CN113991962B - Linear-high speed combined type bidirectional direct power motor based on permanent magnet differential magnetic circuit - Google Patents
Linear-high speed combined type bidirectional direct power motor based on permanent magnet differential magnetic circuit Download PDFInfo
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- CN113991962B CN113991962B CN202111263023.8A CN202111263023A CN113991962B CN 113991962 B CN113991962 B CN 113991962B CN 202111263023 A CN202111263023 A CN 202111263023A CN 113991962 B CN113991962 B CN 113991962B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K33/00—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
- H02K33/18—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system with coil systems moving upon intermittent or reversed energisation thereof by interaction with a fixed field system, e.g. permanent magnets
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K33/00—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
- H02K33/02—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system with armatures moved one way by energisation of a single coil system and returned by mechanical force, e.g. by springs
Abstract
The linear-high speed composite bidirectional direct-drive motor based on the permanent magnet differential magnetic circuit comprises an armature component, a yoke component, a front return spring component and a rear return spring component; the first armature comprises a rectangular panel, a first pole shoe and a second pole shoe are respectively arranged on the diagonal of the long side of the rectangular panel, and the first armature and the second armature are completely identical in structure and are buckled with each other in a reverse direction; the back sides of the first armature and the second armature are respectively connected with a rear push rod and a front push rod; the rear end of the rear push rod is connected with a rear return spring component and a valve core of the servo proportional valve, and the front end of the front push rod is connected with a front return spring component. The yoke part comprises a yoke iron frame which is divided into a high-speed end and a linear end, and the high-speed end and the linear end are respectively provided with a wedge-shaped axial pole shoe and a basin-shaped radial pole shoe. The invention has the working characteristics of the linear electro-mechanical converter and the high-speed suction characteristic of the high-speed electromagnet, and can be suitable for application occasions with the requirements on linear displacement output and high-speed suction working performance.
Description
Technical Field
The invention relates to a linear-high speed combined type electro-mechanical conversion element for a servo proportional valve in the field of fluid transmission and control, in particular to a linear-high speed combined type bidirectional direct power motor based on a permanent magnet differential magnetic circuit.
Background
An electro-mechanical converter is a driving element for converting electric energy into mechanical energy, is used as a core component of an electro-hydraulic servo valve, is a bridge for connecting an electric signal and mechanical action, and is a driving element of the electro-hydraulic servo valve. The performance of an electro-mechanical converter is closely related to the overall performance of an electro-hydraulic servo valve. Therefore, research and development of high-performance electromechanical transducers have been an important research topic in the industry. The development and progress of industrial technology put higher demands on the electromechanical converter mainly include the following points of simple structure, high frequency response, strong loading capacity, good output linearity, easy maintenance and the like.
A "linear" electromechanical transducer generally means that the electromechanical transducer has an approximately horizontal force-displacement characteristic. The proportional electromagnet is the most typical one, and by adopting a magnetic isolation ring structure, a magnetic circuit is divided into two paths of axial and radial at the magnetic isolation ring during excitation, and the horizontal force-displacement characteristic required by linear control can be obtained after synthesis. The electro-mechanical conversion device as an element of the electro-hydraulic control system has the function of converting a current signal supplied by the proportional control amplifier into force or displacement. The proportional electromagnet has the advantages of large thrust, simple structure, low requirement on oil quality, convenient maintenance and low cost, and the armature cavity can be made into a high-voltage-resistant structure, so that the proportional electromagnet is the most widely applied electro-mechanical converter in an electro-hydraulic control system. The characteristics and the working reliability of the proportional electromagnet have very important influence on an electro-hydraulic proportional control system and elements, and are one of key components of the electro-hydraulic proportional control technology.
The traditional proportional electromagnet has a large volume and a complex structure, and can only provide one-way driving force for the servo proportional valve, so that two proportional electromagnets are usually adopted to realize the reversing of the servo proportional valve, the mass of the servo proportional valve is increased, the inertia is increased, and the response speed is slow. Therefore, the traditional proportional electromagnet is not suitable for the use occasions requiring rapid dynamic response, and the development of the high-speed electromagnet is particularly important.
The high-speed electromagnet is characterized in that through improvement on the electromagnet structure or innovation on material application, the armature moves at a higher speed in the electromagnet suction process than in the common electromagnet. The high-speed electromagnet is characterized by the high-speed attraction capacity of the armature, and the most prominent performance of the high-speed attraction capacity is that the attraction time of the electromagnet is short, and the electromagnet has the characteristics of high frequency response, large output force and the like. But does not have the horizontal force-displacement characteristics of a linear electromechanical transducer and has a small stroke. The linear electromechanical converter is structurally designed to form a magnetic circuit in a special form, so that the linear electromechanical converter can obtain horizontal force-displacement characteristics.
