CN106329814B - Displacement drive device based on interaction of permanent magnet and electromagnet - Google Patents

Abstract

The invention discloses a kind of displacement drives to be interacted based on permanent magnet and electromagnet, driving part and movement engine component including generating interaction force, and driving part is set and moves the guiding parts for being used for constrained motion engine component direction of displacement between engine component, wherein, driving part is fixed electromagnet or fixing permanent magnet, and the movement engine component is mobile permanent magnet or Mobile electromagnetic iron.The present invention is directly realized the linear reciprocation translation or rotational motion for deflecting and generating based on magnetic pole, and directly, mechanism is simple for movement driving, and rigidity is good；Big stroke easy to accomplish；Also micro travel easy to accomplish；Drive displacement is accurate；Motoricity, displacement and precision can be controlled by accurately applying the intensity in magnetic field or electric current, and control is simply, conveniently；Magnetic field is directly used in driving, electromagnetic field and permanent magnetic field compound action generate biggish driving magnetic field, keep the driving force of mechanism big, and driving response is fast, high-efficient.

Description

Displacement drive device based on interaction of permanent magnet and electromagnet

This application is a divisional application with the application number of 201210393968.6 and the filing date of 2012.10.17, and the title of the invention is "Displacement Drive Device Based on Interaction of Permanent Magnet and Electromagnet and Its Combination".

technical field

The invention relates to the technical field of horizontal/rotational drive, in particular to a displacement drive device based on the interaction between a permanent magnet and an electromagnet.

Background technique

In recent years, the field of electrical and magnetostrictive materials has developed rapidly, resulting in new types of sensitive materials such as giant magnetostrictive materials, piezoelectric ceramics and magnetostrictive shape memory alloys that can be used in the development of precision drives, sensors and linear motors. The material has the advantages of high energy density, high output power, and accurate expansion and deformation. However, the drive based on sensitive materials generally has the disadvantages of small movement displacement, many driving excitation links, many components, and poor reliability. Therefore, telescopic mechanisms based on smart materials are not suitable for small-volume, high-energy, and large-stroke driving applications.

SUMMARY OF THE INVENTION

Aiming at the above-mentioned deficiencies in the prior art, the present invention provides a displacement driving device and a combination thereof based on the interaction of a permanent magnet and an electromagnet. The invention can generate magnetic pole deflection under the action of electromagnetic excitation, so that the rotation/swing can directly generate translational displacement or driving force; the size of the generated translational/rotational displacement and force can be controlled, and in particular, it is easy to generate instantaneous large deformation volume ratio and large output Force-to-volume ratio drive.

The present invention is achieved through the following technical solutions.

A displacement driving device based on the interaction of a permanent magnet and an electromagnet, comprising a driving part and a motion activating part that generate an interaction force, and a guide part arranged between the driving part and the motion activating part for constraining the displacement direction of the motion activating part .

The driving component is a fixed electromagnet or a fixed permanent magnet, which is placed vertically and generates a vertical magnetic pole direction, and the moving activating component is a moving permanent magnet or a moving electromagnet, which is placed horizontally and generates a horizontal magnetic pole direction, so The guide part includes a stator and a mover, wherein the stator is fixedly connected with a magnetic end face of the driving part, the mover is fixedly connected with the side wall of the moving activating part, and the guiding part is horizontally arranged between the driving part and the moving activating part .

The displacement driving device based on the interaction between the permanent magnet and the electromagnet further includes a special-shaped contour body, and the special-shaped contour body is rigidly connected with the motion activating component to follow.

The driving component is a fixed electromagnet or a fixed permanent magnet, which is placed vertically and generates a vertical magnetic pole direction, and the moving activating component is a moving permanent magnet or a moving electromagnet, which is placed horizontally and generates a horizontal magnetic pole direction, so The guide part includes a stator and a mover, wherein the mover is fixedly connected with the side wall of the moving moving part, and the stator, together with the moving moving part, and the driving part are fixedly connected at an angle of θ, 0<θ<180 degrees, and the guide part is at a θ angle. A corner is provided between the drive member and the motion-initiating member.

The guide member is a circular guide member, and the circular guide member together with the motion activating member and the driving member are fixedly connected at an angle of θ, 0≦θ<180 degrees.

The movement activating component is composed of several moving permanent magnets.

A multi-axis working motion platform based on the combination of displacement driving devices interacting with permanent magnets and electromagnets, including a plurality of interconnected driving devices for realizing x, y and/or z-axis translation and for realizing α , β and/or γ-direction rotational drive.

