CN105119456A - Self-driven rotating shaft multidimensional rotation drive system - Google Patents
Self-driven rotating shaft multidimensional rotation drive system Download PDFInfo
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- CN105119456A CN105119456A CN201510493859.5A CN201510493859A CN105119456A CN 105119456 A CN105119456 A CN 105119456A CN 201510493859 A CN201510493859 A CN 201510493859A CN 105119456 A CN105119456 A CN 105119456A
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Abstract
The present invention provides a self-driven rotating shaft multidimensional rotation drive system which comprises three or more self-driven rotating shafts which are orderly connected. The connection relation between at least one pair of adjacent self-driven rotating shafts is that the rotation shaft stator of one self-driven rotating shaft is installed and fixed to the rotation shaft stator of the other self-driven rotating shaft, the rotation shaft rotor of one self-driven rotating shaft is installed and fixed to the rotation shaft rotor of the other self-driven rotating shaft, or the rotation shaft rotor of one self-driven rotating shaft is installed and fixed to the rotation shaft stator of the other self-driven rotating shaft. According to the self-driven rotating shaft multidimensional rotation drive system, through the precisely controlled self-driven rotating shafts which are orderly connected, the degrees of freedom of a panel in three or more rotation directions can be realized.
Description
Technical field
The present invention relates to Drive technology, intelligent drives control technology, electromagnet and permanent magnet Direct driver and accurate control technique field, turned position, particularly, relate to self-driven rotation axis multidimensional rotating driving system.
Background technology
Accurate controllable rotary drive unit is mainly used in the adjustment of mechanism locus and the tracking of target object, the Active Vibration Control of flexible structure.By controlling the rotation of subassembly, realize the adjustment of mechanism locus, and then the ACTIVE CONTROL of the tracking realized target object and flexible structure vibration.Existing device of rotation driving, mainly electric rotating machine, this mechanism self structure is comparatively complicated, and the normal control needing to combine with other drive disk assemblies to carry out moving, efficiency is lower, and response speed is slower.Especially, when volume is limited, often cannot provide larger driving torque, the demand of modern industry for Miniature precision drived control and location cannot be met.
Do not find explanation or the report of technology similar to the present invention at present, not yet collect similar data both at home and abroad yet.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of self-driven rotation axis multidimensional rotating driving system.
According to one provided by the invention self-driven rotation axis multidimensional rotating driving system, comprise more than three the multiple self-driven rotation axiss connected successively, described self-driven rotation axis comprises rotation axis stator, rotation axis mover;
In the multiple self-driven rotation axis connected successively, the annexation between a pair adjacent two self-driven rotation axis is had at least to be:
The rotation axis stator of-one of them self-driven rotation axis is mounted on the rotation axis stator of wherein another self-driven rotation axis;
The rotation axis mover of-one of them self-driven rotation axis is mounted on the rotation axis mover of wherein another self-driven rotation axis; Or
The rotation axis mover of-one of them self-driven rotation axis is mounted on the rotation axis stator of wherein another self-driven rotation axis.
Preferably, in the multiple self-driven rotation axis connected successively, to have at least between a pair adjacent two self-driven rotation axis axially mutually vertical or in being less than 180 ° of angles; Described multiple self-driven rotation axis forms the accurate controllable driving device of composite type of multiple direction of rotation degree of freedom.
Preferably, described self-driven rotation axis is accurate controlled self-driven rotation axis; The controlled self-driven rotation axis of described precision, comprising: rotation axis stator, rotation axis mover, driving body solenoid, rotating disk, permanent magnet;
The normal direction being axially parallel to rotating disk of driving body solenoid;
Driving body solenoid is mounted on the one in rotation axis stator and rotation axis mover, and rotating disk is mounted on the another one in rotation axis stator and rotation axis mover;
The subregion of rotating disk is made up of permanent magnet;
Driving body solenoid and permanent magnet interaction form magnetic structure.
Preferably, multiple driving body solenoid even or non-uniform Distribution in same circumference or multiple circumference; Multiple permanent magnets on rotating disk are even or nonuniform mutation operator circumferentially, and the quantity of driving body solenoid is N times of permanent magnet quantity, and wherein, N is positive integer.
