CN106564758B - A kind of right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension - Google Patents
A kind of right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension Download PDFInfo
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- CN106564758B CN106564758B CN201610895084.9A CN201610895084A CN106564758B CN 106564758 B CN106564758 B CN 106564758B CN 201610895084 A CN201610895084 A CN 201610895084A CN 106564758 B CN106564758 B CN 106564758B
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- magnetic levitation
- mover
- stator
- levitation worktable
- support rails
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G54/00—Non-mechanical conveyors not otherwise provided for
- B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
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- Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)
- Non-Mechanical Conveyors (AREA)
Abstract
The invention discloses a kind of right and wrong combined-circulation type transmission units of self-driving type magnetic suspension, flexible conveyer belt is mounted on mover by link block, mover is connected with magnetic levitation worktable, magnetic levitation worktable is sleeved on support rails periphery, support rails are mounted on rest pad, support rails are made of straightway and arc section, the inside for being distributed in magnetic levitation worktable of the symmetrically arranged lift magnet of multiple groups and one group of symmetrically arranged guiding electromagnet, vertical displacement sensor and horizontal displacement sensors are separately mounted at lift magnet and guiding electromagnet, support rails two sides mounting bracket, the straightway of bracket is uniformly dispersed with several stators, the mounting height of stator is consistent with the height of mover when magnetic levitation worktable stable suspersion, coil is wound on each stator.Structure of the invention is reasonable, and transmission precision is high, highly reliable, realizes the loop cycle movement of magnetic levitation technology.
Description
The application is application number: 201510406883.0, the applying date: " self-driving type magnetic suspension is right and wrong for 2015.7.13, title
The divisional application of combined-circulation type transmission unit ".
Technical field
The present invention relates to a kind of magnetic levitation switch magnetic resistance transmission units.
Background technique
Transmission device is a kind of intermediate device that the power of power device is transmitted to each operating mechanism, is filled in pharmacy, mobile phone
Match, logistics sorting, semiconductor chip packaging etc. have application in automations transmission field, it is desirable that have that transmission is steady, positioning accurate
Really, the features such as reliable for operation.But in existing conveyer system, sprocket wheel chain, belt, roller, steel band, turbine snail are mainly used
Bar, ball-screw, cylinder etc. are used as transmission medium, and control its transfer rate, this aspect by motor and gear
So that motor is between moving component, there are many intermediate links such as bearing, shaft coupling, gear, increase the used of positioning mechanism
Property amount reduces response speed；On the other hand the friction and wear being present between moving component and support rails reduces fortune
The kinematic accuracy and service life of dynamic component, and increase the power loss of driving part.And more distinct issues are: existing
Conveyer system is only able to achieve linear transmission function mostly, it is difficult to realize along various shapes, the closing being made of straight line and curve
The function that the right and wrong composite guide rail of formula is recycled.Therefore, how to simplify transmission mode, reduce and rub between guideway, realize
Stablize, is accurate, reliable right and wrong combined-circulation transmitting function, becoming and restrict an important factor for conveyer system further develops.
Magnetic suspension linear transmission unit combines magnetic suspension bearing technology and linear motor, is realizing driving element
Between moving component while " Zero-drive Chain ", the friction between motion guide rail and support rails is eliminated, is met right and wrong compound
The demand for development of type loop transmission system.But it would know that from existing report and pertinent literature, the magnetic suspension studied at present is straight
Line transmission unit is only able to achieve straight reciprocating motion, cannot achieve right and wrong compound shuttling movement, this is because being studied at present
Magnetic suspension linear transmission unit in the forms of support rails be linear type, and right and wrong compound shuttling movement can be completed
Guide rail is usually to be combined by linear type and circumference type guide rail.Therefore, how in existing magnetic suspension linear transmission unit
On the basis of, respectively according to the motion feature of straight line and circular motion, developing can freely cut between straight line and circular motion
It changes so that the magnetic suspension transmission unit of right and wrong compound shuttling movement is realized, to the hair for promoting conveyer system high speed, high-precision densification
Exhibition is of great significance.
