WO2021109293A1 - Linear electric motor - Google Patents

Linear electric motor Download PDF

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Publication number
WO2021109293A1
WO2021109293A1 PCT/CN2019/129086 CN2019129086W WO2021109293A1 WO 2021109293 A1 WO2021109293 A1 WO 2021109293A1 CN 2019129086 W CN2019129086 W CN 2019129086W WO 2021109293 A1 WO2021109293 A1 WO 2021109293A1
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WO
WIPO (PCT)
Prior art keywords
linear
track
linear track
rotating
magnetic
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PCT/CN2019/129086
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French (fr)
Chinese (zh)
Inventor
刘元江
周健豪
孙颖
周忠厚
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歌尔股份有限公司
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Publication of WO2021109293A1 publication Critical patent/WO2021109293A1/en

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors

Definitions

  • the present invention relates to the technical field of electrical equipment, and more specifically, to a linear motor.
  • a linear motor is a transmission device that directly converts electrical energy into linear motion mechanical energy and does not require any intermediate conversion mechanism.
  • Linear motors have the characteristics of fast response speed, high precision, small size, light weight, less wear, low noise, convenient maintenance, and high-frequency and high-speed movement. Linear motors are widely used in precision control systems, and their application scope is still growing. In recent years, linear motors have increasingly exerted their unique advantages in conveying and handling various materials.
  • the track in the linear motor is usually designed as a ring track, but the processing technology of the ring track is more complicated, which leads to a higher production cost of the linear track.
  • the mover of the linear motor is generally rectangular, its running accuracy will be reduced when the mover makes a circular arc.
  • An object of the present invention is to provide a new technical solution for the linear motor.
  • a linear motor including:
  • a first linear track and a second linear track, the first linear track and the second linear track are arranged opposite to each other in parallel;
  • Stator coils a plurality of stator coils are fixedly arranged on the first linear track and the second linear track;
  • a magnetic moving subassembly a plurality of magnetic moving subassemblies are slidably arranged on the first linear track and the second linear track, and the magnetic moving subassembly is connected to the first linear track along the first linear track under the action of the magnetic field force of the stator coil.
  • the second straight track moves cyclically;
  • the two rotating mechanisms are respectively located at the two ends of the first linear track and the second linear track; one of the rotating mechanisms is configured to remove the magnetic subassembly from The first linear track is rotationally moved to the second linear track, and the other rotation mechanism is configured to rotationally move the magnetic subassembly from the second linear track to the first linear track.
  • the rotating mechanism includes a rotating electric machine, a rotating shaft, and a track assembly, one end of the rotating shaft is connected to the output shaft of the rotating electric machine, the track assembly is fixedly arranged on the rotating shaft, and the track assembly is configured to Used to carry the magnetic subassembly, the track assembly follows the rotating shaft to rotate from the first linear track to the second linear track, or from the second linear track to the first linear track under the drive of the rotating motor Place.
  • the track assembly includes a third linear track fixedly connected to the rotating shaft and a stator coil fixedly arranged on the third linear track.
  • the magnetic moving subassembly includes a moving trolley and a magnet fixedly arranged at the bottom of the moving trolley, and the magnet drives the moving trolley to circulate along the first linear track and the second linear track under the action of the magnetic field force of the stator coil. mobile.
  • the first linear track and the second linear track both include two linear guide rails arranged opposite to each other in parallel, and at least one of the two linear guide rails is a V-shaped guide rail with a V-shaped cross section;
  • the bottom of the moving trolley is provided with two sets of rollers, the two sets of rollers are respectively connected with two linear guide rails, and the rollers of the two sets of rollers that are matched with the V-shaped guide rail are V-shaped rollers.
  • each of the stator coils is connected with a Hall sensor for positioning the magnetic moving subassembly.
  • a protective fence is provided on the outer side of each rotation mechanism.
  • the linear motor further includes a frame, and the first linear track, the second linear track, and the rotating mechanism are all arranged on the frame.
  • the frame includes a base and a support body, the support body is arranged on the upper surface of the base, and the first linear track and the second linear track are fixedly arranged on the support body.
  • first linear track and the second linear track are fixedly arranged on the side surface of the support body in a vertical posture.
  • the linear motor provided by the present invention replaces the arc-shaped track by a rotating mechanism, and the track only adopts a linear track, which reduces the processing difficulty of the entire track, thereby saving production costs.
  • Figure 1 shows a schematic diagram of the structure of a linear motor of the present invention
  • Figure 2 is a schematic diagram of the structure of a rotating mechanism in a linear motor of the present invention
  • Figure 3 is a schematic diagram of the structure of a magnetic subassembly in a linear motor of the present invention
  • Fig. 4 is a schematic diagram of a partial structure of a linear motor of the present invention.
  • a linear motor which includes:
  • the first linear track 1 and the second linear track (disposed on the opposite side of the first linear track 1, not shown in the figure), the first linear track 1 and the second linear track
  • the linear motor further includes a stator coil 2, a magnetic moving subassembly 3, and a rotating mechanism 4.
  • a plurality of stator coils 2 are fixedly arranged on the first linear track 1 and the second linear track; the first A plurality of magnetic moving subassemblies 3 are slidably arranged on the linear track 1 and the second linear track.
  • the magnetic moving subassemblies 3 follow the first linear track 1 and the second linear track under the action of the magnetic field force of the stator coil 2.
  • the rotating mechanism 4 is provided with two, the two rotating mechanisms 4 are respectively located at the two ends of the first linear track 1 and the second linear track; one of the rotating mechanism 4 is configured to magnetic The moving subassembly 3 rotates from the first linear track 1 to the second linear track, and the other rotating mechanism 4 is configured to rotate the magnetic moving subassembly 3 from the second linear track to 1 first straight track.
  • the linear motor provided by the embodiment of the present invention is a moving magnet linear motor, and its coil is fixed as a stator. After the stator coil 2 is energized, a magnetic field is generated, and the magnetic subassembly 3 is subjected to the action of the magnetic field to move cyclically along the first linear track 1 and the second linear track.
  • two arc tracks are used to connect the two linear tracks at both ends of the first linear track 1 and the second linear track. Because the processing technology of the arc track is relatively complicated, the entire track The production cost is higher.
  • the magnetic moving subassembly 3 is generally rectangular, the operation accuracy of the magnetic moving subassembly 3 when turning and moving on a circular arc track will be reduced.
