CN104022615B - Permanent magnetic DC straight-line flexible driving mechanism - Google Patents
Permanent magnetic DC straight-line flexible driving mechanism Download PDFInfo
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- CN104022615B CN104022615B CN201410272765.0A CN201410272765A CN104022615B CN 104022615 B CN104022615 B CN 104022615B CN 201410272765 A CN201410272765 A CN 201410272765A CN 104022615 B CN104022615 B CN 104022615B
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- magnet steel
- end cap
- mover
- stator yoke
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Abstract
The present invention discloses a kind of permanent magnetic DC straight-line flexible driving mechanism, it is characterized in that: supports axle by magnet steel and forms mover with the magnet steel being fixedly set on magnet steel support axle, is respectively arranged with mover end cap at the two ends of mover; The stator of cylinder form it is made up of stator yoke, stator winding, winding wedge, location bar and set ring; Form cylindrical case in the outside of the stator of cylinder form by shell end cap and housing, it is respectively arranged with supports end cap at the two ends of cylindrical case; Buffer spring is set between supports end cap and mover end cap and forms buffer limit structure; The linear bearings coaxially arranged with stator and cylindrical case is the two ends being fixedly installed on cylindrical case with shrink-fit, and mover can be reciprocating vertically in linear bearings. Quality volume of the present invention is little, controllability good, it is flexible to possess driving and motion flexibility, power output greatly, and have good compatibility without fluctuation, power output density.
Description
Technical field
The present invention relates to electromagnetism straight-line flexible drive unit, especially a kind of it is applied in automatic control system as linear actuator for realizing the device of translational motion.
Background technology
Linear actuator for realizing translational motion of the prior art mainly contains: electromagnetic relay, straight line motor, line handspike, hydro-cylinder, pneumatic cylinder, Pneumatic artificial muscle, and some new function materials. Wherein, electromagnetic relay is straight line contraction and the recovery that the electromagnetic force utilizing the electro-magnet of energization solenoid and iron core formation to produce and the elastic element of self realize armature; Straight line motor utilizes electromagnetic induction principle, and electric energy is directly changed into translational motion mechanical energy, it is not necessary to any buffering mechanism; Line handspike is the driven by power device of the straight reciprocating motion being push rod by the converting rotary motion of electric motor; Hydraulic pressure energy or air pressure can be changed into mechanical energy by the linear drives of hydro-cylinder and pneumatic cylinder, are the power elements of a kind of straight reciprocating motion; Pneumatic artificial muscle does push-and-pull action under the air-operated drive of portion's offer, and its process is just as the muscular movement of human body. The feature of all kinds of existing linear actuator is as shown in table 1
Table 1
As can be seen from Table 1, existing linear actuator can not meet that quality volume is little, motion flexibility good simultaneously, the feature of, High power output good without fluctuation, motion controllability.
Summary of the invention
The present invention is for avoiding the weak point existing for above-mentioned prior art, a kind of quality volume of offer is little, controllability good, it is flexible to possess driving and motion flexibility, power output without fluctuation, power output density greatly, and have the permanent magnetic DC straight-line flexible driving mechanism of well compatibility.
The present invention is that technical solution problem adopts following technical scheme:
The constructional feature of permanent magnetic DC straight-line flexible driving mechanism of the present invention is: supports axle by magnet steel and forms mover with the magnet steel being fixedly set on magnet steel support axle, is respectively arranged with mover end cap at the two ends of described mover; The stator of cylinder form it is made up of stator yoke, stator winding, winding wedge, location bar and set ring; Form cylindrical case in the outside of the stator of described cylinder form by shell end cap and housing, it is respectively arranged with supports end cap at the two ends of described cylindrical case; Buffer spring is set between described supports end cap and mover end cap and forms buffer limit structure; The linear bearings coaxially arranged with described stator and described cylindrical case is the two ends being fixedly installed on cylindrical case with shrink-fit, and described mover can be reciprocating vertically in described linear bearings.
The constructional feature of permanent magnetic DC straight-line flexible driving mechanism of the present invention is also:
The Type B magnet steel that described magnet steel comprises the A type magnet steel of radial magnetizing and circumferential direction magnetizes; Described A type magnet steel and Type B magnet steel are Haier's Bake structure distribution, and between adjacent A type magnet steel, magnetizing direction is contrary, and between adjacent Type B magnet steel, magnetizing direction is also contrary; Making during installation in the unit of A-B-A, the arrow of signal magnetizing direction is end to end.