The application patent to realize the feed motion of magnetic levitation technology loop cycle as target, will have stronger active control and
Information processing capability, and can accurately, reliably realize the magnetic suspension bearing technology of on-line checking and automatic compensation function and have
Starting power output is big, high temperature resistant, it is at low cost the advantages that linear switched reluctance motor combine, develop it is a kind of it is novel can be
Between straight line and rotary feed campaign free switching to realize loop cycle movement magnetic suspension transmission unit, both meet the modern times
Tranmission techniques field high-precision, high speed demand for development, and expanded the application field of magnetic suspension bearing and tranmission techniques.
Through retrieving, though the related application of existing most magnetic suspension linear feed units both at home and abroad, is with straight mostly
The mover of linear motor is connected by line motor as driving element with magnetic levitation worktable, is utilizing magnetic suspension bearing skill
Art realize magnetic levitation worktable stable suspersion after, by linear motor mover drive magnetic levitation worktable along linear guide do into
To movement, and there are no for requiring multiple magnetic levitation worktables to carry a flexible conveyer belt along by linear guide and Bu Tong half
The closed support rails operation of the circumference guide rail composition of diameter is to realize the phase of the magnetic suspension transmission unit of loop cycle transmission
Close patent application.
For example, patent 201010017657.0,201110113611.3,200310107944.0,200820013968.8,
200610161995, the magnetic levitation worktable in 02132839.0 etc. only does feed motion along linear guide, does not refer to magnetcisuspension
Floating workbench can be run along the closed guide rail that the circumference guide rail by linear guide and different radii forms.
Though patent 201310021053.7,201210502591.3 etc. refers to that several magnetic levitation worktables drive flexible pass
Band is sent to do feed motion along racetrack guide rail, but compared with the application patent, there are following differences:
1) the transmission guide rail in the application patent is mutually smoothly connected structure by the circumference guide rail of linear guide and different radii
At, the shape for transmitting guide rail can change with the quantity of circumference guide rail and the variation of radius, and patent 201310021053.7,
201210502591.3 equal transmission guide rail forms are fixed, only the unique circumference guide rail composition of linear guide and radius, cannot
Adapt to the application of transmitting path complexity.
2) patent 201310021053.7,201210502591.3 etc. due to consider magnetic levitation worktable do respectively straight line and
The shape of suspension air gap is respectively rectangle and annular shape and devises straight line and the big guidance system of circumference two when circular motion, i.e. magnetic
Suspension workbench enables the straight-line guidance system being made of rectangle electromagnet when running in linear guide, when magnetic suspension works
Platform enables the circumference guidance system being made of arc electromagnet when running on circumference guide rail.And magnetic suspension in the application patent
Only have a set of straight-line guidance system being made of rectangle electromagnet in workbench, this is because in the application patent, each magnetic
Suspension workbench along direction of feed thickness relative to each circumference guide rail radius ratio less than 0.05 so that magnetic levitation worktable
When running on each circumference guide rail, the suspension air gap shape between rectangle guiding electromagnet and circumference guide rail is essentially rectangular；
On the other hand, the support rails in the application patent are made of multiple and different radius circumference guide rails, and adjacent circumferential guide rail
Between be it is mutually circumscribed, to design a set of guidance system for each circumference guide rail, both increase magnetic levitation worktable
Structure size, and reduce the stability and reliability of control system.Therefore, the application patent avoids patent
201310021053.7,201210502591.3 etc. two sets or when more set guidance system switching it is caused system stability it is poor,
The problems such as control strategy is complicated, and effectively reduce the structural complexity of magnetic levitation worktable.
