Long-stroke motion system

Abstract

A long-stroke motion system comprises a stator (1) including a stator base (11), a permanent magnet array unit (12) arranged on the stator base (11), and a transmission unit (13), the transmission unit (13) and the permanent magnet array unit (12) are arranged along a preset track; at least one mover (2) is arranged to slide along the preset track with the stator (1), and includes a mover base (21), a coil array unit (22), and a plurality of slide contact units (23); a main control unit (5) is connected with the transmission unit (13) and controls the mover (2); the slide contact unit (23) includes a fixing member (231) arranged on the mover base (21), a conductive member (232) electrically connected with the coil array unit (22) and abutting against the transmission unit (13), the conductive member (232) is operable to be electrically connected with the transmission unit (13) and communicate with the transmission unit (13) when the conductive member (232) abuts against the transmission unit (13), and a biasing member (233) biases the conductive member (232) away from the fixing member (231). The long-stroke motion system has a simple structure and can operate stably for a long time.

Description

[0001] Cross-referencing related applications

[0002] This patent application claims priority to Chinese Patent Application No. 2020109203793, filed on September 4, 2020, entitled “Long Stroke Motion System”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates to transportation systems, and more particularly to long-stroke motion systems. Background Technology

[0004] As manufacturing technology advances towards higher productivity and precision, research into precision motion control technology becomes increasingly important. Correspondingly, the demand for precision motion transmission systems is also growing, with widespread applications in automated production lines, packaging and transportation, assembly automation, screen printing, and other industries, providing higher speeds and processing flexibility. Long-stroke motion systems utilize a motion magnetic field to directly drive moving parts, reducing structural complexity, lowering costs, and offering advantages such as reduced inertia, compliance, damping, friction, and wear, as well as speed increases. Therefore, the concept of long-stroke motion systems is increasingly being used in production and manufacturing, and transportation systems. These systems can control multiple transport supports and move independently of each other, enabling highly flexible production processes, such as for product grouping or allowing for different processing times.

[0005] In the existing market, by energizing the coil array units in a long-stroke motion system, the coil array units and permanent magnet units generate driving force under current excitation, causing the mover to move and realizing the operation of the transportation system. However, in the existing technology, the coil array units are connected by wires to supply power to the coil array units, which requires wiring layout, making the overall structure of the long-stroke motion system relatively complex and not conducive to the long-term stable operation of the long-stroke motion system. Summary of the Invention

[0006] The purpose of this invention is to provide a long-stroke motion system that simplifies the structure of the long-stroke motion system and enables it to operate stably for a long period of time.

[0007] To address the aforementioned technical problems, embodiments of the present invention provide a long-stroke motion system, comprising:

[0008] The stator includes: a stator base, a permanent magnet array unit and a transmission unit disposed on the stator base, wherein the transmission unit and the permanent magnet array unit are both arranged according to a preset trajectory;

[0009] At least one mover, slidably disposed along the preset trajectory, includes: a mover base, a coil array unit disposed on the mover base, and a plurality of sliding contact units; and

[0010] The main control unit, connected to the transmission unit, controls the actuator;

[0011] The sliding unit includes:

[0012] A fixing element is provided on the moving part base;

[0013] A conductive element, electrically connected to the coil array unit and abutting against the transmission unit; the conductive element is movably connected to the fixing member to be movable in a direction toward or away from the fixing member; the conductive element is operable to be electrically connected to and communicate with the transmission unit when abutting against the transmission unit; and

[0014] A biasing element is connected between the fixing element and the conductive element and biases the conductive element away from the fixing element.

[0015] Compared to existing technologies, the embodiments of this invention, due to the inclusion of a fixing component, a conductive component, and a biasing component in the sliding contact unit, allow for better control. When the conductive component contacts the transmission unit, the pressure exerted on it compresses the biasing component, which in turn connects the fixing component and the conductive component. This pressure pushes the conductive component away from the fixing component, maintaining contact with the transmission unit. During the movement of the sliding contact unit, as the pressure between the conductive component and the transmission unit decreases, the biasing component ensures continued stable contact, allowing the conductive component to function normally. This enables the sliding contact unit to operate stably during movement, maintaining contact with the transmission unit and receiving electrical signals. Furthermore, it allows for continuous communication between the transmission unit and the sliding contact unit, enabling the main control unit to stably control the mover, resulting in stable operation of the mover and the transmission unit. Additionally, the sliding contact unit design reduces wiring layout, simplifying the overall structure of the long-stroke motion system.

[0016] In one embodiment, the conductive element includes:

[0017] A cantilever, which is connected to the biasing member and hinged to the fixing member and can rotate toward or away from the fixing member;

[0018] A conductive contact is hinged to the cantilever and abuts against the transmission unit;

[0019] The hinge positions of the cantilever and the fixing member and the cantilever and the conductive contact are spaced apart from each other.

[0020] In one embodiment, the cantilever includes: a first connecting side connected to the biasing member, and a second connecting side disposed opposite to the first connecting side;

[0021] The fixing member is provided with a blocking part for supporting and blocking the second connecting side, and for limiting the angle of rotation of the cantilever away from the fixing member.

[0022] In one embodiment, the end of the conductive contact that abuts against the transmission unit has a flat surface, and at least part of the surface of the flat surface is a carbon brush.

[0023] In one embodiment, the sliding contact unit includes a plurality of biasing elements and a plurality of conductive elements, wherein the biasing elements and the conductive elements correspond one-to-one.

[0024] In one embodiment, the transmission unit includes a conductive terminal and a communication terminal, and the main control unit communicates with the communication terminal;

[0025] The conductive end is provided in a one-to-one correspondence with a portion of the sliding contact units, and the conductive end abuts against the conductive component of the portion of the sliding contact units;

[0026] The communication terminal is configured in a one-to-one correspondence with another part of the sliding contact unit, and the communication terminal abuts against the conductive part of the other part of the sliding contact unit.