Described stator yoke is rendered as two adjacent shape segment A vertically, middle separates by a shape segment B, and described shape segment A is the annulus body with the inner salient pole of even number, by I type siliconized plate superposition and bonding and become; Described shape segment B is along the equally distributed even number boss of described stator yoke excircle, each boss by II type siliconized plate superposition and bonding and become; Described boss on circumferential position with described inner salient pole one_to_one corresponding, two adjacent vertically salient poles form a winding groove with boss therebetween, and stator winding is wrapped on described boss by winding groove; Three winding wedges are spelled in six winding grooves of a stator yoke inside and become an annulus, stator winding in annulus cylindrical tensioner winding groove; I type siliconized plate and the circular hole having size identical on II type siliconized plate so that the stator yoke formed circumferentially uniform six pilot holes outside; The each stator yoke arranged vertically is by set ring separately so that have spacing between adjacent stator yoke; Form series connection between each stator winding in every stator yoke, between different stator yoke, after series connection, form in parallel or series connection.
The constructional feature of permanent magnetic DC straight-line flexible driving mechanism of the present invention is also:
Described mover is in the stator built-in, with the exterior arc surface of A type magnet steel just to the inner arc surface of the inside salient pole of stator yoke, gap is had between the exterior arc surface and the inner arc surface of inner salient pole of described A type magnet steel, further, the described exterior arc surface at described A type magnet steel is equal with the central angle of the inner arc surface of inner salient pole.
Described pilot hole is also distributed on described set ring, runs through the pilot hole in described set ring and stator yoke to locate bar, and with seccotine cemented in place circle, stator yoke and location bar, so that set ring and stator yoke are strengthened fastening and are ensured coaxial.
Described shell end cap is fastening by screw and housing, and provides the preliminary tension of shell end cap by described rubber cradle.
Described set ring is the inner ring being fixedly installed on housing with shrink-fit; The cylinder two ends of stator are fixedly installed in described cylindrical case by rubber cradle and described shell end cap and shell with shrink-fit respectively, the two ends supporting axle at described magnet steel are respectively arranged with connecting thread hole, are equipped with output with described connecting thread hole.
Compared with the prior art, the useful effect of the present invention is embodied in:
1, the present invention designs by magneticaction in magnetic field according to current��carrying conductor, and its principle is simple and reliable feasible. By regulating winding electric current to get final product the size of control and drive system power output. Do not need reversing system repeatedly to be commutated by electric current, eliminate the fluctuation caused because repeatedly commutating.
2, the direction of relative displacement between mover stator in the present invention, stroke and speed are all by winding electric current control. The displacement of relatively Long travel can be realized.
3, the magnetic field power that in the present invention, mover self exports can resist extraneous temporary impact, and alleviates impact by mover displacement; On the other hand, according to the law of electromagnetic induction, the instantaneous displacement of driving mechanism mover so that its winding is subject to an electromagnetic force effect contrary with foreign impacts power because changing magnetic flux, thus alleviates impact further. This kind of characteristic has made driving implement for motion flexibility well.
4, the present invention adopts Haier's Bake array magnetic steel structure, the sub-magnetic circuit of even number that magnet steel is formed in stator yoke is optimized, gap density is strengthened, and add the current��carrying conductor length of useful effect to greatest extent so that higher power output density under equal volume, can be obtained. Overall magnetic circuit structure design compact and reasonable so that the Mechanical Structure Strength of the present invention is reliable, and invention overall volume is little, light weight.
5, mechanical part size of the present invention is reasonable, and technique is simple, and it is convenient to manufacture. The similar-type products of different output parameter can be designed according to actual needs. It adopts low-voltage dc power supply, safe and reliable, environmental protection.
Accompanying drawing explanation
Fig. 1 is activation configuration sectional view in the present invention;
Fig. 2 is magnetic steel structure and magnetizing direction schematic diagram in the present invention;
Fig. 3 a is I type siliconized plate schematic diagram in the present invention;
Fig. 3 b is II type siliconized plate schematic diagram in the present invention;
Fig. 3 c is stator yoke structural representation in the present invention;
Fig. 3 d is stator structural representation in the present invention;
Fig. 4 is that in the present invention, mover coordinates mode and magnetic circuit schematic diagram with stator yoke;
Stator yoke and mover induced inside magnetic intensity vector figure when Fig. 5 is current-carrying in the present invention;
Fig. 6 a is longitudinal section of the present invention schematic diagram;
Fig. 6 b is schematic cross-sectional view of the present invention;
Fig. 7 is winding electrical current direction schematic diagram in the present invention.
