CN201869079U - Electromagnetic-permanent magnet clamping mechanism for linear motor - Google Patents
Electromagnetic-permanent magnet clamping mechanism for linear motor Download PDFInfo
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- CN201869079U CN201869079U CN2010206037948U CN201020603794U CN201869079U CN 201869079 U CN201869079 U CN 201869079U CN 2010206037948 U CN2010206037948 U CN 2010206037948U CN 201020603794 U CN201020603794 U CN 201020603794U CN 201869079 U CN201869079 U CN 201869079U
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Abstract
An electromagnetic-permanent magnet clamping mechanism for a linear motor belongs to the technical field of electromagnetic linear motors, and comprises a guide rail, an out link and at least one magnetic field generating device, wherein the magnetic field generating device is connected with the guide rail; and the output link is positioned in the center of the guide rail, and is coaxial with the guide rail. In the mechanism provided by the utility model, the clamping and the releasing of the output link under a power-off condition are realized by the magnetic field generating device according to the electromagnetic characteristics, so as to keep the mechanism stable.
Description
Technical field
The utility model relates to a kind of device of electromagnetic machine technical field, specifically is a kind of electromagnetism-permanent magnetism clamping institution that is used for linear electric motors.
Background technology
In the last few years, electricity, the development of magnetostriction Driving technique had produced as intellectual materials such as giant magnetostriction material, electroceramics and magnetostriction marmems rapidly.It is big that these intellectual materials have energy density, the power output height, and therefore advantage such as telescopic shape change is accurate can research and develop high-performance driver and linear electric motors based on these intellectual materials.But the linear electric motors ubiquity motion step pitch that is based on the intellectual material development is small, movement velocity is slow, and big travel displacement required time is long, and defectives such as driving voltage or current requirements height.Particularly for inchworm motion class linear electric motors, owing to there is not the clamping institution of Performance Match, and the big output stress performance of the intellectual material that makes can not be not fully exerted, and causes this class motor can not be used for the application of heavy load and super large load driving, transmission.
Find through literature search prior art, Jaehwan Kim etc. are at " Mechatronics " (mechatronics periodical, 2002 the 12nd phase 525-542 pages or leaves) the paper A hybrid inchworm linear motor (hybrid inchworm motion linear electric motors) that delivers on, the design of these linear electric motors is made up of a magnetostriction mechanism and two piezoelectricity telescoping mechanisms based on inchworm motion mechanism; Magnetostriction mechanism is used for producing the inchworm motion straight-line displacement, and two piezoelectricity telescoping mechanisms produce the clamp action as the looper clamping institution.Described magnetostriction mechanism comprises magnetostrictive rod, solenoid, metal shell, metal end, spring pressure mechanism, displacement output mechanism, displacement bar; The realization of its big displacement drive is to form by the micron order magnetostrictive displacement accumulation that the excitation of magnetostriction is repeatedly produced.Described piezoelectricity telescoping mechanism comprises patch of piezoelectric material heap, complicated flexible hinge enlarger, pretightning force mechanism, exciting electrode.
The piezoelectricity clamping institution that this motor adopts, because its use is the fragility piezoelectric, it is anti-extrusion limited in one's ability, excessive clamp and pressure can be crushed piezoelectric, cause the clamp function forfeiture, therefore the performance that its magnetostriction mechanism that makes linear drives can produce super large output stress can't realize.
The utility model content
The utility model is at the prior art above shortcomings, a kind of electromagnetism-permanent magnetism clamping institution that is used for linear electric motors is provided, pass through electromagnetic property, by field generator for magnetic and corresponding solenoid thereof to the chucking of take-off lever, discharge two states, be implemented under the no electric situation clamp chucking to take-off lever, maintaining body is in stable condition motionless.
The utility model is achieved through the following technical solutions, the utility model comprises: guide rail and the take-off lever and at least one field generator for magnetic that are positioned at guide rail inside, wherein: field generator for magnetic links to each other with guide rail, take-off lever be positioned at guide rail inside center and with the coaxial setting of guide rail.