Preferably, several driving body solenoids are comprised; Several driving body solenoids described relatively rotate to angle corresponding to magnetic flux maximum in described magnetic structure for ordering about rotating disk.
Preferably, sleeve relatively rotates around central shaft, and:
-rotation axis stator, rotation axis mover are respectively central shaft, sleeve; Or
-rotation axis stator, rotation axis mover are respectively sleeve, central shaft.
Preferably, also comprise following any one or appoint multiple device:
-torsion spring, the two ends of described torsion spring are individually fixed on rotation axis stator, rotation axis mover, to provide damping between rotation axis mover and rotation axis stator;
-be sealed in magnetic rheological liquid, magnetic conductivity powder particle or soft magnetic granules between sleeve and central shaft in cavity, to provide controlled and damping characteristic that is that change between rotation axis mover and rotation axis stator;
-being sealed in cryptomere damping body between sleeve and central shaft in cavity, described cryptomere damping body is a space cystidium structure, innerly fills magnetic medium, to provide controlled and damping characteristic that is that change between rotation axis mover and rotation axis stator;
Preferably, also comprise as lower device:
-damping controls driving body; it is electromagnetic generator that described damping controls driving body; being arranged in the cavity between sleeve and central shaft, making magnetic medium in magnetic rheological liquid, magnetic conductivity powder particle, soft magnetic granules or cryptomere damping body converge in energy applying direction to produce obstruction rotation axis mover and rotation axis stator shearing force in relative rotation for applying energy.
Preferably, also comprise as lower device:
Angle detecting sensor: relatively rotate angle between rotation axis stator and rotation axis mover for detecting;
Solenoid controlled device: the size of current of driving body solenoid and/or the sense of current are controlled, to increase or to weaken the magnetic interaction between driving body solenoid and permanent magnet for detecting according to angle detecting sensor the described rotational angle obtained.
Preferably, described angle detecting sensor is magneto-electric Coriolis force detection sensor; Less preferably, described angle detecting sensor can also be that other can carry out transducer or the MEMS type angular transducer of angle detection.
According to the self-driven rotation system of one provided by the invention, described self-driven rotation system adopts above-mentioned self-driven rotation axis multidimensional rotating driving system.
Preferably, described self-driven rotation system is any one system following:
-constant velocity rotation instrument system;
-wait moment of torsion rotation system;
-plate housing folding drive system;
Drive system in-fluid;
-joint of robot system;
-multidimensional rotating driving system.
Compared with prior art, the present invention has following beneficial effect:
1, the present invention utilizes the solenoid of accurate controlled self-driven rotation axis and permanent magnet direct interaction to carry out rotating drive, the degree of freedom of windsurfing more than three in direction of rotation can be realized by the controlled self-driven rotation axis of multiple precisions be connected successively, efficiency is higher, structure is compacter, does not need the drive parts such as motor;
2, by changing number and the position of fan-shaped permanent magnet in rotating disk, apparatus of the present invention can realize the application scenario of different angles control range;
3, driving body adopts asymmetrical arrangement, effectively increases actuating force;
4, the solenoid arrangement form in the present invention is more flexible, simply;
5, can be connected in series between each group solenoid or and connect, by changing step mode, both can mutually be coupled in the same way to produce strengthens excitation magnetic field force, also mutual incorgruous coupling can produce weakening excitation magnetic field force;
6, apparatus of the present invention can carry out one dimension axially as required, two dimensional surface, three-dimensional Function Extension;
7, the present invention has active damping characteristic, by the control to emr fluid or magnetic conductivity powder particle, can produce the damping of controllable variations;
8, structure of the present invention is simple, quality light, meets the demand of modern industry to precise hard_drawn tuhes drive unit.
