CN102946164B - The displacement drive interacted based on permanent magnet and electromagnet - Google Patents

The displacement drive interacted based on permanent magnet and electromagnet Download PDF

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Publication number
CN102946164B
CN102946164B CN201210393968.6A CN201210393968A CN102946164B CN 102946164 B CN102946164 B CN 102946164B CN 201210393968 A CN201210393968 A CN 201210393968A CN 102946164 B CN102946164 B CN 102946164B
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China
Prior art keywords
engine component
driver
motion
motion engine
permanent magnet
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CN201210393968.6A
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Chinese (zh)
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CN102946164A (en
Inventor
杨斌堂
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上海交通大学
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Priority to CN201210393968.6A priority Critical patent/CN102946164B/en
Publication of CN102946164A publication Critical patent/CN102946164A/en
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Publication of CN102946164B publication Critical patent/CN102946164B/en

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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K7/00Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/06Means for converting reciprocating motion into rotary motion or vice versa

Abstract

The invention discloses a kind of displacement drive interacted based on permanent magnet and electromagnet, including the driver part and the motion engine component that produce interaction force, and it is arranged between driver part and motion engine component the guiding parts for constrained motion engine component direction of displacement, wherein, driver part is fixed electromagnet or fixing permanent magnet, and described motion engine component is movable permanent magnet ferrum or Mobile electromagnetic ferrum.The present invention is directly realized the linear reciprocation translation or rotational motion produced based on magnetic pole deflection, and motion drives directly, and mechanism is simple, good rigidly;Easily realize big stroke;The most easily realize micro travel;Drive displacement is accurate;Motoricity, displacement size and precision can be controlled by the intensity accurately applying magnetic field or electric current, and it is simple, convenient to control;Magnetic field is directly used in driving, and electromagnetic field produces bigger driving magnetic field with permanent magnetic field compound action, and the driving force making mechanism is big, drives response fast, and efficiency is high.

Description

The displacement drive interacted based on permanent magnet and electromagnet

Technical field

The present invention relates to a kind of flat/rotation actuation techniques field, specifically a kind of based on permanent magnet and electromagnet phase interaction Displacement drive.

Background technology

In recent years incoming call, magnetostriction materials field quickly grew, create as giant magnetostriction material, piezoelectric ceramics with And magnetostriction marmem etc. novel can be used for the alert and resourceful material that precision driver, sensor and linear electric motors are developed Material, it is big that these materials have energy density, and output is high, the telescopic shape change advantage such as accurately, but based on smart material drives Dynamic generally to there is moving displacement little, drives excitation link many, the shortcomings such as building block is many, poor reliability.Therefore, based on alert and resourceful material The telescoping mechanism of material is not suitable for the big stroke of small size high energy and drives application.

Summary of the invention

The present invention is directed to above-mentioned deficiency present in prior art, it is provided that a kind of based on permanent magnet and electromagnet phase interaction Displacement drive and combinations thereof.The present invention can produce magnetic pole deflection under electromagnetic excitation effect and make to turn/swing directly to produce Raw translation displacements or driving force;The size being produced flat/rotation displacement and power is controlled, is particularly prone to produce moment large deformation body Long-pending ratio and big power output volume ratio drive.

The present invention is achieved by the following technical solutions.

A kind of displacement drive interacted based on permanent magnet and electromagnet, including the driving producing interaction force Parts and motion engine component, and be arranged between driver part and motion engine component for constrained motion engine component position Move the guiding parts in direction.

Described driver part is fixed electromagnet or fixing permanent magnet, and it is vertically placed and produces vertical pole orientation, Described motion engine component is movable permanent magnet ferrum or Mobile electromagnetic ferrum, and its horizontal positioned also produces the pole orientation of level, described Guiding parts includes stator and mover, and wherein, stator is connected with a magnetic pole end face of driver part, and portion is started in mover and motion The sidewall of part is connected, and described guiding parts is horizontally set between driver part and motion engine component.

The described displacement drive interacted based on permanent magnet and electromagnet, also includes special-shaped outline body, described different Shape profile body is rigidly connected servo-actuated with motion engine component.

