CN101207320B - Fast linear electric motor - Google Patents
Fast linear electric motor Download PDFInfo
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- CN101207320B CN101207320B CN2007101721498A CN200710172149A CN101207320B CN 101207320 B CN101207320 B CN 101207320B CN 2007101721498 A CN2007101721498 A CN 2007101721498A CN 200710172149 A CN200710172149 A CN 200710172149A CN 101207320 B CN101207320 B CN 101207320B
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Abstract
The invention relates to a fast straight-line motor belonging to the technical field of the machinery, and comprises a motion telescoping mechanism, a rear-clamping telescoping mechanism, a front-clamping telescoping mechanism and a track, wherein, the middle part of the rear-clamping telescoping mechanism is firmly connected with one end of the motion telescoping mechanism, the middle part of the front-clamping telescoping mechanism is firmly connected with the other end of the motion telescoping mechanism, the telescoping direction of both of the rear-clamping and the front-clamping telescoping mechanisms is vertical to the telescoping direction of the motion telescoping mechanism; the rear-clamping telescoping mechanism, the motion telescoping mechanism and the front-clamping telescoping mechanism form an inchworm body that is arranged inside the track, wherein, the telescoping direction of the rear-clamping and the front-clamping telescoping mechanisms is vertical to the length direction of the track, and the telescoping direction of the motion telescoping mechanism is consistent with the length direction of the track. The invention can produce the rapid, long-distance or endless long-distance straight-line movement, thereby having large movement loading capacity, controllable loading capacity and high movement displacement precision and easily-controlling movement process.
Description
Technical field
What the present invention relates to is a kind of device of technical field of electric appliances, specifically is a kind of fast linear electric motor.
Background technology
In the last few years, electricity, the development of magnetostrictive material field are rapidly, produced the smart material that can be used for precision driver, transducer and linear electric motors development novel as giant magnetostriction material, piezoelectric ceramic and magnetostriction marmem etc., it is big that these materials have energy density, the power output height, advantages such as telescopic shape change is accurate, but the linear electric motors ubiquity motion step pitch that is based on the smart material development is small, movement velocity is slow, big travel displacement required time is long, and defectives such as driving voltage or current requirements height.Therefore, the linear electric motors of developing based on flexible class smart material can not be satisfied the demand and be produced the occasion of quick super large stroke.
Find through literature search prior art, Jaehwan Kim etc. are at " Mechatronics " (mechatronics periodical, which 525-542 page or leaf of 2002 the 12nd phases) the paper A hybridinchworm linear motor (hybrid inchworm motion linear electric motors) that delivers on, the design of these linear electric motors is made up of a magnetostriction mechanism and two piezoelectricity telescoping mechanisms based on inchworm motion mechanism; Magnetostriction mechanism is used for producing the inchworm motion straight-line displacement, and two piezoelectricity telescoping mechanisms produce the clamp action as the looper clamping institution.The magnetostriction mechanism of telling comprises magnetostrictive rod, solenoid, metal shell, metal end, spring pressure mechanism, displacement output mechanism, displacement bar; The realization of its big displacement drive is to form by the micron order magnetostrictive displacement accumulation that the excitation of magnetostriction is repeatedly produced, and maximum single step displacement is 67 microns, and prestissimo can only reach 925 little meter per seconds; The piezoelectricity telescoping mechanism of telling comprises patch of piezoelectric material heap, complicated flexible hinge enlarger, pretightning force mechanism, exciting electrode.This linear electric motors existence control number of occurrence is many, control is loaded down with trivial details, movement velocity that motor produces is very low, is difficult to realize big stroke motion, and needs the defectives such as support of special smart material (as piezoelectricity, magnetostrictive material).
Summary of the invention
The present invention is directed to above-mentioned the deficiencies in the prior art, proposed a kind of fast linear electric motor, made it adopt three permanent-magnet telescopic mechanisms, respectively as the motion telescoping mechanism of inchworm motion and back clamp telescoping mechanism and preceding clamp telescoping mechanism, and can coordination, realize inchworm motion.
The present invention is achieved through the following technical solutions, the present invention includes: the motion telescoping mechanism, back clamp telescoping mechanism, preceding clamp telescoping mechanism, guide rail, wherein: the middle part and motion telescoping mechanism one end of back clamp telescoping mechanism are affixed, the middle part and the motion telescoping mechanism other end of preceding clamp telescoping mechanism are affixed, back clamp telescoping mechanism, the flexible direction of preceding clamp telescoping mechanism is all vertical with the flexible direction of motion telescoping mechanism, back clamp telescoping mechanism, the motion telescoping mechanism, preceding clamp telescoping mechanism is formed the looper body, the looper body places in the guide rail, back clamp telescoping mechanism, the flexible direction of preceding clamp telescoping mechanism is vertical with the rail length direction, and the flexible direction of motion telescoping mechanism is consistent with the length direction of guide rail.
