CN205509828U - Quick response linear electric motor - Google Patents
Quick response linear electric motor Download PDFInfo
- Publication number
- CN205509828U CN205509828U CN201620138969.XU CN201620138969U CN205509828U CN 205509828 U CN205509828 U CN 205509828U CN 201620138969 U CN201620138969 U CN 201620138969U CN 205509828 U CN205509828 U CN 205509828U
- Authority
- CN
- China
- Prior art keywords
- linear electric
- electric motors
- rotor
- stator
- magnetic
- 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.)
- Withdrawn - After Issue
Links
Landscapes
- Linear Motors (AREA)
Abstract
The utility model is suitable for a motor field provides a quick response linear electric motor, including casing, stator, rotor and back shaft, the stator includes conductive sleeve, and the rotor includes support chassis and is used for producing the drive coil along supporting the axial driving magnetic field. Quick response linear electric motor's stator uses conducting material preparation conductive sleeve, twines the drive coil on the support chassis of rotor, when passing through current pulse to the drive coil, and the induced -current of meeting production in the stator, and then the production magnetic field opposite with above -mentioned driving magnetic field to the drive rotor removes, therefore can realize quick response, when the drive coil passes through great instantaneous pulse current, can produce great power, drive coil direction of winding winds the back shaft axial, and the stator sets up to the shell -like, therefore can be less with the volume preparation of rotor, so the preparation of this linear electric motor's volume is less.
Description
Technical field
This utility model belongs to machine field, particularly relates to one and quickly responds linear electric motors.
Background technology
Linear electric motors are also referred to as linear electric machine, and its principle is: linear electric motors are that electric energy is directly changed into linear motion mechanical energy, without the actuating device of any intermediate conversion mechanism by one.It can be regarded an electric rotating machine as and cut open by radial direction, and generated plane forms.The side developed by stator is referred to as primary, rotor the side developed is referred to as secondary.When reality is applied, primary and secondary is manufactured into different length, to ensure that primary keeps constant with coupling between secondary in required stroke range.Linear electric motors can be short primary long secondary, it is also possible to is long primary short secondary.When armature winding is passed through alternating current power supply, just producing travelling-magnetic-field in air gap, secondary is expert under ripple magnetic field intercepts, will be induced electromotive force and produce electric current, and this electric current just produces electromagnetic push with the magnetic field phase separation in air gap.If primary fixing, then secondary moves along a straight line under thrust；Otherwise, then primary moves along a straight line.Thus the stator of existing linear electric motors is usually interval on long straight guide and arranges permanent magnet or the coil producing magnetic field, same interval on rotor guide rail arranges coil and forms.But this stator and rotor structure, owing to be spaced, multiple coil or permanent magnet are set, thus volume is bigger, separately it is limited by volume size, the magnetic field intensity that either stator or rotor, its coil or permanent magnet produce is less, and the volume causing linear electric motors is big, and power is less, it is difficult to accomplish quickly to respond.
Utility model content
The purpose of this utility model is to provide one quickly to respond linear electric motors, it is intended to solve the problem that existing quick response linear electric motors volume is big, power is little, be difficult to quickly respond.
This utility model is realized in, one quickly responds linear electric motors, the stator including casing, being installed in described casing, the rotor being slidably mounted in described stator and support the support shaft of described rotor, described support shaft is installed in described casing, described stator includes the conductive sleeve using conductive material to make, described rotor includes being installed on the support frame in described support shaft and for producing the driving coil of driving magnetic field, described driving magnetic field is axial along described support shaft, and described driving coil is wound on described support frame.
Further, being provided with axle sleeve in described casing, described axle sleeve is set in described support shaft.
Further, described support frame is further opened with containing cavity.
Further, also include the controlling organization for controlling described rotor-position, described controlling organization includes the magnetic conduction arm being connected with described support frame and the control coil being wound on magnetic conduction arm, the conductive sleeve of described stator includes for some magnetic guiding loops of magnetic conduction and non-magnetic some shading rings, and described magnetic guiding loop and the alternately laminated setting of described shading ring for conduction.
Further, described magnetic conduction arm includes some magnetic conduction sheets of the axially stacked setting along described support shaft and isolates some insulating trips of magnetic conduction sheet described in adjacent two panels.
Further, adjacent a piece of described magnetic conduction sheet is equal with the thickness sum of a piece of described shading ring with adjacent a piece of described magnetic guiding loop with the thickness sum of a piece of described insulating trip.
Further, described magnetic conduction arm is arranged in pairs, and described magnetic conduction arm is at least one pair of, and two described magnetic conduction arms of every pair are respectively arranged on the opposite sides of described support shaft.
The stator of quick response linear electric motors of the present utility model uses conductive material to make conductive sleeve, the support frame of rotor is wound around and drives coil, when in time driving coil by current impulse, the faradic current that can produce in stator, and then produce the magnetic field contrary with above-mentioned driving magnetic field, to drive rotor movement, thus can realize quickly responding；During it addition, pass through bigger instant pulse current, bigger power can be produced；Driving magnetic field owing to driving coil to produce is axial along support shaft, and stator is set to shell-like, thus can make less by the volume of rotor, so the volume of these quick response linear electric motors makes less.
Accompanying drawing explanation
Fig. 1 is the sectional structure schematic diagram of a kind of quick response linear electric motors that this utility model embodiment one provides；
Fig. 2 is the schematic diagram of the control circuit driving coil of the quickly response linear electric motors of Fig. 1；
Fig. 3 is the control process schematic driving coil of the quickly response linear electric motors of Fig. 1, wherein figure a is the H bridge brachium pontis grid voltage controlling to drive coil, figure b is the size of the power driving coil to produce, and figure c is the rotor axial speed of service of linear electric motors, and figure d is the size of the power that control coil produces.
Fig. 4 is the sectional structure schematic diagram of a kind of quick response linear electric motors that this utility model embodiment two provides；
Fig. 5 is the sectional structure schematic diagram of line A-A along Fig. 4；
Fig. 6 is the structure for amplifying schematic diagram of N section in Fig. 4；
Fig. 7 is the magnetic guiding loop of the quickly response linear electric motors rotor of Fig. 4 stress schematic diagram when being displaced to the second magnetic guiding loop side neighbouring on stator；
Fig. 8 is the magnetic guiding loop of the quickly response linear electric motors rotor of Fig. 4 stress schematic diagram when being displaced to the second magnetic guiding loop opposite side neighbouring on stator；
Fig. 9 is the rotor of Fig. 4 when moving in the stator, magnetic guiding loop stress schematic diagram；
Figure 10 is the quickly schematic diagram of mean forced position between response linear electric motors rotor and stator of Fig. 4.
