CN115411906B - Linear motor device and gravity compensation assembly thereof - Google Patents
Linear motor device and gravity compensation assembly thereof Download PDFInfo
- Publication number
- CN115411906B CN115411906B CN202210922042.5A CN202210922042A CN115411906B CN 115411906 B CN115411906 B CN 115411906B CN 202210922042 A CN202210922042 A CN 202210922042A CN 115411906 B CN115411906 B CN 115411906B
- Authority
- CN
- China
- Prior art keywords
- magnetic
- sleeve
- linear motor
- coil
- guide
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000005484 gravity Effects 0.000 title claims abstract description 80
- 238000002955 isolation Methods 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 15
- 230000008569 process Effects 0.000 description 14
- 230000005389 magnetism Effects 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 9
- 229910000831 Steel Inorganic materials 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 6
- 239000010959 steel Substances 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Linear Motors (AREA)
Abstract
The application relates to the technical field of linear motors, in particular to a linear motor device and a gravity compensation assembly thereof. The gravity compensation component provided by the embodiment of the application comprises a magnetic guide piece, a balance sleeve piece and a coil sleeve; the balance sleeve is used for being connected with the rotor of the linear motor. The coil sleeve and the balance sleeve form a first magnetic permeable surface corresponding to a second magnetic permeable surface of the magnetic guide piece; the coil sleeve is configured to generate a compensation force on the first magnetic permeable surface and the second magnetic permeable surface in the electrified state, the compensation force is the same as the sum of the weights of the mover, the balance sleeve and the coil sleeve of the linear motor, the directions of the compensation force are opposite, the weight of the mover of the linear motor is balanced and counteracted, the vertical running of the linear motor is not influenced by the weight of the mover, the situation that the mover falls under the condition of power failure can be effectively avoided, the linear motor can be guaranteed to achieve higher precision, and the control is convenient. The linear motor device provided by the application comprises the gravity compensation component, so that the linear motor device also has the technical effects.
Description
Technical Field
The application relates to the technical field of linear motors, in particular to a linear motor device and a gravity compensation assembly thereof.
Background
The linear motor can directly convert electric energy into linear motion mechanical energy. The linear motion realized by the linear motor has the advantage of no idle stroke relative to the linear motion realized by the screw rod transmission mechanism, and is suitable for high-speed and high-acceleration linear motion. The stator and the rotor of the linear motor are separately arranged, and the rotor is not stressed under the condition of power failure. In the vertical operation process, if the power-off condition occurs, the rotor can fall under the action of self gravity.
In the related art, when the motor runs vertically, the use in the vertical direction can be realized by adding an acceleration in the vertical direction. And the screw rod linear mechanism is adopted to move along with the linear motor, and the two linear motors are connected in parallel, so that the linear motor is powered off, and the screw rod linear mechanism can protect the mover of the linear motor from falling down.
However, in the above technical solution, the screw mechanism and the linear motor are connected in parallel, and the two mechanisms are not at the same precision level, so that the structure protects the linear motor, but weakens the precision of the linear motor.
Disclosure of Invention
The present application provides a linear motor device and a gravity compensation assembly thereof, which can effectively solve the above-mentioned or other potential technical problems.
A first aspect of the application provides a gravity compensation assembly comprising a magnetic guide, a balancing kit and a coil housing; the balance sleeve is used for being connected with the rotor of the linear motor and can linearly run along with the rotor of the linear motor; the coil sleeve is sleeved on the outer side of the balance sleeve, and the coil sleeve and the balance sleeve form a first magnetic permeable surface and a first magnetic isolation surface; the magnetic guide piece is provided with a second magnetic permeable surface and a second magnetic isolation surface, and the second magnetic permeable surface and the second magnetic isolation surface extend along the running direction of the rotor of the linear motor; the balance sleeve is provided with an inner cavity with two open ends, the balance sleeve is sleeved on the magnetic guide piece in a sliding way, the first magnetic permeable surface corresponds to the second magnetic permeable surface, and the first magnetic isolation surface corresponds to the second magnetic isolation surface; the coil sleeve is configured in a power-on state, the first magnetic permeable surface and the second magnetic permeable surface generate compensation force, and the compensation force is the same as the sum of the weights of the mover, the balance sleeve and the coil sleeve of the linear motor and opposite in direction.
In an alternative embodiment according to the first aspect, the balancing kit further has a sidewall aperture in communication with the inner cavity; the coil sleeve is sleeved on the outer side of the balance sleeve, the part of the coil sleeve corresponding to the side wall hole forms a first magnetic permeable surface, and the part of the coil sleeve corresponding to the outer side wall of the balance sleeve forms a first magnetic isolation surface. So set up, be convenient for form first magnetic permeable surface, and be convenient for make first magnetic permeable surface and the correspondence of second magnetic permeable surface.
In an alternative embodiment according to the first aspect, the magnetic guide member comprises a guide member and a magnetic member, the guide member has a through slot parallel to the running direction of the mover of the linear motor, the magnetic member is connected in the through slot, a portion of a slot wall of the through slot corresponding to the magnetic member forms the second magnetic isolation surface, and a portion of a slot opening of the through slot corresponding to the magnetic member forms the second magnetic transmission surface. So set up, be convenient for make the whole long column structure that is of magnetic guide, the guide is one side offered the structure of logical groove, and the magnetic member is rectangular shape structure, and is wrapped up in the logical inslot of guide. The first magnetic permeable surface formed by the coil sleeve and the balance sleeve is convenient to realize, and always corresponds to the second magnetic isolating surface in the running process along the extending direction of the second magnetic isolating surface, so that the stability of the compensation force is ensured.
