CN104167957B - Electromagnetic clamping mechanism and linear drive apparatus, combination - Google Patents

Abstract

The invention provides a kind of Electromagnetic clamping mechanism, including electromagnet, permanent magnet and deformable body, described permanent magnet is arranged in the magnetic link of electromagnet, and and electromagnet between formed magnetic circuit, permanent magnet is the motion of relative electromagnet under the driving in magnetic circuit magnetic field, and drive deformable body to be deformed, and then realize clamp locking and release.Provide linear drive apparatus of application Electromagnetic clamping mechanism and combinations thereof simultaneously.The Electromagnetic clamping mechanism of present invention offer and linear drive apparatus, combination, contacted with each other by magnetic pole or close permanent magnet and electromagnet, formed and there is the function that large driving force, big displacement, high accuracy driving and power-off clamp keep, existing electricity, magnetostriction driving material application apparatus, instrument are improved, can be widely applied to driver (actuator), brake, sensor, motor, vibrate and the field such as control equipment, robot, precision manufactureing, biomedical engineering.

Description

Electromagnetic clamping mechanism and linear drive apparatus, combination

Technical field

The present invention relates to electromagnetic machine technical field, in particular it relates to a kind of Electromagnetic clamping mechanism and linear drives thereof Device, combination.

Background technology

In the last few years, electricity, magnetostriction actuation techniques quickly grow, and create such as giant magnetostriction material, electricity pottery The intellectual materials such as porcelain and magnetostriction marmem.It is big that these intellectual materials have energy density, output work The advantages such as rate is high, and telescopic shape change is accurate, therefore can research and develop high-grade drives device and straight line based on these intellectual materials Motor.But the linear electric motors developed based on intellectual material, especially for inchworm motion class linear electric motors, due to There is no the clamping institution of Performance Match, and the big output stress performance of the intellectual material made can not fully be sent out Wave, cause this kind of motor to cannot be used for super large load driving, transmission field.

Through finding the literature search of prior art, Jaehwan Kim etc. is at " Mechatronics " (machine Tool electronics periodical, the 12nd phase in 2002 which 525-542 page) on the paper A hybrid inchworm that delivers Linear motor (hybrid inchworm motion linear electric motors), the design of these linear electric motors is based on inchworm motion machine Reason, is made up of a magnetostrictive mechanism and two piezoelectricity telescoping mechanisms；Magnetostrictive mechanism is used for producing looper fortune Dynamic straight-line displacement, two piezoelectricity telescoping mechanisms produce clamp action as looper clamping institution.This motor uses Piezoelectricity clamping institution, owing to it uses fragility piezoelectric, it is anti-extrusion limited in one's ability, excessive clamp and Piezoelectric can be crushed by pressure, causes clamp function to be lost, and its magnetostrictive mechanism making linear drives can produce Therefore the performance of super large output stress cannot realize.

The clamp mode of above linear electric motors, clamp deflection is little, and drive displacement amount is little, it is achieved heavy load, big row It is more difficult that journey drives.

Summary of the invention

The present invention is directed to above-mentioned deficiency present in prior art, it is provided that a kind of Electromagnetic clamping mechanism and straight line thereof drive Dynamic device, wherein, Electromagnetic clamping mechanism is by Electromagnetic Control clamp locking and release, and utilizes this Electromagnetic clamping Mechanism is formed has accurate mobile and power-off the holding linear drive apparatus of function, combination.

The present invention is achieved by the following technical solutions.

According to the first aspect of the invention, it is provided that a kind of Electromagnetic clamping mechanism, including electromagnet, permanent magnet and Deformable body, the magnetic pole of described permanent magnet directly contacts or close with the magnetic pole of electromagnet, forms magnetic circuit, described Deformable body is rigidly connected with permanent magnet；Described permanent magnet is the motion of relative electromagnet under the driving in magnetic circuit magnetic field, And drive deformable body to be deformed, and then realize clamp locking and release.

Preferably, also include that shifting axle, described permanent magnet and electromagnet are coaxially disposed on shifting axle, described permanent magnetism Relative between body with shifting axle slide.

Preferably, described permanent magnet is two, and is respectively arranged on the both sides magnetic pole of electromagnet.

Preferably, described deformable body includes any one structure following:

-elastic frame body, is rigidly connected between described elastic frame body and permanent magnet；

-be symmetrical arranged and be provided with two pretension shell fragments of suitable bayonet socket, described two pretension shell fragments and permanent magnet it Between connected firmly by rigid material body；

-hand vice malformation body, the lower end of described hand vice malformation body is rigidly connected with permanent magnet.

