CN205283323U - Rotation moving axis and self -driven rotational system of electromagnetism permanent magnetism direct drive - Google Patents

Abstract

The utility model provides a rotation moving axis and self -driven rotational system of electromagnetism permanent magnetism direct drive, including parts such as driving body solenoid 2, carousel 3, permanent magnets 4, driving body solenoid 2's axial direction parallel in the normal direction of carousel 3, one among both of axis of rotation stator and axis of rotation active cell are fixed in in driving body solenoid 2 installation, and axis of rotation stator and axis of rotation active cell another person among both is fixed in in 3 installations of carousel, the subregion of carousel 3 comprises permanent magnet 4, driving body solenoid 2 and permanent magnet 4 interact form the magnetic structure. The utility model discloses utilize the direct interact of solenoid and permanent magnet to rotate the drive, efficiency is higher, and the structure is compacter, does not need motor, reduction gear etc. Through the individual scalar sum position that changes solenoid and/or permanent magnet, the utility model discloses the application scenario of different driving torques, drive corner demand can be realized to the device.

Description

Rotation moving axis that electromagnet and permanent magnet directly drives and self-driven rotation system

Technical field

This utility model relates to Drive technology, intelligent drives control technology, electromagnet and permanent magnet directly drive and accurate control technique field, turned position, in particular it relates to the rotation moving axis that directly drives of electromagnet and permanent magnet and self-driven rotation system.

Background technology

Accurate controllable rotary driving device is mainly used in the adjustment of mechanism locus and the tracking of target object, the Active Vibration Control of flexible structure. By controlling the rotation of subassembly, realize the adjustment of mechanism locus, and then the active realizing the tracking to target object and flexible structure vibration controls. Existing device of rotation driving, mainly electric rotating machine, this mechanism self structure is complex, and often needs to combine, with other drive disk assemblies, the control carrying out moving, and inefficient, response speed is slower. Especially, when volume is limited, often cannot provide bigger driving torque, it is impossible to meet modern industry and Miniature precision is driven to the demand controlling and positioning.

Currently without finding the explanation with this utility model similar techniques or report, also not yet collect data similar both at home and abroad.

Utility model content

For defect of the prior art, the purpose of this utility model is to provide the rotation moving axis that a kind of electromagnet and permanent magnet directly drives.

The rotation moving axis that a kind of electromagnet and permanent magnet according to this utility model offer directly drives, including: rotate axle stator, rotate axle mover, driving body solenoid, rotating disk, permanent magnet;

The normal direction being axially parallel to rotating disk of driving body solenoid;

Driving body solenoid is mounted on the one rotating axle stator with rotating in axle mover, and rotating disk is mounted on the another one rotating axle stator with rotating in axle mover;

The subregion of rotating disk is made up of permanent magnet;

Driving body solenoid forms magnetic structure with permanent magnet interaction.

Preferably, multiple driving body solenoids uniform or non-uniform Distribution in same circumference or multiple circumference; Circumferentially uniformly or nonuniform mutation operator, the quantity of driving body solenoid is N times of permanent magnet quantity to multiple permanent magnets on rotating disk, and wherein, N is positive integer.

Preferably, including several driving body solenoids; Order about rotating disk after several driving body solenoids described energising to relatively rotate to corresponding to the angle of magnetic flux maximum in described magnetic structure.

Preferably, sleeve relatively rotates around central shaft, and:

-rotate axle stator, rotation axle mover respectively central shaft, sleeve; Or

-rotate axle stator, rotation axle mover respectively sleeve, central shaft.

Preferably, also include following any one or appoint multiple device:

-torsion spring, the two ends of described torsion spring are individually fixed in rotation axle stator, rotate on axle mover, to rotate axle mover and to rotate offer damping between axle stator;

-the magnetic rheological liquid, magnetic conductivity powder particle or the soft magnetic granules that are sealed between sleeve and central shaft in cavity, to rotate axle mover and to rotate and provide damping characteristic that is controlled and that change between axle stator;

-cryptomere the damping body that is sealed between sleeve and central shaft in cavity, described cryptomere damping body is a space cystidium structure, internal fills magnetic medium, to rotate axle mover and to rotate and provide damping characteristic that is controlled and that change between axle stator;

Preferably, following device is also included:

-damping controls driving body; it is electromagnetic generator that described damping controls driving body; it is arranged in the cavity between sleeve and central shaft, is used for applying energy and makes magnetic medium in magnetic rheological liquid, magnetic conductivity powder particle, soft magnetic granules or cryptomere damping body converge in energy applying direction to produce hinder rotation axle mover and rotate axle stator shearing force in relative rotation.