In an alternative embodiment according to the first aspect, the guide outer side wall has a guide groove and the inner side wall of the balancing kit has a guide block matching the guide groove.
So set up, guarantee that first magnetic permeable surface can just to the second magnetic permeable surface, guarantee balanced external member and coil cover at the operation in-process, still can guarantee that first magnetic permeable surface and second magnetic permeable surface correspond all the time, guarantee the stability of compensation force.
In an alternative embodiment according to the first aspect, there are two guide grooves, the two guide grooves being provided in two opposite outer side walls of the guide member, respectively, and the two opposite inner side walls of the balancing suite are each provided with a guide block matching the guide groove.
The arrangement can further ensure the operation guidance quality of the balance sleeve, and simultaneously ensure the balance of stress of the balance sleeve in the operation process relative to the guide piece, so as to ensure the overall stability of the balance sleeve in the operation process along the guide piece.
In an alternative embodiment according to the first aspect, the gravity compensation assembly comprises at least two magnetic guides, each of which is sleeved with at least two balancing suites.
So set up, and then guarantee overall structure operational stability and security.
In an alternative embodiment according to the first aspect, the compensation force satisfies the formula:
wherein K is the number of coil sleeves, N is the number of turns of the coil on the coil sleeve, B is the magnetic field intensity of the second magnetic permeable surface at the first magnetic permeable surface, I is the required current of the coil sleeve, L tou is the length of the coil sleeve exposed at the first magnetic permeable surface, and sigma m i g is the sum of the weights of the mover, the balance suite and the coil sleeve of the linear motor.
In an alternative embodiment according to the first aspect, the gravity compensation assembly further comprises a coil charging connector, both ends of the coil charging connector being connected to the power supply and the coil sleeve, respectively.
The arrangement makes the process of electrifying the coil sleeve simple and easy to operate.
In an alternative embodiment according to the first aspect, the gravity compensation assembly further comprises a base and two supporting frames, wherein the two supporting frames are arranged on the base at intervals, and two ends of the magnetic guide piece are respectively connected to the two supporting frames. So set up for magnetism direction spare is more stable, and then guarantees the stability of compensation power.
The second aspect of the present application also provides a linear motor, comprising: a linear motor and the gravity compensation assembly; the linear motor comprises a rotor and a stator, the rotor is connected with the stator in a sliding manner, and a balance sleeve of the gravity compensation assembly is connected with the rotor of the linear motor.
The gravity compensation component provided by the embodiment of the application comprises a magnetic guide piece, a balance sleeve piece and a coil sleeve; the balance sleeve is used for being connected with the rotor of the linear motor and can linearly run along with the rotor of the linear motor; the coil sleeve and the balance sleeve member form a first magnetic permeable surface and a first magnetic isolation surface; the magnetic guide piece is provided with a second magnetic permeable surface and a second magnetic isolating surface, the balance sleeve piece is sleeved on the magnetic guide piece in a sliding way, the first magnetic permeable surface corresponds to the second magnetic permeable surface, and the first magnetic isolating surface corresponds to the second magnetic isolating surface; the coil sleeve is configured in a power-on state, the first magnetic permeable surface and the second magnetic permeable surface generate compensation force, and the compensation force is the same as the sum of the weights of the mover, the balance sleeve and the coil sleeve of the linear motor and opposite in direction. The coil sleeve of the gravity compensation assembly provided by the application is in an electrified state, the first magnetic permeable surface and the second magnetic permeable surface generate compensation force which can be used for compensating the sum of the gravity of the mover, the balance sleeve and the coil sleeve of the linear motor, namely, the gravity factors of the mover of the vertically placed linear motor are balanced and offset, at the moment, the vertical running of the linear motor is not influenced by the gravity of the mover any more, the falling situation of the mover under the condition of power failure can be effectively avoided, the higher precision of the linear motor can be ensured, and the control is convenient.
The linear motor device provided by the application comprises the gravity compensation component, so that the vertical operation of the linear motor is not influenced by the gravity of the mover any more, the situation that the mover falls down under the condition of power failure can be effectively avoided, the linear motor can be ensured to achieve higher precision, and the control is convenient.
Additional aspects of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The above and other objects, features and advantages of embodiments of the present application will become more readily apparent from the following detailed description with reference to the accompanying drawings. Embodiments of the application will now be described, by way of example and not limitation, in the figures of the accompanying drawings, in which:
fig. 1 is a schematic diagram of an overall structure of a linear motor device according to an embodiment of the present application;
FIG. 2 is a schematic view of a gravity compensation assembly and a mover according to an embodiment of the present application in an exploded state;
FIG. 3 is a schematic partial cross-sectional view of a gravity compensation assembly according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a balance set of a gravity compensation assembly according to an embodiment of the present application at a first view angle;
FIG. 5 is a schematic diagram of a balance set of a gravity compensation assembly according to an embodiment of the present application at a second view angle;
FIG. 6 is a cross-sectional view taken along line A-A in FIG. 5;
fig. 7 is a schematic structural view of a guide member of a gravity compensation assembly according to an embodiment of the present application.