Number in the figure: 1 shell end cap, 2 housings, 3 mover end caps, 4 buffer springs, 5 supports end cap, 6 magnet steel, 7 magnet steel support axle, 8 set rings, 9 stator yoke, 10 location bars, 11 stator winding, 12 winding wedges, 13 rubber cradles, 14 linear bearingss, 15 winding grooves, 16 pilot holes, 17 is I type siliconized plate, and 18 is II type siliconized plate, 19 binding thread holes, 20 connecting thread holes, 21 wire holes, 22 is A type magnet steel, 23 is Type B magnet steel, 24 salient poles, 25 stators, 26 movers.
Embodiment
See Fig. 1, Fig. 6 a and Fig. 6 b, in the present embodiment, the structure formation of permanent magnetic DC straight-line flexible driving mechanism is:
The magnet steel 6 supporting axle 7 by magnet steel and be fixedly set on magnet steel support axle 7 forms mover, and magnet steel 6 utilizes seccotine to be bonded in magnet steel to support on axle 7, and its structure is simple, is respectively arranged with mover end cap 3 at the two ends of mover 26; The stator of cylinder form it is made up of stator yoke 9, stator winding 11, winding wedge 12, location bar 10 and set ring 8; Stator 25 in cylinder form is outer forms cylindrical case by shell end cap 1 and housing 2, is respectively arranged with supports end cap 5 at the two ends of cylindrical case; Buffer spring 4 is set between supports end cap 5 and mover end cap 3 and forms buffer limit structure, play buffer protection and spacing effect; The linear bearings 14 coaxially arranged with stator and cylindrical case is the two ends being fixedly installed on cylindrical case with shrink-fit, and mover can be reciprocating vertically in linear bearings 14.
As shown in Figure 2, the Type B magnet steel 23 that in the present embodiment, magnet steel 6 comprises the A type magnet steel 22 of radial magnetizing and circumferential direction magnetizes; A type magnet steel 22 and Type B magnet steel 23 are in Haier's Bake structure distribution, and between adjacent A type magnet steel, magnetizing direction is contrary, and between adjacent Type B magnet steel, magnetizing direction is also contrary; Making during installation in the unit of A-B-A, the arrow of signal magnetizing direction is end to end. In the present embodiment, magnet steel is according to Haier's Bake arrayed combination, relative to the traditional structure using magnetically permeable material, this kind of structure formation saves space structure on the one hand, also makes magneticflux-density increase on the other hand, reducing magnetic leakage, this can so that driving mechanism obtains bigger power output.
As shown in Fig. 3 a, Fig. 3 b, Fig. 3 c and Fig. 3 d, in the present embodiment, stator yoke 9 is two adjacent shape segment A vertically, and centre is separated by a shape segment B, shape segment A is the annulus body with six inner salient poles 24, by I type siliconized plate 17 superposition and bonding and become; Shape segment B is along equally distributed six boss of stator yoke 9 excircle, each boss by II type siliconized plate 18 superposition and bonding and become; Boss forms a winding groove 15 with inner salient pole 24 one_to_one corresponding, two adjacent vertically salient poles and boss therebetween on circumferential position, and stator winding 11 is wrapped on boss by winding groove 15; Three winding wedges 12 are spelled in six winding grooves 15 of stator yoke 9 inside and become an annulus, stator winding 11 in annulus cylindrical tensioner winding groove 15; I type siliconized plate and the circular hole having size identical on II type siliconized plate so that the stator yoke formed circumferentially uniform six pilot holes 16 outside; The each stator yoke 9 arranged vertically is by set ring 8 separately so that have spacing between adjacent stator yoke; Series connection is formed between each stator winding in every stator yoke, between different stator yoke, in parallel or series connection is formed after series connection, as shown in Figure 3 d, in the present embodiment, four groups of stator yoke form stator by three set rings 8 and six roots of sensation location bar 10, it is formed with 24 stator winding 11 altogether, and has 12 winding wedges 12.
In concrete enforcement, corresponding vibrational power flow also comprises:
As shown in Figure 4, mover 26 is built in stator 25, with the exterior arc surface of A type magnet steel 22 just to the inner arc surface of the inside salient pole of stator yoke 9, the distance of the air gap that inner arc surface on each correspondence position and exterior arc surface are formed is equal, and arranging the air gap distance between inner arc surface and exterior arc surface in the present embodiment is 1mm. Such vibrational power flow is main magnetic circuit during for forming drive operation between stator 25 and mover 26, produces the magnetic flux density being applicable in air gap. And make mover can limit rotary freedom relative to stator, and straight reciprocating motion can be done vertically. As shown in Figure 5, in a non-operative state, due to magnetoresistance effect, mover and stator also can keep this kind of structure correspondence naturally, it is not necessary to mover is being limited rotary freedom.