Preferably, following device is also included:

Angle detecting sensor: rotate axle stator for detecting and rotate and relatively rotate angle between axle mover;

Solenoid controlled device: size of current and/or the sense of current of driving body solenoid are controlled by the described rotational angle for obtaining according to angle detecting sensor detection, to increase or to weaken the magnetic interaction between driving body solenoid and permanent magnet.

Preferably, described angle detecting sensor is magneto-electric Coriolis force detection sensor; Less preferably, described angle detecting sensor can also is that other can carry out the sensor of angle detection or MEMS type angular transducer.

According to the self-driven rotation system of one that this utility model provides, described self-driven rotation system adopts the rotation moving axis that above-mentioned electromagnet and permanent magnet directly drives.

Preferably, described self-driven rotation system is self adaptation rotating driving system.

Preferably, described self-driven rotation system is any one system following:

-constant velocity rotation instrument system;

-wait moment of torsion rotation system;

-plate housing folding drive system;

Drive system in-fluid;

-joint of robot system;

-multidimensional rotating driving system.

Compared with prior art, this utility model has the advantages that

1, this utility model utilizes solenoid and permanent magnet direct interaction to carry out rotating driving, and in hgher efficiency, structure is compacter, it is not necessary to the drive parts such as motor;

2, by changing number and the position of fan-shaped permanent magnet in rotating disk, this utility model device can realize the application scenario of different angles span of control;

3, driving body adopts asymmetrical arrangement, effectively increases driving force;

4, the solenoid arrangement form in this utility model is more flexible, simply;

5, can concatenate between each group solenoid or and connect, by changing step mode, both mutually can couple generation in the same direction and strengthen excitation magnetic field force, it is also possible to mutual incorgruous coupling had produced to weaken excitation magnetic field force;

6, this utility model device can carry out as required one-dimensional axially, two dimensional surface, three-dimensional Function Extension;

7, this utility model has active damping characteristic, by the control to emr fluid or magnetic conductivity powder particle, can produce the damping of controllable variations;

8, this utility model simple in construction, light weight, meet modern industry to precision control driving device demand.

9, this utility model may be used for realizing the particularly multidimensional within the scope of 180 degree and rotates, can apply as constant velocity rotation's instrument, etc. the basic components of driving device in moment of torsion tumbler, plate housing folding driving mechanism, fluid and joint of robot system.

Accompanying drawing explanation

By reading detailed description non-limiting example made with reference to the following drawings, other features, objects and advantages of the present utility model will become more apparent upon:

Fig. 1 is driving principle structure diagram of the present utility model;

Structural representation when Fig. 2, Fig. 3 respectively driving body solenoid aligns with permanent magnet with dislocation;

Fig. 4, Fig. 5, Fig. 6, Fig. 7 are the array extension form schematic diagram of the driving body solenoid of the permanent magnet of varying number in this utility model and varying number;

Fig. 8 adopts torsion spring to produce the structural representation of damping in this utility model;

Fig. 9, Figure 10, Figure 11 are three kinds of base structure forms in this utility model. Wherein, Fig. 9 is that sleeve is fixed, central axis, and centered by Figure 10, axle is fixed, and sleeve rotates, and Figure 11 is that inner sleeve is fixed, and outer sleeve and central shaft rotate simultaneously;

Figure 12, Figure 13 are the principle demonstration figure that this utility model produces active damping. Wherein, Figure 12 controls the unexcited situation of driving body for damping, and Figure 13 is the situation that damping controls driving body excited work.

