WO2023179060A1 - 一种直线电机模组 - Google Patents

一种直线电机模组 Download PDF

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Publication number
WO2023179060A1
WO2023179060A1 PCT/CN2022/132549 CN2022132549W WO2023179060A1 WO 2023179060 A1 WO2023179060 A1 WO 2023179060A1 CN 2022132549 W CN2022132549 W CN 2022132549W WO 2023179060 A1 WO2023179060 A1 WO 2023179060A1
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Prior art keywords
mounting base
motor module
stators
linear motor
moving plate
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PCT/CN2022/132549
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English (en)
French (fr)
Inventor
陈传周
优瑞
王勇
段凤娟
陈凯
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亚龙智能装备集团股份有限公司
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Priority to JP2023522510A priority Critical patent/JP2024514729A/ja
Publication of WO2023179060A1 publication Critical patent/WO2023179060A1/zh

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K16/00—Machines with more than one rotor or stator
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
    • H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type

Definitions

  • the present invention relates to the technical field of linear modules, and more specifically, to a linear motor module.
  • linear modules are known.
  • Traditional linear modules are composed of rotating motors, guide rails, ball screws and nut couplings or nut seats. Its working principle is to convert the rotational motion of the motor into the linear motion of the mobile platform through the ball screw and nut coupling. When the motor rotates the ball screw, the nut seat slides on the screw and makes linear motion along the guide rail.
  • traditional linear modules are widely used in intelligent manufacturing, industrial robots, precision machine tools, machinery industry, intelligent automation, biotechnology and other intelligent manufacturing fields, and have good performance, they also have the following shortcomings: relatively low precision, and the price of ball screws. It is expensive and difficult to process, which limits the length of the ball screw and also brings difficulties to high-speed operation.
  • linear motor If a linear motor is used to drive directly, the intermediate links of the transmission chain such as reducer, screw, belt, gear rack, etc. are omitted, which improves the transmission accuracy and response speed of the system; the linear module integrated with the linear motor is called a linear motor Mods.
  • the traditional linear motor module includes a permanent magnet array stator and a linear inductor.
  • the linear inductor is installed on the mover and slides along the guide rail. Its working principle is that the magnetic field of the linear motor inductor interacts with the permanent magnets of the stator, providing linear motion of the linear motor inductor and forcing the mobile platform to slide along the guide rail through direct drive without the need for transmission.
  • linear motors in industrial equipment mainly highlights the convenience of machine tools.
  • the application of linear motors in CNC machine tools has become particularly popular internationally.
  • the reason is that the drive of traditional machine tools is driven by the screw, and the screw itself is the drive.
  • It has the following disadvantages: length limitation, mechanical clearance, accuracy after friction, etc.
  • Linear motors can achieve ultra-high precision and are 10 times or more faster than screws.
  • high precision the permanent magnet is difficult to install on the steel mounting plate, and has high normal suction force, which reduces the service life of the linear bearing and causes large trust changes.
  • the present invention overcomes the shortcomings of the prior art and provides a linear motor module that can reduce the normal attraction force, reduce the weight of the linear motor module, reduce trust changes, and obtain high traction without affecting the entire device. movement accuracy.
  • a linear motor module includes a mounting base, a magnet mounting base located on the mounting base, a stator located on the magnet mounting base and composed of an array structure permanent magnet assembly, a linear guide rail located on the mounting base, and a mounting base.
  • the magnet mounting base On the slide block of the linear guide rail, the moving plate provided on the slide block, and the inductor provided on the moving plate and arranged relative to the stator, the magnet mounting base has three mounting surfaces, and the stator is provided with three and are respectively located on the three mounting surfaces. , there are three inductors and they are arranged in one-to-one correspondence with the three stators. The angle between two adjacent stators is 60 degrees.