It refers in patent 201110381216.3,201210476597.8,201210476631.1 by electrostatic magnet pair
The effect of electromagnetic attraction and electromagnetic repulsion force caused by dynamic electromagnet, realize dynamic guide rail along racetrack guide rail without motor driven and
Automatic guide, but compared with the application patent, there are following differences:
1) in the magnetic levitation worktable in patent 201110381216.3,201210476597.8,201210476631.1
Only lift magnet, i.e. magnetic levitation worktable only have the function of realizing vertical direction stable suspersion do not have horizontal direction
On guide function be then difficult to ensure the normal operation of system when perturbed force occurs in magnetic levitation worktable horizontal direction.
2) it is not wound with coil on the mover 7 in the application patent, and patent 201110381216.3,
201210476597.8, it moves in 201210476631.1 and is wound with coil in electromagnet 4, and the coil is located always when system works
In heating power state, therefore patent 201110381216.3,201210476597.8,201210476631.1 is at work
Hot source point is more compared with the application patent, and the stability of system working performance is low compared with the application patent.
3) dynamic electromagnetism is not made a concrete analysis of in patent 201110381216.3,201210476597.8,201210476631.1
Stress condition of the iron 4 when running in circumferential segment, i.e., centripetal force of the dynamic electromagnet 4 when running on circumference guide rail is using which kind of control
Mode processed adjusts the electromagnetic force size of electrostatic magnet disposed thereon and is guaranteed, therefore the application patent at runtime reliable
Property is high compared with patent 201110381216.3,201210476597.8,201210476631.1.
4) the transmission guide rail form in patent 201110381216.3,201210476597.8,201210476631.1 is solid
Fixed, the only unique circumference guide rail composition of linear guide and radius does not adapt to the application of transmitting path complexity, and this Shen
Please the transmission guide rail in patent be mutually smoothly connected and constitute by the circumference guide rail of linear guide and different radii, transmit the shape of guide rail
Shape can change with the quantity of circumference guide rail and the variation of radius.
Summary of the invention
The purpose of the present invention is to provide a kind of structurally reasonable, using magnetic suspension bearing and driving can be in straight line and circle
Free switching is between all feed motions to the right and wrong combined-circulation type transmission list of the self-driving type magnetic suspension for realizing loop cycle movement
Member.
The technical solution of the invention is as follows:
A kind of right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension, it is characterized in that: flexible conveyer belt passes through link block
It is mounted on mover, mover and magnetic levitation worktable 5 are connected, and magnetic levitation worktable is sleeved on support rails periphery, support rails
It is mounted on rest pad, support rails are made of straightway and arc section, the symmetrically arranged lift magnet of multiple groups and one group pair
Claim the inside for being distributed in magnetic levitation worktable of the guiding electromagnet of setting, vertical displacement sensor and horizontal displacement sensors point
It is not mounted at lift magnet and guiding electromagnet, support rails two sides mounting bracket, the straightway of bracket is uniformly distributed
Several stators, the mounting height of stator is consistent with the height of mover when magnetic levitation worktable stable suspersion, on each stator
It is wound with coil；Gap width Δ 1 when magnetic levitation worktable stable suspersion between flexible conveyer belt and bracket is less than lift magnet
Gap width Δ 2 between support rails.
The lift magnet and guiding electromagnet being mounted in each magnetic levitation worktable are rectangular-shaped.
Each magnetic levitation worktable along direction of feed thickness relative to each circumference guide rail radius ratio less than 0.05.
Support rails form closed by the circumference guide rail of linear guide and several different radiis, and in adjacent rails
Heart line is circumscribed.
The shape for being mounted on two side stand of support rails is consistent with support rails, and in the straight of support rails straightway two sides
Stator is uniformly installed, the mounting height of stator is consistent with the height of mover when magnetic levitation worktable stable suspersion on line bracket.
The stator being mounted on two side stand of linear support guide rail is bilateral n phase, and n >=4, mover is bilateral n-1 phase, each
Mover corresponds to a magnetic levitation worktable；Each phase stator equidistantly arranges, and each phase promoter also equidistantly arranges, between each phase stator
The ratio between gap length between gap length and each phase promoter is equal to the ratio between the mover number of phases and the stator number of phases.