The driving device for realizing the translation of the x, y and/or z axes includes: a driving part and a motion activating part that generate an interaction force; Guide parts in the direction of displacement; where,

The driving component is a fixed electromagnet or a fixed permanent magnet, which is placed vertically and generates a vertical magnetic pole direction, and the moving activating component is a moving permanent magnet or a moving electromagnet, which is placed horizontally and generates a horizontal magnetic pole direction, so The guide part includes a stator and a mover, wherein the stator is fixedly connected with a magnetic end face of the driving part, the mover is fixedly connected with the side wall of the moving activating part, and the guiding part is horizontally arranged between the driving part and the moving activating part ;or

The movement activating part is a moving permanent magnet or a moving electromagnet, which is placed horizontally and generates a horizontal magnetic pole direction, and the guide part includes a stator and a mover, wherein the mover is fixedly connected with the side wall of the moving activating part, and the stator is together with the moving part. The motion activating part is fixedly connected with the driving part at an angle of θ, 0<θ<180 degrees, and the guide part is arranged between the driving part and the motion activating part at an angle of θ.

The drive device for realizing the translation of the x, y and/or z axes further includes a profiled contour body, which is rigidly connected to the motion activating component to follow.

The driving device for realizing rotation in α, β and/or γ directions includes: a driving part and a motion activating part that generate an interaction force; Orientation guide member; wherein,

The guide part is a circular guide part, and the circular guide part, together with the moving activating part, is fixedly connected with the driving part at an angle of θ, 0≤θ<180 degrees; the moving activating part is composed of several moving permanent magnets .

The mechanism of the present invention is that when the driving electromagnetic force or permanent magnetic force acts on the moving permanent magnet or the moving electromagnet as the moving activating component, the opposite magnetic poles are attracted to approach, and the same magnetic poles are repelled away. Therefore, when the driving part is fixed, the electromagnetic force or permanent magnet force of the driving part will deflect the magnetic pole of the moving activating part on it. For a guide member that moves in one direction, the motion activating member can only generate movement in the guide direction of the guide member.

According to the principle of interaction between magnetic fields, when the magnetic field of the moving permanent magnet or the moving electromagnet as the moving part is inconsistent with the magnetic field generated by the fixed permanent magnet or the fixed electromagnet as the driving part, if the magnetic field of the driving part is strong enough, the movement will start The part will deflect or move in the direction aligned with the magnetic pole of the driving part until the deflection or movement stops when the magnetic field direction of the motion activating part is in line with the magnetic field direction of the driving part. Therefore, if the magnetic field direction of the motion activating element is inconsistent with the magnetic field direction generated by the driving element before the driving element is excited, the magnetic pole direction of the motion activating element will be deflected to the magnetic pole direction of the driving element under the action of the electromagnetic field. However, since the driving part is fixed, the motion activating part is constrained by the guiding part, and the magnetic field force of the magnetic pole swinging of the motion activating part can only be output to the guiding motion direction of the guiding part, so as to push the motion activating part to move in the guiding direction of the guiding part . In this way, a magnetic field force can be applied to the movement activating member in the vertical direction of the driving member, and the movement activating member can move in the direction guided by the guiding member.

And the magnitude of the displacement can be controlled by controlling the intensity of the current applied to the fixed electromagnet as the driving component, that is, the intensity of the generated electromagnetic field and the direction of the applied current or the intensity of the magnetic field of the fixed permanent magnet.

In the same way, when a reverse current is applied to the electromagnet to generate an opposite electromagnetic force to the previous magnetic pole in the opposite direction, then the extreme end of the moving activating part that was far away from the driving part will be attracted and move in the direction close to the driving part, and at the same time, The extreme end of the motion-initiating member that was previously adsorbed on the end face of the driving member will be repulsive and move away from the driving member. In this way, by controlling the magnetic field strength of the driving part, the movement activating part can be moved horizontally in the opposite direction to the previous one, until it stops when the magnetic poles coincide.

In this way, by applying a certain strength of forward and reverse currents or magnetic fields to the driving member, the movement activating member can reciprocate in the horizontal direction.

Compared with the prior art, the present invention has the following advantages:

1. It directly realizes the linear reciprocating translation or rotational motion based on the deflection of the magnetic pole, the motion drive is direct, the mechanism is simple, and the rigidity is good;

2. It is easy to achieve large stroke; it is also easy to achieve micro stroke; the drive displacement is accurate;

3. The movement force, displacement size and precision can be controlled by precisely applying the intensity of the magnetic field or current, which is simple and convenient to control;

4. The magnetic field is directly used for driving, and the combined action of the electromagnetic field and the permanent magnetic field generates a large driving magnetic field, which makes the driving force of the mechanism large, the driving response is fast, and the efficiency is high.