Distance between described back clamp telescoping mechanism and the guide rail medial surface and the distance between preceding clamp telescoping mechanism and the guide rail medial surface are all less than elongated distance separately.
Described guide rail, its inner surface are plane or arc surface.
Described motion telescoping mechanism, back clamp telescoping mechanism, the structure of preceding clamp telescoping mechanism is identical, be permanent-magnet telescopic mechanism, permanent-magnet telescopic mechanism comprises: the center permanent magnet, the upper limit body, the lower limit body, magnetic actuation means, upper spring, lower spring, housing, the top offset take-off lever, the bottom offset take-off lever, upper end cover, bottom end cover, the center permanent magnet is between upper limit body and lower limit body, the center permanent magnet, the upper limit body, the lower limit body places enclosure interior, and be in the magnetic field of magnetic actuation means generation, the upper limit body links to each other with the top offset take-off lever, the lower limit body links to each other with the bottom offset take-off lever, upper spring is enclosed within on the top offset take-off lever, lower spring is enclosed within on the bottom offset take-off lever, the housing two ends are provided with upper end cover and bottom end cover, upper spring places between upper limit body and the upper end cover, and lower spring places between lower limit body and the bottom end cover.
Described back clamp telescoping mechanism, the top offset take-off lever of preceding clamp telescoping mechanism and the outer face of bottom offset take-off lever are equipped with mobile support component.
The described mobile support component outside is provided with bedding body, to increase clamping institution take-off lever end face and guide rail contact-making surface coefficient of friction and anti-wear performance.
Described center permanent magnet, its length is greater than width, the ratio of length and width is directly proportional with the stroke size, the inner surface profile of the outer surface of center permanent magnet and upper limit body and lower limit body closely cooperates or is tangent, so that the relatively moving to smooth incision, cut out slip of center permanent magnet and upper limit body and lower limit body.
The described upper end cover outside is provided with gathering sill, and the bottom end cover outside is provided with down gathering sill, issuable top offset take-off lever and vibration of bottom offset take-off lever or displacement beat to reduce moment telescopic displacement output.
Described upper limit body and lower limit body are permanent magnet, reduce the friction between center permanent magnet and upper limit body and the lower limit body.
Described magnetic actuation means is solenoid or outer permanent magnet.
When magnetic actuation means was solenoid, solenoid both can place the outside of housing also can place the inboard of housing.
When solenoid places the outside of housing, solenoid links to each other with the lower limit body with the upper limit body by magnetic-path, the influence that makes upper limit body, lower limit body, center permanent magnet in housing not generated heat by solenoid, the size of solenoid is not subjected to the restriction of shell dimension yet, can be made into big coil and produce high-intensity magnetic field
When solenoid places the outside of housing, solenoid can place coolant medium container, make motion telescoping mechanism, back clamp telescoping mechanism, preceding clamp telescoping mechanism adopt big current excitation, the electromagnetic efficiency height, solenoid heating consume and thermal expansion influence can be reduced to minimum.
When solenoid placed housing inboard, center permanent magnet, upper limit body, lower limit body were arranged in solenoid.
Described outer permanent magnet places the outside of housing, links to each other with the lower limit body with the upper limit body by magnetic-path, and this moment, mechanism action was not subjected to the restriction of electric power, directly makes mechanism flexible by the permanent magnetic field excitation.
Described center permanent magnet is provided with a bearing in the middle of it, and bearing is arranged on the back shaft, and back shaft lies in a horizontal plane in enclosure interior, and affixed with housing, makes center permanent magnet spin stabilization and sensitivity when producing magnetic pole deflection.
The magnetic direction that magnetic direction and solenoid produced at the preceding center of the magnetic field excitation of magnetic actuation means permanent magnet is inconsistent, after the magnetic field excitation of magnetic actuation means, the center permanent magnet will deflect, deflection stops when the permanent magnet magnetic field direction is consistent with the magnetic direction of magnetic actuation means, because center permanent magnet length is greater than width, so when the center permanent magnet rotates, the center permanent magnet will drive and contacted upper limit body of center permanent magnet and lower limit body, further drive top offset take-off lever and bottom offset take-off lever, produce the elongation action, when reducing the magnetic field of magnetic actuation means, the center permanent magnet will be by upper spring, lower spring compressing retraction or recovery produce contractive action.The stroke of permanent-magnet telescopic mechanism is directly proportional with the length of center permanent magnet and the ratio of width, proportional with the intensity of center permanent magnet deflection angle and extrinsic motivated, the power that can produce during telescopic drive is directly proportional with the magnetic field intensity of the magnetic field intensity of magnetic actuation means and center permanent magnet, and relevant with the material and the magnetization property of housing, center permanent magnet, the telescopic shape change precision depends on the controlled deflection precision to the center permanent magnet that the resultant field of permanent magnetism and electromagnetism is realized under the spring force effect.
