CN112468014A - Self-induction type giant magnetostrictive precision positioning device - Google Patents
Self-induction type giant magnetostrictive precision positioning device Download PDFInfo
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- CN112468014A CN112468014A CN202011310441.3A CN202011310441A CN112468014A CN 112468014 A CN112468014 A CN 112468014A CN 202011310441 A CN202011310441 A CN 202011310441A CN 112468014 A CN112468014 A CN 112468014A
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- 230000007246 mechanism Effects 0.000 claims abstract description 69
- 230000008859 change Effects 0.000 claims abstract description 10
- 229910003460 diamond Inorganic materials 0.000 claims abstract description 4
- 239000010432 diamond Substances 0.000 claims abstract description 4
- 238000005070 sampling Methods 0.000 claims description 5
- 239000013307 optical fiber Substances 0.000 claims 1
- 238000004804 winding Methods 0.000 claims 1
- 238000000034 method Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 230000009467 reduction Effects 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/04—Constructional details
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/06—Drive circuits; Control arrangements or methods
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/06—Drive circuits; Control arrangements or methods
- H02N2/065—Large signal circuits, e.g. final stages
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- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention discloses a self-induction type giant magnetostrictive precision positioning device, which comprises: the flexible frame, the upper end of flexible frame is as the output end connection load, the lower extreme of flexible frame is connected to the base and is fixed, be equipped with GMM stick actuating mechanism and GMM stick and pick up the mechanism in the flexible frame, GMM stick actuating mechanism and GMM stick pick up the cross setting of mechanism so that the upper and lower both ends of GMM stick actuating mechanism and the left and right both ends of GMM stick pick up the mechanism all with flexible frame connection, and then make flexible frame form a diamond structure, when connecting load work, GMM stick actuating mechanism changes the flexible length that GMM stick picked up the mechanism through flexible frame, and pick up the change volume of mechanism current signal with GMM stick and feed back to GMM stick actuating mechanism and then compensate GMM stick actuating mechanism's flexible length through the control unit. The invention solves the problem that the magnetostriction coefficient of the GMM rod is influenced by load, and can realize precise output positioning.
Description
Technical Field
The invention relates to the field of giant magnetostrictive driving devices, in particular to a self-induction type giant magnetostrictive precision positioning device.
Background
Giant Magnetostrictive Material (GMM) is an intelligent Material with wide application, and the Giant Magnetostrictive Material has wide application in the aspects of magnetic field detection, ultra-precision machining, vibration and noise reduction, fluid device driving and the like, but the output displacement of the Giant Magnetostrictive Material is greatly influenced by load, so that poor positioning precision is caused.
Disclosure of Invention
The invention aims to solve the problems and provides a self-induction type giant magnetostrictive precision positioning device which can realize high-precision positioning even when the connection load changes.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a self-inductive giant magnetostrictive precision positioning device, comprising: the flexible frame, the upper end of flexible frame connects the load as the output, the lower extreme of flexible frame is connected to the base and is fixed, be equipped with GMM stick actuating mechanism and GMM stick and pick up the mechanism in the flexible frame, GMM stick actuating mechanism with GMM stick picks up the mechanism cross setting so that GMM stick actuating mechanism's upper and lower both ends with the left and right both ends that GMM stick picked up the mechanism all with the flexible frame is connected, and then makes the flexible frame forms a diamond structure, when connecting load during operation, GMM stick actuating mechanism passes through the flexible frame changes the flexible length that GMM stick picked up the mechanism to will through the control unit GMM stick picks up the change volume of mechanism current signal and feeds back to GMM stick actuating mechanism and then to GMM stick actuating mechanism's flexible length compensates.
Optionally, the GMM rod driving mechanism includes a driving GMM rod and a driving coil, wherein permanent magnets are disposed at two ends of the driving GMM rod, the permanent magnets are used for generating a uniform bias magnetic field to eliminate a frequency doubling phenomenon occurring when the driving GMM rod vibrates at a high frequency, and the driving coil is wound around the driving GMM rod and the outer side of the permanent magnets and is used for generating an alternating magnetic field to change a telescopic length of the driving GMM rod.
Optionally, the GMM rod picking mechanism further comprises a middle sleeve, the left end and the right end of the middle sleeve are abutted to the flexible frame, the middle sleeve comprises two fixing grooves for fixing the GMM rod picking mechanism and a notch for sleeving the GMM rod driving mechanism, the GMM rod picking mechanism comprises an adjusting GMM rod and a driving coil, the driving coil is wound on the outer side of the adjusting GMM rod, and the adjusting bolt penetrates through the flexible frame and the middle sleeve to be abutted to one end of the adjusting GMM rod.