Described driver part is fixed electromagnet or fixing permanent magnet, and it is vertically placed and produces vertical pole orientation, Described motion engine component is movable permanent magnet ferrum or Mobile electromagnetic ferrum, and its horizontal positioned also produces the pole orientation of level, described Guiding parts includes stator and mover, and wherein, mover is connected with the sidewall of motion engine component, and stator is together with motion engine component Angle o with driver part connected, 0 < θ < 180 degree, described guiding parts is angle o is arranged on driver part and motion engine component Between.

Described guiding parts is circular guiding parts, and described circular guiding parts is together with motion engine component and driver part Angle o connected, 0≤θ < 180 degree.

Described motion engine component is that several movable permanent magnet ferrum combine.

The multiaxis working motion that a kind of displacement drive interacted based on permanent magnet and electromagnet combines is put down Platform, including some interconnective for realizing x, y and/or the driving means of z-axis translation and for realizing α, β and/or γ The driving means that direction rotates.

The described driving means for realizing x, y and/or z-axis translation is: include the driver part producing interaction force With motion engine component, and it is arranged between driver part and motion engine component for constrained motion engine component displacement side To guiding parts;Wherein,

Described driver part is fixed electromagnet or fixing permanent magnet, and it is vertically placed and produces vertical pole orientation, Described motion engine component is movable permanent magnet ferrum or Mobile electromagnetic ferrum, and its horizontal positioned also produces the pole orientation of level, described Guiding parts includes stator and mover, and wherein, stator is connected with a magnetic pole end face of driver part, and portion is started in mover and motion The sidewall of part is connected, and described guiding parts is horizontally set between driver part and motion engine component;Or

Described motion engine component is movable permanent magnet ferrum or Mobile electromagnetic ferrum, and its horizontal positioned also produces the magnetic pole side of level To, described guiding parts includes stator and mover, and wherein, mover is connected with the sidewall of motion engine component, and stator is together with motion Engine component is angle o with driver part to be connected, and 0 < θ < 180 degree, described guiding parts is angle o is arranged on driver part and motion Between engine component.

The described driving means for realizing x, y and/or z-axis translation also includes special-shaped outline body, described special-shaped outline body It is rigidly connected servo-actuated with motion engine component.

The described driving means for realizing the rotation of α, β and/or γ direction is: include producing the drive division of interaction force Part and motion engine component, and be arranged between driver part and motion engine component for constrained motion engine component displacement The guiding parts in direction;Wherein,

Described guiding parts is circular guiding parts, and described circular guiding parts is together with motion engine component and driver part Angle o connected, 0≤θ < 180 degree;Described motion engine component is combined by several movable permanent magnet ferrum.

Mechanism of the present invention, is owing to acting on the movement as motion engine component as the electromagnetic force driven or permanent magnetic When permanent magnet or Mobile electromagnetic ferrum, opposite pole attract close, like pole repel away from.Therefore, fixing not when driver part Time dynamic, the electromagnetic force of driver part or permanent magnetic will make motion engine component magnetic pole thereon deflect, now due at drive division Being provided with the guiding parts making motion engine component to move in one direction between part and motion engine component, motion is started Parts can only produce the motion of the channeling direction of guiding parts.

According to magnetic field interphase interaction principle, when as the movable permanent magnet ferrum of motion engine component or the magnetic of Mobile electromagnetic ferrum With as the fixing permanent magnet of driver part or the produced magnetic field of fixed electromagnet inconsistent time, if the magnetic field of driver part Sufficiently strong, motion engine component will deflect to the direction consistent with driver part magnetic pole or mobile, until portion is started in motion Deflection or mobile stopping time on the position that the magnetic direction of part is consistent with the magnetic direction of driver part.Therefore, if driven Before parts excitation, magnetic direction produced by the magnetic direction of motion engine component and driver part is inconsistent, then motion The pole orientation of dynamic component will occur the deflection to driver part pole orientation under electromagnetic field effect.But, due to drive division Part is fixed, and motion engine component therefore suffers from the constraint of guiding parts, and the magnetic field force that this motion engine component magnetic pole swings can only Export on guiding parts guiding movement direction, thus the side promoting motion engine component to guide at guiding parts moves up. Thus can reach a kind of driver part vertical direction applying magnetic field force guiding to motion engine component, motion engine component The effect that the side that parts guide moves up.