In figure:

Axle centered by 1

2 is driving body solenoid

3 is rotating disk

4 is permanent magnet

5 is torsion spring

6 is sleeve

7 is coil support framework

8 is spring bearing

9 is inner sleeve

10 is magnetic medium

11 control driving body for damping

12 for filling the cystidium of magnetic medium

Detailed description of the invention

Below in conjunction with specific embodiment, this utility model is described in detail. Following example will assist in those skilled in the art and are further appreciated by this utility model, but do not limit this utility model in any form. It should be pointed out that, to those skilled in the art, without departing from the concept of the premise utility, it is also possible to make some changes and improvements. These broadly fall into protection domain of the present utility model.

As it is shown in figure 1, the rotation moving axis that directly drives of electromagnet and permanent magnet provided according to this utility model, including: rotate axle stator, rotate axle mover, driving body solenoid 2, rotating disk 3, permanent magnet 4;

The rotation moving axis that described electromagnet and permanent magnet directly drives can include several (namely one or more) driving body solenoids 2. Several driving body solenoids 2 described same shaft axis L relative to rotating disk 3 is arranged. The rotating shaft of rotating disk 3 can be overlapping with this shaft axis L, it is also possible to not overlapping with this shaft axis L. When the quantity of driving body solenoid 2 is one, the rotating shaft of this driving body solenoid 2 is not overlapping with this shaft axis L. When the quantity of driving body solenoid 2 is multiple, these driving body solenoids 2 constitute solenoid group body; If each driving body solenoid 2 in solenoid group body is uniform in the circumferential, then the rotating shaft of this solenoid group body is preferably overlapping with shaft axis L, certainly can not also be overlapping in not preferred situation; If each driving body solenoid 2 centralized arrangement in solenoid group body is in a certain section of circumference, then the rotating shaft of this solenoid group body is preferably not overlapping with shaft axis L.

Described driving body solenoid adopts hollow electromagnetic coil, electric magnet, coil with yoke or solenoid and ingot iron, soft magnetic materials combination.

The normal direction being axially parallel to rotating disk 3 of driving body solenoid 2. Driving body solenoid 2 is mounted on the one rotating axle stator with rotating in axle mover, rotating disk 3 is mounted on the another one rotating axle stator with rotating in axle mover, that is, can be that driving body solenoid 2 is mounted on rotation axle stator, rotating disk 3 is mounted on rotation axle mover, can also being that driving body solenoid 2 is mounted on rotation axle mover, rotating disk 3 be mounted on rotation axle stator;

As in figure 2 it is shown, the subregion of rotating disk 3 is made up of permanent magnet 4, driving body solenoid 2 interacts with permanent magnet 4 and forms magnetic structure. Wherein, described rotating disk 3 can be rigidly connected to combine by the incomplete disk-like structure and fan-shaped permanent magnet 4 that lack sector region to form complete disk-like structure, and described rotating disk 3, permanent magnet 4 are rigidly connected with central shaft 1. Described rotating disk 3 can be permeability magnetic material, it is also possible to for non-magnet material. The shape of above-mentioned permanent magnet 4 adopts sector to be preferable case, and the shape of permanent magnet 4 can also is that circle, rectangle, triangle, the regular shape such as trapezoidal, still can be irregularly shaped, each falls within protection domain of the present utility model.

Multiple driving body solenoids 2 are uniformly distributed in same circumference or multiple circumference, and as shown in figs. 4-7, the quantity of driving body solenoid 2 can be one or more; As Figure 4-Figure 6, it is uniformly distributed in same circumference between multiple driving solenoids 2; As it is shown in fig. 7, be respectively uniformly distributed in two circumferences between multiple driving solenoids 2. Multiple permanent magnets 4 on rotating disk 3 are circumferentially evenly arranged equally, and the quantity of driving body solenoid 2 is N times of permanent magnet 4 quantity, and wherein, N is positive integer, as shown in figs. 4-7. And in change case, driving body solenoid 2 can non-uniform Distribution, the equally possible non-uniform Distribution in the circumferential of permanent magnet 4 of rotating disk 3 in the circumferential.