Preferably, described hand vice malformation body employing any one structure following:

The V-type elastomer that-two are symmetrical set；

-two linear type elastomers arranged in a crossed manner；

The countershaft of two elastomers connects.

Preferably, the top of described hand vice malformation body is provided with rigidity card body.

According to the second aspect of the invention, it is provided that a kind of linear drive apparatus, including:

-Electromagnetic clamping device, described Electromagnetic clamping device is mainly by the electromagnetism pincers described at least one any of the above-described item Position mechanism is constituted；

-center drive；

The motion driving the relative driven member of generation by center drive of the described Electromagnetic clamping device.

Preferably, described center drive is any one structure following:

-for the Electromagnetic clamping mechanism of center drive, use the Electromagnetic clamping mechanism described in any of the above-described item； The described Electromagnetic clamping mechanism for center drive and the adjacent Electromagnetic clamping machine constituting Electromagnetic clamping device It is rigidly connected by rigid material body between structure；

-including central authorities' electromagnet and at least one central permanent magnet, described central permanent magnet is arranged at central authorities' electromagnet Magnetic link on, formed magnetic circuit；Described central permanent magnet and the adjacent electromagnetism pincers constituting Electromagnetic clamping device It is rigidly connected between the mechanism of position.

Preferably, the magnetic pole of described central permanent magnet directly contacts or close with the magnetic pole of central electromagnet.

Preferably, described Electromagnetic clamping device employing any one structure following:

-including at least two Electromagnetic clamping mechanism, the deformable body of described Electromagnetic clamping mechanism uses elastic frame body, phase It is rigidly connected between Lin Liangge Electromagnetic clamping mechanism and center drive；Described driven member is coated on Electromagnetic clamping Device and the outside of center drive or be arranged at the both sides up and down of Electromagnetic clamping device and center drive, and The same of inchworm motion is carried out under the driving of Electromagnetic clamping device self clamp locking/release and center drive Time, produce the motion of relatively horizontal orientation；

-including an Electromagnetic clamping mechanism, the deformable body of described Electromagnetic clamping mechanism uses elastic frame body, electromagnetism pincers It is rigidly connected between position mechanism and center drive；Described driven member is coated on Electromagnetic clamping device and central authorities drive Move the outside of device or be arranged at the both sides up and down of Electromagnetic clamping device and center drive, and filling at Electromagnetic clamping Put while carrying out stick-slip under the driving of self clamp locking/release and center drive, produce relative water Square to motion；

-including at least one Electromagnetic clamping structure, the deformable body of described Electromagnetic clamping mechanism uses has the pre-of bayonet socket Tight shell fragment, is rigidly connected between Electromagnetic clamping mechanism and center drive；Described driven member fills with Electromagnetic clamping Put position relationship with center drive for following any one:

It is coated on the outside of Electromagnetic clamping device and center drive；

It is arranged at the both sides up and down of Electromagnetic clamping device and center drive；

It is arranged in the bayonet socket of pretension shell fragment；

And carry out stick-slip under the driving of Electromagnetic clamping device self clamp locking/release and center drive Or while inchworm motion, produce the motion of relatively horizontal orientation；

-include at least 1 group Electromagnetic clamping mechanism, wherein, each group of Electromagnetic clamping mechanism all include about two right Claiming the Electromagnetic clamping mechanism arranged, the deformable body of described Electromagnetic clamping mechanism uses hand vice malformation body, electromagnetism pincers It is rigidly connected between position mechanism and center drive；Described driven member is horizontally placed on hand vice malformation body The rigidity card of end is internal, and under the driving of Electromagnetic clamping device self clamp locking/release and center drive While carrying out stick-slip or inchworm motion, produce the motion of relatively horizontal orientation；

-include at least 2 group Electromagnetic clamping mechanisms, wherein, each group of Electromagnetic clamping mechanism all include about two right Claiming the Electromagnetic clamping mechanism arranged, the deformable body of described Electromagnetic clamping mechanism uses hand vice malformation body, electromagnetism pincers It is rigidly connected between position mechanism and center drive；It is provided with edge inside the rigidity card body of described hand vice malformation body The drive shaft of vertical direction motion, described driven member is horizontally placed on the top of drive shaft；Described Electromagnetic clamping fills Put and carry out the same of stick-slip or inchworm motion by self clamp locking/release and the driving of center drive Time, drive shaft produces the motion in opposed vertical direction, promotes driven member to carry out translation or rotation simultaneously.

