CN106357045A - Displacement-based multi-axis operating motion platform formed by combining driving devices - Google Patents
Displacement-based multi-axis operating motion platform formed by combining driving devices Download PDFInfo
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- CN106357045A CN106357045A CN201610786316.7A CN201610786316A CN106357045A CN 106357045 A CN106357045 A CN 106357045A CN 201610786316 A CN201610786316 A CN 201610786316A CN 106357045 A CN106357045 A CN 106357045A
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- motion
- engine component
- driving
- driver part
- motion engine
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
Abstract
The invention discloses a displacement-based multi-axis operating motion platform formed by combining driving devices. The driving devices comprise driving parts, motion starting parts and guiding parts arranged between the driving parts and the motion starting parts and used for restraining displacement directions of the motion starting parts, wherein the driving parts and the motion starting parts produce mutual action force; the driving parts are fixed electromagnets or fixed permanent magnets, and the motion starting parts are movable permanent magnets or movable electromagnets. Linear reciprocating translation or rotating motion produced on the basis of magnetic pole deflection is realized directly, motion driving is direct, the mechanism is simple, and the rigidity is good; long travel is realized easily; mini-travel is realized easily; driving displacement is accurate; the motion force and displacement magnitude and precision can be controlled by precisely applying a magnetic field or current, and the control is simple and convenient; the magnetic field is directly used for driving, and a larger driving magnetic field is produced under the combined action of an electromagnetic field and a permanent magnetic field, so that the driving force of the mechanism is large, driving response is fast, and efficiency is high.
Description
The application is Application No. 201210393968.6, the applying date be 2012.10.17, invention entitled " based on permanent magnetism
Displacement drive that body and electromagnet interact and combinations thereof " divisional application.
Technical field
The present invention relates to a kind of put down/rotate actuation techniques field, specifically one kind is combined based on displacement drive
Multiaxis working motion platform.
Background technology
In recent years incoming call, magnetostriction materials field quickly grew, create as giant magnetostriction material, piezoelectric ceramics with
And magnetostriction marmem etc. new can be used for the alert and resourceful material that precision driver, sensor and linear electric motors are developed
Material, these materials have the advantages of energy density is big, and output is high, telescopic shape change is accurate, but the drive based on smart material
Dynamic generally existing moving displacement is little, drives that excitation link is many, and building block is many, the shortcomings of 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.
Content of the invention
The present invention is directed to above-mentioned deficiency present in prior art, there is provided one kind is combined based on displacement drive
Multiaxis working motion platform.The present invention the lower magnetic pole that produces of electromagnetic excitation effect can deflect and make to turn/swing directly to produce translation
Displacement or driving force；Produced flat/rotation displacement and the size of power be controlled, be particularly easy to produce moment large deformation volume ratio and
Big power output volume ratio drives.
The present invention is achieved by the following technical solutions.
A kind of displacement drive being interacted based on permanent magnet and electromagnet, including the driving producing interaction force
Part and motion engine component, and be arranged between driver part and motion engine component for constrained motion engine component position
Move the guiding parts in direction.
Described driver part is fixed electromagnet or fixing permanent magnet, and it is vertically placed and produces vertical pole orientation,
Described motion engine component is movable permanent magnet ferrum or Mobile electromagnetic ferrum, and its horizontal positioned simultaneously produces the pole orientation of level, described
Guiding parts includes stator and mover, and wherein, stator is connected with a magnetic pole end face of driver part, and portion is started in mover and motion
The side wall of part is connected, and described guiding parts is horizontally set between driver part and motion engine component.
The described displacement drive being interacted based on permanent magnet and electromagnet, also includes special-shaped outline body, described different
Shape profile body and motion engine component are rigidly connected servo-actuated.
