交流永磁直线电机及其伺服控制系统的设计【说明书+CAD】
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用磁轴承预紧的直线电机机040536 何金树摘要：一个定位表包括一对平行的轨道确定一个运动轴。一个可移动装配包括第一直线电机装配处置的运行轨迹。船外直线电机装配上另一个硬性桥轨道并向装配第一直线电机做同时一致的运动。第一直线电机装配包括一个多元化的永磁材料，确定在预定的角度来横向滑行和一个电枢确定用永磁体在同一角度密切间隔间滑行。永久磁铁可能会被装配在移动的直线电机或者在第一轨道。电枢是被安装在另一个移动的要素和轨道上。第一和第二装配在直线电机上的要素，可以支撑空气轴承在纵向和横向的方向的载荷。预定的角度确立了磁场吸引力在永久磁铁和电枢载体之间的方向。预定的角度调整，以比例占总负荷的静态和动态负荷和磁吸引力的力量为准。该船外直线电机装配在包括多元化的永磁材料的第二条轨道和第二个电枢。该船外直线电机的组装和可包括为磁吸在同预设的角度的第二条轨道一样受制于第一直线电机的装配。描述：交叉参照相关的应用系统发明背景本发明涉及到直线电机，更具体地，以仪器作指导和支持装置元素的永磁极直线电机在机床的应用。直线电机常规是用于那些要求申请的温和力量沿直线轴。其中透露，在美国的帕特。编号4595870 ，举例来，包括驾驶一轴的定位表取代一个工件沿轴线。这种应用的特点是高精度的定位，而温和的力量和加速度的要求。线性电机消除了特征的滚珠丝杠传动和大幅度减少了群众的感人元素。上述两个特点的直线电机提供的好处，在工件的定位精度和加速度。该部队，其中直线电机的能力是有限的，由电阻加热，在绕组的电枢的线性马达。我在美国的专利申请丝氨酸。编号859915 ，我透露几个技巧冷却的线性马达。在冷却技术使用液体冷却剂，我发现这是可以做到的，以达到高势力永磁极直流直线电机用温和的流动液体冷却剂的热接触电枢绕组。该达到的高力允许这种直线电机将用于在应用以前没有考虑过为这是一个一流的汽车公司。我在美国的帕特。.编号4505464 ，我披露定位表，其中利用磁极吸之间的永久磁极铁和电枢铁预压轴承配套该装置的元素定位就座。两套磁极体在正交飞机提供了双向数据预压。我在美国的专利申请丝氨酸。编号015680 ，我透露一个高力直线电机改装融入床上的一台机床。某机床应用需要很长的旅行是在高速和加速度。本发明涉及这样一个应用，其中，除前述要求，长长的直线条轴线必须迁就。 物体和简要的发明它是一个对象的发明提供一个永磁极直线电机所克服的弊端事先技术。这是一个进一步的对象发明提供一个永磁极直线电机过第一和第二轴承设备轴承部队处置角度，向对方和磁极力吸引的力量弃置在一个角中间的角度，轴承力量，而单磁极力是有效的预压均在第一和第二个轴承装置。这是一个仍在进一步物体的发明提供一个永磁极直线电机的第一和第二个轴承设备配套轴承部队沿向量行距与尊重对方。轴承设备，还须至少有一个负荷不均适用于两个轴承装置。磁极性吸引力部队之间的永久磁极铁和磁极性金属在电枢的线性马达是弃置在一个角之间载体的承载力量，例如一个更大马力磁极预紧力，是适用于其中的第一和第二个轴承装置熊少的负荷，即轴承负荷调整走向平等。这是一个仍在进一步物体的发明，以提供一个永久磁极体直线电机具有无限期长度线性旅行。这是一个仍在进一步物体的发明提供一个定位装置后，第一个永磁极直线电机雇用第一轨为它的一个分子马达以及第二永磁极直线电机聘请第二条轨道平行的第一轨支持船外年底的定位装置，并提供协调一致的动力与第一永磁极直线电机。第一和第二轴承设备，分隔转移事关部队首次轨道。磁极吸在第一直线电机，在某个角度中间轴承载体的第一和第二轴承预紧装置的第一和第二个轴承装置。至少有三分之一的轴承装置，在第二直线电机转移的剩余载荷力量，以第二轨。简单地，本发明提供了一种定位表，包括对钢轨并行界定轴线的议案。上一个可装配包括第一直线电机装配处置的议案之一，步行铁轨。船外直线电机装配上其他轨道是硬性桥向第一直线电机装配采取协调一致的议案草案。第一直线电机装配包括一个多元化的永磁极材料，确定飞机在预定的角度来横向和一个电枢确定了飞机上的同一角度密切间隔由永磁极体。永久磁极铁可能会被弃置于装置要素之一，直线电机装配或就第一铁。电枢是弃置于其他的装置要素和第一轨。第一和第二轴承对装置要素之一，直线电机装配支持载荷在纵向和横向的方向。预定的角度确立了方向，一个吸引力向量之间的永久磁极铁和电枢。预定的角度调整，以比例占总负荷的静态和动态负荷和磁极吸引力的力量，以一种想要的价值。该船外直线电机组装关于第二条轨道包括多元化的永磁极材料和第二个电枢。事关与船外直线电机装配行为，在垂直方向只。该船外直线电机组装和第二条轨道可包括为磁极吸在同预设的角度，受聘于第一直线电机的装配。在一个体现，是一个非磁极性铁受制于一个磁极性金属带贴到一个表面的铁后盾多元性的永久磁极铁。在另一项体现，一个塑料插入在至少一种表面的轨道有利于建立一个表面有一个平坦足够用于同一个空气轴承。在另一项体现，一个单一的汽车座垫，包括第一和第二空气轴承集成到一个鞍。仍然进一步体现，一个或多个辅助轴承是他与队友空气轴承。辅助轴承承担任何负荷超过了那些空气轴承是能够支持。辅助轴承间隔从另一种相反的表面使他们承担的机械支持，然后空气轴承可以强迫转化为机械接触的表面。 根据这一项发明提供一个定位装置定位一个物体至少沿一个轴，包括：第一和第二轨并行处理，向至少一个轴心，至少在第一轨包括一个水平的顶面，垂直方面及一斜面，第一斜边面，使一个预定的角度与水平，第一次组装的装置，装置沿线至少有一个主轴，第一装置组装包括直线电机装配相似向第一轨和船外直线电机装配相似向第二条轨道，是指为硬性连接直线电机装配向船外直线电机装配采取协调一致的运动时，垂直轴承用为支撑的垂直力量，对直线电机组装上的横向顶面，卧式轴承用为支撑的横向力量，对直线电机组装上的垂直方面，一间多元化的永磁极材料，确定的第一个平面平行的第一斜边面上看，是一个具有电枢磁极物质，因此确定了第二滑道并行，以第一斜边面，并密切行距面临的第一滑道，一磁极吸存在，第一多元性的永磁极体被弃置于第一个斜边面和第一装置组装和电枢被弃置于其他的第一斜边面和第一装置组装，第二条轨道经第二次横向顶面，船外直线电机装配包括第二竖向承载，对轴承第二横向顶面，并预定的角度看作为一个有效的分摊总负荷对垂直和水平承载力是指在一个预定的比例。 根据这个发明特点提供了一个定位装置定位负载沿第一和第二轴线组成：第一和第二轨并行处理，以第一轴，至少在第一轨包括一个水平的顶面，垂直方地表水和第一次斜边面上看来，第一斜边面，使一个预定的角度与水平，第一次组装的装置，装置，沿第一轴，首先装置组装包括直线电机装配相似向第一轨道和船外线性电机装配相似向第二轨道，第三和第四轨硬性连接直线电机装配向船外直线电机装配采取协调一致的运动时，垂直轴承用为支撑的垂直力量，对直线电机组装上的横向顶面，卧式轴承用支持横向力量，对直线电机组装上的垂直方面，一间多元化的永磁极材料，确定的第一个平面平行的第一斜边面上看，是一个具有电枢磁极物质，因此确定了第二滑道并行，以第一斜面表面上，并密切行距面临的第一滑道，一磁极吸存在，第一多元性的永磁极体被弃置于第一斜边面和电枢被弃置于第一装置组装，第二条轨道有二横顶部从表面上看，船外直线电机装配包括第二竖向承载，对轴承第二横向顶面，预定的角度看作为一个有效的分摊共有载荷对纵向和横向关系是指在一个预定的比例，第二个斜面关于第二个铁，二斜面正处于第二个预定的角度倾斜向同一方向作为第一斜边面上，第二个斜面包括磁极素材，第二个多元化的永久磁极体对船外轴承装配，第二多元性永磁极材料确定第三架净距面临第二个坡一侧表面上，而第二个磁极吸是施加在船外直线电机组装和第三次和第四次轨确定了第二轴成直角向至少一轴，第二次装置组装第三次和第四次轨，让的XY装置提供了依据。 根据进一步的特点提供了一个直线电机包括：轨道，多元化的永磁极体弃置于地面的轨道，装置会员，装置会员包括电枢含磁极材料，轴承用为支持该装置的会员在一个位置距水面的电枢到一个表面的多元性的永磁极材料，轴承的方式，其中包括一个空气轴承，轨道，其中包括表面面临空气轴承，空气轴承正在有效运转正常为支持该装置会员与间距素D1之间的空气轴承，并从表面上看，轴承的方式，其中包括至少一个辅助轴承，轴承辅助用，其中包括为防止空气轴承接近接近距离d2之间的空气轴承和从表面上看，距离d2小于D1和距离d2大于零。根据一项仍在进一步的特点提供一个直线电机包括：轨道，多元化的永磁极体的处置上的第一个表面的铁，装置会员，装置会员包括含磁极素材，一个空气轴承贴于该装置会员，插入一个在轨道形成第二面所面临的空气轴承，空气轴承正在有效运转正常，为支持会员装置与标称间距素D1之间的空气轴承和第二个表面上看，允许更容易实现平坦的第二面和其余部分轨道。 