The course of work of the present invention is specific as follows:
When guide rail maintains static, during whole looper body movement, the looper body process that goes on foot that travels forward is: 1) the looper body is under free release condition, clamp telescoping mechanism elongation and being clamped in the rigid guideway behind the magnetic pumping, 2) magnetic pumping motion telescoping mechanism elongation, and the clamp telescoping mechanism moves forward before promoting, 3) elongation of clamp telescoping mechanism is clamped in the rigid guideway before the magnetic pumping, and clamp telescoping mechanism, preceding clamp telescoping mechanism and motion telescoping mechanism are the excitation elongation state after this moment; 4) magnetic pumping of disconnection back clamp telescoping mechanism, back clamp telescoping mechanism elongation is shunk and is restored, and breaks away from guide rail; 5) disconnect the excitation of motion telescoping mechanism, motion telescoping mechanism elongation is contracted to recovery, because the clamp telescoping mechanism is clamped in the guide rail before this moment, drive back clamp telescoping mechanism when the motion telescoping mechanism shrinks and move forward, amount of movement is a motion telescoping mechanism amount of contraction; 6) disconnect preceding clamp telescoping mechanism excitation, preceding clamp telescoping mechanism elongation is shunk and is restored, and breaks away from guide rail; So far whole machine body moves forward a step.Repeat above action, then can finally make body form big displacement each step displacement accumulation; And it is short to form this big displacement required time, realizes fast moving.In addition, if change the clamp sequence of movement into elder generation by preceding clamp telescoping mechanism action, the clamp telescoping mechanism action of last back, the whole machine body direction of motion will be opposite with preceding a kind of situation so, and the body backward directions move.
When whole looper body maintain static, when guide rail moves, guide rail is transported the process that moves a step backward and is: 1) the looper body is under free release condition, and clamp telescoping mechanism elongation is clamped in the rigid guideway behind the magnetic pumping; 2) magnetic pumping motion telescoping mechanism elongation, and clamp telescoping mechanism after promoting, preceding clamp telescoping mechanism outwards moves, when back clamp telescoping mechanism moves backward owing to tightened by rigid guideway, after also following, moves frictional force effect lower guideway, displacement is the corresponding stroke of motion telescoping mechanism, move and preceding clamp telescoping mechanism is unloaded, 4) excitation of disconnection back clamp telescoping mechanism, back clamp telescoping mechanism elongation is shunk and is restored, and break away from 5 with guide rail) disconnect motion telescoping mechanism magnetic pumping, the motion telescoping mechanism is contracted to recovery, back clamp telescoping mechanism, preceding clamp telescoping mechanism is followed and is moved to the position recovery, and so far guide rail is finished to move backward and moved a step; Repeat above action, then can accumulate by each step displacement, guide rail forms big displacement, and it is short to form this displacement required time, realizes fast moving.In addition, if change back clamp telescoping mechanism action into preceding clamp telescoping mechanism action, guide rail will be forwards to moving so.
Compared with prior art, the present invention has following beneficial effect:
(1) the present invention has made full use of the characteristic of big strain permanent-magnet telescopic mechanism, in conjunction with inchworm motion mechanism the large deformation of permanent-magnet telescopic mechanism is converted into big stroke, or even endless stroke (if rail length and repeat actuation number of times are unrestricted); (2) when having than length and length-width ratio, the center of motion telescoping mechanism permanent magnet promptly obtains big single step shift length, or when applying high-frequency electromagnetic excitation and finishing inchworm motion, can realize the fast linear electric motor motion, the movement velocity of motor is about ten times to 20 times of documents medium velocity; (3) permanent-magnet telescopic mechanism is as the clamp telescoping mechanism, make that the clamp action is controlled easily, clamp is swift in motion, and produce very big clamp power by the mode that increases electromagnetic energy, because the load capacity in the body movement process depends on clamp power, so linear electric motors of the present invention have stronger load capacity; (4) the flexible distance of the permanent-magnet telescopic mechanism among the present invention is big, so the present invention requires low to the accurate to dimension of guide rail, scale error can be compensated by the clamp telescopic displacement, and the inner surface of guide rail can be arc surface type or plane, can directly serve as guide rail as pipe, thereby need not special processing and manufacturing guide rail; (5) since the magnetic actuation means of the permanent-magnet telescopic mechanism of motor of the present invention as solenoid, can place outside the telescoping mechanism housing, so solenoid also can conveniently place the cooling medium, make whole motor can adopt big current excitation, the electromagnetic efficiency height, thermosteresis, thermal expansion influence are little.