Described driver part is fixed electromagnet or fixing permanent magnet, and it is vertically placed and produces vertical pole orientation,
Described motion engine component is movable permanent magnet ferrum or Mobile electromagnetic ferrum, and its horizontal positioned simultaneously produces the pole orientation of level, described
Guiding parts includes stator and mover, and wherein, mover is connected with the side wall of motion engine component, and stator is together with motion engine component
Angle o with driver part connected, 0 ＜ θ ＜ 180 degree, described guiding parts is angle o to be arranged on driver part and motion engine component
Between.
Described guiding parts is circular guiding parts, and described circle guiding parts is together with motion engine component and driver part
Angle o connected, 0≤θ ＜ 180 degree.
Described motion engine component combines for several movable permanent magnet ferrum.
A kind of multiaxis working motion platform being combined based on displacement drive, including some interconnective for
Realize x, y and/or the driving means of z-axis translation and the driving means for realizing the rotation of α, β and/or γ direction.
The described driving means for realizing x, y and/or z-axis translation are: include producing the driver part of interaction force
With motion engine component, and be arranged between driver part and motion engine component be used for constrained motion engine component displacement side
To guiding parts；Wherein,
Described driver part is fixed electromagnet or fixing permanent magnet, and it is vertically placed and produces vertical pole orientation,
Described motion engine component is movable permanent magnet ferrum or Mobile electromagnetic ferrum, and its horizontal positioned simultaneously produces the pole orientation of level, described
Guiding parts includes stator and mover, and wherein, stator is connected with a magnetic pole end face of driver part, and portion is started in mover and motion
The side wall of part is connected, and described guiding parts is horizontally set between driver part and motion engine component；Or
Described motion engine component is movable permanent magnet ferrum or Mobile electromagnetic ferrum, and its horizontal positioned simultaneously produces the magnetic pole side of level
To described guiding parts includes stator and mover, and wherein, mover is connected with the side wall of motion engine component, and stator is together with motion
Engine component is angle o with driver part to be connected, 0 ＜ θ ＜ 180 degree, and described guiding parts is angle o to be arranged on driver part and motion
Between engine component.
The described driving means for realizing x, y and/or z-axis translation also include special-shaped outline body, described special-shaped outline body
With motion engine component be rigidly connected servo-actuated.
The described driving means for realizing the rotation of α, β and/or γ direction are: include producing the drive division of interaction force
Part and motion engine component, and be arranged between driver part and motion engine component for constrained motion engine component displacement
The guiding parts in direction；Wherein,
Described guiding parts is circular guiding parts, and described circle guiding parts is together with motion engine component and driver part
Angle o connected, 0≤θ ＜ 180 degree；Described motion engine component is combined by several movable permanent magnet ferrum.
Mechanism of the present invention, is due to acting on the movement as motion engine component as the electromagnetic force driving or permanent magnetic
When permanent magnet or Mobile electromagnetic ferrum, opposite pole attract close, like pole repel away from.Therefore, when driver part is fixing not
When dynamic, the electromagnetic force of driver part or permanent magnetic will make motion engine component magnetic pole thereon deflect, now due in drive division
It is provided with the guiding parts making motion engine component can only move in one direction, motion is started between part and motion engine component
Part can only produce the motion of the channeling direction of guiding parts.
According to magnetic field interphase interaction principle, when the magnetic of the movable permanent magnet ferrum as motion engine component or Mobile electromagnetic ferrum
When field is inconsistent with the fixing permanent magnet as driver part or the produced magnetic field of fixed electromagnet, if the magnetic field of driver part
Sufficiently strong, motion engine component will deflect to the direction consistent with driver part magnetic pole or moves, until portion is started in motion
Deflect when on the magnetic direction of the part position consistent with the magnetic direction of driver part or mobile stopping.Therefore, if driven
Before part excitation, the magnetic direction of motion engine component is inconsistent with magnetic direction produced by driver part, then motion is sent out
The pole orientation of dynamic component will occur the deflection to driver part pole orientation under electromagnetic field effect.But, due to drive division
Part is fixed, and motion engine component therefore suffers from the constraint of guiding parts, and the magnetic field force that this motion engine component magnetic pole swings can only
Export on guiding parts guiding movement direction, thus promoting the side that motion engine component guides in guiding parts to move up.