据另一项特色提供一个直线电机包括：轨道，多元化的永磁极体弃置于地面的轨道，装置会员，装置会员包括电枢含磁极材料，同时意味着贴以装置会员，轴承的方式，其中包括用支持装置会员针对总共载荷应用之间的装置委员及铁，铁包括纵向腔草案，并振动阻尼材料在纵向腔。据又一特点发明提供一个直线电机，包括：轨道，多元化的永磁极体的处置上的第一个表面的铁，装置会员，会员装置包括马鞍，电枢含磁极材料贴在鞍，电枢被弃置面对多元化的永磁极材料，第二个表面上轨道，第二面确定了第一支援飞机，它是一种三面对铁，第三面确定了第二次支援飞机事件发生后，第一和第二支援飞机被非共面，第一个空气轴承在鞍，首先空气轴承所面临的第一个支援飞机，它是一种第二空气轴承在马鞍，第二空气轴承所面临的第二个支持飞机的情况，至少在一是空气轴承单一与鞍。 Linear motor with magnetic bearing preload机040536 何金树Abstract: A positioning table includes a pair of parallel rails defining an axis of motion. A movable assembly including a first linear motor assembly disposed for motion along one of the rails. An outboard linear motor assembly on the other rail is rigidly bridged to the first linear motor assembly for concerted motion therewith. The first linear motor assembly includes a plurality of permanent magnets defining a plane at a predetermined angle to the horizontal and an armature defining a plane at the same angle closely spaced from the permanent magnets. The permanent magnets may be disposed on the movable element of the linear motor assembly or on the first rail. The armature is disposed on the other of the movable element and the first rail. First and second bearings on the movable element of the linear motor assembly, which may be air bearings support loads in the vertical and horizontal directions. The predetermined angle establishes the direction of a magnetic attractive vector between the permanent magnets and the armature. The predetermined angle is adjusted to proportion the total load of the static and dynamic load and the magnetic attractive force to a desired value. The outboard linear motor assembly on the second rail includes a plurality of permanent magnets and a second armature. The outboard linear motor assembly and the second rail may include provision for magnetic attraction at the same predetermined angle as that employed in the first linear motor assembly.Description: CROSS REFERENCE TO RELATED APPLICATIONS BACKGROUND OF THE INVENTIONThe present invention relates to linear motors and, more specifically, to apparatus for guiding and supporting a movable element of a permanent magnet linear motor in a machine tool. Linear motors conventionally are used in applications requiring the application of modest force along a linear axis. One application, disclosed in US Pat. No. 4,595,870, for example, includes driving one axis of a positioning table for displacing a work piece along the axis. Such applications are characterized by high precision in positioning, and modest force and acceleration requirements. The linear motor eliminates the windup characteristic of ball-screw drives and substantially reduces the mass of the moving element.。 Both of these characteristics of linear motors provide benefits in work piece positioning precision and acceleration. The force of which linear motors are capable is limited by resistive heating in the windings of the armature of the linear motor. In my US patent application Ser. No. 859,915, I disclose several techniques for cooling a linear motor. In cooling techniques using liquid coolant, I have discovered that it is possible to attain high forces in permanent magnet DC linear motors using a moderate flow of a liquid coolant in thermal contact with the armature windings. The attainable high force permits such linear motors to be used in applications not previously considered for this a class of motors. In my US Pat. No. 4,505,464, I disclose a positioning table which takes advantage of the magnetic attraction between permanent magnets and armature iron for preloading bearing