Reference numerals illustrate:
10. A linear motor device; 100. a gravity compensation assembly; 110. a magnetic guide; 111. a second magnetically permeable surface; 112. a second magnetism isolating surface; 113. a guide member; 1131. a through groove; 1132. a guide groove; 114. a magnetic member; 120. a balancing kit; 121. a first magnetically permeable surface; 122. a first magnetism isolating surface; 123. an inner cavity; 124. a sidewall hole; 125. a guide block; 130. a coil sleeve; 140. a coil charging connector; 150. a base; 160. a support frame; 200. a linear motor; 210. a mover; 211. a wire connector; 220. and a stator.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
In the description of the present application, it should be understood that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be a mechanical connection; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The linear motor can directly convert electric energy into linear motion mechanical energy. The linear motion realized by the linear motor has the advantage of no idle stroke relative to the linear motion realized by the screw rod transmission mechanism, and is suitable for high-speed and high-acceleration linear motion. In the related art, a stator and a rotor of a linear motor are separately arranged, and the rotor is not stressed under the condition of power failure. In the vertical operation process, if the power-off condition occurs, the rotor can fall under the action of self gravity. Therefore, the linear motor in the related art is difficult to use in a vertical condition, resulting in limited use scenarios thereof.
In view of this, the gravity compensation assembly provided by the embodiment of the application comprises a magnetic guide piece, a balance sleeve piece and a coil sleeve; the balance sleeve is used for being connected with the rotor of the linear motor and can linearly run along with the rotor of the linear motor; the coil sleeve and the balance sleeve member form a first magnetic permeable surface and a first magnetic isolation surface; the magnetic guide piece is provided with a second magnetic permeable surface and a second magnetic isolating surface, the balance sleeve piece is sleeved on the magnetic guide piece in a sliding way, the first magnetic permeable surface corresponds to the second magnetic permeable surface, and the first magnetic isolating surface corresponds to the second magnetic isolating surface; the coil sleeve is configured in a power-on state, the first magnetic permeable surface and the second magnetic permeable surface generate compensation force, and the compensation force is the same as the sum of the weights of the mover, the balance sleeve and the coil sleeve of the linear motor and opposite in direction. The coil sleeve of the gravity compensation assembly provided by the application is in an electrified state, the first magnetic permeable surface and the second magnetic permeable surface generate compensation force which can be used for compensating the sum of the gravity of the mover, the balance sleeve and the coil sleeve of the linear motor, namely, the gravity factors of the mover of the vertically placed linear motor are balanced and offset, at the moment, the vertical running of the linear motor is not influenced by the gravity of the mover any more, the falling situation of the mover under the condition of power failure can be effectively avoided, the higher precision of the linear motor can be ensured, and the control is convenient.
Fig. 1 is a schematic diagram of an overall structure of a linear motor device according to an embodiment of the present application; FIG. 2 is a schematic view of a gravity compensation assembly and a mover according to an embodiment of the present application in an exploded state; FIG. 3 is a schematic partial cross-sectional view of a gravity compensation assembly according to an embodiment of the present application; FIG. 4 is a schematic diagram of a balance set of a gravity compensation assembly according to an embodiment of the present application at a first view angle; FIG. 5 is a schematic diagram of a balance set of a gravity compensation assembly according to an embodiment of the present application at a second view angle; FIG. 6 is a cross-sectional view taken along line A-A in FIG. 5; fig. 7 is a schematic structural view of a guide member of a gravity compensation assembly according to an embodiment of the present application.
Referring to fig. 1 to 7, a gravity compensation assembly 100 according to an embodiment of the present application includes a magnetic guide 110, a balance sleeve 120 and a coil housing 130; the balance sleeve 120 is used for being connected with the rotor 210 of the linear motor 200 and can linearly run along with the rotor 210 of the linear motor 200; the coil sleeve 130 is sleeved outside the balance sleeve 120, and the coil sleeve 130 and the balance sleeve 120 form a first magnetic permeable surface 121 and a first magnetic isolation surface 122; the magnetic guide 110 has a second magnetic permeable surface 111 and a second magnetic blocking surface 112, and the second magnetic permeable surface 111 and the second magnetic blocking surface 112 both extend along the running direction of the mover 210 of the linear motor 200; the balance sleeve 120 is provided with an inner cavity 123 with two open ends, the balance sleeve 120 is sleeved on the magnetic guide 110 in a sliding way, the first magnetic permeable surface 121 corresponds to the second magnetic permeable surface 111, and the first magnetic isolating surface 122 corresponds to the second magnetic isolating surface 112; the coil housing 130 is configured such that in an energized state, the first magnetically permeable surface 121 and the second magnetically permeable surface 111 generate a compensation force that is the same as the sum of the weights of the mover 210, the balance sleeve 120, and the coil housing 130 of the linear motor 200 and in an opposite direction.
It should be noted that, the gravity compensation assembly 100 provided in the embodiment of the present application depends on the acting force, that is, ampere force, of the energized wire in the magnetic field. The direction of the ampere force is set to be opposite to the direction of the gravity of the mover 210 of the linear motor 200, so that the ampere force is the same as the gravity of the mover 210 of the linear motor 200, and the gravity balance of the linear motor 200 can be offset, thereby completing the balance of the gravity. It will be appreciated that in particular, the ampere force is required to counteract the sum of the weight forces of the balancing sleeve 120 and the coil housing 130 in addition to the weight force of the mover 210 in the present application.