Description of drawings
Fig. 1 is a structural representation of the present invention
Wherein: figure (a) is a vertical view of the present invention, and figure (b) is a C ' view of the present invention;
Fig. 2 is that guide rail of the present invention maintains static, course of work schematic diagram during whole looper body movement;
Fig. 3 is that looper body of the present invention maintains static, course of work schematic diagram when guide rail moves;
Fig. 4 is the structural representation of contraction state before the permanent-magnet telescopic mechanism electromagnetic field excitation of the present invention;
Fig. 5 is the structural representation of elongation state after the permanent-magnet telescopic mechanism electromagnetic field excitation of the present invention;
Telescoping mechanism schematic diagram when Fig. 6 is the center permanent magnet band rotating shaft of permanent-magnet telescopic mechanism of the present invention inside
Wherein: figure (a) schemes (b) and analyses and observe schematic construction along being parallel to the rotating shaft axial direction for along analysing and observe schematic construction perpendicular to the rotating shaft axial direction;
Fig. 7 is the center permanent magnet of permanent-magnet telescopic mechanism of the present invention inside and upper limit body, lower limit body structure schematic diagram
Wherein: figure (a) is a state before the action of a magnetic field, and figure (b) is in the permanent magnet rotation back state diagram of the action of a magnetic field rear center;
Fig. 8 is that the solenoid of permanent-magnet telescopic mechanism of the present invention is positioned at the outer telescoping mechanism schematic diagram of stiff case;
Fig. 9 is that the solenoid of permanent-magnet telescopic mechanism of the present invention is placed on the schematic diagram of working in the coolant;
Figure 10 is pipe guide rail of the present invention or arc tube guide rail structure schematic diagram
Wherein: figure (a) tubular type guide rail, figure (b) circular arc cast.
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed execution mode and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, present embodiment comprises: back clamp telescoping mechanism 18, motion telescoping mechanism 19, preceding clamp telescoping mechanism 20, guide rail 21, wherein: the middle part and motion telescoping mechanism 19 1 ends of back clamp telescoping mechanism 18 are affixed, the middle part and motion telescoping mechanism 19 other ends of preceding clamp telescoping mechanism 20 are affixed, back clamp telescoping mechanism 18, the flexible direction of preceding clamp telescoping mechanism 20 is all vertical with the flexible direction of motion telescoping mechanism 19, back clamp telescoping mechanism 18, motion telescoping mechanism 19, preceding clamp telescoping mechanism 20 is formed the looper bodies, the looper body places guide rail 21, back clamp telescoping mechanism 18, the flexible direction of preceding clamp telescoping mechanism 20 is vertical with guide rail 21 length directions, and motion telescoping mechanism 19 flexible directions are consistent with the length direction of guide rail 21.
Distance between described back clamp telescoping mechanism 18 and guide rail 21 medial surfaces and the distance between preceding clamp telescoping mechanism 20 and guide rail 21 medial surfaces are all less than elongated distance separately.
Described guide rail 21, its inner surface are the plane.
Described motion telescoping mechanism 19, back clamp telescoping mechanism 18, preceding clamp telescoping mechanism 20 structures are identical, be permanent-magnet telescopic mechanism, as Fig. 4, shown in 5, permanent-magnet telescopic mechanism comprises: comprising: center permanent magnet 1, upper limit body 2, lower limit body 3, magnetic actuation means, housing 5, top offset take-off lever 6, bottom offset take-off lever 7, upper spring 8, lower spring 9, upper end cover 10, bottom end cover 11, magnetic actuation means is a solenoid 4 in the present embodiment, solenoid 4 places housing 5, annexation is: center permanent magnet 1 is between upper limit body 2 and lower limit body 3, center permanent magnet 1, upper limit body 2, lower limit body 3 places housing 5 inside, and be in the middle of the solenoid 4, upper limit body 2 links to each other with top offset take-off lever 6, lower limit body 3 links to each other with bottom offset take-off lever 7, upper spring 8 is enclosed within on the top offset take-off lever 6, lower spring 9 is enclosed within on the bottom offset take-off lever 7, housing 5 two ends are provided with upper end cover 10 and bottom end cover 11, upper spring 8 places between upper limit body 2 and the upper end cover 10, and lower spring 9 places between lower limit body 3 and the bottom end cover 11.