Optionally, a spacer is further disposed between the adjusting bolt and the GMM adjusting rod.
Optionally, the flexible frame includes four upper, lower, left and right hard connecting strips and is used for connecting the elastic connecting strip of four upper, lower, left and right hard connecting strips, GMM stick actuating mechanism is connected with two upper and lower hard connecting strips respectively, GMM stick pick-up mechanism is connected with two left and right hard connecting strips respectively.
Optionally, the control unit includes a current sampling circuit and an MCU, wherein the current sampling circuit is configured to collect a variation of a current of the GMM rod pickup mechanism, and transmit the variation of the current to the MCU as a control signal, and the MCU is configured to process the control signal and correspondingly change an input current of the GMM rod driving mechanism according to the control signal.
Compared with the prior art, the invention has the technical progress that:
1. the problem that the magnetostriction coefficient of the GMM rod is influenced by load is solved, and the precise output positioning of the system is realized.
2. The vertically disposed drive coils and the horizontally disposed drive coils are arranged criss-cross with minimal mutual inductance effects.
3. The flexible frame is used as an elastic element, no gap exists, and the output precision is high.
4. The GMM rod, the permanent magnet and the flexible frame are driven to form a magnetic circuit, and the pickup GMM rod, the middle sleeve and the spacing sheet form the magnetic circuit and are not mutually influenced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
In the drawings:
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a cross-sectional view of the present invention.
Fig. 3 is a schematic structural view of the intermediate sleeve of the present invention.
In the figure:
1-flexible frame, 11-hard connecting strip, 12-elastic connecting strip, 2-base, 3-GMM rod driving mechanism, 31-driving GMM rod, 32-driving coil, 33-permanent magnet, 4-GMM rod picking mechanism, 41-picking GMM rod, 42-picking coil, 5-middle sleeve, 51-fixing groove, 52-notch, 6-adjusting bolt and 7-spacing piece.
Detailed Description
The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
With reference to fig. 1, fig. 2 and fig. 3, the present invention discloses a self-inductance type giant magnetostrictive precision positioning apparatus, comprising: the flexible frame 1, flexible frame 1 include four upper and lower, left and right hard connecting strip 11 and be used for connecting four upper and lower, left and right hard connecting strip 11's elastic connection strip 12, GMM stick actuating mechanism 3 is connected with two upper and lower hard connecting strip 11 respectively, GMM stick pick up mechanism 4 is connected with two left and right hard connecting strip 11 respectively, wherein, the upper end of flexible frame 1 connects the load as the output, the lower extreme of flexible frame 1 is connected to base 2 fixedly.
The GMM rod driving mechanism 3 and the GMM rod picking mechanism 4 in the flexible frame 1 are arranged in a cross mode, so that the upper end and the lower end of the GMM rod driving mechanism 3 and the left end and the right end of the GMM rod picking mechanism 4 are connected with the flexible frame 1, and the flexible frame 1 forms a diamond structure.
The GMM rod driving mechanism 3 comprises a driving GMM rod 31 and a driving coil 32, permanent magnets 33 are arranged at two ends of the driving GMM rod 31, the permanent magnets 33 are used for generating uniform bias magnetic fields to eliminate the frequency doubling phenomenon of the driving GMM rod 31 during high-frequency vibration, and the driving coil 32 is wound on the outer sides of the driving GMM rod 31 and the permanent magnets 33 and used for generating alternating magnetic fields to change the length of the driving GMM rod 31.
The flexible frame also comprises a middle sleeve 5, and the left end and the right end of the middle sleeve 5 are abutted against the flexible frame 1. The middle sleeve 5 comprises two fixing grooves 51 for fixing the GMM rod picking mechanism 3 and a notch 52 for sleeving the GMM rod driving mechanism 4, wherein the GMM rod picking mechanism 4 comprises a picking GMM rod 41 and a picking coil 42, and the picking coil 42 is wound on the outer side of the picking GMM rod 41. The device also comprises an adjusting bolt 6, wherein the adjusting bolt 6 passes through the hard connecting strip 11 and the middle sleeve 5 of the flexible frame 1 to be abutted against one end of the picking-up GMM rod 41, and in order to prevent the adjusting bolt 6 from scraping the picking-up GMM rod 41 in the working process, a spacer 7 is further arranged between the adjusting bolt 6 and the picking-up GMM rod 41.