Preferably, between Electromagnetic clamping mechanism and driven member formed clamp locking state time, Electromagnetic clamping mechanism with There is between driven member any one state relation following:

It is in locking state, it is achieved synchronize fortune between two clamp locking ends and the driven member of-Electromagnetic clamping mechanism Dynamic；

In two clamp locking ends of-Electromagnetic clamping mechanism, wherein between one end and driven member, it is in locking state, The other end is in sliding contact state.

According to the third aspect of the present invention, it is provided that a kind of combined straight-line driving means, including multiple above-mentioned Linear drive apparatus, according to a determining deviation arrangement between multiple linear drive apparatus；Wherein:

The outfan of-the plurality of linear drive apparatus is positioned on same outbound course, it is achieved translation/or rotation Driving output.

The outfan of-the plurality of linear drive apparatus is positioned on different outbound courses, it is achieved along X-axis, Y-axis And/or the driving output of Z axis.

Compared with prior art, the invention have the advantages that

1, present configuration is simple, and building block is few, applies the magnetic pole contacted with each other or between close magnet Active force, i.e. utilizes direct compound action power between electromagnetism and permanent magnetism magnetic pole, it is achieved bigger clamp clamping force or fortune Dynamic driving force；

2, electromagnetic signal controls, and clamp is sensitive with motor motion control, convenient, and has power-off holding function；

3, it is a kind of basis Clamping elements, can be widely applied to multiple needs and clamp clamping body field；

4, drive clamp process energy consumption low, there is Non-energy-consumption clamping performance.

The Electromagnetic clamping mechanism of present invention offer and linear drive apparatus, combination, contacted with each other by magnetic pole or lean on Near permanent magnet and electromagnet, formed and have what large driving force, big displacement, high accuracy driving and power-off clamp kept Function, is improved existing electricity, magnetostriction driving material application apparatus, instrument, can be widely applied to drive Dynamic device (actuator), brake, sensor, motor, vibrate and control equipment, robot, precision manufactureing, The fields such as biomedical engineering.

Accompanying drawing explanation

The detailed description made non-limiting example with reference to the following drawings by reading, other of the present invention is special Levy, purpose and advantage will become more apparent upon:

Fig. 1 is the embodiment of the present invention 1 structural representation, and wherein, (a) is original state, and (b) is clamp shape State；

Fig. 2 is the embodiment of the present invention 2 structural representation, and wherein, (a) is original state, and (b) is motion shape State；

Fig. 3 is the embodiment of the present invention 3 structural representation, and wherein, (a) is the first structure of embodiment 3, B () is the second structure of embodiment 3；

Fig. 4 is the embodiment of the present invention 4 inchworm motion linear drive apparatus structural representation；

Fig. 5 is the embodiment of the present invention 5 stick-slip linear drive apparatus structural representation；

Fig. 6 is the embodiment of the present invention 6 inchworm motion linear drive apparatus structural representation；

Fig. 7 is the embodiment of the present invention 7 stick-slip linear drive apparatus structural representation；

Fig. 8 is the embodiment of the present invention 8 structural representation, and wherein, (a) is original state, and (b) is motion shape State, (c) is top view；

Fig. 9 is the embodiment of the present invention 9 structural representation, and wherein, (a) is original state, and (b) is motion shape State；

Figure 10 is the embodiment of the present invention 10 structural representation, and wherein, (a) is original state, and (b) is first Planting kinestate, (c) is the second kinestate；

Figure 11 is the embodiment of the present invention 11 structural representation；

Figure 12 is the embodiment of the present invention 12 structural representation；

In figure:

1 is Electromagnetic clamping mechanism, wherein:

111 is the electromagnet of embodiment 1, and 112 is the permanent magnet of embodiment 1, and 113 is the shifting axle of embodiment 1, 114 is the deformable body of embodiment 1, and 115 is the spacing rigid body of embodiment 1, and 121 is the electromagnet of embodiment 2, 122 is the permanent magnet of embodiment 2, and 123 is the shifting axle of embodiment 2, and 124 is the deformable body of embodiment 2,125 For the spacing rigid body of embodiment 2,131 is the electromagnet of embodiment 3, and 132 is the permanent magnet of embodiment 3, 133 is the deformable body of embodiment 3, and 135 is the spacing rigid body of embodiment 3；

2 is center drive, wherein:

201 is the central electromagnet of center drive, and 202 is the central permanent magnet of center drive, and 203 are The central mobile axle of center drive；

3 is driven member.

