CN109488711A - Linear motion and rotary motion dual-purpose type electromagnetic damper - Google Patents

Linear motion and rotary motion dual-purpose type electromagnetic damper Download PDF

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Publication number
CN109488711A
CN109488711A CN201811619571.8A CN201811619571A CN109488711A CN 109488711 A CN109488711 A CN 109488711A CN 201811619571 A CN201811619571 A CN 201811619571A CN 109488711 A CN109488711 A CN 109488711A
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CN
China
Prior art keywords
lead screw
electromagnetic damping
spring
electromagnetic
screw shaft
Prior art date
Application number
CN201811619571.8A
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Chinese (zh)
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CN109488711B (en
Inventor
褚明
夏永健
孙磊
叶琦
贾晨
于秀丽
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北京邮电大学
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Priority to CN201811619571.8A priority Critical patent/CN109488711B/en
Publication of CN109488711A publication Critical patent/CN109488711A/en
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Publication of CN109488711B publication Critical patent/CN109488711B/en

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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16FSPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F6/00Magnetic springs; Fluid magnetic springs, i.e. magnetic spring combined with a fluid
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16FSPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2232/00Nature of movement
    • F16F2232/04Rotary-to-translation conversion
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16FSPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2232/00Nature of movement
    • F16F2232/06Translation-to-rotary conversion

Abstract

The present invention relates to robot for space research and engineering field, specifically a kind of linear motion and rotary motion dual-purpose type electromagnetic damper, including electromagnetic damping component, spring lead screw assembly and lead screw shaft.The electromagnetic damping component and spring lead screw assembly are connect with lead screw shaft respectively.When rotary impact acts on rotary impact input terminal, the rotation of lead screw shaft rotates the rotor of electromagnetic damping component, and the feed screw nut of spring lead screw assembly is mobile;Electromagnetic damping component is by generation to the electromagnetic damping torque of lead screw shaft, and spring lead screw assembly generates the moment of resistance to lead screw shaft, and rotating electromagnetic damping torque is collectively formed in the two.When straight line shock acts on straight line shock input terminal, the movement of feed screw nut rotates the rotor of electromagnetic damping component;Electromagnetic damping component generates the pressure to feed screw nut by the by-produced electromagnetic damping power to feed screw nut of feed screw nut, spring, and linear electromagnetic damping force is collectively formed in the two.Thus realize the structure unification of straight line and rotary damper.

Description

Linear motion and rotary motion dual-purpose type electromagnetic damper

Technical field

The present invention relates to robot for space research and engineering field, specifically a kind of linear motion and rotary motion dual-purpose type Electromagnetic damper.

Background technique

Currently, docking mechanism used by space articulation technology is studied, mainly there are " cone-bar " formula docking system, flying mesh skill Art, electromagnetism docking, rigid mechanical are arm-type etc., above is all the docking mechanism with special interface, in flexible unit using upper, Mainly using flexible rope as executive component or by designing associated mechanisms subsystem in end executive device;It is wanted in constraint condition Ask the control of relative pose between two spacecrafts more demanding, the moment pose disturbance of docking requires also high.For this reason, it may be necessary to open Soft-dock key technology research is opened up, by introducing the flexibility with controllable damping coefficient and coefficient of elasticity in positive drive mechanism Unit designs a kind of combination of rigidity and flexibility formula joint, will dock impact force that target introduces and impact force is buffered and unloaded, make Docking operation submissiveization.During generating damping force, primary and secondary conductor does not contact electromagnetic damper, has damping Controllably, without friction, noise is small, lifetime of system is long, working principle is simple, easy to control the features such as.Therefore, electromagnetic damper will be It plays an important role in space soft-dock operation.

Summary of the invention

Technical problem to be solved by the invention is to provide the workable electromagnetism resistances of a kind of linear motion and rotary motion Buddhist nun's device reduces the structural complexity of damping unit used in robot for space.