The working process of the invention is as follows:
the GMM rod driving mechanism 3 is connected with an alternating power supply, so that the driving coil 32 generates an alternating magnetic field, the GMM rod 31 is driven to generate telescopic deformation under the action of the alternating magnetic field generated by the driving coil 32, and the precise output of an output end can be realized by controlling the magnitude of current input into the driving coil 32. However, when the GMM rod 31 is continuously driven and connected to a load, a magnetic field generated by a current of the same magnitude is applied, and the length of the stretching deformation generated when the GMM rod 31 is driven is different from that of the stretching deformation generated when the load is not connected, so that the output accuracy is low.
The GMM rod picking mechanism 4 is connected with a direct current power supply, so that a picking coil 42 generates a magnetic field, the picking GMM rod 41 generates stretching deformation under the action of the magnetic field generated by the picking coil 42, the picking GMM rod 41 (the horizontal direction of the flexible frame) is stressed and changed because the driving GMM rod 31 generates force action on the vertical direction of the flexible frame 1 when stretching deformation occurs, the picking GMM rod 41 (the horizontal direction of the flexible frame) changes due to stress deformation according to the inverse magnetostriction effect of a giant magnetostrictive material, the picking GMM rod 41 changes the magnitude of input current due to stress deformation, the control unit collects the change amount of the input current of the GMM rod picking mechanism 4 through a current sampling circuit and inputs the change amount of the current of the GMM rod picking mechanism 4 into an MCU of the control unit as a signal input amount, the MCU outputs a signal to the GMM rod driving mechanism 3, the magnitude of the alternating power supply input current of the GMM rod driving mechanism 3 is changed, and the, if the output current of the alternating power source of the GMM rod driving mechanism 3 is increased, the length of the driven GMM rod 31 is further increased until the length reaches a predetermined length.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (6)
1. A self-induction type giant magnetostrictive precision positioning device is characterized by comprising: the flexible frame (1), the upper end of flexible frame (1) is as output end connection load, the lower extreme of flexible frame (1) is connected to base (2) and is fixed, be equipped with GMM stick actuating mechanism (3) and GMM stick pickup mechanism (4) in flexible frame (1), GMM stick actuating mechanism (3) with GMM stick pickup mechanism (4) cross setting makes the upper and lower both ends of GMM stick actuating mechanism (3) and the left and right both ends of GMM stick pickup mechanism (4) all be connected with flexible frame (1), and then make flexible frame (1) form a diamond structure, when connecting load work, GMM stick actuating mechanism (3) pass through flexible frame (1) change the flexible length of GMM stick pickup mechanism (4), and will pass through the control unit with the change volume that GMM stick pickup mechanism (4) current signal feeds back to GMM stick actuating mechanism (3) and then to GMM stick actuating mechanism (3) 3) The expansion length of the optical fiber is compensated.
2. The self-inductive giant magnetostrictive precision positioning device according to claim 1, characterized in that: the GMM rod driving mechanism (3) comprises a driving GMM rod (31) and a driving coil (32), wherein permanent magnets (33) are arranged at two ends of the driving GMM rod (31), the permanent magnets (33) are used for generating uniform bias magnetic fields to eliminate the frequency doubling phenomenon of the driving GMM rod (31), and the driving coil (32) is wound on the outer sides of the driving GMM rod (31) and the permanent magnets (33) and used for generating alternating magnetic fields to change the telescopic length of the driving GMM rod (31).
3. The self-inductive giant magnetostrictive precision positioning device according to claim 2, characterized in that: still include middle cover (5), the left and right both ends of middle cover (5) with flexible frame (1) butt, middle cover (5) include two fixed slots (51) and one that are used for fixed GMM stick pickup mechanism (4) and are used for the cover to establish notch (52) of GMM stick actuating mechanism (3), GMM stick pickup mechanism (4) are including picking up GMM stick (41) and pick up coil (42), pick up coil (42) winding and be in pick up the GMM stick (41) outside, still include adjusting bolt (6), adjusting bolt (6) pass flexible frame (1) and middle cover (5) with the one end butt of picking up GMM stick (41).
4. The self-inductive giant magnetostrictive precision positioning device according to claim 3, characterized in that: and a spacing piece (7) is also arranged between the adjusting bolt (6) and the picking GMM rod (41).
5. The self-inductive giant magnetostrictive precision positioning device according to any one of claims 1 to 4, characterized in that: the flexible frame (1) comprises an upper hard connecting strip (11), a lower hard connecting strip (11), a left hard connecting strip (11) and an elastic connecting strip (12) used for connecting the upper hard connecting strip (11), the lower hard connecting strip (11), the left hard connecting strip (11) and the right hard connecting strip (11), the GMM rod driving mechanism (3) is connected with the upper hard connecting strip (11) and the lower hard connecting strip (11) respectively, and the GMM rod picking mechanism (4) is connected with the left hard connecting strip (11) and the right hard connecting strip (11) respectively.