In an alternative exemplary embodiment, the balancing kit 120 also has a sidewall aperture 124 in communication with the inner cavity 123; the coil sleeve 130 is sleeved outside the balance sleeve 120, the part of the coil sleeve 130 corresponding to the side wall hole 124 forms a first magnetic permeable surface 121, and the part of the coil sleeve 130 corresponding to the outer side wall of the balance sleeve 120 forms a first magnetic isolation surface 122.
In particular, in the present embodiment, a sidewall hole 124 communicating with the inner cavity 123 is provided in the balance sleeve 120; the coil sleeve 130 is sleeved outside the balance sleeve 120, the part of the coil sleeve 130 corresponding to the side wall hole 124 forms a first magnetic permeable surface 121, and the part of the coil sleeve 130 corresponding to the outer side wall of the balance sleeve 120 forms a first magnetic isolation surface 122. In the operation process, the coil sleeve 130 sleeved outside the balance sleeve 120 is electrified to form an electrified coil, the first magnetism isolating surface 122 formed by the electrified coil sleeve 130 exposed through the side wall hole 124 corresponds to the second magnetism transmitting surface 111 of the magnetic guide member 110, so that the electrified coil sleeve 130 forms ampere force, namely compensation force in a magnetic field, and the compensation force is used for balancing the sum of the gravity of the rotor 210 of the motor, the gravity of the balance sleeve 120 and the gravity of the coil sleeve 130. Thus, the first magnetic permeable surface 121 is formed, and the first magnetic permeable surface 121 and the second magnetic permeable surface 111 are formed correspondingly.
In an alternative exemplary embodiment, the magnetic guide 110 includes a guide 113 and a magnetic member 114, the guide 113 has a through slot 1131 parallel to the running direction of the mover 210 of the linear motor 200, the magnetic member 114 is connected in the through slot 1131, a portion of a slot wall of the through slot 1131 corresponding to the magnetic member 114 forms the second magnetic isolation surface 112, and a portion of a slot opening of the through slot 1131 corresponding to the magnetic member 114 forms the second magnetic permeable surface 111.
In particular, in the present embodiment, the second magnetically permeable surface 111 and the second magnetically impermeable surface 112 of the magnetic guide 110 are formed by arranging the magnetic guide 110 to include the guide 113 and the magnetic member 114, where the guide 113 has a through groove 1131 parallel to the running direction of the mover 210 of the linear motor 200, the magnetic member 114 is connected in the through groove 1131, a portion of a groove wall of the through groove 1131 corresponding to the magnetic member 114 forms the second magnetically permeable surface 112 of the magnetic guide 110, and a portion of a groove opening of the through groove 1131 corresponding to the magnetic member 114 forms the second magnetically permeable surface 111 of the magnetic guide 110. And further, the second magnetic permeable surface 111 corresponds to the first magnetic permeable surface 121 so as to generate a compensation force. So set up, be convenient for make magnetic guide 110 wholly be long column structure, guide 113 is the structure that one side offered logical groove 1131, and magnetic element 114 is rectangular shape structure, and is wrapped up in the logical groove 1131 of guide 113. The first magnetic permeable surface 121 formed by the coil sleeve 130 and the balance sleeve 120 is convenient to realize that the first magnetic permeable surface always corresponds to the second magnetic permeable surface 112 in the running process along the extending direction of the second magnetic permeable surface 112, so that the stability of compensation force is ensured.
Illustratively, the guide 113 is a bar with a through groove 1131 formed therein, and the cross section of the guide 113 is rectangular, and the through groove 1131 extends along the length direction of the guide 113. The guide 113 has a length longer than the stroke of the linear motor 200, thereby ensuring the normal operation of the linear motor 200.
Illustratively, the cross section of the through groove 1131 is also rectangular, the magnetic member 114 is also a strip-shaped structure with a rectangular cross section, and the size of the magnetic member 114 is adapted to the size of the through groove 1131 and is firmly connected in the through groove 1131. That is, the second magnetically permeable surface 111 corresponding to the notch of the through groove 1131 is a rectangular surface with a larger length. The part of the groove wall of the through groove 1131 corresponding to the magnetic piece 114 forms the second magnetism isolating surface 112, and is three rectangular surfaces for wrapping the magnetic piece 114.
It should be noted that, the forming manner of the second magnetically permeable surface 111 is not limited herein, that is, the embodiment of the present application is not limited to the forming manner, and the second magnetically permeable surface 111 is formed by the corresponding magnetic piece 114 of the slot, that is, the second magnetically permeable surface 111 is formed by the corresponding magnetic piece 114 of the hollow without the magnetically permeable material, and in other specific embodiments, the second magnetically permeable surface 111 may be formed by the magnetically permeable material according to the specific requirement of the user, that is, the magnetically permeable material is filled in the slot, so as to form the second magnetically permeable surface 111. In addition, the second magnetism isolating surface 112 may be made of magnetism isolating material.
