CN104793564B - Accurate controllable linear drive apparatus and combinations thereof - Google Patents
Accurate controllable linear drive apparatus and combinations thereof Download PDFInfo
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- CN104793564B CN104793564B CN201510158431.5A CN201510158431A CN104793564B CN 104793564 B CN104793564 B CN 104793564B CN 201510158431 A CN201510158431 A CN 201510158431A CN 104793564 B CN104793564 B CN 104793564B
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- Prior art keywords
- mover
- component
- outer end
- controllable
- drive apparatus
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
- G05D19/02—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase characterised by the use of electric means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
Abstract
The invention provides a kind of accurate controllable linear drive apparatus, including pedestal, mover component and at least one driving body, the pedestal is provided with the first cavity for being used for mover component relative movement and the second cavity for placing some driving bodies, the mover component includes the outer end component of mover two and mover end piece, wherein, the outer end component of mover two and mover end piece is dismantled and assembled is rigidly connected or is integral type structure, the mover component generally permeability magnetic material；The magnetic structure of interaction is formed between some driving bodies and mover component.The accurate controllable linear drive apparatus of combined type formed based on the controllable linear drive apparatus of above-mentioned precision is provided simultaneously.Book inventive structure is simple, light weight, meets the needs of modern industry controls drive device to precision.
Description
Technical field
The present invention relates to a kind of Active Vibration Control and power control gearshift in Drive technology field, in particular it relates to
A kind of accurate controllable linear drive apparatus and combinations thereof.
Background technology
Accurate controllable driving device is mainly used in the active control of vibration, bears a fixed load driving force and has positioning
It is required that device in, by controlling the motion of mover component to provide certain driving force, reach the active control and reality of vibration
Existing location control.
Existing straight line controllable driving device, mainly there is a linear electric motors, and this mechanism self structure is complex and displacement
Control accuracy is low, particularly, in the case where volume is limited, can not often provide larger driving force, can not meet modern work
Industry is to Miniature precision drive control and the demand of positioning.
Currently without the explanation or report for finding technology similar to the present invention, money similar both at home and abroad is also not yet collected into
Material.
The content of the invention
The present invention is for above shortcomings in the prior art, there is provided a kind of accurate controllable linear drive apparatus and its
Combination, realizes a kind of heavy load magnetically-actuated.
The present invention is achieved by the following technical solutions.
According to the first aspect of the invention, there is provided a kind of accurate controllable linear drive apparatus, including pedestal, mover portion
Part and some driving bodies, the pedestal are provided with for the first cavity of mover component relative movement and for placing some driving bodies
The second cavity, the mover component includes the outer end component of mover two and mover end piece, wherein, the outer end component of mover two and
It is rigidly connected between mover end piece by removably or is integral type structure, the mover component generally magnetic conduction material
Material；The magnetic structure of interaction is formed between some driving bodies and mover component.
Preferably, the removably is realized by oat tail groove structure.
Preferably, in addition to axle sleeve, the axle sleeve are set on the square body of mover end piece, the axle sleeve bottom with
Base thread connects, and the axle sleeve is provided with exciting part, and for increasing the magnetic field of drive device, increase drives power output, also,
By changing excitation direction, there is provided the reverberation matrix method of mover component；
Preferably, it is provided with oil clearance between the mover end piece and axle sleeve.
Preferably, in addition to it is following any one or appoint multiple parts：
- spring, the spring are set on the cylinder of the outer end component of mover two, and one end of the spring is fixed on first
On the inside end wall of cavity, the other end of spring is fixedly connected with the end of the outer end component of mover two, for limiting mover component
Range end points, and aid in provide mover component reverberation matrix method；
- guider, the guider are arranged between the side wall of the first cavity and the side wall of the outer end component of mover two,
For reducing the frictional force between mover component and the first cavity sidewalls and limiting the moving direction of mover component；
- limiting tooth and teeth groove, the limiting tooth are arranged at the end of driving body, and correspondingly, the teeth groove is arranged at mover
The end of two outer end components, or,
The limiting tooth is arranged at the end of the outer end component of mover two, and correspondingly, the teeth groove is arranged at the end of driving body
End, for limiting the rotation of mover component.