Described back clamp telescoping mechanism 18, the top offset take-off lever 6 of preceding clamp telescoping mechanism 20 and the outer face of bottom offset take-off lever 7 are equipped with mobile support component 22.
Described mobile support component 22 outsides are provided with bedding body 23, to increase displacement take-off lever end face and guide rail 21 contact-making surface coefficient of friction and anti-wear performances.
A bearing 14 is set in the middle of the described center permanent magnet 1, bearing 14 is arranged on the back shaft 15, back shaft 15 lies in a horizontal plane in housing 5 inside, and it is affixed with housing 5, make center permanent magnet 1 spin stabilization and sensitivity when producing magnetic pole deflection, Fig. 6 (a) analyses and observe schematic construction for the edge perpendicular to the rotating shaft axial direction, and Fig. 6 (b) analyses and observe schematic construction along being parallel to the rotating shaft axial direction.
Described center permanent magnet 1, its lengthwise dimension is greater than the Width size, for the combination relative rotation axi line of ellipsoid or oval and semicircle is an asymmetrical type, as shown in Figure 7, the inner surface of the outer surface of center permanent magnet 1 and upper limit body 2 and lower limit body 3 closely cooperates or is tangent, so that relatively moving to smooth incision, cut out slip between center permanent magnet 1 and upper limit body 2 and the lower limit body 3, figure (a) is a state before the action of a magnetic field, and figure (b) is in the permanent magnet rotation back state diagram of the action of a magnetic field rear center.
Described upper end cover 10 outsides are provided with gathering sill 12, and bottom end cover 11 outsides are provided with down gathering sill 13, issuable top offset take-off lever 6 and bottom offset take-off lever 7 vibration or displacement beats to reduce moment telescopic displacement output.
Center permanent magnet 1 is clamped between upper limit body 2 and the lower limit body 3 under the effect of upper spring 8 and lower spring 9 and upper end cover 10, bottom end cover 11, screw upper end cover 10, bottom end cover 11 compresses upper spring 8 and lower spring 9 between end cap and upper limit body 2 and lower limit body 3, spring force will be passed to center permanent magnet 1, and make the pole orientation of center permanent magnet 1 and the flexible direction of take-off lever perpendicular, shown in Fig. 7 (a), distance is X between top offset take-off lever 6, bottom offset take-off lever 7 end faces
0The length of center permanent magnet 1 is a, width is b, angle between length direction and the horizontal direction is that permanent magnet 1 changes in deflection angle in center is θ, and with solenoid 4 energisings, the magnetic field that solenoid 4 is produced will act on center permanent magnet 1, center permanent magnet 1 deflects under the action of a magnetic field, produce the elongation displacement and finally promote take-off lever, shown in Fig. 7 (b), distance is X between top offset take-off lever 6, bottom offset take-off lever 7 end faces at this moment
1, mechanism's elongation is Δ x=X before and after the current excitation
1-X
0=(a-b) * sin θ, and maximum displacement is Max Δ x=a-b, reduce electric current or cancel electric current, center permanent magnet 1 will or restore by upper spring 8, lower spring 9 compressing retractions, the size of output displacement realizes by the size of the deflection angle of the big or small control centre permanent magnet 1 of control input current, input current can be direct current or interchange, produces flexible reciprocating action.
The present embodiment course of work is specific as follows:
When guide rail 21 maintains static, during whole looper body movement, finish the motor body and move forward a step, through following six state procedures:
(a) the looper body is in free release condition, shown in Fig. 2 (a);
(b) clamp telescoping mechanism 18 elongation and being clamped in the rigid guideway behind the magnetic pumping is shown in Fig. 2 (b);
(c) back clamp telescoping mechanism 18 elongation chuckings, 19 elongations of motion telescoping mechanism are shown in Fig. 2 (c);
(d) back clamp telescoping mechanism 18, preceding clamp telescoping mechanism 20 all extend and are clamped in the guide rail, and motion telescoping mechanism 19 elongation states are shown in Fig. 2 (d);
(e) back clamp telescoping mechanism 18 discharges and restores, and getaway 21 is shown in Fig. 2 (e);
(f) back clamp telescoping mechanism 18, motion telescoping mechanism 19 discharge reset condition, shown in Fig. 2 (f);
(g) looper body release condition are shown in Fig. 2 (g).