Suitably, the inner cavity 123 of the balancing kit 120 is shaped to fit the outer side of the magnetic guide 110, i.e. the cross-section of the inner cavity 123 is also rectangular. The side wall hole 124 of the balancing sleeve 120 is also rectangular, the coil sleeve 130 is sleeved outside the balancing sleeve 120, and the side wall hole 124 forms a first magnetic permeable surface 121 corresponding to the position of the coil sleeve 130, that is, the first magnetic permeable surface 121 is a rectangular surface. Meanwhile, the coil sleeve 130 forms a first magnetism isolating surface 122 corresponding to the outer side wall of the balance sleeve 120, and the first magnetism isolating surface 122 is formed by three rectangular surfaces. Wherein the first magnetic permeable surface 121 corresponds to the second magnetic permeable surface 111, and the first magnetic shielding surface 122 corresponds to the second magnetic shielding surface 112.
Illustratively, the magnetic member 114 is magnetic steel, the magnetic steel is fixedly connected in the through groove 1131 of the guide member 113, and the magnetizing direction of the magnetic steel is perpendicular to the second magnetic permeable surface 111, so as to ensure that the energized coil housing 130 is placed in a magnetic field.
Illustratively, the coil sleeve 130 is wound around the outer surface of the balance sleeve 120 to cover the first magnetic permeable surface 121 and the first magnetic isolating surface 122, and the direction around the coil sleeve 130 makes the current direction perpendicular to the axial direction of the magnetic guide 110, so as to realize that the compensation force is opposite to the gravity direction.
In an alternative exemplary embodiment, the outer sidewall of the guide 113 has a guide groove 1132 and the inner sidewall of the balance sleeve 120 has a guide block 125 that mates with the guide groove 1132.
In particular, in the present embodiment, a guide groove 1132 is provided on an outer sidewall of the guide 113, and a guide block 125 matching the guide groove 1132 is provided on an inner sidewall of the balance sleeve 120. In the running process of the balance sleeve 120 along with the rotor 210 of the linear motor 200, the balance sleeve 120 and the coil sleeve 130 can slide along the guide piece 113 at the same time, and the guide groove 1132 and the guide block 125 can realize the stability of the relative positions of the balance sleeve 120 and the guide piece 113, namely, the phenomenon that the balance sleeve 120 sideslips or twists is avoided, the first magnetic permeable surface 121 can be ensured to be opposite to the second magnetic permeable surface 111, the balance sleeve 120 and the coil sleeve 130 can still be ensured to always correspond to the first magnetic permeable surface 121 and the second magnetic permeable surface 111 in the running process, and the stability of the compensation force is ensured.
It should be understood that the specific positions of the guide 113 and the balance sleeve 120 with respect to the guide groove 1132 and the guide block 125 are not limited herein, and in other embodiments, the guide groove 1132 may be disposed on the inner sidewall of the balance sleeve 120 and the guide block 125 matched with the guide groove 1132 may be disposed on the guide 113 according to the needs of the user.
Illustratively, the guide block 125 is configured as a rectangular protrusion and the guide groove 1132 is configured as a rectangular groove.
It will be appreciated that the specific shape of the guide block 125 and the guide groove 1132 is not limited herein, and in other embodiments, the guide block 125 may be configured as an arc-shaped protrusion and the guide groove 1132 may be configured as an arc-shaped groove according to the specific needs of the user.
In an alternative exemplary embodiment, there are two guide slots 1132, two guide slots 1132 are respectively disposed at two opposite outer sidewalls of the guide 113, and two opposite inner sidewalls of the balance sleeve 120 are each provided with a guide block 125 matched with the guide slots 1132.
In particular, in the present embodiment, two guide grooves 1132 and two guide blocks 125 are provided, two guide grooves 1132 are provided on two opposite outer side walls of the guide 113, and two opposite inner side walls of the balance sleeve 120 are provided with guide blocks 125 matching the guide grooves 1132. The guiding performance of the balance sleeve 120 in operation can be further ensured, and the stress balance of the balance sleeve 120 in operation relative to the guide member 113 can be ensured, so that the overall stability of the balance sleeve 120 in operation along the guide member 113 can be ensured.
In an alternative exemplary embodiment, the gravity compensation assembly 100 includes at least two magnetic guides 110, each magnetic guide 110 having at least two balancing suites 120 nested thereon.
It should be noted that, in this embodiment, the gravity compensation assembly 100 includes at least two magnetic guides 110, at least two balancing sets 120 are sleeved on each magnetic guide 110, and the compensation force can be dispersed to multiple branch forces, each balancing set 120 and the coil housing 130 are assembled to form a first magnetic permeable surface 121 corresponding to a second magnetic permeable surface 111 on the magnetic guide 110 so as to form a branch force of the compensation force, and all of the compensation forces formed by the multiple branch forces are combined so as to realize that the compensation force balances and counteracts the sum of the gravity of the mover 210, the balancing set 120 and the coil housing 130 of the linear motor 200. If the compensation force is concentrated at one place, the phenomenon of stress concentration is very easy to occur, and the structure is unstable; meanwhile, if the coil sleeve 130 fails, the compensation force of the whole balance gravity is completely lost, so that the mover 210 directly drops down, which is very easy to cause accidents. In the embodiment of the application, the compensation force is dispersed into a plurality of branch forces, so that the phenomenon of stress concentration is avoided, the stability of the whole structure is ensured, meanwhile, if one coil sleeve 130 or part breaks down, the rest of intact coil sleeves 130 can still work normally, the whole compensation force is reduced but not completely lost, the mover 210 can still be supported, the mover 210 is prevented from being rapidly lowered, the condition is ensured to be repaired or stopped by a user, and the running stability and the running safety of the whole structure are further ensured.
