CN106329815B - The displacement drive to be interacted based on permanent magnet and electromagnet - Google Patents

The displacement drive to be interacted based on permanent magnet and electromagnet Download PDF

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Publication number
CN106329815B
CN106329815B CN201610778656.5A CN201610778656A CN106329815B CN 106329815 B CN106329815 B CN 106329815B CN 201610778656 A CN201610778656 A CN 201610778656A CN 106329815 B CN106329815 B CN 106329815B
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driving
engine component
movement
magnetic
permanent magnet
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CN106329815A (en
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杨斌堂
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Shanghai Jiaotong University
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Shanghai Jiaotong University
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Priority to CN201210393968.6A priority patent/CN102946164B/en
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K7/00Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/06Means for converting reciprocating motion into rotary motion or vice versa

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

The displacement drive to be interacted based on permanent magnet and electromagnet
The application be application No. is 201210393968.6, applying date 2012.10.17, it is entitled《Based on permanent magnetism The displacement drive and combinations thereof of body and electromagnet interaction》Divisional application.
Technical field
The present invention relates to one kind to equal/rotate driving technical field, specifically a kind of to be based on permanent magnet and electromagnet phase interaction Displacement drive.
Background technique
In recent years incoming call, magnetostriction materials field quickly grew, produce as giant magnetostriction material, piezoelectric ceramics with And magnetostriction marmem etc. it is novel can be used for precision driver, sensor and the alert and resourceful material of linear motor development The advantages that material, these materials have energy density big, and output power is high, and telescopic deformation is accurate, but the drive based on smart material It is small to move generally existing moving displacement, driving excitation link is more, the disadvantages of building block is more, poor reliability.Therefore, based on alert and resourceful material The telescoping mechanism of material is not suitable for the big stroke of small size high energy and drives application field.
Summary of the invention
The present invention aiming at the above shortcomings existing in the prior art, provides a kind of based on permanent magnet and electromagnet phase interaction Displacement drive and combinations thereof.The present invention can electromagnetic excitation effect be lower generates magnetic pole deflection and make to turn/swing directly to produce Raw translation displacements or driving force;The size of produced flat/rotation displacement and power is controllable, is especially easy to generate moment big deformable body Product with big power output volume ratio than driving.
The present invention is achieved by the following technical solutions.
A kind of displacement drive to be interacted based on permanent magnet and electromagnet, the driving including generating interaction force Component and movement engine component, and setting are used for constrained motion engine component position between driving part and movement engine component Move the guiding parts in direction.
The driving part is fixed electromagnet or fixing permanent magnet, places and generate vertical pole orientation vertically, The movement engine component is mobile permanent magnet or Mobile electromagnetic iron, is horizontally arranged and generates horizontal pole orientation, described Guiding parts includes stator and mover, wherein a magnetic pole end face of stator and driving part is connected, and portion is started in mover and movement The side wall of part is connected, and the guiding parts is horizontally set between driving part and movement engine component.
The displacement drive to be interacted based on permanent magnet and electromagnet, further includes special-shaped outline body, described different Shape profile body and movement engine component rigid connection are servo-actuated.
The driving part is fixed electromagnet or fixing permanent magnet, places and generate vertical pole orientation vertically, The movement engine component is mobile permanent magnet or Mobile electromagnetic iron, is horizontally arranged and generates horizontal pole orientation, described Guiding parts includes stator and mover, wherein the side wall of mover and movement engine component is connected, and stator is together with movement engine component Angle o connected, the 0 < θ < 180 degree with driving part, the angle o setting of guiding parts is in driving part and movement engine component Between.
The guiding parts is round guiding parts, and the circle guiding parts is together with movement engine component and driving part It is angle o to be connected, 0≤θ < 180 degree.
The movement engine component is that several movement permanent magnets are composed.
A kind of multiaxis working motion that the displacement drive to be interacted based on permanent magnet and electromagnet is composed is flat Platform, including several driving devices interconnected being translatable for realizing x, y and/or z-axis and for realizing α, β and/or γ The driving device of direction rotation.
The driving device being translatable for realizing x, y and/or z-axis is:Driving part including generating interaction force Constrained motion engine component displacement side is used between driving part and movement engine component with movement engine component, and setting To guiding parts;Wherein,
The driving part is fixed electromagnet or fixing permanent magnet, places and generate vertical pole orientation vertically, The movement engine component is mobile permanent magnet or Mobile electromagnetic iron, is horizontally arranged and generates horizontal pole orientation, described Guiding parts includes stator and mover, wherein a magnetic pole end face of stator and driving part is connected, and portion is started in mover and movement The side wall of part is connected, and the guiding parts is horizontally set between driving part and movement engine component;Or
The movement engine component is mobile permanent magnet or Mobile electromagnetic iron, is horizontally arranged and generates horizontal magnetic pole side To the guiding parts includes stator and mover, wherein the side wall of mover and movement engine component is connected, and stator is together with movement Engine component and driving part are angle o connected, 0 < θ < 180 degree, and the guiding parts is angle o to be arranged in driving part and movement Between engine component.
The driving device being translatable for realizing x, y and/or z-axis further includes special-shaped outline body, the special-shaped outline body It is servo-actuated with movement engine component rigid connection.