  • the magnet mounting base is an inverted trapezoid, an inverted triangle, or a U-shape, and the mounting base is provided with a support base connected to the magnet mounting base.
  • the magnet mounting base is hollow inside.
  • the inductor includes an iron core and m coaxial windings, where m is an integer greater than or equal to 2.
  • an encoder is provided on the moving plate, and a magnetic ruler is provided on the mounting base opposite to the encoder.
  • the moving plate is provided with a supporting cover plate, an accommodation space is formed between the moving plate and the supporting cover plate, and a protective cover plate is arranged in the accommodation space.
  • the array structure permanent magnet assembly is composed of several segmented plates.
  • the linear motor module of the present invention has a reasonable structural design. By setting the angle between two adjacent stators to 60 degrees, the normal attraction between the stator and the inductor from each surface will interact with each other. Compensation makes the vector sum of the normal attraction force tend to zero, so the normal attraction force and the load and friction loss on the linear guide will be significantly reduced.
  • Figure 1 is a schematic structural diagram of a specific embodiment of the present invention.
  • Figure 2 is a schematic structural diagram 2 of a specific embodiment of the present invention.
  • Figure 3 is a cross-sectional view of a specific embodiment of the present invention.
  • Figure 4 is a cross-sectional view of another specific embodiment of the present invention.
  • a linear motor module includes a mounting base 1, a magnet mounting base 2 located on the mounting base 1, and a magnet mounting base 2 located on the magnet mounting base 2 and composed of an array structure permanent magnet assembly.
  • the magnet mounting base 2 has three mounting surfaces, the stator 3 has three and are respectively located on the three mounting surfaces, the inductor 5 has three and is arranged in one-to-one correspondence with the three stators 3, and the space between two adjacent stators 3
  • the included angle is 60 degrees;
  • the inductor 5 includes an iron core and a concentric winding m, where m is an integer greater than or equal to 2;
  • the magnet mounting base 2 is an inverted trapezoid or an inverted triangle or a U-shape, and the mounting base 1 is provided with
  • the magnet mounting base 2 is
  • the angle between the three mounting surfaces of the magnet mounting base 2 is 60 degrees, and The inductor 5 on each surface is arranged corresponding to the stator 3.
  • the normal attraction force between the stator 3 and the inductor 5 from each surface will compensate each other, so that the vector sum of the normal attraction force tends to zero. Therefore, the normal attraction force and the load on the linear guide 11 and Friction losses will be significantly reduced.
  • the normal attraction force of the three surfaces is the force of the inductor 5 toward the stator 3. From the force diagram, it can be seen that the angle between the normal attraction forces of the three surfaces is 120 degrees.
  • the normal attraction force of the three surfaces is 120 degrees.
  • the attractions of Dharmas can cancel each other out.
  • the schematic diagram of force is a commonly used method of analyzing force and will not be described in detail here.
  • the three mounting surfaces are two side surfaces and the bottom surface of the U shape.
  • the magnet mounting base 2 is hollow inside; the array structure permanent magnet assembly is composed of several segmented plates.
  • the magnet mounting base 2 is provided hollow to reduce its weight, and the magnet mounting base 2 has sufficient side thickness to avoid saturation of the steel connecting the magnetic flux of the array structure permanent magnet assembly.
  • the moving plate 4 is provided with an encoder, and the mounting base is provided with a magnetic scale 14 opposite to the encoder.
  • the moving plate 4 is provided with a support cover 6, an accommodation space is formed between the movable plate 4 and the support cover 6, and a protective cover 7 is provided in the accommodation space.
  • the array structure permanent magnet assembly that is, the stator 3
  • the stator 3 can be effectively protected from the influence of dust and play a certain protective role.

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

Abstract

本发明公开了一种直线电机模组，包括安装基座、设于安装基座上的磁体安装座、设于磁体安装座上并由阵列结构永磁体组件构成的定子、设于安装座上的直线导轨、安装于直线导轨的滑块、设于滑块上的移动板、设置于移动板上且相对定子设置的电感器，磁体安装座具有三个安装面，定子设有三个并分别位于三个安装面上，电感器设有三个且与三个定子一一对应设置，相邻两个定子之间的夹角为60度。本发明的一种直线电机模组，其结构设计合理，通过将相邻两个定子之间的夹角为60度，来自每个面上的定子与电感器之间的法相吸引力便会相互补偿，使得法相吸引力的矢量和趋于零，因此产生的法相吸引力以及直线导轨上的负载以及摩擦损失都会显著降低。