Preferably, each driving body includes magnetic conductor and magnet coil, and the magnet coil is wrapped in the outer of magnetic conductor
Portion；The limiting tooth or teeth groove are arranged at the end of magnetic conductor.
Preferably, the magnetic conductor uses high magnetic permeability soft magnetic materials or ingot iron.
Preferably, arrange that collective effect is in mover component using symmetrical structure between multiple driving bodies.
Preferably, connecting hole I is equipped with the both ends of the magnetic conductor of each driving body.
Preferably, the exciting part is magnet coil or permanent magnet.
Preferably, the outer end component of mover two is provided with connecting hole II.
According to the second aspect of the invention, there is provided a kind of combined type precision controllable driving device, including it is multiple mutual
The above-mentioned accurate controllable driving device of connection, formation have multivariant combined type precision controllable driving device；It is two neighboring
Connection is extended by the connecting hole II being arranged on the outer end component of mover two between accurate controllable driving device.
According to the third aspect of the present invention, there is provided a kind of combined type precision controllable driving device, including rigid central
Irradiation structure frame body, it is mounted on each radiation of the rigid central irradiation structure frame body at least one above-mentioned
Accurate controllable driving device, form the combined type precision controllable driving device with volume expansion driving structure；Two neighboring precision
Connection is extended by the connecting hole II being arranged on mover outer end component between controllable driving device.
Compared with prior art, the present invention has following beneficial effect：
1st, the present invention is controlled using movement of the displacement gaps exciting field to mover component, to shift motion and vibration
Active control it is more accurate；
2nd, driving body uses asymmetrical arrangement, and it is excessive effectively to avoid electromagnetic attraction between mover component and driving body
The drawbacks of；
3rd, magnet coil winding mode of the present invention is simple, and control is realized easy；
4th, when driving body is arranged symmetrically for plane, controlled suitable for the smaller driving force in reduced size space, work as driving
Body be space symmetr arrange when, suitable for slightly larger dimensional space relatively large driving force control, especially, to different groups of driving bodies according to
Secondary power on/off, realize the double-direction control to way moving stroke；
5th, the magnet coil on the magnet coil and driving body on axle sleeve forms interaction, mutually can both couple in the same direction
Enhancing excitation field suction is produced, mutually incorgruous can also couple the excitation field repulsion for producing backhaul；
7th, the mover end piece upper sleeve through axle sleeve of mover component, directly by axle sleeve mover component can be driven to commutate；
The setting of axle sleeve increases power output simultaneously；
8th, the stroke of mover component is limited by the guider of spring, limiting tooth, stopper slot and/or bilateral,
Realize the precise displacement control of mover component；
9th, the function of pedestal and mover component of the present invention can exchange, and mover component be fixed, it is possible to achieve to pedestal
Straight line precision actuation controls.
10th, simple in construction, light weight of the invention, meets the needs of modern industry controls drive device to precision.
Brief description of the drawings
The detailed description made by reading with reference to the following drawings to non-limiting example, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the accurate controllable driving device structural representation of the first structure (including multiple driving bodies and axle sleeve) of the invention
Figure；
Fig. 2 is the accurate controllable driving device course of work schematic diagram of the present invention；
Fig. 3 (a) and Fig. 3 (b) are respectively the present invention second (driving body is one), (including the drive of the third structure
Kinetoplast and axle sleeve) accurate controllable driving device structural representation, wherein, Fig. 3 (a) subpart is integral type structure；
Fig. 4 is the accurate controllable driving device structural representation of the 4th kind of structure (including multiple driving bodies) of the invention, its
In, subpart is integral type structure；
Fig. 5 is using accurate controllable driving device structural representation during permanent magnet material；
Fig. 6 is that the first form (having multiple degrees of freedom) is combined in driving body of the present invention extension.
Fig. 7 (a) and Fig. 7 (b) is respectively drive device extension combination second (having multiple degrees of freedom) and the 3rd of the present invention
Kind form (volume expansion).