Described field generator for magnetic is natural magnetic field generating means or electromagnetism field generator for magnetic, and wherein: the natural magnetic field generating means is made by single group or some groups of permanent magnets arranged side by side, permanent magnetism-ferromagnetic complex or permanent magnetism-non-ferromagnetic complexs; The electromagnetism field generator for magnetic is that single group or some groups of beat solenoids arranged side by side and structural material body constitute.
When described guide rail and take-off lever are non-magnet material when making, be provided with solenoid or permanent magnetism ring body in the outside of described electromagnetism field generator for magnetic;
When described guide rail and take-off lever are permeability magnetic material when making, then need not solenoid, the required beat action of described electromagnetism field generator for magnetic is realized by electromagnetic field suction adsorption guide rail and take-off lever that the beat solenoid is produced;
Described field generator for magnetic is provided with beat position guide way;
Described field generator for magnetic is provided with rotation axis, and this rotation axis and guide rail are connected, and field generator for magnetic relatively rotates the axle rotation;
Described take-off lever is specially single rigid rod or cable or many rigid rod or the cables that are connected in series by the flexible expander in centre.
Be provided with moving body in the described guide rail, this moving body between take-off lever and guide rail and:
Then this moving body and field generator for magnetic are relatively arranged on the both sides of take-off lever when the number of described field generator for magnetic is one;
When the number of described field generator for magnetic be two when above then this moving body between two field generator for magnetic between take-off lever and the guide rail.
Described moving body is that rigid material or elastomeric material are made.
This device carries out work in the following manner:
Under the initial condition, put in the middle of the guide rail after field generator for magnetic, solenoid and the take-off lever assembly.When solenoid was not switched on, field generator for magnetic was a free state, and take-off lever can be by left or horizontally slip and drag.During the utility model work, produce magnetic field for the solenoid energising of placing along the take-off lever symmetry, this magnetic field is with the field generator for magnetic magnetic pole deflection in the excitation coil, cause field generator for magnetic to be conflicted with guide rail and take-off lever in the longitudinal direction, at this moment, the position of take-off lever is defined motionless, and take-off lever is because the effect of electromagnetic force is difficult for promotion left.And, because the frictional force between field generator for magnetic and take-off lever and guide rail contact-making surface, and simultaneously with the electromagnetic force effect, when take-off lever was dragged to the right, field generator for magnetic will be further rotated by drive.Yet because the field generator for magnetic lengthwise dimension is greater than the distance between take-off lever and the guide rail, so field generator for magnetic can be stuck in along with drawing force between take-off lever and the guide rail, and drawing force is big more, clamping force is big more.Especially when guide rail, take-off lever and field generator for magnetic all are rigid body, this chucking clamp power can increase and increase along with this drawing force, till the strength degree of any one stressed member wherein.Like this, take-off lever firmly is clamped in the middle of the guide rail.At this moment, take-off lever is in the clamp gripping orientation, and can produce huge clamp power,
Solenoid when take-off lever is in the clamp gripping orientation applies and opposite before electric current, the opposing magnetic field that produces is with the magnetic pole reverse rotation of excitation field generating means, cause field generator for magnetic to depart from out contact-making surface with guide rail and take-off lever in the longitudinal direction, return to initial condition, take-off lever can move left and right.
Be connected with the flexible expander in a centre, and constitute inchworm motion linear electric motors.Based on the operation principle of clamp clamping body described in the utility model, can alternately control the left clamp clamping body chucking of linear electric motors, right clamp clamping body discharges, and the take-off lever that flexible expander elongation can promote right-hand member in the middle of this moment moves to right-hand member; Afterwards, control right clamp clamping body chucking, discharge left clamp clamping body, flexible expander in the middle of shrinking then, this moment, left end discharged owing to motor right-hand member chucking, so motor intermediate expansion body is a motor integral body, will move right along with the contraction of the flexible expander in centre.Repeat above process, this motor will add up by the single moving displacement, becomes one and can grow the linear electric motors that distance moves.And,, can realize the reciprocating motion of this motor by the left side of control motor and the precedence of right-hand member clamp.
Compared with prior art, the utlity model has following advantage: 1. mechanism is simple, and building block is few, can realize huge clamp clamping force; 2. electromagnetic signal control, clamp and motor movement control are sensitive, convenient; 3. can be widely used in the multiple clamp clamping body field that needs.4. it is low to drive clamp process energy consumption, has no energy consumption chucking performance.