Detailed description of the invention

Below embodiments of the invention are elaborated: the present embodiment carries out reality under premised on technical solution of the present invention Execute, give detailed embodiment and concrete operating process.It should be pointed out that, the ordinary skill people to this area For Yuan, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement, these broadly fall into this Bright protection domain.

Please refer to Fig. 1 to Figure 12.

Embodiment 1

Present embodiments provide the Electromagnetic clamping mechanism of the first structure, including electromagnet, permanent magnet and deformable body, The magnetic pole of described permanent magnet directly contacts or close with the magnetic pole of electromagnet, formed magnetic circuit, described deformable body with Permanent magnet is rigidly connected；Described permanent magnet is the motion of relative electromagnet under the driving in magnetic circuit magnetic field, and drives change Body is deformed, and then realizes clamp locking and release.

Particularly as follows:

Permanent magnet 112 is two, is respectively arranged in the magnetic link of electromagnet 111, two permanent magnets 112 and position Forming magnetic circuit between the electromagnet 111 in centre position, deformable body 113 is rigidly connected with permanent magnet 112, In the present embodiment, deformable body is an elastic frame body.

As shown in Fig. 1 (a), during original state, it is release conditions between deformable body 113 and spacing rigid body 115, When applying electric current to electromagnet 111, permanent magnet 112 is close to electromagnet 111 under the suction of electromagnet, Deformable body 113 permanent magnet 112 locomotivity drive under deform, and touch fixed spacing just Clamp locking state is realized, as shown in Fig. 1 (b) during gonosome 115.

Cut off electric current, due between permanent magnet 112 and electromagnet 111 (ferromagnet and the assembly of solenoid) Still there is magnetic attraction, therefore, remain in that when cutting off electric current attracting between permanent magnet 112 and electromagnet 111 State, thus the clamp locking state controlling deformable body 113 keeps constant, has power-off and keeps function.

When applying reverse current to electromagnet 111, between permanent magnet 112 and electromagnet 111, produce repulsive force, Permanent magnet 112 recovers initial shape away from electromagnet 111, deformable body 113 under the locomotivity of permanent magnet 112 drives State, it is achieved clamp release.

Further, the present embodiment can also include that shifting axle, described electromagnet, permanent magnet are coaxially disposed in movement On axle, shifting axle has spacing effect, and permanent magnet moves relative to electromagnet on shifting axle, it is to avoid produce deviation.

The Electromagnetic clamping mechanism that the present embodiment provides, under sensitive electromagnetic force controls, has clamp locking and clamp The function of release, has accurate movement simultaneously and keeps function with power-off clamp locking.

Embodiment 2

Present embodiments providing the Electromagnetic clamping mechanism of the second structure, this Electromagnetic clamping mechanism provides with embodiment 1 Electromagnetic clamping mechanism there is identical operation principle, difference from Example 1 is, deformable body is two tools There is the pretension shell fragment of suitable bayonet socket, correspondingly, there are two groups of permanent-magnetism electromagnetic groups being respectively used to drive two shell fragments Close.

Particularly as follows:

Each group of permanent-magnetism electromagnetic combination all includes: two permanent magnets 122 are respectively arranged at the magnetic link of electromagnet 121 On, and and electromagnet 121 between formed magnetic circuit, further, between electromagnet 121 and permanent magnet 122 Also it is coaxially disposed on shifting axle 124；The outer end of two permanent magnets 122 is respectively equipped with rigid material body, deformable body Outer end with two rigid material bodies respectively, the two ends of 123 connects firmly.

As shown in Fig. 2 (a), during original state, two deformable bodys 123 have bayonet socket under pretension elastomeric deformable effect Close conjunction clamp state (being clamped parts can be rigidity axis body) for adapter, apply reverse electricity to electromagnet 121 Stream, permanent magnet 122 under repulsion effect away from electromagnet 121, and by rigid material body promote spacing rigid body 125 move, and overcome the pretension elastomeric deformable active force of two deformable bodys 123, make deformable body 123 at permanent magnet 122 Driving force under stretch, it is achieved the clamp release conditions that adaptive bayonet socket expands, as shown in Fig. 2 (b).

Identical with embodiment 1 principle, the Electromagnetic clamping mechanism that the present embodiment provides also has power-off and keeps function.

The present embodiment provide Electromagnetic clamping mechanism, its clamp coupling mechanism force include from shell fragment deformable body elastic force and Applying the electromagnetic force that reverse current produces, therefore, the Electromagnetic clamping mechanism that the present embodiment provides has higher locking Power.