[0027] In one embodiment, the stator base is provided with a slide rail arranged along the preset trajectory;

[0028] The mover also includes: a roller assembly, which is disposed on the mover base and slidably disposed with the slide rail;

[0029] The moving part base includes:

[0030] The first working section, wherein the coil array unit is disposed on the first working section;

[0031] The second and third working parts are arranged opposite to each other, with the first working part at least partially located between the second and third working parts; and connecting the second and third working parts.

[0032] The roller assembly is disposed on the second working part; the sliding contact unit is disposed on the third working part;

[0033] The permanent magnet array unit is located opposite to the first working part; the slide rail is located opposite to the second working part; and the transmission unit is located opposite to the third working part.

[0034] In one embodiment, the third working part is provided with a pair of panels that are parallel to each other and spaced apart, and the plurality of sliding touch units are respectively disposed on the pair of panels.

[0035] In one embodiment, the first working part is arranged vertically, and the second working part is arranged horizontally.

[0036] In one embodiment, the mover further includes a driving unit electrically connected to the coil array unit and at least a portion of the sliding contact unit; the driving unit is disposed on the first working part;

[0037] The long-stroke motion system further includes a main control unit connected to the drive unit and the transmission unit, wherein the main control unit controls the drive unit to drive the coil array unit.

[0038] In one embodiment, the long-stroke motion system further includes:

[0039] The first component to be tested is set on the stator according to the preset trajectory;

[0040] The mover also includes:

[0041] The first detection unit is electrically connected to the drive unit and reads the first device to be detected, used to detect the real-time position of the mover relative to the stator.

[0042] The second detection unit is electrically connected to the drive unit and is used to detect the displacement of the mover relative to the stator.

[0043] The driving unit is used to receive and process the information detected by the first detection unit and the second detection unit, and is also used to send the received and processed information to the main control unit.

[0044] In one embodiment, the sliding touch unit is provided with a first barrier and a second barrier, the first barrier and the second barrier are separated from each other along the preset trajectory to form a blocking area, and the sliding touch unit is at least partially disposed in the blocking area. Attached Figure Description

[0045] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0046] Figure 1 This is a schematic diagram of the structure of a long-stroke motion system according to an embodiment of the present invention;

[0047] Figure 2This is a schematic diagram of the structure of a long-stroke motion system in another embodiment of the present invention;

[0048] Figure 3 This is a schematic diagram of the structure of a long-stroke motion system in another embodiment of the present invention;

[0049] Figure 4 This is a side view of the mover mounted on the stator in an embodiment of the present invention, wherein the stator is a sectional view;

[0050] Figure 5 This is a circuit block diagram of a long-stroke motion system in an embodiment of the present invention, wherein the second detection unit is a magnetic grating incremental encoder.

[0051] Figure 6 This is a three-dimensional structural diagram of the sliding contact unit in an embodiment of the present invention;

[0052] Figure 7 yes Figure 6 Front view of the middle sliding contact unit;

[0053] Figure 8 This is a schematic diagram showing the installation orientation of the coil array unit of the mover and the permanent magnet array unit of the stator in an embodiment of the present invention;

[0054] Figure 9 This is a circuit block diagram of a long-stroke motion system in an embodiment of the present invention, wherein the second detection unit is a grating-type or capacitive grating incremental encoder.

[0055] Figure 10 This is a diagram of the drive control module for the mover in the wired communication between the main control unit and the drive unit in an embodiment of the present invention;

[0056] Figure 11 This is a diagram of the drive control module for the moving part in the wireless communication between the main control unit and the drive unit in an embodiment of the present invention;

[0057] Figure 12 This is a flowchart of the control method for a long-stroke motion system in an embodiment of the present invention;

[0058] Diagram labels: 1. Stator; 12. Permanent magnet array unit; 11. Stator base; 13. Transmission unit; 13a. First side surface; 13b. Second side surface; 131. Conductive end; 132. Communication end; 133. Contact fixing part; 2. Mover; 21. Mover base; 22. Coil array unit; 221. Iron core; 225. Iron core; 226. Iron core; 222. Coil winding; 223. Coil winding; 224. Coil winding; 221. Iron core; 23. Sliding contact unit; 231. Fixing component; 232. Conductive component; 233. Biasing component; 2321. Cantilever; 2322. Conductive contact; 234. Blocking part; 27. Panel; 251. First barrier; 252. Second barrier; 250. Obstruction area; 24. Drive unit; 241. Processing subunit; 242. Power drive subunit; 28. First detection unit; 29. ​​Second detection unit; 201. First working section; 202. Second working section; 203. Third working section; 110. Slide rail; 111. First slide rail; 112. Second slide rail; 261. Slide base; 262. First roller component; 263. Second roller component; 3. First component to be tested; 4. Ruler grid; 5. Main control unit; 6. Back-end terminal. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been presented in the various embodiments of the present invention to enable the reader to better understand this application. However, the technical solutions claimed in this application can be implemented even without these technical details and various changes and modifications based on the following embodiments.

[0060] In the following description, certain specific details are set forth for the purpose of illustrating various disclosed embodiments in order to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the art will recognize that embodiments may be practiced without one or more of these specific details. In other instances, well-known apparatuses, structures, and techniques associated with this application may not have been shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0061] Unless the context requires otherwise, throughout the specification and claims, the word “comprising” and its variations, such as “including” and “having”, shall be understood to have an open, inclusive meaning, that is, to be interpreted as “including, but not limited to”.