Description

一种直线电机模组 技术领域
本发明涉及线性模组技术领域，更具体地说，涉及一种直线电机模组。
背景技术
在自动化工业中，已知有许多线性模组。传统的线性模组由旋转电机、导轨、滚珠丝杠和螺母联轴器或螺母座组成。其工作原理是通过滚珠丝杠和螺母联轴器将电机的旋转运动转换为移动平台的直线运动，当电机转动滚珠丝杠时，螺母座在丝杠上滑动，沿导轨作直线运动。传统线性模组虽然广泛应用于智能制造、工业机器人、精密机床、机械工业、智能自动化、生物技术等智能制造领域，具有良好的性能，但也存在如下缺点：精度相对较低，滚珠丝杠价格昂贵，加工难度大，限制了滚珠丝杠的长度，同时也给高速运转带来困难。
如果采用直线电机直接驱动，省去了减速器、丝杠、皮带、齿轮齿条等传动链的中间环节，提高了系统的传动精度和响应速度；与直线电机集成的线性模组称为直线电机模组。目前，自动化行业中使用了大量的直线电机模组。传统的直线电机模组包括永磁阵列定子和直线电感器，直线电感器安装在移动器上，沿导轨滑动。其工作原理是直线电机电感器的磁场与定子的永磁体相互作用，提供直线电机电感器的直线运动，并通过直接驱动迫使移动平台沿导轨滑动，而无需传动。直线电机在工业设备中的应用主要突出于机床的方便性。近年来，直线电机在数控机床上的应用在国际上变得尤为热门。原因是传统机床的驱动是由螺杆驱动的，螺杆本身就是驱动。它有以下缺点：长度限制、机械间隙、摩擦后的精度等。直线电机可以达到超高精度，速度是螺杆的10倍或更多。但仍存在一些明显的缺点：如精度高，永磁体难以安装在钢制安装板上，且具有较高的法向吸力，降低了直线轴承的使用寿命和较大的信任变化。
发明内容
本发明克服了现有技术的不足，提供了一种直线电机模组，其可减小法向吸引力，减轻直线电机模组重量，减小信任变化，可获得高牵引力，亦不影响整个装置的运动精度。
为实现上述目的，本发明提供了如下技术方案：
一种直线电机模组，包括安装基座、设于安装基座上的磁体安装座、设于磁体安装座上并由阵列结构永磁体组件构成的定子、设于安装座上的直线导轨、安装于直线导轨的滑块、设于滑块上的移动板、设置于移动板上且相对定子设置的电感器，磁体安装座具有三个安装面，定子设有三个并分别位于三个安装面上，电感器设有三个且与三个定子一一对应设置，相邻两个定子之间的夹角为60度。
优选的，磁体安装座为倒梯形或倒三角形或呈U形设置，安装基座上设有与磁体安装座连接的支撑座。
优选的，磁体安装座为内部中空设置。
优选的，电感器包括铁芯和m相同心绕组，m为大于等于2的整数。
优选的，移动板上设有编码器，安装座上设有与编码器相对设置的磁尺。
优选的，移动板上设有支撑盖板，移动板和支撑盖板之间形成有容置空间，容置空间内设置有保护盖板。
优选的，阵列结构永磁体组件由若干个分段板构成。
本发明的有益效果：
本发明的一种直线电机模组，其结构设计合理，通过将相邻两个定子之间的夹角为60度，来自每个面上的定子与电感器之间的法相吸引力便会相互补偿，使得法相吸引力的矢量和趋于零，因此产生的法相吸引力以及直线导轨上的负载以及摩擦损失都会显著降低。
附图说明
图1为本发明具体实施例的结构示意图一；
图2为本发明具体实施例的结构示意图二；
图3为本发明一个具体实施例的剖面图；
图4为本发明另一个具体实施例的剖面图。
图中：1、安装基座；11、直线导轨；12、滑块；13、支撑座；14、磁尺；2、磁体安 装座；3、定子；4、移动板；5、电感器；6、支撑盖板；7、保护盖板。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
如图1-4所示，一种直线电机模组，包括安装基座1、设于安装基座1上的磁体安装座2、设于磁体安装座2上并由阵列结构永磁体组件构成的定子3、设于安装座上的直线导轨11、安装于直线导轨11的滑块12、设于滑块12上的移动板4、设置于移动板4上且相对定子3设置的电感器5，磁体安装座2具有三个安装面，定子3设有三个并分别位于三个安装面上，电感器5设有三个且与三个定子3一一对应设置，相邻两个定子3之间的夹角为60度；电感器5包括铁芯和m相同心绕组，m为大于等于2的整数；磁体安装座2为倒梯形或倒三角形或呈U形设置，安装基座1上设有与磁体安装座2连接的支撑座13。
通过采用上述技术方案，通过将相邻两个定子3之间的夹角为60度，作为一种具体实施例，即磁体安装座2的三个安装面之间的夹角为60度，并且每个面上的电感器5均与定子3相对应设置。如此，来自每个面上的定子3与电感器5之间的法相吸引力便会相互补偿，使得法相吸引力的矢量和趋于零，因此产生的法相吸引力以及直线导轨11上的负载以及摩擦损失都会显著降低。其中，三个面的法相吸引力为电感器5朝向定子3方向的力，由力的示意图可知，三个面的法相吸引力两两之间的夹角为120度，由此三个面的法相吸引力便可相互抵消，关于力的示意图为常用的分析力的方法，在此不作赘述。并且，当磁体安装座2采用U形设置时，三个安装面分别为两个侧面以及U形的底面。
作为一种改进的具体实施方式，磁体安装座2为内部中空设置；阵列结构永磁体组件由若干个分段板构成。
通过采用上述技术方案，将磁体安装座2中空设置，以减轻其重量，并且使得磁体安 装座2具有足够的侧面厚度，以避免连接阵列结构永磁体组件的磁通量的钢饱和。
作为一种改进的具体实施方式，移动板4上设有编码器，安装座上设有与编码器相对设置的磁尺14。
通过采用上述技术方案，如此设置，当编码器随着移动板4移动时，可以与磁尺14配合从而读取滑块12的位置。
作为一种改进的具体实施方式，移动板4上设有支撑盖板6，移动板4和支撑盖板6之间形成有容置空间，容置空间内设置有保护盖板7。
通过采用上述技术方案，保护盖板7的设置，可以有效保护阵列结构永磁体组件即定子3免受灰尘的影响，起到一定的保护作用。
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，根据本发明的技术方案及其发明构思加以等同替换或改变，都应涵盖在本发明的保护范围之内。