supporting the movable element of the positioning table Two sets of magnets in orthogonal planes provide bi-directional preloading. In my US patent application Ser. No. 015,680, I disclose a high-force linear motor adapted for integration into the bed of a machine tool. Certain machine-tool applications require very long travel at high speeds and accelerations. The present invention addresses one such application wherein, in addition to the foregoing requirements, long linear axes must be accommodated. OBJECTS AND SUMMARY OF THE INVENTIONIt is an object of the invention to provide a permanent magnet linear motor which overcomes the drawbacks of the prior art. It is a further object of the invention to provide a permanent magnet linear motor having first and second bearing devices with bearing forces disposed at angles to each other and a magnetic attractive force disposed at an angle intermediate the angles of the bearing forces, whereby the single magnetic force is effective for preloading both the first and the second bearing devices. It is a still further object of the invention to provide a permanent magnet linear motor with first and second bearing devices supporting bearing forces along vectors angularly spaced with respect to each other. The bearing devices are further subject to at least one load unequally applied to the two bearing devices. A magnetic attractive force between permanent magnets and magnetic metal in an armature of the linear motor is disposed at an angle between the vectors of the bearing forces such that a greater contribution of magnetic preload is applied to the one of the first and second bearing devices which bears less of the load, whereby bearing loading is adjusted toward equality. It is a still further object of the invention to provide a permanent magnet linear motor having indefinite length linear travel. It is a still further object of the invention to provide a positioning device having a first permanent magnet linear motor employing a first rail for one of its motor elements and a second permanent magnet linear motor employing a second rail parallel to the first rail for supporting an outboard end of the positioning device and for providing coordinated driving force with the first permanent magnet linear motor. First and second bearing devices, angularly spaced apart transfer bearing forces to the first rail. Magnetic attraction in the first linear motor, at an angle intermediate the bearing vectors of the first and second bearing devices preload the first and second bearing devices. At least a third bearing device in the second linear motor transfers the remainder of the load forces to the second rail. Briefly stated, the present invention provides a positioning table including a pair of parallel rails defining an axis of motion. A movable assembly including a first linear motor assembly disposed for motion along one of the rails. An outboard linear motor assembly on the other rail is rigidly bridged to the first linear motor assembly for concerted motion therewith. The first linear motor assembly includes a plurality of permanent magnets defining a plane at a predetermined angle to the horizontal and an armature defining a plane at the same angle closely spaced from the permanent magnets. The permanent magnets may be disposed on the movable element of the linear motor assembly or on the first rail. The armature is disposed on the other of the movable element and the first rail. First and second bearings on the movable element of the linear motor assembly support loads in the vertical and horizontal directions. The predetermined angle establishes the