Figure 11 is the sectional structure schematic diagram of a kind of quick response linear electric motors that this utility model embodiment three provides；
Figure 12 is the sectional structure schematic diagram of G-G line along Figure 11.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, this utility model is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain this utility model, is not used to limit this utility model.
Embodiment one:
Referring to Fig. 1-Fig. 3, a kind of quickly response linear electric motors 100 that this utility model embodiment provides, including casing 11, stator 20, rotor 30 and support shaft 13；Stator 20 is installed in casing 11, is supported by casing 11 and protects stator 20.Rotor 30 is slidably mounted in stator 20, in order to rotor 30 can move in stator 20, and rotor 30 is arranged in support shaft 13, can support rotor 30 by support shaft 13, and make rotor 30 can move along support shaft 13.Support shaft 13 is arranged in casing 11, so that casing 11 supports support shaft 13.Stator 20 includes the conductive sleeve using conductive material to make.Rotor 30 includes support frame 31 and drives coil 32, support frame 31 is installed in support shaft 13, coil 32 is driven to be wound on support frame 31, when in time driving coil 32 to be energized, drive coil 32 can produce the axial driving magnetic field along support shaft 13, then when being wrapped on support frame 31 by driving coil 32, drive coil 32 really around support shaft 13.When, in time driving coil 32 by current impulse, the faradic current that can produce in stator 20, and then the magnetic field that generation is contrary with above-mentioned driving magnetic field, to drive rotor 30 to move；When current impulse is relatively big and the time is shorter, bigger driving force can be produced, thus realize the quick response of rotor 30.
Quickly the stator 20 of response linear electric motors 100 uses conductive material to make conductive sleeve, the support frame 31 of rotor 30 is wound around and drives coil 32, when in time driving coil 32 by current impulse, the faradic current that can produce in stator, and then produce the magnetic field contrary with above-mentioned driving magnetic field, to drive rotor 30 to move, thus can realize quickly responding；During it addition, pass through larger current, bigger power can be produced；Owing to driving coil 32 to produce along the axial driving magnetic field of support shaft 13, and stator 20 is set to shell-like, thus can make less by the volume of rotor 30, so volume of these quick response linear electric motors 100 makes less.
Further, casing 11 is provided with axle sleeve 12, and axle sleeve 12 is sleeved in support shaft 13.Axle sleeve 12 is set to support support shaft 13, can preferably reduce support shaft 13 and wear and tear.
Further, support frame 31 offers containing cavity 33.In support frame 31, offer containing cavity 33 can also alleviate the weight of support frame 31, be also convenient for heat radiation simultaneously.
Further, drive coil 32 that at least two groups can be set, when at least two groups drive coil 32 by different time sequencings by current impulse, drive coil 32 can produce straight-line traveling wave magnetic field, and the size and Orientation in straight-line traveling wave magnetic field drives the size of current of coil 32 and ON time order relevant with many groups, owing to row wave speed and the stator 20 in straight-line traveling wave magnetic field exist slip speed, faradic current is produced in stator 20, and then produce the magnetic field contrary with above-mentioned straight-line traveling wave magnetic field, to drive rotor 30 to move.Certainly, in further embodiments, it is also possible to make at least two groups drive coil 32 to produce the magnetic field of other waveform, and then in stator 20, produce faradic current, and produce contrary magnetic field, to drive rotor 30 to move.
Each group drives coil 32 that the anaerobic fine copper enamel-covered wire that sectional area is big, resistivity is low can be used to be wound on support frame 31 1～2 layer.So that transient high-current can be passed through.
This quickly responds the controller that linear electric motors 100 also include controlling to drive coil 32 electric current, is provided with control circuit 50 in this controller.Controller is set, the volume quickly responding linear electric motors 100 can be reduced, be also convenient for controlling this quickly response linear electric motors 100 simultaneously.Controller can be arranged in support frame 31.Support frame 31 can offer containing cavity 33, to install this controller.
Further, controller is additionally provided with the integrating control chip of this control circuit 50 of control.Integrating control chip is set and can preferably control to drive the conducting of coil 32 electric current, and then can preferably control this quickly response linear electric motors 100.Integrating control chip is set and can also quickly detect the applied external force suffered by linear electric motors and load quality size.
Coil 32 is driven to use the wire that sectional area is big, resistivity is low to be wound on by the heat conduction support frame 31 that magnetic conduction electrically non-conductive material is not made.Drive coil 32 can bear bigger electric current.Further, control circuit 50 includes connecting the on-off circuit driving coil 32 and the charging circuit 58 being connected with on-off circuit.This on-off circuit is provided with to the electric capacity 55 driving coil 32 power supply.Use on-off circuit, in that context it may be convenient to control to drive the break-make of coil 32, to control rotor 30 and to move.Further, in the present embodiment, device for switching can be H-bridge circuit.Referring to Fig. 2 and Fig. 3, in Fig. 3, a is H bridge brachium pontis 52 grid voltage controlling to drive coil 32, and b is the size of the power driving coil 32 to produce, and c is the axial speed of service of rotor 30 quickly responding linear electric motors 100, and d is the size of the power that control coil 42 produces.Integrating control chip regulates the charging voltage of electric capacity 55 by charging circuit 58.When after electric capacity 55 charging complete, a narrowest control pulse of pulsewidth can be produced with integrating control chip to be loaded on H-bridge circuit one pair of which brachium pontis 52, this brachium pontis 52 makes this electric capacity 55 drive coil 32 to spark rotor 30 when turning on, now drive the primary coil that coil 32 is similar in coilgun；And when driving coil 32 is at least two group, then drive coil 32 can form the driving coil being similar to asynchronous induction coilgun, electric current Ic is the biggest for transient switching, the driving magnetic field produced and the conductive material interaction of the stator 20 near support frame 31 outer rim driving coil 32, produce big electromagnetic force FQDrive rotor 30 axial linear movement.The pulsewidth controlling pulse is the narrowest, and the conducting brachium pontis 52 of H-bridge circuit is quickly closed, and now drives the electric current In in coil 32 to be gradually reduced and wires back through another pair brachium pontis 52 inversion of H bridge and holds 55 and power supply, and this electric current will produce electromagnetic resistance F in opposite directionZHinder the motion of rotor 30.When integrating control chip drives the turn-on sequence of coil 32 on-off circuit with charging voltage height, each group of certain periodic Control electric capacity 55 and can change the stress size and Orientation of rotor 30 interval time.