And the size of this moving displacement can be by controlling the electricity applied in as the fixed electromagnet of driver part Electromagnetic field intensity and the magnetic field force intensity of the applying sense of current or fixing permanent magnet that intensity of flow i.e. produces are controlled.

In like manner, electric magnet is added reverse current, produces the electromagnetic force the most contrary with rightabout magnetic pole before, then Move to the direction of close driver part away from extremely will be attracted of motion engine component of driver part before, meanwhile, Adsorb the extreme of motion engine component at driver part end face to be moved to the direction away from driver part by repulsion before. So, by controlling driver part magnetic field intensity, motion engine component can be made to occur and the most contrary horizontal movement, until magnetic Stop during the overlapping positions of pole.

So, passing through forward and reverse electric current or the magnetic field applying some strength as driver part, motion engine component can To occur to move back and forth in the horizontal direction.

Compared with prior art, the invention have the advantages that

1, being directly realized the linear reciprocation translation produced based on magnetic pole deflection or rotational motion, motion drives directly, Mechanism is simple, good rigidly;

2, big stroke is easily realized;The most easily realize micro travel;Drive displacement is accurate;

3, motoricity, displacement size and precision can be controlled by the intensity accurately applying magnetic field or electric current, control letter Single, convenient;

4, magnetic field being directly used in driving, electromagnetic field produces bigger driving magnetic field with permanent magnetic field compound action, makes mechanism Driving force big, drive response fast, efficiency is high.

It is few that the mechanism of the present invention can be used for manufacture claim driver part, and volume and weight is small, produces larger displacement, height Precision back and forth drives and the device of multiple degrees of freedom driving function.

Accompanying drawing explanation

Fig. 1 is the embodiment of the present invention 1 schematic diagram;

Fig. 2 is the embodiment of the present invention 2 schematic diagram;

Fig. 3 is the embodiment of the present invention 3 schematic diagram;

Fig. 4 is the embodiment of the present invention 4 schematic diagram;

Fig. 5 is the embodiment of the present invention 5 schematic diagram;

Fig. 6 is the embodiment of the present invention 6 schematic diagram;

In figure, 1 is driver part, and 2 is motion engine component, and 3 is guiding parts, and 4 is fixing permanent magnet, and 5 is mobile electricity Magnet, 6 is special-shaped outline body, 11,12,13 be respectively for realize x y the driving means of z tri-axle translation, 14,15 are respectively For realizing the driving means that α/β direction rotates.

Detailed description of the invention

Below embodiments of the invention are elaborated: the present embodiment is carried out under premised on technical solution of the present invention Implement, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following enforcement Example.

Embodiment 1

The present embodiment includes: produces driver part 1 and the motion engine component 2 of interaction force, and is arranged on driving For the guiding parts 3 of constrained motion engine component 2 direction of displacement between parts 1 and motion engine component 2.

As it is shown in figure 1, in the present embodiment, above-mentioned driver part 1 is fixed electromagnet, and above-mentioned motion engine component 2 is Movable permanent magnet ferrum.Time initial, fixed electromagnet is vertically placed, for producing the magnetic pole of vertical direction;Movable permanent magnet molten iron keeps flat Put, for producing the permanent-magnet pole of horizontal direction, install at a magnetic pole end face of fixed electromagnet and the side of movable permanent magnet ferrum There is the guiding parts 3 of horizontal positioned.Guiding parts 3 includes stator and mover, and wherein, stator is solid with the end face of fixed electromagnet Even, mover is connected with the sidewall of movable permanent magnet ferrum;The pole orientation of movable permanent magnet ferrum is vertical with the pole orientation of fixed electromagnet.