It is described for realizing the direction α, β and/or γ rotation driving device be:Driving portion including generating interaction force Part and movement engine component, and setting are displaced between driving part and movement engine component for constrained motion engine component The guiding parts in direction;Wherein,
The guiding parts is round guiding parts, and the circle guiding parts is together with movement engine component and driving part It is angle o to be connected, 0≤θ < 180 degree;The movement engine component is composed of several movement permanent magnets.
Mechanism of the present invention, be due to as driving electromagnetic force or permanent magnetic act on as movement engine component movement When permanent magnet or Mobile electromagnetic iron, opposite pole attraction is close, and like pole repels separate.Therefore, when driving part is fixed not When dynamic, the electromagnetic force or permanent magnetic of driving part deflect movement engine component magnetic pole thereon, at this time due in driving portion Being equipped between part and movement engine component makes to move the guiding parts that engine component can only move in one direction, and movement is started Component can only generate the movement of the channeling direction of guiding parts.
According to interaction principle between magnetic field, when the magnetic of mobile permanent magnet or Mobile electromagnetic iron as movement engine component When field is inconsistent with magnetic field produced by the fixing permanent magnet or fixed electromagnet as driving part, if the magnetic field of driving part Sufficiently strong, movement engine component will be deflected or be moved to the consistent direction of driving part magnetic pole, until portion is started in movement It is deflected when on the magnetic direction of part and the consistent position of the magnetic direction of driving part or movement stops.Therefore, if driving Before component excitation, it is inconsistent to move magnetic direction caused by the magnetic direction and driving part of engine component, then movement is sent out Deflection of the pole orientation of dynamic component under electromagnetic field effect by generation to driving part pole orientation.But due to driving portion Part is fixed, and the therefore constraint by guiding parts of movement engine component, the magnetic field force which swings can only It is output on guiding parts guiding movement direction, so that movement engine component be pushed to move on the direction that guiding parts is oriented to. It thus can achieve a kind of driving part vertical direction and apply magnetic field force and give movement engine component, movement engine component is being oriented to The effect moved on the direction of component guiding.
And the size of the moving displacement can be by controlling the electricity applied in the fixed electromagnet as driving part The magnetic field force intensity of electromagnetic field intensity and application current direction or fixing permanent magnet that intensity of flow generates is controlled.
Similarly, to electromagnet plus reverse current, the electromagnetic force with the magnetic pole of opposite direction before, that is, opposite is generated, then Before extremely will be attracted for the movement engine component far from driving part and to being moved close to the direction of driving part, meanwhile, Being adsorbed on the extreme of the movement engine component of driving part end face before will be moved by repulsion to the direction far from driving part. In this way, can make to move engine component generation and horizontal movement opposite before, until magnetic by control driving part magnetic field strength Stop when the overlapping positions of pole.
In this way, movement engine component can by forward and reverse electric current or the magnetic field for applying some strength as driving part To occur to move back and forth in the horizontal direction.
Compared with prior art, the present invention has the following advantages that:
1, it is directly realized the linear reciprocation translation or rotational motion for deflecting and generating based on magnetic pole, movement drives directly, Mechanism is simple, and rigidity is good;
2, big stroke easy to accomplish;Also micro travel easy to accomplish;Drive displacement is accurate;
3, motoricity, displacement and precision can be controlled by accurately applying the intensity in magnetic field or electric current, control letter Singly, conveniently;
4, magnetic field is directly used in driving, electromagnetic field and permanent magnetic field compound action generate biggish driving magnetic field, make mechanism Driving force it is big, driving response is fast, high-efficient.
Mechanism of the invention can be used for that manufacture claim driving part is few, and volume and weight is small, generate larger displacement, height Precision back and forth drives and the device of multiple degrees of freedom driving function.
Detailed description of the invention
Fig. 1 is 1 schematic diagram of the embodiment of the present invention;
Fig. 2 is 2 schematic diagram of the embodiment of the present invention;
Fig. 3 is 3 schematic diagram of the embodiment of the present invention;
Fig. 4 is 4 schematic diagram of the embodiment of the present invention;
Fig. 5 is 5 schematic diagram of the embodiment of the present invention;
Fig. 6 is 6 schematic diagram of the embodiment of the present invention;
In figure, 1 is driving part, and 2 be movement engine component, and 3 be guiding parts, and 4 be fixing permanent magnet, and 5 be mobile electricity Magnet, 6 be special-shaped outline body, 11,12,13 be respectively for realizing x y tri- axis of z translation driving device, 14,15 are respectively For realizing the driving device of α/β direction rotation.
Specific embodiment
It elaborates below to the embodiment of the present invention:The present embodiment carries out under the premise of the technical scheme of the present invention Implement, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to following implementation Example.
Embodiment 1
The present embodiment includes:The driving part 1 and movement engine component 2 of interaction force are generated, and setting is driving The guiding parts 3 of 2 direction of displacement of constrained motion engine component is used between component 1 and movement engine component 2.
As shown in Figure 1, in the present embodiment, above-mentioned driving part 1 is fixed electromagnet, above-mentioned movement engine component 2 is Mobile permanent magnet.When initial, fixed electromagnet is placed vertically, for generating the magnetic pole of vertical direction;Mobile permanent magnetism iron level is put It sets, for generating the permanent-magnet pole of horizontal direction, is installed in a magnetic pole end face of fixed electromagnet and the side of mobile permanent magnet There is horizontal positioned guiding parts 3.Guiding parts 3 includes stator and mover, wherein the end face of stator and fixed electromagnet is solid Even, the side wall of mover and mobile permanent magnet is connected;The pole orientation of mobile permanent magnet is vertical with the pole orientation of fixed electromagnet.