[0062] like Figure 1 , Figure 2 , Figure 3The long-stroke motion system includes a stator 1, at least one mover 2, and a main control unit. The main control unit controls the mover 2, which moves on the stator 1 along a preset trajectory. The stator 1 includes a stator base 11 and a permanent magnet array unit 12 disposed on the stator base 11. The permanent magnet array unit 12 is constructed using an NS or Halbach magnetic array, which can apply periodically extended widths, and so on. Figure 7 In a permanent magnet array, the N and S cells are arranged periodically in sequence, forming the trajectory of the mover. For example... Figure 1 In this design, multiple permanent magnet array units 12 can be set on the base 21 of the stator 1. The permanent magnet array units 12 can be manufactured in standard length modules and can be assembled and spliced ​​for long-stroke applications. The permanent magnet array units 12 can be spliced ​​together with arc segments and straight segments.

[0063] In addition, such as Figure 1 and Figure 4 As shown, the stator 1 also includes a transmission unit 13, which is also arranged on the stator base 11 according to a preset trajectory, consistent with the arrangement trajectory of the permanent magnet array unit 12. The transmission unit 13 can be a power transmission unit, or it can be a power transmission unit and a communication transmission unit integrated together. When the transmission unit 13 is a power transmission unit, it includes multiple conductive ends 131, which can be metal conductive strips, arranged according to a preset trajectory and fixed to the contact fixing part 133, which can be a marble slab. When the transmission unit 13 is both a power transmission unit and a communication transmission unit, it includes multiple conductive ends 131 and multiple communication ends 132, all of which are fixed to the contact fixing part 133. Figure 4 As shown, there are three conductive ends 131 and three corresponding communication ends 132. The conductive ends 131 consist of three metal conductive strips parallel to the corresponding communication ends 132, arranged along a preset trajectory. The communication ends 132 also consist of three metal conductive strips parallel to each other, arranged along a preset trajectory. Thus, the communication or power supply function of the long-stroke motion system is arranged in a three-wire parallel configuration.

[0064] In some embodiments, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, there are multiple movers 2, and each mover 2 has the same structure. The structure of one mover 2 will be described in detail below. The mover 2 includes: a base 21 and a coil array unit 22 disposed on the base 21. (See diagram below.) Figure 4 and Figure 8As shown, to achieve stable operation of the mover, the coil array unit 22 is positioned opposite to the permanent magnet array unit 12. The coil array unit 22 has terminal interfaces and includes: iron cores 221, 225, and 226; coil windings 222, 223, and 224; each coil winding represents a three-phase (U, V, W) armature winding. The air gap of each coil in the coil array unit 22 is very small and relatively uniform, resulting in very small thrust ripple and minimal cogging force influence, making it particularly suitable for high-precision control applications. Figure 4 As shown, the mover 2 also includes multiple sliding contact units 23, which are electrically connected to the coil array unit 22 and are disposed on the base 21, abutting against the transmission unit 13.

[0065] like Figure 4 , Figure 6 and Figure 7 As shown, the sliding contact unit 23 includes a fixing member 231, a conductive member 232, and a biasing member 233. The conductive member 232 is movably connected to the fixing member 231 so that it can move in a direction toward or away from the fixing member 231. The biasing member 233 is connected between the fixing member 231 and the conductive member 232 and biases the conductive member 232 away from the fixing member 231. The biasing member 233 may be a spring or other elastic component.

[0066] Specifically, such as Figure 4 , Figure 6 , Figure 7As shown, one sliding contact unit 23 corresponds to one conductive end 131 of the transmission unit 13. When the mover 2 moves along the stator 1, the conductive element 232 presses against the transmission unit 13. At this time, the conductive element 232 presses against the biasing element 233, and the biasing element 233 generates a spring-pushing force on the conductive element 232, keeping the conductive element 232 stably pressed against the transmission unit 13. The stator 1 can be of different shapes, such as a circular arc convex closed loop or a closed loop polygonal curve. The permanent magnet array unit 12 and the conductive end 131 are all circumferentially spaced according to the shape of this stator 1. When the mover 2 moves to the curved surface of the stator 1, some of the conductive elements 232 tend to move away from or closer to the conductive end 131 of the transmission unit 13, but the spring-pushing force of the biasing element 233 can push the conductive element 232 to continue pressing against the transmission unit 13. More specifically, since the biasing element 233 is always in a compressed state, it always has an elastic support force. During the movement of the mover 2, when the conductive element 232 is further squeezed against the transmission unit 13, the conductive element 232 slides towards the fixed element 231, and the biasing element 233 is further compressed. When the pressure of the conductive element 232 against the transmission unit 13 decreases and tends to move away, the elastic support force of the biasing element 233 pushes the conductive element 232. At this time, the conductive element 232 slides away from the fixed element 231, so that the conductive element 232 and the transmission unit 13 are continuously pressed together.

[0067] In addition, the biasing element 233 and the conductive element 232 form a sliding contact body. Multiple sliding contact bodies are provided, preferably, such as... Figure 6 and Figure 7 As shown, there are two sliding contact bodies, allowing... Figure 4 In the transmission unit 13, one conductive end 131 corresponds to two sliding contact bodies, thus making the contact between the sliding contact unit 23 and the transmission unit 13 more stable. Similarly, one communication end 132 of the transmission unit 13 also corresponds to two sliding contact bodies.

[0068] Furthermore, such as Figure 6 As shown, the conductive component 232 includes a cantilever 2321 and a conductive contact 2322. The cantilever 2321 is connected to the biasing component 233, and the conductive contact 2322 is hinged to the cantilever 2321. The conductive contact 2322 can be a metal component or a device with a metal conductive layer plated on its surface.