  • two rotating mechanisms 4 are used to connect the first linear track 1 and the second linear track at both ends, and one of the rotating mechanisms 4 is responsible for connecting from the first linear track 1.
  • the magnetic moving subassembly 3, and then the magnetic moving subassembly 3 follows the rotating mechanism 4 to rotate from the first linear track 1 to the second linear track, so as to realize the magnetic moving subassembly 3 from the first linear track 1 to the second linear track. The movement of the track.
  • Another rotating mechanism 4 is responsible for connecting the magnetic subassembly 3 from the second linear track, and then the magnetic subassembly 3 follows the rotating mechanism 4 to rotate from the second linear track to the first linear track 1 to achieve magnetic motion The movement of the subassembly 3 from the second linear track to the first linear track 1.
  • the arc-shaped track is replaced by the rotating mechanism 4, and the track only adopts a linear track, which reduces the difficulty of processing the entire track, thereby saving production costs; and avoiding the magnetic mover assembly 3 in The problem of reduced running accuracy when turning and moving on a circular orbit.
  • the rotating mechanism 4 includes a rotating electric machine 41, a rotating shaft 42, and a track assembly.
  • One end of the rotating shaft 42 is connected to the output shaft of the rotating electric machine 41, and the track assembly is fixed.
  • the track assembly is arranged on the rotating shaft 42, and the track assembly is configured to carry the magnetic subassembly 3.
  • the track assembly follows the rotating shaft 42 to rotate from the first linear track 1 to the second under the drive of the rotating motor 41. On the linear track, or rotate from the second linear track to the first linear track 1.
  • the output shaft of the rotating electric machine 41 rotates while driving the rotating shaft 42 connected thereto to rotate, and the rotating shaft 42 rotates while driving the track assembly fixedly connected thereon to rotate together.
  • One of the track assemblies first follows the rotating shaft 42 to rotate from the first linear track 1 to the second linear track under the drive of the rotating motor 41, and the magnetic subassembly 3 carried on the track assembly moves from the first linear track. 1 moves to the second linear track, and then the track assembly follows the rotating shaft 42 and reverses back to the first linear track 1 under the drive of the rotating motor 41 to welcome the next magnetic moving subassembly 3.
  • Another track assembly first follows the rotating shaft 42 to rotate from the second linear track to the first linear track 1 under the drive of the rotating motor 41, and the magnetic subassembly 3 carried on the track assembly moves from the second linear track. Move to the first linear track 1, and then the track assembly follows the rotating shaft 42 and reverses back to the second linear track under the drive of the rotating motor 41 to welcome the next magnetic moving subassembly 3.
  • the forward and reverse rotation of the rotating motor 41 is controlled by a driver, and the driver can be a driver commonly used in the field, which is not specifically limited in the present invention.
  • the track assembly includes a third linear track 43 fixedly connected to the rotating shaft 42 and a stator coil 2 fixedly arranged on the third linear track 43.
  • a connecting arm 44 can be vertically connected to the rotating shaft 42 first, one end of the connecting arm 44 is fixedly connected to the middle of the rotating shaft 42, and then the third linear rail 43 is fixedly installed at the other end of the connecting arm 44 At least one stator coil 2 is fixedly arranged on the third linear track 43.
  • a section of linear track with the same structure as the first linear track 1/second linear track is installed on the connecting arm 44 to form a third linear track.
  • the third linear track 43 rotates following the rotating shaft 42 to a position where the first linear track 1/the second linear track butts to pick up and drop the magnetic subassembly 3.
  • the magnetic moving subassembly 3 includes a moving trolley 31 and a magnet 32 fixedly arranged at the bottom of the moving trolley 31, and the magnet 32 is driven by the magnetic field force of the stator coil 2
  • the moving trolley 31 circulates along the first linear track 1 and the second linear track.
  • the stator coil 2 After the stator coil 2 is energized, a magnetic field is generated, and the magnet 32 is actuated by the magnetic field to drive the moving trolley 31 to cyclically move along the first linear track 1 and the second linear track. Since the coil generates heat after being energized, if the coil is used as the mover to drive the moving trolley 31, the heat emitted by the coil will adversely affect the moving trolley 31 and the materials carried on the moving trolley 31.
  • the coil is used as the stator and the magnet 32 is used as the stator. The mover can avoid this technical problem.
  • the first linear track 1 and the second linear track both include two parallel and opposite linear guides, at least one of the two linear guides It is a V-shaped guide rail 101 with a V-shaped cross section; the bottom of the moving trolley 31 is provided with two sets of rollers, and the two sets of rollers are respectively connected with two linear guide rails, and the two sets of rollers are connected to the V-shaped guide rail 101.
  • the matching roller is a V-shaped roller 310.
  • the two linear guides are both V-shaped guide rails 101
  • the two sets of rollers provided at the bottom of the moving trolley 31 are also V-shaped rollers 310; if one of the two linear guides is a V-shaped guide rail 101 and the other is a flat guide rail 102 ,
  • the two sets of rollers provided at the bottom of the moving trolley 31 correspond to the V-shaped guide rail 101 as the V-shaped roller 310, and the corresponding to the flat guide rail 102 is the flat roller 320.
  • the reason why at least one of the two linear guide rails is set as the V-shaped guide rail 101 is that the V-shaped guide rail 101 is closely connected with the V-shaped roller 310, which can effectively prevent the moving trolley 31 from derailing during operation.
  • the two linear guide rails are both set as the V-shaped guide rail 101, the cooperation between the moving trolley 31 and the linear guide rail is more firm and stable, but because the V-shaped guide rail 101 and the V-shaped roller 310 are more difficult to process than the flat guide rail 102 and the flat roller 320 is much larger, so this will greatly increase manufacturing costs. Therefore, a more preferable solution is to design one of the linear guide rails as a V-shaped guide rail 101 and the other as a flat guide rail 102.
  • each of the stator coils 2 is connected with a Hall sensor 5 for positioning the magnetic subassembly 3.
  • the Hall sensor 5 is used to determine the traveling position of the trolley.
  • a Hall sensor 5 can be connected to both ends of each stator coil 2 to more accurately monitor the moving position of the moving trolley 31.
  • a guard rail 6 is provided on the outer side of each rotation mechanism 4.
  • the setting of the protective fence 6 can protect the sports trolley 31 and prevent the sports trolley 31 from falling or throwing out when following the rotating mechanism 4 to make a rotating motion.