When the rotor 30 quickly responding linear electric motors 100 needs axial linear movement, if setting the quality quickly responding linear electric motors 100 dragging load as MF, it is F that the external world is applied to quickly respond the active force of linear electric motors 100W, the conduction interval time T of on-off circuiton, now drive coil 32 to produce big driving electromagnetic force FQDrive quickly response linear electric motors 100 to move, then the relation of these parameters is (FQ-FW)*Ton=MF*ΔVon.After on-off circuit cuts out, coil 32 electric current is driven to start reduce and produce electromagnetic resistance FZ, quickly the rotor 30 of response linear electric motors 100 keeps inertia to continue motion, and taking wherein movement velocity a period of time faster is shut-in time Toff, measure velocity variations value Δ Voff, then the relation of these parameters is (FZ+FW)*Toff=MF*ΔVoff.If T during whole controlonAnd ToffTime is the shortest, and the most quickly response linear electric motors 100 drive the frequency of coil 32 motor control can be the highest, and then the movement velocity quickly responding linear electric motors 100 can be made soft smooth.
When quickly response linear electric motors work, the mass M of dragging loadF, the external world is applied to quickly respond the directed force F of linear electric motorsW, the two parameter needs detection in real time.Wherein the external world is applied to quickly respond the amount of force of linear electric motors and direction may all change in each moment, and the quality of dragging load is likely to moment change.The quickly response linear electric motors of prior art all detect the size and Orientation of active force by pressure transducer, but the amount of force detected by this mode is relevant with acceleration with the speed of above-mentioned two parameter and quick response linear electric motors motion, thus is difficult to obtain the external world and is applied to quickly respond the directed force F of linear electric motorsWWith dragging load mass MFThe two thinning parameter.The control of the quickly response linear electric motors of prior art is degenerative control mode, a certain size the active force that the most quickly response linear electric motors apply to external world, after a period of time, quickly response linear electric motors position, speed and acceleration change, detect that data and the target component of relevant parameter contrast, then adjust the size of the quickly active force that response linear electric motors apply to external world.The regular hour is needed owing to quickly responding the change of linear electric motors speed and acceleration after quickly responding the active force that linear electric motors apply to external world, it is low that the most this control mode controls frequency, need torque that the machinery increases such as reductor are bigger to offset dragging load quality and the external world is applied to quickly respond being continually changing of active force of linear electric motors, increase the volume of whole control system.
After quickly response linear electric motors 100 structure of the present embodiment and control circuit 50 are fixed, drive electric capacity 55 charging voltage in the control circuit 50 of coil 32, control pulse ON time one timing, driving electromagnetic force F of generationQWith electromagnetic resistance FZSize be also fixing.When quickly response linear electric motors 100 move, integrating control chip can quickly be responded driving electromagnetic force F when linear electric motors 100 move by electric capacity 55 charging voltage in acquisition control circuit 50 and control pulse ON timeQWith electromagnetic resistance FZSize, i.e. drive electromagnetic force FQWith electromagnetic resistance FZFor known parameters；In conjunction with above-mentioned two equation: (FZ+FW)*Toff=MF*ΔVoff；(FQ-FW)*Ton=MF*ΔVon；And Toff、ΔVoff、TonWith Δ VonAll can immediately arrive at or directly measure, i.e. Toff、ΔVoff、TonWith Δ VonAlso it is known parameters.Thus according to these associated motion parameter data, the external world can be calculated and be applied to quickly respond the size of linear electric motors 100 active force, direction and the load mass the two thinning parameter of quickly response linear electric motors 100 dragging.The highest owing to quickly responding the frequency of linear electric motors 100 motor control, every secondary control can calculate the external world in a short period of time and is applied to quickly respond the active force of linear electric motors 100 and quickly responds the size of linear electric motors 100 dragging load quality, adjusts driving electromagnetic force F driving coil 32 in timeQAnd ON time.
Further, the quickly response linear electric motors 100 of the present embodiment can realize volume microminiaturization, and can use as vibrator, the such as vibrator in mobile phone plane plate computer.
Embodiment two:
Referring to Fig. 4-Figure 10, this utility model embodiment provides a kind of quickly response linear electric motors 100a, including casing 11, stator 20, rotor 30, support shaft 13 and controlling organization 40；Stator 20 is installed in casing 11, is supported by casing 11 and protects stator 20.Rotor 30 is slidably mounted in stator 20, in order to rotor 30 can move in stator 20, and rotor 30 is arranged in support shaft 13, can support rotor 30 by support shaft 13, and make rotor 30 can move along support shaft 13.Support shaft 13 is arranged in casing 11, so that casing 11 supports support shaft 13.The conductive sleeve of stator 20 includes some magnetic guiding loops 21 and some shading rings 22, and magnetic guiding loop 21 and the alternately laminated setting of shading ring 22, and magnetic guiding loop 21 is for magnetic conduction and conduction, and shading ring 22 is not magnetic conduction for conduction；Then axial along support shaft 13, arranges 21, one layer of shading ring of one layer of magnetic guiding loop, 21, one layer of shading ring 22 of 22, one layer of magnetic guiding loop and is so arranged alternately.Rotor 30 includes support frame 31 and drives coil 32, support frame 31 is installed in support shaft 13, coil 32 is driven to be wound on support frame 31, when in time driving coil 32 to be energized, drive coil 32 can produce the axial driving magnetic field along support shaft 13, then when being wrapped on support frame 31 by driving coil 32, drive coil 32 really around support shaft 13.When, in time driving coil 32 by current impulse, the faradic current that can produce in stator 20, and then the magnetic field that generation is contrary with above-mentioned driving magnetic field, to drive rotor 30 to move；When current impulse is relatively big and the time is shorter, bigger driving force can be produced, thus realize the quick response of rotor 30.Controlling organization 40 is used for coordinating stator 20 to control rotor 30 position, controlling organization 40 includes magnetic conduction arm 41 and control coil 42, magnetic conduction arm 41 is connected with support frame 31, such that it is able to move with rotor 30, control coil 42 is wound on magnetic conduction arm 41, when being energized to control coil 42, control magnetic field can be produced, guided by magnetic conduction arm 41 again, and then can interact with the magnetic guiding loop 21 of stator 20, thus be possible not only to play deceleration and use, acceleration can also be realized with rotor relative to position according to stator, realize accurately regulation, and after driving coil 32 power-off, magnetic conduction arm 41 can be positioned, and then rotor 30 is positioned, such that it is able to realize controlling the position of rotor 30.
