applications

This patent application claims the priority of the Chinese patent application filed on September 4, 2020 with the application number 2020109204870 and the invention titled "Long Stroke Motion System", the full text of which is incorporated herein by reference.

technical field

The present invention relates to transportation systems, and particularly to long-stroke motion systems.

Background technique

With the development of manufacturing technology in the direction of high yield and high precision, the research on precision motion control technology becomes more and more important. Correspondingly, the demand for precision motion transmission system is also increasing, which is widely used in automated production lines, packaging With transportation, assembly automation, screen printing and other industries, it provides higher speed and processing flexibility. Long-travel motion systems use a moving magnetic field to directly drive moving parts, reducing structural complexity, cost, and speed gains from reduced inertia, compliance, damping, friction, and wear. Therefore, the concept of long-stroke kinematic systems is increasingly used in production and manufacturing, transport systems that can control multiple transport supports and move transport paths independent of each other, enabling highly flexible production processes, e.g. to perform product grouping or Different processing times are allowed.

In the existing market, by energizing the coil array unit in the long-stroke motion system, 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 mover is provided with a roller assembly and a coil array unit, the coil array unit is arranged opposite to the permanent magnet unit on the stator, the roller assembly moves along the slide rail on the stator, and the roller assembly and the coil array unit are arranged on the bearing surface of the mover , the magnetic field of the permanent magnet unit will affect the roller assembly, making the mover unable to run stably. In the prior art, in order to prevent the interference between the permanent magnet unit and the roller assembly, the interval between the coil array unit and the roller assembly is large, so that the bearing surface of the mover extends to the outside of the stator longer, and the overall structure of the mover It is not compact, and the mover occupies a large space in a long-stroke motion system, and the cost is high.

SUMMARY OF THE INVENTION

The purpose of the embodiments of the present invention is to provide a long-stroke motion system, which makes the mover structure more compact, the long-stroke motion system structure is simpler, and the cost is reduced.

In order to solve the above technical problems, embodiments of the present invention provide a long-stroke motion system, including:

At least one mover, each mover includes: a mover base having a first working part, a second working part and a third working part, a coil array unit arranged on the first working part, and a coil array unit arranged on the first working part. The roller assembly on the second working part, wherein the second working part and the third working part are arranged opposite to each other, and the first working part is at least partially arranged on the second working part and the third working part between, and connect the second working part and the third working part;

The stator includes: a stator base, a permanent magnet array unit disposed on the stator base, a slide rail disposed on the stator base and opposite to the second working part, and the permanent magnet array The unit and the slide rail are set according to the preset trajectory;

Wherein, the coil array unit is arranged opposite to the permanent magnet array unit, and the roller assembly is slidably arranged along the slide rail.

Compared with the prior art, in the embodiment of the present invention, since the mover base includes a first working part, a second working part and a third working part, the first working part is at least partially disposed on the second working part and the third working part In between, the coil array unit is arranged on the first working part, the roller assembly is arranged on the second working part, the coil array unit and the roller assembly are not coplanar, so during the movement of the mover, the magnetic field generated by the permanent magnet array unit The roller assembly will not be disturbed, and the mover can run normally and stably. In addition, the space in the second working part and the first working part is reasonably used, and there is no need to set up vacant areas, so that the overall space of the mover is reasonably used without waste, the structure of the mover is more compact, the layout is more reasonable, and the The cost of the mover.

In one embodiment, the first working part is arranged vertically, and the second working part is arranged horizontally.

In one embodiment, the slide rail includes:

a first slide, set along the preset track;

a second slideway, arranged opposite to the first slideway, and arranged along the preset track;

The roller assembly includes:

a sliding seat, arranged on the second working part of the mover base;

a first roller member, which is arranged on the sliding seat and rolls along the first sliding path;

A second roller member is arranged on the sliding seat and rolls along the second sliding path;

Wherein, the plane connecting the first slideway and the second slideway is arranged opposite to the second working part; the first roller member and the second roller member clamp the first slideway and the second roller member. the second slide.

In one embodiment, the mover further includes: a plurality of sliding contact units disposed on the third working part, at least part of the sliding contact units are connected to the coil array unit;

The stator further includes: a transmission unit arranged on the stator base, the transmission unit is arranged along a preset track; wherein, the surface where the transmission unit is located is arranged opposite to the third working part, and each of the sliding The contact unit is in contact with the transmission unit.

In one embodiment, the transmission unit includes:

a plurality of conductive ends abutting against the conductive members of some of the sliding contact units; the conductive ends are arranged in a one-to-one correspondence with the sliding contact units in the partial sliding contact units;

A plurality of communication terminals are in contact with the conductive members of another part of the sliding contact unit; the communication terminals are arranged in a one-to-one correspondence with the sliding contact units in the other part of the sliding contact unit.