Mechanism of the present utility model can be used for developing the instrument and equipment that requires to produce super large clamp power, big displacement, high accuracy driving function, and, can be widely used in fields such as driver (actuator), brake, transducer, motor, vibration and control appliance, robot, accurate manufacturing, biomedical engineering to having the improvement of electricity, magnetostriction driving material application apparatus, instrument now.
Description of drawings
Fig. 1 is clamp clamping body gripping orientation and structural representation;
Fig. 2 is initial or release condition and a structural representation of clamp clamping body;
Fig. 3 is the locking device structure schematic diagram that two above field generator for magnetic and coil symmetry take-off lever arrangement combinations form;
Fig. 4 is respectively the structure of the linear motion actuator form schematic diagram that adopts three kinds of clamp clamping bodies and locking device;
Fig. 5 field generator for magnetic is the clamp clamping body schematic diagram (guide rail and/or take-off lever are the permeability magnetic material situation) of electromagnet;
Fig. 6 field generator for magnetic is the clamp clamping body schematic diagram (guide rail and/or take-off lever are the non-magnet material situation) of electromagnet;
Fig. 7 field generator for magnetic is the field generator for magnetic schematic diagram that an above multigrain structure is made;
Fig. 8 field generator for magnetic is the field generator for magnetic schematic diagram that a plurality of parallel systems become more than;
Fig. 9 is respectively that take-off lever one side is moving body or elastomer structure schematic diagram for the field generator for magnetic opposite side in the clamp clamping body;
Be provided with between the guide rail of Figure 10 clamp clamping body and the field generator for magnetic and the rigidly connected limit body of guide rail, field generator for magnetic is provided with the structural representation of rotation axis.
Embodiment
Below embodiment of the present utility model is elaborated; present embodiment is being to implement under the prerequisite with technical solutions of the utility model; provided detailed execution mode and concrete operating process, but protection range of the present utility model is not limited to following embodiment.
As shown in Figure 1, present embodiment comprises: guide rail 1 and the take-off lever 2 and field generator for magnetic 3 and the corresponding solenoid 4 thereof that are positioned at guide rail 1 inside, wherein: solenoid 4 is fixed in guide rail 1 inwall, solenoid 4 is socketed on the center that field generator for magnetic 3 outsides and field generator for magnetic 3 are positioned at solenoid 4, take-off lever 2 be positioned at guide rail 1 inside center and with guide rail 1 coaxial setting.
Described take-off lever 2 is single or many rigid rod, cable or wireropes that are connected in series by the flexible expander in centre.
Described field generator for magnetic 3 is made for permanent magnetic material, permanent magnetism-ferromagnetic composite material or permanent magnetism-non-ferromagnetic composite material.
As shown in Figure 1, under the initial condition, put into after field generator for magnetic 3, solenoid 4 and take-off lever 2 assembly in the middle of the guide rail 1.When solenoid was not switched on, field generator for magnetic 3 was a free state, and take-off lever 2 can be by left or horizontally slip and drag.During the utility model work, produce magnetic field H for solenoid 4 energisings of placing along take-off lever 2 symmetries, this magnetic field H causes field generator for magnetic 3 to be conflicted with guide rail 1 and take-off lever 2 in the longitudinal direction, as shown in Figure 2 the magnetic pole deflection of the field generator for magnetic in the excitation coil 23.At this moment, the position of take-off lever 2 is defined motionless, and take-off lever 2 is because the effect of the electromagnetic force of electromagnetic field H is difficult for promotion left.And, because the frictional force between field generator for magnetic 3 and take-off lever 2 and guide rail 1 contact-making surface, and simultaneously with the electromagnetic force effect, when take-off lever 2 was dragged to the right, field generator for magnetic 3 will be driven by friction and be further rotated.Yet because field generator for magnetic 3 lengthwise dimension are greater than the distance between take-off lever 2 and the guide rail 1, so field generator for magnetic can be stuck in along with drawing force between take-off lever 2 and the guide rail 1, and drawing force is big more, clamping force is big more.Especially when guide rail 1, take-off lever 2 and field generator for magnetic 3 all are rigid body, this chucking clamp power can increase and increase along with this drawing force, till the strength degree of any one stressed member wherein.Like this, take-off lever 2 firmly is clamped in the middle of the guide rail 1.At this moment, take-off lever 2 is in the clamp gripping orientation, and can produce huge clamp power, as shown in Figure 1.