In figure：1 is pedestal, and 2 be magnetic conductor, and 3 be the magnet coil of driving body, and 4 be the connecting hole I of magnetic conductor, and 5 be guiding
Device connecting hole, 6 be the connecting hole II of mover component, and 7 be guider, and 8 be mover outer end component, and 9 be mover end piece,
And 8,9 be permeability magnetic material, and 10 be axle sleeve, and 11 be exciting part, and 12 be limiting tooth and teeth groove, and 13 be spring, and A is driving body, B
For mover component, C is drive device.
Embodiment
Embodiments of the invention are elaborated below：The present embodiment is carried out lower premised on technical solution of the present invention
Implement, give detailed embodiment and specific operating process.It should be pointed out that to one of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.
Please refer to Fig. 1 to Fig. 7.
Embodiment 1
Present embodiments provide a kind of accurate controllable linear drive apparatus, including pedestal 1, mover component are (including outside mover
End pieces 8 and mover end piece 9) and some driving bodies (including magnetic conductor 2 and magnet coil 3), the mover component is leads
Magnetic material, the pedestal 1 are provided with the first cavity for being used for mover component relative movement and second for placing some driving bodies
Cavity, the mover component include mover outer end component 8 and mover end piece 9, wherein, mover outer end component and mover middle-end
It is rigidly connected between part by removably, phase interaction is formed between the magnet coil 3 and magnetic conductor 2 and mover component
Magnetic structure.
Preferably, the removably is realized by oat tail groove structure.
Further, in addition to such as next or multiple parts.
- limiting tooth and teeth groove 12, the limiting tooth and teeth groove are located at the end of magnetic conductor 2 and the end of mover component 7 respectively, use
In the rotation of limitation mover component；
- spring 13, the spring are set on the cylinder of mover outer end, and the first cavity is fixed in one end of the spring
On internal end wall, the other end of the spring is fixedly connected with mover component the inner end, for limiting the maximum of mover component
End point of travel；
- guider 7, the guider are arranged between the side wall of the first cavity and the side wall of mover component, are used for
Reduce the frictional force between mover component and the first cavity sidewalls and limit the moving direction of mover component.
- axle sleeve, the axle sleeve are set on mover component square body, and the axle sleeve bottom is connected with base thread, described
Axle sleeve is used to wind magnet coil, increases the magnetic field of drive device, and increase drives power output, also, by changing excitation direction,
The reverberation matrix method of mover component is provided.
Further, oil clearance is provided between the mover component and axle sleeve.
Further, the magnet coil 3 is internally provided with magnetic conductor 2, for increasing magnetic field intensity, improves excitation effect
Fruit.
Further, the driving body, including magnet coil 3 and magnetic conductor 2 arranged using symmetrical structure, collective effect in
Mover component.
Further, it is provided with connecting hole at the both ends of magnetic conductor 2.
Further, the mover outer end is provided with connecting hole.
The accurate controllable driving device that the present embodiment provides, is controlled using movement of the exciting field to mover component, right
The control of shift motion is more accurate；When electric coil is 1, suitable for loading less drive control；When magnet coil is 3
When individual or more, suitable for the drive control of relatively large load；When magnet coil is that space symmetr is arranged, to multiple combinations
Magnet coil power on/off, the achievable double-direction control to bi-directional drive stroke, and robust motion is stronger successively；By spring,
Limiting tooth, teeth groove and/or guider are limited mover component stroke, realize the precise displacement of mover component.
Embodiment 2
The present embodiment is the change case of embodiment 1, in the present embodiment, the mover outer end component of the mover component and dynamic
Integral structure is used between sub- end piece.
Embodiment 3
The present embodiment be embodiment 1 change case, in the present embodiment, the mover outer end component 8 of the mover component and/
Or mover end piece 9 uses permanent magnet material, the pedestal 1 is provided with for the first cavity of mover relative movement and for putting
Second cavity of some driving bodies (including magnetic conductor 2 and magnet coil 3) is put, the mover component includes mover outer end component 8
With mover end piece 9, wherein, mover outer end component is connected with guider, magnet coil 3, the excitation division of the driving body
The magnetic structure of interaction is formed between the magnet coil 11 and magnetic conductor 2 and mover component of part.
Further, it is as mover outer end component 8 and/or the permanent magnet material of mover end piece, its pole orientation
Vertical direction in Fig. 5.
