CN218066289U - Distance measuring device for permanent magnet electromagnetic hybrid system - Google Patents

Distance measuring device for permanent magnet electromagnetic hybrid system Download PDF

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CN218066289U
CN218066289U CN202220920093.XU CN202220920093U CN218066289U CN 218066289 U CN218066289 U CN 218066289U CN 202220920093 U CN202220920093 U CN 202220920093U CN 218066289 U CN218066289 U CN 218066289U
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permanent magnet
electromagnet
linear hall
magnetic field
operational amplifier
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刘林
张则羿
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Jiangxi University of Science and Technology
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Abstract

本实用新型提供一种永磁电磁混合系统的测距装置,所述永磁电磁混合系统包括电磁铁和永磁体;所述测距装置包括:至少两个线性霍尔元件,间隔设置在电磁铁的吸附面上,其中一个线性霍尔元件位于吸附面正中位置,与永磁体位置相对,至少两个线性霍尔元件用于获取永磁体所激发的永磁磁场和电磁铁中励磁电流所激发的电磁磁场叠加后的混合磁场的磁场强度电信号;信号补偿模块,与每一线性霍尔元件电连接,用于对混合磁场的磁场强度电信号进行补偿以抵消来自电磁磁场的影响,并输出仅与永磁磁场相关的补偿后的磁场强度电信号,以表征电磁铁与永磁体之间的距离。本实用新型能有效降低测量过程中永磁体摇摆、侧偏对距离信号的影响、提高距离检测的准确度。

Figure 202220920093

The utility model provides a distance measuring device of a permanent magnet electromagnetic hybrid system. The permanent magnet electromagnetic hybrid system includes an electromagnet and a permanent magnet; On the adsorption surface, one of the linear Hall elements is located in the middle of the adsorption surface, opposite to the position of the permanent magnet, and at least two linear Hall elements are used to obtain the permanent magnetic field excited by the permanent magnet and the excitation current excited by the electromagnet. The magnetic field strength electric signal of the mixed magnetic field after the electromagnetic field is superimposed; the signal compensation module is electrically connected with each linear Hall element, and is used to compensate the magnetic field strength electric signal of the mixed magnetic field to offset the influence from the electromagnetic field, and output only The compensated magnetic field strength electrical signal associated with the permanent magnetic field to characterize the distance between the electromagnet and the permanent magnet. The utility model can effectively reduce the influence of the swing and side deviation of the permanent magnet on the distance signal during the measurement process, and improve the accuracy of the distance detection.

Figure 202220920093

Description

永磁电磁混合系统的测距装置Distance measuring device for permanent magnet electromagnetic hybrid system

技术领域technical field

本实用新型涉及距离检测技术领域,具体地涉及一种永磁电磁混合系统的测距装置。The utility model relates to the technical field of distance detection, in particular to a distance measuring device of a permanent magnet electromagnetic hybrid system.

背景技术Background technique

在永磁电磁混合悬浮系统中,为了实现混合悬浮系统的稳定悬浮,需要实时获取永磁体与电磁铁之间的距离,以实现混合悬浮系统的动态平衡控制。现有技术中,通常采用激光测距、红外线传感器测距、超声波测距、光遮挡法测距和线性霍尔元件测距等技术。其中,激光测距虽精度高,但是单价昂贵、成本高;红外线传感器测距相比激光测距成本较低,但受环境光源的影响较大;超声波测距精度低且超声发生器体积较大,并不适用;光遮挡法测距结构复杂、且精度低,无法满足使用需求;线性霍尔元件单价较低、灵敏度高,所以现有混合悬浮系统常采用线性霍尔元件作为距离检测元件。但线性霍尔元件易受电磁铁产生的电磁磁场影响,使得测量结果产生偏差,故该问题亟待解决、以提高测量精度。In the permanent magnet electromagnetic hybrid levitation system, in order to realize the stable levitation of the hybrid levitation system, it is necessary to obtain the distance between the permanent magnet and the electromagnet in real time to realize the dynamic balance control of the hybrid levitation system. In the prior art, technologies such as laser distance measurement, infrared sensor distance measurement, ultrasonic distance measurement, light occlusion method distance measurement and linear Hall element distance measurement are usually used. Among them, laser ranging has high precision, but the unit price is expensive and the cost is high; infrared sensor ranging is less costly than laser ranging, but it is greatly affected by environmental light sources; ultrasonic ranging has low accuracy and the size of the ultrasonic generator is large , is not applicable; the optical occlusion method has a complex ranging structure and low precision, which cannot meet the needs of use; the linear Hall element has a low unit price and high sensitivity, so the existing hybrid suspension system often uses a linear Hall element as a distance detection element. However, the linear Hall element is easily affected by the electromagnetic field generated by the electromagnet, which will cause deviations in the measurement results. Therefore, this problem needs to be solved urgently to improve the measurement accuracy.