Several driving body solenoids 2 that the rotation moving axis that described electromagnet and permanent magnet directly drives comprises, relatively rotate to corresponding to the angle of magnetic flux maximum in described magnetic structure for ordering about rotating disk 3. Specifically, driving body solenoid 2 and rotating disk 3 relatively rotate the change of relative area between produced driving body solenoid 2 and permanent magnet 4, cause the change of magnetic flux in described magnetic structure. When in described magnetic structure, magnetic flux reaches maximum, it is believed that single driving body solenoid 2 or the solenoid group body being made up of multiple driving body solenoids 2 are in, with the permanent magnet on rotating disk 3, the angular position relative alignd. When in described magnetic structure, magnetic flux is not up to maximum, it is believed that single driving body solenoid 2 or the solenoid group body that is made up of multiple driving body solenoids 2 are in the angular position relative of dislocation with the permanent magnet on rotating disk 3. Namely the effect of driving body solenoid 2 includes driving to aligned position the rotating disk 3 being in misalignment position.

Further, the rotation moving axis that the electromagnet and permanent magnet provided according to this utility model directly drives also includes angle detecting sensor and solenoid controlled device. Angle detecting sensor rotates axle stator for detecting and rotates and relatively rotate angle between axle mover; Size of current and/or the sense of current of driving body solenoid 2 are controlled by solenoid controlled device for the described rotational angle obtained according to angle detecting sensor detection, with the magnetic interaction (or increasing/reduce the magnetic interaction time) increasing or weakening between driving body solenoid 2 and permanent magnet 4. Preferably, described angle detecting sensor is magneto-electric Coriolis force detection sensor, those skilled in the art may refer to Chinese patent literature (the publication number 103913158A of application number " 201410095933.3 ", title " magneto-electric Coriolis force detection sensor ") and Chinese patent literature (the publication number 203798360U of application number " 201420117614.3 ", title " magneto-electric Coriolis force detection sensor ") it is achieved, do not repeat them here.

In the first preference, such as Fig. 9 depicted, axle 1 centered by rotation axle mover, rotating axle stator is sleeve 6. Driving body solenoid is mounted on the inwall of sleeve 6, and rotating disk 3 is mounted on central shaft 1.

In the second preference, as shown in Figure 10, rotating axle 1 centered by axle stator, rotating axle mover is sleeve 6. Driving body solenoid is mounted on the coil support framework on central shaft 1, and rotating disk 3 is mounted on the inwall of sleeve 6, and is placed on central shaft 1 by spring bearing 8.

In the 3rd preference, as shown in figure 11, rotating axle 1 and sleeve 6 centered by axle mover, rotating axle stator is the inner sleeve 9 being centrally located between axle 1 and sleeve 6. Rotating disk 3 is fixed between central shaft 1 and sleeve 6, and driving body solenoid 2 is installed on inner sleeve 9 inwall.

In the 4th preference, as shown in figure 12, rotating axle 1 centered by axle stator, rotating axle mover is sleeve 6. Driving body solenoid is mounted on the coil support framework on central shaft 1, and rotating disk 3 is mounted on the inwall of sleeve 6, and is placed on central shaft 1 by spring bearing 8. Rotating disk 3 is provided with damping and controls driving body 11, in the space between central shaft 1 and sleeve 6, be provided with magnetic medium 10 and cryptomere damping body 12. Wherein, the magnetic medium 10 being sealed between sleeve 6 and central shaft 1 in cavity can be magnetic rheological liquid, magnetic conductivity powder particle or soft magnetic granules, to provide controlled and change damping characteristic between rotation axle mover and rotation axle stator; The cryptomere damping body 12 being sealed between sleeve 6 and central shaft 1 in cavity, described cryptomere damping body is a space cystidium structure, internal filling magnetic medium 10, to provide controlled and change damping characteristic between rotation axle mover and rotation axle stator; Damping controls driving body 11, and described damping controls driving body 11 and is arranged in the cavity between sleeve 6 and central shaft 1, for controlling the deployment conditions of magnetic medium 10 in magnetic rheological liquid, magnetic conductivity powder particle, soft magnetic granules or cryptomere damping body. Further, as shown in figure 12, also including torsion spring 5 according to the rotation moving axis that the electromagnet and permanent magnet of this utility model offer directly drives, described torsion spring 5 can be set on central shaft 1, it is also possible to is arranged at other position. The two ends of torsion spring 5 are individually fixed in rotation axle mover, rotate on axle stator, to rotate axle mover and to rotate offer damping between axle stator, namely, torsion spring 5 is used for providing kinetic damping, increase the stability and controllability that rotate axle motion, further, after driving body solenoid dead electricity, torsion spring 5 can play the effect of reset and make rotating disk 3 homing.

Principle of the present utility model is as follows.

The rotation moving axis that the electromagnet and permanent magnet that this utility model provides directly drives, the exciting field produced by driving body solenoid is controlled to rotating disk and with the rigidly connected stator of rotating disk or relatively rotating of mover, it is specially, driving body solenoid produces magnetic force axially after powered up, when the driving body solenoid of energising is with permanent magnet dislocation, captivation or the repulsive force of permanent magnet will be generated shearing force by this magnetic force, so that permanent magnet rotates to the alignment angles position that magnetic flux is maximum, thus driving the rotation of rotating disk, and then make rotation axle mover and rotate production rotational angle between axle stator.

Further; logical over-damp control driving body can apply energy makes magnetic medium 10 in magnetic rheological liquid, magnetic conductivity powder particle, soft magnetic granules or cryptomere damping body converge in energy applying direction to produce hinder rotation axle mover and rotate axle stator shearing force in relative rotation; thus controlling the damping characteristic rotating axle stator and rotating between axle mover; shearing force is obstructed and weakens or become big reinforcement, to order about or to hinder the rotation rotating axle stator and rotating between axle mover. Wherein, it is the electromagnetic generator that can produce demand intensity that damping controls driving body, and damping controls driving body and the magnetic mediums such as magnetic rheological liquid, magnetic conductivity powder particle, soft magnetic granules are applied electromagnetic energy. When electromagnetic generator dead, as shown in figure 12, magnetic medium is evenly distributed on central shaft with in the gap of sleeve, and now magnetic medium is not blocked from or substantially hinders the rotation between central shaft and sleeve; When electromagnetic generator encourages, as shown in figure 13, in a certain small space in the gap that homogeneous magnetic medium is accumulated between central shaft and sleeve, now the density of magnetic medium becomes big, corresponding shear stress also becomes big, thus the rotation between central shaft and sleeve is caused obvious obstruction, it might even be possible to locked central shaft and sleeve stop operating.

More specifically, when driving body solenoid less (or coil current is less), it is adaptable to the rotation driving control that load is less; When driving body solenoid more (or coil current is bigger), it is adaptable to the rotation that load is bigger drives and controls. When permanent magnet is one, it may be achieved the rotation of small angle range controls, when permanent magnet is multiple, it may be achieved the rotation of larger angle scope controls. By the control system of switching on or off electricity to multiple combination driving body solenoids, it is possible to achieve rotor rotational stability to be carried out accurate control. It addition, by the control that damping is controlled driving body, it is possible to achieve the active damping control of device, further increase and drive, to rotating, the stability and effectiveness controlled.

Further, angle detecting sensor rotates axle stator for detecting and rotates and relatively rotate angle between axle mover; Size of current and/or the sense of current of driving body solenoid 2 are controlled by solenoid controlled device for the described rotational angle obtained according to angle detecting sensor detection, to increase or to weaken the magnetic interaction between driving body solenoid 2 and permanent magnet 4. Such as, assume that rotating axle needs to rotate a specified angle, difference is there is also between the rotational angle of current operation axle and desired rotational angle when angle detecting sensor detects, namely current operation angle not yet reaches specified angle, then control solenoid controlled device and continue power supply to driving body solenoid, until the rotational angle rotating axle reaches specified angle.

Above specific embodiment of the utility model is described. It is to be appreciated that this utility model is not limited to above-mentioned particular implementation, those skilled in the art can make a variety of changes within the scope of the claims or revise, and this has no effect on flesh and blood of the present utility model. When not conflicting, the feature in this utility model embodiment and embodiment can arbitrarily be mutually combined.

Claims (11)

1. the rotation moving axis that an electromagnet and permanent magnet directly drives, it is characterised in that including: rotate axle stator, rotate axle mover, driving body solenoid (2), rotating disk (3), permanent magnet (4);

The normal direction being axially parallel to rotating disk (3) of driving body solenoid (2);

Driving body solenoid (2) is mounted on the one rotating axle stator with rotating in axle mover, and rotating disk (3) is mounted on the another one rotating axle stator with rotating in axle mover;

The subregion of rotating disk (3) is made up of permanent magnet (4);

Driving body solenoid (2) interacts with permanent magnet (4) and forms magnetic structure.

2. the rotation moving axis that electromagnet and permanent magnet according to claim 1 directly drives, it is characterised in that multiple driving body solenoids (2) are uniform or non-uniform Distribution in same circumference or multiple circumference; Circumferentially uniformly or nonuniform mutation operator, the quantity of driving body solenoid (2) is N times of permanent magnet (4) quantity to multiple permanent magnets (4) on rotating disk (3), and wherein, N is positive integer.

3. the rotation moving axis that electromagnet and permanent magnet according to claim 1 directly drives, it is characterised in that include several driving body solenoids (2); Order about rotating disk (3) after several driving body solenoids (2) described energising to relatively rotate to corresponding to the angle of magnetic flux maximum in described magnetic structure.

4. the rotation moving axis that electromagnet and permanent magnet according to claim 1 directly drives, it is characterised in that sleeve (6) relatively rotates around central shaft (1), and:

-rotate axle stator, rotation axle mover respectively central shaft (1), sleeve (6); Or

-rotate axle stator, rotation axle mover respectively sleeve (6), central shaft (1).

5. the rotation moving axis that electromagnet and permanent magnet according to claim 4 directly drives, it is characterised in that also include following any one or appoint multiple device:

-torsion spring (5), the two ends of described torsion spring (5) are individually fixed in rotation axle stator, rotate on axle mover, to rotate axle mover and to rotate offer damping between axle stator;

-the magnetic rheological liquid, magnetic conductivity powder particle or the soft magnetic granules that are sealed between sleeve (6) and central shaft (1) in cavity, to rotate axle mover and to rotate and provide damping characteristic that is controlled and that change between axle stator;

-it is sealed between sleeve (6) and central shaft (1) the cryptomere damping body in cavity, described cryptomere damping body is a space cystidium structure, internal filling magnetic medium (10), to provide controlled and change damping characteristic between rotation axle mover and rotation axle stator.

6. the rotation moving axis that electromagnet and permanent magnet according to claim 5 directly drives, it is characterised in that also include following device:

-damping controls driving body (11); it is electromagnetic generator that described damping controls driving body (11); it is arranged in the cavity between sleeve (6) and central shaft (1), is used for applying energy and makes magnetic medium (10) in magnetic rheological liquid, magnetic conductivity powder particle, soft magnetic granules or cryptomere damping body converge in energy applying direction to produce hinder rotation axle mover and rotate axle stator shearing force in relative rotation.

7. the rotation moving axis that electromagnet and permanent magnet according to claim 1 directly drives, it is characterised in that also include following device:

Angle detecting sensor: rotate axle stator for detecting and rotate and relatively rotate angle between axle mover;

Solenoid controlled device: size of current and/or the sense of current of driving body solenoid (2) are controlled by the described rotational angle for obtaining according to angle detecting sensor detection, to increase or to weaken the magnetic interaction between driving body solenoid (2) and permanent magnet (4).

8. the rotation moving axis that electromagnet and permanent magnet according to claim 7 directly drives, it is characterised in that described angle detecting sensor is magneto-electric Coriolis force detection sensor.

9. a self-driven rotation system, it is characterised in that described self-driven rotation system adopts the rotation moving axis that the electromagnet and permanent magnet according to any one of claim 1 to 8 directly drives.

10. self-driven rotation system according to claim 9, it is characterised in that described self-driven rotation system is self adaptation rotating driving system.

11. self-driven rotation system according to claim 9, it is characterised in that described self-driven rotation system is any one system following:

-constant velocity rotation instrument system;

-wait moment of torsion rotation system;

-plate housing folding drive system;

Drive system in-fluid;

-joint of robot system;

-multidimensional rotating driving system.