6. The self-inductive giant magnetostrictive precision positioning device according to claim 1, characterized in that: the control unit comprises a current sampling circuit and an MCU (microprogrammed control unit), wherein the current sampling circuit is used for collecting the current variation of the GMM rod pickup mechanism (4), the current variation is used as a control signal to be transmitted to the MCU, and the MCU is used for processing the control signal and correspondingly changing the input current of the GMM rod driving mechanism (3) according to the control signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011310441.3A CN112468014B (en) | 2020-11-20 | 2020-11-20 | Self-induction type giant magnetostrictive precision positioning device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011310441.3A CN112468014B (en) | 2020-11-20 | 2020-11-20 | Self-induction type giant magnetostrictive precision positioning device |
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| CN112468014A true CN112468014A (en) | 2021-03-09 |
| CN112468014B CN112468014B (en) | 2022-03-01 |
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| CN202011310441.3A Active CN112468014B (en) | 2020-11-20 | 2020-11-20 | Self-induction type giant magnetostrictive precision positioning device |
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|---|---|---|---|---|
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| CN102231610A (en) * | 2011-07-11 | 2011-11-02 | 南京航空航天大学 | Giant magnetostrictive cylinder and rod composite driving actuator and working method thereof |
| CN102255555A (en) * | 2011-07-11 | 2011-11-23 | 南京航空航天大学 | Permanent magnet dual-coil-driven giant magnetostrictive actuator and working method thereof |
| CN105959889A (en) * | 2016-05-10 | 2016-09-21 | 中国人民解放军军械工程学院 | Bow stretching type giant magnetostrictive audio transduction device |
| CN206992986U (en) * | 2017-07-26 | 2018-02-09 | 湖南科技学院 | Driver based on ultra-magnetic telescopic vibrational energy collector |
| CN108167264A (en) * | 2017-12-18 | 2018-06-15 | 温州大学 | A kind of variation rigidity hydraulic drive mechanism and its variation rigidity regulation and control method based on giant magnetostrictive material |
| CN108458031A (en) * | 2018-03-15 | 2018-08-28 | 东北大学 | A kind of super mangneto squash type MR damper adaptive approach and damper |
| CN110034032A (en) * | 2019-04-25 | 2019-07-19 | 广东工业大学 | A kind of compound bonding apparatus of force feedback closed-loop control |
| CN209571967U (en) * | 2019-05-05 | 2019-11-01 | 中国人民解放军陆军工程大学 | Ultra-magnetic telescopic clutch type high-precision linear driver |
-
2020
- 2020-11-20 CN CN202011310441.3A patent/CN112468014B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19812981A1 (en) * | 1998-03-24 | 1999-09-30 | Fraunhofer Ges Forschung | Electromechanical arrangement producing linear movement e.g. for gravure in printing industry |
| CN201113829Y (en) * | 2007-10-19 | 2008-09-10 | 北京工业大学 | Double phase opposed giant magnetostriction driver |
| CN102231610A (en) * | 2011-07-11 | 2011-11-02 | 南京航空航天大学 | Giant magnetostrictive cylinder and rod composite driving actuator and working method thereof |
| CN102255555A (en) * | 2011-07-11 | 2011-11-23 | 南京航空航天大学 | Permanent magnet dual-coil-driven giant magnetostrictive actuator and working method thereof |
| CN105959889A (en) * | 2016-05-10 | 2016-09-21 | 中国人民解放军军械工程学院 | Bow stretching type giant magnetostrictive audio transduction device |
| CN206992986U (en) * | 2017-07-26 | 2018-02-09 | 湖南科技学院 | Driver based on ultra-magnetic telescopic vibrational energy collector |
| CN108167264A (en) * | 2017-12-18 | 2018-06-15 | 温州大学 | A kind of variation rigidity hydraulic drive mechanism and its variation rigidity regulation and control method based on giant magnetostrictive material |
| CN108458031A (en) * | 2018-03-15 | 2018-08-28 | 东北大学 | A kind of super mangneto squash type MR damper adaptive approach and damper |
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| CN209571967U (en) * | 2019-05-05 | 2019-11-01 | 中国人民解放军陆军工程大学 | Ultra-magnetic telescopic clutch type high-precision linear driver |
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| CN112468014B (en) | 2022-03-01 |
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