实用新型内容Utility model content

本实用新型实施例的目的是提供一种永磁电磁混合系统的测距装置,该设备用以解决上述的现有的线性霍尔元件测量距离时容易受到电磁铁产生的电磁磁场影响、使测量结果产生偏差的问题。The purpose of this utility model embodiment is to provide a distance measuring device of a permanent magnet electromagnetic hybrid system, which is used to solve the problem that the above-mentioned existing linear Hall element is easily affected by the electromagnetic field generated by the electromagnet when measuring distance, making the measurement The result is a problem of bias.

为了实现上述目的,本实用新型实施例提供一种永磁电磁混合系统的测距装置,所述永磁电磁混合系统包括电磁铁和永磁体,所述电磁铁的底面为水平的吸附面,所述永磁体位于所述电磁铁正下方且与所述电磁铁不接触;所述永磁电磁混合系统的测距装置包括:In order to achieve the above object, the embodiment of the present utility model provides a distance measuring device of a permanent magnet electromagnetic hybrid system, the permanent magnet electromagnetic hybrid system includes an electromagnet and a permanent magnet, the bottom surface of the electromagnet is a horizontal adsorption surface, so The permanent magnet is located directly below the electromagnet and is not in contact with the electromagnet; the distance measuring device of the permanent magnet electromagnetic hybrid system includes:

至少两个线性霍尔元件,间隔设置在所述电磁铁的吸附面上,其中一个线性霍尔元件位于所述吸附面正中位置并与所述永磁体位置相对,至少两个线性霍尔元件用于获取所述永磁体所激发的永磁磁场和所述电磁铁中励磁电流所激发的电磁磁场叠加后的混合磁场的磁场强度电信号;At least two linear Hall elements are arranged at intervals on the adsorption surface of the electromagnet, wherein one linear Hall element is located in the center of the adsorption surface and is opposite to the position of the permanent magnet, and at least two linear Hall elements are used for Obtaining the magnetic field intensity electric signal of the mixed magnetic field after the superposition of the permanent magnetic field excited by the permanent magnet and the electromagnetic field excited by the exciting current in the electromagnet;

信号补偿模块,与每一线性霍尔元件电连接,用于对所述混合磁场的磁场强度电信号进行补偿以抵消来自电磁磁场的影响,并输出仅与永磁磁场相关的补偿后的磁场强度电信号,用以表征所述电磁铁与所述永磁体之间的距离。The signal compensation module is electrically connected with each linear Hall element, and is used for compensating the magnetic field strength electric signal of the mixed magnetic field to offset the influence from the electromagnetic field, and outputting the compensated magnetic field strength only related to the permanent magnetic field The electric signal is used to represent the distance between the electromagnet and the permanent magnet.

可选的,所述电磁铁为E型电磁铁。Optionally, the electromagnet is an E-type electromagnet.

可选的,所述电磁铁为电磁吸盘。Optionally, the electromagnet is an electromagnetic chuck.

可选的,所述永磁体为钕铁硼永磁体、钐钴永磁体或铝镍钴永磁体,所述永磁体的形状为圆柱体、长方体或环形体。Optionally, the permanent magnet is a neodymium iron boron permanent magnet, a samarium cobalt permanent magnet or an alnico permanent magnet, and the shape of the permanent magnet is a cylinder, a cuboid or a ring.