In this embodiment, the number of the magnetic guiding members 110 is two, and the number of the balancing sets 120 and the coil jackets 130 sleeved on each magnetic guiding member 110 is also two, that is, the number of the balancing sets 120 and the coil jackets 130 is four. The four coil sleeves 130 are respectively sleeved on the four balance suites 120, wherein the two balance suites 120 on each magnetic guide piece 110 are arranged at intervals, and the balance suites 120 of the two magnetic guide pieces 110 are correspondingly arranged, so that the four balance suites 120 are arranged in a rectangular array. The four balancing suites 120 are respectively arranged close to four corners of the mover 210 of the linear motor 200.
It should be noted that, by this arrangement, uniformity of the compensation force distribution can be effectively ensured.
It will be appreciated that the specific number of magnetic guides 110 is not limited herein, and in other embodiments, the number of magnetic guides 110 may be three, four, five, etc. depending on the specific needs of the user. Similarly, the number of balancing kits 120 on each magnetic guide 110 is not limited, and in other embodiments, the number of balancing kits 120 on each magnetic guide 110 may be three, four, five, etc. according to the specific needs of the user.
In an alternative exemplary embodiment, the compensation force satisfies the formula:
Where K is the number of coil jackets 130, N is the number of turns of the coil on the coil jacket 130, B is the magnetic field strength of the second magnetically permeable surface 111 at the first magnetically permeable surface 121, I is the required current of the coil jacket 130, L tou is the length of the coil jacket 130 exposed at the first magnetically permeable surface 121, Σmig is the sum of the weights of the mover 210, the balance set 120 and the coil jacket 130 of the linear motor 200.
From the above formula, it can be further deduced that:
it can thus be deduced that in the operating state the current I value to be satisfied is present at the coil housing 130. In the implementation process, the user can calculate the value of the current I according to the known data in the formula, and keep the value of the current on the coil sleeve 130, so as to obtain a proper compensation force.
Meanwhile, if the weight of the mover 210 of the linear motor 200 changes, that is, in order to adapt to different linear motors 200, the corresponding current value can be calculated according to the above formula, so that the compensation force can be flexibly adjusted, and different requirements of users can be further satisfied.
In an alternative exemplary embodiment, the gravity compensation assembly 100 further includes a coil charging connector 140, both ends of the coil charging connector 140 being connected to the power supply and the coil housing 130, respectively.
It should be noted that, in this embodiment, the coil charging connector 140 is configured to be convenient for implementing the process of docking with the power supply through the coil charging connector 140 and adjusting the value of the current flowing to the coil sleeve 130 to meet the preset value, so that the coil sleeve 130 can be electrified, and the process of electrifying the coil sleeve 130 is simple and easy to operate.
In an alternative exemplary embodiment, the gravity compensation assembly 100 further includes a base 150 and two supporting frames 160, wherein the two supporting frames 160 are disposed on the base 150 at intervals, and two ends of the magnetic guide 110 are respectively connected to the two supporting frames 160.
It should be noted that, in the present embodiment, the base 150 and the two supporting frames 160 are provided and can be used for the magnetic guiding element 110, so that the magnetic guiding element 110 is more stable, and stability of the compensation force is further ensured.
Illustratively, the distance between the two supporting frames 160 is greater than the formation of the linear motor 200, and the axial direction of the magnetic guide 110 connected between the two supporting members is disposed in parallel with the running direction of the linear motor 200.
The embodiment of the present application also provides a linear motor device 10, including: linear motor 200 and gravity compensation assembly 100 described above; the linear motor 200 includes a mover 210 and a stator 220, the mover 210 is slidably coupled to the stator 220, and the balancing kit 120 of the gravity compensation assembly 100 is coupled to the mover 210 of the linear motor 200.
The linear motor device 10 provided by the application comprises the gravity compensation assembly 100, so that the vertical operation of the linear motor 200 is not influenced by the gravity of the mover 210 any more, and the technical effect of falling of the mover 210 under the condition of power failure can be effectively avoided.
It should be further noted that, in the linear motor apparatus 10 provided in the embodiment of the present application, the driving force applied to the whole during the vertical operation includes the driving force of the gravity compensation assembly 100 and the driving force of the linear motor 200 itself.
With respect to the driving force of the gravity compensation assembly 100, all the energized coil sleeves 130 are subjected to the action of ampere force, that is, compensation force, under the magnetic field of the magnetic guide 110, and the compensation force is the same as the sum of the weights of the mover 210, the balance sleeve 120 and the coil sleeves 130 of the linear motor 200 and opposite in direction through the adjustment of the current. I.e. to achieve a balance of the weight.
Regarding the driving force of the linear motor 200 itself, the coils in the mover 210 of the linear motor 200 are controlled, and the control algorithm is the same as that of the linear motor 200 horizontally placed in the prior art, and only the acceleration required for the running track is provided without considering the influence of gravity.
By the implementation manner of the driving force of the gravity compensation assembly 100 and the driving force of the linear motor 200, the gravity balance and the movement of the linear motor 200 are decoupled from the mechanical structure, so that the vertical use of the linear motor 200 is simplified.
Illustratively, the mover 210 is further provided with a wire connector 211.
The wire connector 211 is used to energize the coil in the mover 210.