  • the linear motor further includes a frame 7, and the first linear track 1, the second linear track, and the rotating mechanism 4 are all arranged on the frame 7.
  • the frame 7 is used to fix and support the rest of the linear motor, so that the entire linear motor is more stable and reliable.
  • the frame 7 includes a base 71 and a supporting body 72.
  • the supporting body 72 is arranged on the upper surface of the base 71, and the first linear track 1 and the second linear track are fixedly arranged on the support. ⁇ 72 ⁇ Body 72.
  • the supporting body 72 can be arranged at the middle position of the upper surface of the frame 7, the two rotating mechanisms 4 are respectively located on both sides of the supporting body 72, and the first linear track 1 and the second linear track are fixed on the supporting body. 72 on.
  • first linear track 1 and the second linear track are fixed on the side surface of the support 72 in a vertical posture.
  • first linear track 1 and the second linear track in a vertical posture can save floor space compared to a horizontal setting.
  • the upper linear guide rail in the first linear track 1 and the second linear track is the V-shaped guide rail 101
  • the corresponding roller of the moving trolley 31 is the V-shaped roller 310
  • the linear guide at the lower part of the linear track 1 and the second linear track is set as a flat guide 102
  • the roller of the corresponding moving trolley 31 is a flat roller 320. Since the moving trolley 31 is affected by its own gravity, its center of gravity is relatively lower. Therefore, setting the upper linear guide rails in the first linear track 1 and the second linear track as the V-shaped guide rail 101 can more effectively ensure the moving trolley 31 The tightness of matching with the linear guide.
  • Screw holes can be opened on the sports trolley 31 to fix the tooling or materials to be transported by screws; a handle can also be provided on the sports trolley 31 to facilitate the taking and placing of the sports trolley 31.

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

Abstract

A linear electric motor. The linear electric motor comprises a first linear rail (1) and a second linear rail, wherein the first linear rail (1) and the second linear rail are arranged opposite each other in parallel. The linear electric motor further comprises stator coils (2), magnetic rotor assemblies (3) and rotating mechanisms (4). A plurality of stator coils (2) are fixedly arranged on the first linear rail (1) and the second linear rail. A plurality of magnetic rotor assemblies (3) are arranged in a sliding manner on the first linear rail (1) and the second linear rail. The magnetic rotor assemblies (3) move in a circular manner along the first linear rail (1) and the second linear rail under the action of a magnetic field force of the stator coils (2). Two rotating mechanisms (4) are provided, and the two rotating mechanisms (4) are respectively located at two ends of the first linear rail (1) and the second linear rail, wherein one rotating mechanism (4) is configured to rotationally move the magnetic rotor assembly (3) from the first linear rail (3) to the second linear rail, and the other rotating mechanism (4) is configured to rotationally move the magnetic rotor assembly (3) from the second linear rail to the first linear rail (1).

Description

一种直线电机A linear motor 技术领域Technical field
本发明涉及电机设备技术领域，更具体地，涉及一种直线电机。The present invention relates to the technical field of electrical equipment, and more specifically, to a linear motor.
背景技术Background technique
直线电机是一种将电能直接转换成直线运动机械能并且不需要借助任何中间转换机构的传动装置。直线电机具有响应速度快、精度高、体积小、重量轻、磨损少、噪音低、维护方便、可实现高频高速运动等特点，直线电机广泛应用于精密控制***中，并且其应用范围还在不断扩大。近年来，直线电机在各种物料输送和搬运方面越来越发挥出独特的优势。A linear motor is a transmission device that directly converts electrical energy into linear motion mechanical energy and does not require any intermediate conversion mechanism. Linear motors have the characteristics of fast response speed, high precision, small size, light weight, less wear, low noise, convenient maintenance, and high-frequency and high-speed movement. Linear motors are widely used in precision control systems, and their application scope is still growing. In recent years, linear motors have increasingly exerted their unique advantages in conveying and handling various materials.
一般在利用直线电机进行物料的输送和搬运时，通常会将直线电机中的轨道设计为环形轨道，但是环形轨道的加工工艺比较复杂，从而导致直线轨道的生产成本较高。并且由于直线电机的动子一般为矩形状，因此动子在进行圆弧转弯时其运行精度会降低。Generally, when a linear motor is used for conveying and handling materials, the track in the linear motor is usually designed as a ring track, but the processing technology of the ring track is more complicated, which leads to a higher production cost of the linear track. Moreover, since the mover of the linear motor is generally rectangular, its running accuracy will be reduced when the mover makes a circular arc.
有鉴于此，需要提供一种新的技术方案以解决上述技术问题。In view of this, it is necessary to provide a new technical solution to solve the above technical problems.
发明内容Summary of the invention
本发明的一个目的是提供一种直线电机的新技术方案。An object of the present invention is to provide a new technical solution for the linear motor.
根据本发明的第一方面，提供了一种直线电机，包括：According to the first aspect of the present invention, there is provided a linear motor, including:
第一直线轨道及第二直线轨道，所述第一直线轨道与第二直线轨道平行相对设置；A first linear track and a second linear track, the first linear track and the second linear track are arranged opposite to each other in parallel;
定子线圈，所述第一直线轨道及第二直线轨道上固定设置有多个定子线圈；Stator coils, a plurality of stator coils are fixedly arranged on the first linear track and the second linear track;
磁动子组件，所述第一直线轨道及第二直线轨道上滑动设置有多个磁 动子组件，所述磁动子组件在定子线圈的磁场力的作用下沿第一直线轨道与第二直线轨道循环移动；A magnetic moving subassembly, a plurality of magnetic moving subassemblies are slidably arranged on the first linear track and the second linear track, and the magnetic moving subassembly is connected to the first linear track along the first linear track under the action of the magnetic field force of the stator coil. The second straight track moves cyclically;
旋转机构，所述旋转机构设置两个，两个所述旋转机构分别位于第一直线轨道及第二直线轨道的两端位置处；其中一个所述旋转机构被配置为将磁动子组件从所述第一直线轨道处旋转移动至第二直线轨道处，另一个所述旋转机构被配置为将磁动子组件从所述第二直线轨道处旋转移动至第一直线轨道处。There are two rotating mechanisms, the two rotating mechanisms are respectively located at the two ends of the first linear track and the second linear track; one of the rotating mechanisms is configured to remove the magnetic subassembly from The first linear track is rotationally moved to the second linear track, and the other rotation mechanism is configured to rotationally move the magnetic subassembly from the second linear track to the first linear track.
可选地，所述旋转机构包括旋转电机、旋转轴及轨道组件，所述旋转轴的一端与旋转电机的输出轴连接，所述轨道组件固定设置在旋转轴上，所述轨道组件被配置为用于承载磁动子组件，所述轨道组件跟随旋转轴在旋转电机的带动下从第一直线轨道处旋转至第二直线轨道处，或者从第二直线轨道处旋转至第一直线轨道处。Optionally, the rotating mechanism includes a rotating electric machine, a rotating shaft, and a track assembly, one end of the rotating shaft is connected to the output shaft of the rotating electric machine, the track assembly is fixedly arranged on the rotating shaft, and the track assembly is configured to Used to carry the magnetic subassembly, the track assembly follows the rotating shaft to rotate from the first linear track to the second linear track, or from the second linear track to the first linear track under the drive of the rotating motor Place.
可选地，所述轨道组件包括固定连接在旋转轴上的第三直线轨道及固定设置在第三直线轨道上的定子线圈。Optionally, the track assembly includes a third linear track fixedly connected to the rotating shaft and a stator coil fixedly arranged on the third linear track.
可选地，所述磁动子组件包括运动小车及固定设置在运动小车底部的磁铁，所述磁铁在定子线圈的磁场力的作用下带动运动小车沿第一直线轨道与第二直线轨道循环移动。Optionally, the magnetic moving subassembly includes a moving trolley and a magnet fixedly arranged at the bottom of the moving trolley, and the magnet drives the moving trolley to circulate along the first linear track and the second linear track under the action of the magnetic field force of the stator coil. mobile.
可选地，所述第一直线轨道及第二直线轨道均包括平行相对设置的两条直线导轨，所述两条直线导轨中至少一条直线导轨是截面为V字型的V型导轨；所述运动小车的底部设置有两组滚轮，所述两组滚轮分别与两条直线导轨配合连接，所述两组滚轮中与V型导轨相配合连接的滚轮为V型滚轮。Optionally, the first linear track and the second linear track both include two linear guide rails arranged opposite to each other in parallel, and at least one of the two linear guide rails is a V-shaped guide rail with a V-shaped cross section; The bottom of the moving trolley is provided with two sets of rollers, the two sets of rollers are respectively connected with two linear guide rails, and the rollers of the two sets of rollers that are matched with the V-shaped guide rail are V-shaped rollers.
可选地，每个所述定子线圈均连接有用于定位磁动子组件的霍尔传感器。Optionally, each of the stator coils is connected with a Hall sensor for positioning the magnetic moving subassembly.
可选地，每个所述旋转机构的外侧均设置有防护栏。Optionally, a protective fence is provided on the outer side of each rotation mechanism.
可选地，所述直线电机还包括机架，所述第一直线轨道、第二直线轨 道及旋转机构均设置在机架上。Optionally, the linear motor further includes a frame, and the first linear track, the second linear track, and the rotating mechanism are all arranged on the frame.
可选地，所述机架包括底座及支撑体，所述支撑体设置在底座的上表面处，所述第一直线轨道及第二直线轨道固定设置在支撑体上。Optionally, the frame includes a base and a support body, the support body is arranged on the upper surface of the base, and the first linear track and the second linear track are fixedly arranged on the support body.
可选地，所述第一直线轨道及第二直线轨道呈竖直的姿态固定设置在支撑体的侧面。Optionally, the first linear track and the second linear track are fixedly arranged on the side surface of the support body in a vertical posture.
本发明提供的一种直线电机，通过旋转机构替代圆弧形轨道，轨道只采用直线型的轨道，降低了整个轨道的加工难度，从而节省了生产成本。The linear motor provided by the present invention replaces the arc-shaped track by a rotating mechanism, and the track only adopts a linear track, which reduces the processing difficulty of the entire track, thereby saving production costs.
通过以下参照附图对本发明的示例性实施例的详细描述，本发明的其它特征及其优点将会变得清楚。Through the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings, other features and advantages of the present invention will become clear.
附图说明Description of the drawings
被结合在说明书中并构成说明书的一部分的附图示出了本发明的实施例，并且连同其说明一起用于解释本发明的原理。The drawings incorporated in the specification and constituting a part of the specification illustrate the embodiments of the present invention, and together with the description are used to explain the principle of the present invention.
图1所示为本发明一种直线电机的结构示意图；Figure 1 shows a schematic diagram of the structure of a linear motor of the present invention;
图2所示为本发明一种直线电机中旋转机构的结构示意图；Figure 2 is a schematic diagram of the structure of a rotating mechanism in a linear motor of the present invention;
图3所示为本发明一种直线电机中磁动子组件的结构示意图；Figure 3 is a schematic diagram of the structure of a magnetic subassembly in a linear motor of the present invention;
图4所示为本发明一种直线电机的局部结构示意图。Fig. 4 is a schematic diagram of a partial structure of a linear motor of the present invention.
具体实施方式Detailed ways
现在将参照附图来详细描述本发明的各种示例性实施例。应注意到：除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本发明的范围。Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that unless specifically stated otherwise, the relative arrangement of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention.
以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本发明及其应用或使用的任何限制。The following description of at least one exemplary embodiment is actually only illustrative, and in no way serves as any limitation to the present invention and its application or use.
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为说明书的一部分。The technologies, methods, and equipment known to those of ordinary skill in the relevant fields may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be regarded as part of the specification.
在这里示出和讨论的所有例子中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它例子可以具有不同的值。In all examples shown and discussed herein, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiment may have different values.
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。It should be noted that similar reference numerals and letters indicate similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further discussed in the subsequent drawings.
根据本发明的一个实施例，提供了一种直线电机，其包括：According to an embodiment of the present invention, a linear motor is provided, which includes:
参考图1所示，第一直线轨道1及第二直线轨道(设置在第一直线轨道1的对侧，图中未示出)，所述第一直线轨道1与第二直线轨道平行相对设置；该直线电机还包括定子线圈2、磁动子组件3及旋转机构4，所述第一直线轨道1及第二直线轨道上固定设置有多个定子线圈2；所述第一直线轨道1及第二直线轨道上滑动设置有多个磁动子组件3，所述磁动子组件3在定子线圈2的磁场力的作用下沿第一直线轨道1与第二直线轨道循环移动；所述旋转机构4设置两个，两个所述旋转机构4分别位于第一直线轨道1及第二直线轨道的两端位置处；其中一个所述旋转机构4被配置为将磁动子组件3从所述第一直线轨道1处旋转移动至第二直线轨道处，另一个所述旋转机构4被配置为将磁动子组件3从所述第二直线轨道处旋转移动至第一直线轨道1处。Referring to FIG. 1, the first linear track 1 and the second linear track (disposed on the opposite side of the first linear track 1, not shown in the figure), the first linear track 1 and the second linear track The linear motor further includes a stator coil 2, a magnetic moving subassembly 3, and a rotating mechanism 4. A plurality of stator coils 2 are fixedly arranged on the first linear track 1 and the second linear track; the first A plurality of magnetic moving subassemblies 3 are slidably arranged on the linear track 1 and the second linear track. The magnetic moving subassemblies 3 follow the first linear track 1 and the second linear track under the action of the magnetic field force of the stator coil 2. Cyclic movement; the rotating mechanism 4 is provided with two, the two rotating mechanisms 4 are respectively located at the two ends of the first linear track 1 and the second linear track; one of the rotating mechanism 4 is configured to magnetic The moving subassembly 3 rotates from the first linear track 1 to the second linear track, and the other rotating mechanism 4 is configured to rotate the magnetic moving subassembly 3 from the second linear track to 1 first straight track.
本发明实施例提供的直线电机为动磁式直线电机，其线圈作为定子固定不动。定子线圈2通电后产生磁场，磁动子组件3受到磁场的作用沿第一直线轨道1与第二直线轨道循环移动。现有技术中，在第一直线轨道1及第二直线轨道的两端处衔接两个直线轨道所采用的是两段圆弧轨道，由于圆弧轨道的加工工艺比较复杂，因此整个轨道的生产成本较高。并且由于磁动子组件3一般为矩形状，因此磁动子组件3在圆弧轨道上进行转弯移动时其运行的精度会降低。在本发明的直线电机中，采用两个旋转机构4对第一直线轨道1及第二直线轨道在两端位置处进行衔接，其中一个旋 转机构4负责从第一直线轨道1处接上磁动子组件3，然后磁动子组件3跟随该旋转机构4从第一直线轨道1处旋转至第二直线轨道处，实现磁动子组件3从第一直线轨道1至第二直线轨道的移动。另外一个旋转机构4负责从第二直线轨道处接上磁动子组件3，然后磁动子组件3跟随该旋转机构4从第二直线轨道处旋转至第一直线轨道1处，实现磁动子组件3从第二直线轨道至第一直线轨道1的移动。本发明实施例提供的直线电机，通过旋转机构4替代圆弧形轨道，轨道只采用直线型的轨道，降低了整个轨道的加工难度，从而节省了生产成本；并且避免了磁动子组件3在圆弧轨道上进行转弯移动时运行精度降低的问题。The linear motor provided by the embodiment of the present invention is a moving magnet linear motor, and its coil is fixed as a stator. After the stator coil 2 is energized, a magnetic field is generated, and the magnetic subassembly 3 is subjected to the action of the magnetic field to move cyclically along the first linear track 1 and the second linear track. In the prior art, two arc tracks are used to connect the two linear tracks at both ends of the first linear track 1 and the second linear track. Because the processing technology of the arc track is relatively complicated, the entire track The production cost is higher. In addition, since the magnetic moving subassembly 3 is generally rectangular, the operation accuracy of the magnetic moving subassembly 3 when turning and moving on a circular arc track will be reduced. In the linear motor of the present invention, two rotating mechanisms 4 are used to connect the first linear track 1 and the second linear track at both ends, and one of the rotating mechanisms 4 is responsible for connecting from the first linear track 1. The magnetic moving subassembly 3, and then the magnetic moving subassembly 3 follows the rotating mechanism 4 to rotate from the first linear track 1 to the second linear track, so as to realize the magnetic moving subassembly 3 from the first linear track 1 to the second linear track. The movement of the track. Another rotating mechanism 4 is responsible for connecting the magnetic subassembly 3 from the second linear track, and then the magnetic subassembly 3 follows the rotating mechanism 4 to rotate from the second linear track to the first linear track 1 to achieve magnetic motion The movement of the subassembly 3 from the second linear track to the first linear track 1. In the linear motor provided by the embodiment of the present invention, the arc-shaped track is replaced by the rotating mechanism 4, and the track only adopts a linear track, which reduces the difficulty of processing the entire track, thereby saving production costs; and avoiding the magnetic mover assembly 3 in The problem of reduced running accuracy when turning and moving on a circular orbit.
参考图2所示，在一个实施例中，所述旋转机构4包括旋转电机41、旋转轴42及轨道组件，所述旋转轴42的一端与旋转电机41的输出轴连接，所述轨道组件固定设置在旋转轴42上，所述轨道组件被配置为用于承载磁动子组件3，所述轨道组件跟随旋转轴42在旋转电机41的带动下从第一直线轨道1处旋转至第二直线轨道处，或者从第二直线轨道处旋转至第一直线轨道1处。As shown in FIG. 2, in one embodiment, the rotating mechanism 4 includes a rotating electric machine 41, a rotating shaft 42, and a track assembly. One end of the rotating shaft 42 is connected to the output shaft of the rotating electric machine 41, and the track assembly is fixed. The track assembly is arranged on the rotating shaft 42, and the track assembly is configured to carry the magnetic subassembly 3. The track assembly follows the rotating shaft 42 to rotate from the first linear track 1 to the second under the drive of the rotating motor 41. On the linear track, or rotate from the second linear track to the first linear track 1.
旋转电机41的输出轴旋转的同时带动其上连接的旋转轴42进行旋转，旋转轴42旋转的同时带动其上固定连接的轨道组件一起旋转。其中一个轨道组件首先跟随旋转轴42在旋转电机41的带动下从第一直线轨道1处旋转至第二直线轨道处，将该轨道组件上承载的磁动子组件3从第一直线轨道1处移动至第二直线轨道处，然后该轨道组件再跟随旋转轴42在旋转电机41的带动下反转回第一直线轨道1处以迎接下一个磁动子组件3。另外一个轨道组件首先跟随旋转轴42在旋转电机41的带动下从第二直线轨道处旋转至第一直线轨道1处，将该轨道组件上承载的磁动子组件3从第二直线轨道处移动至第一直线轨道1处，然后该轨道组件再跟随旋转轴42在旋转电机41的带动下反转回第二直线轨道处以迎接下一个磁动子组件3。其中，旋转电机41的正反转采用驱动器进行控制，驱动器可以采用本领域 常用的驱动器，本发明对此不作具体限制。The output shaft of the rotating electric machine 41 rotates while driving the rotating shaft 42 connected thereto to rotate, and the rotating shaft 42 rotates while driving the track assembly fixedly connected thereon to rotate together. One of the track assemblies first follows the rotating shaft 42 to rotate from the first linear track 1 to the second linear track under the drive of the rotating motor 41, and the magnetic subassembly 3 carried on the track assembly moves from the first linear track. 1 moves to the second linear track, and then the track assembly follows the rotating shaft 42 and reverses back to the first linear track 1 under the drive of the rotating motor 41 to welcome the next magnetic moving subassembly 3. Another track assembly first follows the rotating shaft 42 to rotate from the second linear track to the first linear track 1 under the drive of the rotating motor 41, and the magnetic subassembly 3 carried on the track assembly moves from the second linear track. Move to the first linear track 1, and then the track assembly follows the rotating shaft 42 and reverses back to the second linear track under the drive of the rotating motor 41 to welcome the next magnetic moving subassembly 3. Wherein, the forward and reverse rotation of the rotating motor 41 is controlled by a driver, and the driver can be a driver commonly used in the field, which is not specifically limited in the present invention.
在一个实施例中，所述轨道组件包括固定连接在旋转轴42上的第三直线轨道43及固定设置在第三直线轨道43上的定子线圈2。In one embodiment, the track assembly includes a third linear track 43 fixedly connected to the rotating shaft 42 and a stator coil 2 fixedly arranged on the third linear track 43.
在实际应用中，可以首先在旋转轴42上垂直连接一个连接臂44，连接臂44的一端与旋转轴42的中部固定连接，然后将第三直线轨道43固定安装在连接臂44的另一端处，第三直线轨道43上固定设置至少一个定子线圈2，实际上可以理解为将一段与第一直线轨道1/第二直线轨道结构相同的直线轨道安装到了连接臂44上以构成第三直线轨道43。第三直线轨道43跟随旋转轴42转动到与第一直线轨道1/第二直线轨道对接的位置处接送磁动子组件3。In practical applications, a connecting arm 44 can be vertically connected to the rotating shaft 42 first, one end of the connecting arm 44 is fixedly connected to the middle of the rotating shaft 42, and then the third linear rail 43 is fixedly installed at the other end of the connecting arm 44 At least one stator coil 2 is fixedly arranged on the third linear track 43. In fact, it can be understood that a section of linear track with the same structure as the first linear track 1/second linear track is installed on the connecting arm 44 to form a third linear track. Track 43. The third linear track 43 rotates following the rotating shaft 42 to a position where the first linear track 1/the second linear track butts to pick up and drop the magnetic subassembly 3.
参考图3所示，在一个实施例中，所述磁动子组件3包括运动小车31及固定设置在运动小车31底部的磁铁32，所述磁铁32在定子线圈2的磁场力的作用下带动运动小车31沿第一直线轨道1与第二直线轨道循环移动。Referring to FIG. 3, in one embodiment, the magnetic moving subassembly 3 includes a moving trolley 31 and a magnet 32 fixedly arranged at the bottom of the moving trolley 31, and the magnet 32 is driven by the magnetic field force of the stator coil 2 The moving trolley 31 circulates along the first linear track 1 and the second linear track.
定子线圈2通电后产生磁场，磁铁32受到磁场的作用带动运动小车31沿第一直线轨道1与第二直线轨道循环移动。由于线圈通电后会发热，因此如果采用线圈作为动子带动运动小车31，线圈散发出的热量会对运动小车31及运动小车31上承载的物料造成不利影响，而采用线圈作为定子、磁铁32作为动子则可以避免这一技术问题。After the stator coil 2 is energized, a magnetic field is generated, and the magnet 32 is actuated by the magnetic field to drive the moving trolley 31 to cyclically move along the first linear track 1 and the second linear track. Since the coil generates heat after being energized, if the coil is used as the mover to drive the moving trolley 31, the heat emitted by the coil will adversely affect the moving trolley 31 and the materials carried on the moving trolley 31. The coil is used as the stator and the magnet 32 is used as the stator. The mover can avoid this technical problem.
参考图3、图4所示，在一个实施例中，所述第一直线轨道1及第二直线轨道均包括平行相对设置的两条直线导轨，所述两条直线导轨中至少一条直线导轨是截面为V字型的V型导轨101；所述运动小车31的底部设置有两组滚轮，所述两组滚轮分别与两条直线导轨配合连接，所述两组滚轮中与V型导轨101相配合连接的滚轮为V型滚轮310。Referring to Figures 3 and 4, in one embodiment, the first linear track 1 and the second linear track both include two parallel and opposite linear guides, at least one of the two linear guides It is a V-shaped guide rail 101 with a V-shaped cross section; the bottom of the moving trolley 31 is provided with two sets of rollers, and the two sets of rollers are respectively connected with two linear guide rails, and the two sets of rollers are connected to the V-shaped guide rail 101. The matching roller is a V-shaped roller 310.
如果两条直线导轨均为V型导轨101，则运动小车31底部设置的两组滚轮也均为V型滚轮310；如果两条直线导轨其中之一为V型导轨101、另一个为平导轨102，则运动小车31底部设置的两组滚轮中与V型导轨101 相对应的为V型滚轮310、与平导轨102相对应的为平滚轮320。之所以将两条直线导轨中的至少一条设置为V型导轨101，是由于V型导轨101与V型滚轮310连接紧密，能够有效防止运动小车31在运行过程中脱轨。当然，如果将两条直线导轨均设置为V型导轨101，那么运动小车31与直线导轨的配合更加牢固稳定，但是由于V型导轨101及V型滚轮310的加工难度比平导轨102及平滚轮320大很多，所以这样会大大增加制造成本。所以更为优选的方案是将直线导轨其中之一设计为V型导轨101、另一个设计为平导轨102。If the two linear guides are both V-shaped guide rails 101, the two sets of rollers provided at the bottom of the moving trolley 31 are also V-shaped rollers 310; if one of the two linear guides is a V-shaped guide rail 101 and the other is a flat guide rail 102 , The two sets of rollers provided at the bottom of the moving trolley 31 correspond to the V-shaped guide rail 101 as the V-shaped roller 310, and the corresponding to the flat guide rail 102 is the flat roller 320. The reason why at least one of the two linear guide rails is set as the V-shaped guide rail 101 is that the V-shaped guide rail 101 is closely connected with the V-shaped roller 310, which can effectively prevent the moving trolley 31 from derailing during operation. Of course, if the two linear guide rails are both set as the V-shaped guide rail 101, the cooperation between the moving trolley 31 and the linear guide rail is more firm and stable, but because the V-shaped guide rail 101 and the V-shaped roller 310 are more difficult to process than the flat guide rail 102 and the flat roller 320 is much larger, so this will greatly increase manufacturing costs. Therefore, a more preferable solution is to design one of the linear guide rails as a V-shaped guide rail 101 and the other as a flat guide rail 102.
参考图4所示，在一个实施例中，每个所述定子线圈2均连接有用于定位磁动子组件3的霍尔传感器5。Referring to FIG. 4, in one embodiment, each of the stator coils 2 is connected with a Hall sensor 5 for positioning the magnetic subassembly 3.
霍尔传感器5用来确定小车的行驶位置，可以在每个定子线圈2的两端均连接一个霍尔传感器5，以更加精确地监测运动小车31的运动位置。The Hall sensor 5 is used to determine the traveling position of the trolley. A Hall sensor 5 can be connected to both ends of each stator coil 2 to more accurately monitor the moving position of the moving trolley 31.
参考图1所示，在一个实施例中，每个所述旋转机构4的外侧均设置有防护栏6。Referring to FIG. 1, in one embodiment, a guard rail 6 is provided on the outer side of each rotation mechanism 4.
防护栏6的设置可以保护运动小车31，防止运动小车31在跟随旋转机构4做旋转运动时发生掉落或甩出。The setting of the protective fence 6 can protect the sports trolley 31 and prevent the sports trolley 31 from falling or throwing out when following the rotating mechanism 4 to make a rotating motion.
参考图1所示，在一个实施例中，所述直线电机还包括机架7，所述第一直线轨道1、第二直线轨道及旋转机构4均设置在机架7上。Referring to FIG. 1, in one embodiment, the linear motor further includes a frame 7, and the first linear track 1, the second linear track, and the rotating mechanism 4 are all arranged on the frame 7.
机架7用于固定支撑直线电机的其余部分，使整个直线电机更加稳固牢靠。The frame 7 is used to fix and support the rest of the linear motor, so that the entire linear motor is more stable and reliable.
在一个实施例中，所述机架7包括底座71及支撑体72，所述支撑体72设置在底座71的上表面处，所述第一直线轨道1及第二直线轨道固定设置在支撑体72上。In one embodiment, the frame 7 includes a base 71 and a supporting body 72. The supporting body 72 is arranged on the upper surface of the base 71, and the first linear track 1 and the second linear track are fixedly arranged on the support.体72上。 Body 72.
具体地，可以将支撑体72设置在机架7上表面的中部位置处，两个旋转机构4分别位于支撑体72的两边，而第一直线轨道1及第二直线轨道则固定在支撑体72上。Specifically, the supporting body 72 can be arranged at the middle position of the upper surface of the frame 7, the two rotating mechanisms 4 are respectively located on both sides of the supporting body 72, and the first linear track 1 and the second linear track are fixed on the supporting body. 72 on.
在一个实施例中，所述第一直线轨道1及第二直线轨道呈竖直的姿态固定设置在支撑体72的侧面。In one embodiment, the first linear track 1 and the second linear track are fixed on the side surface of the support 72 in a vertical posture.
以竖直的姿态设置第一直线轨道1及第二直线轨道，相比水平设置能够节省占地空间。在该实施例中，优选将第一直线轨道1及第二直线轨道中位于上部的直线导轨设置为V型导轨101，则对应的运动小车31的滚轮为V型滚轮310；同时将第一直线轨道1及第二直线轨道中位于下部的直线导轨设置为平导轨102，则对应的运动小车31的滚轮为平滚轮320。由于运动小车31受自身重力的影响，因此其重心比较靠下，因此将第一直线轨道1及第二直线轨道中位于上部的直线导轨设置为V型导轨101能够更加有效地保证运动小车31与直线导轨配合的紧密性。Setting the first linear track 1 and the second linear track in a vertical posture can save floor space compared to a horizontal setting. In this embodiment, it is preferable to set the upper linear guide rail in the first linear track 1 and the second linear track as the V-shaped guide rail 101, and the corresponding roller of the moving trolley 31 is the V-shaped roller 310; The linear guide at the lower part of the linear track 1 and the second linear track is set as a flat guide 102, and the roller of the corresponding moving trolley 31 is a flat roller 320. Since the moving trolley 31 is affected by its own gravity, its center of gravity is relatively lower. Therefore, setting the upper linear guide rails in the first linear track 1 and the second linear track as the V-shaped guide rail 101 can more effectively ensure the moving trolley 31 The tightness of matching with the linear guide.
可以在运动小车31上开设螺丝孔，通过螺丝固定待运输的工装或物料；还可以在运动小车31上设置把手，以方便运动小车31的取放。Screw holes can be opened on the sports trolley 31 to fix the tooling or materials to be transported by screws; a handle can also be provided on the sports trolley 31 to facilitate the taking and placing of the sports trolley 31.
本实施例的附图中相同或相似的标号对应相同或相似的部件；在本实用新型的描述中，需要理解的是，术语“上”、“下”、“左”、“右”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本实用新型和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此附图中描述位置关系的用语仅用于示例性说明，不能理解为对本专利的限制，对于本领域的普通技术人员而言，可以根据具体情况理解上述术语的具体含义。The same or similar reference numerals in the drawings of this embodiment correspond to the same or similar components; in the description of the present utility model, it should be understood that the terms "upper", "lower", "left", "right", and " The orientation or positional relationship indicated by "inner" and "outer" is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have Specific orientation, structure and operation in a specific orientation, so the terms describing the positional relationship in the drawings are only for illustrative purposes, and cannot be understood as a limitation of the patent. For those of ordinary skill in the art, it can be based on specific circumstances. Understand the specific meaning of the above terms.
虽然已经通过例子对本发明的一些特定实施例进行了详细说明，但是本领域的技术人员应该理解，以上例子仅是为了进行说明，而不是为了限制本发明的范围。本领域的技术人员应该理解，可在不脱离本发明的范围和精神的情况下，对以上实施例进行修改。本发明的范围由所附权利要求来限定。Although some specific embodiments of the present invention have been described in detail through examples, those skilled in the art should understand that the above examples are only for illustration and not for limiting the scope of the present invention. Those skilled in the art should understand that the above embodiments can be modified without departing from the scope and spirit of the present invention. The scope of the invention is defined by the appended claims.

Claims (10)

  1. 一种直线电机，其特征在于，包括：A linear motor is characterized in that it comprises:
    第一直线轨道及第二直线轨道，所述第一直线轨道与第二直线轨道平行相对设置；A first linear track and a second linear track, the first linear track and the second linear track are arranged opposite to each other in parallel;
    定子线圈，所述第一直线轨道及第二直线轨道上固定设置有多个定子线圈；Stator coils, a plurality of stator coils are fixedly arranged on the first linear track and the second linear track;
    磁动子组件，所述第一直线轨道及第二直线轨道上滑动设置有多个磁动子组件，所述磁动子组件在定子线圈的磁场力的作用下沿第一直线轨道与第二直线轨道循环移动；A magnetic moving subassembly, a plurality of magnetic moving subassemblies are slidably arranged on the first linear track and the second linear track, and the magnetic moving subassembly is connected to the first linear track along the first linear track under the action of the magnetic field force of the stator coil. The second straight track moves cyclically;
    旋转机构，所述旋转机构设置两个，两个所述旋转机构分别位于第一直线轨道及第二直线轨道的两端位置处；其中一个所述旋转机构被配置为将磁动子组件从所述第一直线轨道处旋转移动至第二直线轨道处，另一个所述旋转机构被配置为将磁动子组件从所述第二直线轨道处旋转移动至第一直线轨道处。There are two rotating mechanisms, the two rotating mechanisms are respectively located at the two ends of the first linear track and the second linear track; one of the rotating mechanisms is configured to remove the magnetic subassembly from The first linear track is rotationally moved to the second linear track, and the other rotation mechanism is configured to rotationally move the magnetic subassembly from the second linear track to the first linear track.
  2. 根据权利要求1所述的直线电机，其特征在于，所述旋转机构包括旋转电机、旋转轴及轨道组件，所述旋转轴的一端与旋转电机的输出轴连接，所述轨道组件固定设置在旋转轴上，所述轨道组件被配置为用于承载磁动子组件，所述轨道组件跟随旋转轴在旋转电机的带动下从第一直线轨道处旋转至第二直线轨道处，或者从第二直线轨道处旋转至第一直线轨道处。The linear motor according to claim 1, wherein the rotating mechanism comprises a rotating electric machine, a rotating shaft, and a track assembly, one end of the rotating shaft is connected to the output shaft of the rotating electric machine, and the track assembly is fixedly arranged on the rotating machine. On the shaft, the track assembly is configured to carry the magnetic subassembly, and the track assembly follows the rotating shaft to rotate from the first linear track to the second linear track under the drive of the rotating motor, or from the second linear track. Rotate from the linear track to the first linear track.
  3. 根据权利要求2所述的直线电机，其特征在于，所述轨道组件包括固定连接在旋转轴上的第三直线轨道及固定设置在第三直线轨道上的定子线圈。The linear motor according to claim 2, wherein the track assembly comprises a third linear track fixedly connected to the rotating shaft and a stator coil fixedly arranged on the third linear track.
  4. 根据权利要求1所述的直线电机，其特征在于，所述磁动子组件包括运动小车及固定设置在运动小车底部的磁铁，所述磁铁在定子线圈的磁 场力的作用下带动运动小车沿第一直线轨道与第二直线轨道循环移动。The linear motor according to claim 1, wherein the magnetic moving sub-assembly includes a moving trolley and a magnet fixedly arranged at the bottom of the moving trolley, and the magnet drives the moving trolley along the first under the action of the magnetic field force of the stator coils. The linear track and the second linear track cyclically move.
  5. 根据权利要求4所述的直线电机，其特征在于，所述第一直线轨道及第二直线轨道均包括平行相对设置的两条直线导轨，所述两条直线导轨中至少一条直线导轨是截面为V字型的V型导轨；所述运动小车的底部设置有两组滚轮，所述两组滚轮分别与两条直线导轨配合连接，所述两组滚轮中与V型导轨相配合连接的滚轮为V型滚轮。The linear motor according to claim 4, wherein the first linear track and the second linear track both comprise two linear guides arranged in parallel and opposite to each other, and at least one of the two linear guides has a cross-section It is a V-shaped V-shaped guide rail; the bottom of the sports trolley is provided with two sets of rollers, the two sets of rollers are respectively connected with two linear guide rails, and the two sets of rollers are matched with the V-shaped guide rail. It is a V-shaped roller.
  6. 根据权利要求1-5中任一项所述的直线电机，其特征在于，每个所述定子线圈均连接有用于定位磁动子组件的霍尔传感器。The linear motor according to any one of claims 1 to 5, wherein each of the stator coils is connected with a Hall sensor for positioning the magnetic subassembly.
  7. 根据权利要求1-5中任一项所述的直线电机，其特征在于，每个所述旋转机构的外侧均设置有防护栏。The linear motor according to any one of claims 1 to 5, wherein a guard fence is provided on the outer side of each rotating mechanism.
  8. 根据权利要求1-5中任一项所述的直线电机，其特征在于，所述直线电机还包括机架，所述第一直线轨道、第二直线轨道及旋转机构均设置在机架上。The linear motor according to any one of claims 1-5, wherein the linear motor further comprises a frame, and the first linear track, the second linear track and the rotating mechanism are all arranged on the frame .
  9. 根据权利要求8所述的直线电机，其特征在于，所述机架包括底座及支撑体，所述支撑体设置在底座的上表面处，所述第一直线轨道及第二直线轨道固定设置在支撑体上。The linear motor according to claim 8, wherein the frame includes a base and a support body, the support body is arranged on the upper surface of the base, and the first linear track and the second linear track are fixedly arranged On the support.
  10. 根据权利要求9所述的直线电机，其特征在于，所述第一直线轨道及第二直线轨道呈竖直的姿态固定设置在支撑体的侧面。The linear motor according to claim 9, wherein the first linear track and the second linear track are fixedly arranged on the side surface of the support body in a vertical posture.
PCT/CN2019/129086 2019-12-05 2019-12-27 Linear electric motor WO2021109293A1 (en)

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