Solenoid 4 when take-off lever 2 is in the clamp gripping orientation applies and opposite before electric current, the opposing magnetic field H that produces is with the magnetic pole reverse rotation of excitation field generating means 3, cause field generator for magnetic 3 to depart from contact-making surface with guide rail 1 and take-off lever 2 in the longitudinal direction, as shown in Figure 1, return to initial condition, take-off lever 2 can move left and right, realizes the chucking release condition, as shown in Figure 2.So far, the utility model has been realized a kind ofly forming a unidirectional clamp clamping body 5 by a take-off lever 2, two solenoids 4, two field generator for magnetic 3 in the middle of placing a guide rail 1.
As shown in Figure 3, described field generator for magnetic 3 and solenoid 4 can arrange that based on above-mentioned operation principle, this take-off lever 2 can be tightened, and all can not drag, and clamping force is huge for symmetrical take-off lever 2 more than two on the both direction of the left and right sides.Equally, can realize tightening and discharging the clamp clamping body 5 of two states by Electromagnetic Control, and this clamp clamping body 5 can be realized the clamp chucking under no electric situation, maintaining body is in stable condition motionless, realizes the two-way clamp chucking.
As Fig. 4 (a) to shown in Fig. 4 (c), present embodiment relates to a kind of inchworm motion linear electric motors, comprise: two or more are by the electromagnetism-permanent magnetism clamping institution 5 of middle flexible expander 6 series connection, these linear electric motors can alternately be controlled left clamp clamping body 5 chuckings as the linear electric motors of Fig. 4 and Fig. 5, right clamp clamping body 5 discharges, and the take-off lever 2 that can promote right-hand member in the middle of this moment during flexible expander 6 elongations moves to right-hand member; Afterwards, control right clamp clamping body 5 chuckings, discharge left clamp clamping body 5, flexible expander 6 in the middle of shrinking then, this moment, left end discharged owing to motor right-hand member chucking, so motor intermediate expansion body 6 also is a motor integral body, will move right along with the contraction of the flexible expander 6 in centre.Repeat above process, this motor will add up the single moving displacement, becomes one and can grow the linear electric motors that distance moves.And,, can realize the reciprocating motion of this motor by the left side of control motor and the precedence of right-hand member clamp.
As shown in Figure 5 and Figure 6, present embodiment comprises: guide rail 1 and take-off lever 2 and an above electromagnetic field generator 7 of being positioned at guide rail 1 inside, wherein: electromagnetic field generator 7 is positioned at guide rail 1 inboard, an electromagnetic field generator 7 or above electromagnetic field generator 7 relative take-off levers 2 are arranged, and the whole inside that places guide rail 1.
As shown in Figure 5, when guide rail 1 and/or take-off lever 2 were made for permeability magnetic material, electromagnetism field generator for magnetic 7 outsides need not solenoid 4.The 7 required beat actions of electromagnetism field generator for magnetic are realized by electromagnetic field suction adsorption guide rail 1 and/or take-off lever 2 that beat solenoid 8 is produced;
As shown in Figure 6, when guide rail 1 and/or take-off lever 2 were made for non-magnet material, electromagnetism field generator for magnetic 7 outsides were provided with solenoid 4 or permanent magnetism ring body 10.At this moment, the electromagnetic field that produced by beat solenoid 8 of the required beats action of electromagnetism field generator for magnetic 7 and the composite action of solenoid 4 and/or permanent magnetism ring body 10 magnetic force realize.
As shown in Figure 7, described electromagnetism field generator for magnetic 7 is that beat solenoid 8 and structural material body 9 constitute, these little field generator for magnetic 3 or electromagnetism field generator for magnetic 7 are relaxed state when not having electromagnetic field H, when generating an electromagnetic field H, then closely arrange, realize clamp chucking function along the electromagnetic field direction.