Claims (7)

  1. 一种直线电机模组，包括安装基座、设于安装基座上的磁体安装座、设于磁体安装座上并由阵列结构永磁体组件构成的定子、设于安装座上的直线导轨、安装于直线导轨的滑块、设于滑块上的移动板、设置于移动板上且相对定子设置的电感器，其特征在于，磁体安装座具有三个安装面，定子设有三个并分别位于三个安装面上，电感器设有三个且与三个定子一一对应设置，相邻两个定子之间的夹角为60度。
  2. 根据权利要求1所述的一种直线电机模组，其特征在于，磁体安装座为倒梯形或倒三角形或呈U形设置，安装基座上设有与磁体安装座连接的支撑座。
  3. 根据权利要求2所述的一种直线电机模组，其特征在于，磁体安装座为内部中空设置。
  4. 根据权利要求1或2或3所述的一种直线电机模组，其特征在于，电感器包括铁芯和m相同心绕组，m为大于等于2的整数。
  5. 根据权利要求4所述的一种直线电机模组，其特征在于，移动板上设有编码器，安装座上设有与编码器相对设置的磁尺。
  6. 根据权利要求5所述的一种直线电机模组，其特征在于，移动板上设有支撑盖板，移动板和支撑盖板之间形成有容置空间，容置空间内设置有保护盖板。
  7. 根据权利要求1所述的一种直线电机模组，其特征在于，阵列结构永磁体组件由若干个分段板构成。
PCT/CN2022/132549 2022-03-24 2022-11-17 一种直线电机模组 WO2023179060A1 (zh)

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