The mechanism of the present invention can be used to develop a device that requires very few driving parts, small volume and weight, large displacement, high-precision reciprocating driving and multi-degree-of-freedom driving functions.

Description of drawings

1 is a schematic diagram of Embodiment 1 of the present invention;

2 is a schematic diagram of Embodiment 2 of the present invention;

3 is a schematic diagram of Embodiment 3 of the present invention;

4 is a schematic diagram of Embodiment 4 of the present invention;

5 is a schematic diagram of Embodiment 5 of the present invention;

6 is a schematic diagram of Embodiment 6 of the present invention;

In the figure, 1 is the driving part, 2 is the moving part, 3 is the guiding part, 4 is the fixed permanent magnet, 5 is the moving electromagnet, 6 is the special-shaped contour body, 11, 12, 13 are used to realize x\y respectively \zThree-axis translation drive devices, 14 and 15 are respectively the drive devices used to realize the rotation in the α/β direction.

Detailed ways

The embodiments of the present invention are described in detail below: the present embodiment is implemented on the premise of the technical solution of the present invention, and provides a detailed implementation manner and a specific operation process, but the protection scope of the present invention is not limited to the following implementations example.

Example 1

This embodiment includes: a driving part 1 and a motion activating part 2 that generate an interaction force, and a guide part 3 arranged between the driving part 1 and the motion activating part 2 for constraining the displacement direction of the motion activating part 2 .

As shown in FIG. 1 , in this embodiment, the above-mentioned driving component 1 is a fixed electromagnet, and the above-mentioned movement activating component 2 is a moving permanent magnet. Initially, the fixed electromagnet is placed vertically to generate vertical magnetic poles; the moving permanent magnet is placed horizontally to generate horizontal permanent magnetic poles, and is installed on one magnetic pole face of the fixed electromagnet and the side of the moving permanent magnet There are guide parts 3 placed horizontally. The guide component 3 includes a stator and a mover, wherein the stator is fixedly connected to the end face of the fixed electromagnet, and the mover is fixedly connected to the side wall of the moving permanent magnet; the magnetic pole direction of the moving permanent magnet is perpendicular to that of the fixed electromagnet.

According to the principle of interaction between magnetic fields, when the magnetic field of the moving permanent magnet is inconsistent with the magnetic field generated by the fixed electromagnet, if the electromagnetic field is strong enough, the moving permanent magnet will deflect or move in the same direction as the magnetic pole of the electromagnetic field, until the direction of the magnetic field of the moving permanent magnet When the direction of the magnetic field of the fixed electromagnet is aligned, the deflection or movement stops. Therefore, for the mechanism shown in Figure 1, if the magnetic field direction of the moving permanent magnet is inconsistent with the magnetic field direction generated by the fixed electromagnet before the fixed electromagnet is excited, as shown in Figure 1, it is vertical, then the magnetic pole direction of the moving permanent magnet is Under the action of the electromagnetic field, the deflection will occur and the moving permanent magnet will be deflected. However, since the moving permanent magnet is constrained by the horizontal guide member, the magnetic attraction force that swings the permanent magnet pole can only be output in the guided horizontal direction, so that the moving permanent magnet can be attracted to move in the horizontal direction (x or Y direction). , which produces a translation. In this way, the fixed electromagnet exerts a magnetic attraction force in the vertical direction, and the moving permanent magnet moves in the horizontal direction. Moreover, the magnitude of the moving displacement can be controlled by controlling the intensity of the current applied in the fixed electromagnet, that is, the intensity of the generated electromagnetic field or the intensity of the electromagnetic field force.

In the same way, the reverse current is applied to the fixed electromagnet to generate an opposite electromagnetic force to the previous magnetic pole in the opposite direction, then the pole of the moving permanent magnet that was far away from the fixed electromagnet will be attracted and move towards the direction close to the fixed electromagnet. , and at the same time, the end of the moving permanent magnet that was previously adsorbed on the fixed electromagnet will be repulsed and move away from the fixed electromagnet. In this way, by controlling the magnetic field strength of the fixed electromagnet, the moving permanent magnet can be moved horizontally opposite to the previous one until it stops when the magnetic poles overlap.

In this way, by applying a certain strength of positive and negative electromagnetic fields to the fixed electromagnet, the moving permanent magnet can reciprocate in the horizontal direction.