Repeat above process, the single step displacement is then accumulated, and forms big displacement movement.Change the sequence of movement of back clamp telescoping mechanism 18, preceding clamp telescoping mechanism 20, then whole machine body can realize moving along the guide rail backward directions.
When whole looper body maintain static, when guide rail 21 moves, guide rail 21 is transported the process that moves a step backward and is, through following five state procedures:
(a) the looper body is in free release condition, shown in Fig. 3 (a);
(b) back clamp telescoping mechanism 18 elongation chucking guide rails are shown in Fig. 3 (b);
(c) back clamp telescoping mechanism 18 elongation chucking guide rails 21,19 elongations of motion telescoping mechanism are shown in Fig. 3 (c);
(d) back clamp telescoping mechanism 18 shrinks with guide rail 21 and breaks away from, and motion telescoping mechanism 19 keeps elongation state, shown in Fig. 3 (d);
(e) motion telescoping mechanism 19 shrinks and restores, and recovers (a) motor release condition, shown in Fig. 3 (e).
Repeat above process, the single step displacement is then accumulated backward, forms big displacement movement backward, replaces the above action of clamp telescoping mechanism 18 afterwards with preceding clamp telescoping mechanism 20, then can realize guide rail forwards to motion.
In the present embodiment, the length a of center permanent magnet 1 is 4 millimeters, width b is 2 millimeters, maximum elongation amount so can reach 2 millimeters, if and driving frequency is 10Hz, then motor movement speed can reach 20 mm/second, can produce the big stroke of about 2 meters or 1 meter in 100 seconds, the movement velocity of the maximum 925 little meter per seconds of the linear electric motors of introducing much larger than documents, motor of the present invention be equivalent to documents introduce motor movement speed 20 or more than 10 times; If the length a of center magnet 1 is 4 centimetres, width b is 2 centimetres, and maximum elongation amount so can reach 2 centimetres, and driving frequency still is 10Hz, and movement velocity can reach 20 cels respectively, can produce 20 meters big stroke in 100 seconds.
Present embodiment comprises: motion telescoping mechanism 19, back clamp telescoping mechanism 18, preceding clamp telescoping mechanism 20, guide rail 21, wherein: the middle part and motion telescoping mechanism 19 1 ends of back clamp telescoping mechanism 18 are affixed, the middle part and motion telescoping mechanism 19 other ends of preceding clamp telescoping mechanism 20 are affixed, back clamp telescoping mechanism 18, the flexible direction of preceding clamp telescoping mechanism 20 is all vertical with the flexible direction of motion telescoping mechanism 19, back clamp telescoping mechanism 18, motion telescoping mechanism 19, preceding clamp telescoping mechanism 20 is formed the looper bodies, guide rail 21 places inchworm motion body top, back clamp telescoping mechanism 18, the flexible direction of preceding clamp telescoping mechanism 20 is vertical with guide rail 21 length directions, and motion telescoping mechanism 19 flexible directions are consistent with the length direction of guide rail 21.
Distance between described back clamp telescoping mechanism 18 and guide rail 21 medial surfaces and the distance between preceding clamp telescoping mechanism 20 and guide rail 21 medial surfaces are all less than elongated distance separately.
Described motion telescoping mechanism 19, back clamp telescoping mechanism 18, preceding clamp telescoping mechanism 20 structures are identical, be permanent-magnet telescopic mechanism, permanent-magnet telescopic mechanism in the present embodiment as shown in Figure 8, permanent-magnet telescopic mechanism comprises: center permanent magnet 1, upper limit body 2, lower limit body 3, magnetic actuation means, housing 5, top offset take-off lever 6, bottom offset take-off lever 7, upper spring 8, lower spring 9, upper end cover 10, bottom end cover 11, magnetic actuation means is a solenoid 4 in the present embodiment, solenoid 4 places housing 5 outsides, annexation is: center permanent magnet 1 is between upper limit body 2 and lower limit body 3, center permanent magnet 1, upper limit body 2, lower limit body 3 places housing 5 inside, solenoid 4 links to each other with lower limit body 3 with upper limit body 2 by magnetic-path 16, upper limit body 2 links to each other with top offset take-off lever 6, lower limit body 3 links to each other with bottom offset take-off lever 7, upper spring 8 is enclosed within on the top offset take-off lever 6, lower spring 9 is enclosed within on the bottom offset take-off lever 7, housing 5 two ends are provided with upper end cover 10 and bottom end cover 11, upper spring 8 places between upper limit body 2 and the upper end cover 10, and lower spring 9 places between lower limit body 3 and the bottom end cover 11.