A kind of driver part vertical direction thus can be reached and apply magnetic field force to motion engine component, motion engine component is in guiding
The effect that the side of part guiding moves up.
And the size of this moving displacement can be by controlling the electricity applying in the fixed electromagnet as driver part
The electromagnetic field intensity that intensity of flow produces and the magnetic field force intensity of the applying sense of current or fixing permanent magnet are controlled.
In the same manner, to electric magnet plus reverse current, producing with rightabout magnetic pole before is contrary electromagnetic force, then
Before away from driver part extremely will be attracted of motion engine component and near the direction of driver part moving, meanwhile,
Adsorb the extreme of motion engine component in driver part end face to be moved to the direction away from driver part by repulsion before.
So, by controlling driver part magnetic field intensity, motion engine component can be made to occur and horizontal movement contrary before, until magnetic
Stop during the overlapping positions of pole.
So, through to forward and reverse electric current or the magnetic field applying some strength as driver part, motion engine component can
To occur to move back and forth in the horizontal direction.
Compared with prior art, the invention has the advantages that
1st, it is directly realized the linear reciprocation translation producing based on magnetic pole deflection or rotational motion, motion drives directly,
Mechanism is simple, and rigidity is good；
2nd, easily realize big stroke；Also easily realize micro travel；Drive displacement is accurate；
3rd, motoricity, displacement and precision can be controlled by the intensity in accurate applying magnetic field or electric current, control letter
Single, convenient；
4th, magnetic field is directly used in driving, electromagnetic field produces larger driving magnetic field with permanent magnetic field compound action, makes mechanism
Driving force big, drive response fast, efficiency high.
The mechanism of the present invention can be used for manufacture claim driver part seldom, and volume and weight is small, produces larger displacement, height
The reciprocal device driving with multiple degrees of freedom driving function of precision.
Brief description
Fig. 1 is the embodiment of the present invention 1 schematic diagram；
Fig. 2 is the embodiment of the present invention 2 schematic diagram；
Fig. 3 is the embodiment of the present invention 3 schematic diagram；
Fig. 4 is the embodiment of the present invention 4 schematic diagram；
Fig. 5 is the embodiment of the present invention 5 schematic diagram；
Fig. 6 is the embodiment of the present invention 6 schematic diagram；
In figure, 1 is driver part, and 2 is motion engine component, and 3 is guiding parts, and 4 is fixing permanent magnet, and 5 is mobile electricity
Magnet, 6 be special-shaped outline body, 11,12,13 be respectively be used for realize x y z tri- axle translation driving means, 14,15 are respectively
For realizing the driving means of α/b direction rotation.
Specific embodiment
Below embodiments of the invention are elaborated: the present embodiment is carried out under premised on technical solution of the present invention
Implement, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to following enforcements
Example.
Embodiment 1
The present embodiment includes: produces driver part 1 and the motion engine component 2 of interaction force, and is arranged on driving
It is used for the guiding parts 3 of constrained motion engine component 2 direction of displacement between part 1 and motion engine component 2.
As shown in figure 1, in the present embodiment, above-mentioned driver part 1 is fixed electromagnet, and above-mentioned motion engine component 2 is
Movable permanent magnet ferrum.When initial, fixed electromagnet is vertically placed, for producing the magnetic pole of vertical direction；Movable permanent magnet molten iron keeps flat
Put, for producing the permanent-magnet pole of horizontal direction, install in a magnetic pole end face of fixed electromagnet and the side of movable permanent magnet ferrum
There is the guiding parts 3 of horizontal positioned.Guiding parts 3 includes stator and mover, and wherein, stator is solid with the end face of fixed electromagnet
Even, mover and the side wall of movable permanent magnet ferrum are connected；The pole orientation of movable permanent magnet ferrum is vertical with the pole orientation of fixed electromagnet.