[0069] In addition, such as Figure 6As shown, the cantilever 2321 is hinged to the fixed member 231 and can rotate toward and away from the fixed member 231. The hinge positions of the cantilever 2321 and the fixed member 231 and the cantilever 2321 and the conductive contact 2322 are spaced apart from each other. One end of the cantilever 2321 is hinged to the fixed member 231, and the other end is hinged to the conductive contact 2322. The biasing member 233 is connected between the two ends of the cantilever 2321, not exceeding the hinge center position. Thus, when the sliding contact unit 23 moves along the transmission unit 13, the cantilever 2321 and the fixed member 231 can be twisted according to the change of trajectory, and the cantilever 2321 and the conductive contact 2322 can also be twisted, so that the conductive contact 2322 and the transmission unit 13 remain in contact.

[0070] Furthermore, such as Figure 6 As shown, the side of the cantilever 2321 connected to the biasing member 233 is defined as the first connection side (unmarked), and the side opposite it is defined as the second connection side (unmarked). A blocking part 234 is provided at the hinge position on the fixing member 231, and this blocking part 234 has an inclined surface. This is used to support and abut against the second connection side, and to limit the angle of rotation of the end of the cantilever 2321 that is hinged to the fixing member 231 away from the fixing member 231. This limits the movement of the cantilever 2321, preventing excessive movement of the cantilever 2321 and causing unstable contact between the conductive contact 2322 and the transmission unit 13.

[0071] As can be seen from the above structure, during the movement of the mover 2 around the stator 1, when the biasing member 233 is further compressed under a certain pressure, the end of the cantilever 2321 that is hinged to the fixed member 231 rotates away from the fixed member 231, and the other end of the cantilever 2321 that is hinged to the conductive contact 2322 slides towards the fixed member 231. When the conductive contact 2322 and the transmission unit 13 are in contact and tend to relax, the biasing member 233 pushes the cantilever 2321. At this time, the end of the cantilever 2321 that is hinged to the fixed member 231 rotates towards the fixed member 231, and the other end of the cantilever 2321 that is hinged to the conductive contact 2322 slides away from the fixed member 231, so that the conductive contact 2322 and the transmission unit 13 continue to press against each other.

[0072] The conductive contact 2322 has a flat surface at the end away from the cantilever 2321, and the flat surface contacts the conductive end 131 side surface of the transmission unit 13, such as... Figure 4 As shown, at least part of the flat surface is a carbon brush surface. Alternatively, the conductive contact 2322 can be entirely made of graphite carbon. This provides a larger contact area between the conductive contact 2322 and the transmission unit 13, making the transmission more stable. Furthermore, the carbon brush surface ensures uniform and smooth force distribution between the conductive contact 2322 and the transmission unit 13, preventing wear on the conductive contact 2322 and ensuring long-term stable conductivity between the transmission unit 13 and the conductive contact 2322.

[0073] Furthermore, such as Figure 1 and 4 As shown, the transmission unit 13 supplies power to the coil array unit 22 of the mover 2. The coil array unit 22 generates a driving force under the current excitation of the permanent magnet array unit 12, pushing the entire mover 2 to slide on the slide rail 110 of the stator 1. The mover 2 has multiple sliding contact units 23. The transmission unit 13 includes multiple conductive ends 131 that abut against the conductive parts 232 of at least some of the sliding contact units 23. The conductive ends 131 are arranged one-to-one with the sliding contact units 23. The power supply between the mover 2 and the transmission unit 13 uses a three-wire parallel arrangement. The transmission unit 13 has three conductive ends 131, and the sliding contact units 23 also have three conductive ends 131, each corresponding to one of these three conductive ends 131.

[0074] The base 21 has a pair of parallel and spaced-apart panels 27 extending upwards from its bottom. Preferably, the panels 27 are approximately parallel to the permanent magnet array unit 12, and multiple sliding contact units 23 are directly or indirectly fixed to these panels. The number of sliding contact units 23 on both panels can be the same or different; the fixed distance between the sliding contact units 23 and the panels is adjustable, and the fixed distance between the sliding contact units 23 and the panels on the same panel is adjusted according to the different shapes and sizes of the transmission unit 13, thereby adjusting the relative preload. Preferably, the number of sliding contact units 23 on both panels is the same, and they correspond one-to-one approximately on the same horizontal plane; the transmission unit 13 is generally rectangular, and the sliding contact units 23 on the same panel are arranged approximately vertically. Figure 4 As shown, in this embodiment, three sliding contact units 23 are vertically arranged and fixed on one panel, and another three sliding contact units 23 are vertically arranged and fixed on another panel. One sliding contact unit 23 on one surface abuts against the transmission unit 13, and the other sliding contact unit 23 on the other surface also abuts against the transmission unit 13. By clamping the transmission unit 13 on both sides, the sliding contact units 23 maintain stable contact with the transmission unit 13. The sliding contact units 23 can also stably supply power to the various electrical components and stably transmit information, making the operation between the mover 2 and the stator 1 more stable.

[0075] like Figure 4 , Figure 6 , Figure 7 and Figure 8As shown, at least one panel in the panel is further provided with a first baffle 251 and a second baffle 252 on both sides. The first baffle 251 and the second baffle 252 extend toward another panel, and the first baffle 251, the panel, and the second baffle 252 surround to form a shielding area 250. The sliding touch unit 23 is at least partially disposed in the shielding area 250. In this embodiment, the three sliding touch units 23 on one panel are vertically located between the first baffle 251 and the second baffle 252. Thus, the first baffle 251 and the second baffle 252 can block some dust.

