CN103986299A - Extrusion type magneto-rheological elastomer force actuator - Google Patents

Extrusion type magneto-rheological elastomer force actuator Download PDF

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Publication number
CN103986299A
CN103986299A CN201410182460.0A CN201410182460A CN103986299A CN 103986299 A CN103986299 A CN 103986299A CN 201410182460 A CN201410182460 A CN 201410182460A CN 103986299 A CN103986299 A CN 103986299A
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elastic body
force actuator
solenoid
rheology elastic
magnetic rheology
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CN201410182460.0A
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CN103986299B (en
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李剑锋
徐振邦
吴小霞
孙敬伟
王建立
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Changchun Institute of Optics Fine Mechanics and Physics of CAS
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Changchun Institute of Optics Fine Mechanics and Physics of CAS
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Abstract

The invention relates to the field of precision mechanical devices, in particular to an extrusion type magneto-rheological elastomer force actuator. The problems that an existing force actuator is nonadjustable in stroke, complex in structure, low in response speed and low in force resolution ratio are solved. The extrusion type magneto-rheological elastomer force actuator comprises an outer shell, a top cover, a pre-tightened bottom cover, a pre-tightened spring abutting against the pre-tightened bottom cover, an extrusion plate at the upper end of the pre-tightened spring, a lower electromagnetic coil fixedly arranged on the extrusion plate, an upper electromagnetic coil fixed to the top cover, a magneto-rheological elastomer located between the upper electromagnetic coil and the lower electromagnetic coil, a force output rod , a linear guide component, a force testing element at the top end of the force output rod and a supporting ball head at the top end of the force testing element. The force output rod sequentially penetrates through a central hole of the top cover, a central hole of the upper electromagnetic coil, a central hole of the magneto-rheological elastomer and a central hole of the lower electromagnetic coil and is fixed to the central position of the extrusion plate, and the linear guide component is arranged on the force output rod in a sleeved mode and is fixed to the central hole of the top cover. The magneto-rheological elastomer is adopted a variable stiffness element, the force output range and output mode can be adjusted, precision is high, and response speed is high.