Embodiment 3

Present embodiments providing the Electromagnetic clamping mechanism of the third structure, this Electromagnetic clamping mechanism has with embodiment 1 Identical operation principle, difference from Example 1 is, the deformable body used in the present embodiment is hand vice structure Deformable body.

As shown in Fig. 3 (a), for the hand vice malformation body 133 of the first structure, constitute hand vice deformation body It is symmetrical set between two V-type elastomers of 133 and axle connects, when the relative electromagnet 131 of permanent magnet 132 Away from time, promote the lower end of hand vice malformation body 133 away from, correspondingly, hand vice malformation body 133 upper Hold close under activation force and finally lock, it is achieved clamp locking state.

As shown in Fig. 3 (b), for the hand vice malformation body 133 of the second structure, constitute hand vice malformation body Arranged in a crossed manner and axle connection between two linear type elastomers of 133, when the relative electromagnet 131 of permanent magnet 132 leans on Time near, the lower end pulling hand vice malformation body 133 is close, correspondingly, and the upper end of hand vice malformation body 133 Also under activation force near and finally lock, it is achieved clamp locking state, the Electromagnetic clamping mechanism of this structure is also There is power-off and keep function.

Further, the upper end of hand vice malformation body 133 contacts with spacing firm body 135 or is rigidly connected.

Further, described spacing firm body 135 is rigidity card body.

The Electromagnetic clamping mechanism of two kinds of forms that the present embodiment provides, has simple in construction, controls sensitive, displacement essence Close, and obtain, based on lever principle, the feature that clamping force is amplified.

Embodiment 4

Present embodiments provide in a kind of Application Example 1 and embodiment 2 any one or appoint multiple Electromagnetic clamping mechanism The linear drive apparatus formed.

As shown in Figure 4, the linear drive apparatus that the present embodiment provides, including driven member 3 and at least two electromagnetism Clamping institution 1, is rigidly connected by center drive 2 between adjacent Liang Ge Electromagnetic clamping mechanism 1, is driven Body 3 is locked under active force at the clamp of Electromagnetic clamping mechanism 1, and produces relative motion between Electromagnetic clamping mechanism 1.

Further, described center drive 2 includes central authorities' electromagnet 201 and is movably attached central authorities' electricity Central permanent magnet 202 in magnet magnetic link, rigidity between described central permanent magnet 202 and Electromagnetic clamping mechanism 1 Connect.

The linear drive apparatus that the present embodiment provides, its operation principle is inchworm motion.

Illustrate, when Electromagnetic clamping mechanism is two as a example by inchworm motion between Liang Ge Electromagnetic clamping mechanism below Time more than individual, operation principle is identical.

Particularly as follows:

First, it is in clamp locking state (detailed in Example 1) between the first Electromagnetic clamping mechanism and driven member, Second Electromagnetic clamping mechanism adjacent thereto is in release conditions, produces electromagnetic force, central authorities after central authorities' electromagnet energising Permanent magnet is close central authorities electromagnet under the effect of electromagnetic force, owing to the first Electromagnetic clamping mechanism is in locking state, Central authorities' electromagnet under the suction of the first central permanent magnet (being rigidly connected with the first Electromagnetic clamping mechanism) to the One Electromagnetic clamping mechanism kinematic, correspondingly, the second Electromagnetic clamping mechanism is in central authorities' electromagnet and the second central permanent magnet To the first Electromagnetic clamping mechanism kinematic under drive；

Then, to central authorities, electromagnet applies reverse current, locks the second Electromagnetic clamping mechanism, release the first electricity simultaneously Magnetic clamping institution, mutually exclusive between central permanent magnet and central authorities' electromagnet, the first Electromagnetic clamping mechanism is in first Move under the repulsion effect of centre permanent magnet, thus form the relative chi between a driven member and Electromagnetic clamping mechanism Earwig moves.

When driven member is fixed, between Electromagnetic clamping mechanism, form inchworm motion；When central authorities' electromagnet is fixed, Driven member forms inchworm motion.

The clamp of the present embodiment applies electromagnetism and directly contacts with permanent magnetism magnetic pole or close bigger magnetic pole with driving Power effect, so clamping force is big；Inchworm motion also be use this every little step be all big magnetic pole power effect accumulation Long travel moves, so inchworm motion Long travel moving loads ability is big.