The thickness arranging set ring 8 to be 4mm, its external diameter be 32mm, internal diameter are 16mm, pilot hole 16 is also distributed in set ring 8 circumferentially, the pilot hole 16 in set ring 8 and stator yoke 9 is run through to locate bar 10, and with seccotine cemented in place circle 8, stator yoke 9 and location bar 10, so that set ring 8 and stator yoke 9 are strengthened fastening and are ensured coaxial. The external diameter of set ring 8 is consistent with shell 2 internal diameter, positioning action is played in the inside being placed in shell, simultaneously, by set ring 8 by spaced apart for stator yoke 9, make to have spacing between adjacent stator yoke, when winding is energized, the magnetic field that axially adjacent winding produces can not be coupled, and the magnetic field avoiding winding to produce can not form single magnetic circuit because of this kind of coupling in winding groove.
Shown in Fig. 6 a, in order to implement to connect, mover end cap 3, supports end cap 5 and shell end cap 1 are respectively arranged with binding thread hole 19, are provided with wire hole 21 in one end of housing 2 for threading. Shell end cap 1 is fastening by screw and housing 2, and the degree of freedom of restriction stator, rubber cradle 13 provides the preliminary tension of shell end cap 1. Set ring 8 is the inner ring being fixedly installed on housing 2 with shrink-fit; The cylinder two ends of stator are fixedly installed in cylindrical case by rubber cradle 13 and shell end cap 1 and housing 2 with shrink-fit respectively, and the two ends supporting axle 7 at magnet steel are respectively arranged with connecting thread hole 20, are equipped with output with connecting thread hole 20.
The driving mechanism installed, forms the mains field of 48 sub-magnetic circuit compositions in mover and stator yoke. The current��carrying conductor of winding groove inside is among magnetic field, due to internal drive constructional feature so that its sense of current is vertical with inducedmagnetic field direction, and according to left-hand rule, current��carrying conductor is subject to magneticaction vertically. As shown in Figure 7, owing to the sense of current of the current��carrying conductor of the adjacent winding groove inside of stator yoke is contrary, and the inducedmagnetic field direction passed through is also contrary, therefore magnetic force direction suffered by all winding grooves is all identical. Stator is subject to a total magnetic force, and this power and the power acted on mover are one pair of reactive force and reactive force, and its size can calculate according to magnetic force formula F=BIL. In addition, although each winding groove is subject to magneticaction radially simultaneously, but be uniformly distributed along the circumference due to the winding groove of stator yoke, thus stator and mover in radial aggregate performance for not stressing.
The present invention adopts direct current as the energy of driving mechanism and the running utilizing voltage control driving mechanism, solves the problem controlling quick simple and easy property; The present invention is used for obtaining motivating force by ampere masterpiece in magnetic field according to current��carrying conductor, because ampere power is field power, there is not actual contact, solves motion flexibility problem; The present invention does not need reversing system repeatedly to be commutated by electric current at operational process, and constant along the gap reluctance of direction of motion, solves fluctuation problem; In addition, the present invention is by optimizing the physical construction of driving mechanism so that magnetic circuit is reasonable, compact construction, and by optimizing material further, thus obtain more reasonably quality volume, and obtain bigger motivating force.
Claims (5)
1. permanent magnetic DC straight-line flexible driving mechanism, it is characterized in that: support axle (7) by magnet steel and be fixedly set in the magnet steel (6) that magnet steel supports on axle (7) and form mover (26), it is respectively arranged with mover end cap (3) at the two ends of described mover; The stator (25) of cylinder form it is made up of stator yoke (9), stator winding (11), winding wedge (12), location bar (10) and set ring (8); Form cylindrical case in the outside of the stator of described cylinder form by shell end cap (1) and housing (2), it is respectively arranged with supports end cap (5) at the two ends of described cylindrical case; Buffer spring (4) is set between described supports end cap (5) and mover end cap (3) and forms buffer limit structure; The linear bearings (14) coaxially arranged with described stator and described cylindrical case is the two ends being fixedly installed on cylindrical case with shrink-fit, and described mover can be reciprocating vertically in described linear bearings (14);
The Type B magnet steel (23) that described magnet steel (6) comprises A type magnet steel (22) of radial magnetizing and circumferential direction magnetizes; Described A type magnet steel (22) and Type B magnet steel (23) are in Haier's Bake structure distribution, and between adjacent A type magnet steel, magnetizing direction is contrary, and between adjacent Type B magnet steel, magnetizing direction is also contrary; Making during installation in the unit of A-B-A, the arrow of signal magnetizing direction is end to end; Described stator yoke (9) is rendered as two adjacent shape segment A vertically, centre is separated by a shape segment B, described shape segment A for having the annulus body of the inner salient pole (24) of even number, by I type siliconized plate (17) superposition and bonding and become; Described shape segment B is along the equally distributed even number boss of described stator yoke (9) excircle, each boss by II type siliconized plate (18) superposition and bonding and become; Described boss on circumferential position with described inner salient pole (24) one_to_one corresponding, two adjacent vertically salient poles (24) form a winding groove (15) with boss therebetween, and stator winding (11) is wrapped on described boss by winding groove (15); Three winding wedges (12) are spelled in six winding grooves (15) that a stator yoke (9) is inner and become an annulus, annulus cylindrical tensioner winding groove (15) interior stator winding (11); I type siliconized plate and the circular hole having size identical on II type siliconized plate so that the stator yoke formed circumferentially uniform six pilot holes (16) outside; The each stator yoke (9) arranged vertically is by set ring (8) separately so that have spacing between adjacent stator yoke; Form series connection between each stator winding in every stator yoke, between different stator yoke, after series connection, form in parallel or series connection.
