CN115405833A - Three-dimensional smooth transition track motion system based on magnetic drive self-adaptive flexible sliding block - Google Patents
Three-dimensional smooth transition track motion system based on magnetic drive self-adaptive flexible sliding block Download PDFInfo
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- CN115405833A CN115405833A CN202210829855.XA CN202210829855A CN115405833A CN 115405833 A CN115405833 A CN 115405833A CN 202210829855 A CN202210829855 A CN 202210829855A CN 115405833 A CN115405833 A CN 115405833A
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- track
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- memory alloy
- shape memory
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- 230000033001 locomotion Effects 0.000 title claims abstract description 29
- 230000007704 transition Effects 0.000 title claims abstract description 22
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims abstract description 31
- 238000005452 bending Methods 0.000 claims abstract description 15
- 238000004804 winding Methods 0.000 claims abstract description 14
- 230000000694 effects Effects 0.000 claims abstract description 5
- 230000006698 induction Effects 0.000 claims abstract description 4
- 230000003044 adaptive effect Effects 0.000 claims description 16
- 239000002131 composite material Substances 0.000 claims description 14
- 230000008859 change Effects 0.000 claims description 6
- 230000008602 contraction Effects 0.000 claims description 4
- 230000001276 controlling effect Effects 0.000 claims description 4
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 3
- 239000004593 Epoxy Substances 0.000 claims description 3
- 239000000956 alloy Substances 0.000 claims description 3
- 229910002804 graphite Inorganic materials 0.000 claims description 3
- 239000010439 graphite Substances 0.000 claims description 3
- 239000011347 resin Substances 0.000 claims description 3
- 229920005989 resin Polymers 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 230000001133 acceleration Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 5
- BGPVFRJUHWVFKM-UHFFFAOYSA-N N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] Chemical compound N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] BGPVFRJUHWVFKM-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000009365 direct transmission Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 229910000734 martensite Inorganic materials 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
- F16M11/425—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels along guiding means
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/56—Accessories
- G03B17/561—Support related camera accessories
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
- H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
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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
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/001—Driving devices, e.g. vibrators
- H02N2/0015—Driving devices, e.g. vibrators using only bending modes
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Linear Motors (AREA)
Abstract
The invention provides a three-dimensional smooth transition track motion system based on a magnetic drive self-adaptive flexible sliding block, which comprises a self-adaptive sliding block, a track and a roller; the track comprises at least one end arc-shaped bending section, and a plurality of coil windings arranged along the extending direction of the track are arranged in the track; the self-adaptive sliding block comprises a permanent magnet and a shape memory alloy; the permanent magnet is driven by the magnetic induction effect to drive the self-adaptive sliding block to slide along the rail, and the roller is borne on the rail and rolls along the rail; the space motion direction smooth transition of slider is realized to the transition mode of crossing the circular arc, solves traditional track motion system and can only move in the horizontal plane and the unable vertical motion's of problem, satisfies the diversified demand of motion. The magnetic drive used has no mechanical contact compared to a rotating motor, the drive force is generated in the air gap without any friction other than the guide rail. Meanwhile, the driving mode has the characteristics of stable transition, large acceleration, high precision, high repeatability and the like.
Description
Technical Field
The invention relates to the field of design of orbital motion machines.
Background
Orbital motion systems are widely used in industrial and domestic applications such as transportation, assembly, photography, and the like. The conveying and assembling tracks are mainly driven by chain transmission, gears, belts, cross arms or grooved wheels, and the function and precision of the conveying and assembling tracks are limited by the transmission mode. The shooting track is used as an auxiliary tool in the shooting equipment, so that the camera can move in parallel within a certain range, but the existing track form cannot meet the increasingly complex shooting requirement.
In addition to the need to move the device horizontally during motion, vertical motion is also required in many scenarios. At present, a common three-dimensional track is provided with a switching device, so that an additional mechanical structure is additionally arranged, and the precision and the stability of the system are reduced. Meanwhile, the conventional track cannot realize smooth and stable transition in the horizontal direction and the vertical direction, and cannot realize diversification of motion. It is therefore necessary to provide a track system that can accommodate both horizontal and vertical directions and that can achieve smooth transitions.
Disclosure of Invention
In order to solve the above problems, the present invention provides a horizontal movement and a vertical movement of a slider along a track, and a smooth transition of the slider at a curved section of the track; the system can meet the high-precision realization of the preset track of the sliding block.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a three-dimensional smooth transition track motion system based on a magnetic drive self-adaptive flexible sliding block comprises a self-adaptive sliding block, a track and a roller arranged on the self-adaptive sliding block; the track comprises at least one end arc-shaped bending section, and a plurality of coil windings arranged along the extending direction of the track are arranged in the track; the roller is borne on the track and rolls along the track; the self-adaptive sliding block comprises a plurality of main boards arranged side by side and a connecting body for connecting two adjacent main boards; a permanent magnet is arranged inside the main board; when the coil winding is electrified to generate a magnetic field, the permanent magnet is driven by the magnetic induction effect to drive the self-adaptive sliding block to slide along the track; the connector is made of shape memory alloy or flexible composite material, and when the connector is made of shape memory alloy, the self-adaptive sliding block changes the bending degree along with the change of the curvature of the arc-shaped bending section of the track by controlling the contraction and stretching degrees of the shape memory alloy.
Further, the current through the shape memory alloy is regulated by PWM, when the PWM is set at a high level, the temperature of the shape memory alloy rises, and when the phase transition temperature is exceeded, the shape memory alloy contracts; when the PWM is set at a low level, the temperature of the shape memory alloy is reduced, and when the temperature is lower than the phase transition temperature, the shape memory alloy stretches; the deformation of the SMA is actively changed by adjusting the duty ratio of the PWM, so that the bending angle of the self-adaptive sliding block is changed.
Furthermore, the connector can also be made of flexible composite materials, including flexible graphite composite materials or composite epoxy modified resins.
Furthermore, the roller is connected to the side face of the self-adaptive sliding block through a rotating shaft, and the roller is connected with the rotating shaft through a memory alloy material or a flexible composite material.
Furthermore, the rollers are provided with an upper row and a lower row, and the track is clamped between the upper row of rollers and the lower row of rollers.
Furthermore, the coil winding is divided into a plurality of sections and supplied with power in sections.
Has the advantages that:
compared with the prior art, the invention has the advantages that: the smooth transition of the space motion direction of the sliding block is realized in an arc transition mode, the problem that the traditional track motion system can only move in a horizontal plane and cannot vertically move is solved, and the requirement for motion diversity is met. The magnetic drive used has no mechanical contact compared to a rotating motor, the drive force is generated in the air gap without any friction other than the guide rail. Meanwhile, the driving mode has the characteristics of stable transition, large acceleration, high precision, high repeatability and the like. The direct drive feature also allows the present invention to have high thrust density and fast dynamic response, enabling the slider to adapt to sudden stop commands. Finally, the invention has no intermediate transmission structure, simple structure and low loss, so that the invention has great superiority compared with other orbital motion systems.
Drawings
Fig. 1 is an overall structure diagram of a three-dimensional smooth transition orbital motion system of the invention.
Fig. 2 is a schematic view of a slider structure.
Fig. 3 is a schematic view of the slider in a bent state.
Fig. 4 is a schematic view of a roller structure.
Fig. 5 is a schematic diagram of a track structure.
Detailed Description
Referring to fig. 1, the invention discloses a magnetic drive adaptive flexible slider-based three-dimensional smooth transition track motion system, which comprises an adaptive slider 1, a track 2 and a roller 3 mounted on the adaptive slider 1. The track 2 includes at least one end arc-shaped bending section, and in this embodiment, two ends of the arc-shaped bending section are respectively connected with a horizontal track and a vertical track perpendicular to the horizontal track. The rollers 3 are provided with an upper row and a lower row, and the track 2 is clamped between the upper row of rollers and the lower row of rollers. And the upper surface and the lower surface of the track 2 are both provided with grooves for limiting the rollers 3 along the extending direction of the track. The roller 3 is carried on the rail 2 and rolls along the rail 2.
Referring to fig. 2 and 5, a plurality of coil windings 7 are disposed in the track 2 and arranged along the track extending direction. The self-adaptive sliding block 1 comprises a plurality of main boards arranged side by side and a connecting body 5 for connecting two adjacent main boards; the main board is internally provided with a permanent magnet 4. The electrified coil generates a magnetic field, and the adaptive sliding block 1 is driven to move through the magnetic induction effect. Meanwhile, the accurate control of the self-adaptive sliding block 1 can be realized by changing the current direction and the current magnitude of the coil winding. The permanent magnet 4 and the coil winding 7 generate magnetic field, and the magnetic drive electricity automatically moves, so that the centering positioning of the slide block on the track is realized only by the roller, the mechanical contact is less, the friction is small, and the transmission efficiency is high.
And according to the actual stroke design requirement, the number and the size of the coil windings are reasonably designed. The coil winding 7 can be divided into a plurality of sections and supplies power in sections, for example, the coil winding 7 in the track part through which the adaptive sliding block 1 passes can stop supplying power because the coil winding is no longer matched with the adaptive sliding block 1, so that the overall power consumption of the system is greatly reduced, and the efficiency of the system is improved.
As shown in fig. 2 and fig. 3, since the adaptive sliding block 1 needs to pass through the arc-shaped curved section of the track, when the adaptive sliding block 1 moves along the arc-shaped curved section, the whole structure of the adaptive sliding block 1 needs to be curved to fit the arc-shaped curved section. In the present embodiment, the connecting body 5 is a Shape Memory Alloy (SMA), and the degree of curvature of the adaptive slider 1 is changed along with the change of the curvature of the arc-shaped curved section of the track by controlling the degree of contraction and extension of the SMA. The present invention selects a Pulse Width Modulation (PWM) method to adjust the current through the shape memory alloy, thereby controlling the degree of contraction and extension of the shape memory alloy to achieve that the flexible module can change with the change of the curvature of the track, as shown in fig. 3. When the PWM is set at a high level, the temperature of the SMA is increased, and when the temperature exceeds the martensite reverse phase transformation temperature, the SMA has a tendency to shrink. When the PWM is set at a low level, the temperature of the SMA is reduced, and when the PWM is lower than the phase change temperature, the SMA has a tendency of stretching. Therefore, the deformation of the SMA can be actively changed by adjusting the duty ratio of the PWM in a reasonable control mode, so that the bending angle of the self-adaptive sliding block 1 is changed. Furthermore, the connector 5 may also be made of flexible composite materials, including flexible graphite composite materials or composite epoxy modified resins, which have good bending resistance, so as to realize passive self-adaptation to the arc transition track.
Referring to fig. 4, the roller 3 is connected to the side surface of the adaptive sliding block 1 through a rotating shaft, and the roller and the rotating shaft are connected through a memory alloy material or a flexible composite material 6, so that the roller can adaptively deform along with the curvature of the rail when the moving direction changes, and the roller and the shaft can form a certain bending angle, thereby enabling the roller to freely pass through the arc-shaped bending section of the rail.
Through the design of this self-adaptation slider 1 and track 2, make track 2 can set up to the track of buckling of multiple angle, even the track of irregular orbit, can realize the diversification of slider motion to different installation space environment, and can guarantee that the device realizes the high accuracy of smooth and easy transition and predetermined orbit between two tracks and realize. The direct transmission characteristic also enables the invention to have high thrust density and quick dynamic response, and the slide block can adapt to the command of sudden stop. Finally, the invention has no intermediate transmission structure, simple structure and low loss, so that the invention has great superiority compared with other orbital motion systems. The flexible connecting body can adopt an active adaptive scheme or a passive adaptive scheme, wherein the active adaptive scheme has high precision and good realization effect, and the passive adaptive scheme is simple and convenient to implement.
In addition, the present invention has many specific implementations and ways, and the above description is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be construed as the protection scope of the present invention.
Claims (6)
1. The utility model provides a three-dimensional smooth transition orbital motion system based on flexible slider of magnetic drive self-adaptation which characterized in that: comprises a self-adaptive sliding block (1), a track (2) and a roller (3) arranged on the self-adaptive sliding block (1); the track (2) comprises at least one arc-shaped bending section at one end, and a plurality of coil windings (7) arranged along the extending direction of the track are arranged in the track (2); the roller (3) is borne on the track (2) and rolls along the track (2);
the self-adaptive sliding block (1) comprises a plurality of main boards arranged side by side and a connecting body (5) connected between every two adjacent main boards; a permanent magnet (4) is arranged inside the main board; when the coil winding (7) is electrified to generate a magnetic field, the permanent magnet (4) is driven by the magnetic induction effect to drive the self-adaptive sliding block (1) to slide along the track;
the connecting body (5) is made of shape memory alloy or flexible composite material, and when the connecting body (5) is made of the shape memory alloy, the degree of bending of the self-adaptive sliding block (1) is changed along with the change of the curvature of the arc-shaped bending section of the track by controlling the degree of contraction and stretching of the shape memory alloy.
2. The stereoscopic smooth-transition orbital motion system of claim 1, wherein: regulating the current through the shape memory alloy by PWM, wherein when the PWM is set at a high level, the temperature of the shape memory alloy is increased, and when the PWM exceeds the phase transition temperature, the shape memory alloy is contracted; when the PWM is set at a low level, the temperature of the shape memory alloy is reduced, and when the temperature is lower than the phase transition temperature, the shape memory alloy stretches; and the deformation of the SMA is actively changed by adjusting the duty ratio of the PWM, so that the bending angle of the adaptive sliding block (1) is changed.
3. The stereoscopic smooth-transition orbital motion system of claim 2, wherein: the connector (5) is made of flexible composite materials, including flexible graphite composite materials or composite epoxy modified resin.
4. The stereoscopic smooth-transition orbital motion system of claim 1, 2, or 3, wherein: the roller (3) is connected to the side face of the self-adaptive sliding block (1) through a rotating shaft, and the roller is connected with the rotating shaft through a memory alloy material or a flexible composite material.
5. The stereoscopic smooth-transition orbital motion system of claim 4, wherein: the rollers (3) are provided with an upper row and a lower row, and the rail is clamped between the upper row of rollers and the lower row of rollers.
6. The stereoscopic smooth-transition orbital motion system of claim 1, 2, or 3, wherein: the coil winding is divided into a plurality of sections and supplies power in sections.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210829855.XA CN115405833A (en) | 2022-07-15 | 2022-07-15 | Three-dimensional smooth transition track motion system based on magnetic drive self-adaptive flexible sliding block |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210829855.XA CN115405833A (en) | 2022-07-15 | 2022-07-15 | Three-dimensional smooth transition track motion system based on magnetic drive self-adaptive flexible sliding block |
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| Publication Number | Publication Date |
|---|---|
| CN115405833A true CN115405833A (en) | 2022-11-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210829855.XA Pending CN115405833A (en) | 2022-07-15 | 2022-07-15 | Three-dimensional smooth transition track motion system based on magnetic drive self-adaptive flexible sliding block |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115405833A (en) |
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2022
- 2022-07-15 CN CN202210829855.XA patent/CN115405833A/en active Pending
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