Description

Mode MR elastomer force actuator
Technical field
The present invention relates to precision optical machinery device technique field, be specifically related to a kind of mode MR elastomer force actuator of astronomical telescope active optics mirror shape control to support force demand for control that be applicable to.
Background technology
Accurate force actuator is widely used in a lot of fields, particularly at optical field.The primary mirror physical dimension of large-scale astronomical telescope is large especially, and in the time that primary mirror changes along with telescopical observation inclination angle, its gravity deformation can cause main mirror face to change, thereby causes telescopical image quality to reduce.For this problem, modern large telescope, the Very Large Telescope VLT of such as European Southern Observatory, the Gemini GEMINI telescope of the U.S., Japanese SUBARU telescope etc. all adopt active optics technology, utilize force actuator to support primary mirror, adjust in real time the size of support force, offset the face shape error causing due to primary mirror gravity deformation, thereby ensure that all the time the face shape of primary mirror is in good state, the image quality that ensures function of telescope, therefore in active optics telescope, force actuator is one of its core parts.Current force actuator is mainly two types of mechanical type and vapour-pressure types, wherein mechanical type is as described in the publication number Chinese patent that is 101276051A, general using ball-screw produces micro-displacement and then utilizes spring unit that displacement is converted into power, mechanical type force actuator cost is low, control simply, but exist gap, driving error, frictional dissipation and the phenomenon such as creep, be difficult to accomplish high-resolution requirement, and its corresponding speed is limited by mechanical structure, generally lower.And vapour-pressure type is as described in the patent No. Chinese patent that is 97236305.X and the publication number Chinese patent that is 102809801A, utilize the pressure official post the axis of the piston of cylinder upper and lower cavity to export different support forces, it affects speed and can accomplish very high, but air-cylinder type actuator need to be stablized source of the gas, and temperature influence is larger.
Summary of the invention
In order to solve, the stroke that existing force actuator exists is non-adjustable, complex structure, response speed is low, power resolution is low problem, and the present invention proposes a kind ofly to adopt intellectual material magnetic rheology elastic body stiffness elements is carried out realizable force output area and output mode is adjustable as becoming, high-tensile strength resolution and the high mode MR elastomer force actuator that affects speed.
The technical scheme that technical solution problem of the present invention is taked is as follows:
Mode MR elastomer force actuator, comprising: shell;
Be fixed on top cover and the pretension bottom at the upper and lower two ends of shell;
Enclosure be provided with the preloading spring that is pressed on pretension bottom, preloading spring upper end extruding disk, be fixed on lower solenoid on extruding disk, be fixed on the upper solenoid on top cover, the magnetic rheology elastic body between upper solenoid and lower solenoid, described upper solenoid, magnetic rheology elastic body and lower solenoid form controlled magnetic circuit, and described magnetic rheology elastic body is in controlled magnetic circuit;
Power take-off lever, described power take-off lever is fixed on extruding disk center through the mesopore of top cover, upper solenoid, magnetic rheology elastic body and lower solenoid successively, and shell is stretched out by top cover mesopore in described power take-off lever upper end;
Be sleeved on power take-off lever and be fixed on the straight-line guidance member at the mesopore place of top cover, for ensureing the power output direction of power take-off lever;
Be arranged on the load-sensing unit on power take-off lever top;
Be arranged on the support bulb of load-sensing unit top for being connected with support minute surface.
Described intellectual material magnetic rheology elastic body is as the change stiffness elements of force actuator, and magnetic rheology elastic body is in extruding stress.
Described upper solenoid, magnetic rheology elastic body and lower solenoid form force actuator stiffness variable unit.
On described pretension bottom, leave driving hole, in the time of pretension, can use spanner turn pretension bottom to apply pretightning force to preloading spring.
Described straight-line guidance member adopts linear bearing or without oily lining.
Described power take-off lever adopts non-magnet_conductible material to make.
Between described magnetic rheology elastic body and upper solenoid and lower solenoid, leave gap, reserve certain transversely deforming space for magnetic rheology elastic body while being squeezed, the stress of described magnetic rheology elastic body is extruding form.
Described upper solenoid and lower solenoid are commercially available prod, can produce highfield.
The invention has the beneficial effects as follows:
Mode MR elastomer force actuator of the present invention, power output area is adjustable, is the power output area of capable of regulating force actuator by adjusting pretightning force; The power way of output is adjustable, and the magnetic field size producing by adjusting initial condition solenoid gets final product the adjustment of realizable force actuator output pressure, pulling force or three kinds of output modes of pressure; Fast response time, owing to regulating magnetic field to adjust the size of power output with electric current, and magnetic rheology elastic body can reach ms level to changes of magnetic field response speed, and therefore the corresponding speed of force actuator is very high; Power output accuracy is high, and owing to adjusting power output by adjusting electric current, and that the adjustment precision of electric current can be accomplished is very high, and therefore power output accuracy can be very high; Ball-screw nut mechanism simple in structure, to save traditional mechanical type force actuator, what therefore the physical dimension of force actuator can be done is very little, and structure is very compact.
The intellectual material magnetic rheology elastic body that utilizes of force actuator becomes rigidity and the pattern of invariant shift and realizes support force output as becoming stiffness elements, utilizing.This force actuator pushes magnetic rheology elastic body and power take-off lever by extruding disk, can apply initial thrust to extruding disk by preloading spring, in the time of work, by controlling magnetic field, magnetic rheology elastic body modulus of elasticity is changed, the stress of take-off lever of exerting all one's strength changes, thereby the take-off lever of exerting all one's strength is exported different support forces.Force actuator of the present invention can be adjusted power output area by adjusting initial pretightning force, by adjusting the residing initial magnetic field of magnetic rheology elastic body, make this force actuator realize the adjustment of three kinds of output modes (exporting merely pulling force, pressure or pressure all exportable), this force actuator also has advantages of that power output accuracy is high, corresponding speed is fast simultaneously.
Brief description of the drawings
Fig. 1 is the structural representation of mode MR elastomer force actuator of the present invention.
Fig. 2 is the principle schematic of mode MR elastomer force actuator of the present invention.
Fig. 3 is that mode MR elastomer force actuator of the present invention applies pretension front and back schematic diagram.
Fig. 4 is that the modulus of elasticity of magnetic rheology elastic body is with the curve chart of changes of magnetic field.
In figure: 1, support bulb, 2, load-sensing unit, 3, straight-line guidance member, 4, top cover, 5, power take-off lever, 6, upper solenoid, 7, magnetic rheology elastic body, 8, lower solenoid, 9, upper shell, 10, extruding disk, 11, preloading spring, 12, lower casing, 13, pretension bottom, 14, speculum, 15, additional controlling magnetic field.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
As shown in Figure 1, mode MR elastomer force actuator of the present invention, adopt the pattern that becomes rigidity and do not change displacement to export support force, instead of the pattern of traditional constant rigidity of variable displacement, comprise stiffness variable unit, power output unit, preload unit and shell.Stiffness variable unit is made up of upper solenoid 6, magnetic rheology elastic body 7 and lower solenoid 8, adopt magnetic rheology elastic body 7 as becoming stiffness elements, and magnetic rheology elastic body 7 is in extruding stress.Power output unit forms by supporting bulb 1, load-sensing unit 2, straight-line guidance member 3, take-off lever 5 and extruding disk 10.Preload unit comprises preloading spring 11 and pretension bottom 13.Shell comprises shell 9 and lower casing 12.Together with upper shell 9 is connected by screw with lower casing 12, and lower casing 12 leaves the screw hole that is connected use with the external world.Top cover 4 is arranged on upper shell 9 tops by screw, and top cover 4 centers are provided with through hole.Pretension bottom 13 is tightened on lower casing 12 lower ends by screw thread.Extruding disk 10 is positioned at the cavity inside that shell 9 and lower casing 12 form, and is positioned near shell 9 and lower casing 12 junctions.Power take-off lever 5 lower ends are fixed by screws in extruding disk 10 centers, and upper shell 9 is stretched out by the through hole of top cover 4 in its upper end.Straight-line guidance member 3 is sleeved on power take-off lever 5 and is fixed on the through hole of top cover 4, for ensureing the power output direction of power take-off lever 5.The top of power take-off lever 5 is provided with load-sensing unit 2, and load-sensing unit 2 tops are provided with supports bulb 1, for being connected with the support minute surface of speculum 14.Solenoid 6, magnetic rheology elastic body 7 and lower solenoid 8 are installed between top cover 4 and extruding disk 10, and magnetic rheology elastic body 7 is disc-shaped structure, and there is mesopore centre.Upper solenoid 6 upper ends are fixed by screws on top cover 4, and its lower end is near magnetic rheology elastic body 7 upper surfaces.Lower solenoid 8 lower ends are fixed by screws on extruding disk 10 upper surfaces, and its upper end is near magnetic rheology elastic body 7 lower surfaces.Power take-off lever 5 passes the mesopore of upper solenoid 6, magnetic rheology elastic body 7 and lower solenoid 8 successively, upper solenoid 6, magnetic rheology elastic body 7 and the controlled magnetic circuit of lower solenoid 8 complete, upper solenoid 6 and lower solenoid 8 form additional controlling magnetic field 15.Between extruding disk 10 and pretension bottom 13, preloading spring 11 is installed, preloading spring 11 upper ends are pressed on extruding disk 10 lower surfaces, preloading spring 11 lower ends are pressed on pretension bottom 13, on pretension bottom 13, leave driving hole, in the time of pretension, can use spanner turn pretension bottom 13 to apply pretightning force to preloading spring 11.
In present embodiment, straight-line guidance member 3 adopts linear bearing or without oily lining.