Example 2

Example 2 is a modification of Example 1.

As shown in FIG. 2( a ), on the basis of Embodiment 1, this embodiment differs from Embodiment 1 in that the moving activating component 2 is replaced with a moving electromagnet, and the driving component 1 is replaced with a fixed permanent magnet.

Example 3

Example 3 is a modification of Example 1.

As shown in Figure 2(b), on the basis of Embodiment 1, this embodiment differs from Embodiment 1 in that the moving activating part 2 is replaced with a moving electromagnet, the driving part 1 is still a fixed electromagnet, and the applied The force between the magnetic fields is the electromagnetic field force.

Example 4

Embodiment 4 is a modification of the above three embodiments.

As shown in FIG. 3 , on the basis of any one of the above three embodiments, the mover of the guide member 3 is fixedly connected to the side wall of the movement activating member 2 , and the stator, together with the movement activating member 2 , is connected to the drive member 2 . The part 1 is fixedly connected at an angle of θ, 0<θ<180 degrees, and the guide part 3 is arranged between the driving part 1 and the movement activating part 2 at an angle of θ. In this way, based on the mechanism and driving process of Embodiment 1, the motion activating member 2 will reciprocate in a direction at an angle θ to the driving member 1 .

Example 5

Example 5 is a variation of Examples 1, 2 or 3.

As shown in FIG. 4 , on the basis of Embodiments 1, 2 or 3, this embodiment further includes a special-shaped contour body 6 , and the special-shaped contour body 6 is rigidly connected with the motion activating component 2 to follow. Based on the mechanism and driving process of Embodiment 1, the motion activating component 2 drives the profiled contour body 6 to reciprocate, so that the object sliding/rolling contact with the profiled profile body 6 will be driven in the vertical direction to reciprocate up and down. The movement can be controlled by the electric current or the magnetic current of the drive part 1 . In this embodiment, the electric/magnetic force is converted into a pushing force in the vertical direction, and the effect of movement in the vertical direction is produced.

Example 6

Example 6 is a variation of Examples 1, 2 or 3.

As shown in FIG. 5 , in this embodiment, on the basis of Embodiments 1, 2 or 3, the guide member 3 is a circular guide member 3 . The circular guide member 3 together with the motion activating member 2 and the driving member 1 are fixedly connected at an angle of θ, 0≦θ<180 degrees.

Preferably, the motion activating member 2 is a combination of one or more moving permanent magnets. Based on the mechanism and driving process of Example 1, the moving permanent magnet or a combination thereof will only generate rotation under the constraint of the circular guide member. This angle and direction of rotation can be controlled by current or magnetic current in the drive member.

Example 7

Embodiment 7 is a multi-axis work motion platform formed according to the combination of one or more translational drive devices provided in Embodiments 1 to 5 and one or more rotational drive devices provided in Embodiment 6.

As shown in FIG. 6 , this embodiment includes several interconnected driving devices for realizing translation in x, y and/or z axes and driving devices for realizing rotation in α, β and/or γ directions.

For example, as shown in FIG. 6( a ), three drive devices 11 , 12 , and 13 for realizing x, y and/or z-axis translation based on Embodiments 1-5 are selected, and the combination can realize a x \y\zThree-axis translational motion platform.

As shown in Figure 6(b), the driving device for realizing rotation in α, β and/or γ directions implemented in Example 6 is added to the x\y\z three-axis translation motion platform, that is, as shown in the figure It is shown that a rotary driving device 15 is added between the driver 11 and the driver 12, so that the driving device 11 can rotate around the Z axis as a whole; a rotary driving device 14 is installed on the driving device 11, so that the driving device 11 can also drive the driven object when it moves as a whole Generates rotation around the X-axis, thereby realizing a five-axis work motion platform.

Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and those skilled in the art can make various variations or modifications within the scope of the claims, which do not affect the essential content of the present invention.

Claims (1)

1. A displacement driving device based on interaction of a permanent magnet and an electromagnet is characterized by comprising a driving part and a motion starting part which generate interaction force, and a guide part which is arranged between the driving part and the motion starting part and used for restricting the displacement direction of the motion starting part;

the driving part is a fixed electromagnet or a fixed permanent magnet, the motion starting part is a movable permanent magnet or a movable electromagnet, the driving part is relatively fixed, and the motion starting part is restrained by the guide part;

the guide component is a circular guide component, the circular guide component and the motion starting component are fixedly connected with the driving component at an angle theta, and the angle theta is more than 0 and less than 180 degrees;

the motion starting part is formed by combining a plurality of moving permanent magnets.