The accurate controllable driving device that the present embodiment provides, is controlled using movement of the exciting field to mover component, right
The control of shift motion is more accurate；By controlling the excitation direction of magnet coil, make it consistent with permanent magnet magnetic extreme direction or
On the contrary, the reciprocal bi-directional drive control to mover component can be realized；When electric coil is 1, suitable for loading less driving
Control；When magnet coil is 3 or is more, suitable for the drive control of relatively large load；When magnet coil is space symmetr
During arrangement, to magnet coil power on/off, the achievable double-direction control to bi-directional drive stroke, and move flat successively of multiple combinations
Stability is stronger；Mover component stroke is limited by spring, limiting tooth, teeth groove and/or guider, realizes mover component
Precise displacement.
Embodiment 4
A kind of accurate controllable linear drive apparatus of combined type is present embodiments provided, includes the embodiment of multiple interconnections
The 1 accurate controllable driving device provided to any one of embodiment 3, being formed has the accurate controllable driving of multivariant combined type
Device.
Further, the multiple accurate controllable driving device is connected by the connecting hole on mover outer end component.
After two accurate controllable driving devices are connected by connecting hole, the combined type with two frees degree can be formed
Accurate controllable driving device；Similarly, after three accurate controllable driving devices are connected by connecting hole, can be formed with three certainly
By the combined type precision controllable driving device spent；After multiple controllable slide rest devices of precision are connected by connecting hole, tool can be formed
There is the combined type precision controllable driving device of multiple frees degree.
Embodiment 5
The present embodiment is the change case of embodiment 4, in the present embodiment, including a kind of rigid central irradiation structure framework
Body, at least one embodiment 1 is mounted on to embodiment 3 on each radiation of the rigid central irradiation structure frame body
Any one of provide accurate controllable driving device, as shown in Fig. 7 (b), form a kind of volume expansion drive system.By a kind of rigidity
The accurate controllable driving dress that embodiment 1 to embodiment 3 is provided is installed on each radiation of center irradiation structure frame body
Put or the combination of device that embodiment 4 is provided, when radial frame body is fixed when center, can be driven by control wherein any
More than one drive device separately or cooperatively to single between outside or moves back and forth effect along framework body rod center.Drive simultaneously
Dynamic advance or rollback can should then realize the drive device of volume expansion or contraction.
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (10)
- A kind of accurate 1. controllable linear drive apparatus, it is characterised in that including pedestal, mover component and at least one driving body, The pedestal is provided with the first cavity for being used for mover component relative movement and the second cavity for placing some driving bodies, described Mover component includes the outer end component of mover first, the outer end component of mover second and mover end piece, wherein, the outer end of mover first Dismantled and assembled mode is passed sequentially through between part, mover end piece and the outer end component of mover second to be rigidly connected or be integral type knot Structure, the mover component generally permeability magnetic material；The magnetic circuit of interaction is formed between some driving bodies and mover component Structure.
- 2. the controllable linear drive apparatus of precision according to claim 1, it is characterised in that also include it is following any one or appoint Multiple parts：- spring, the spring is set on the cylinder of the outer end component of mover first or the outer end component of mover second respectively, described One end of spring is fixed on the inside end wall of the first cavity, the other end and the outer end component of mover first or the mover second of spring The end of outer end component is fixedly connected, and for limiting the range end points of mover component, and aids in providing mover component Reverberation matrix method；- guider, the guider are arranged at outside the side wall and the outer end component of mover first and mover second of the first cavity Between the side wall of end pieces, for reducing the frictional force between mover component and the first cavity sidewalls and limiting the shifting of mover component Dynamic direction；- axle sleeve, the axle sleeve are set on the square body of mover end piece, and the axle sleeve bottom is connected with base thread, institute State axle sleeve and be provided with exciting part, for increasing the magnetic field of drive device, increase drives power output, also, by changing excitation side To, there is provided the reverberation matrix method of mover component；Oil clearance is provided between the mover end piece and axle sleeve；- limiting tooth and teeth groove, the limiting tooth are arranged at the end of driving body, and correspondingly, the teeth groove is respectively arranged at mover The end of first outer end component and the outer end component of mover second, or,The limiting tooth is respectively arranged at the end of the outer end component of mover first and the outer end component of mover second, correspondingly, described Teeth groove is arranged at the end of driving body, for limiting the rotation of mover component.