According to interaction principle between magnetic field, the magnetic field produced by the magnetic field of mobile permanent magnet and fixed electromagnet is inconsistent When, if electromagnetic field is sufficiently strong, mobile permanent magnet will be deflected or be moved to the consistent direction of electromagnetism field pole, until moving It is deflected when on the consistent position of magnetic direction in dynamic permanent magnet field direction and fixed electromagnet or movement stops.Therefore, for Mechanism as shown in Figure 1, if before fixed electromagnet excitation, caused by the magnetic direction and fixed electromagnet of mobile permanent magnet Magnetic direction is inconsistent, is as shown in Figure 1 vertical, then moving the pole orientation of permanent magnet will occur partially under electromagnetic field effect Then cause mobile permanent magnet deflection.But the constraint due to mobile permanent magnet by horizontally-guided component, put permanent magnetism magnetic pole Dynamic magnetic attraction can only export in the horizontal direction being directed to, to move permanent magnet (x or Y-direction) energy in the horizontal direction It is enough attracted movement, that is, generates translation.Fixed electromagnet vertical direction is reached in this way and has applied magnetic attraction, mobile permanent magnet is in water Square upwards generate movement.Also, the size of the moving displacement can be strong by controlling the electric current applied in fixed electromagnet The electromagnetic field intensity or electromagnetic force intensity that degree generates are controlled.
Similarly, to fixed electromagnet plus reverse current, the electromagnetic force with the magnetic pole of opposite direction before, that is, opposite is generated, Extremely will be attracted for mobile permanent magnet before so far from fixed electromagnet and to being moved close to the direction of fixed electromagnet, Meanwhile the end for being adsorbed on the mobile permanent magnet of fixed electromagnet before will be transported by repulsion to the direction far from fixed electromagnet It is dynamic.In this way, by control fixed electromagnet magnetic field strength mobile permanent magnet generation and horizontal movement opposite before can be made, directly Stop when to magnetic pole lap position.
In this way, mobile permanent magnet can occur by the forward and reverse electromagnetic field for applying some strength to fixed electromagnet It is moved back and forth in horizontal direction.
Embodiment 2
Embodiment 2 is the change case of embodiment 1.
As shown in Fig. 2 (a), the present embodiment on the basis of embodiment 1, the difference from embodiment 1 is that, movement is started Component 2 is changed to Mobile electromagnetic iron, and driving part 1 is changed to fixing permanent magnet.
Embodiment 3
Embodiment 3 is the change case of embodiment 1.
As shown in Fig. 2 (b), the present embodiment on the basis of embodiment 1, the difference from embodiment 1 is that, movement is started Component 2 is changed to Mobile electromagnetic iron, and driving part 1 is still fixed electromagnet, and active force is electromagnetic field between the magnetic field applied Power.
Embodiment 4
Embodiment 4 is the change case of above three embodiments.
As shown in figure 3, guiding parts 3 moves on the basis of any embodiment of embodiment in the above three embodiments The side wall of son and movement engine component 2 is connected, and stator is connected together with movement engine component 2 and driving part 1 are angle o, 0 < θ < 180 degree, the angle o setting of guiding parts 3 is between driving part 1 and movement engine component 2.In this way, the machine based on embodiment 1 Reason and driving process, movement engine component 2 will move back and forth on the direction angle o with driving part 1.
Embodiment 5
Embodiment 5 is the change case of embodiment 1,2 or 3.
As shown in figure 4, the present embodiment on the basis of embodiment 1,2 or 3, further includes special-shaped outline body 6, special-shaped outline body 6 is servo-actuated with the movement rigid connection of engine component 2.Mechanism and driving process based on embodiment 1, movement engine component 2 drives different Shape profile body 6 move back and forth, the object slide/being in rolling contact in this way with special-shaped outline body 6 will in the vertical direction by driving and on Lower reciprocating motion.Movement can driven member 1 electric current or magnetic current control.Electro magnetic power is converted vertical direction by the present embodiment Motive force, generate vertical direction movement effect.
Embodiment 6
Embodiment 6 is the change case of embodiment 1,2 or 3.
As shown in figure 5, the present embodiment, on the basis of embodiment 1,2 or 3, guiding parts 3 is round guiding parts 3.Circle Shape guiding parts 3 is connected together with movement engine component 2 and driving part 1 are angle o, 0≤θ < 180 degree.
Preferably, movement engine component 2 is the combination of one or more movement permanent magnets.Machine based on embodiment 1 Reason and driving process, mobile permanent magnet or combinations thereof will only generate rotation under the constraint of round guiding parts.The angle of rotation and Direction can by driving part electric current or magnetic current controlled.
Embodiment 7
Embodiment 7 is to provide according in more than one the translation driving device and embodiment 6 provided in embodiment 1 to 5 The multiaxis working motion platform that more than one device of rotation driving is composed.
As shown in fig. 6, the present embodiment includes several driving devices interconnected being translatable for realizing x, y and/or z-axis And the driving device for realizing the rotation of the direction α, β and/or γ.
For example, selecting three to put down based on what embodiment 1-5 was realized for realizing x, y and/or z-axis as shown in Fig. 6 (a) Dynamic driving device 11,12,13, combination may be implemented an x y tri- axis translational motion platform of z.
As shown in Fig. 6 (b), x y on tri- axis translational motion platform of z it is upper increase that embodiment 6 realized for realizing α, The driving device of the direction β and/or γ rotation, i.e., increase device of rotation driving between driver 11 and driver 12 as shown in the figure 15, turn about the Z axis driving device 11 integrally can;Device of rotation driving 14 is installed in driving device 11, makes driving device 11 The generation of driven object body can be also driven to turn about the X axis when mass motion, to realize a five axis working motion platforms.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to 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 substantive content of the invention.