可选的,所述线性霍尔元件的数量为三个,呈一字型等距间隔排列在所述吸附面上,且中间位置的线性霍尔元件位于所述吸附面正中位置并与所述永磁体位置相对。Optionally, the number of the linear Hall elements is three, which are arranged on the adsorption surface at equal intervals in a line, and the linear Hall element in the middle position is located in the middle of the adsorption surface and is connected to the adsorption surface. The permanent magnets are located relative to each other.

可选的,所述线性霍尔元件的数量为五个,且其中一个线性霍尔元件位于所述吸附面正中位置并与所述永磁体位置相对,其余四个线性霍尔元件呈等距的旋转对称设置在所述吸附面的外围。Optionally, the number of the linear Hall elements is five, and one of the linear Hall elements is located in the middle of the adsorption surface and opposite to the position of the permanent magnet, and the remaining four linear Hall elements are equidistant The rotational symmetry is arranged on the periphery of the adsorption surface.

可选的,所述信号补偿模块为数字控制器。Optionally, the signal compensation module is a digital controller.

可选的,所述信号补偿模块为模拟电路。Optionally, the signal compensation module is an analog circuit.

可选的,所述模拟电路包括:依次串联的输入信号处理模块和参数调整模块;Optionally, the analog circuit includes: an input signal processing module and a parameter adjustment module sequentially connected in series;

所述输入信号处理模块包括至少两个第一运算放大器,每一第一运算放大器的输出端通过第一电阻连接所述参数调整模块的输入端,每一第一运算放大器的同向输入端连接对应的线性霍尔元件的输出端,每一第一运算放大器的反向输入端连接各自的输出端;The input signal processing module includes at least two first operational amplifiers, the output terminal of each first operational amplifier is connected to the input terminal of the parameter adjustment module through a first resistor, and the same input terminal of each first operational amplifier is connected The output end of the corresponding linear Hall element, the inverting input end of each first operational amplifier is connected to the respective output end;

所述参数调整模块包括相互串联的第二运算放大器和第三运算放大器,所述第二运算放大器的反向输入端连接所述输入信号处理模块的输出端且还通过第二电阻连接所述第二运算放大器的输出端,所述第二运算放大器的同向输入端连接可调电位计,所述第二运算放大器的输出端连接所述第三运算放大器的同向输入端,所述第三运算放大器的反向输入端连接所述第三运算放大器的输出端,所述第三运算放大器的输出端输出补偿后的磁场强度电信号。The parameter adjustment module includes a second operational amplifier and a third operational amplifier connected in series, the inverting input terminal of the second operational amplifier is connected to the output terminal of the input signal processing module and is also connected to the first operational amplifier through a second resistor. The output terminals of the two operational amplifiers, the same input terminal of the second operational amplifier is connected with an adjustable potentiometer, the output terminal of the second operational amplifier is connected with the same input terminal of the third operational amplifier, and the third operational amplifier is connected with the same input terminal of the third operational amplifier. The inverting input terminal of the operational amplifier is connected to the output terminal of the third operational amplifier, and the output terminal of the third operational amplifier outputs a compensated magnetic field strength electric signal.

可选的,所述装置还包括:电源模块,与所述电磁铁、所述线性霍尔元件和所述信号补偿模块连接,用于向所述电磁铁、所述线性霍尔元件和所述信号补偿模块供电。Optionally, the device further includes: a power supply module, connected to the electromagnet, the linear Hall element and the signal compensation module, for providing power to the electromagnet, the linear Hall element and the The signal compensation module is powered.

本技术方案通过至少两个线性霍尔元件获取所述永磁磁场和所述电磁磁场叠加后的混合磁场的磁场强度电信号,并利用信号补偿模块,对混合磁场的磁场强度电信号进行补偿、以抵消来自电磁磁场的影响、并输出仅与永磁磁场相关的补偿后的磁场强度电信号,用以表征所述电磁铁与所述永磁体之间的距离,避免线性霍尔元件受到所述电磁磁场的干扰,使信号测量更加准确,提高距离检测精度;另外,通过设置至少三个线性霍尔元件能有效降低测量过程中永磁体摇摆、侧偏对距离信号的影响、提高距离检测的准确度。In this technical solution, at least two linear Hall elements are used to obtain the electric signal of the magnetic field strength of the mixed magnetic field after the superposition of the permanent magnetic field and the electromagnetic field, and the signal compensation module is used to compensate the electric signal of the magnetic field strength of the mixed magnetic field, To counteract the influence from the electromagnetic field, and output a compensated magnetic field strength electrical signal only related to the permanent magnetic field, to characterize the distance between the electromagnet and the permanent magnet, to avoid the linear Hall element being affected by the The interference of the electromagnetic field makes the signal measurement more accurate and improves the distance detection accuracy; in addition, by setting at least three linear Hall elements, it can effectively reduce the influence of the permanent magnet swing and side deviation on the distance signal during the measurement process, and improve the accuracy of the distance detection Spend.