Specifically, to clarify the principle of the linear motor apparatus 10 when the gravity compensation assembly 100 is applied, and to further understand the structure of the adjustment assembly, the process of vertically operating the linear motor apparatus 10 is described as follows:
The linear motor 200 includes a mover 210 and a stator 220, a coil is provided in the mover 210, and magnetic steel is provided in the stator 220, and the coil in the linear motor 200 is energized and driven in the same manner as the conventional linear motor 200. Taking the conventional U-shaped linear motor 200 as an example, the stator 220 is in the form of a U-shaped groove, magnetic steel arranged in an array is arranged on the inner walls of two sides of the U-shaped groove, the rotor 210 is provided with coils, and the coil assembly is iron-free. The coil component is iron-free, so that attractive force and interference force are not generated between the coil component and the magnetic steel; the magnetic field direction of the U-shaped linear motor 200 is in the vertical direction, the current energizing direction of the coil is towards the inside or the outside of the U-shaped groove, and the coil stress along the guide rail direction can be obtained according to the stress analysis of the lead in the magnetic field. The gravity compensation assembly 100 provided by the embodiment of the application, the balance sleeve 120 is used for being connected with the rotor 210 of the linear motor 200 and can linearly run along with the rotor 210 of the linear motor 200; the coil housing 130 and the balance sleeve 120 of the gravity compensation assembly 100 form a first magnetic permeable surface 121 and a first magnetic isolating surface 122; the gravity compensation assembly 100 magnetic guide 110 is provided with a second magnetic permeable surface 111 and a second magnetic isolating surface 112, the balance sleeve 120 is sleeved on the magnetic guide 110 in a sliding way, the first magnetic permeable surface 121 corresponds to the second magnetic permeable surface 111, and the first magnetic isolating surface 122 corresponds to the second magnetic isolating surface 112; the coil housing 130 is configured such that in an energized state, the first magnetically permeable surface 121 and the second magnetically permeable surface 111 generate a compensation force that is the same as the sum of the weights of the mover 210, the balance sleeve 120, and the coil housing 130 of the linear motor 200 and in an opposite direction. That is, the compensation force balances and counteracts the gravity factor of the mover 210 of the vertically placed linear motor 200, at this time, the vertical operation of the linear motor 200 is not affected by the gravity of the mover 210, so that the situation that the mover 210 drops under the power failure condition can be effectively avoided, and meanwhile, the linear motor 200 can be ensured to achieve higher precision and is convenient to control.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced with equivalents; such modifications and substitutions do not depart from the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.
In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction. The various possible combinations of the application are not described in detail in order to avoid unnecessary repetition.
Claims (10)
1. A gravity compensation assembly comprising a magnetic guide, a balancing sleeve and a coil housing;
The balance sleeve is used for being connected with the rotor of the linear motor and can linearly run along with the rotor of the linear motor; the coil sleeve is sleeved on the outer side of the balance sleeve, and the coil sleeve and the balance sleeve form a first magnetic permeable surface and a first magnetic isolation surface;
the magnetic guide piece is provided with a second magnetic permeable surface and a second magnetic isolation surface, and the second magnetic permeable surface and the second magnetic isolation surface extend along the running direction of the rotor of the linear motor;
The balance sleeve is provided with an inner cavity with two open ends, the balance sleeve is sleeved on the magnetic guide piece in a sliding way, the first magnetic permeable surface corresponds to the second magnetic permeable surface, and the first magnetic isolating surface corresponds to the second magnetic isolating surface;
The coil sleeve is configured such that in an energized state, the first magnetically permeable surface and the second magnetically permeable surface generate a compensation force that is the same as and opposite to the sum of the weights of the mover of the linear motor, the balancing sleeve, and the coil sleeve.
2. The gravity compensation assembly of claim 1, wherein the balancing kit further has a sidewall aperture in communication with the interior cavity; the coil sleeve is sleeved on the outer side of the balance sleeve, the coil sleeve corresponds to the side wall hole to form the first magnetic permeable surface, and the coil sleeve corresponds to the outer side wall of the balance sleeve to form the first magnetic insulating surface.
3. The gravity compensation assembly according to claim 1, wherein the magnetic guide member comprises a guide member and a magnetic member, the guide member is provided with a through groove parallel to the running direction of the mover of the linear motor, the magnetic member is connected in the through groove, a part of a groove wall of the through groove corresponding to the magnetic member forms the second magnetic isolation surface, and a part of a groove opening of the through groove corresponding to the magnetic member forms the second magnetic transmission surface.
4. A gravity compensation assembly according to claim 3 wherein the guide outer side wall has a guide slot and the inner side wall of the balancing kit has a guide block matching the guide slot.
5. The gravity compensation assembly according to claim 4, wherein the guide grooves are two, the two guide grooves are respectively arranged on two opposite outer side walls of the guide member,
Two opposite inner side walls of the balance sleeve are respectively provided with a guide block matched with the guide groove.
6. The gravity compensation assembly according to any one of claims 1 to 5, comprising at least two magnetic guides, each of the magnetic guides being provided with at least two of the balancing suites.
7. The gravity compensation assembly according to any of claims 1-5, wherein the compensation force satisfies the formula:
Wherein K is the number of coil sleeves, N is the number of turns of the coil on the coil sleeve, B is the magnetic field intensity of the second magnetic permeable surface at the first magnetic permeable surface, I is the required current of the coil sleeve, L tou is the exposed length of the coil sleeve at the first magnetic permeable surface, and sigma m i g is the sum of the weights of the mover of the linear motor, the balance sleeve and the coil sleeve.