Claims (1)

1. a kind of displacement drive to be interacted based on permanent magnet and electromagnet, which is characterized in that including generating phase interaction Driving part and movement engine component firmly, and setting are used for constrained motion between driving part and movement engine component The guiding parts of engine component direction of displacement;
The driving part is fixed electromagnet or fixing permanent magnet, and the movement engine component is mobile permanent magnet or mobile electricity Magnet, the driving part is relatively fixed, moves constraint of the engine component by guiding parts;
The magnetic field force that movement engine component magnetic pole is swung can only be output on guiding parts guiding movement direction, to push movement Engine component moves on the direction that guiding parts is oriented to, and then realizes that driving part vertical direction applies magnetic field force and gives movement hair Dynamic component, movement engine component move on the direction that guiding parts is oriented to;
The guiding parts includes stator and mover, wherein the side wall of mover and movement engine component is connected, and stator is together with movement Engine component and driving part are angle o connected, and 0<θ<180 degree, the angle o setting of guiding parts is in driving part and movement hair Between dynamic component;
It further include special-shaped outline body, the special-shaped outline body and movement engine component rigid connection are servo-actuated;Move engine component band Dynamic special-shaped outline body moves back and forth, the object slide/being in rolling contact in this way with special-shaped outline body will in the vertical direction by driving and It pumps.
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CN106329814B (en) 2019-01-25
CN106329814A (en) 2017-01-11
CN102946164B (en) 2016-12-21
CN106357045B (en) 2018-12-18
CN106329815A (en) 2017-01-11
CN106357045A (en) 2017-01-25

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