[0076] In addition, such as Figure 4 , Figure 6 , Figure 7 and Figure 8 As shown, the mover 2 also includes a drive unit 24, disposed above the base 21 and electrically connected to the coil array unit 22, and also electrically connected to at least a portion of the sliding contact unit 23. The conductive element 232 of the sliding contact unit 23 abuts against the conductive end 131 of the transmission unit 13. The drive unit 24 is connected to the conductive element 232 via a wire, thereby supplying power to the drive unit 24. The drive unit 24 is also connected to the coil array unit 22 via a wire, thereby supplying power to the coil array unit 22. Figure 1 , Figure 5 , Figure 9 , Figure 10 and Figure 11 As shown, the long-stroke motion system also includes a main control unit 5, which controls at least one mover 2 and is connected to a drive unit 24. The main control unit 5 controls the drive unit 24 on each mover 2, allowing each drive unit 24 to drive the corresponding coil array unit 22 on the mover 2, thus achieving regulation of each mover 2. Therefore, by controlling each mover 2 to adjust the long-stroke motion system, the number of coil array units 22 that need to be controlled is less than the total number of coil array units 22 set on the stator 1, requiring a simpler algorithm and reducing control difficulty. Global control can be achieved through a single main control unit 5, reducing costs. Furthermore, controlling multiple movers 2 through a single main control unit 5 facilitates comprehensive and coordinated control. In addition, each mover 2 is equipped with a coil array unit 22 and a drive unit 24, integrating the mover 2 coil array unit 22 with the corresponding drive unit 24.

[0077] The long-stroke motion system of the present invention can be wired or wireless. Specifically, the main control unit 5 and the drive unit 24 of each mover 2 can communicate via wired or wireless means.

[0078] Preferably, the main control unit 5 and the drive units 24 of each actuator 2 communicate via wired connection, such as... Figure 4 , Figure 8 and Figure 9As shown, in this embodiment, a communication terminal 132 is also provided on the transmission unit 13. Three communication terminals 132 can be provided, evenly distributed on the contact fixing part 133. Each communication terminal 132 is a metal conductive strip, arranged along a preset trajectory. Three sliding contact units 23 on one side panel 27 of the mover 2 abut against the communication terminal 132. Parts of the other three sliding contact units 23 on the other side panel 27 abut against the conductive terminal 131 on the transmission unit 13. The right side of the transmission unit 13 is entirely conductive terminals 131, and the left side is entirely communication terminals 132. The communication between the mover 2 and the transmission unit 13 adopts a three-line parallel arrangement. There are three communication terminals 132 and three sliding contact units 23 on the mover 2 that abut against the communication terminals 132, corresponding one-to-one, with one sliding contact unit 23 corresponding to one communication terminal 132. The sliding contact unit 23 is in contact with the communication terminal 132 and conducts electricity. The main control unit 5 is connected to the transmission unit 13 through a communication line. That is, the main control unit transmits high and low frequency signals to the drive unit 24 through the communication terminal 132, so that the main control unit 5 controls the drive unit 24 of the mover 2.

[0079] The long-stroke motion system of this invention can also be wirelessly communicated, via a wireless network or Bluetooth. In this case, such as... Figure 10 As shown, the main control module and the processing subunit of the drive unit 24 are connected wirelessly, without going through the transmission unit.

[0080] In addition, such as Figure 9 As shown, the main control unit 5 can be connected to a backend terminal 6 such as a computer or mobile phone. The backend terminal 6 sends the motion plan of the mover 2 to the main control unit 5, and the main control unit 5 sends the motion plan to the drive unit 24. The drive unit 24 then controls the coils of each mover 2 accordingly.

[0081] like Figure 5 , Figure 9 , Figure 10 and Figure 11 As shown, the driving unit 24 includes a processing subunit 241 and a power driving subunit 242, with the power driving subunit 242 electrically connected to the coil array unit 22. The processing subunit 241 is connected to the main control unit 5. Communication between the input / output processing subunit 241 and the main control unit can be wireless network, Bluetooth, or wired. The input / output processing subunit 241 is connected to a communication terminal 132 and a sliding contact unit 23 that abuts against the communication terminal 132. The main control unit 5 sends signals required to drive the coil array unit 22 to the input / output processing subunit 241, including but not limited to the magnitude of current and torque. The power subunit then converts the electrical signals into output current to drive each coil array unit 22. The power driving subunit 242 is a power amplifier, but other components may also be used.

[0082] like Figure 4 , Figure 5 and Figure 9 As shown, the mover 2 also includes a first detection unit 28 and a second detection unit 29. The long-stroke motion system also includes a first detection component 3, which is set on the stator 1 according to a preset trajectory. The first detection unit 28 is connected to the drive unit 24 and reads the first detection component 3 to detect the real-time position of the mover 2 relative to the stator 1. The second detection unit 29 is connected to the drive unit 24 and is used to detect the relative displacement of the mover 2 relative to the stator 1. The drive unit 24 is used to receive and process the information detected by the first detection unit 28 and the second detection unit 29, and also to send the received and processed information to the main control unit 5. The first detection unit 28 and the second detection unit 29 are both set on the mover 2, the drive unit 24 is also on the mover 2, and the first detection component 3 is on the stator 1. The number of the first detection unit 28 and the second detection unit 29 will be consistent with the number of the movers 2. One mover 2 includes one detection unit 28 and one second detection unit 29, which reduces the overall cost and simplifies the circuit structure. Furthermore, when the stroke of stator 1 is extended, there is no need to add the first detection unit 28 and the second detection unit 29, or add wiring, which facilitates the improvement of the long-stroke motion system in different application scenarios.