In other embodiments, it is also possible to some magnetic guiding loops 21 are set at the relative inner interval of the conductive sleeve of stator 20, in order to coordinate with the magnetic conduction arm 41 of controlling organization 40 and realize magnet attraction, and then control the position of rotor 30.
Quickly the stator 20 of response linear electric motors 100a uses magnetic guiding loop 21 and the shading ring 22 of alternately laminated setting, and shading ring 22 conducts electricity and not magnetic conduction, then can the volume of stator 20 be made less, and the coil 32 that drives of rotor 30 produces along the axial driving magnetic field of support shaft 13, when in time driving coil 32 by current impulse, the faradic current that can produce in stator 20, and then produce the magnetic field contrary with above-mentioned driving magnetic field, to drive rotor 30 to move, thus this quickly responds linear electric motors 100a and can realize quickly responding；During it addition, use bigger instant pulse current, bigger power can be produced；And the magnetic conduction arm 41 being connected with support frame 31 is set, and on magnetic conduction arm 41, it is wound around control coil 42, the position of rotor 30 can be controlled by the adhesive of the magnetic force of control coil 42 Yu the magnetic guiding loop 21 of stator 20, it is simple, convenient to control；Owing to driving coil 32 to produce along support shaft 13 axially, thus can make less by the volume of rotor 30, then the volume that this can quickly respond linear electric motors 100a makes less.
Magnetic guiding loop 21 can be the ring plate that the permeability magnetic materials such as iron hoop, steel loop, silicon steel, electrical pure iron, permalloy, metal nano alloy material make.Shading ring 22 can be the ring plate that copper ring, aluminum ring etc. conduct electricity and non-magnetic material makes.
Further, magnetic conduction arm 41 includes some magnetic conduction sheets 411 and some insulating trips 412, magnetic conduction sheet 411 and the alternately laminated setting of insulating trip 412, and axial along support shaft 13: 411, one layer of insulating trip of one layer of magnetic conduction sheet, 411, one layer of insulating trip 412 of 412, one layer of magnetic conduction sheet is set and is so arranged alternately.Each insulating trip 412 isolates adjacent two panels magnetic conduction sheet 411.The control magnetic field that the magnetic conduction arm 41 that this structure is arranged can be produced by control coil 42.Further, magnetic conduction sheet 411 can be the sheet that the permeability magnetic materials such as iron plate, steel disc, silicon steel, electrical pure iron, permalloy, metal nano alloy material make.Insulating trip 412 can be the sheet that the insulant such as plastic sheet, resin sheet makes.It is of course also possible to wrap up the insulated claddings such as insullac on magnetic conduction sheet 411, then the magnetic conduction sheet 411 that these are surrounded by insulated cladding is superimposed together, and forms magnetic conduction arm 41.
Referring to Fig. 4-Fig. 8, further, adjacent a piece of magnetic conduction sheet 411 is equal with the thickness sum of a piece of shading ring 22 with adjacent a piece of magnetic guiding loop 21 with the thickness sum of a piece of insulating trip 412.When the thickness of magnetic conduction sheet 411 is D11, the thickness of insulating trip 412 is D12, the thickness of magnetic guiding loop 21 is D21, the thickness of shading ring 22 is D22, then D11+D12=D21+D22, then, when being energized to control coil 42, this structure can realize being automatically positioned the function of locking.Specifically, when in magnetic conduction arm 41 by controlling magnetic field B, the magnetic guiding loop 21 of stator 20 also can pass through corresponding magnetic field B, with attracted with magnetic conduction arm 41.Refer to Fig. 7, when the magnetic conduction sheet 411 of magnetic conduction arm 41 is positioned at the left side of the neighbouring magnetic guiding loop of stator 20 21, is controlled magnetic field suction F to the right and uses, then can move right.Refer to Fig. 8, when the magnetic conduction sheet 411 of magnetic conduction arm 41 is positioned at the right side of the neighbouring magnetic guiding loop of stator 20 21, is controlled magnetic field suction F to the left and uses, then can be moved to the left.Refer to Fig. 9 and Figure 10, when aliging in the middle part of the middle part of the magnetic conduction sheet 411 of magnetic conduction arm 41 magnetic guiding loop 21 neighbouring with stator 20, as with S in Fig. 70、S2、S4Position is controlled suction left-right balance or the magnetic force F minimum in magnetic field to the magnetic conduction sheet 411 of magnetic conduction arm 41 during correspondence, and now the magnetic conduction sheet 411 of magnetic conduction arm 41 is in stable state.And when aliging in the middle part of the middle part of the magnetic conduction sheet 411 of magnetic conduction arm 41 dead ring neighbouring with stator 20, as with S in Fig. 71、S3Position to correspondence time the magnetic conduction sheet 411 of magnetic conduction arm 41 is controlled the suction in magnetic field also can left-right balance, if but now magnetic conduction sheet 411 slightly offsets or by External Force Acting, then can break this balance, make the magnetic conduction sheet 411 of magnetic conduction arm 41 move to neighbouring magnetic guiding loop 21 corresponding position.Then when energising in control coil 42, can play deceleration, and then be positioned by rotor 30, it is also possible to make rotor be accelerated according to stator with the relative position of rotor, it is the most accurate to regulate.