In order to achieve the above object, it moves along a straight line and rotary motion dual-purpose type electromagnetic damper the present invention provides a kind of, It includes electromagnetic damping component, spring lead screw assembly and lead screw shaft.Concrete scheme is as follows:

The lead screw shaft is divided into screw part and damper portions, the spindle nose of screw part side for install bearing into Row axial restraint, the spindle nose of damper portions side are then rotary impact input terminals;

The electromagnetic damping component includes stator, rotor, coil, pole shoe and axle sleeve;Stator is mounted on silk by bearing In thick stick shaft, stator is made of discoid stator disc and fan-shaped iron core, and iron core shares 12, around stator disc center of circle center pair Claim distribution, and symmetrical two sides is uniformly distributed on stator disc;

The coil is wound on stator core, and the pole shoe fan-shaped in the installation of iron core top;

The rotor is in collar plate shape, is installed on stator two sides, is connected by key with lead screw shaft, realizes and rotates synchronously;

The spring lead screw assembly includes feed screw nut, spring, linear guide and spring stop;Feed screw nut is installed on It on the screw part of lead screw shaft, is mounted on linear guide by through-hole, linear guide is connect with spring stop;Feed screw nut Realize that linear motion of the feed screw nut on lead screw, feed screw nut are also straight line punching simultaneously by screw pair and linear guide Hit input terminal;

The spring stop is installed on linear guide both ends, is installed at the beginning of two respectively between spring stop and feed screw nut The equal linear springs of beginning decrement;

Coil, which will be powered, to generate field circuit in stator and rotor, when rotary impact is entered by rotary input, Lead screw shaft will drive rotor rotation, and push feed screw nut mobile.At this point, relative motion occurs for rotor and its internal magnetic field, Cause magnetic flux in rotor disk persistently to change, generates induced electromotive force, and then generate vortex in internal rotor, and in conductor resistance It is converted into thermal energy under effect and is consumed.In this process, it is vortexed the magnetic field interaction that the magnetic field of generation will be generated with coil, Electromagnetic damping torque is formed, rotor motion is hindered.In addition, the movement of feed screw nut will make two lateral springs generate different deformation Amount, and then elastic force difference is generated, pressure is formed, hinders feed screw nut mobile, the pressure of spring will be converted by screw pair For the moment of resistance for hindering lead screw rotation.The moment of resistance that electromagnetic damping torque and spring pressure are formed as a result, has collectively constituted resistance The damping torque of rotary impact.When straight line shock is entered by straight line shock input terminal, feed screw nut drives lead screw shaft to turn Dynamic, same as above, internal rotor will generate electromagnetic damping torque, hinder the rotation of lead screw shaft, and damping torque will pass through lead screw spiral shell Female pair is changed into the damping force for hindering feed screw nut mobile.The damping force that the pressure of spring and rotor pass over as a result, is common The damping force for resisting straight line shock is constituted, and damping force size is changed by regulating winding electric current.

Compared with prior art, superior effect of the invention:

The present invention will be moved along a straight line by lead screw pair and rotary motion mutually converts, and impact need to only be connected to corresponding impact Input terminal can be achieved with the function of linear damper and rotary damper, realize the structure unification of two kinds of dampers, can Simplify the complexity of system;

Pole shoe and iron core of the invention is all made of sector structure, in existing disk type electromagnetic damping device circular pole piece and Iron core is compared, and magnetic field working field area is big, and damping torque fan-out capability is strong, and adjustable range is big.

Present invention combination electromagnetic damping component and spring generate damping force jointly, can consume and impact in electromagnetic damping component While kinetic energy, in the spring by extra kinetic energy storage, laid in as subsequent consumption, so that impact kinetic energy is complete in damper It totally disappeared consumption, and realize reset.