According to magnetic field interphase interaction principle, when magnetic field produced with fixed electromagnet, the magnetic field of movable permanent magnet ferrum is inconsistent Time, if electromagnetic field is sufficiently strong, movable permanent magnet ferrum will deflect to the direction consistent with electromagnetic field magnetic pole or mobile, until moving Deflection or mobile stopping time on the position that dynamic permanent magnet field direction is consistent with the magnetic direction of fixed electromagnet.Therefore, for Mechanism as shown in Figure 1, if before fixed electromagnet encourages, produced by the magnetic direction of movable permanent magnet ferrum and fixed electromagnet Magnetic direction is inconsistent, is illustrated in figure 1 vertical, then the pole orientation of movable permanent magnet ferrum will occur partially under electromagnetic field effect Then cause movable permanent magnet ferrum to deflect.But, owing to movable permanent magnet ferrum is retrained by horizontally-guided parts, make permanent magnetism magnetic pole put Dynamic magnetic attraction can only export in the horizontal direction being directed to, thus movable permanent magnet ferrum (x or Y-direction) energy in the horizontal direction Enough it is attracted movement, i.e. produces translation.So having reached fixed electromagnet vertical direction and applied magnetic attraction, movable permanent magnet ferrum is at water Square upwards produce movement.Further, the size of this moving displacement can be strong by the electric current controlling to apply in fixed electromagnet Electromagnetic field intensity or electromagnetic force intensity that degree i.e. produces are controlled.

In like manner, fixed electromagnet is added reverse current, produces the electromagnetic force the most contrary with rightabout magnetic pole before, Moved to the direction of close fixed electromagnet away from extremely will be attracted of movable permanent magnet ferrum of fixed electromagnet before so, Meanwhile, adsorb before and will be transported to the direction away from fixed electromagnet by repulsion in the end of the movable permanent magnet ferrum of fixed electromagnet Dynamic.So, by controlling fixed electromagnet magnetic field intensity, movable permanent magnet ferrum can be made to occur and the most contrary horizontal movement, directly Stop to during magnetic pole lap position.

So, through fixed electromagnet applies forward and reverse electromagnetic field of some strength, movable permanent magnet ferrum can occur Move back and forth in horizontal direction.

Embodiment 2

Embodiment 2 is the change case of embodiment 1.

As shown in Fig. 2 (a), the present embodiment is on the basis of embodiment 1, and the difference with embodiment 1 is, motion is started Parts 2 are replaced by Mobile electromagnetic ferrum, and driver part 1 is replaced by fixing permanent magnet.

Embodiment 3

Embodiment 3 is the change case of embodiment 1.

As shown in Fig. 2 (b), the present embodiment is on the basis of embodiment 1, and the difference with embodiment 1 is, motion is started Parts 2 are replaced by Mobile electromagnetic ferrum, and driver part 1 is still fixed electromagnet, and the magnetic field intermolecular forces applied is electromagnetic field Power.

Embodiment 4

Embodiment 4 is the change case of above three embodiment.

As it is shown on figure 3, on the basis of any embodiment that embodiment is in above three embodiment, moving of guiding parts 3 Son is connected with the sidewall of motion engine component 2, and its stator is connected together with motion engine component 2 and driver part 1 are angle o, 0 < θ < 180 degree, guiding parts 3 is angle o to be arranged between driver part 1 and motion engine component 2.So, machine based on embodiment 1 Reason and the process of driving, motion engine component 2 will move back and forth on the direction angle o with driver part 1.

Embodiment 5

Embodiment 5 is the change case of embodiment 1,2 or 3.

As shown in Figure 4, the present embodiment, on the basis of embodiment 1,2 or 3, also includes special-shaped outline body 6, special-shaped outline body 6 are rigidly connected servo-actuated with motion engine component 2.Mechanism based on embodiment 1 and the process of driving, motion engine component 2 drives different Shape profile body 6 moves back and forth, so with the object of special-shaped outline body 6 cunning/Structure deformation, in the vertical direction is driven and on Lower reciprocating motion.Motion can the electric current of driven member 1 or magnetic current control.Electro magnetic power is converted into vertical direction by the present embodiment Motive force, produce vertical direction motion effect.

Embodiment 6

Embodiment 6 is the change case of embodiment 1,2 or 3.

As it is shown in figure 5, the present embodiment is on the basis of embodiment 1,2 or 3, guiding parts 3 is circular guiding parts 3.Circle Shape guiding parts 3 is connected together with motion engine component 2 and driver part 1 are angle o, 0≤θ < 180 degree.