According to magnetic field interphase interaction principle, when the magnetic field of movable permanent magnet ferrum magnetic field produced with fixed electromagnet is inconsistent
When, if electromagnetic field is sufficiently strong, movable permanent magnet ferrum will deflect to the direction consistent with electromagnetism field pole or moves, until moving
Deflect when on the position consistent with the magnetic direction of fixed electromagnet of dynamic permanent magnet field direction or mobile stopping.Therefore, for
Mechanism as shown in Figure 1, if before fixed electromagnet excitation, produced by the magnetic direction of movable permanent magnet ferrum and fixed electromagnet
Magnetic direction is inconsistent, is illustrated in figure 1 vertical, then the pole orientation of movable permanent magnet ferrum will occur under electromagnetic field effect partially
Then cause movable permanent magnet ferrum to deflect.But, because movable permanent magnet ferrum is constrained by horizontally-guided part, so that permanent magnetism magnetic pole is put
Dynamic magnetic attraction can only export in the horizontal direction being directed to, thus movable permanent magnet ferrum (x or y direction) energy in the horizontal direction
Enough it is attracted movement, that is, produce translation.So reach fixed electromagnet vertical direction and applied magnetic attraction, movable permanent magnet ferrum is in water
Produce square upwards and move.And, the size of this moving displacement can be by controlling the electric current applying in fixed electromagnet strong
Spend the electromagnetic field intensity producing or electromagnetic force intensity is controlled.
In the same manner, to fixed electromagnet plus reverse current, producing with rightabout magnetic pole before is contrary electromagnetic force,
Before so away from fixed electromagnet extremely will be attracted of movable permanent magnet ferrum and near the direction of fixed electromagnet moving,
Meanwhile, adsorb before will be transported to the direction away from fixed electromagnet by repulsion in the end of the movable permanent magnet ferrum of fixed electromagnet
Dynamic.So, by controlling fixed electromagnet magnetic field intensity, movable permanent magnet ferrum can be made to occur and horizontal movement contrary before, directly
Stop to during magnetic pole lap position.
So, through fixed electromagnet is applied with forward and reverse electromagnetic field of some strength, movable permanent magnet ferrum can occur
Move back and forth in horizontal direction.
Embodiment 2
Embodiment 2 is the change case of embodiment 1.
As shown in Fig. 2 (a), on the basis of embodiment 1, the difference with embodiment 1 is the present embodiment, and motion is started
Part 2 is replaced by Mobile electromagnetic ferrum, and driver part 1 is replaced by fixing permanent magnet.
Embodiment 3
Embodiment 3 is the change case of embodiment 1.
As shown in Fig. 2 (b), on the basis of embodiment 1, the difference with embodiment 1 is the present embodiment, and motion is started
Part 2 is replaced by Mobile electromagnetic ferrum, and driver part 1 is still fixed electromagnet, and the magnetic field intermolecular forces being applied are electromagnetic field
Power.
Embodiment 4
Embodiment 4 is the change case of above three embodiment.
As shown in figure 3, embodiment is on the basis of any embodiment in above three embodiment, guiding parts 3 dynamic
Son is connected with the side wall of motion engine component 2, and its stator is connected together with motion engine component 2 is angle o with driver part 1,0 ＜ θ
＜ 180 degree, guiding parts 3 is angle o to be arranged between driver part 1 and motion engine component 2.So, the machine based on embodiment 1
Reason and driving process, motion engine component 2 will move back and forth on the direction angle o with driver part 1.
Embodiment 5
Embodiment 5 is the change case of embodiment 1,2 or 3.