[0083] Specifically, the first detection unit 28 is an absolute encoder, and the first device to be detected 3 is a scale. The absolute encoder 28 is electrically connected to the processing subunit 241. The absolute encoder 28 is mainly used for phase alignment and absolute position correction to achieve global real-time measurement. The absolute encoder 28 reads the corresponding scale at the position of the mover 2, that is, it obtains the position parameters of the mover 2. The processing subunit 241 receives the parameters obtained by the absolute encoder 28 and processes the parameters. The processing subunit 241 sends the processed parameters to the main control unit 5. After receiving the parameters, the back-end terminal 6 connected to the main control unit 5 feeds back the appropriate control commands to the main control unit 5. The main control unit 5 then controls the corresponding mover 2 to automatically align the phase, realizing automatic phase alignment after the long-stroke motion system is started, which can save restart time and improve efficiency. The first detection unit 28 can be a magnetic grating type, optical grating type, capacitive grating type encoder, or photoelectric sensor, etc.

[0084] Specifically, such as Figure 5As shown, when the second detection unit 29 is a magnetic grating incremental encoder, it reads the permanent magnet array unit 12. The reading head of the second detection unit 29 is electrically connected to the processing subunit 241. The magnetic grating incremental encoder is used to measure the magnetic field strength or direction angle at the location of the mover 2 to calculate the movement increment, and each NS magnet arrangement constitutes one cycle. The mover 2 moves along the array direction of the permanent magnet array unit 12. The coil array unit 22 on the mover 2 returns the current magnitude to the power drive subunit 242 to correct the current magnitude. At the same time, the incremental encoder returns the position signal to the processing subunit 241. The processing subunit 241 detects and checks whether the displacement, speed, or torque magnitude meets the planned amount. If there is a discrepancy, the output amount is increased or decreased accordingly. The processing subunit 241 outputs the received parameters to the main control unit 5 so that the main control unit 5 can coordinate and schedule the movement trajectory of the mover 2. The main control unit 5 transmits the parameters to the back-end terminal 6. The parameters include, but are not limited to, speed, position, torque, and current, so that the back-end terminal 6 and manual correction can be performed.

[0085] like Figure 9 As shown, when the second detection unit 29 is not a magnetic incremental encoder, but an optical grating or capacitive grating or other incremental encoder, a scale grating 4 is also provided on the stator 1, and the trajectory of the scale grating 4 is the same as the motion trajectory of the mover 2 on the stator 1. The second detection unit 29 reads the scale grating 4, thereby obtaining the displacement of the mover 2. Figure 9 In this embodiment, the permanent magnet array unit 12 is constructed using the NS magnetic array method, but it should be understood that it can also be constructed using the Halbach or other forms of magnetic array method.

[0086] As can be seen from the above, the incremental encoder serves as the primary sensor for position measurement, while the absolute encoder compensates for the shortcomings of the incremental sensor, including but not limited to automatic phase alignment and automatic zeroing during closed-loop motion. The incremental encoder offers higher accuracy and resolution, while the absolute encoder can achieve lower measurement accuracy. By having both the first detection unit 28 and the second detection unit 29 mounted on the mover 2, the real-time position information of the mover 2 can be directly obtained, which is beneficial for precise motion positioning. Furthermore, when the slide rail 110 of the stator 1 is extended, it is not necessary to increase the number of the first detection unit 28 and the second detection unit 29 according to the length of the slide rail 110 of the stator 1, reducing costs and computational load, and enabling a more efficient response speed. Moreover, all the movers 2 can be controlled by a single main control unit 5, which is beneficial for overall large-scale control.

[0087] In addition, such as Figure 8 and 9As shown, in the long-stroke motion system, multiple movers 2 are provided. Each mover 2 has an incremental encoder and an absolute encoder that work together to adjust the motion of the corresponding mover 2. The processing subunit 241 calculates the global position information of each mover 2 from the positions sampled by each incremental encoder and absolute encoder, and sends this information to each power drive subunit 242. Each processing subunit 241 simultaneously transmits the global position information of each mover 2 calculated from the positions of each incremental encoder and absolute encoder to the main control unit 5 in real time. The main control unit 5 calculates the coil power of each mover 2 based on its global position information. When the calculated coil power of the mover 2 is inconsistent with the preset power, the mover 2 is adjusted accordingly, and a control signal is sent to the processing subunit 241. The processing subunit 241 then transmits the control signal to the power drive subunit 242 in real time. The power drive subunit 2 controls the coil array unit 22 to control the mover 2. The main control unit 5 can control one or more movers 2 in real time.

[0088] More importantly, such as Figure 9 As shown, the first detection unit 28 and the second detection unit 29 are arranged parallel to each other along the vertical direction. The first detection unit 28 is an absolute encoder, and the second detection unit 29 is an incremental encoder. Thus, the first detection unit 28 and the second detection unit 29 measure the same horizontal relative position on the stator 1. This is mainly used for phase alignment to avoid re-aligning the phase after the closed-loop long-stroke motion system restarts. Secondly, the absolute encoder corrects data overflow and incremental error accumulation caused by the incremental encoder after long-stroke cyclic measurement in the closed-loop long-stroke motion system. The incremental measurement distance can be reset by the absolute encoder after each revolution around the stator. In other words, after the mover 2 completes one revolution, the incremental encoder accumulates the stroke. The absolute encoder then clears the accumulated stroke of the incremental encoder, allowing the mover 2 to restart a new displacement measurement during a new revolution. Therefore, even if the mover 2 repeatedly passes through the previously traversed positions during a new revolution, the real-time position of the mover 2 can still be obtained.

[0089] Additionally, a Hall sensor (unlabeled) can be installed on the mover 2. The Hall sensor (unlabeled) is electrically connected to the processing subunit 241, transmitting the acquired parameters to the processing subunit 241. The processing subunit 241 calculates and processes the parameters, and if they are inconsistent with the preset parameters, it makes corresponding adjustments and sends the adjusted parameters to the power drive subunit 242, enabling the power drive subunit 242 to drive the coil array unit 22 on the mover 2 to quickly commutate. Of course, sensors that acquire signals such as temperature or switching signals can also be installed on the base 21 of the mover 2, allowing the main control unit 5 to obtain other auxiliary signals, facilitating the overall control of all movesrs 2 by the back-end terminal 6.