本实用新型实施例的其它特征和优点将在随后的具体实施方式部分予以详细说明。Other features and advantages of the embodiments of the present invention will be described in detail in the following part of specific embodiments.

附图说明Description of drawings

附图是用来提供对本实用新型实施例的进一步理解,并且构成说明书的一部分,与下面的具体实施方式一起用于解释本实用新型实施例,但并不构成对本实用新型实施例的限制。在附图中:The accompanying drawings are used to provide a further understanding of the embodiments of the utility model, and constitute a part of the description, and are used together with the following specific embodiments to explain the embodiments of the utility model, but do not constitute a limitation to the embodiments of the utility model. In the attached picture:

图1是本实用新型提供的第一种永磁电磁混合系统的测距装置的结构示意图;Fig. 1 is the structural representation of the distance measuring device of the first kind of permanent magnet electromagnetic hybrid system provided by the utility model;

图2是本实用新型提供的第一种永磁电磁混合系统的测距装置的部分结构示意图;Fig. 2 is a partial structural schematic diagram of the distance measuring device of the first permanent magnet electromagnetic hybrid system provided by the utility model;

图3是本实用新型提供的第二种永磁电磁混合系统的测距装置的结构示意图;Fig. 3 is the structural representation of the ranging device of the second permanent magnet electromagnetic hybrid system provided by the utility model;

图4是本实用新型提供的第二种永磁电磁混合系统的测距装置的部分结构示意图;Fig. 4 is a partial structural schematic diagram of the distance measuring device of the second permanent magnet electromagnetic hybrid system provided by the utility model;

图5是本实用新型提供的永磁电磁混合系统的测距装置的信号补偿模块的结构示意图;Fig. 5 is a schematic structural view of the signal compensation module of the ranging device of the permanent magnet electromagnetic hybrid system provided by the utility model;

图6是本实用新型提供的补偿后的磁场强度电信号与电磁铁和永磁体之间距离的变化关系示意图。Fig. 6 is a schematic diagram of the relationship between the electric signal of the magnetic field strength after compensation and the distance between the electromagnet and the permanent magnet provided by the utility model.

附图标记说明Explanation of reference signs

1-电磁铁; 2-永磁体; 3-线性霍尔元件;1-Electromagnet; 2-Permanent magnet; 3-Linear Hall element;

4-信号补偿模块; 41-输入信号处理模块; 42-参数调整模块;4-signal compensation module; 41-input signal processing module; 42-parameter adjustment module;

411-第一运算放大器; 412-第一电阻; 421-第二运算放大器;411-the first operational amplifier; 412-the first resistor; 421-the second operational amplifier;

422-第三运算放大器; 423-第二电阻; 424-可调电位计。422-the third operational amplifier; 423-the second resistor; 424-an adjustable potentiometer.

具体实施方式detailed description

以下结合附图对本实用新型实施例的具体实施方式进行详细说明。应当理解的是,此处所描述的具体实施方式仅用于说明和解释本实用新型实施例,并不用于限制本实用新型实施例。The specific implementation manners of the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation manners described here are only used to illustrate and explain the embodiments of the present utility model, and are not intended to limit the embodiments of the present utility model.

在本实用新型实施例中,在未作相反说明的情况下,使用的方位词如“上、下、左、右”通常是指基于附图所示的方位或位置关系,或者是该实用新型产品使用时惯常摆放的方位或位置关系。In the embodiments of the present utility model, unless otherwise stated, the orientation words used such as "up, down, left, right" usually refer to the orientation or positional relationship shown in the drawings, or the utility model The orientation or positional relationship in which the product is usually placed in use.