In present embodiment, higher to the rigidity requirement of power take-off lever 5, therefore can adopt non-magnet_conductible material to make, preferably aluminum alloy materials.
In present embodiment, magnetic rheology elastic body 7 has the character that changes its modulus of elasticity under magnetic field, has magnetic rheology effect.Between magnetic rheology elastic body 7 and upper solenoid 6 and lower solenoid 8, leave gap, reserve certain transversely deforming space for magnetic rheology elastic body 7 while being squeezed, the stress of magnetic rheology elastic body 7 is extruding form.
In present embodiment, upper solenoid 6 and lower solenoid 8 are commercially available prod, and requirement can produce higher magnetic field.
As shown in Figure 2, when mode MR elastomer force actuator of the present invention uses, adjust by the magnetic field intensity of magnetic rheology elastic body 7 by the electric current of adjusting upper solenoid 6 and lower solenoid 8, thereby the rigidity of adjustment magnetic rheology elastic body 7 realizes the adjustment to power output.As shown in Figure 3, by spanner turn pretension bottom 13, preloading spring 11 is applied to pretightning force, after preloading spring 11 pressurizeds, pass through extruding disk 10 to magnetic rheology elastic body 7 and power take-off lever 5 applied thrusts, now extruding disk 10 be subject to preloading spring 11 to its thrust upwards and power take-off lever 5 and magnetic rheology elastic body 7 to its downward pressure, extruding disk 10 is carried out to force analysis to be had:
F+F e＝F s (2)
Wherein: F is the active force that power take-off lever 5 applies, i.e. power output, F efor the active force that magnetic rheology elastic body 7 applies, F sfor the active force of preloading spring 11;
F e＝k e·l e (3)
Wherein: k efor the rigidity of magnetic rheology elastic body 7, l efor the decrement of magnetic rheology elastic body 7;
F s＝k s·l s (4)
Wherein: k sfor the spring constant of preloading spring 11, l sfor the decrement of preloading spring 11;
And have: l e+ l s=l (5)
Wherein: l is the initial pretension amount of actuator.
At initial time, when force actuator does not have power output, have:
k e 0 · l e 0 = k s · l s 0 - - - ( 6 )
When in the t moment, when force actuator has power output, have:
F + k e t · l e t = k s · l s t - - - ( 7 )
And have: k e t - k e 0 = Δk - - - ( 8 )
l e 0 + l s 0 = l e t + l s t = l - - - ( 9 )
Solve formula (6) and (7):
F + ( Δk + k e 0 ) · l e t = k s · ( l - l e t ) - - - ( 10 )
When the effective object rigidity of force actuator is during much larger than force actuator rigidity, it is very little that the power output of force actuator changes the displacement of the power take-off lever 5 causing, therefore the decrement of preloading spring 11 and magnetic rheology elastic body 7 also can be thought not variation by formula (6) and formula (7):
l e 0 = l e t = k s · l k s + k e 0 - - - ( 11 )
Formula (10) is changed to:
F = - Δk k s · l k s + k e 0 - - - ( 12 )
Can be obtained by formula (6) and formula (7):
l = l s 0 k s + k e 0 k e 0 - - - ( 13 )
Formula (8) can be changed to:
F = - ( k s l s 0 ) Δk k e 0 - - - ( 14 )
From formula (14), power output is the product of the initial pretightning force of preloading spring 11 and magnetic rheology elastic body 7 stiffness variation, and the rigidity of magnetic rheology elastic body 7 in the time of compressive state is the product of its modulus of elasticity and cross-sectional area:
k e＝E e·A (15)
Formula (14) is changed to:
F = - ( k s l s 0 ) Δ E e E e 0 - - - ( 16 )
Magnetic rheology elastic body 7 is a kind of novel intellectual materials, it is in rubber-like elastomer, to add the ferromagnetic particle of micron dimension to make, under different magnetic field environments, the modulus of elasticity of magnetic rheology elastic body 7 can change, and this special phenomenon is called magnetic rheology effect.Therefore magnetic rheology elastic body 7 can be used for doing change stiffness elements.The modulus of elasticity of magnetic rheology elastic body 7 can change along with the variation of externally-applied magnetic field, as can be seen from Figure 4, in the time that externally-applied magnetic field is changed to 500mT from 0mT, the modulus of elasticity of magnetic rheology elastic body 7 is changed to 2.6MPa from 1.3MPa, change 1 times, the rigidity that is magnetic rheology elastic body 7 also changes one times, and now power output is changed to from 0N if initial magnetic field is 500mT, and changes of magnetic field is changed to 0mT from 500mT, power output is changed to from 0N if initial magnetic field is 250mT, magnetic field changes between 0 to 500mT, power output just from be changed to from the above analysis, the power output area of actuator is determined by the initial pretightning force of preloading spring 11 and the relative magnetic rheology effect of magnetic rheology elastic body 7.After magnetic rheology elastic body 7 is selected, can adjust by adjusting the pretightning force of preloading spring 11 the power output area of actuator.And by adjusting the intensity of initial condition magnetic rheology elastic body 7 externally-applied magnetic fields, can regulate the power output zero point of actuator, can make force actuator export merely pulling force, pressure or pressure can export.And the power output accuracy of force actuator is determined by the precision of changes of magnetic field, determined by the control precision of exciting current, can accomplish very high.And magnetic rheology elastic body 7 is very fast on the speed that affects in magnetic field, can accomplish ms level, therefore the response speed of force actuator can be accomplished very high (being greater than 20Hz).