direction of a mangetic attractive vector between the permanent magnets and the armature. The predetermined angle is adjusted to proportion the total load of the static and dynamic load and the magnetic attractive force to a desired value. The outboard linear motor assembly on the second rail includes a plurality of permanent magnets and a second armature. A bearing associated with the outboard linear motor assembly acts in the vertical direction only. The outboard linear motor assembly and the second rail may include provision for magnetic attraction at the same predetermined angle as that employed in the first linear motor assembly. In one embodiment, a non-magnetic rail is employed with a magnetic metal strip affixed to a surface of the rail backing the plurality of permanent magnets. In another embodiment, a plastic insert in at least one surface of the rail facilitates the creation of a surface having a flatness sufficient for use with an air bearing. In still another embodiment, a unitary motor saddle includes first and second air bearing integrated into a saddle. In a still further embodiment, one or more auxiliary bearings are teamed with air bearings. The auxiliary bearings assume any load in excess of that which the air bearings are capable of supporting. The auxiliary bearings are spaced from an opposing surface such that they undertake mechanical support before their companion air bearings can be forced into mechanical contact with the surface. According to an embodiment of the invention, there is provided a positioning device for positioning an object along at least one axis comprising: first and second rails disposed parallel to the at least one axis, at least the first rail including a horizontal top surface, a vertical side surface and a first sloping side surface, the first sloping side surface making a predetermined angle with the horizontal, a first movable assembly, movable along the at least one axis, the first movable assembly including a linear motor assembly proximate to the first rail and an outboard linear motor assembly proximate to the second rail, means for rigidly connecting the linear motor assembly to the outboard linear motor assembly for concerted movement thereof, vertical bearing means for supporting vertical forces on the linear motor assembly on the horizontal top surface, horizontal bearing means for supporting horizontal forces on the linear motor assembly on the vertical side surface, a first plurality of permanent magnets defining a first plane parallel to the first sloping side surface, an armature having magnetically attractable material therein defining a second plane parallel to the first sloping side surface and closely spaced facing the first plane, whereby a first magnetic attraction exists there between, the first plurality of permanent magnets being disposed on one of the first sloping side surface and the first movable assembly and the armature being disposed on the other of the first sloping side surface and the first movable assembly, the second rail having a second horizontal top surface, the outboard linear motor assembly including second vertical bearing means for bearing against the second horizontal top surface, and the predetermined angle being a value effective for apportioning a total load on the vertical and horizontal bearing means in a predetermined proportion.According to a feature of the invention, there is provided a positioning device for positioning a load along first and second axes comprising: first and second rails disposed parallel to the first axis, at least the first rail including a horizontal top surface, a vertical side