- 3. the controllable linear drive apparatus of precision according to claim 1, it is characterised in that each driving body includes leading Magnet and magnet coil, the magnet coil are wrapped in the outside of magnetic conductor；The limiting tooth or teeth groove are arranged at magnetic conductor End；Connecting hole I is equipped with the both ends of magnetic conductor.
- 4. the controllable linear drive apparatus of precision according to claim 3, it is characterised in that the magnetic conductor uses technical pure Iron or soft magnetic materials.
- 5. the controllable linear drive apparatus of precision according to claim 1, it is characterised in that between multiple driving bodies using pair Claim structure arrangement, collective effect is in mover component.
- 6. the controllable linear drive apparatus of precision according to claim 2, it is characterised in that the exciting part is electromagnetic wire Circle or permanent magnet.
- 7. the controllable linear drive apparatus of precision according to claim 1, it is characterised in that the outer end component of mover first Connecting hole II is respectively equipped with the outer end component of mover second.
- 8. the controllable linear drive apparatus of precision according to claim 1, it is characterised in that the outer end of mover first Connected between part, the outer end component of mover second and mover end piece by oat tail groove structure Demountable rigid.
- 9. a kind of combined type precision controllable driving device, it is characterised in that in the claim 1 to 8 including multiple interconnections Accurate controllable driving device described in any one, formation have multivariant combined type precision controllable driving device；Adjacent two By the outer end component of mover first for the mover component for being arranged at accurate controllable driving device between individual accurate controllable driving device Connection is extended with the connecting hole II on the outer end component of mover second.
- 10. a kind of combined type precision controllable driving device, it is characterised in that described including rigid central irradiation structure frame body Any one of at least one claim 1 to 8 institute is mounted on each radiation of rigid central irradiation structure frame body The accurate controllable driving device stated, form the combined type precision controllable driving device with volume expansion driving structure；It is two neighboring Connecting hole II between accurate controllable driving device by being arranged on the outer end component of mover first and the outer end component of mover second It is extended connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510158431.5A CN104793564B (en) | 2015-04-03 | 2015-04-03 | Accurate controllable linear drive apparatus and combinations thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510158431.5A CN104793564B (en) | 2015-04-03 | 2015-04-03 | Accurate controllable linear drive apparatus and combinations thereof |
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| CN104793564A CN104793564A (en) | 2015-07-22 |
| CN104793564B true CN104793564B (en) | 2017-11-14 |
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| CN201510158431.5A Active CN104793564B (en) | 2015-04-03 | 2015-04-03 | Accurate controllable linear drive apparatus and combinations thereof |
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| CN106774150B (en) * | 2016-12-29 | 2023-05-26 | 上海交通大学 | Accurate repeated positioning driving system capable of being controlled in open loop and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3332125B2 (en) * | 1995-02-21 | 2002-10-07 | 株式会社東芝 | Magnetostrictive actuator |
| JP2002119075A (en) * | 2000-10-03 | 2002-04-19 | Matsushita Electric Ind Co Ltd | Actuator device |
| JP2004282953A (en) * | 2003-03-18 | 2004-10-07 | Matsushita Electric Ind Co Ltd | Actuator device |
| CN101136578B (en) * | 2007-10-25 | 2011-08-31 | 上海交通大学 | Permanent-magnet telescopic mechanism |
| CN101521453B (en) * | 2009-04-02 | 2011-01-19 | 上海交通大学 | Heavy-loaded precision-displacement linear motor |
| CN102694455B (en) * | 2011-03-23 | 2014-06-04 | 杨锦堂 | Magnetic driver |
| CN106329814B (en) * | 2012-10-17 | 2019-01-25 | 上海交通大学 | The displacement drive to be interacted based on permanent magnet and electromagnet |
| CN203882197U (en) * | 2014-04-10 | 2014-10-15 | 上海交通大学 | Precise and controllable sliding table devices and combination thereof |
| CN204740479U (en) * | 2015-04-03 | 2015-11-04 | 上海交通大学 | Accurate controllable sharp drive arrangement and combination thereof |
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