The width of flexible conveyer belt is not less than the mounting distance between two stands.
Structure of the invention is reasonable, and transmission precision is high, highly reliable, realizes the loop cycle movement of magnetic levitation technology, into
One step has expanded the application field of magnetic suspension bearing technology.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is a kind of right and wrong combined-circulation type transmission unit top view of self-driving type magnetic suspension of the present invention；
Fig. 2 is the A-A view of Fig. 1；
Fig. 3 is that straight-line feed moves operation principle schematic diagram；
Fig. 4 is different circumference track combination schematic diagrames；
Fig. 5 is suspension air gap shape of the guiding electromagnet when linear support guide rail is run；
Fig. 6 is suspension air gap shape of the guiding electromagnet when circle bearing guide rail is run；
Fig. 7 is guiding electromagnet operation schematic diagram in large radius circle bearing guide rail.
Specific embodiment
A kind of right and wrong combined-circulation type transmission unit member of self-driving type magnetic suspension, mainly by bearing part and transmission parts group
At according to moving and realizing maglev requirement, flexible conveyer belt 3 is mounted on mover 7 by link block 4,9, mover 7 and magnetic
Suspension workbench (sleeve-like structure that magnetic levitation worktable is made of component 5,12,14,19,21) is connected, magnetic levitation worktable set
Mounted in 17 periphery of support rails, support rails 17 are mounted on rest pad 16, and support rails 17 are made of straightway and arc section,
Lift magnet 6,8,15,18 and guiding electromagnet 13,20 are symmetrically distributed in the inside of magnetic levitation worktable, and vertical displacement passes
Sensor 22 and horizontal displacement sensors 23 are separately mounted at lift magnet and guiding electromagnet, support rails two sides installation branch
Frame 1,11, the straightway of bracket are uniformly dispersed with several stators 2,10, and the mounting height of stator 2,10 and magnetic suspension work
The height of mover 7 is consistent when platform stable suspersion, is wound with coil on each stator.Bearing when to guarantee that magnetic levitation worktable does not work
Electromagnet 6,8,15,18 is not interfered with support rails 17, flexible conveyer belt 3 when should make magnetic levitation worktable stable suspersion
With the gap width Δ between bracket 1,111Less than the gap width Δ between lift magnet 6,8,15,18 and support rails 172。
The stator design being mounted on two side stand of linear support guide rail is bilateral four phase structure (referring to attached drawing 3), respectively
For tetra- phase of NA, NB, NC, ND on the right of tetra- phase of SA, SB, SC, SD and X-axis on the X-axis left side, every phase stator is mutually right along the x axis
Claim, and is ls along the mutual distance of Z-direction.According to the basic principle of reluctance motor it is found that when stator is bilateral n phase (n
>=4) when, mover is bilateral n-1 phase, and therefore, the mover of the transmission unit should include 3 bilateral mover phase TA, TB, TC (i.e. 3
Magnetic levitation worktable), every phase promoter is only made of a rectangle and the mover core without winding, and the straight line between adjacent mover away from
From being lm, and the ratio of stator spacing ls and mover spacing lm is equal to the ratio between the mover number of phases and the stator number of phases, it may be assumed that
To guarantee that magnetic levitation worktable in the stroke range needed for doing straight-line feed and moving, is mounted on linear support guide rail two
The number of phases coupled relation between stator and mover on side stand remain it is constant (i.e. stator be bilateral n phase, mover be it is bilateral
N-1 phase, n >=4), when manufacturing and designing, the stator number of phases being mounted on two side stand of linear support guide rail can use bilateral K1×n
Phase (K1For positive integer), the number of phases of mover can use bilateral K2× (n-1) phase (K2For positive integer).