Referring to Fig. 4, Fig. 5 and Fig. 6, further, magnetic conduction arm 41 is arranged in pairs, and magnetic conduction arm 41 is at least one pair of, and two magnetic conduction arms 41 of every pair are respectively arranged on the opposite sides of support shaft 13.Being arranged in pairs by magnetic conduction arm 41, the stress that can make rotor 30 both sides is steady, so that rotor 30 can more smoothly move along support shaft 13.In the present embodiment, magnetic conduction arm 41 is two right, i.e. magnetic conduction arm 41 is four, and is uniformly distributed the surrounding of support shaft 13.In other embodiments, magnetic conduction arm 41 can also be other logarithm, as three to, four to etc..In further embodiments, magnetic conduction arm 41 can also be ringwise.
Further, stator 20 cylindrically, magnetic conduction arm 41 away from one end 415 of support shaft 13 in the circular arc coordinated with stator 20.Magnetic conduction arm 41 is arranged in circular arc away from one end 415 of support shaft 13, the area that the magnetic guiding loop 21 with stator 20 coordinates can be increased, improve control coil 42 and produce the magnetic attraction controlling magnetic field.In other embodiments, stator 20 can also the cross section of ovalize or stator 20 in the shape of a frame.
It is possible to further arrange less by the gap between magnetic conduction arm 41 and stator 20, and then reduce magnetic force loss, improve control coil 42 and produce the magnetic attraction controlling magnetic field.
Further, control coil 42 produce control magnetic field be perpendicular to the axial of support shaft 13.It is perpendicular to the axial of support shaft 13 by controlling magnetic field, then controls magnetic field vertical magnetic drive field, such that it is able to prevent from controlling influencing each other between magnetic field and driving magnetic field.
Further, on magnetic conduction arm 41, one end of close support shaft 13 is provided with permanent magnet 45.On magnetic conduction arm 41, the one end near support shaft 13 arranges permanent magnet 45, can make to have all the time on magnetic conduction arm 41 magnetic force, then when rotor 30 stops mobile, it is possible to achieve locking action automatically.In the present embodiment, permanent magnet 45 is in sleeve-shaped, and magnetic conduction arm 41 is fixed on permanent magnet 45.
Refer to Fig. 4-Figure 10, when quickly responding linear electric motors 100a power-off of this embodiment, magnetic field B on magnetic conduction arm 41 is split by stator 20 and the permeability magnetic material of the magnetic circuit part of magnetic conduction arm 41 and non-magnet_conductible material in the axial direction, is i.e. split by the magnetic guiding loop 21 of stator 20 and the magnetic conduction sheet 411 of magnetic conduction arm 41.Distance between the permeability magnetic material of stator 20 and magnetic conduction arm 41 is sufficiently small, when i.e. distance between magnetic guiding loop 21 and the magnetic conduction sheet 411 of magnetic conduction arm 41 of stator 20 is sufficiently small, if magnetic guiding loop 21 offsets with the relative axial position of neighbouring magnetic conduction sheet 411, magnetic field B makes on the position being maintained at magnetic resistance minimum of magnetic conduction arm 41 by producing static magnetic force F, this position i.e. Fig. 4 and position shown in dotted lines in Figure 5, distance S of deviation dotted line position and the magnitude relationship of magnetic force F are as shown in Figure 9.S in Fig. 9 and Figure 101And S3Although position active force is 0, but this position is labile state, as long as there are some interference, S in the external world1And S3Position can not keep.And S0、S2、S4These positions are steady statue, as long as being applied to this applied external force quickly responding on linear electric motors 100a less than maximum static magnetic force F, quickly the stator 20 of response linear electric motors 100a will keep this relative position, the most quickly having the function that position keeps automatically after response linear electric motors 100a power-off with rotor 30.
After the control coil 42 of controlling organization 40 is energized, the magnetic field producing magnetic field and permanent magnet 45 is overlapped mutually, the magnetic field that will strengthen or weaken between stator 20 and magnetic conduction arm 41 in whole magnetic circuit.The gap length that superposition magnetic field produces between the relative position between size direction and the size in superposition magnetic field, stator 20 rotor 30 of power, stator 20 magnetic conduction arm 41 is relevant, choose the quickly response length of linear electric motors 100a magnetic circuit part, the size in permanent magnet 45 magnetic field, the number of turn of control coil 42, make the maximum force that superposition magnetic field produces more than the peak load born when quickly responding linear electric motors 100a work.This active force is for controlling quickly to respond position and the speed of linear electric motors 100a axial linear movement.After quickly response linear electric motors 100a structure determines, the external world can be calculated be applied to quickly respond the size of linear electric motors 100a active force according to stator 20 position relative with the rotor 30 deviation distance of magnetic resistance minimum position, the size of control coil 42 electric current time static.Quickly the structure of the magnetic circuit of response linear electric motors 100a stator 20 and rotor 30 and magnetic conduction arm 41 understands, and this quickly responds linear electric motors 100a position accuracy is D21+D22, axial location controls do not have cumulative error.And during producing, by regulation stator 20 and the thickness of magnetic conduction arm 41 magnetic circuit material, i.e. the thickness of the magnetic conduction sheet 411 of the magnetic guiding loop 21 of stator 20 and magnetic conduction arm 41 and shading ring 22 and the thickness of insulating trip 412, meet the axial location control accuracy requirement of quickly response linear electric motors 100a.In order to reach higher control performance, the assemblage gap between stator 20 and magnetic conduction arm 41 requires the least.And when the thickness of stator 20 and magnetic conduction arm 41 and permeability magnetic material and non-magnet_conductible material arranges as far as possible hour, the precision that can make this quick response linear electric motors 100a reaches higher precision, even can reach the precision of 1 μm, certainly, 1 μm is also wanted in gap for 1 μm required precision stator rotor, if otherwise gap is too big, the control moment that control coil produces has almost no change when moving, cause influence on Harmonic Armature, so quickly actual for response linear electric motors 100a motion control accuracy is limited to the gap length between stator and magnetic conduction arm, the thickness being additionally limited to magnetic conduction and non-magnet material limits.
Owing to the direction of winding of control coil 42 and driving coil 32 is spatially mutually perpendicular to, the magnetic field that they produce influences each other low.The heat driving coil 32 and control circuit 50 to produce is dispelled the heat by support frame 31 and the support shaft 13 of rotor 30.This control mode driving coil 32 can provide bigger driving force in a short period of time.