In one embodiment, the third working part is provided with a pair of oppositely arranged panels that are parallel and spaced apart from each other; wherein part of the sliding contact unit is arranged on one panel, and another part of the sliding contact unit is arranged on the other panel. superior.

In one embodiment, the mover further includes: a driving unit, which is electrically connected to the coil array unit and the sliding contact unit; the driving unit is arranged 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.

In one embodiment, the long-stroke motion system further includes:

The first to-be-detected piece is arranged on the stator base according to the preset track;

Each of the movers also includes:

a first detection unit, connected with 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, connected with 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.

In one embodiment, the drive unit includes:

a processing subunit, electrically connected to the first detection unit and the second detection unit;

A power driving subunit is electrically connected to the processing subunit and is connected to the coil array unit.

In one embodiment, the first detection unit is arranged on the second working part;

The second detection unit is arranged on the first working part.

Description of drawings

One or more embodiments are exemplified by the pictures in the corresponding drawings, and these exemplifications do not constitute limitations of the embodiments, and elements with the same reference numerals in the drawings are denoted as similar elements, Unless otherwise stated, the figures in the accompanying drawings do not constitute a scale limitation.

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;

3 is a schematic structural diagram of a long-stroke motion system in yet another example of an embodiment of the present invention;

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;

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;

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;

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;

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;

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;

12 is a flowchart of a control method of a long-stroke motion system in an embodiment of the present invention;

12, permanent magnet array unit; 11, stator base; 13, transmission unit; 13a, first side; 13b, second side; 131, conductive end; 132, communication end; 133, Interfering with the fixed part; 2, mover; 21, mover base; 22, coil array unit; 221, iron core; 225, iron core; 226, iron core; 222, coil winding; 223, coil winding; 224, coil Winding; 221, iron core; 23, sliding contact unit; 231, fixing part; 232, conductive part; 233, biasing part; 2321, cantilever; 2322, conductive contact; 234, blocking part; 27, panel; 251, 252, second barrier; 250, blocking area; 24, driving unit; 241, processing subunit; 242, power driving subunit; 28, first detection unit; 29, second detection unit ; 201, the first working part; 202, the second working part; 203, the third working part; 110, the slide rail; 111, the first slide; 112, the second slide; 261, the slide; 263, the second roller part; 3, the first part to be detected; 4, the ruler grid; 5, the main control unit; 6, the back end.

detailed description

In order to make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, those of ordinary skill in the art can appreciate that, in the various embodiments of the present invention, many technical details are set forth in order for the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in the present application can be realized.

In the following description, for the purpose of illustrating various disclosed embodiments, certain specific details are set forth in order to provide a thorough understanding of the various disclosed embodiments. One skilled in the relevant art will recognize, however, that the embodiments may be practiced without one or more of these specific details. In other instances, well-known devices, structures and techniques associated with this application may not be shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

Unless the context requires otherwise, throughout the specification and claims, the word "comprising" and variations thereof, such as "comprising" and "having", should be construed in an open, inclusive sense, i.e., should be interpreted as "including, but not limited to".

As shown in FIG. 1 , FIG. 2 , and FIG. 3 , 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. As shown in Figure 7, 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. 1 , 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.

In addition, as shown in FIG. 1 and FIG. 4 , 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. At this time, the transmission unit 13 includes: a plurality of conductive ends 131. The conductive ends 131 can be metal conductive strips. Marble slab. 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.

In some embodiments, as shown in FIG. 1 , FIG. 2 , FIG. 3 , and FIG. 4 , there are multiple movers 2 , and the structure of each mover 2 is the same. Now, the structure of one mover 2 is taken as an example for specific description. . 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 . There is a terminal interface on the coil array unit 22, and 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. As shown in FIG. 4 , 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 .

As shown in FIG. 4 , FIG. 6 and FIG. 7 , 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.

Specifically, as shown in FIG. 4 , FIG. 6 , and FIG. 7 , one sliding contact unit 23 corresponds to one conductive end 131 of the transmission unit 13 . When the mover 2 moves along the stator 1 , the conductive member 232 is pressed against the transmission unit 13 . At this time, 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 . When 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. During the movement of the mover 2, when the conductive member 232 presses against the transmission unit 13 and is further squeezed, the conductive member 232 moves toward the transmission unit 13. 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.

In addition, the biasing member 233 and the conductive member 232 form a sliding contact body, and there are multiple sliding contact bodies. Preferably, as shown in FIG. 6 and FIG. 7 , 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. Similarly, one communication end 132 of the transmission unit 13 also corresponds to two sliding contact bodies.