Preferably, motion engine component 2 is the combination of one or more movable permanent magnet ferrum.Machine based on embodiment 1 Reason and the process of driving, movable permanent magnet ferrum or a combination thereof will only produce rotation under the constraint of circular guiding parts.This angle of rotation and Direction can be controlled by the electric current in driver part or magnetic current.

Embodiment 7

Embodiment 7 is for according to offer in more than one the translation driving means provided in embodiment 1 to 5 and embodiment 6 The multiaxis working motion platform that more than one device of rotation driving combines.

As shown in Figure 6, the present embodiment includes some interconnective for realizing x, y and/or the driving means of z-axis translation And for realizing the driving means that α, β and/or γ direction rotates.

Such as, as shown in Fig. 6 (a), select three to realize x, y based on being used for of being realized of embodiment 1-5 and/or z-axis is put down Dynamic driving means 11,12,13, combination can realize an x y z tri-axle translational motion platform.

As shown in Fig. 6 (b), x y on z tri-axle translational motion platform on increase that embodiment 6 realized be used for realize α, The driving means that β and/or γ direction rotates, is i.e. shown between driver 11 and driver 12 increasing device of rotation driving 15, make driving means 11 entirety to turn about the Z axis;Driving means 11 is installed device of rotation driving 14, makes driving means 11 Driven object body also can be driven during mass motion to produce turn about the X axis, thus realize five axle working motion platforms.

Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in above-mentioned Particular implementation, those skilled in the art can make various deformation or amendment within the scope of the claims, this not shadow Ring the flesh and blood of the present invention.

Claims (1)

1. the displacement drive interacted based on permanent magnet and electromagnet, it is characterised in that include producing phase interaction Driver part firmly and motion engine component, and be arranged between driver part and motion engine component for constrained motion The guiding parts of engine component direction of displacement;
Described guiding parts includes stator and mover, and wherein, stator is connected with a magnetic pole end face of driver part, mover and fortune The sidewall of dynamic engine component is connected;
Described driver part is fixed electromagnet or fixing permanent magnet, and it vertically places and produce vertical pole orientation, described Motion engine component is movable permanent magnet ferrum or Mobile electromagnetic ferrum, and its horizontal positioned also produces the pole orientation of level;
Described driver part is relatively fixed, and motion engine component is retrained by guiding parts, and motion engine component magnetic pole swings Magnetic field force can only export on guiding parts guiding movement direction, thus promote motion engine component to guide at guiding parts Side move up, and then realize driver part vertical direction apply magnetic field force leading to motion engine component, motion engine component The side guided to parts moves up;
Described guiding parts is horizontally set between driver part and motion engine component;
Also including special-shaped outline body, described special-shaped outline body is rigidly connected servo-actuated with motion engine component;Motion engine component band Dynamic special-shaped outline body moves back and forth, so and the object of special-shaped outline body cunning/Structure deformation in the vertical direction is driven and Pump.
CN201210393968.6A 2012-10-17 2012-10-17 The displacement drive interacted based on permanent magnet and electromagnet CN102946164B (en)

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CN201610778656.5A CN106329815B (en) 2012-10-17 2012-10-17 The displacement drive to be interacted based on permanent magnet and electromagnet
CN201610786316.7A CN106357045B (en) 2012-10-17 2012-10-17 The multiaxis working motion platform being composed based on displacement drive
CN201610778628.3A CN106329814B (en) 2012-10-17 2012-10-17 The displacement drive to be interacted based on permanent magnet and electromagnet
CN201210393968.6A CN102946164B (en) 2012-10-17 2012-10-17 The displacement drive interacted based on permanent magnet and electromagnet

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CN201610786316.7A Division CN106357045B (en) 2012-10-17 2012-10-17 The multiaxis working motion platform being composed based on displacement drive
CN201610778656.5A Division CN106329815B (en) 2012-10-17 2012-10-17 The displacement drive to be interacted based on permanent magnet and electromagnet

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CN201610778628.3A CN106329814B (en) 2012-10-17 2012-10-17 The displacement drive to be interacted based on permanent magnet and electromagnet
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CN106329814A (en) 2017-01-11
CN106329815B (en) 2018-11-16
CN106329815A (en) 2017-01-11
CN106329814B (en) 2019-01-25
CN102946164A (en) 2013-02-27
CN106357045B (en) 2018-12-18

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