[0090] Furthermore, such as Figure 1 and Figure 4 As shown, the stator base 11 is provided with a slide rail 110 arranged along a preset trajectory, and the mover 2 slides along the slide rail 110. The mover 2 also includes a roller assembly arranged on the top of the mover 2, and the roller assembly slides along the slide rail 110 on the stator 1. The slide rail 110 can be arc-shaped or straight, and is set according to the trajectory that the mover 2 needs to run.

[0091] Specifically, such as Figure 1 and Figure 4 As shown, the slide rail 110 includes a first slide rail 111 and a second slide rail 112. The first slide rail 111 and the second slide rail 112 are arranged along a preset trajectory, and the second slide rail 112 is arranged opposite to the first slide rail 111. The mover 2 also includes a roller assembly disposed on the top of the mover 2, and the roller assembly slides along the slide rail 110 on the stator 1. The roller assembly includes a slide base 261, a first roller member 262 and a second roller member 263. The slide base 261 is disposed on the base 21, and the first roller member 262 and the second roller member 263 are disposed on the slide base 261. The first roller member 262 rolls along the first slide rail 111, and the second roller member 263 rolls along the second slide rail 112. The first roller member 262 and the second roller member 263 clamp the first slide rail 111 and the second slide rail 112 for movement.

[0092] Furthermore, such as Figure 1 and Figure 4 As shown, the base 21 of the mover 2 includes a first working part 201, a second working part 202, and a third working part 203. The second working part 202 and the third working part 203 are arranged opposite to each other, and the first working part 201 connects the second working part 202 and the third working part 203. A coil array unit 22 is disposed on the first working part 201, and a roller assembly is disposed on the second working part 202. The surface of the permanent magnet array unit 12 is arranged opposite to the first working part 201, and the surface of the slide rail 110 is arranged opposite to the second working part 202. The first working part 201 can be completely clamped between the third working part 203 and the second working part 202, or it can be partially outside the third working part 203 and the second working part 202.

[0093] Furthermore, as shown in Figure 4, the first working part 201 is arranged vertically, and the second working part 202 is arranged horizontally. It can be understood that the first working part 201 can also be inclined in different directions, and the second working part 202 can also be inclined in different directions.

[0094] like Figure 1 and 4 As shown, the surface where the transmission unit 13 is located is positioned opposite to the second working part 202. The first roller 262 and the second roller 263 clamp the slide rail 110 and move along the axial direction of the stator 1 array, supporting the deformation of the side of the mover 2 caused by the excitation adsorption force.

[0095] Thus, with the permanent magnet array unit 12, slide rail 110, and transmission unit 13 located in different working sections, the magnetic field of the permanent magnet array unit 12 will not affect the roller assembly and sliding contact unit 23, allowing the mover 2 to operate normally. Furthermore, when the permanent magnet array unit 12 and the roller assembly or sliding contact unit 23 are located in one working section, to prevent interference from the permanent magnet array unit 12, the permanent magnet array unit 12 and the roller assembly or sliding contact unit 23 need to be separated. This would make the overall layout of the mover 2 difficult to plan, and one side of the mover 2 would be larger, resulting in a less compact structure. The current layout with three working sections makes the structure of the mover 2 more compact, concentrates electrical components, and reduces costs.

[0096] In a long-stroke motion system, a support tray can be provided on the second working part 202 of the mover 2 for placing items. The first roller 262 and the second roller 263 stably support the tray, ensuring the stability of the long-stroke motion system when carrying items. Additionally, as... Figure 4 As shown, the first detection unit 28 is disposed on the second working part 202. The second detection unit 29 is disposed on the first working part 201. This makes the layout of the mover 2 compact and reasonable, and enables the detection of appropriate information data.

[0097] As described above, the second working part 202 is located above the stator, the first working part 201 is located on the side of the stator, and the third working part 203 is located below the stator. These three working parts are nested and secured to the stator. The first roller 262 and the second roller 263 are located above the stator, clamping the slide rail 110. The first detection unit 28 is also located above the stator. The coil array unit 22 and the second detection unit 29 are located on the side of the stator. The coil array unit 22 is positioned opposite to the permanent magnet array unit 12 on the stator. The sliding contact unit 23 is located below the stator and cooperates with the transmission unit 13 below the stator. This arrangement allows for a rational distribution of the components on the mover, saving internal space and making the mover structure more compact.

[0098] In another embodiment, such as Figure 1 , Figure 5 and Figure 12 As shown, the control method for a long-stroke motion system includes the following steps:

[0099] Step 110: Provide the aforementioned long-stroke motion system;

[0100] Step 120: The absolute position of the mover 2 relative to the stator 1 is detected by the first detection unit 28 installed on the mover, and the position parameter Y of the mover 2 is obtained;

[0101] Step 130: The relative displacement of the mover 2 relative to the stator 1 is detected by the second detection unit 29 installed on the mover 2, and the cumulative displacement X is obtained;

[0102] Step 140: Control the running position of each mover 2 on the stator 1 according to the position parameter Y and the cumulative displacement X.

[0103] Furthermore, step 140 includes steps 141, 142, and 143:

[0104] Step 141: Determine if the position parameter Y of the mover is 0;

[0105] If Y equals 0, in step 142, the relative displacement X of the control mover 2 is set to 0;

[0106] If Y is not equal to 0, in step 143, control the second detection unit 29 on the mover to continue detecting the relative displacement and continue to acquire the cumulative displacement X;

[0107] Step 144: Obtain the global position information of the mover 2 based on the cumulative displacement of the mover 2;

[0108] Step 145: Adjust the position of each mover 2 according to the global position information of each mover 2.