Embodiment 5

Present embodiments provide that any one Electromagnetic clamping mechanism in a kind of Application Example 1 and embodiment 2 formed is straight Line driving means, this linear drive apparatus difference from Example 4 is, the present embodiment driven member and electromagnetism Motion between clamping institution is stick-slip.

As it is shown in figure 5, the linear drive apparatus that the present embodiment provides, including driven member 3 and an Electromagnetic clamping Mechanism 1, Electromagnetic clamping mechanism 1 is rigidly connected with center drive 2, and driven member 3 is by Electromagnetic clamping machine The clamp locking of structure 1 produces being synchronized with the movement under frictional force effect between active force, and Electromagnetic clamping mechanism 1.

Further, described center drive 2 includes central authorities' electromagnet 201 and is movably attached central authorities' electricity Central permanent magnet 202 in magnet magnetic link, rigidity between described central permanent magnet 202 and Electromagnetic clamping mechanism 1 Connect.

The linear drive apparatus that the present embodiment provides, its operation principle is stick-slip.

Particularly as follows:

First, it is in clamp locking state between Electromagnetic clamping mechanism and driven member, produces after central authorities' electromagnet energising Raw electromagnetic force, central permanent magnet is close (or leaving) central authorities electromagnet under the effect of electromagnetic force, due to electromagnetism pincers Position mechanism is in locking state, central authorities' electromagnet under the suction of central permanent magnet to Electromagnetic clamping mechanism kinematic (or adverse movement), thus form a driven member and move with a step of Electromagnetic clamping mechanism.Then, by electricity Magnetic clamping institution discharges, and separates with driven member, is passed through to central authorities' electromagnet the most again and produces with reverse current before Electromagnetic force, makes central permanent magnet leave (or close) central authorities electromagnet under the effect of electromagnetic force, now, then drives Galvanic electricity magnetic clamping institution and driven member are in clamp locking state (original state).Repeat above procedure, then by Driving body drives motion mode based on this stick-slip, it is achieved the Long travel motion that single step is cumulative.

When driven member is fixed, based on this stick-slip mode, middle machine body can produce the long row that single step is cumulative Cheng Yundong.

The same as in Example 4, stick-slip in the present embodiment is also that to use this every little step be all big magnetic pole power The Long travel motion of effect accumulation, so stick-slip Long travel moving loads ability is big.

Embodiment 6

Present embodiments provide in a kind of Application Example 1 and embodiment 2 any one or appoint multiple Electromagnetic clamping mechanism The linear drive apparatus formed, this linear drive apparatus and embodiment 4 have identical operation principle, with embodiment 4 differences are, are rigidly connected by rigid body between the present embodiment adjacent Liang Ge Electromagnetic clamping mechanism.

As shown in Figure 6, described rigid body is rigidly connected with the permanent magnet of Electromagnetic clamping mechanism, and by permanent magnet phase To electromagnet closer or far from realizing inchworm motion.

Embodiment 7

Present embodiments provide in a kind of Application Example 2 and embodiment 3 any one or appoint multiple Electromagnetic clamping mechanism The linear drive apparatus formed.

The present embodiment and embodiment 5 have identical operation principle, and difference from Example 5 is, this enforcement Driven member in example uses cylinder (round bar) structure, and is arranged at bayonet socket or the rigidity card body of Electromagnetic clamping mechanism Place, Electromagnetic clamping mechanism is under the driving of center drive, it is achieved and the stick-slip between driven member, as Shown in Fig. 7.

In the present embodiment, connect firmly between Electromagnetic clamping mechanism and central permanent magnet, and in the drive of central permanent magnet Lower move simultaneously.

Embodiment 8

Present embodiments provide that any one Electromagnetic clamping mechanism in a kind of Application Example 2 and embodiment 3 formed is straight Line driving means.The present embodiment is identical with the operation principle of embodiment 7, and the difference with embodiment 7 is, uses Plurality of electromagnetic clamping institution, driven member is arranged at the top of plurality of electromagnetic clamping institution, such as Fig. 8 (a) and (b) Shown in.

Wherein: central authorities' electromagnet and Electromagnetic clamping mechanism are the most fixing.

In the present embodiment, driven member employing planar structure:

When plurality of electromagnetic clamping institution rises or declines during stick-slip simultaneously, it is achieved driven member Translation；

When at least one Electromagnetic clamping mechanism does not carry out stick-slip, it is achieved the rotation of driven member.

The linear drive apparatus that the present embodiment provides, it is adaptable to little range motion.