When magnetic levitation worktable is in circle bearing guide rail, rotary feed campaign, the work of magnetic suspension at this time need to be carried out
The shape of suspension air gap is no longer it in linear support guide rail 24 between guiding electromagnet 13,20 and circle bearing guide rail 27 in platform
Rectangular-shaped 25,26 (as shown in Fig. 5) when operation, but as shown in Fig. 6 irregular 28,29, but control system exists
The rectangle for rule that be with suspension air gap between electromagnet and support rails when design be is carried out, therefore, magnetic levitation worktable
When running in circle bearing guide rail 27, the control precision of alignment control system be will be greatly reduced.
To solve this problem, as shown in Fig. 7, when designing the transmission unit, so that being oriented in magnetic levitation worktable
The ratio of radius r along the length d and circumference center line of guide rail of direction of feed of electromagnet 13,20 is no more than 0.05, leads at this time
Shape 30,32 to the suspension air gap between electromagnet 13,20 and each circle bearing guide rail 31 is essentially rectangular, can ignore substantially
Influence of the suspension air gap shape to guidance system control precision.
Before work, the equal no power of all coils, flexible conveyer belt 3 is contacted with the upper surface of bracket 1,11, vertical displacement
Sensor 22 and horizontal displacement sensors 23 do not work.
When work, the lift magnet and guiding electromagnet given in each magnetic levitation worktable first are powered, to vertical position
After displacement sensor and horizontal displacement sensors detect that magnetic levitation worktable realizes stable suspersion along the vertical and horizontal directions, root
According to direction of transfer and transmission speed to the coil in each stator being mounted on two side stand of linear support guide rail by a set pattern
Rule is powered.Referring to attached drawing 2, if it is desired to which flexible conveyer belt transmits in the counterclockwise direction, then it is collateral to be mounted on linear support guide rail two
Winding on frame in stator is powered according to left side SB → SC → SD → SA → SB timing, right side NB → NC → ND → NA → NB timing
It is powered, when SB, NB are powered, electromagnetic attraction is generated to TB, so that TB drives TA and TC to do straight-line feed fortune along Z axis negative direction
It is dynamic；When SC, NC are powered, electromagnetic attraction is generated to TC, is moved so that TC drives TA and TB to do straight-line feed along Z axis negative direction；
When SD, ND are powered, electromagnetic attraction is generated to TA, is moved so that TA drives TB and TC to do straight-line feed along Z axis negative direction.So
Circulation, so that the magnetic levitation worktable for being located at support rails straightway is done straight-line feed along Z axis negative direction by certain speed and moved.
And for be located at support rails circumferential segment in magnetic levitation worktable, then radius of circumference guide rail according to locating for it and
The straight-line feed velocity magnitude of magnetic levitation worktable in linear support guide rail adjusts the electromagnetic force of two guiding electromagnets, so that two
The centripetal force size that the electromagnetic force resultant force value of person moves in a circle required for each magnetic levitation worktable circumference guide rail locating for it.
For example, with reference to attached drawing 4, when magnetic levitation worktable is run in A type circumference guide rail, left side is oriented to electromagnetism in magnetic levitation worktable
Electromagnetic force F caused by iron 2020Electromagnetic force F caused by right side guiding electromagnet 13 need to be greater than13, and the resultant force size of the two
Equal to centripetal force size, it may be assumed that
In formula: m is all magnetic levitation worktables, the gross mass of mover, link block and flexible conveyer belt；N is magnetic suspension
The number of workbench；V is the linear velocity that magnetic levitation worktable moves in a circle；r1For the radius at circumferential center line of guide rail.
When magnetic levitation worktable is run in Type B circumference guide rail, left side 20 institute of guiding electromagnet in magnetic levitation worktable
The electromagnetic force F of generation20Electromagnetic force F caused by right side guiding electromagnet 13 need to be less than13, and the resultant force size of the two be equal to
Mental and physical efforts size, it may be assumed that
In formula: m is all magnetic levitation worktables, the gross mass of mover, link block and flexible conveyer belt；N is magnetic suspension
The number of workbench；V is the linear velocity that magnetic levitation worktable moves in a circle；r2For the radius at circumferential center line of guide rail.