2. permanent magnetic DC straight-line flexible driving mechanism according to claim 1, it is characterized in that: described mover is in the stator built-in, with the exterior arc surface of A type magnet steel (22) just to the inner arc surface of the inside salient pole (24) of stator yoke (9), gap is had between the exterior arc surface and the inner arc surface of inner salient pole (24) of described A type magnet steel (22), further, the exterior arc surface of described A type magnet steel (22) is equal with the central angle of the inner arc surface of inner salient pole (24).
3. permanent magnetic DC straight-line flexible driving mechanism according to claim 1, it is characterized in that: described pilot hole (16) is also distributed on described set ring (8), the pilot hole (16) in described set ring (8) and stator yoke (9) is run through to locate bar (10), and with seccotine cemented in place circle (8), stator yoke (9) and location bar (10), so that set ring (8) and stator yoke (9) are strengthened fastening and are ensured coaxial.
4. permanent magnetic DC straight-line flexible driving mechanism according to claim 1, it is characterized in that: described shell end cap (1) is fastening by screw and housing (2), and the preliminary tension of shell end cap (1) is provided by rubber cradle (13).
5. permanent magnetic DC straight-line flexible driving mechanism according to claim 4, is characterized in that: described set ring (8) is the inner ring being fixedly installed on housing (2) with shrink-fit; The cylinder two ends of stator are fixedly installed in described cylindrical case by rubber cradle (13) and described shell end cap (1) and shell (2) with shrink-fit respectively, the two ends supporting axle (7) at described magnet steel are respectively arranged with connecting thread hole (20), are equipped with output with described connecting thread hole (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410272765.0A CN104022615B (en) | 2014-06-18 | 2014-06-18 | Permanent magnetic DC straight-line flexible driving mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410272765.0A CN104022615B (en) | 2014-06-18 | 2014-06-18 | Permanent magnetic DC straight-line flexible driving mechanism |
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| CN104022615A CN104022615A (en) | 2014-09-03 |
| CN104022615B true CN104022615B (en) | 2016-06-01 |
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| CN201410272765.0A Expired - Fee Related CN104022615B (en) | 2014-06-18 | 2014-06-18 | Permanent magnetic DC straight-line flexible driving mechanism |
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| CN108825122B (en) * | 2018-06-20 | 2019-12-27 | 郑州大学 | High-frequency impact linear permanent magnet motor system |
| CN110957884A (en) * | 2019-12-24 | 2020-04-03 | 浙江省东阳市东磁诚基电子有限公司 | Motor suitable for electric toothbrush and implementation method thereof |
| CN113186912B (en) * | 2021-04-07 | 2022-08-02 | 广东力源液压机械有限公司 | Electromagnetic force linear driver for piling, pile driver and piling method |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101345441A (en) * | 2007-07-13 | 2009-01-14 | 弗里茨·福尔哈贝尔博士两合公司 | Electric miniature drive and inference element and production method for same |
| CN102158038A (en) * | 2011-02-18 | 2011-08-17 | 蹇兴亮 | High-drive force permanent-magnet drive device and control method thereof |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ATE557464T1 (en) * | 2010-01-15 | 2012-05-15 | Maxon Motor Ag | LINEAR ACTUATOR |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101345441A (en) * | 2007-07-13 | 2009-01-14 | 弗里茨·福尔哈贝尔博士两合公司 | Electric miniature drive and inference element and production method for same |
| CN102158038A (en) * | 2011-02-18 | 2011-08-17 | 蹇兴亮 | High-drive force permanent-magnet drive device and control method thereof |
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