Detailed description of the invention

Fig. 1 is overall structure outside drawing of the invention;

Fig. 2 is the radial structure diagrammatic cross-section of electromagnetic damping component in Fig. 1;

Fig. 3 is the axial cross-sectional views of electromagnetic damping component in Fig. 1;

Fig. 4 is the structural schematic diagram of spring lead screw assembly in Fig. 1;

There are 1. electromagnetic damping components in figure, 11. stators, 12. rotors one, 13. rotors two, 14. coils, 15. pole shoes, 16. Axle sleeve one, 17. axle sleeves two;2. spring lead screw assembly, 21. feed screw nuts, 22. springs one, 23. springs two, 24. spring stops One, 25. spring stops two, 26. linear guides;3. lead screw shaft.

Specific embodiment

To keep technical solution of the present invention, design feature clearer, the present invention is done further with reference to the accompanying drawing Detailed description.

As shown in Figure 1, being linear motion and rotary motion dual-purpose type electromagnetic damper, structure includes electromagnetic damper group Part 1, spring lead screw assembly 2 and lead screw shaft 3.

As shown in Figures 2 and 3, stator 11 is mounted in lead screw shaft 3 by bearing, and 12 fan-shaped iron are shared on stator Core is uniformly distributed in stator two sides;Coil 14, and the pole shoe fan-shaped in the installation of iron core upper surface are wound on stator core;Turn Son 1 and rotor 2 13 are connected by key are installed in lead screw shaft 3 respectively, and are carried out by axle sleeve 1 and axle sleeve 2 17 Axially position carries out axial restraint with locking nut in 2 13 side of rotor;The spindle nose of one 12 side of rotor is rotary impact Input terminal.

As shown in figure 4, feed screw nut 21 is installed in lead screw shaft 3 by ball in the lead screw section of lead screw shaft 3, Linear guide 26 is each passed through two through-holes of feed screw nut 21, and its both ends and spring stop 1 and spring stop 2 25 connect It connects;Spring 1 is clamped between spring stop 1 and feed screw nut 21, and spring 2 23 is clamped in feed screw nut 21 and spring Between baffle 2 25, spring 1 and spring 2 23 it is initial when decrement it is identical, be in dynamic balance state;Feed screw nut 21 is For straight line shock input terminal.

On stator 11, unilateral adjacent windings pass to current in opposite, and two sides are symmetrical, therefore the adjacent 4 magnetic pole structures in two sides At a field circuit, magnetic field passes through rotor 1 and rotor 2 13.

Under rotary impact state, when rotary impact enters from the rotary impact input terminal of lead screw shaft 3, lead screw shaft 3 drive rotor 1 and rotor 2 13 to rotate, and relative motion occur with magnetic pole and magnetic field, magnetic flux changes, in internal rotor Induced electromotive force is formed, generates vortex in conductor, and be converted into heat under the action of conductor resistance.Since vortex generates vortex Magnetic field interacts with magnetic pole and magnetic field, will generate the electromagnetic damping torque for hindering rotor 1 and rotor 2 13 to rotate.Together When, the rotation of lead screw shaft 3 will make feed screw nut 21 mobile, and spring 1 and spring 2 23 generate different deformation amount, spring Formation to the pressure of feed screw nut 21, is changed into the moment of resistance to lead screw shaft 3 via screw pair by elastic force difference.The two In conjunction with together constituting the damping torque of rotating electromagnetic damper, and the current regulation damping torque by changing coil 14.

Under straight line shock state, when straight line shock enters from the straight line shock input terminal of feed screw nut 21, lead screw spiral shell Mother 21 is mobile to force lead screw shaft 3 to rotate, and lead screw shaft 3 drives rotor 1 and rotor 2 13 to rotate, and generates electromagnetic damping Torque, the torque are changed into the resistance to feed screw nut 21 via screw pair.Meanwhile the movement of feed screw nut 21, it will make Spring 1 and spring 2 23 generate the pressure to feed screw nut 21.The two combines, and together constitutes linear electromagnetic damper Damping force, and the current regulation damping force by changing coil 14.