Similarly, it if it is desired to which flexible conveyer belt transmits along clockwise direction, is then mounted on two side stand of linear support guide rail
Winding in stator is powered according to left side SD → SC → SB → SA → SD timing, and right side ND → NC → NB → NA → ND timing is logical
Electricity.Change the exciting current amplitude in each stator winding, i.e., transfer rate of the controllable flexible conveyer belt along support rails.
After work, the stator winding on two side stand of linear support guide rail stops being powered first, passes to flexibility
Sending band transmission speed will be the lift magnet and guiding electromagnet coil that are gradually reduced in all magnetic levitation worktables after zero
The size of electric current, until flexible conveyer belt is in contact with rack upper surface.Due to flexible when magnetic levitation worktable stable suspersion
Gap width Δ between conveyer belt and bracket1Less than the gap width Δ between lift magnet and support rails2, so, work as flexibility
When conveyer belt is in contact with rack upper surface, the upper lift magnet in magnetic levitation worktable will not be with the upper surface of support rails
It is in contact.
Claims (1)
1. a kind of right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension, it is characterized in that: flexible conveyer belt is pacified by link block
On mover, mover is connected with magnetic levitation worktable, and magnetic levitation worktable is sleeved on support rails periphery, support rails installation
On rest pad, support rails are made of straightway and arc section, and the symmetrically arranged lift magnet of multiple groups and one group are symmetrically set
The guiding electromagnet set is distributed in the inside of magnetic levitation worktable, and vertical displacement sensor and horizontal displacement sensors are installed respectively
At lift magnet and guiding electromagnet, support rails two sides mounting bracket, the straightway of bracket is uniformly dispersed with several
The mounting height of a stator, stator is consistent with the height of mover when magnetic levitation worktable stable suspersion, around wired on each stator
Circle；Gap width Δ 1 when magnetic levitation worktable stable suspersion between flexible conveyer belt and bracket is less than lift magnet and bearing
Gap width Δ 2 between guide rail；
The lift magnet and guiding electromagnet being mounted in each magnetic levitation worktable are rectangular-shaped；
The ratio of guiding electromagnet radius r along the length d and circumference center line of guide rail of direction of feed in each magnetic levitation worktable
Value is no more than 0.05；
The stator being mounted on two side stand of linear support guide rail is bilateral n phase, and n >=4, mover is bilateral n-1 phase, each mover
A corresponding magnetic levitation worktable；Each phase stator equidistantly arranges, and each phase promoter also equidistantly arranges, the spacing between each phase stator
The ratio between gap length between length and each phase promoter is equal to the ratio between the mover number of phases and the stator number of phases.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610895084.9A CN106564758B (en) | 2015-07-13 | 2015-07-13 | A kind of right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610895084.9A CN106564758B (en) | 2015-07-13 | 2015-07-13 | A kind of right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension |
| CN201510406883.0A CN105059945B (en) | 2015-07-13 | 2015-07-13 | Self-driven magnetic suspension curved-straight composite cyclic type transmission unit |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510406883.0A Division CN105059945B (en) | 2015-07-13 | 2015-07-13 | Self-driven magnetic suspension curved-straight composite cyclic type transmission unit |
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| Publication Number | Publication Date |
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| CN106564758A CN106564758A (en) | 2017-04-19 |
| CN106564758B true CN106564758B (en) | 2019-01-04 |
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| CN201610895346.1A Active CN106564759B (en) | 2015-07-13 | 2015-07-13 | The right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension that application field is expanded |
| CN201610894955.5A Active CN106429460B (en) | 2015-07-13 | 2015-07-13 | A kind of right and wrong combined-circulation type transmission unit of the self-driving type magnetic suspension of high reliability |