However, in certain hydraulic systems, due to the complexity of the particular conditions to which the system is subjected, conventional electro-mechanical converters have not been able to meet such requirements, as some hydraulic systems have been required to perform a proportional output and high speed closing of the hydraulic chambers. The research on new electromechanical converters has immeasurable effects on improving the safety, reliability and efficiency of the system.
Disclosure of Invention
In order to overcome the problems, the invention provides a linear-high speed combined type bidirectional direct-driven motor based on a permanent magnet differential magnetic circuit, which has a horizontal force-displacement characteristic curve and a return stroke and can be attracted at a high speed.
The technical scheme adopted by the invention is as follows: the linear-high speed combined type bidirectional direct-acting power motor based on the permanent magnet differential magnetic circuit comprises an armature component, a yoke component, a front return spring component, a rear return spring component, a front end cover, a rear end cover, a first shell, a second shell and a third shell;
the armature component comprises a first armature, a second armature, a front push rod, a rear push rod and a permanent magnet; the first armature comprises a rectangular panel, a first pole shoe and a second pole shoe are respectively arranged on the diagonal of the long side of the rectangular panel, the pole face of the first pole shoe is rectangular, and the pole face of the second pole shoe is wedge-shaped; the permanent magnet is magnetized into N-level and S-level in the radial direction, the rectangular panel of the first armature is attached to the N-level surface of the permanent magnet, and the first pole shoe and the second pole shoe on the first armature are magnetized into N-level by the permanent magnet; the first armature and the second armature are completely identical in structure and are buckled with each other in a reverse direction; the rectangular panel of the second armature is attached to the S pole surface of the permanent magnet, and a first pole shoe and a second pole shoe on the second armature are magnetized into the S pole by the permanent magnet; the back sides of the first armature and the second armature are respectively connected with a rear push rod and a front push rod, the axes of the rear push rod and the front push rod are parallel to the short edge of the rectangular panel and pass through the geometric center point of the rectangular panel, and the rear push rod and the front push rod are used for transmitting output force; the middle part of the front push rod is arranged in a first linear bearing on the second shell, and the middle part of the rear push rod is arranged in a second linear bearing on the third shell; the front end of the front push rod is connected with a front return spring component, and the rear end of the rear push rod is connected with a rear return spring component;
the yoke part comprises a yoke frame, a first control coil and a second control coil, the yoke frame is divided into a high-speed end and a linear end, the high-speed end comprises a first arm and a second arm which are arranged in parallel, the rear ends of the first arm and the second arm are connected with a first connecting bridge circuit, the first connecting bridge circuit is of a vertically arranged rectangular frame structure, the first arm and the second arm are connected to the middle position of the first connecting bridge circuit, and opposite sides of the first arm and the second arm protrude to form symmetrical wedge-shaped axial pole shoes; the linear end comprises a third arm and a fourth arm which are arranged in parallel, the front ends of the third arm and the fourth arm are connected with a second connecting bridge circuit, the second connecting bridge circuit is of a vertically arranged rectangular frame structure, the third arm and the fourth arm are connected to the middle position of the second connecting bridge circuit, opposite sides of the third arm and the fourth arm protrude to form symmetrical rectangular axial pole shoes, basin-shaped teeth are arranged on the side edge and the upper edge of one side, far away from each other, of the two rectangular axial pole shoes, the cross sections of the basin-shaped teeth are right triangles, and the right-angle sides of the basin-shaped teeth face one side of the rectangular axial pole shoes; wherein the pot-shaped teeth positioned at one side edge of the two rectangular axial pole shoes which are far away from each other form pot-shaped radial pole shoes; the first connecting bridge circuit and the second connecting bridge circuit are attached in a back-to-back mode, and a first control coil and a second control coil are mounted in the middle of the upper end and the middle of the lower end of each of the first connecting bridge circuit and the second connecting bridge circuit respectively;
the armature part is arranged in a three-dimensional space formed by the wedge-shaped axial pole shoe at the high-speed end, the basin-shaped radial pole shoe at the linear end and the first connecting bridge circuit and the second connecting bridge circuit, and the axial working air gap delta is formed by the first pole shoe on the first armature, the rectangular axial pole shoe at the left end of the linear end and the basin-shaped radial pole shoe 1 And radial working air gap δ' 1 (ii) a The first pole shoe on the second armature, the rectangular axial pole shoe and the basin-shaped radial pole shoe at the right end of the linear end form an axial working air gap delta 2 And radial working air gap δ' 2 (ii) a The second pole shoe on the first armature and the wedge-shaped axial pole shoe at the left end of the high-speed end form an axial working air gap delta 3 The second pole shoe on the second armature and the wedge-shaped axial pole shoe at the right end of the high-speed end form an axial working air gap delta 4 (ii) a Axial working air gap delta when armature member is in neutral position 1 、δ 2 Equal size, axial working air gap delta 3 、δ 4 Equal in size; radial working air gap delta' 1 、δ′ 2 The size is constant when the armature component moves axially; the yoke iron frame is installed in a square opening groove of the first housing.
Preferably, the front return spring component comprises a front return spring, a front first spring base, a front second spring base and a front second spring base limit ring; the front first spring base is installed at the front end of the second shell, the front second spring base is installed in an annular groove at the rear end of the front end cover, the front second spring base limiting ring is installed at the rear end of the front second spring base, the rear end of the front return spring is installed at the front first spring base, the front end of the front return spring is installed at the front second spring base, and the front first spring base and the front second spring base are limited by two shoulders of the front push rod in the second shell position besides the second shell and the front end cover; the front end opening of the first shell is hermetically connected with the rear end of the second shell, and the rear end of the front end cover is hermetically connected with the front end of the second shell;
the rear return spring component comprises a rear return spring, a rear first spring base, a rear second spring base and a rear second spring base limiting ring; the rear first spring base is installed at the rear end of the third shell, the rear second spring base is installed in an annular groove at the front end of the rear end cover, the rear second spring base limiting ring is installed at the front end of the rear second spring base, the front end of the rear return spring is installed at the rear first spring base, the rear end of the rear return spring is installed at the rear second spring base, and the rear first spring base and the rear second spring base are limited by the third shell and the rear end cover and are also limited by two shaft shoulders of the rear push rod in the third shell; the rear end opening of the first shell is connected with the front end of the third shell in a sealing mode, and the front end of the rear end cover is connected with the rear end of the third shell in a sealing mode.
Preferably, the front end cover, the rear end cover, the front push rod, the rear push rod, the front first spring base, the rear first spring base, the front second spring base, the rear second spring base, the first shell, the second shell and the third shell are all non-magnetizers made of non-magnetic materials; the yoke iron frame, the first armature and the second armature are all magnetizers made of soft magnetic materials.
The invention has the beneficial effects that:
1. the compound bidirectional direct-drive motor has both a linear end and a high-speed end. And the linear end is formed by additionally adding basin-shaped teeth on the side surface of the yoke iron on the axial working air gap on the basis of the axial working air gap to form a special compensation magnetic circuit. On the basis of the gradually rising force-displacement characteristic curve obtained by the axial working air gap, a gradually falling force-displacement characteristic curve obtained by the radial working air gap is compensated. By the application of the mixed air gap and the compensation teeth, the combined linear current-force-displacement conversion device can be finally synthesized into a nearly horizontal force-displacement characteristic curve in a working stroke and has a longer working stroke, so that the linear current-force-displacement conversion is realized. The high-speed end having only an axial working air gap, the armature and yoke pole faces being angled
So that the electromagnetic force generated in the initial operating position is 1/sin of the planar pole piece 2 Theta times. And the output force increases exponentially along with the displacement of the armature, so that the high-speed pull-in working performance of return stroke is achieved. The motor has the working characteristics of a linear electro-mechanical converter and the high-speed suction characteristic of a high-speed electromagnet, and is suitable for application occasions with the requirements on linear displacement output and high-speed suction working performance.
2. Based on the work of the permanent magnet differential magnetic circuit, the energy consumption is low. The most common linear electro-mechanical converter is a proportional electromagnet which is basically a single electro-magnetic structure, and in order to obtain an ideal large thrust, a large current needs to be supplied, so that the energy consumption is high and the heat generation is serious. The composite force motor provided by the invention adopts the permanent magnet differential magnetic circuit, takes the permanent magnet as the polarized magnetic field and the control coil as the magnetic field, and effectively reduces the energy consumption, reduces the heat productivity of the coil and improves the working reliability on the premise of maintaining the thrust level.
3. Simple structure, compact magnetic circuit and low processing cost. The proportion electro-magnet is originally got from the foetus that takes off by the ancient solenoid electro-magnet, and it has inherited the cylindric stator armature's of solenoid electro-magnet structural feature: the stator assembly is composed of a plurality of parts, the cylindrical armature has large motion inertia, and the structure is naturally not suitable for being used as a linear-high speed composite electro-mechanical conversion element. The claw pole type armature component of the combined force motor and the stator structure of the integral truss have the advantages of compact magnetic circuit, high utilization efficiency, no special precision requirement between the stator and the armature on the whole, simple structure and low processing cost.
Drawings
Fig. 1 is a schematic diagram of the structural principle of the present invention.
Fig. 2a is a schematic view of the armature structure of the present invention.
Fig. 2b is a schematic view of the assembly of the armature and permanent magnet of the present invention.
Fig. 2c is a schematic view of the assembly of the first armature, the second armature, and the permanent magnet of the present invention.
Fig. 3a is a schematic view of the yoke structure of the present invention.
Fig. 3b is a schematic view of the basin-shaped tooth with a curved outer contour according to the present invention.
Fig. 3c is an isometric assembly view of the armature and yoke components.
Fig. 3d is a front assembly view of the armature and yoke components.
Fig. 4 is a schematic view of the assembly of the armature and yoke parts in the neutral position.
Fig. 5 is a schematic diagram of the operating principle of the present invention, showing the overall flux conditions inside the present invention when the control coil is not energized.
Figure 6a shows the internal magnetic circuit of the design of the present invention when the linear end of the force motor is active after the control coil is energized.
Fig. 6b and 6c show a partial enlarged view of the magnetic circuit of the linear end of the force motor during armature displacement.
Fig. 7a shows the internal magnetic circuit of the design of the present invention when the high speed end of the force motor is active after the control coil is energized.
Fig. 7b and 7c respectively show a partial enlarged view of a magnetic circuit of the high-speed end of the force motor when the armature is displaced.
Description of reference numerals: 1. a first housing; 2. a yoke member; 3a, a front first spring base; 3b, a rear first spring base; 4a, a front return spring; 4b, a rear return spring; 5a, a front second spring base; 5b, a rear second spring base; 6a, a front push rod; 6b, a rear push rod; 7a, a front end cover; 7b, a rear end cover; 8a, a second shell; 8b, a third shell; 9a, a first linear bearing; 9b, a second linear bearing; 10. a first armature; 11. a second armature; 12. a permanent magnet; 13. a first control coil; 14. a second control coil; 20. a high-speed end; 21 a first arm, 22 a second arm; 23. a wedge-shaped axial pole shoe; 24. a linear end; 25. a third arm; 26. a fourth arm; 27. a basin-shaped radial pole shoe.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are only some embodiments, but not all embodiments, of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the orientations or positional relationships indicated as the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., appear based on the orientations or positional relationships shown in the drawings only for the convenience of describing the present invention and simplifying the description, but not for indicating or implying that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" as appearing herein are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" should be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In order to realize the combination of linearity and high speed, the invention designs the linear end and the high speed end of the armature iron and the yoke iron of the force motor. The linear control end is designed by utilizing the characteristic of the linear electro-mechanical converter, and the high-speed end is designed by utilizing the high-frequency response characteristic of the high-speed electromagnet. Further realizing the linear conversion of current-force-displacement at the control end and the high-speed pull-in at the high-speed end.
Referring to the attached drawings, the linear-high speed combined type bidirectional direct-drive motor based on the permanent magnet differential magnetic circuit comprises an armature component, a yoke component, a front return spring component, a rear return spring component, a front end cover 7a, a rear end cover 7b, a first shell 1, a second shell 8a and a third shell 8b;
the armature component comprises a first armature 10, a second armature 11, a front push rod 6a, a rear push rod 6b and a permanent magnet 12; the first armature 10 comprises a rectangular panel, wherein a claw-shaped first pole shoe and a claw-shaped second pole shoe extend out of diagonal lines of a long side of the rectangular panel respectively, a pole face of the first pole shoe is rectangular, and a pole face of the second pole shoe is wedge-shaped; the permanent magnet 12 is magnetized radially into an N-level pole and an S-level pole, the rectangular panel of the first armature is attached to the N-level pole surface of the permanent magnet, and the first pole shoe and the second pole shoe on the first armature 10 are magnetized into an N-level pole by the permanent magnet; the first armature 10 and the second armature 11 have the same structure and are buckled with each other in opposite directions; the rectangular panel of the second armature 11 is attached to the S pole surface of the permanent magnet 12, and the first pole shoe and the second pole shoe on the second armature 11 are magnetized into the S pole by the permanent magnet 12; the back sides of the first armature 10 and the second armature 11 are respectively connected with a rear push rod 6b and a front push rod 6a, the axes of the rear push rod 6b and the front push rod 6a are parallel to the short side of the rectangular panel and pass through the geometric center point of the rectangular panel, and the rear push rod 6b and the front push rod 6a are used for transmitting output force; the rear push rod 6b and the front push rod 6a are shaft bodies, the axial direction is along the long axis direction, and the radial direction is along the radius direction; the direction of the front push rod 6a is front, and the direction of the rear push rod 6b is rear;
the middle part of the front push rod 6a is arranged in a first linear bearing 9a on the second shell 8a, and the middle part of the rear push rod 6b is arranged in a second linear bearing 9b on the third shell 8b; the front end of the front push rod 6a is connected with a front return spring component, the rear end of the rear push rod 6b is connected with a rear return spring component, and the part of the rear end of the rear push rod 6b exposed from the rear end cover 7b is directly connected with a valve core of the servo proportional valve;
the yoke part comprises a yoke frame, a first control coil 13 and a second control coil 14, the yoke frame is divided into a high-speed end 20 and a linear end 24, the high-speed end 20 comprises a first arm 21 and a second arm 22 which are arranged in parallel, the rear ends of the first arm 21 and the second arm 22 are connected with a first connecting bridge circuit, the first connecting bridge circuit is of a vertically arranged rectangular frame structure, the first arm 21 and the second arm 22 are connected to the middle position of the first connecting bridge circuit, and opposite sides of the first arm 21 and the second arm 22 protrude to form symmetrical wedge-shaped axial pole shoes 23; the linear end 24 comprises a third arm 25 and a fourth arm 26 which are arranged in parallel, the front ends of the third arm 25 and the fourth arm 26 are connected with a second connecting bridge circuit which is of a vertically arranged rectangular frame structure, the third arm 25 and the fourth arm 26 are connected to the middle position of the second connecting bridge circuit, opposite sides of the third arm 25 and the fourth arm 26 protrude to form symmetrical rectangular axial pole shoes, basin-shaped teeth are arranged on the side edge and the upper edge of one side, far away from each other, of the two rectangular axial pole shoes, the cross sections of the basin-shaped teeth are in a right triangle shape, and the right-angle side of the right triangle faces one side of the rectangular axial pole shoes; wherein the basin-shaped teeth at one side edge of the two rectangular axial pole shoes far away from each other form basin-shaped radial pole shoes 27; the first connecting bridge circuit and the second connecting bridge circuit are attached in a back-to-back mode, and a first control coil 13 and a second control coil 14 are respectively installed in the middle of the upper end and the middle of the lower end of each of the first connecting bridge circuit and the second connecting bridge circuit; the first and second control coils 13, 14 are completely symmetrical and equal along the path of the yoke to the four axial pole pieces on the yoke.
The armature components are arranged at a high-speed end 20, a wedge-shaped axial pole shoe 23, a linear end 24 and a basin-shaped radial pole shoe 27 so as toAnd the first connecting bridge circuit and the second connecting bridge circuit form a three-dimensional space, and the first pole shoe on the first armature 10, the rectangular axial pole shoe at the left end of the linear end 24 and the basin-shaped radial pole shoe 27 form an axial working air gap delta 1 And radial working air gap δ' 1 (ii) a The first pole shoe on the second armature 11, the rectangular axial pole shoe and the basin-shaped radial pole shoe 27 at the right end of the linear end 24 form an axial working air gap delta 2 And radial working air gap δ' 2 (ii) a The second pole shoe on the first armature 10 and the wedge-shaped axial pole shoe 23 at the left end of the high-speed end 20 form an axial working air gap delta 3 The second pole shoe on the second armature 11 and the wedge-shaped axial pole shoe 23 at the right end of the high-speed end 20 form an axial working air gap delta 4 (ii) a Axial working air gap delta when armature member is in neutral position 1 、δ 2 Equal size, axial working air gap delta 3 、δ 4 Equal in size; radial working air gap delta' 1 、δ′ 2 The size is constant when the armature component moves axially; as shown in FIG. 5, when the control coil is not energized, the permanent magnet polarizes the magnetic flux at the linear end 24
A portion passing from the axial air gap through a portion passing from the radial air gap, forming a particularly improved magnetic circuit. At the high-speed end 20, the permanent magnet polarizes the magnetic flux
Passing only the axial air gap. The sizes of the axial air gap and the radial air gap are changed during design, so that the axial electromagnetic force borne by the armature in a middle position is 0. Because of the symmetrical arrangement of the force motor, the radial electromagnetic force borne by the armature is always zero. The yoke iron frame is installed in a square opening groove of the first housing 1.
The linear end 24, the lateral pole face of the first pole shoe of the armature part and the basin-shaped teeth of the yoke part are in one-to-one correspondence to form a radial working air gap delta' 1 、δ′ 2 . The larger the axial displacement of the armature member in the axial direction, the more the overlapping area of the lateral pole face of the first pole shoe and the basin-shaped tooth, and the shadow produced by the radial working air gapThe larger the noise is, the smaller the axial force generated by the radial working air gap is, and the larger the axial force generated by the axial air gap is, the two are superposed with each other, so that the horizontal force-displacement characteristic is realized.
The high-speed end 20 is only provided with a wedge-shaped axial pole shoe 23, and forms an axial working air gap delta with two second pole shoes on the armature 3 、δ 4 Along with the axial displacement of the armature, the axial force generated by the axial air gap is gradually increased, and the axial force is exponentially increased, so that the high-speed end has high-frequency response characteristics. When the high-speed end is used independently, the high-speed switch electromagnet can be used as a high-speed switch electromagnet.
The front reset spring component comprises a front reset spring 4a, a front first spring base 3a, a front second spring base 5a and a front second spring base limiting ring; the front first spring base 3a is installed at the front end of a second shell 8a, the front second spring base 5a is installed in an annular groove at the rear end of a front end cover 7a, the front second spring base limiting ring is installed at the rear end of the front second spring base 5a, the rear end of the front return spring 4a is installed at the front first spring base 3a, the front end of the front return spring 4a is installed at the front second spring base 5a, and the front first spring base 3a and the front second spring base 5a are limited by two shaft shoulders of the front push rod 6a in the second shell 8a part except for the limitation of the second shell 8a and the front end cover 7 a; the front end opening of the first shell 1 is hermetically connected with the rear end of the second shell 8a, and the rear end of the front end cover 7a is hermetically connected with the front end of the second shell 8 a;
the rear return spring component comprises a rear return spring 4b, a rear first spring base 3b, a rear second spring base 5b and a rear second spring base limiting ring; the rear first spring base 3b is mounted at the rear end of the third shell 8b, the rear second spring base 5b is mounted in an annular groove at the front end of the rear end cover 7b, the rear second spring base limiting ring is mounted at the front end of the rear second spring base 5b, the front end of the rear return spring 4b is mounted at the rear first spring base 3b, the rear end of the rear return spring 4b is mounted at the rear second spring base 5b, and the rear first spring base 3b and the rear second spring base 5b are limited by two shoulders of the rear push rod 6b in the position of the third shell 8b besides the third shell 8b and the rear end cover 7 b; the rear end opening of the first shell 1 is connected with the front end of the third shell 8b in a sealing mode, and the front end of the rear end cover 7b is connected with the rear end of the third shell 8b in a sealing mode.
The front end cover 7a, the rear end cover 7b, the front push rod 6a, the rear push rod 6b, the front first spring base 3a, the rear first spring base 3b, the front second spring base 5a, the rear second spring base 5b, the first shell 1, the second shell 8a and the third shell 8b are all non-magnetic conductive bodies made of non-magnetic materials; the yoke, the first armature 10 and the second armature 11 are all magnetizers made of soft magnetic materials.
When the control coils 13, 14 are energized with a current as shown in fig. 6a, the solid line portion of the figure shows the magnetic flux distribution in the yoke, wherein the dashed line portion shows the magnetic flux distribution in the first armature 10 and the second armature 11. Under the interaction of the control magnetic flux and the polarized magnetic flux of the permanent magnet, the control magnetic flux at the linear end has the same direction as the polarized magnetic flux of the permanent magnet, the intensity of the magnetic flux is enhanced, the electromagnetic force is increased, the control magnetic flux at the high-speed end has the opposite direction to the polarized magnetic flux of the permanent magnet, the intensity of the magnetic flux is weakened, and the electromagnetic force is reduced. At this point, the linear end of the force motor is active, generating a rearward axial force.
As shown in fig. 6b, 6c, during the backward movement, the axial working air gap δ is displaced with the armature 1 、δ 2 The magnetic flux is enhanced and the electromagnetic force is gradually increased. Thus, the axial force generated by the axial working air gap gradually increases. Meanwhile, with the continuous displacement of the armature, the side surface overlapping area of the basin-shaped tooth and the first pole shoe of the armature is increased, and the radial working air gap delta 'can be generated according to the principle of shortest magnetic circuit' 1 、δ′ 2 The generated axial force is gradually reduced. Thus to the radial working air gap δ' 1 、δ′ 2 In other words, the electromagnetic force-displacement characteristic is a downward curve. Therefore, in the effective working stroke, the electromagnetic force generated by the axial working air gap is gradually increased, the electromagnetic force generated by the radial working air gap is gradually reduced, and under the reasonable design, the axial working air gap and the radial working air gap are added to obtain an approximately horizontal output force-displacement characteristic curve. The armature is displaced and pressed by the action of electromagnetic forceThe return spring is retracted and the return force produced by the spring opposes the armature displacement. The resultant force of the restoring force and the electromagnetic force is gradually reduced to zero, and the armature component reaches a new balance position under the action of the reset spring, so that the linear conversion of current-force-displacement is realized.
When the control coils 13, 14 are energized with a current as shown in fig. 7a, the solid line portion in the figure indicates the magnetic flux distribution in the yoke, and the dotted line portion indicates the magnetic flux distribution in the first armature 10 and the second armature 11. Under the interaction of the control magnetic flux and the polarized magnetic flux of the permanent magnet, the control magnetic flux at the linear end is opposite to the polarized magnetic flux of the permanent magnet in direction, the intensity of the magnetic flux is weakened, the electromagnetic force is reduced, the control magnetic flux at the high-speed end is the same as the polarized magnetic flux of the permanent magnet in direction, the intensity of the magnetic flux is enhanced, and the electromagnetic force is increased. At this point, the high speed end of the force motor is active, generating a forward axial force.
As shown in fig. 7b, 7c, during forward movement, the axial working air gap δ is displaced as the armature is displaced 3 、δ 4 The smaller the magnetic flux, the stronger the axial electromagnetic force. In the return stroke of the armature, the armature is subjected to an electromagnetic force which is axially downward and gradually increases, and the trend of the electromagnetic force is exponential. Due to the characteristic, the armature component can complete return motion quickly, and the requirement of high-speed actuation work of armature return motion is met.
It can be seen that under the combination of the linear end and the high-speed end of the force motor, corresponding force and displacement can be generated by changing the electrifying mode and inputting corresponding current, so that the working stroke has the linear characteristic, the return stroke has the high-speed suction characteristic, and the precise control of the servo proportional valve is realized.
The embodiments described in this specification are merely illustrative of implementation forms of the inventive concept, and the scope of the present invention should not be considered limited to the specific forms set forth in the embodiments, but also equivalent technical means that can be conceived by one skilled in the art based on the inventive concept.
Claims (3)
1. Linear-high speed combined type bidirectional direct-driven motor based on permanent magnet differential magnetic circuit is characterized in that: the magnetic suspension type magnetic suspension armature comprises an armature component, a yoke component, a front return spring component, a rear return spring component, a front end cover (7 a), a rear end cover (7 b), a first shell (1), a second shell (8 a) and a third shell (8 b);
the armature component comprises a first armature (10) and a second armature (11), a front push rod (6 a), a rear push rod (6 b) and a permanent magnet (12); the first armature (10) comprises a rectangular panel, a first pole shoe and a second pole shoe are respectively arranged on the diagonal of the long side of the rectangular panel, the pole face of the first pole shoe is rectangular, and the pole face of the second pole shoe is wedge-shaped; the permanent magnet (12) is magnetized radially into an N-level pole and an S-level pole, the rectangular panel of the first armature is attached to the N-level pole surface of the permanent magnet, and a first pole shoe and a second pole shoe on the first armature (10) are magnetized into the N-level pole by the permanent magnet; the first armature (10) and the second armature (11) have the same structure and are buckled with each other in the reverse direction; the rectangular panel of the second armature (11) is attached to the S pole surface of the permanent magnet (12), and a first pole shoe and a second pole shoe on the second armature (11) are magnetized to the S pole end by the permanent magnet (12); the back sides of the first armature (10) and the second armature (11) are respectively connected with a rear push rod (6 b) and a front push rod (6 a), the axes of the rear push rod (6 b) and the front push rod (6 a) are parallel to the short side of the rectangular panel and pass through the geometric center point of the rectangular panel, and the rear push rod (6 b) and the front push rod (6 a) are used for transmitting output force; the middle part of the front push rod (6 a) is arranged in a first linear bearing (9 a) on the second shell (8 a), and the middle part of the rear push rod (6 b) is arranged in a second linear bearing (9 b) on the third shell (8 b); the front end of the front push rod (6 a) is connected with a front return spring component, and the rear end of the rear push rod (6 b) is connected with a rear return spring component;
the yoke part comprises a yoke frame, a first control coil (13) and a second control coil (14), the yoke frame is divided into a high-speed end (20) and a linear end (24), the high-speed end (20) comprises a first arm (21) and a second arm (22) which are arranged in parallel, the rear ends of the first arm (21) and the second arm (22) are connected with a first connecting bridge, the first connecting bridge is of a vertically arranged rectangular frame structure, the first arm (21) and the second arm (22) are connected to the middle of the first connecting bridge, and opposite sides of the first arm (21) and the second arm (22) protrude to form symmetrical wedge-shaped axial pole shoes (23); the linear end (24) comprises a third arm (25) and a fourth arm (26) which are arranged in parallel, the front ends of the third arm (25) and the fourth arm (26) are connected with a second connecting bridge circuit, the second connecting bridge circuit is of a vertically arranged rectangular frame structure, the third arm (25) and the fourth arm (26) are connected to the middle position of the second connecting bridge circuit, opposite sides of the third arm (25) and the fourth arm (26) protrude to form symmetrical rectangular axial pole shoes, basin-shaped teeth are arranged on the side edge and the upper edge of one side, far away from each other, of the two rectangular axial pole shoes, the cross sections of the basin-shaped teeth are right-angled triangles, and the right-angled sides of the right-angled triangles of the basin-shaped teeth face one side of the rectangular axial pole shoes; wherein the basin-shaped teeth positioned at one side edge of the two rectangular axial pole shoes far away from each other form a basin-shaped radial pole shoe (27); the first connecting bridge circuit and the second connecting bridge circuit are attached in a back-to-back mode, and a first control coil (13) and a second control coil (14) are mounted in the middle of the upper end and the middle of the lower end of each of the first connecting bridge circuit and the second connecting bridge circuit respectively;
the armature parts are arranged in a three-dimensional space formed by the high-speed end (20), the wedge-shaped axial pole shoe (23), the linear end (24), the basin-shaped radial pole shoe (27) and the first connecting bridge circuit and the second connecting bridge circuit, and at the moment, the first pole shoe on the first armature (10), the rectangular axial pole shoe at the left end of the linear end (24) and the basin-shaped radial pole shoe (27) form an axial working air gap delta 1 And radial working air gap δ' 1 (ii) a An axial working air gap delta is formed by a first pole shoe on the second armature (11), a rectangular axial pole shoe and a basin-shaped radial pole shoe (27) at the right end of the linear end (24) 2 And radial working air gap δ' 2 (ii) a The second pole shoe on the first armature (10) and the wedge-shaped axial pole shoe (23) at the left end of the high-speed end (20) form an axial working air gap delta 3 The second pole shoe on the second armature (11) and the wedge-shaped axial pole shoe (23) at the right end of the high-speed end (20) form an axial working air gap delta 4 (ii) a Axial working air gap delta when armature member is in neutral position 1 、δ 2 Equal size, axial working air gap delta 3 、δ 4 Equal in size; radial working air gap delta' 1 、δ′ 2 The size is constant when the armature component moves axially; the yoke iron frame is installed in a square opening groove of the first shell (1).