As shown in figure 4, the present embodiment is on the basis of embodiment 1,2 or 3, also include special-shaped outline body 6, special-shaped outline body
6 with motion engine component 2 be rigidly connected servo-actuated.Mechanism based on embodiment 1 and driving process, motion engine component 2 drives different
Shape profile body 6 moves back and forth, the object so slide/being in rolling contact with special-shaped outline body 6 in the vertical direction is driven and on
Lower reciprocating motion.Motion can the electric current of driven member 1 or magnetic current control.Electro magnetic power is converted into vertical direction by the present embodiment
Motive force, produce vertical direction motion effect.
Embodiment 6
Embodiment 6 is the change case of embodiment 1,2 or 3.
As shown in figure 5, the present embodiment is on the basis of embodiment 1,2 or 3, guiding parts 3 is circular guiding parts 3.Circle
Shape guiding parts 3 is connected together with motion engine component 2 is angle o with driver part 1,0≤θ ＜ 180 degree.
Preferably, motion engine component 2 is the combination of one or more movable permanent magnet ferrum.Machine based on embodiment 1
Reason and driving process, movable permanent magnet ferrum or a combination thereof will only produce under the constraint of circular guiding parts and rotate.This angle of rotation and
Direction can be controlled by the electric current in driver part or magnetic current.
Embodiment 7
Embodiment 7 is to provide according in more than one the translation driving means providing in embodiment 1 to 5 and embodiment 6
The multiaxis working motion platform that more than one device of rotation driving combines.
As shown in fig. 6, the present embodiment includes some interconnective driving means for realizing x, y and/or z-axis translation
And for realizing the driving means of α, β and/or γ direction rotation.
For example, as shown in Fig. 6 (a), select three based on embodiment 1-5 realized be used for realizing x, y and/or z-axis is put down
Dynamic driving means 11,12,13, combination can realize an x y z tri- axle translational motion platform.
As shown in Fig. 6 (b), x y on z tri- axle translational motion platform on increase that embodiment 6 realized be used for realize α,
The driving means that b and/or γ direction rotates, that is, be shown between driver 11 and driver 12 increasing device of rotation driving
15, so that driving means 11 entirety can be rotated around z-axis；In driving means 11, device of rotation driving 14 is installed, makes driving means 11
Driven object body also can be driven during mass motion to produce rotate around x-axis, thus realizing five axle working motion platforms.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various modifications or modification within the scope of the claims, this not shadow
Ring the flesh and blood of the present invention.
Claims (4)
1. a kind of multiaxis working motion platform being combined based on displacement drive is it is characterised in that include some mutual
The driving means for realizing x, y and/or z-axis translation connecting and the driving dress for realizing the rotation of α, β and/or γ direction
Put；
The described driving means for realizing x, y and/or z-axis translation and the driving for realizing the rotation of α, β and/or γ direction
Device all includes: produces driver part and the motion engine component of interaction force, and is arranged on driver part and motion
It is used for the guiding parts of constrained motion engine component direction of displacement between dynamic component.
2. the multiaxis working motion platform being combined based on displacement drive according to claim 1, its feature exists
In the described driving means for realizing x, y and/or z-axis translation are particularly as follows: include producing the driver part a of interaction force
With motion engine component a, and be arranged between driver part a and motion engine component a be used for constrained motion engine component a position
Move the guiding parts a in direction；Wherein,
Described driver part a is fixed electromagnet or fixing permanent magnet, and it vertically places and produce vertical pole orientation, described
Motion engine component a is movable permanent magnet ferrum or Mobile electromagnetic ferrum, and its horizontal positioned simultaneously produces the pole orientation of level, described guiding
Part a includes stator and mover, and wherein, a magnetic pole end face of stator and driver part a is connected, mover and motion engine component
The side wall of a is connected, and described guiding parts a is horizontally set between driver part a and motion engine component a；Or
Described motion engine component a is movable permanent magnet ferrum or Mobile electromagnetic ferrum, and its horizontal positioned simultaneously produces the pole orientation of level,
Described guiding parts a includes stator and mover, and wherein, mover is connected with the side wall of motion engine component a, and stator is sent out together with motion
Dynamic component a and driver part a is angle o to be connected, 0 ＜ θ ＜ 180 degree, and described guiding parts a is angle o to be arranged on driver part a and fortune
Between dynamic engine component a.