术语“第一”、“第二”、“第三”等仅用于区分描述,而不能理解为指示或暗示相对重要性。The terms "first", "second", "third", etc. are only used for distinguishing descriptions, and should not be construed as indicating or implying relative importance.

术语“平行”、“垂直”等并不表示要求部件绝对平行或垂直,而是可以稍微倾斜。如“平行”仅仅是指其方向相对“垂直”而言更加平行,并不是表示该结构一定要完全平行,而是可以稍微倾斜。The terms "parallel", "perpendicular", etc. do not mean that the components are absolutely parallel or perpendicular, but may be slightly inclined. For example, "parallel" only means that its direction is more parallel than "vertical", and does not mean that the structure must be completely parallel, but can be slightly inclined.

术语“水平”、“竖直”、“悬垂”等术语并不表示要求部件绝对水平、竖直或悬垂,而是可以稍微倾斜。如“水平”仅仅是指其方向相对“竖直”而言更加水平,并不是表示该结构一定要完全水平,而是可以稍微倾斜。The terms "horizontal", "vertical", "overhanging" and the like do not imply that the part is absolutely horizontal, vertical or overhanging, but may be slightly inclined. For example, "horizontal" only means that its direction is more horizontal than "vertical", and it does not mean that the structure must be completely horizontal, but can be slightly inclined.

此外,“大致”、“基本”等用语旨在说明相关内容并不是要求绝对的精确,而是可以有一定的偏差。例如:“大致相等”并不仅仅表示绝对的相等,由于实际生产、操作过程中,难以做到绝对的“相等”,一般都存在一定的偏差。因此,除了绝对相等之外,“大致等于”还包括上述的存在一定偏差的情况。以此为例,其他情况下,除非有特别说明,“大致”、“基本”等用语均为与上述类似的含义。In addition, terms such as "approximately" and "basically" are intended to indicate that the relevant content does not require absolute precision, but may have certain deviations. For example: "approximately equal" does not only mean absolute equality, because it is difficult to achieve absolute "equal" in the actual production and operation process, generally there is a certain deviation. Therefore, in addition to being absolutely equal, "approximately equal to" also includes the above-mentioned situation where there is a certain deviation. Take this as an example, and in other cases, unless otherwise specified, terms such as "approximately" and "basically" have similar meanings to the above.

在本实用新型的描述中,还需要说明的是,除非另有明确的规定和限定,术语“设置”、“安装”、“相连”、“连接”应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或一体地连接;可以是直接相连,也可以通过中间媒介间接相连,可以是两个元件内部的连通。对于本领域的普通技术人员而言,可以具体情况理解上述术语在本实用新型中的具体含义。In the description of the present utility model, it should also be noted that, unless otherwise specified and limited, the terms "setting", "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection , can also be detachably connected, or integrally connected; can be directly connected, can also be indirectly connected through an intermediary, and can be internal communication between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present utility model in specific situations.

图1是本实用新型提供的第一种永磁电磁混合系统的测距装置的结构示意图;图2是本实用新型提供的第一种永磁电磁混合系统的测距装置的部分结构示意图;图3是本实用新型提供的第二种永磁电磁混合系统的测距装置的结构示意图;图4是本实用新型提供的第二种永磁电磁混合系统的测距装置的部分结构示意图。Fig. 1 is the structural representation of the distance measuring device of the first kind of permanent magnet electromagnetic hybrid system provided by the utility model; Fig. 2 is the partial structural representation of the distance measuring device of the first kind of permanent magnet electromagnetic hybrid system provided by the utility model; Fig. 3 is a schematic structural view of the distance measuring device of the second permanent magnet electromagnetic hybrid system provided by the utility model; FIG. 4 is a partial structural schematic diagram of the distance measuring device of the second permanent magnet electromagnetic hybrid system provided by the utility model.