Claims (4)

1. it is a kind of linear motion and rotary motion dual-purpose type electromagnetic damper, including electromagnetic damping component, spring lead screw assembly with And lead screw shaft, it is characterised in that: the electromagnetic damping component and spring lead screw assembly are respectively arranged in lead screw shaft;It is described Lead screw shaft drives the rotor rotation of electromagnetic damping component, and interacts with stator;The lead screw shaft and spring wire Thick stick component generates mutually movement, and what is be rotated and move along a straight line mutually converts.
2. electromagnetic damper according to claim 1, it is characterised in that: in the electromagnetic damping component, stator core, line Circle and pole shoe are fan-shaped, are uniformly distributed in stator two sides, form six pairs of magnetic poles altogether.
3. electromagnetic damper according to claim 1, it is characterised in that: in the spring lead screw assembly, spring when initial In compression equilibrium state, the deformation difference of two springs generates the pressure to feed screw nut.
4. electromagnetic damper according to claim 1, it is characterised in that: electromagnetic damping component generates electromagnetic damping torque, Spring lead screw assembly generates pressure, under the action of screw pair, synthesizes the linear electromagnetic damping under straight line shock state Rotating electromagnetic damping torque under power and rotary impact state.
CN201811619571.8A 2018-12-28 2018-12-28 Linear motion and rotary motion dual-purpose electromagnetic damper CN109488711B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811619571.8A CN109488711B (en) 2018-12-28 2018-12-28 Linear motion and rotary motion dual-purpose electromagnetic damper

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811619571.8A CN109488711B (en) 2018-12-28 2018-12-28 Linear motion and rotary motion dual-purpose electromagnetic damper

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CN109488711A true CN109488711A (en) 2019-03-19
CN109488711B CN109488711B (en) 2020-05-12

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110171582A (en) * 2019-06-03 2019-08-27 哈尔滨工业大学 Spacecraft Recovery electromagnetic damping device
CN110686034A (en) * 2019-10-11 2020-01-14 北京邮电大学 Rotary electromagnetic damper with bidirectional torsion spring

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN204882100U (en) * 2015-05-15 2015-12-16 深圳职业技术学院 Car fourth simulation electromagnetism suspension and test bench thereof
CN206338351U (en) * 2016-11-30 2017-07-18 浙江建科减震科技有限公司 A kind of electromagnetic eddy rotary damper
CN107178574A (en) * 2017-06-08 2017-09-19 江苏科技大学 A kind of powered shock absorption device with generating function
CN108799030A (en) * 2018-05-25 2018-11-13 北京航空航天大学 Electromagnetic type vibration damping and energy-absorbing power generator
CN109027090A (en) * 2018-10-25 2018-12-18 华北水利水电大学 Ternary vibration absorber, design and the assembly method of parallel connection damping and used matter unit

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN204882100U (en) * 2015-05-15 2015-12-16 深圳职业技术学院 Car fourth simulation electromagnetism suspension and test bench thereof
CN206338351U (en) * 2016-11-30 2017-07-18 浙江建科减震科技有限公司 A kind of electromagnetic eddy rotary damper
CN107178574A (en) * 2017-06-08 2017-09-19 江苏科技大学 A kind of powered shock absorption device with generating function
CN108799030A (en) * 2018-05-25 2018-11-13 北京航空航天大学 Electromagnetic type vibration damping and energy-absorbing power generator
CN109027090A (en) * 2018-10-25 2018-12-18 华北水利水电大学 Ternary vibration absorber, design and the assembly method of parallel connection damping and used matter unit

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110171582A (en) * 2019-06-03 2019-08-27 哈尔滨工业大学 Spacecraft Recovery electromagnetic damping device
CN110686034A (en) * 2019-10-11 2020-01-14 北京邮电大学 Rotary electromagnetic damper with bidirectional torsion spring

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