9, the multidimensional that the present invention may be used for realizing particularly within the scope of 180 degree is rotated, can apply as constant velocity rotation's instrument, etc. the basic components of drive unit in moment of torsion tumbler, plate housing folding driving mechanism, fluid and joint of robot system.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is drive principle structure diagram of the present invention;
Fig. 2, Fig. 3 are respectively driving body solenoid and align with permanent magnet and structural representation during dislocation;
Fig. 4, Fig. 5, Fig. 6, Fig. 7 are the array extension form schematic diagram of the permanent magnet of varying number in the present invention and the driving body solenoid of varying number;
Fig. 8 is the structural representation adopting torsion spring to produce damping in the present invention;
Fig. 9, Figure 10, Figure 11 are three kinds of foundation structure forms in the present invention.Wherein, Fig. 9 is that sleeve is fixed, central axis, and centered by Figure 10, axle is fixed, and sleeve rotates, and Figure 11 is that inner sleeve is fixed, and outer sleeve and central shaft rotate simultaneously;
Figure 12, Figure 13 are the principle demonstration figure that the present invention produces active damping.Wherein, Figure 12 is that damping controls the unexcited situation of driving body, and Figure 13 is the situation that damping controls driving body excited work;
Figure 14 is the annexation schematic diagram of the controlled self-driven rotation axis of three precisions connected successively in the present invention.
In figure:
Axle centered by 1
2 is driving body solenoid
3 is rotating disk
4 is permanent magnet
5 is torsion spring
6 is sleeve
7 is coil support framework
8 is spring bearing
9 is inner sleeve
10 is magnetic medium
11 is damping control driving body
12 for filling the cystidium of magnetic medium
9000 is by driving target
9001 is first controlled self-driven rotation axis of precision
9002 is second controlled self-driven rotation axis of precision
9003 is the 3rd the controlled self-driven rotation axis of precision
Embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some changes and improvements can also be made.These all belong to protection scope of the present invention.
According to one provided by the invention self-driven rotation axis multidimensional rotating driving system, comprise more than three the multiple self-driven rotation axiss connected successively, described self-driven rotation axis comprises rotation axis stator, rotation axis mover;
In the multiple self-driven rotation axis connected successively, the annexation between a pair adjacent two self-driven rotation axis is had at least to be:
The rotation axis stator of-one of them self-driven rotation axis is mounted on the rotation axis stator of wherein another self-driven rotation axis;
The rotation axis mover of-one of them self-driven rotation axis is mounted on the rotation axis mover of wherein another self-driven rotation axis; Or
The rotation axis mover of-one of them self-driven rotation axis is mounted on the rotation axis stator of wherein another self-driven rotation axis.
In the multiple self-driven rotation axis connected successively, to have at least between a pair adjacent two self-driven rotation axis axially mutually vertical or in being less than 180 ° of angles; Described multiple self-driven rotation axis forms the accurate controllable driving device of composite type of multiple direction of rotation degree of freedom.
As preferably, described self-driven rotation axis is accurate controlled self-driven rotation axis.Below the controlled self-driven rotation axis of described precision is specifically described.
As shown in Figure 1, according to the controlled self-driven rotation axis of precision provided by the invention, comprising: rotation axis stator, rotation axis mover, driving body solenoid 2, rotating disk 3, permanent magnet 4;
The controlled self-driven rotation axis of described precision can comprise several (namely one or more) driving body solenoids 2.Several driving body solenoids 2 described same shaft axis L relative to rotating disk 3 is arranged.The rotating shaft of rotating disk 3 can be overlapping with this shaft axis L, also can not be overlapping with this shaft axis L.When the quantity of driving body solenoid 2 is one, the rotating shaft of this driving body solenoid 2 is not overlapping with this shaft axis L.When the quantity of driving body solenoid 2 is multiple, these driving body solenoids 2 form solenoid group body; If each driving body solenoid 2 in solenoid group body is uniform in the circumferential, then the rotating shaft of this solenoid group body is preferably overlapping with shaft axis L, certainly also can not be overlapping in not preferred situation; If each driving body solenoid 2 centralized arrangement in solenoid group body is in a certain section of circumference, then the rotating shaft of this solenoid group body is preferably not overlapping with shaft axis L.
Described driving body solenoid adopts the coil of hollow electromagnetic coil, electromagnet, band yoke or solenoid and Armco iron, soft magnetic material to combine.
The normal direction being axially parallel to rotating disk 3 of driving body solenoid 2.Driving body solenoid 2 is mounted on the one in rotation axis stator and rotation axis mover, rotating disk 3 is mounted on the another one in rotation axis stator and rotation axis mover, that is, can be that driving body solenoid 2 is mounted on rotation axis stator, rotating disk 3 is mounted on rotation axis mover, also can be that driving body solenoid 2 is mounted on rotation axis mover, rotating disk 3 be mounted on rotation axis stator;
As shown in Figure 2, the subregion of rotating disk 3 is made up of permanent magnet 4, and driving body solenoid 2 and permanent magnet 4 interact and form magnetic structure.Wherein, described rotating disk 3 can be rigidly connected by the incomplete disk-like structure of disappearance sector region and fan-shaped permanent magnet 4 to be combined to form complete disk-like structure, and described rotating disk 3, permanent magnet 4 are rigidly connected with central shaft 1.Described rotating disk 3 can be permeability magnetic material, also can be non-magnet material.It is preferable case that the shape of above-mentioned permanent magnet 4 adopts fan-shaped, and the shape of permanent magnet 4 can also be circle, rectangle, triangle, the regular shape such as trapezoidal, still can be irregularly shaped, all falls within protection scope of the present invention.
Multiple driving body solenoid 2 is uniformly distributed in same circumference or multiple circumference, and as shown in figs. 4-7, the quantity of driving body solenoid 2 can be one or more; As Figure 4-Figure 6, be uniformly distributed in same circumference between multiple driving solenoid 2; As shown in Figure 7, be uniformly distributed respectively in two circumferences between multiple driving solenoid 2.Multiple permanent magnets 4 on rotating disk 3 are equally circumferentially evenly arranged, and the quantity of driving body solenoid 2 is N times of permanent magnet 4 quantity, and wherein, N is positive integer, as shown in figs. 4-7.And in change case, driving body solenoid 2 can non-uniform Distribution in the circumferential, the permanent magnet 4 of rotating disk 3 equally can non-uniform Distribution in the circumferential.
Several driving body solenoids 2 that the controlled self-driven rotation axis of described precision comprises, relatively rotate to angle corresponding to magnetic flux maximum in described magnetic structure for ordering about rotating disk 3.Particularly, driving body solenoid 2 and rotating disk 3 relatively rotate the change of relative area between produced driving body solenoid 2 and permanent magnet 4, cause the change of magnetic flux in described magnetic structure.When magnetic flux reaches maximum in described magnetic structure, think that single driving body solenoid 2 or the solenoid group body be made up of multiple driving body solenoid 2 are in the permanent magnet on rotating disk 3 angular position relative alignd.When magnetic flux does not reach maximum in described magnetic structure, think that the permanent magnet on single driving body solenoid 2 or the solenoid group body be made up of multiple driving body solenoid 2 and rotating disk 3 is in the angular position relative of dislocation.Namely the effect of driving body solenoid 2 comprises the rotating disk 3 being in misalignment position is urged to aligned position.
Further, angle detecting sensor and solenoid controlled device is also comprised according to the controlled self-driven rotation axis of precision provided by the invention.Angle detecting sensor relatively rotates angle for detecting between rotation axis stator and rotation axis mover; Solenoid controlled device is used for detecting according to angle detecting sensor the described rotational angle obtained and controls the size of current of driving body solenoid 2 and/or the sense of current, to increase or to weaken the magnetic interaction (or increasing/reduce the magnetic interaction time) between driving body solenoid 2 and permanent magnet 4.Preferably, described angle detecting sensor is magneto-electric Coriolis force detection sensor, those skilled in the art can see the Chinese patent literature of application number " 201410095933.3 " (publication number 103913158A, title " magneto-electric Coriolis force detection sensor ") and Chinese patent literature (the publication number 203798360U of application number " 201420117614.3 ", title " magneto-electric Coriolis force detection sensor ") be achieved, do not repeat them here.
In the first preference, as Fig. 9 depicted, axle 1 centered by rotation axis mover, rotation axis stator is sleeve 6.Driving body solenoid is mounted on the inwall of sleeve 6, and rotating disk 3 is mounted on central shaft 1.
In the second preference, as shown in Figure 10, axle 1 centered by rotation axis stator, rotation axis mover is sleeve 6.Driving body solenoid is mounted on the coil support framework on central shaft 1, and rotating disk 3 is mounted on the inwall of sleeve 6, and is placed on central shaft 1 by spring bearing 8.
In the 3rd preference, as shown in figure 11, axle 1 and sleeve 6 centered by rotation axis mover, rotation axis stator is the inner sleeve 9 between central shaft 1 and sleeve 6.Rotating disk 3 is fixed between central shaft 1 and sleeve 6, and driving body solenoid 2 is installed on inner sleeve 9 inwall.
In the 4th preference, as shown in figure 12, axle 1 centered by rotation axis stator, rotation axis mover is sleeve 6.Driving body solenoid is mounted on the coil support framework on central shaft 1, and rotating disk 3 is mounted on the inwall of sleeve 6, and is placed on central shaft 1 by spring bearing 8.Rotating disk 3 is provided with damping and controls driving body 11, in the space between central shaft 1 and sleeve 6, be provided with magnetic medium 10 and cryptomere damping body 12.Wherein, the magnetic medium 10 be sealed between sleeve 6 and central shaft 1 in cavity can be magnetic rheological liquid, magnetic conductivity powder particle or soft magnetic granules, to provide controlled and damping characteristic that is that change between rotation axis mover and rotation axis stator; Be sealed in the cryptomere damping body 12 between sleeve 6 and central shaft 1 in cavity, described cryptomere damping body is a space cystidium structure, and inner filling magnetic medium 10, to provide controlled and damping characteristic that is that change between rotation axis mover and rotation axis stator; Damping controls driving body 11, and described damping controls driving body 11 and is arranged in the cavity between sleeve 6 and central shaft 1, for controlling the deployment conditions of magnetic medium 10 in magnetic rheological liquid, magnetic conductivity powder particle, soft magnetic granules or cryptomere damping body.Further, as shown in figure 12, also comprise torsion spring 5 according to the controlled self-driven rotation axis of precision provided by the invention, described torsion spring 5 can be set on central shaft 1, also can be arranged at other position.The two ends of torsion spring 5 are individually fixed on rotation axis mover, rotation axis stator, to provide damping between rotation axis mover and rotation axis stator, namely, torsion spring 5 is for providing kinetic damping, increase stability and the controllability of rotation axis motion, further, after driving body solenoid dead electricity, the effect that torsion spring 5 can play reset makes rotating disk 3 homing.
Principle of the present invention is as follows.
The controlled self-driven rotation axis of precision provided by the invention, the exciting field produced by driving body solenoid to rotating disk and and the rigidly connected stator of rotating disk or relatively rotating of mover control, be specially, driving body solenoid produces magnetic force axially after powered up, when the driving body solenoid be energized and permanent magnet misplace, this magnetic force will generate shearing force to the attraction of permanent magnet or repulsive force, thus permanent magnet is rotated to the alignment angles position that magnetic flux is maximum, thus drive the rotation of rotating disk, and then make to produce rotational angle between rotation axis mover and rotation axis stator.
Further; logical over-damp control driving body can apply energy makes magnetic medium 10 in magnetic rheological liquid, magnetic conductivity powder particle, soft magnetic granules or cryptomere damping body converge in energy applying direction to produce obstruction rotation axis mover and rotation axis stator shearing force in relative rotation; thus the damping characteristic controlled between rotation axis stator and rotation axis mover; shearing force is obstructed and weakens or become large reinforcement, to order about or to hinder the rotation between rotation axis stator and rotation axis mover.Wherein, it is the electromagnetic generator of intensity of can causing the demand that damping controls driving body, and damping controls driving body and applies electromagnetic energy to magnetic mediums such as magnetic rheological liquid, magnetic conductivity powder particle, soft magnetic granules.When electromagnetic generator dead, as shown in figure 12, magnetic medium is evenly distributed in the gap of central shaft and sleeve, and now magnetic medium does not hinder or obviously hinders the rotation between central shaft and sleeve; When electromagnetic generator encourages, as shown in figure 13, magnetic medium is by a certain small space in gap that converges between central shaft and sleeve, now the density of magnetic medium becomes large, corresponding shear stress also becomes large, thus obvious obstruction is caused to the rotation between central shaft and sleeve, even can locked central shaft and sleeve stop operating.
More specifically, when driving body solenoid less (or coil current is less), is applicable to the less rotating drive of load and controls; When driving body solenoid more (or coil current is larger), is applicable to the larger rotating drive of load and controls.When permanent magnet is one, the rotation that can realize small angle range controls, and when permanent magnet is multiple, the rotation that can realize larger angle scope controls.By the control system of switching on or off electricity to multiple combination driving body solenoid, can realize carrying out precise hard_drawn tuhes to rotor turns stability.In addition, by controlling the control of driving body to damping, can the active damping control of implement device, further increase stability and validity that rotating drive is controlled.
Further, angle detecting sensor relatively rotates angle for detecting between rotation axis stator and rotation axis mover; Solenoid controlled device is used for detecting according to angle detecting sensor the described rotational angle obtained and controls the size of current of driving body solenoid 2 and/or the sense of current, to increase or to weaken the magnetic interaction between driving body solenoid 2 and permanent magnet 4.Such as, suppose that rotation axis needs rotation one specified angle, also difference is there is between the rotational angle of current operation axle and the rotational angle of expectation when angle detecting sensor detects, namely current operation angle not yet reaches specified angle, then control solenoid controlled device and continue power supply, until the rotational angle of rotation axis reaches specified angle to driving body solenoid.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make a variety of changes within the scope of the claims or revise, and this does not affect flesh and blood of the present invention.When not conflicting, the feature in the embodiment of the present invention and embodiment can combine arbitrarily mutually.
Claims (12)
1. a self-driven rotation axis multidimensional rotating driving system, is characterized in that, comprise more than three the multiple self-driven rotation axiss connected successively, described self-driven rotation axis comprises rotation axis stator, rotation axis mover;
In the multiple self-driven rotation axis connected successively, the annexation between a pair adjacent two self-driven rotation axis is had at least to be:
The rotation axis stator of-one of them self-driven rotation axis is mounted on the rotation axis stator of wherein another self-driven rotation axis;
The rotation axis mover of-one of them self-driven rotation axis is mounted on the rotation axis mover of wherein another self-driven rotation axis; Or
The rotation axis mover of-one of them self-driven rotation axis is mounted on the rotation axis stator of wherein another self-driven rotation axis.
2. self-driven rotation axis multidimensional rotating driving system according to claim 1, is characterized in that, in the multiple self-driven rotation axis connected successively, to have at least between a pair adjacent two self-driven rotation axis axially mutually vertical or in being less than 180 ° of angles; Described multiple self-driven rotation axis forms the accurate controllable driving device of composite type of multiple direction of rotation degree of freedom.
3. self-driven rotation axis multidimensional rotating driving system according to claim 1, is characterized in that, described self-driven rotation axis is accurate controlled self-driven rotation axis;
The controlled self-driven rotation axis of described precision comprises: rotation axis stator, rotation axis mover, driving body solenoid (2), rotating disk (3), permanent magnet (4);
The normal direction being axially parallel to rotating disk (3) of driving body solenoid (2);
Driving body solenoid (2) is mounted on the one in rotation axis stator and rotation axis mover, and rotating disk (3) is mounted on the another one in rotation axis stator and rotation axis mover;
The subregion of rotating disk (3) is made up of permanent magnet (4);
Driving body solenoid (2) and permanent magnet (4) interact and form magnetic structure.
4. self-driven rotation axis multidimensional rotating driving system according to claim 3, is characterized in that, multiple driving body solenoid (2) is even or non-uniform Distribution in same circumference or multiple circumference; Multiple permanent magnets (4) on rotating disk (3) are even or nonuniform mutation operator circumferentially, and the quantity of driving body solenoid (2) is N times of permanent magnet (4) quantity, and wherein, N is positive integer.
5. self-driven rotation axis multidimensional rotating driving system according to claim 3, is characterized in that, comprises several driving body solenoids (2); Several driving body solenoids (2) described relatively rotate to angle corresponding to magnetic flux maximum in described magnetic structure for ordering about rotating disk (3).
6. self-driven rotation axis multidimensional rotating driving system according to claim 3, it is characterized in that, sleeve (6) relatively rotates around central shaft (1), and:
-rotation axis stator, rotation axis mover are respectively central shaft (1), sleeve (6); Or
-rotation axis stator, rotation axis mover are respectively sleeve (6), central shaft (1).
7. self-driven rotation axis multidimensional rotating driving system according to claim 6, is characterized in that, also comprise following any one or appoint multiple device:
-torsion spring (5), the two ends of described torsion spring (5) are individually fixed on rotation axis stator, rotation axis mover, to provide damping between rotation axis mover and rotation axis stator;
-be sealed in magnetic rheological liquid, magnetic conductivity powder particle or soft magnetic granules between sleeve (6) and central shaft (1) in cavity, to provide controlled and damping characteristic that is that change between rotation axis mover and rotation axis stator;
-be sealed in the cryptomere damping body in cavity between sleeve (6) and central shaft (1), described cryptomere damping body is a space cystidium structure, inner filling magnetic medium (10), to provide controlled and damping characteristic that is that change between rotation axis mover and rotation axis stator.
8. self-driven rotation axis multidimensional rotating driving system according to claim 7, is characterized in that, also comprise as lower device:
-damping controls driving body (11); it is electromagnetic generator that described damping controls driving body (11); being arranged in the cavity between sleeve (6) and central shaft (1), making magnetic medium (10) in magnetic rheological liquid, magnetic conductivity powder particle, soft magnetic granules or cryptomere damping body converge in energy applying direction to produce obstruction rotation axis mover and rotation axis stator shearing force in relative rotation for applying energy.
9. self-driven rotation axis multidimensional rotating driving system according to claim 3, is characterized in that, also comprise as lower device:
Angle detecting sensor: relatively rotate angle between rotation axis stator and rotation axis mover for detecting;
Solenoid controlled device: the size of current of driving body solenoid (2) and/or the sense of current are controlled, to increase or to weaken the magnetic interaction between driving body solenoid (2) and permanent magnet (4) for detecting according to angle detecting sensor the described rotational angle obtained.
10. self-driven rotation axis multidimensional rotating driving system according to claim 9, is characterized in that, described angle detecting sensor is magneto-electric Coriolis force detection sensor.
11. 1 kinds of self-driven rotation systems, is characterized in that, described self-driven rotation system adopts self-driven rotation axis multidimensional rotating driving system according to any one of claim 1 to 10 and combination thereof.
12. self-driven rotation systems according to claim 11, is characterized in that, described self-driven rotation system is any one system following:
-constant velocity rotation instrument system;
-wait moment of torsion rotation system;
-plate housing folding drive system;
Drive system in-fluid;
-joint of robot system;
-multidimensional rotating driving system.
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| CN201510493859.5A CN105119456A (en) | 2015-08-12 | 2015-08-12 | Self-driven rotating shaft multidimensional rotation drive system |
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| CN201510493859.5A CN105119456A (en) | 2015-08-12 | 2015-08-12 | Self-driven rotating shaft multidimensional rotation drive system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112994399A (en) * | 2021-02-01 | 2021-06-18 | 刘贵平 | Ferromagnetic attraction power machine and control circuit |
| CN114863768A (en) * | 2022-06-06 | 2022-08-05 | 浙江师范大学 | Coriolis force measurement and qualitative verification experimental instrument |
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| CN102035331A (en) * | 2010-12-23 | 2011-04-27 | 陈国宝 | Multi-center iron core coil-free permanent magnet motor |
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| CN112994399A (en) * | 2021-02-01 | 2021-06-18 | 刘贵平 | Ferromagnetic attraction power machine and control circuit |
| CN114863768A (en) * | 2022-06-06 | 2022-08-05 | 浙江师范大学 | Coriolis force measurement and qualitative verification experimental instrument |
| CN114863768B (en) * | 2022-06-06 | 2023-06-13 | 浙江师范大学 | Coriolis force measurement and qualitative verification experiment instrument |
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Application publication date: 20151202 |
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| RJ01 | Rejection of invention patent application after publication |