As shown in Figure 8, described field generator for magnetic 3 or electromagnetism field generator for magnetic 7 be a plurality of side by side, this field generator for magnetic 3 or electromagnetism field generator for magnetic 7 can be realized embodiment 1 and 2 identical functions but have bigger electromagnetic force.
Shown in Fig. 9 (a), 9 (b), be provided with moving body 11 in the guide rail 1 in the present embodiment, this moving body 11 between take-off lever 2 and guide rail 1 and:
Then this moving body and field generator for magnetic are relatively arranged on the both sides of take-off lever when the number of described field generator for magnetic 3 is one;
When the number of described field generator for magnetic 3 be two when above then this moving body between two field generator for magnetic between take-off lever and the guide rail.
Described moving body 11 is rolling element 12 or slide mass 13, can realize clamp chucking and release and realize the looper electric motors function by Electromagnetic Control field generator for magnetic 3 or electromagnetism field generator for magnetic 7.
When described moving body 11 is made for elastomeric material, by controlling magnetic field generating means 3 or electromagnetism field generator for magnetic 7 along deflection counterclockwise and push take-off lever 2 and cause moving body 11 (rolling element 12 or slide mass 13) pressurized and strain, so along with the rotation of field generator for magnetic 3 or electromagnetism field generator for magnetic 7 is moving, under the contact friction force effect, take-off lever 2 can move a certain distance to right-hand member, shown in dotted line among Fig. 9 (a), 9 (b).So when controlling magnetic field generating means 3 or electromagnetism field generator for magnetic 7 back and forth or 360 degree when being rotated counterclockwise, take-off lever 2 will be realized the continuous effect that moves to right-hand member, thereby realize a kind of for the length stroke motion of take-off lever 2 and the effect of linear electric motors.
In view of this effect, also can realize this to clamping body according to single, double shown in Fig. 2,3 for the length stroke motion of take-off lever 2 and the effect of linear electric motors.The degree of deflection of field generator for magnetic 3 or electromagnetism field generator for magnetic 7 that just will be by automatically controlled realization take-off lever 2 one sides makes it have the above-mentioned moving body (elastic reaction of rolling element 12 (as Fig. 9 (a)) or slide mass 13 (as Fig. 9 (b)) from effect.
Described moving body 11 is made for rigid material or elastomeric material.
Embodiment 5
As shown in figure 10, field generator for magnetic 3 described in the present embodiment is provided with beat position guide way 14, this beat position guide way 14 helps field generator for magnetic 3 or 7 deflections of electromagnetism field generator for magnetic to stablize, very close to each other rocking is to such an extent as to cause clamp clamping body motor movement more steady.
As shown in figure 10, described field generator for magnetic 3 is provided with rotation axis 15, and rotation axis 15 is fixedlyed connected with guide rail 1 and field generator for magnetic 3 relatively rotates axle 15 rotations.Field generator for magnetic 3 or 7 deflections of electromagnetism field generator for magnetic are stable, and very close to each other rocking is to such an extent as to cause clamp clamping body 5 motor movements more steady.
Claims (10)
1. electromagnetism-permanent magnetism clamping institution that is used for linear electric motors, it is characterized in that, comprise: guide rail and the take-off lever and at least one field generator for magnetic that are positioned at guide rail inside, wherein: field generator for magnetic links to each other with guide rail, take-off lever be positioned at the inside of guide rail and along lead rail axis to setting.
2. electromagnetism-permanent magnetism the clamping institution that is used for linear electric motors according to claim 1, it is characterized in that, described field generator for magnetic is natural magnetic field generating means or electromagnetism field generator for magnetic, and wherein: the natural magnetic field generating means is made by single group or some groups of permanent magnets arranged side by side, permanent magnetism-ferromagnetic complex or permanent magnetism-non-ferromagnetic complexs; The electromagnetism field generator for magnetic is that single group or some groups of beat solenoids arranged side by side and structural material body constitute.
3. electromagnetism-permanent magnetism the clamping institution that is used for linear electric motors according to claim 2 is characterized in that, when described guide rail and take-off lever are non-magnet material when making, is provided with solenoid or permanent magnetism ring body in the outside of described electromagnetism field generator for magnetic; When described guide rail and take-off lever are permeability magnetic material when making, then need not solenoid, the required beat action of described electromagnetism field generator for magnetic is realized by electromagnetic field suction adsorption guide rail and take-off lever that the beat solenoid is produced.