[0109] This embodiment is a system embodiment corresponding to the above embodiments, and can be implemented in conjunction with the above embodiments. The relevant technical details mentioned in the above embodiments are still valid in this embodiment, and will not be repeated here to reduce repetition. Correspondingly, the relevant technical details mentioned in this embodiment can also be applied to the above embodiments.

[0110] It is worth mentioning that all modules involved in this embodiment are logical modules. In practical applications, a logical unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. Furthermore, to highlight the innovative aspects of this invention, this embodiment does not introduce units that are not closely related to solving the technical problem proposed by this invention; however, this does not mean that other units are absent from this embodiment.

[0111] Those skilled in the art will understand that the above embodiments are specific examples of implementing the present invention, and in practical applications, various changes in form and detail may be made without departing from the spirit and scope of the present invention.

Claims

1. A long-stroke motion system, characterized in that, include: The stator includes: a stator base, a permanent magnet array unit and a transmission unit disposed on the stator base, wherein the transmission unit and the permanent magnet array unit are both arranged according to a preset trajectory; At least one mover, slidably disposed along the preset trajectory, includes: a mover base, a coil array unit disposed on the mover base, and a plurality of sliding contact units; and The main control unit, connected to the transmission unit, controls the actuator; The sliding unit includes: A fixing element is provided on the moving part base; A conductive element, electrically connected to the coil array unit and abutting against the transmission unit; the conductive element is movably connected to the fixing member to be movable in a direction toward or away from the fixing member; the conductive element is operable to be electrically connected to and communicate with the transmission unit when abutting against the transmission unit; and A biasing element is connected between the fixing element and the conductive element. The biasing element is always in a compressed state and biases the conductive element away from the fixing element. The conductive element includes: A cantilever, which is connected to the biasing member and hinged to the fixing member and can rotate toward or away from the fixing member; A conductive contact is hinged to the cantilever and abuts against the transmission unit; The hinge position between the cantilever and the fixing member and the hinge position between the cantilever and the conductive contact are spaced apart from each other. The fixed distance between the sliding contact unit and the moving base panel is adjustable. The fixed distance between the sliding contact unit and the moving base panel on the same panel is adjusted according to the different shapes and sizes of the transmission unit, thereby adjusting the relative preload. The vertical direction of the end of the biasing member connected to the fixing member is located between the two ends of the cantilever. The cantilever includes: a first connecting side connected to the biasing member, and a second connecting side disposed opposite to the first connecting side; The fixing member is provided with a blocking part for supporting and blocking the second connecting side, and for limiting the angle of rotation of the cantilever away from the fixing member.

2. The long-stroke motion system according to claim 1, characterized in that, The conductive contact has a flat surface at one end that abuts against the transmission unit, and at least part of the surface of the flat surface is a carbon brush.

3. The long-stroke motion system according to any one of claims 1 to 2, characterized in that, The sliding contact unit includes a plurality of biasing elements and a plurality of conductive elements, with each biasing element and each conductive element corresponding to the other.

4. The long-stroke motion system according to claim 1, characterized in that, The transmission unit includes a conductive end and a communication end, and the main control unit communicates with the communication end; The conductive end is provided in a one-to-one correspondence with a portion of the sliding contact units, and the conductive end abuts against the conductive component of the portion of the sliding contact units; The communication terminal is configured in a one-to-one correspondence with another part of the sliding contact unit, and the communication terminal abuts against the conductive part of the other part of the sliding contact unit.

5. The long-stroke motion system according to claim 1, characterized in that, The stator base is provided with a slide rail arranged along the preset trajectory; The mover also includes: a roller assembly, which is disposed on the mover base and slidably disposed with the slide rail; The moving part base includes: The first working section, wherein the coil array unit is disposed on the first working section; The second and third working parts are arranged opposite to each other, with the first working part at least partially located between the second and third working parts; and connecting the second and third working parts. The roller assembly is disposed on the second working part; the sliding contact unit is disposed on the third working part; The permanent magnet array unit is located opposite to the first working part; the slide rail is located opposite to the second working part; and the transmission unit is located opposite to the third working part.

6. The long-stroke motion system according to claim 5, characterized in that, The third working part is provided with a pair of parallel and spaced-apart panels, and the plurality of sliding touch units are respectively disposed on the pair of panels.

7. The long-stroke motion system according to claim 5, characterized in that, The first working part is arranged vertically, and the second working part is arranged horizontally.

8. The long-stroke motion system according to claim 5, characterized in that, The mover further includes a driving unit, electrically connected to the coil array unit and at least a portion of the sliding contact unit; the driving unit is disposed on the first working part. The long-stroke motion system further includes a main control unit connected to the drive unit and the transmission unit, wherein the main control unit controls the drive unit to drive the coil array unit.

9. The long-stroke motion system according to claim 8, characterized in that, The long-stroke motion system also includes: The first component to be tested is set on the stator according to the preset trajectory; The mover also includes: The first detection unit is electrically connected to the drive unit and reads the first device to be detected, used to detect the real-time position of the mover relative to the stator. The second detection unit is electrically connected to the drive unit and is used to detect the displacement of the mover relative to the stator. The driving unit is used to receive and process the information detected by the first detection unit and the second detection unit, and is also used to send the received and processed information to the main control unit.

10. The long-stroke motion system according to claim 1, characterized in that, The sliding touch unit is provided with a first barrier and a second barrier. The first barrier and the second barrier are separated from each other along the preset trajectory to form a blocking area. The sliding touch unit is at least partially disposed in the blocking area.

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