CN103986299B - Mode MR elastomer force actuator - Google Patents

Mode MR elastomer force actuator Download PDF

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Publication number
CN103986299B
CN103986299B CN201410182460.0A CN201410182460A CN103986299B CN 103986299 B CN103986299 B CN 103986299B CN 201410182460 A CN201410182460 A CN 201410182460A CN 103986299 B CN103986299 B CN 103986299B
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elastic body
solenoid
rheology elastic
magnetic rheology
force actuator
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CN103986299A (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

Mode MR elastomer force actuator, relates to precision optical machinery device field, solves the problem that stroke is non-adjustable, complex structure, response speed are low, power resolution is low that existing force actuator exists.Comprise shell, top cover, pretension bottom, be pressed on the preloading spring on pretension bottom, the extruding disk of preloading spring upper end, be fixed on the lower solenoid on extruding disk, be fixed on the upper solenoid on top cover, magnetic rheology elastic body between upper solenoid and lower solenoid, power take-off lever is successively through top cover, upper solenoid, the mesopore of magnetic rheology elastic body and lower solenoid is fixed on extruding disk center, to be sleeved on power take-off lever and to be fixed on the straight-line guidance component at the mesopore place of top cover, the load-sensing unit on power take-off lever top, the support bulb on load-sensing unit top.The present invention utilizes magnetic rheology elastic body as variation rigidity element, power output area and output mode adjustable, 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 astronomical telescope active optics mirror shape that is applicable to and control mode MR elastomer force actuator to support force demand for control.
Background technology
Accurate force actuator is widely used, particularly at optical field in a lot of field.The primary mirror physical dimension of large-scale astronomical telescope is large especially, and when primary mirror changes along with telescopical observation inclination angle, its gravity deformation can cause main mirror face to change, thus causes telescopical image quality to reduce.For this problem, modern large telescope, the Very Large Telescope VLT, the Gemini GEMINI telescope of the U.S., Japanese SUBARU telescope etc. of such as European Southern Observatory adopt active optics technology, force actuator is utilized to support primary mirror, the size of real-time adjustment support force, offset the face shape error because primary mirror gravity deformation causes, thus ensure that the face shape of primary mirror is in good state all the time, ensure the image quality of function of telescope, therefore in active optics telescope, force actuator is one of its core parts.Current force actuator is mechanical type and vapour-pressure type two type mainly, wherein mechanical type is if publication number is for as described in the Chinese patent of 101276051A, general ball-screw produces micro-displacement and then utilizes spring unit to be power by converts displacement, mechanical type force actuator cost is low, control simple, but there is gap, driving error, frictional dissipation and the phenomenon such as to creep, be difficult to accomplish high-resolution requirement, and its corresponding speed limits by mechanical structure, generally lower.And vapour-pressure type is if the patent No. Chinese patent that is 97236305.X and publication number are for as described in the Chinese patent of 102809801A, the pressure official post piston axle of cylinder upper and lower cavity is utilized to export different support force, it affects speed and can accomplish very high, but air-cylinder type actuator needs stable source of the gas, and temperature influence is larger.
Summary of the invention
In order to solve the problem that stroke is non-adjustable, complex structure, response speed are low, power resolution is low that existing force actuator exists, the present invention proposes a kind ofly to adopt intellectual material magnetic rheology elastic body to carry out realizable force output area as variation rigidity element and output mode is adjustable, high-tensile strength resolution and the high mode MR elastomer force actuator affecting 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 is provided with the preloading spring be pressed on pretension bottom, the extruding disk of preloading spring upper end, the lower solenoid be fixed on extruding disk, the upper solenoid be fixed on top cover, 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;
To be sleeved on power take-off lever and to be fixed on the straight-line guidance component 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 variation rigidity element 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.
Described pretension bottom leaves driving hole, spanner turn pretension bottom can be used when pretension to apply pretightning force to preloading spring.
Described straight-line guidance component adopts linear bearing or without oily lining.
Described power take-off lever adopts non-magnet_conductible material to make.
Described magnetic rheology elastic body and leave gap between upper solenoid and lower solenoid, for reserving certain transversely deforming space when magnetic rheology elastic body is 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, by adjusting the power output area of pretightning force and adjustable force actuator; The power way of output is adjustable, and the magnetic field size produced by adjustment initial condition solenoid, gets final product the adjustment of realizable force actuator output pressure, pulling force or pressure three kinds of output modes; Fast response time, due to the size using Current adjustment magnetic field to adjust power output, 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 adjustment electric current, and the Adjustment precision of electric current can be accomplished very high, and therefore power output accuracy can be very high; Structure is simple, saves the ball-screw nut mechanism of traditional mechanical type force actuator, therefore the physical dimension of force actuator can do very little, structure is closely.
Force actuator utilize intellectual material magnetic rheology elastic body as variation rigidity element, utilize the pattern of variation rigidity and invariant shift to realize support force and export.This force actuator is by extruding disk extruding magnetic rheology elastic body and power take-off lever, initial thrust can be applied to extruding disk by preloading spring, operationally 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, thus take-off lever of exerting all one's strength exports different support forces.Force actuator of the present invention can by adjustment initial pretightning force adjustment power output area, by the initial magnetic field residing for adjustment magnetic rheology elastic body, make this force actuator realize the adjustment (exporting merely pulling force, pressure or pressure all exportable) of three kinds of output modes, this force actuator also has the advantage that power output accuracy is high, corresponding speed is fast simultaneously.
Accompanying drawing explanation
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 schematic diagram before and after pretension.
Fig. 4 is the curve chart of modulus of elasticity with changes of magnetic field of magnetic rheology elastic body.
In figure: 1, support bulb, 2, load-sensing unit, 3, straight-line guidance component, 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 variation rigidity and do not change displacement pattern to export support force, instead of the pattern of traditional variable displacement not variation rigidity, comprises 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 variation rigidity element, and magnetic rheology elastic body 7 is in extruding stress.Power output unit is formed by supporting bulb 1, load-sensing unit 2, straight-line guidance component 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 be connected with the external world.Top cover 4 is arranged on upper shell 9 top by screw, and top cover 4 center is provided with through hole.Pretension bottom 13 is tightened on lower casing 12 lower end by screw thread.Extruding disk 10 is positioned at the cavity inside that shell 9 is formed with lower casing 12, and is positioned near shell 9 and lower casing 12 junction.Power take-off lever 5 lower end is fixed by screws in extruding disk 10 center, and upper shell 9 is stretched out by the through hole of top cover 4 in its upper end.Straight-line guidance component 3 to be sleeved on power take-off lever 5 and to be 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 top is provided with and supports bulb 1, for being connected with the support minute surface of speculum 14.Be provided with solenoid 6, magnetic rheology elastic body 7 and lower solenoid 8 between top cover 4 and extruding disk 10, magnetic rheology elastic body 7 is disc-shaped structure, and there is mesopore centre.Upper solenoid 6 upper end is fixed by screws on top cover 4, and its lower end is near magnetic rheology elastic body 7 upper surface.Lower solenoid 8 lower end is fixed by screws on extruding disk 10 upper surface, and its upper end is near magnetic rheology elastic body 7 lower surface.Power take-off lever 5 is successively through the mesopore of upper solenoid 6, magnetic rheology elastic body 7 and lower solenoid 8, upper solenoid 6, magnetic rheology elastic body 7 and lower solenoid 8 form complete controlled magnetic circuit, and upper solenoid 6 and lower solenoid 8 form additional controlling magnetic field 15.Preloading spring 11 is installed between extruding disk 10 and pretension bottom 13, preloading spring 11 upper end is pressed on extruding disk 10 lower surface, preloading spring 11 lower end is pressed on pretension bottom 13, pretension bottom 13 leaves driving hole, spanner turn pretension bottom 13 pairs of preloading springs 11 can be used when pretension to apply pretightning force.
In present embodiment, straight-line guidance component 3 adopts linear bearing or without oily lining.
In present embodiment, higher to the rigidity requirement of power take-off lever 5, non-magnet_conductible material therefore can be adopted to make, preferred aluminum alloy materials.
In present embodiment, magnetic rheology elastic body 7 changes the character of its modulus of elasticity under having magnetic field, namely have magnetic rheology effect.Magnetic rheology elastic body 7 and leave gap between upper solenoid 6 and lower solenoid 8, for reserving certain transversely deforming space when magnetic rheology elastic body 7 is 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, the magnetic field intensity by magnetic rheology elastic body 7 is adjusted by the electric current adjusting upper solenoid 6 and lower solenoid 8, thus the rigidity of adjustment magnetic rheology elastic body 7, realize the adjustment to power output.As shown in Figure 3, pretightning force is applied by spanner turn pretension bottom 13 pairs of preloading springs 11, extruding disk 10 is passed through to magnetic rheology elastic body 7 and power take-off lever 5 applied thrust after preloading spring 11 pressurized, now extruding disk 10 is 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, and carrying out force analysis to extruding disk 10 has:
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 a power output, then have:
k e 0 · l e 0 = k s · l s 0 - - - ( 6 )
When in t, when force actuator has a 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 much larger than force actuator rigidity, the displacement that the power output of force actuator changes the power take-off lever 5 caused is very little, therefore the decrement of preloading spring 11 and magnetic rheology elastic body 7 also can think then had not change by formula (6) and formula (7):
l e 0 = l e t = k s · l k s + k e 0 - - - ( 11 )
Then 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 )
Then formula (8) is variable turns 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 rigidity when magnetic rheology elastic body 7 is in compressive state is the product of its modulus of elasticity and cross-sectional area:
k e＝E e·A(15)
Then 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 that the ferromagnetic particle adding micron dimension in heat-resistant powder filler is made, 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 making variation rigidity element.The modulus of elasticity of magnetic rheology elastic body 7 can change along with the change of externally-applied magnetic field, as can be seen from Figure 4, when 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, namely the rigidity of magnetic rheology elastic body 7 also changes one times, then 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, then power output is changed to from 0N if initial magnetic field is 250mT, magnetic field changes between 0 to 500mT, then power output just from be changed to from the above analysis, the power output area of actuator is determined with the relative magnetic rheology effect of magnetic rheology elastic body 7 by the initial pretightning force of preloading spring 11.After magnetic rheology elastic body 7 is selected, the power output area of actuator can be adjusted by the pretightning force adjusting preloading spring 11.And by adjusting the intensity of initial condition magnetic rheology elastic body 7 externally-applied magnetic field, the power of actuator can be regulated to export zero point, force actuator can be made to export merely pulling force, pressure or pressure can be exported.And the power output accuracy of force actuator is determined by the precision of changes of magnetic field, namely 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 (7)

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) be 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) to go up and the straight-line guidance component (3) being fixed on 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) that load-sensing unit (2) top is used for being connected with support minute surface.
2. mode MR elastomer force actuator according to claim 1, is characterized in that, described magnetic rheology elastic body (7) is as the variation rigidity element 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, described pretension bottom (13) leaves driving hole, spanner turn pretension bottom (13) can be used when pretension 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 component (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, described magnetic rheology elastic body (7) and leave gap between upper solenoid (6) and lower solenoid (8), for reserving certain transversely deforming space when magnetic rheology elastic body (7) is squeezed, the stress of described magnetic rheology elastic body (7) is extruding form.
CN201410182460.0A 2014-05-04 2014-05-04 Mode MR elastomer force actuator Active CN103986299B (en)

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CN104332709B (en) * 2014-11-05 2017-01-11 中国科学院国家天文台 Actuator replacement mechanism of radio telescope
CN104802680B (en) * 2015-05-19 2017-09-15 北京航空航天大学 A kind of semi-active type magnetic rheology elastic body seat vibration absorber
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
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
CN113297708B (en) * 2021-06-23 2023-07-11 江苏理工学院 Pretightening force calculation method for stack type central solenoid coil
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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JP2005039147A (en) * 2003-07-18 2005-02-10 Smc Corp Linear actuator capable of low-speed drive
US7183674B2 (en) * 2003-11-06 2007-02-27 Carl Zeiss Smt Ag Hermetically sealed elements of an actuator
CN102306997B (en) * 2011-09-06 2012-12-12 中国科学院长春光学精密机械与物理研究所 Micro-displacement actuator for shear mode magnetorheological elastomer
CN102437709B (en) * 2011-09-06 2013-08-21 中国科学院长春光学精密机械与物理研究所 Squeezed micro-displacement actuator of magnetorheological elastomer
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