surface and a first sloping side surface, the first sloping side surface making a predetermined angle with the horizontal, a first movable assembly, movable along the first axis, the first movable assembly including a linear motor assembly proximate to the first rail and an outboard linear motor assembly proximate to the second rail, third and fourth rails rigidly connecting the linear motor assembly to the outboard linear motor assembly for concerted movement thereof, vertical bearing means for supporting vertical forces on the linear motor assembly on the horizontal top surface, horizontal bearing means for supporting horizontal forces on the linear motor assembly on the vertical side surface, a first plurality of permanent magnets defining a first plane parallel to the first sloping side surface, an armature having magnetically attractable material therein defining a second plane parallel to the first sloping side surface and closely spaced facing the first plane, whereby a first magnetic attraction exists therebetween, the first plurality of permanent magnets being disposed on the first sloping side surface and the armature being disposed on the first movable assembly, the second rail having a second horizontal top surface, the outboard linear motor assembly including second vertical bearing means for bearing against the second horizontal top surface, the predetermined angle being a value effective for apportioning a total load on the vertical and horizontal bearing means in a predetermined proportion, a second sloping side surface on the second rail, the second sloping side surface being at a second predetermined angle inclined in the same direction as the first sloping side surface, the second sloping side surface including magnetically attractable material, a second plurality of permanent magnets on the outboard bearing assembly, the second plurality of permanent magnets defining a third plane closely spaced facing the second sloping side surface, whereby a second magnetic attraction is exerted in the outboard linear motor assembly, the third and fourth rails defining a second axis at right angles to the at least one axis, and a second movable assembly on the third and fourth rails, whereby an XY device is provided.According to a further feature of the invention, there is provided a linear motor comprising: a rail, a plurality of permanent magnets disposed on a surface of the rail, a movable member, the movable member including an armature containing magnetically attractable material, bearing means for supporting the movable member in a position spacing a surface of the armature to a surface of the plurality of permanent magnets, the bearing means including an air bearing, the rail including a surface facing the air bearing, the air bearing being effective in normal operation for supporting the movable member with a spacing D1 between the air bearing and the surface, the bearing means including at least one auxiliary bearing, the auxiliary bearing including means for preventing the air bearing from approaching closer than a distance D2 between the air bearing and the surface, distance D2 is less than D1, and distance D2 is greater than zero.According to a still further feature of the invention, there is provided a linear motor comprising: a rail, a plurality of permanent magnets disposed on a first surface of the rail, a movable member, the movable member including an armatue containing magnetically attractable material, an air bearing affixed to the movable member, an insert in the rail forming a second surface facing the air bearing
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