Claims (8)

1. mode MR elastomer force actuator, is characterized in that, comprising: shell;
Be fixed on top cover (4) and the pretension bottom (13) at the upper and lower two ends of shell;
Enclosure is provided with the preloading spring (11) being pressed on pretension bottom (13), the extruding disk (10) of preloading spring (11) upper end, be fixed on the lower solenoid (8) on extruding disk (10), be fixed on the upper solenoid (6) on top cover (4), be positioned at the magnetic rheology elastic body (7) between solenoid (6) and lower solenoid (8), described upper solenoid (6), magnetic rheology elastic body (7) and lower solenoid (8) form controlled magnetic circuit, described magnetic rheology elastic body (7) is in controlled magnetic circuit,
Power take-off lever (5), described power take-off lever (5) is fixed on extruding disk (10) center through the mesopore of top cover (4), upper solenoid (6), magnetic rheology elastic body (7) and lower solenoid (8) successively, and shell is stretched out by top cover (4) mesopore in described power take-off lever (5) upper end;
Be sleeved on power take-off lever (5) and go up and be fixed on the straight-line guidance member (3) at the mesopore place of top cover (4), for ensureing the power output direction of power take-off lever (5);
Be arranged on the load-sensing unit (2) on power take-off lever (5) top;
Be arranged on the support bulb (1) of load-sensing unit (2) top for being connected with support minute surface.
2. mode MR elastomer force actuator according to claim 1, it is characterized in that, described intellectual material magnetic rheology elastic body (7) is as the change stiffness elements of force actuator, and magnetic rheology elastic body (7) is in extruding stress.
3. mode MR elastomer force actuator according to claim 1, it is characterized in that, described upper solenoid (6), magnetic rheology elastic body (7) and lower solenoid (8) form force actuator stiffness variable unit.
4. mode MR elastomer force actuator according to claim 1, it is characterized in that, on described pretension bottom (13), leave driving hole, in the time of pretension, can use spanner turn pretension bottom (13) to apply pretightning force to preloading spring (11).
5. mode MR elastomer force actuator according to claim 1, is characterized in that, described straight-line guidance member (3) adopts linear bearing or without oily lining.
6. mode MR elastomer force actuator according to claim 1, is characterized in that, described power take-off lever (5) adopts non-magnet_conductible material to make.
7. mode MR elastomer force actuator according to claim 1, it is characterized in that, between described magnetic rheology elastic body (7) and upper solenoid (6) and lower solenoid (8), leave gap, while being squeezed for magnetic rheology elastic body (7), reserve certain transversely deforming space, the stress of described magnetic rheology elastic body (7) is extruding form.
8. mode MR elastomer force actuator according to claim 1, is characterized in that, described upper solenoid (6) and lower solenoid (8) are commercially available prod, can produce highfield.
CN201410182460.0A 2014-05-04 2014-05-04 Mode MR elastomer force actuator Active CN103986299B (en)