Embodiment 9

Embodiment 9 is the change case of embodiment 8, is respectively provided with embodiment 2 and reality at the two ends of center drive Execute in example 3 any one or appoint multiple Electromagnetic clamping mechanism, wherein the Electromagnetic clamping mechanism of upper end be connected with permanent magnet with Move, and realized translation or the rotation of driven member by stick-slip, as shown in Fig. 9 (a) and (b).

Wherein: central authorities' electromagnet and the Electromagnetic clamping mechanism being positioned at lower end are fixed, and are positioned at the Electromagnetic clamping mechanism of upper end Being in can be with permanent magnet mobile status.

The linear drive apparatus that the present embodiment provides, it is adaptable to grand movement.

Embodiment 10

The present embodiment is the change case of embodiment 4 to embodiment 6, and in the present embodiment, driven member includes symmetry The first flat board arranged and the second flat board, wherein, the first flat board and central authorities' electromagnet are fixed, Electromagnetic clamping mechanism It is slidably connected between one end and the first flat board, between the other end and second flat board of Electromagnetic clamping mechanism, is capable of pincers Position locking, when carrying out inchworm motion or stick-slip between Electromagnetic clamping mechanism, drives the second flat board to move, real Existing second flat board is relative to the motion of the first flat board, as shown in Figure 10.

Embodiment 11

The present embodiment is the combination of embodiment 4 to embodiment 10, it is provided that a kind of combined straight-line driving means, In Application Example 4 to embodiment 10 any one or appoint multiple linear drive apparatus, it is achieved along X-axis, Y-axis and/ Or the straight line of Z axis/plane drives, as shown in figure 11.

Embodiment 12

Embodiment 12 is the particular example of embodiment 11, carries out inchworm motion or stick-slip, its work on curved surface Principle is identical with the inchworm motion in embodiment 4 to embodiment 10 or stick-slip, as shown in figure 12.

Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in Stating particular implementation, those skilled in the art can make various deformation or amendment within the scope of the claims, This has no effect on the flesh and blood of the present invention.

Claims (11)

1. an Electromagnetic clamping mechanism, it is characterised in that include electromagnet, permanent magnet and deformable body, described forever The magnetic pole of magnet directly contacts or close with the magnetic pole of electromagnet, forms magnetic circuit, described deformable body and permanent magnet It is rigidly connected；Described permanent magnet is the motion of relative electromagnet under the driving in magnetic circuit magnetic field, and drives deformable body to produce Change shape, and then realizes clamp locking and release；

Described permanent magnet is two, and is respectively arranged on the both sides magnetic pole of electromagnet.

Electromagnetic clamping mechanism the most according to claim 1, it is characterised in that also include shifting axle, described Permanent magnet and electromagnet are coaxially disposed on shifting axle, relative between described permanent magnet and shifting axle slide.

Electromagnetic clamping mechanism the most according to claim 1 and 2, it is characterised in that described deformable body includes Any one structure following:

-elastic frame body, is rigidly connected between described elastic frame body and permanent magnet；

-be symmetrical arranged and be provided with two pretension shell fragments of suitable bayonet socket, described two pretension shell fragments and permanent magnet it Between connected firmly by rigid material body；

-hand vice malformation body, the lower end of described hand vice malformation body is rigidly connected with permanent magnet.

Electromagnetic clamping mechanism the most according to claim 3, it is characterised in that described hand vice malformation body Employing any one structure following:

The V-type elastomer that-two are symmetrical set；

-two linear type elastomers arranged in a crossed manner；

The countershaft of two elastomers connects.

Electromagnetic clamping mechanism the most according to claim 3, it is characterised in that described hand vice malformation body Top be provided with rigidity card body.

6. a linear drive apparatus, it is characterised in that including:

-Electromagnetic clamping device, described Electromagnetic clamping device is mainly by any one of at least one claim 1 to 5 Described Electromagnetic clamping mechanism is constituted；

-center drive；

The motion driving the relative driven member of generation by center drive of the described Electromagnetic clamping device.

Linear drive apparatus the most according to claim 6, it is characterised in that described center drive is Any one structure following:

-for the Electromagnetic clamping mechanism of center drive, use the electricity according to any one of claim 1 to 5 Magnetic clamping institution；The described Electromagnetic clamping mechanism for center drive and adjacent composition Electromagnetic clamping device It is rigidly connected by rigid material body between Electromagnetic clamping mechanism；

-including central authorities' electromagnet and at least one central permanent magnet, described central permanent magnet is arranged at central authorities' electromagnet Magnetic link on, formed magnetic circuit；Described central permanent magnet and the adjacent electromagnetism pincers constituting Electromagnetic clamping device It is rigidly connected between the mechanism of position.