8. The gravity compensation assembly according to any one of claims 1 to 5, further comprising a coil charging connector, both ends of the coil charging connector being connected to a power source and the coil housing, respectively.
9. The gravity compensation assembly according to any one of claims 1 to 5, further comprising a base and two support frames, wherein the two support frames are arranged on the base at intervals, and two ends of the magnetic guide member are respectively connected to the two support frames.
10. A linear motor device, comprising: a linear motor and a gravity compensation assembly according to any one of claims 1 to 9;
The linear motor comprises a rotor and a stator, the rotor is connected with the stator in a sliding way,
And the balance sleeve of the gravity compensation assembly is connected with the rotor of the linear motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210922042.5A CN115411906B (en) | 2022-08-02 | 2022-08-02 | Linear motor device and gravity compensation assembly thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210922042.5A CN115411906B (en) | 2022-08-02 | 2022-08-02 | Linear motor device and gravity compensation assembly thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115411906A CN115411906A (en) | 2022-11-29 |
| CN115411906B true CN115411906B (en) | 2024-06-04 |
Family
ID=84158988
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210922042.5A Active CN115411906B (en) | 2022-08-02 | 2022-08-02 | Linear motor device and gravity compensation assembly thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115411906B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116292709A (en) * | 2023-05-10 | 2023-06-23 | 苏州猎奇智能设备有限公司 | Magnetic spring with adjustable magnetic force, magnetic force adjusting method and Z-axis driving module |
| CN117242982B (en) * | 2023-07-12 | 2024-04-12 | 石河子大学 | Low-damage harvesting method and equipment for air-aspiration type red dates based on magnetic fluid flow control |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013124259A1 (en) * | 2012-02-24 | 2013-08-29 | Siemens Aktiengesellschaft | Magnetic mounting with force compensation |
| CN211209558U (en) * | 2019-11-05 | 2020-08-07 | 雅科贝思精密机电(上海)有限公司 | Cylindrical voice coil motor magnetic gravity compensator, voice coil motor and voice coil motor assembly |
| CN111614226A (en) * | 2020-06-24 | 2020-09-01 | 雅科贝思精密机电(南通)有限公司 | Voice coil motor of variable-rigidity magnetic gravity compensator |
| CN112271053A (en) * | 2020-10-22 | 2021-01-26 | 北京华卓精科科技股份有限公司 | Gravity compensation device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6606922B2 (en) * | 2000-04-28 | 2003-08-19 | Schmitt Measurement Systems, Inc. | Rotational imbalance compensator |
-
2022
- 2022-08-02 CN CN202210922042.5A patent/CN115411906B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013124259A1 (en) * | 2012-02-24 | 2013-08-29 | Siemens Aktiengesellschaft | Magnetic mounting with force compensation |
| CN104145126A (en) * | 2012-02-24 | 2014-11-12 | 西门子公司 | Magnetic mounting with force compensation |
| CN211209558U (en) * | 2019-11-05 | 2020-08-07 | 雅科贝思精密机电(上海)有限公司 | Cylindrical voice coil motor magnetic gravity compensator, voice coil motor and voice coil motor assembly |
| CN111614226A (en) * | 2020-06-24 | 2020-09-01 | 雅科贝思精密机电(南通)有限公司 | Voice coil motor of variable-rigidity magnetic gravity compensator |
| CN112271053A (en) * | 2020-10-22 | 2021-01-26 | 北京华卓精科科技股份有限公司 | Gravity compensation device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115411906A (en) | 2022-11-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115411906B (en) | Linear motor device and gravity compensation assembly thereof | |
| EP2372886B1 (en) | Linear motor | |
| JP3205399B2 (en) | Magnet device | |
| KR101118337B1 (en) | Magnetic flux distribution control type rotary electrical machine system | |
| US6847133B2 (en) | Linear motor and method to manufacture said linear motor | |
| US20110050005A1 (en) | Linear drive for a machine tool and method for moving a tool carriage | |
| KR102684895B1 (en) | A servo motor to reduce vibration | |
| JPH10236748A (en) | Running guide device for elevator | |
| CN113922625B (en) | Long primary permanent magnet synchronous motor with annular structure | |
| KR20020020497A (en) | Linear Motor Having Air Bearing integrally | |
| JP2013198204A (en) | Linear motor | |
| CN114458729A (en) | Mixed excitation type vibration isolation device | |
| KR100231819B1 (en) | Linear motor | |
| CN111969744A (en) | Rotor and mixed excitation disc type motor | |
| CN112983988A (en) | Composite magnetic suspension bearing and magnetic suspension bearing system | |
| JP3291045B2 (en) | Linear motor | |
| CN217849218U (en) | Linear motor and processing equipment with same | |
| KR101721496B1 (en) | Motor test equipment with magnetic bearings | |
| CN220139301U (en) | Three-phase brushless direct current motor and electric airplane | |
| JP2020071031A (en) | Linear motor drive device and surface shape measuring device | |
| CN220122722U (en) | Motor main frame and motor | |
| KR101184335B1 (en) | Motor | |
| CN118061818A (en) | Wire harness storage type alternating-current charging pile | |
| US3825826A (en) | Measuring instrument for the measurement of direct current or direct current voltage | |
| CN115411907A (en) | Adjusting component and linear motor device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |