CN105183000B - Rotation moves multifreedom motion and platform occurs - Google Patents
Rotation moves multifreedom motion and platform occurs Download PDFInfo
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- CN105183000B CN105183000B CN201510435782.6A CN201510435782A CN105183000B CN 105183000 B CN105183000 B CN 105183000B CN 201510435782 A CN201510435782 A CN 201510435782A CN 105183000 B CN105183000 B CN 105183000B
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Abstract
Multifreedom motion is moved the present invention provides a kind of rotation, and platform occurs, including：Structural frames frame body, covering plate structure, rotatable parts, transmission parts and tilting member；Covering plate structure is set to the top of structural frames frame body, and forms structure housing with structural framing body；Rotatable parts and transmission parts are flush-mounted on covering plate structure respectively；Tilting member is set to the inside of structure housing；Rotatable parts are drivingly connected with transmission parts；Tilting member includes that at least one set of magnetic field force generation part and electromagnetism directly drive component, walking beam and walking beam support member；Magnetic field force generation part and electromagnetism form magnetic control circuit between directly driving component, and electromagnetism directly drives component and moved back and forth under the magneticaction of magnetic field force generation part；Walking beam directly drives component drive connection with electromagnetism；Walking beam support member supports are in the center of walking beam.The configuration of the present invention is simple, light weight meet the needs of corresponding wideband and precision control output vibration.
Description
Technical field
The present invention relates to Drive Technology fields, and in particular, to a kind of dynamic multifreedom motion generation platform of rotation.
Background technology
Swing, rotatable platform can be applied to multi-field, such as the rotation of workpiece moves test, human motion instrument etc..It is existing
Some rotations are moved test device or human motion instrument, generally use motor and are controlled, this structure cause it is existing swing,
Usually there is following defect in rotatable platform：
1, driving force is insufficient；
2, structure installation is complicated；
3, it is not easy to carry out driving force as needed and driving force controls to adjust；
4, low precision is driven；
Due to drawbacks described above, existing swing, rotatable platform usually cannot be satisfied the demand of accurate control output vibration.
Invention content
The present invention aiming at the above shortcomings existing in the prior art, it is flat to provide a kind of dynamic multifreedom motion generation of rotation
Platform.
The present invention is achieved by the following technical solutions.
A kind of dynamic multifreedom motion generation platform of rotation, including：Structural frames frame body, covering plate structure, rotatable parts, transmission
Component and tilting member；The covering plate structure is set to the top of structural frames frame body, and forms structure housing with structural framing body；
The rotatable parts and transmission parts are flush-mounted on covering plate structure respectively；The tilting member is set to the inside of structure housing；
Wherein：
The rotatable parts are drivingly connected with transmission parts；
The tilting member includes that at least one set of magnetic field force generation part and electromagnetism directly drive component, walking beam and pendulum
Dynamic beam support member；The magnetic field force generation part and electromagnetism form magnetic control circuit, the electromagnetism between directly driving component
Component is directly driven to move back and forth under the magneticaction of magnetic field force generation part；The walking beam directly drives component with electromagnetism
It is drivingly connected；The walking beam support member supports are in the center of walking beam.
Preferably, the magnetic field force generation part is installed on structural frames frame body；The walking beam support member supports with
Structural frames frame body is connected.
Preferably, the center of the covering plate structure is equipped with the groove for being embedded in rotatable parts and transmission parts, institute
The upper surface for stating rotatable parts and covering plate structure is in same plane；
The transmission parts include driving gear, driving gear and transmission driving part；The driving gear and sliding tooth
It is set in the groove below rotatable parts after wheel intermeshing, the transmission driving part is drivingly connected with driving gear；
The transmission driving part uses motor or electromagnetic generator.
Preferably, the magnetic field force generation part includes one or more groups of electromagnets, wherein each group of electromagnet includes
Two groups of electromagnetic coils and the conducting coil being connected between two groups of electromagnetic coils, the electromagnet directly drive component with electromagnetism
The poles N and/or the poles S between form control loop；Plurality of electromagnetic body is arranged in series the side or two that component is directly driven in electromagnetism
Side.
Preferably, the electromagnetic coil and conducting coil are described including iron core and the coil being wound in outside iron core
It is connected between the iron core of electromagnetic coil and the iron core that coil is connected.
Preferably, the magnetic field force generation part includes one or more groups of electromagnets, wherein each group of electromagnet includes
Iron core and the coil being wound in outside iron core, plurality of electromagnetic body are arranged in series the side or two that component is directly driven in electromagnetism
Side, and independently.
Preferably, the electromagnetism directly drives component using following any structure：
The first structure, including at least one permanent magnet thin-slab structure, permanent magnet thin-slab structure is in magnetic field force generation part
Magnetic control force effect under linear reciprocating motion；
- second structure, including at least one rigid body and formed after splicing with rigid body disc structure it is fan-shaped forever
Magnet, disc structure crankmotion under the magnetic control force effect of magnetic field force generation part；The sector permanent magnet
180 ° of apex angle α ＜.
Preferably, the walking beam uses following any structure：
The first structure, including upper beam and underbeam, the upper beam and lower beam end connect the swing that Formation cross-section is diamond shape
Girder construction；
- second structure, planar configuration.
Preferably, the walking beam support member uses pivot structure or ball bearing.
Preferably, further include it is following any one or appoint multiple components：
Resetting spring, the resetting spring are connected to electromagnetism and directly drive between component and structural frames frame body and/or swing
Between beam and structural frames frame body；
Structural reinforcement member, the structural reinforcement member is for reinforcing support walking beam；
Guiding parts, the guiding parts are set between walking beam support member and walking beam；
Preferably, the structural reinforcement member is 2N, and 2N structural reinforcement member is distributed evenly over the two of dynamic beam support member
Side.
Compared with prior art, the present invention has following advantageous effect：
1, the present invention can form the action process of two swings and a rotation, and can be vibrated, along platform or so
The transmission vibration in direction and the sequence along clockwise/counterclockwise direction drive or vibrate；
2, achievable response is directly driven between the present invention uses magnetic field force generation part and electromagnetism to directly drive component
Sensitive wideband driving, structural component is few, and reliability is high；The realization of multiple degrees of freedom rotation or vibration easy to implement；Electromagnetism
Permanent magnetism composite drive, drive efficiency are high；Built-in tilting member can realize closed-loop adaptation intelligentized control method, according to load condition
(weight, placement location deviation), it is possible to create unbalanced moments, for barycenter not in center etc., the present invention can adjust automatically drive
Dynamic model formula, in the hope of best；
3, the stroke for directly driving component to electromagnetism by resetting spring and/or guiding parts limits, and realizes movement
The precise displacement of body；
4, the configuration of the present invention is simple, light weight meet the needs of corresponding wideband and precision control output vibration.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is 1 vertical view of the embodiment of the present invention；
Fig. 2 is 1 side view of the embodiment of the present invention；
Fig. 3 is 1 internal structure vertical view of the embodiment of the present invention；
Fig. 4 is 2 internal structure vertical view of the embodiment of the present invention；
Fig. 5 is that 3 first directions of the embodiment of the present invention swing side view；
Fig. 6 is that 3 second directions of the embodiment of the present invention swing side view；
Fig. 7 is 4 working state schematic representation of the embodiment of the present invention；
In figure：1 is rotatable parts, and 2 be tilting member, and 3 be structural frames frame body, and 4 be covering plate structure, and 5 be transmission parts, 6
To be driven driving part, 7 be walking beam, and 8 be structural reinforcement member, and 9 directly drive component for electromagnetism, and 10 be magnetic field force generating unit
Part, 11 be swinging support component.
Specific implementation mode
It elaborates below to the embodiment of the present invention：The present embodiment is carried out lower based on the technical solution of the present invention
Implement, gives detailed embodiment and specific operating process.It should be pointed out that those skilled 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 range.
Embodiment 1
As shown in Figure 1, a kind of dynamic multifreedom motion generation platform of rotation is present embodiments provided, including：Structural framing
Body, covering plate structure, rotatable parts, transmission parts and tilting member；The covering plate structure is set to the top of structural frames frame body, and
Structure housing is formed with structural framing body；The rotatable parts and transmission parts are flush-mounted on covering plate structure respectively；The swing
Component is set to the inside of structure housing；Wherein：
The rotatable parts are drivingly connected with transmission parts；
As shown in Figures 2 and 3, the tilting member include one group of magnetic field force generation part and electromagnetism directly drive component,
Walking beam and walking beam support member；The magnetic field force generation part and electromagnetism form magnetic control time between directly driving component
Road, the electromagnetism directly drive component and are moved back and forth under the magneticaction of magnetic field force generation part；The walking beam and electromagnetism
Directly drive component drive connection；The walking beam support member supports are in the center of walking beam.
Further, the magnetic field force generation part is installed on structural frames frame body；The walking beam support member supports
It is connected with structural frames frame body.
Further, the magnetic field force generation part is installed on the left and right ends of structural frames frame body, correspondingly, the electromagnetism
Two swinging end of left and right for directly driving component and walking beam is drivingly connected.
Further, the center of the covering plate structure is equipped with the groove for being embedded in rotatable parts and transmission parts,
The upper surface of the rotatable parts and covering plate structure is in same plane.
Further, the transmission parts include driving gear, driving gear and transmission driving part；The driving gear
It is set in the groove below rotatable parts with after driving gear intermeshing, the transmission driving part drives with driving gear
Connection.
Further, the transmission driving part uses motor or electromagnetic generator.
Further, the magnetic field force generation part includes one or more groups of electromagnets, wherein each group of electromagnet wraps
The conducting coil for including two groups of electromagnetic coils and being connected between two groups of electromagnetic coils, the electromagnet directly drive portion with electromagnetism
Control loop is formed between the poles N and/or the poles S of part；Plurality of electromagnetic body is distributed in both sides or the series connection that electromagnetism directly drives component
It is set to the side that electromagnetism directly drives component.
Further, the electromagnetic coil and conducting coil are including iron core and the coil being wound in outside iron core, institute
It states and is connected between the iron core of electromagnetic coil and the iron core that coil is connected.
Further, the magnetic field force generation part includes one or more groups of electromagnets, wherein each group of electromagnet wraps
The coil for including iron core and being wound in outside iron core, plurality of electromagnetic body are distributed in that electromagnetism directly drives the both sides of component or series connection is set
It is placed in the side that electromagnetism directly drives component, and independently.
Further, the electromagnetism directly drives component using following any structure：
The first structure, including a permanent magnet thin-slab structure, permanent magnet thin-slab structure are set to magnetic field force generation part
Side, and the linear reciprocating motion under the magnetic control force effect of magnetic field force generation part；In the present embodiment, permanent magnet thin plate knot
Structure refers to that the pole orientation of permanent magnet is vertical with the maximum planes of thin plate, therefore has the structure of maximum magnetic flux field force；
- second structure, including a rigid body and the fan-shaped permanent magnet with formation disc structure after rigid body splicing,
Disc structure crankmotion under the magnetic control force effect of magnetic field force generation part；The apex angle α of the sector permanent magnet
180 ° of ＜.
Further, the walking beam support member uses pivot structure.
Further, the walking beam uses following any structure：
The first structure, including upper beam and underbeam, the upper beam and lower beam end connect the swing that Formation cross-section is diamond shape
Girder construction；
- second structure, planar configuration.
Further, rotation provided in this embodiment moves multifreedom motion platform occurs, further include it is following any one or
Appoint multiple components：
Resetting spring, the resetting spring are connected to electromagnetism and directly drive between component and structural frames frame body and/or swing
Between beam and structural frames frame body；
Structural reinforcement member, the structural reinforcement member is for reinforcing support walking beam；
Guiding parts, the guiding parts are set between walking beam support member and walking beam.
Further, the structural reinforcement member is 2N, and 2N structural reinforcement member is distributed evenly over dynamic beam support member
Both sides.
Rotation provided in this embodiment moves multifreedom motion and platform occurs, and realizes rotation and/or agitates the more of (swing)
Degree of freedom moves, and is driven by three-dimensional, realizes three rotations (α, β, ω).
Embodiment 2
Embodiment 2 is the change case of embodiment 1.
As shown in figure 4, the present embodiment is on the basis of embodiment 1, with embodiment 1 difference lies in：
It is multigroup that the magnetic field force generation part and electromagnetism, which directly drive component, and multigroup magnetic field force generation part and electromagnetism are straight
The magnetic field force generation part connect in driving part is installed on structural frames frame body, and multigroup magnetic field force generation part and electromagnetism directly drive
Being correspondingly drivingly connected on walking beam with magnetic field force generation part in dynamic component.
Embodiment 3
Embodiment 3 is the change case of embodiment 1.
The present embodiment on the basis of embodiment 1, with embodiment 1 difference lies in：
The swinging support component uses ball bearing, and as shown in Figure 5 and Figure 6, the ball bearing can turn in two directions
It is dynamic.
Embodiment 4
Embodiment 4 is the change case of embodiment 1.
As shown in fig. 7, the present embodiment is on the basis of embodiment 1, with embodiment 1 difference lies in：
Electromagnetism directly drive component include multiple permanent magnet thin-slab structures or multiple rigid bodies and with rigid body splice after
Form the fan-shaped permanent magnet of disc structure；Multiple permanent magnet thin-slab structures or multiple rigid bodies and with rigid body splice after formed
The fan-shaped permanent magnet of disc structure is distributed in the both sides of magnetic field force generation part.
Rotation provided in this embodiment moves multifreedom motion and platform occurs, and applies same current excitation, a magnetic field force
Multiple permanent magnet thin-slab structures around generation part or rigid body drive motion in the same direction, can generate the driving force of bigger.
Specific embodiments of the present invention are 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 (8)
1. multifreedom motion is moved in a kind of rotation occurs platform, which is characterized in that including：Structural frames frame body, covering plate structure, rotation
Component, transmission parts and tilting member；The covering plate structure is set to the top of structural frames frame body, and is formed with structural framing body
Structure housing；The rotatable parts and transmission parts are flush-mounted on covering plate structure respectively；The tilting member is set to structural shell
The inside of body；Wherein：
The rotatable parts are drivingly connected with transmission parts；
The tilting member includes that at least one set of magnetic field force generation part and electromagnetism directly drive component, walking beam and walking beam
Support member；The magnetic field force generation part and electromagnetism form magnetic control circuit between directly driving component, and the electromagnetism is direct
Driving part moves back and forth under the magneticaction of magnetic field force generation part；The walking beam directly drives component driving with electromagnetism
Connection；The walking beam support member supports are in the center of walking beam；
Further include it is following any one or appoint multiple components：
Resetting spring, the resetting spring be connected to electromagnetism directly drive between component and structural frames frame body and/or walking beam and
Between structural frames frame body；
Structural reinforcement member, the structural reinforcement member is for reinforcing support walking beam；
Guiding parts, the guiding parts are set between walking beam support member and walking beam；
The magnetic field force generation part is installed on structural frames frame body；The walking beam support member supports and structural frames frame body phase
Connection.
2. multifreedom motion is moved in rotation according to claim 1 occurs platform, which is characterized in that the covering plate structure
Center is equipped with groove for being embedded in rotatable parts and transmission parts, at the upper surface of the rotatable parts and covering plate structure
In in same plane；
The transmission parts include driving gear, driving gear and transmission driving part；The driving gear and driving gear phase
It is mutually set in the groove below rotatable parts after engagement, the transmission driving part is drivingly connected with driving gear；
The transmission driving part uses motor or electromagnetic generator.
3. multifreedom motion is moved in rotation according to claim 1 occurs platform, which is characterized in that the magnetic field force occurs
Component is using following any structure：
The first structure, including one or more groups of electromagnets, wherein each group of electromagnet includes two groups of electromagnetic coils and company
The conducting coil being connected between two groups of electromagnetic coils, the electromagnet and electromagnetism directly drive between the poles N and/or the poles S of component
Form control loop；Plurality of electromagnetic body is arranged in series the one or both sides that component is directly driven in electromagnetism；
- second structure, including one or more groups of electromagnets, wherein each group of electromagnet including iron core and is wound in iron core
External coil, plurality of electromagnetic body are arranged in series the one or both sides that component is directly driven in electromagnetism, and independently.
4. multifreedom motion is moved in rotation according to claim 3 occurs platform, which is characterized in that in the first structure,
The electromagnetic coil and conducting coil include iron core and the coil that is wound in outside iron core, the iron core of the electromagnetic coil with
It is connected between the iron core of conducting coil.
5. multifreedom motion is moved in rotation according to claim 1 occurs platform, which is characterized in that the electromagnetism directly drives
Dynamic component is using following any structure：
The first structure, including at least one permanent magnet thin-slab structure, magnetic of the permanent magnet thin-slab structure in magnetic field force generation part
Control linear reciprocating motion under force effect；
- second structure, including at least one rigid body and the fan-shaped permanent magnet with formation disc structure after rigid body splicing,
Disc structure crankmotion under the magnetic control force effect of magnetic field force generation part；The apex angle α of the sector permanent magnet
180 ° of ＜.
6. multifreedom motion is moved in rotation according to claim 1 occurs platform, which is characterized in that the walking beam uses
Following any structure：
The first structure, including upper beam and underbeam, the upper beam and lower beam end connect the walking beam knot that Formation cross-section is diamond shape
Structure；
- second structure, planar configuration.
7. multifreedom motion is moved in rotation according to claim 1 occurs platform, which is characterized in that the walking beam support
Component uses pivot structure or ball bearing.
8. multifreedom motion is moved in rotation according to claim 1 occurs platform, which is characterized in that the structural reinforcement member
It it is 2N, 2N structural reinforcement member is distributed evenly over the both sides of dynamic beam support member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510435782.6A CN105183000B (en) | 2015-07-22 | 2015-07-22 | Rotation moves multifreedom motion and platform occurs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510435782.6A CN105183000B (en) | 2015-07-22 | 2015-07-22 | Rotation moves multifreedom motion and platform occurs |
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| Publication Number | Publication Date |
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| CN105183000A CN105183000A (en) | 2015-12-23 |
| CN105183000B true CN105183000B (en) | 2018-10-12 |
Family
ID=54905138
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510435782.6A Active CN105183000B (en) | 2015-07-22 | 2015-07-22 | Rotation moves multifreedom motion and platform occurs |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110332277B (en) * | 2019-07-02 | 2020-06-12 | 上海交通大学 | Curved surface thin-wall part vibration control device based on permanent magnet drive |
Citations (6)
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|---|---|---|---|---|
| JP2003274632A (en) * | 2002-03-15 | 2003-09-26 | Tamura Seisakusho Co Ltd | Stage equipment for precision working |
| CN1459915A (en) * | 2002-05-22 | 2003-12-03 | 乐金电子(天津)电器有限公司 | Magnet fixing device of reciprocating motion type electric machine |
| CN101237176A (en) * | 2008-01-10 | 2008-08-06 | 上海交通大学 | Scalable swing magnetic suspending device |
| CN102426341A (en) * | 2011-10-21 | 2012-04-25 | 中国科学院空间科学与应用研究中心 | Magnetic test rotary table |
| CN102946164A (en) * | 2012-10-17 | 2013-02-27 | 上海交通大学 | Shift driving device and combination thereof based on interaction of permanent magnet and electromagnet |
| CN204790580U (en) * | 2015-07-22 | 2015-11-18 | 杨斌堂 | Pendulum rotates multi freedom telecontrol equipment |
-
2015
- 2015-07-22 CN CN201510435782.6A patent/CN105183000B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003274632A (en) * | 2002-03-15 | 2003-09-26 | Tamura Seisakusho Co Ltd | Stage equipment for precision working |
| CN1459915A (en) * | 2002-05-22 | 2003-12-03 | 乐金电子(天津)电器有限公司 | Magnet fixing device of reciprocating motion type electric machine |
| CN101237176A (en) * | 2008-01-10 | 2008-08-06 | 上海交通大学 | Scalable swing magnetic suspending device |
| CN102426341A (en) * | 2011-10-21 | 2012-04-25 | 中国科学院空间科学与应用研究中心 | Magnetic test rotary table |
| CN102946164A (en) * | 2012-10-17 | 2013-02-27 | 上海交通大学 | Shift driving device and combination thereof based on interaction of permanent magnet and electromagnet |
| CN204790580U (en) * | 2015-07-22 | 2015-11-18 | 杨斌堂 | Pendulum rotates multi freedom telecontrol equipment |
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| CN105183000A (en) | 2015-12-23 |
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