| CN201510406883.0A Active CN105059945B (en) | 2015-07-13 | 2015-07-13 | Self-driven magnetic suspension curved-straight composite cyclic type transmission unit |
| CN201610896763.8A Active CN106348022B (en) | 2015-07-13 | 2015-07-13 | Reasonable for structure, the reliable right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension |
| CN201610895350.8A Active CN106429461B (en) | 2015-07-13 | 2015-07-13 | The right and wrong combined-circulation type transmission unit of highly reliable self-driving type magnetic suspension |
| CN201610895402.1A Active CN106395392B (en) | 2015-07-13 | 2015-07-13 | The right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension reasonable for structure |
| CN201610895349.5A Active CN106516758B (en) | 2015-07-13 | 2015-07-13 | Expand the right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension of application field |
| CN201610895347.6A Active CN106395389B (en) | 2015-07-13 | 2015-07-13 | The right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension of height transmission precision |
| CN201610895084.9A Active CN106564758B (en) | 2015-07-13 | 2015-07-13 | A kind of right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension |
| CN201610895401.7A Active CN106395391B (en) | 2015-07-13 | 2015-07-13 | Transmit the right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension with high accuracy |
| CN201610895348.0A Active CN106395390B (en) | 2015-07-13 | 2015-07-13 | Realize the right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension of shuttling movement |
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| CN201610895346.1A Active CN106564759B (en) | 2015-07-13 | 2015-07-13 | The right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension that application field is expanded |
| CN201610894955.5A Active CN106429460B (en) | 2015-07-13 | 2015-07-13 | A kind of right and wrong combined-circulation type transmission unit of the self-driving type magnetic suspension of high reliability |
| CN201510406883.0A Active CN105059945B (en) | 2015-07-13 | 2015-07-13 | Self-driven magnetic suspension curved-straight composite cyclic type transmission unit |
| CN201610896763.8A Active CN106348022B (en) | 2015-07-13 | 2015-07-13 | Reasonable for structure, the reliable right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension |
| CN201610895350.8A Active CN106429461B (en) | 2015-07-13 | 2015-07-13 | The right and wrong combined-circulation type transmission unit of highly reliable self-driving type magnetic suspension |
| CN201610895402.1A Active CN106395392B (en) | 2015-07-13 | 2015-07-13 | The right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension reasonable for structure |
| CN201610895349.5A Active CN106516758B (en) | 2015-07-13 | 2015-07-13 | Expand the right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension of application field |
| CN201610895347.6A Active CN106395389B (en) | 2015-07-13 | 2015-07-13 | The right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension of height transmission precision |
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| CN201610895401.7A Active CN106395391B (en) | 2015-07-13 | 2015-07-13 | Transmit the right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension with high accuracy |
| CN201610895348.0A Active CN106395390B (en) | 2015-07-13 | 2015-07-13 | Realize the right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension of shuttling movement |
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| CN106564759B (en) * | 2015-07-13 | 2018-08-28 | 南通大学 | The right and wrong combined-circulation type transmission unit of self-driving type magnetic suspension that application field is expanded |
| CN106986176B (en) * | 2016-01-21 | 2019-01-08 | 中国科学院沈阳自动化研究所 | Circulation picks up collator |
| CN105947723B (en) * | 2016-06-17 | 2017-10-13 | 黄山富田精工制造有限公司 | A kind of change spacing conveying device for hygienic articles production equipment |
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| CN106395392A (en) | 2017-02-15 |
| CN106348022A (en) | 2017-01-25 |
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| CN106429461B (en) | 2019-02-22 |
| CN105059945B (en) | 2017-04-12 |
| CN106429460B (en) | 2018-08-10 |
| CN106395392B (en) | 2018-08-10 |
| CN105059945A (en) | 2015-11-18 |
| CN106429461A (en) | 2017-02-22 |
| CN106564759B (en) | 2018-08-28 |
| CN106395390A (en) | 2017-02-15 |
| CN106348022B (en) | 2018-08-10 |
| CN106395389A (en) | 2017-02-15 |
| CN106516758A (en) | 2017-03-22 |
| CN106395391B (en) | 2018-08-10 |
| CN106516758B (en) | 2018-08-10 |
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