The highest owing to driving coil 32 to control frequency, control coil 42 is due to the reason of own inductance, control frequency relatively low, this control mode quickly responding linear electric motors 100a is: need speed and the position of movement according to rotor, altofrequency controls to drive coil 32 size of current and direction, when rotor 30 moves very fast, displacement is D11+D12Time, active force a period of time deceleration that control coil 42 and stator 20 produce, a period of time acceleration, the effect major part of rotor 30 is offset, at this moment controls speed and the position of motor by controlling driving coil 32.When rotor 30 translational speed is slower, the active force that control coil 32 and stator 20 produce is increasing to the effect of rotor 20, when the momentum of rotor 20 is not enough to offset the momentum that the active force of control coil 32 and stator 20 generation produces, and rotor 30 will be fixed on relevant position.
When the rotor 30 quickly responding linear electric motors 100a needs axial linear movement, if setting the quality quickly responding linear electric motors 100a dragging load as MF, it is F that the external world is applied to quickly respond the active force of linear electric motors 100aW, the conduction interval time T of on-off circuiton, now drive coil 32 to produce big driving electromagnetic force FQDrive quickly response linear electric motors 100a motion, then the relation of these parameters is (FQ-FW)*Ton=MF*ΔVon.Regulated the control magnetic field of stator 20 and magnetic conduction arm 41 simultaneously by control coil 42, control magnetic field and produce electromagnetic force FKThe motion of regulation mover, the velocity variations value that quickly response linear electric motors 100a rotor 30 produces is Δ Von.When quickly response linear electric motors 100a movement velocity is very fast, the distance that quickly the relative position of response linear electric motors 100a stator 20 rotor 30 is often added through one group of magnetic guiding loop 21 and shading ring 22 thickness, FKDirection occur once change, therefore FKThe major part that affects of quickly response linear electric motors 100a velocity variations is offset.After on-off circuit cuts out, coil 32 electric current is driven to start reduce and produce electromagnetic resistance FZ, quickly the rotor 30 of response linear electric motors 100a keeps inertia to continue motion, and taking wherein movement velocity a period of time faster is shut-in time Toff, measure velocity variations value Δ Voff, then the relation of these parameters is (FZ+FW)*Toff=MF*ΔVoff.When quickly response linear electric motors 100a speed is gradually reduced, and quickly the momentum of response linear electric motors 100a is not enough to offset FKOn the impact quickly responding linear electric motors 100a speed, the most quickly response whole directed force F of linear electric motors 100aK-FW-FZThe momentum produced, more than the momentum of quickly response linear electric motors 100a rotor, makes quickly to respond linear electric motors 100a and keeps balance in new position.If T during whole controlonAnd ToffTime is the shortest, and the most quickly the frequency of response linear electric motors 100a driving coil 32 motor control can be the highest, and then the movement velocity quickly responding linear electric motors 100a can be made soft smooth.
After the quickly response linear electric motors 100a structure of the present embodiment and control circuit 50 are fixed, drive electric capacity 55 charging voltage in the control circuit 50 of coil 32, control pulse ON time one timing, driving electromagnetic force F of generationQWith electromagnetic resistance FZSize be also fixing.When quickly response linear electric motors 100a motion, integrating control chip is by electric capacity 55 charging voltage in acquisition control circuit 50 and controls pulse ON time, drives electromagnetic force F when can quickly be responded linear electric motors 100a motionQWith electromagnetic resistance FZSize, i.e. drive electromagnetic force FQWith electromagnetic resistance FZFor known parameters；In conjunction with above-mentioned two equation: (FZ+FW)*Toff=MF*ΔVoff；(FQ-FW)*Ton=MF*ΔVon；And Toff、ΔVoff、TonWith Δ VonAll can immediately arrive at or directly measure, i.e. Toff、ΔVoff、TonWith Δ VonAlso it is known parameters.Thus according to these associated motion parameter data, the external world can be calculated and be applied to quickly respond the size of linear electric motors 100a active force, direction and the load mass the two thinning parameter of quickly response linear electric motors 100a dragging.When quickly response linear electric motors 100a is static, measure stator 20 and rotor 30 deviates the distance of magnetic resistance minimum position, the size of control coil 42 electric current, and then obtain the external world and be applied to quickly respond the size of linear electric motors 100a active force, and this value and the active force that quickly response linear electric motors 100a applies to external world equal.The highest owing to quickly responding the frequency of linear electric motors 100a motor control, every secondary control can calculate the external world in a short period of time and is applied to quickly respond the active force of linear electric motors 100a and quickly responds the size of linear electric motors 100a dragging load quality, adjusts driving electromagnetic force F driving coil 32 in timeQAnd ON time, the F provided additionally, due to control coil 42KStill can be supplied to quickly respond moment bigger for linear electric motors 100a and offset the quality of extraneous dragging load and the impact of the extraneous active force change being applied to quickly respond linear electric motors 100a, the most quickly response linear electric motors 100a whole system can eliminate the mechanical adjustable speed drives such as reductor.This control mode is adapted to the external world and is applied to quickly respond linear electric motors 100a active force and quickly respond the situation that linear electric motors 100a dragging load quality does not stop to change.
Thus according to the structure quickly responding linear electric motors 100a of the present embodiment, the present embodiment also provides for the control method of a kind of quick response linear electric motors 100a, including step: controlling to drive coil 32 by pulse current by control circuit 50, conduction time is Ton, and at TonIn time, according to pulse current size, show that driving coil 32 produces big driving electromagnetic force FQWith measure rotor 30 velocity variations value Δ Von；And draw equation: (FQ-FW)*Ton=MF*ΔVon；
After taking pulse power-off, rotor 30 movement velocity a period of time faster is Toff, show that driving coil 32 electric current produces electromagnetic resistance FZWith measure respective rotor 30 velocity variations value Δ Voff, and draw equation: (FZ+FW)*Toff=MF*ΔVoff；
The mass M quickly responding linear electric motors 100a dragging load is calculated out according to above two equatioiesF, the external world is applied to quickly respond the directed force F of linear electric motors 100aW；
The mass M of the dragging load according to detectionFAnd directed force FW, regulation drives pulse current size and the time of coil 32, and then controls this speed and position quickly responding linear electric motors 100a.Above-mentioned time ToffCan be configured, as being set to tens nanoseconds or a few microsecond etc. according to the precision of detection equipment.