Further, as shown in FIG. 6 , 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.

In addition, as shown in FIG. 6 , 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. Therefore, when the sliding contact unit 23 moves along the transmission unit 13, according to the change of the trajectory, 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.

Further, as shown in FIG. 6 , 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.

It can be known from the above structure that during the movement of the mover 2 around the stator 1, when the biasing member 233 is further compressed by a certain pressure, the end of the cantilever 2321 hinged with the fixing member 231 rotates away from the direction of the fixing member 231, The other end of the cantilever 2321 hinged with the conductive contact 2322 slides in a direction close to the fixing member 231 , and when the conductive contact 2322 and the transmission unit 13 collide and tend to loosen, the biasing member 233 pushes the cantilever 2321 , and the cantilever 2321 and the fixed The hinged end of the member 231 rotates toward the fixing member 231 , and the other end of the cantilever 2321 hinged with the conductive contact 2322 slides away from the fixing member 231 , so that the conductive contact 2322 and the transmission unit 13 are continuously pressed.

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 . As shown in FIG. 4 , the surface of the flat surface is at least partially a carbon brush surface. In addition, 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.

Further, as shown in FIGS. 1 and 4 , 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. There are a plurality of sliding contact units 23 in the mover 2 , and 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. Preferably, 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. 4 , in this embodiment, three sliding contact units 23 are vertically arranged and fixed to one panel, and the other three sliding contact units 23 are vertically arranged and fixed to another panel. The sliding contact unit 23 on one surface is in contact with the transmission unit 13, and the sliding contact unit 23 on the other surface is also in contact with the transmission unit 13. By clamping the transmission unit 13 on both sides, the sliding contact unit 23 is connected to the transmission unit 13. The contact between 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.

As shown in FIGS. 4 , 6 , 7 and 8 , 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 , and the sliding contact unit 23 is at least partially disposed in the shielding area 250 . In this embodiment, 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.

In addition, as shown in FIG. 4 , FIG. 6 , FIG. 7 and FIG. 8 , 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 . As shown in FIG. 1 , FIG. 5 , FIG. 9 , FIG. 10 and FIG. 11 , 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. Moreover, multiple movers 2 are controlled by one main control unit 5, which is convenient for comprehensive coordinated control. In addition, 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 .

Preferably, there is wired communication between the main control unit 5 and the drive units 24 of each mover 2. As shown in FIG. 4, FIG. 8 and FIG. Three terminals 132 can be set, which are evenly distributed on the abutting fixing portion 133. Each communication terminal 132 is a metal conductive strip and is arranged along a preset track. Among them, the three sliding contact units 23 on the side panel 27 on the mover 2 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. There are three communication terminals 132, and there are three sliding contact units 23 on the mover 2 that abut on the communication terminal 132. One sliding contact unit corresponds to one. 23 corresponds to a communication terminal 132 . 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. At this time, as shown in FIG. 10, 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.

In addition, as shown in FIG. 9 , 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.

As shown in FIG. 5 , FIG. 9 , FIG. 10 and FIG. 11 , 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.

As shown in FIG. 4 , FIG. 5 and FIG. 9 , 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.

Specifically, the first detection unit 28 is an absolute encoder, and 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.

Specifically, as shown in FIG. 5 , when the second detection unit 29 is a magnetic grid incremental encoder, 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.

As shown in FIG. 9 , when the second detection unit 29 is not a magnetic incremental encoder, but other incremental encoders such as grating or capacitive grating, 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 . In the embodiment shown in FIG. 9 , 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.

It can be seen from the above content that 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. Among them, 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. And one main control unit 5 can also be used to control all the movers 2, which is beneficial to the overall scale control.

In addition, as shown in FIGS. 8 and 9 , 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 the mover 2 is inconsistent with the preset power, adjust the mover 2 accordingly, and 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.

It is worth mentioning that, as shown in FIG. 9 , the first detection unit 28 and the second detection unit 29 are arranged in parallel along the vertical direction. Among them, the first detection unit 28 is an absolute encoder, and the second detection unit 29 is an incremental encoder, so 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 re-aligning the phase after the closed-loop long-stroke motion system is restarted. Secondly, 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. That is to say, after the mover 2 runs for one week, 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.

In addition, 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. In the calculation process, when 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. Of course, 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 .

Further, as shown in FIG. 1 and FIG. 4 , 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.

Specifically, as shown in FIG. 1 and FIG. 4 , 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.

Further, as shown in FIGS. 1 and 4 , 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 , and 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 , and 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 completely 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 .

Further, as shown in FIG. 4 , 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.

As shown in FIGS. 1 and 4 , 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.

Therefore, 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. And when 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.

In the long-stroke motion system, 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 stability of the movement system carrying the item. In addition, as shown in FIG. 4 , 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.

It can be seen from the above content that 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, and 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, and the coil array unit 22 and the The permanent magnet array units 12 on the stator are arranged opposite to each other, and 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.

In another embodiment, as shown in FIG. 1 , FIG. 5 and FIG. 12 , the 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.

Further, step 140 includes steps 141, 142 and 143:

Step 141, determine whether the position parameter Y of the mover is 0;

If Y is equal to 0, step 142, control the relative displacement X of the mover 2 to set 0;

If Y is not equal to 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. Correspondingly, the relevant technical details mentioned in this embodiment can also be applied to the above-mentioned embodiments.

It is worth mentioning that each module involved in this embodiment is a logical module. In practical applications, a logical unit may be a physical unit, a part of a physical unit, or a plurality of physical units. A composite implementation of the unit. In addition, 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.

Those of ordinary skill in the art can understand that the above-mentioned embodiments are specific examples for realizing the present invention, and in practical applications, various changes in form and details can be made without departing from the spirit and the spirit of the present invention. Scope.

Claims (10)

1. A long-stroke motion system, comprising:

   At least one mover, each mover includes: a mover base having a first working part, a second working part and a third working part, a coil array unit arranged on the first working part, and a coil array unit arranged on the first working part. The roller assembly on the second working part, wherein the second working part and the third working part are arranged opposite to each other, and the first working part is at least partially arranged on the second working part and the third working part between, and connect the second working part and the third working part;

   The stator includes: a stator base, a permanent magnet array unit disposed on the stator base, a slide rail disposed on the stator base and opposite to the second working part, and the permanent magnet array The unit and the slide rail are set according to the preset trajectory;

   Wherein, the coil array unit is arranged opposite to the permanent magnet array unit, and the roller assembly is slidably arranged along the slide rail.
2. The long-stroke motion system according to claim 1, wherein the first working part is arranged vertically, and the second working part is arranged horizontally.
3. The long-stroke motion system according to claim 2, wherein the slide rail comprises:

   a first slide, set along the preset track;

   a second slideway, arranged opposite to the first slideway, and arranged along the preset track;

   The roller assembly includes:

   a sliding seat, arranged on the second working part of the mover base;

   a first roller member, which is arranged on the sliding seat and rolls along the first sliding path;

   A second roller member is arranged on the sliding seat and rolls along the second sliding path;

   Wherein, the plane connecting the first slideway and the second slideway is arranged opposite to the second working part; the first roller member and the second roller member clamp the first slideway and the second roller member. the second slide.
4. The long-stroke motion system according to claim 1, wherein the mover further comprises: a plurality of sliding contact units arranged on the third working part, at least part of the sliding contact units and the coil Array units are connected;

   The stator further includes: a transmission unit arranged on the stator base, the transmission unit is arranged along a preset track; wherein, the surface where the transmission unit is located is arranged opposite to the third working part, and each of the sliding The contact unit is in contact with the transmission unit.
5. The long-stroke motion system according to claim 4, wherein the transmission unit comprises:

   a plurality of conductive ends abutting against the conductive members of some sliding contact units; the conductive ends are arranged in a one-to-one correspondence with the sliding contact units in the partial sliding contact units;

   A plurality of communication terminals are in contact with the conductive members of another part of the sliding contact unit; the communication terminals are arranged in a one-to-one correspondence with the sliding contact units in the other part of the sliding contact unit.
6. The long-stroke motion system according to claim 4, wherein a pair of oppositely arranged panels parallel to and spaced apart from each other are provided on the third working part; Another part of the sliding contact unit is arranged on another panel.
7. The long-stroke motion system according to claim 4, wherein the mover further comprises: a driving unit, which is electrically connected with the coil array unit and the sliding contact unit; the driving unit is arranged on the first a work department;

   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.
8. The long-stroke motion system according to claim 7, wherein the long-stroke motion system further comprises:

   The first to-be-detected piece is arranged on the stator base according to the preset track;

   Each of the movers also includes:

   a first detection unit, connected with 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, connected with 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.
9. The long-stroke motion system according to claim 8, wherein the drive unit comprises:

   a processing subunit, electrically connected to the first detection unit and the second detection unit;

   A power driving subunit is electrically connected to the processing subunit and is connected to the coil array unit.
10. The long-stroke motion system according to claim 8, wherein the first detection unit is arranged on the second working part;

    The second detection unit is arranged on the first working part.

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