CN106357045B - The multiaxis working motion platform being composed based on displacement drive - Google Patents
The multiaxis working motion platform being composed based on displacement drive Download PDFInfo
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- CN106357045B CN106357045B CN201610786316.7A CN201610786316A CN106357045B CN 106357045 B CN106357045 B CN 106357045B CN 201610786316 A CN201610786316 A CN 201610786316A CN 106357045 B CN106357045 B CN 106357045B
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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
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Abstract
The invention discloses a kind of multiaxis working motion platforms being composed based on displacement drive, driving device includes the driving part and movement engine component for 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 application is that application No. is 201210393968.6, applying date 2012.10.17, entitled " to be 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 composed based on displacement drive
Multiaxis working motion platform.
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, is provided one kind and is composed based on displacement drive
Multiaxis working motion platform.The present invention can electromagnetic excitation effect be lower generates magnetic pole deflection and make to turn/swing directly to generate translation
Displacement or driving force；The size of produced flat/rotation displacement and power is controllable, be especially easy to generate moment big deformation volume ratio and
Big power output volume ratio 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
It is connected with driving part in the angle O, 0 < θ < 180 degree, 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
Angle o solid master, 0≤θ < 180 degree.
The movement engine component is that several movement permanent magnets are composed.
A kind of multiaxis working motion platform being composed based on displacement drive, including several interconnected be used for
Realize the driving device of x, y and/or z-axis translation and the driving device for realizing the rotation of the direction α, β and/or γ.
The driving device being translatable for realizing x, y and/or z-axis are as follows: the 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.
The driving device for realizing the rotation of the direction α, β and/or γ are as follows: the 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 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；
(a) is 2 schematic diagram of the embodiment of the present invention in Fig. 2；
(b) is 3 schematic diagram of the embodiment of the present invention in Fig. 2；
Fig. 3 is 4 schematic diagram of the embodiment of the present invention；
Fig. 4 is 5 schematic diagram of the embodiment of the present invention；
Fig. 5 is 6 schematic diagram of the embodiment of the present invention；
Fig. 6 is 7 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
Elaborate 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 for generating interaction force, 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.
In Fig. 2 shown in (a), the present embodiment on the basis of embodiment 1, the difference from embodiment 1 is that, will movement hair
Dynamic 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.
In Fig. 2 shown in (b), the present embodiment on the basis of embodiment 1, the difference from embodiment 1 is that, will movement hair
Dynamic component 2 is changed to Mobile electromagnetic iron, and driving part 1 is still fixed electromagnet, and active force is electromagnetism between the magnetic field applied
Field force.
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, as shown in (a) in Fig. 6, select three based on embodiment 1-5 realized for realizing x, y and/or z-axis
The driving device 11,12,13 of translation, combination may be implemented an x y tri- axis translational motion platform of z.
In Fig. 6 shown in (b), x y on tri- axis translational motion platform of z it is upper increase that embodiment 6 realized for realizing
The driving device of the direction α, β and/or γ rotation increases rotate driving dress between driver 11 and driver 12 as shown in the figure
15 are set, turn about the Z axis driving device 11 integrally can；Device of rotation driving 14 is installed in driving device 11, makes driving device
The generation of driven object body can be also driven to turn about the X axis when 11 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 (3)
1. a kind of multiaxis working motion platform being composed based on displacement drive, which is characterized in that including several mutual
The driving device of connection being translatable for realizing x, y and/or z-axis and the driving dress rotated for realizing the direction α, β and/or γ
It sets；
The driving device being translatable for realizing x, y and/or z-axis and the driving for realizing the rotation of the direction α, β and/or γ
Device includes: the driving part and movement engine component for generating interaction force, and setting is in driving part and movement hair
The guiding parts of constrained motion engine component direction of displacement is used between dynamic component；
The driving device being translatable for realizing x, y and/or z-axis specifically: the driving part a including generating interaction force
Constrained motion engine component a are used between driving part a and movement engine component a with movement engine component a, and setting
Move the guiding parts a in direction；
The driving device being translatable for realizing x, y and/or z-axis further includes special-shaped outline body, the special-shaped outline body and fortune
Dynamic engine component a rigid connection is servo-actuated；Move engine component a drive special-shaped outline body move back and forth, in this way with special-shaped outline body
The object slide/being in rolling contact will be driven in the vertical direction and be pumped.
2. the multiaxis working motion platform according to claim 1 being composed based on displacement drive, feature are existed
In the driving part a is fixed electromagnet or fixing permanent magnet, places and generate vertical pole orientation vertically, described
Moving engine component a is mobile permanent magnet or Mobile electromagnetic iron, is horizontally arranged and generates horizontal pole orientation, the guiding
Component a includes stator and mover, wherein a magnetic pole end face of stator and driving part a are connected, mover and movement engine component
The side wall of a is connected, and the guiding parts a is horizontally set between driving part a and movement engine component a；Or
The movement engine component a is mobile permanent magnet or Mobile electromagnetic iron, is horizontally arranged and generates horizontal pole orientation,
The guiding parts a includes stator and mover, wherein the side wall of mover and movement engine component a are connected, and stator is sent out together with movement
Dynamic component a and driving part a is angle o to be connected, 0 < θ < 180 degree, and the guiding parts a is angle o to be arranged in driving part a and fortune
Between dynamic engine component a.
3. the multiaxis working motion platform according to claim 1 being composed based on displacement drive, feature are existed
In the driving device for realizing the rotation of the direction α, β and/or γ specifically: the driving portion including generating interaction force
Part b and movement engine component b, and setting are used for constrained motion engine component between driving part b and movement engine component b
The guiding parts b of b direction of displacement；Wherein,
The guiding parts b is round guiding parts, and the circle guiding parts is together with movement engine component b and driving part b
It is angle o to be connected, 0≤θ < 180 degree；The movement engine component b is composed of several movement permanent magnets.
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| 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 |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 CN106357045A (en) | 2017-01-25 |
| CN106357045B true CN106357045B (en) | 2018-12-18 |
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| 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 |
| CN201610778628.3A Active CN106329814B (en) | 2012-10-17 | 2012-10-17 | The displacement drive to be interacted based on permanent magnet and electromagnet |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106329815A (en) | 2017-01-11 |
| CN106329814B (en) | 2019-01-25 |
| CN102946164A (en) | 2013-02-27 |
| CN102946164B (en) | 2016-12-21 |
| CN106357045A (en) | 2017-01-25 |
| CN106329815B (en) | 2018-11-16 |
| CN106329814A (en) | 2017-01-11 |
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