Further, the control method of these linear electric motors drive the control circuit 50 of coil 32 include on-off circuit, the electric capacity 55 at connecting valve circuit two ends and power supply circuits 57.The most above-mentioned take pulse power-off after rotor 30 movement velocity a period of time faster be Toff, can be configured, as being set to tens nanoseconds or a few microsecond etc. according to the precision of detection equipment.In the present embodiment, on-off circuit can be H-bridge circuit.
The present embodiment is also disclosed a kind of integrating control chip, for detecting the mass M of the quickly dragging load of response linear electric motors 100aFApply quickly to respond the directed force F of linear electric motors 100a with the external worldWIncluding controlling to drive the control circuit of coil, detection module, memorizer and processing module, described control circuit includes controlling the on-off circuit of described driving coil, the electric capacity connecting described on-off circuit two ends and the power supply circuits charging described electric capacity, and described detection module measures described electric capacity charging voltage and described on-off circuit ON time TonAnd time TonCorresponding velocity variations value Δ Von, described detection module also measures a period of time T after described on-off circuit cuts outoffCorresponding velocity variations value Δ Voff, and by this time TonAnd ToffAnd Δ VonWith Δ VoffBeing stored in described memorizer, described processing module is according to the ON time T of described on-off circuiton, the charging voltage of described electric capacity, obtain drive electromagnetic force FQAnd electromagnetic resistance FZValue, further according to formula (FQ-FW)*Ton=MF*ΔVonWith (FZ+FW)*Toff=MF*ΔVoffCalculate the mass M of described loadFWith described extraneous applying directed force FW。
Further, integrating control chip can be connected with outer computer or server, controls integrated control chip by computer or server, and then controls linear electric motors 100.
Further, on-off circuit can be H-bridge circuit, with more preferable ON time and the sense of current controlling to drive coil 32, and then can preferably control rotor 30 and shift position and direction.
Further, being additionally provided with temperature detecting module in this integrating control chip, temperature when running with detection of straight lines motor 100, so that this integrating control chip preferably detects driving electromagnetic force FQAnd electromagnetic resistance FZ, and then make the mass M of the described dragging load detectedFWith described extraneous applying directed force FWMore accurate.
Further, when this integrating control chip uses on these linear electric motors 100, it is possible to achieve above-mentioned control method, accurately to control these linear electric motors 100.
Further, can polish or electroplate the inner surface of magnetic guiding loop 21 and the inner surface of shading ring 22, the inner surface of magnetic guiding loop 21 and the inner surface of shading ring 22 is made to cooperatively form grating scale, in support frame 31, offer containing cavity 33, containing cavity 33 is provided with the Grating examinations device coordinating grating scale detection rotor 30 shift position.Using the inner surface of the inner surface of magnetic guiding loop 21 and shading ring 22 as grating scale, simple in construction, and make detecting system volume reduce, and Grating examinations device can detect the position of grating scale, and then accurately control the position of rotor 30.Specifically, choose the inner surface of the magnetic guiding loop 21 of stator 20 and the light reflection parameters of the inner surface of shading ring 22, Grating examinations device sends light to grating scale, through lens focus, a part projects on grating scale, the light being reflected back is after the indication grating and lens focus of Grating examinations device, then is received by optoelectronic position testing circuit, the axially opposing displacement between stator 20 and rotor 30 and the direction of motion is carried out high-resolution and detects in real time.Another part light projects on the position representing absolute location information coding, and the light being reflected back also is received and parsed through out absolute location information by optoelectronic position testing circuit.Integrating control chip or controller can obtain the kinematic parameters such as rotor 30 position, speed, acceleration in real time according to above-mentioned detection data.Further, can in integrating control chip integrated electro position detecting circuit, and only the lens of Grating examinations device are arranged separately in support frame 31.
Grating examinations device can also be connected with controller or integrating control chip, can arrange optoelectronic position testing circuit in integrating control chip, such that it is able to detected the kinematic parameters such as rotor 30 position, speed, acceleration in real time by integrating control chip.In other embodiments, it is also possible at the inner surface pad pasting of stator 20, the inner surface of magnetic guiding loop 21 and the inner surface of shading ring 22 is made to cooperatively form grating scale.
Further, the quickly response linear electric motors 100a of the present embodiment can use above-mentioned integrating control chip.
Other structure of the quickly response linear electric motors 100a of the present embodiment is identical with other structure of the quickly response linear electric motors of embodiment one, the most burdensome at this.
Embodiment three:
Referring to Figure 11 and Figure 12, the quickly response linear electric motors 100b of the present embodiment is distinguished as with the quickly response linear electric motors of embodiment one: being inwardly convexly equipped with some first double wedges 23 on each magnetic guiding loop 21, these first double wedges 23 are evenly distributed on each magnetic guiding loop 21；Magnetic conduction arm 41 is convexly equipped with some second double wedges 416 away from one end 415 of support shaft 13；Radial direction along stator 20: the spacing of adjacent two first double wedges 23 is equal with the spacing of adjacent two second double wedges 416.Each magnetic guiding loop 21 arranges the first double wedge 23, magnetic conduction arm 41 arranges the second double wedge 416, the function of motor can be formed, by the suction between the first double wedge 23 and the second neighbouring double wedge 416, can automatically adjust the radial position of rotor 30.This quickly responds linear electric motors 100 and is possible not only to realize linear motion, it is also possible to realize the rotational motion of motor.
Further, the position each shading ring 22 corresponding to the first double wedge 23 is also convexly equipped with isolation tooth.Isolation tooth is set and can increase the intensity of the first double wedge 23.
It addition, the controlling organization 40 of the quickly response linear electric motors 100b of the present embodiment includes three pairs of magnetic conduction arms 41.
Other structure of the quickly response linear electric motors 100b of the present embodiment is identical with other structure of the quickly response linear electric motors of embodiment two, the most burdensome at this.