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Publication number Priority date Publication date Assignee Title
CN104332709A (en) * 2014-11-05 2015-02-04 中国科学院国家天文台 Actuator replacement mechanism of radio telescope
CN104802680A (en) * 2015-05-19 2015-07-29 北京航空航天大学 Semi-active type vehicle seat vibration absorbing device with magneto-rheological elastomer
CN107065122A (en) * 2017-06-05 2017-08-18 中国矿业大学 A kind of optical main mirror electromagnetism supporting arrangement and its method
CN107765388A (en) * 2017-11-28 2018-03-06 中国科学院西安光学精密机械研究所 A kind of ray machine finely tunes acting device with antigravity
CN113297708A (en) * 2021-06-23 2021-08-24 江苏理工学院 Pre-tightening force calculation method for stack type central solenoid coil
CN113531074A (en) * 2021-06-29 2021-10-22 中国科学院长春光学精密机械与物理研究所 Displacement actuator
CN114235370A (en) * 2021-12-17 2022-03-25 中国核动力研究设计院 Device and method for measuring output precision of electromagnetic actuating mechanism

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Cited By (12)

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Publication number Priority date Publication date Assignee Title
CN104332709A (en) * 2014-11-05 2015-02-04 中国科学院国家天文台 Actuator replacement mechanism of radio telescope
CN104332709B (en) * 2014-11-05 2017-01-11 中国科学院国家天文台 Actuator replacement mechanism of radio telescope
CN104802680A (en) * 2015-05-19 2015-07-29 北京航空航天大学 Semi-active type vehicle seat vibration absorbing device with magneto-rheological elastomer
CN107065122A (en) * 2017-06-05 2017-08-18 中国矿业大学 A kind of optical main mirror electromagnetism supporting arrangement and its method
CN107065122B (en) * 2017-06-05 2019-02-19 中国矿业大学 A kind of optical main mirror electromagnetism supporting arrangement and its method
CN107765388A (en) * 2017-11-28 2018-03-06 中国科学院西安光学精密机械研究所 A kind of ray machine finely tunes acting device with antigravity
CN107765388B (en) * 2017-11-28 2022-12-09 中国科学院西安光学精密机械研究所 Antigravity fine-adjustment actuating device for optical machine
CN113297708A (en) * 2021-06-23 2021-08-24 江苏理工学院 Pre-tightening force calculation method for stack type central solenoid coil
CN113297708B (en) * 2021-06-23 2023-07-11 江苏理工学院 Pretightening force calculation method for stack type central solenoid coil
CN113531074A (en) * 2021-06-29 2021-10-22 中国科学院长春光学精密机械与物理研究所 Displacement actuator
CN113531074B (en) * 2021-06-29 2023-03-10 中国科学院长春光学精密机械与物理研究所 Displacement actuator
CN114235370A (en) * 2021-12-17 2022-03-25 中国核动力研究设计院 Device and method for measuring output precision of electromagnetic actuating mechanism

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