Linear drive apparatus the most according to claim 7, it is characterised in that the magnetic of described central permanent magnet Pole directly contacts or close with the magnetic pole of central authorities' electromagnet.

9. according to the linear drive apparatus according to any one of claim 6 to 8, it is characterised in that described electricity Magnetic clamp device employing any one structure following:

-including at least two Electromagnetic clamping mechanism, the deformable body of described Electromagnetic clamping mechanism uses elastic frame body, phase It is rigidly connected between Lin Liangge Electromagnetic clamping mechanism and center drive；Described driven member is coated on Electromagnetic clamping Device and the outside of center drive or be arranged at the both sides up and down of Electromagnetic clamping device and center drive, and The same of inchworm motion is carried out under the driving of Electromagnetic clamping device self clamp locking/release and center drive Time, produce the motion of relatively horizontal orientation；

-including an Electromagnetic clamping mechanism, the deformable body of described Electromagnetic clamping mechanism uses elastic frame body, electromagnetism pincers It is rigidly connected between position mechanism and center drive；Described driven member is coated on Electromagnetic clamping device and central authorities drive Move the outside of device or be arranged at the both sides up and down of Electromagnetic clamping device and center drive, and filling at Electromagnetic clamping Put while carrying out stick-slip under the driving of self clamp locking/release and center drive, produce relative water Square to motion；

-including at least one Electromagnetic clamping structure, the deformable body of described Electromagnetic clamping mechanism uses has the pre-of bayonet socket Tight shell fragment, is rigidly connected between Electromagnetic clamping mechanism and center drive；Described driven member fills with Electromagnetic clamping Put position relationship with center drive for following any one:

It is coated on the outside of Electromagnetic clamping device and center drive；

It is arranged at the both sides up and down of Electromagnetic clamping device and center drive；

It is arranged in the bayonet socket of pretension shell fragment；

And carry out stick-slip under the driving of Electromagnetic clamping device self clamp locking/release and center drive Or while inchworm motion, produce the motion of relatively horizontal orientation；

-include at least 1 group Electromagnetic clamping mechanism, wherein, each group of Electromagnetic clamping mechanism all include about two right Claiming the Electromagnetic clamping mechanism arranged, the deformable body of described Electromagnetic clamping mechanism uses hand vice malformation body, electromagnetism pincers It is rigidly connected between position mechanism and center drive；Described driven member is horizontally placed on hand vice malformation body The rigidity card of end is internal, and under the driving of Electromagnetic clamping device self clamp locking/release and center drive While carrying out stick-slip or inchworm motion, produce the motion of relatively horizontal orientation；

-include at least 2 group Electromagnetic clamping mechanisms, wherein, each group of Electromagnetic clamping mechanism all include about two right Claiming the Electromagnetic clamping mechanism arranged, the deformable body of described Electromagnetic clamping mechanism uses hand vice malformation body, electromagnetism pincers It is rigidly connected between position mechanism and center drive；It is provided with edge inside the rigidity card body of described hand vice malformation body The drive shaft of vertical direction motion, described driven member is horizontally placed on the top of drive shaft；Described Electromagnetic clamping fills Put and carry out the same of stick-slip or inchworm motion by self clamp locking/release and the driving of center drive Time, drive shaft produces the motion in opposed vertical direction, promotes driven member to carry out translation or rotation simultaneously.

Linear drive apparatus the most according to claim 9, it is characterised in that Electromagnetic clamping mechanism with driven When forming clamp locking state between kinetoplast, there is between Electromagnetic clamping mechanism and driven member any one state following Relation:

It is in locking state between two clamp locking ends and the driven member of-Electromagnetic clamping mechanism；

In two clamp locking ends of-Electromagnetic clamping mechanism, wherein between one end and driven member, it is in locking state, The other end is in sliding contact state.

11. 1 kinds of combined straight-line driving means, it is characterised in that include appointing in multiple claim 6 to 10 One described linear drive apparatus, according to a determining deviation arrangement between multiple linear drive apparatus；Wherein:

The outfan of-the plurality of linear drive apparatus is positioned on same outbound course, it is achieved translation/or rotation Driving output；

The outfan of-the plurality of linear drive apparatus is positioned on different outbound courses, it is achieved along X-axis, Y-axis And/or the driving output of Z axis.