As shown in Figure 9, described solenoid 4, place coolant medium container 24, wherein coolant is a cooling water, make motion telescoping mechanism 19, back clamp telescoping mechanism 18, preceding clamp telescoping mechanism 20 adopt big current excitation, the electromagnetic efficiency height, solenoid 4 heating consumes and thermal expansion influence can be reduced to minimum.
Described guide rail 21 places inchworm motion body top, and promptly guide rail 21 is buckled on the inchworm motion body.
As shown in figure 10, described guide rail 21, its inner surface are the arc surface type, and guide rail 21 is pipe or circular arc cast.
Described bedding body 23, its outer face are the shape that matches with the arc tube intrados, to increase displacement take-off lever end face and guide rail 21 contact-making surface coefficient of friction and anti-wear performances.
In the present embodiment, the length a of center permanent magnet 1 is 4 millimeters, width b is 2 millimeters, maximum elongation amount so can reach 2 millimeters, if and driving frequency is 10Hz, can reach about 10 mm/second (supposing that fixedly the location point of motion telescoping mechanism is in the middle of the motion telescoping mechanism housing) so, motor can produce the big stroke of about 2 meters or 1 meter in 100 seconds, be equivalent to documents and introduce more than 10 times of motor movement speed, the movement velocity of the maximum 925 little meter per seconds of the linear electric motors of being introduced in the list of references, if the length a of center magnet 1 is 4 centimetres, width b is 2 centimetres, and maximum elongation amount so can reach 2 centimetres, and driving frequency still is 10Hz, then movement velocity can reach 10 cels respectively, can produce 10 meters big stroke in 100 seconds.
Among the above embodiment 1 and 2, because the flexible distance of permanent-magnet telescopic mechanism is very big, so need not be strict with the accurate to dimension of guide rail, guide rail processing dimension error can be by the self compensation of clamp telescopic displacement; The clamp telescoping mechanism is in telescopic process, because the position-limiting action of the interior circular arc of circle or arc tube, clamping institution will be positioned on a certain diametric(al) with pipe or arc tube, and the flexible direction of back clamp telescoping mechanism and preceding clamp telescoping mechanism can be not parallel, but require back, front stretching mechanism flexible direction place plane parallel; So motor is all relative loose to the requirement of assembling putting position in guide rail with guide rail and motor among the embodiment, and unlike the telescoping mechanism that utilizes intellectual material to drive, very strict requirement is all arranged to the processing dimension of guide rail and to perpendicularity back, that direction and guide rail inwall stretch in front stretching mechanism.
For embodiment 1 and 2, permanent-magnet telescopic mechanism is as clamping institution, owing to adopt electromagnetism switching mode that so control clamp action clamp is swift in motion, and clamp power F=f (H (I)), can increase clamp power by the mode that increases electric current, if it is H that solenoid produces magnetic field intensity, the magnetic field intensity of the center permanent magnet 1 of permanent-magnet telescopic mechanism is H ', the clamp power output of so preceding clamp telescoping mechanism and back clamp telescoping mechanism can be the stack of H and H ', and the clamp power that embodiment is produced during the same current excitation is bigger; Because the load capacity in the motor body movement process directly depends on clamp power, so that the motor among the embodiment also shows as the motion load capacity is strong;
For embodiment 2, because the solenoid 4 of permanent-magnet telescopic mechanism, place outside the telescoping mechanism housing, and can conveniently place cooling media, so driving, mechanism allows to adopt big coil or apply big current excitation coil working, make motor can produce the electromagnetism telescopic drive of efficient clamp and motion, make thermosteresis, thermal expansion influence as far as possible little.
Claims (9)
1. fast linear electric motor, it is characterized in that, comprise: the motion telescoping mechanism, back clamp telescoping mechanism, preceding clamp telescoping mechanism, guide rail, the middle part of back clamp telescoping mechanism and motion telescoping mechanism one end are affixed, the middle part and the motion telescoping mechanism other end of preceding clamp telescoping mechanism are affixed, back clamp telescoping mechanism, the flexible direction of preceding clamp telescoping mechanism is all vertical with the flexible direction of motion telescoping mechanism, back clamp telescoping mechanism, the motion telescoping mechanism, preceding clamp telescoping mechanism is formed the looper body, the looper body places in the guide rail, back clamp telescoping mechanism, the flexible direction of preceding clamp telescoping mechanism is vertical with the rail length direction, and the flexible direction of motion telescoping mechanism is consistent with the length direction of guide rail;
Described motion telescoping mechanism, back clamp telescoping mechanism, preceding clamp telescoping mechanism structure is identical, be permanent-magnet telescopic mechanism, permanent-magnet telescopic mechanism comprises: the center permanent magnet, the upper limit body, the lower limit body, magnetic actuation means, upper spring, lower spring, housing, the top offset take-off lever, the bottom offset take-off lever, upper end cover, bottom end cover, the center permanent magnet is between upper limit body and lower limit body, the center permanent magnet, the upper limit body, the lower limit body places enclosure interior, and be in the magnetic field of magnetic actuation means generation, the upper limit body links to each other with the top offset take-off lever, the lower limit body links to each other with the bottom offset take-off lever, upper spring is enclosed within on the top offset take-off lever, lower spring is enclosed within on the bottom offset take-off lever, the housing two ends are provided with upper end cover and bottom end cover, upper spring places between upper limit body and the upper end cover, and lower spring places between lower limit body and the bottom end cover.