3. the multiaxis working motion platform being combined based on displacement drive according to claim 1, its feature exists
In the described driving means for realizing the rotation of α, β and/or γ direction are particularly as follows: include producing the drive division of interaction force
Part b and motion engine component b, and be arranged between driver part b and motion engine component b for constrained motion engine component
The guiding parts b of b direction of displacement；Wherein,
Described guiding parts b is circular guiding parts, and described circle guiding parts is together with motion engine component b and driver part b
Angle o connected, 0≤θ ＜ 180 degree；Described motion engine component b is combined by several movable permanent magnet ferrum.
4. the multiaxis working motion platform being combined based on displacement drive according to claim 1 and 2, its feature
It is, the described driving means for realizing x, y and/or z-axis translation also include special-shaped outline body, described special-shaped outline body and fortune
Dynamic engine component a is rigidly connected servo-actuated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610786316.7A CN106357045B (en) | 2012-10-17 | 2012-10-17 | The multiaxis working motion platform being composed based on displacement drive |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201210393968.6A CN102946164B (en) | 2012-10-17 | 2012-10-17 | The displacement drive interacted based on permanent magnet and electromagnet |
| CN201610786316.7A CN106357045B (en) | 2012-10-17 | 2012-10-17 | The multiaxis working motion platform being composed based on displacement drive |
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| CN201210393968.6A Division CN102946164B (en) | 2012-10-17 | 2012-10-17 | The displacement drive interacted based on permanent magnet and electromagnet |
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| CN106357045A true CN106357045A (en) | 2017-01-25 |
| CN106357045B CN106357045B (en) | 2018-12-18 |
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| CN201610778628.3A Active CN106329814B (en) | 2012-10-17 | 2012-10-17 | The displacement drive to be interacted based on permanent magnet and electromagnet |
| CN201610778656.5A Active CN106329815B (en) | 2012-10-17 | 2012-10-17 | The displacement drive to be interacted based on permanent magnet and electromagnet |
| CN201210393968.6A Active CN102946164B (en) | 2012-10-17 | 2012-10-17 | The displacement drive interacted based on permanent magnet and electromagnet |
| CN201610786316.7A Active CN106357045B (en) | 2012-10-17 | 2012-10-17 | The multiaxis working motion platform being composed based on displacement drive |
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| CN201610778656.5A Active CN106329815B (en) | 2012-10-17 | 2012-10-17 | The displacement drive to be interacted based on permanent magnet and electromagnet |
| CN201210393968.6A Active CN102946164B (en) | 2012-10-17 | 2012-10-17 | The displacement drive interacted based on permanent magnet and electromagnet |
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| CN107007027A (en) * | 2017-05-04 | 2017-08-04 | 南安创源机电科技有限公司 | Tea set and its method of work |
| CN107048719A (en) * | 2017-05-04 | 2017-08-18 | 南安创源机电科技有限公司 | One plant tea table |
| CN107114916A (en) * | 2017-05-04 | 2017-09-01 | 南安创源机电科技有限公司 | A kind of tea set and its method of work |
| CN107114915A (en) * | 2017-05-04 | 2017-09-01 | 南安创源机电科技有限公司 | Intelligent tea table and its method of work |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102946164B (en) | 2016-12-21 |
| CN106329815A (en) | 2017-01-11 |
| CN106329814B (en) | 2019-01-25 |
| CN106329814A (en) | 2017-01-11 |
| CN106357045B (en) | 2018-12-18 |
| CN106329815B (en) | 2018-11-16 |
| CN102946164A (en) | 2013-02-27 |
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