Intelligent machine refers to that computer can control the device of machinery position relatively by controlling bus.In general, intelligent machine also wants that cube is little, multiaxis multi-joint multiple degrees of freedom, motion response speed fast, it is big to bear load and load variations fast, the control accuracy of locus requires height.Intelligent machine includes that various bionic mechanical, Digit Control Machine Tool, automatization produce line and can substitute mankind's physical work or complete the device of difference in functionality, such as mechanical hand, operating robot, service robot etc..The function needed due to intelligent machine is complicated, so the freedom of motion needed is many.And quick response linear electric motors 100 of the present utility model can accomplish miniaturization, by driving coil 32 by big pulse current, produce bigger magnetic field, such that it is able to provide bigger power, thus multiple quick response linear electric motors 100 can be installed under same volume so that freedom of motion is more.It addition, this quickly responds linear electric motors 100 can also quickly detect the change of load, to realize quickly response and control.And relative to existing linear electric motors and AC/DC motor degree of freedom control system, linear electric motors of the present utility model can remove the use of reductor.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all any amendment, equivalent and improvement etc. made within spirit of the present utility model and principle, within should be included in protection domain of the present utility model.
Claims (7)
1. quick response linear electric motors, the stator including casing, being installed in described casing, peace of sliding
The rotor being loaded in described stator and the support shaft of the described rotor of support, described support shaft is installed on described casing
In, it is characterised in that described stator includes the conductive sleeve using conductive material to make, and described rotor includes peace
It is loaded on the support frame in described support shaft and for producing the driving coil of driving magnetic field, described driving magnetic field
Axial along described support shaft, described driving coil is wound on described support frame.
2. quickly respond linear electric motors as claimed in claim 1, it is characterised in that described casing is installed
Axle sleeve, described axle sleeve is had to be set in described support shaft.
3. quickly respond linear electric motors as claimed in claim 1, it is characterised in that in described support frame
It is further opened with containing cavity.
4. as described in any one of claim 1-3, quickly respond linear electric motors, it is characterised in that also include
For controlling the controlling organization of described rotor-position, described controlling organization includes being connected with described support frame
Magnetic conduction arm and the control coil being wound on magnetic conduction arm, it is some that the conductive sleeve of described stator includes for magnetic conduction
Magnetic guiding loop and for conduction non-magnetic some shading rings, and described magnetic guiding loop and described shading ring alternating layer
Folded setting.
5. quickly respond linear electric motors as claimed in claim 4, it is characterised in that described magnetic conduction arm includes
Along some magnetic conduction sheets of axially stacked setting of described support shaft with isolate the some of magnetic conduction sheet described in adjacent two panels
Insulating trip.
6. quickly respond linear electric motors as claimed in claim 5, it is characterised in that adjacent is a piece of described
Magnetic conduction sheet and the thickness sum of a piece of described insulating trip and adjacent a piece of described magnetic guiding loop and a piece of described isolation
The thickness sum of ring is equal.
7. quickly respond linear electric motors as claimed in claim 4, it is characterised in that described magnetic conduction arm is paired
Arranging, and described magnetic conduction arm is at least one pair of, two described magnetic conduction arms of every pair are respectively arranged on described support shaft
Opposite sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620138969.XU CN205509828U (en) | 2016-02-24 | 2016-02-24 | Quick response linear electric motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620138969.XU CN205509828U (en) | 2016-02-24 | 2016-02-24 | Quick response linear electric motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205509828U true CN205509828U (en) | 2016-08-24 |
Family
ID=56724823
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620138969.XU Withdrawn - After Issue CN205509828U (en) | 2016-02-24 | 2016-02-24 | Quick response linear electric motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205509828U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105591519A (en) * | 2016-02-24 | 2016-05-18 | 刘华 | Quick response linear motor, control method thereof, and integrated control chip |
| CN113021156A (en) * | 2021-04-23 | 2021-06-25 | 深圳市泰道精密机电有限公司 | Production device for surface rotor of permanent magnet motor |
-
2016
- 2016-02-24 CN CN201620138969.XU patent/CN205509828U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105591519A (en) * | 2016-02-24 | 2016-05-18 | 刘华 | Quick response linear motor, control method thereof, and integrated control chip |
| CN105591519B (en) * | 2016-02-24 | 2017-11-24 | 刘华 | Quick response linear electric motors and control method and integrated control chip |
| CN113021156A (en) * | 2021-04-23 | 2021-06-25 | 深圳市泰道精密机电有限公司 | Production device for surface rotor of permanent magnet motor |
| CN113021156B (en) * | 2021-04-23 | 2022-08-23 | 深圳市泰道精密机电有限公司 | Production device for surface rotor of permanent magnet motor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Cao et al. | Speed control of complementary and modular linear flux-switching permanent-magnet motor | |
| US5440183A (en) | Electromagnetic apparatus for producing linear motion | |
| Huang et al. | Detent force, thrust, and normal force of the short-primary double-sided permanent magnet linear synchronous motor with slot-shift structure | |
| Baoming et al. | Design of transverse flux linear switched reluctance motor | |
| Smadi et al. | Development, analysis, and experimental realization of a direct-drive helical motor | |
| CN101557184B (en) | Magnetic suspension spherical electromotor system | |
| Bhatia et al. | Six-stator spherical induction motor for balancing mobile robots | |
| Li et al. | Design optimization of air-cored PMLSM with overlapping windings by multiple population genetic algorithm | |
| CN205509831U (en) | Linear motor | |
| CN111213307A (en) | Permanent magnet motor with passively controlled variable rotor/stator alignment | |
| JP2014241725A (en) | Bearingless motor | |
| CN205509828U (en) | Quick response linear electric motor | |
| CN205509829U (en) | Stroke controlling means and linear electric motor | |
| CN105591519B (en) | Quick response linear electric motors and control method and integrated control chip | |
| CN105591520B (en) | Linear electric motors and integrated control chip | |
| Li et al. | Analysis and restraining of eddy current damping effects in rotary voice coil actuators | |
| Henzel et al. | 711. The analysis of the control system for the bearingless induction electric motor | |
| CN105610297B (en) | Travel control device and linear motor | |
| CN102694454A (en) | Displacement control mode of rotor of direct-drive switched-reluctance planar motor | |
| Dursun et al. | Velocity control of linear switched reluctance motor for prototype elevator load | |
| JPS6030195B2 (en) | straight electric machine | |
| CN107885036A (en) | Sports platform drive device | |
| KR20010044157A (en) | Brushless, coil core type linear motor and linear motion apparatus having the same | |
| CN106026609B (en) | A kind of voice coil motor | |
| Irimia et al. | A comparative study of different BLDC motor construction types used in automotive industry under specific command strategies |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160824 Effective date of abandoning: 20171124 |
|
| AV01 | Patent right actively abandoned |