2. fast linear electric motor according to claim 1 is characterized in that, distance between described back clamp telescoping mechanism and the guide rail medial surface and the distance between preceding clamp telescoping mechanism and the guide rail medial surface are all less than elongated distance separately.
3. fast linear electric motor according to claim 1 is characterized in that, described guide rail, its inner surface are plane or arc surface.
4. fast linear electric motor according to claim 1 is characterized in that, described back clamp telescoping mechanism, the top offset take-off lever of preceding clamp telescoping mechanism and the outer face of bottom offset take-off lever are equipped with mobile support component.
5. fast linear electric motor according to claim 4 is characterized in that, the described mobile support component outside is provided with bedding body.
6. fast linear electric motor according to claim 1 is characterized in that, described magnetic actuation means is solenoid or permanent magnet.
7. fast linear electric motor according to claim 6 is characterized in that described solenoid places the outside of housing, links to each other with the lower limit body with the upper limit body by magnetic-path.
8. fast linear electric motor according to claim 7 is characterized in that described solenoid places coolant medium container.
9. fast linear electric motor according to claim 6 is characterized in that described solenoid places the housing inboard, and center permanent magnet, upper limit body, lower limit body are arranged in solenoid.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2007101721498A CN101207320B (en) | 2007-12-13 | 2007-12-13 | Fast linear electric motor |
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| CN2007101721498A CN101207320B (en) | 2007-12-13 | 2007-12-13 | Fast linear electric motor |
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| CN101207320A CN101207320A (en) | 2008-06-25 |
| CN101207320B true CN101207320B (en) | 2010-06-02 |
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| CN2007101721498A Expired - Fee Related CN101207320B (en) | 2007-12-13 | 2007-12-13 | Fast linear electric motor |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101976932B (en) * | 2010-11-12 | 2012-07-04 | 上海交通大学 | Inchworm motion linear electric motor based on electromagnetic clamping mechanism |
| CN104106970A (en) * | 2014-06-20 | 2014-10-22 | 常州展华机器人有限公司 | Automatic peeling device |
| CN105372058B (en) * | 2015-12-14 | 2018-03-13 | 青岛中瑞泰软控科技股份有限公司 | packer test device |
| CN109378995B (en) * | 2018-12-14 | 2020-09-08 | 合肥工业大学 | High-frequency resonance piezoelectric inertia driving linear displacement platform |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1568404A (en) * | 2001-09-07 | 2005-01-19 | 哈尔德克斯制动产品股份公司 | Modular disc brake |
| CN1758523A (en) * | 2004-10-09 | 2006-04-12 | 西北工业大学 | Magnetostriction linear motion driver |
| CN101281950A (en) * | 2007-04-05 | 2008-10-08 | 杨锦堂 | Magnetostriction apparatus as well as linear motor and vibrating device using the same |
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2007
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1568404A (en) * | 2001-09-07 | 2005-01-19 | 哈尔德克斯制动产品股份公司 | Modular disc brake |
| CN1758523A (en) * | 2004-10-09 | 2006-04-12 | 西北工业大学 | Magnetostriction linear motion driver |
| CN101281950A (en) * | 2007-04-05 | 2008-10-08 | 杨锦堂 | Magnetostriction apparatus as well as linear motor and vibrating device using the same |
Non-Patent Citations (2)
| Title |
|---|
| 杨斌堂等.磁致伸缩微小驱动器驱动电磁线圈的设计研究.机械科学与技术23 8.2004,23(8),982-984,1008. |
| 杨斌堂等.磁致伸缩微小驱动器驱动电磁线圈的设计研究.机械科学与技术23 8.2004,23(8),982-984,1008. * |
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| CN101207320A (en) | 2008-06-25 |
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