4. electromagnetism-permanent magnetism the clamping institution that is used for linear electric motors according to claim 1 is characterized in that described field generator for magnetic is provided with beat position guide way.
5. electromagnetism-permanent magnetism the clamping institution that is used for linear electric motors according to claim 1 is characterized in that described field generator for magnetic is provided with rotation axis, and this rotation axis and guide rail are connected, and field generator for magnetic relatively rotates the axle rotation.
6. electromagnetism-permanent magnetism the clamping institution that is used for linear electric motors according to claim 1 is characterized in that, described take-off lever is specially single rigid rod or cable or many rigid rod or the cables that are connected in series by the flexible expander in centre.
7. electromagnetism-permanent magnetism the clamping institution that is used for linear electric motors according to claim 1 is characterized in that be provided with moving body in the described guide rail, this moving body is between take-off lever and guide rail.
8. electromagnetism-permanent magnetism the clamping institution that is used for linear electric motors according to claim 7, it is characterized in that described moving body particular location is: then this moving body and field generator for magnetic are relatively arranged on the both sides of take-off lever when the number of described field generator for magnetic is one; When the number of described field generator for magnetic be two when above then this moving body between two field generator for magnetic between take-off lever and the guide rail.
9. electromagnetism-permanent magnetism the clamping institution that is used for linear electric motors according to claim 1 is characterized in that, described moving body is that rigid material or elastomeric material are made.
10. inchworm motion linear electric motors is characterized in that, comprise two or more pass through in the middle of flexible expander series connection as the described electromagnetism of above-mentioned arbitrary claim-permanent magnetism clamping institution.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206037948U CN201869079U (en) | 2010-11-12 | 2010-11-12 | Electromagnetic-permanent magnet clamping mechanism for linear motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206037948U CN201869079U (en) | 2010-11-12 | 2010-11-12 | Electromagnetic-permanent magnet clamping mechanism for linear motor |
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| CN201869079U true CN201869079U (en) | 2011-06-15 |
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| CN2010206037948U Expired - Fee Related CN201869079U (en) | 2010-11-12 | 2010-11-12 | Electromagnetic-permanent magnet clamping mechanism for linear motor |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101976931A (en) * | 2010-11-12 | 2011-02-16 | 上海交通大学 | Electromagnetic-permanent magnetic clamping mechanism for linear motor |
| CN103001392A (en) * | 2012-10-17 | 2013-03-27 | 上海交通大学 | Swinging driving device based on electromagnetic energy and permanent magnetic energy hybrid |
| CN105448555A (en) * | 2015-11-25 | 2016-03-30 | 杨斌堂 | Bistable state optical path regulation mechanism and method |
| CN106514263A (en) * | 2016-09-29 | 2017-03-22 | 南京伶机宜动驱动技术有限公司 | Direct drive swing rotation combination motion and composite machining device and machining method |
-
2010
- 2010-11-12 CN CN2010206037948U patent/CN201869079U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101976931A (en) * | 2010-11-12 | 2011-02-16 | 上海交通大学 | Electromagnetic-permanent magnetic clamping mechanism for linear motor |
| CN101976931B (en) * | 2010-11-12 | 2013-01-16 | 上海交通大学 | Electromagnetic-permanent magnetic clamping mechanism for linear motor |
| CN103001392A (en) * | 2012-10-17 | 2013-03-27 | 上海交通大学 | Swinging driving device based on electromagnetic energy and permanent magnetic energy hybrid |
| CN103001392B (en) * | 2012-10-17 | 2015-01-14 | 上海交通大学 | Swinging driving device based on electromagnetic energy and permanent magnetic energy hybrid |
| CN105448555A (en) * | 2015-11-25 | 2016-03-30 | 杨斌堂 | Bistable state optical path regulation mechanism and method |
| CN106514263A (en) * | 2016-09-29 | 2017-03-22 | 南京伶机宜动驱动技术有限公司 | Direct drive swing rotation combination motion and composite machining device and machining method |
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