2. The linear-high speed composite bidirectional direct-drive motor based on the permanent magnet differential magnetic circuit according to claim 1, wherein: the front reset spring component comprises a front reset spring (4 a), a front first spring base (3 a), a front second spring base (5 a) and a front second spring base limiting ring; the front first spring base (3 a) is installed at the front end of a second shell (8 a), the front second spring base (5 a) is installed in an annular groove at the rear end of a front end cover (7 a), the front second spring base limiting ring is installed at the rear end of the front second spring base (5 a), the rear end of a front return spring (4 a) is installed at the front first spring base (3 a), the front end of the front return spring (4 a) is installed at the front second spring base (5 a), and the front first spring base (3 a) and the front second spring base (5 a) are limited by two shaft shoulders of a front push rod (6 a) in the position of the second shell (8 a) besides the second shell (8 a) and the front end cover (7 a); the front end opening of the first shell (1) is hermetically connected with the rear end of the second shell (8 a), and the rear end of the front end cover (7 a) is hermetically connected with the front end of the second shell (8 a);
the rear return spring component comprises a rear return spring (4 b), a rear first spring base (3 b), a rear second spring base (5 b) and a rear second spring base limiting ring; the rear first spring base (3 b) is installed at the rear end of a third shell (8 b), the rear second spring base (5 b) is installed in an annular groove at the front end of a rear end cover (7 b), a rear second spring base limiting ring is installed at the front end of the rear second spring base (5 b), the front end of a rear return spring (4 b) is installed at the rear first spring base (3 b), the rear end of the rear return spring (4 b) is installed at the rear second spring base (5 b), and the rear first spring base (3 b) and the rear second spring base (5 b) are limited by two shaft shoulders of a rear push rod (6 b) in the position of the third shell (8 b) except the third shell (8 b) and the rear end cover (7 b); the rear end opening of the first shell (1) is connected with the front end of the third shell (8 b) in a sealing mode, and the front end of the rear end cover (7 b) is connected with the rear end of the third shell (8 b) in a sealing mode.
3. The linear-high speed composite bidirectional direct-drive motor based on the permanent magnet differential magnetic circuit as claimed in claim 2, wherein: the front end cover (7 a), the rear end cover (7 b), the front push rod (6 a), the rear push rod (6 b), the front first spring base (3 a), the rear first spring base (3 b), the front second spring base (5 a), the rear second spring base (5 b), the first shell (1), the second shell (8 a) and the third shell (8 b) are all non-magnetic conductive bodies made of non-magnetic materials; the yoke iron frame, the first armature iron (10) and the second armature iron (11) are all magnetizers made of soft magnetic materials.
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| CN110932464A (en) * | 2019-12-13 | 2020-03-27 | 浙江工业大学 | High-frequency direct-acting type force motor with symmetrical magnetic circuits |
| CN110994932A (en) * | 2019-12-13 | 2020-04-10 | 浙江工业大学 | High-frequency direct-acting type force motor based on mixed air gap |
| CN111835175A (en) * | 2019-04-23 | 2020-10-27 | 浙江工业大学 | High-frequency direct-acting type power motor |
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| JPH0951663A (en) * | 1995-08-08 | 1997-02-18 | Japan Servo Co Ltd | Reciprocal linear motion actuator |
| CN1692541A (en) * | 2002-11-26 | 2005-11-02 | 松下电工株式会社 | Actuator |
| CN101013841A (en) * | 2007-02-08 | 2007-08-08 | 浙江大学 | High voltage-resisting bi-directional linear force motor with low-power consumption |
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