如图1-4所示,本实用新型实施方式提供一种永磁电磁混合系统的测距装置,所述永磁电磁混合系统包括电磁铁1和永磁体2,所述电磁铁1的底面为水平的吸附面,所述永磁体2位于所述电磁铁1正下方且与所述电磁铁1不接触;所述永磁电磁混合系统的测距装置包括:As shown in Figure 1-4, the embodiment of the utility model provides a distance measuring device of a permanent magnet electromagnetic hybrid system, the permanent magnet electromagnetic hybrid system includes an electromagnet 1 and a permanent magnet 2, and the bottom surface of the electromagnet 1 is A horizontal adsorption surface, the permanent magnet 2 is located directly below the electromagnet 1 and is not in contact with the electromagnet 1; the distance measuring device of the permanent magnet electromagnetic hybrid system includes:

至少两个线性霍尔元件3,间隔设置在所述电磁铁1的吸附面上,其中一个线性霍尔元件3位于所述吸附面正中位置并与所述永磁体2位置相对,至少两个线性霍尔元件3用于获取所述永磁体2所激发的永磁磁场和所述电磁铁1中励磁电流所激发的电磁磁场叠加后的混合磁场的磁场强度电信号;At least two linear Hall elements 3 are arranged at intervals on the adsorption surface of the electromagnet 1, wherein one linear Hall element 3 is located in the center of the adsorption surface and is opposite to the permanent magnet 2, at least two linear Hall elements Hall element 3 is used for obtaining the magnetic field strength electric signal of the mixed magnetic field after the permanent magnetic field excited by described permanent magnet 2 and the electromagnetic field excited by excitation current in described electromagnet 1 are superimposed;

信号补偿模块4,与每一线性霍尔元件3电连接,用于对所述混合磁场的磁场强度电信号进行补偿以抵消来自电磁磁场的影响,并输出仅与永磁磁场相关的补偿后的磁场强度电信号,用以表征所述电磁铁1与所述永磁体2之间的距离;The signal compensation module 4 is electrically connected to each linear Hall element 3, and is used to compensate the magnetic field strength electric signal of the mixed magnetic field to offset the influence from the electromagnetic field, and output the compensated signal only related to the permanent magnetic field. The electric signal of magnetic field strength is used to characterize the distance between the electromagnet 1 and the permanent magnet 2;

具体地,电磁铁1包括铁芯和线圈。向线圈通入励磁电流便使电磁铁1产生电磁磁场,磁场的方向由励磁电流的方向决定;同时,永磁体2产生永磁磁场。永磁磁场与电磁铁1的铁芯和电磁磁场之间的相互作用可使永磁体2与电磁铁1之间产生磁场作用力。线性霍尔元件3的数量根据实际使用情况决定,可以设置为两至五或更多个不等,并按一定的规律进行排布,且保证其中一个线性霍尔元件3位于吸附面正中位置。线性霍尔元件3得到混合磁场的磁场强度电信号后,信号补偿模块4可以采用数字控制器、也可以采用模拟电路,对所述混合磁场的磁场强度电信号进行补偿、以抵消来自电磁磁场的影响、并输出仅与永磁磁场相关的补偿后的磁场强度电信号,用以表征所述电磁铁1与所述永磁体2之间的距离。Specifically, the electromagnet 1 includes an iron core and a coil. The electromagnet 1 generates an electromagnetic field by feeding the excitation current into the coil, and the direction of the magnetic field is determined by the direction of the excitation current; at the same time, the permanent magnet 2 generates a permanent magnetic field. The interaction between the permanent magnetic field and the iron core of the electromagnet 1 and the electromagnetic field can generate a magnetic field force between the permanent magnet 2 and the electromagnet 1 . The number of linear Hall elements 3 is determined according to the actual usage, and can be set to two to five or more, and arranged according to a certain rule, and ensure that one of the linear Hall elements 3 is located in the middle of the adsorption surface. After the linear Hall element 3 obtains the electric signal of the magnetic field strength of the mixed magnetic field, the signal compensation module 4 can use a digital controller or an analog circuit to compensate the electric signal of the magnetic field strength of the mixed magnetic field to offset the electric signal from the electromagnetic field. Affecting and outputting a compensated magnetic field strength electric signal related only to the permanent magnet magnetic field to characterize the distance between the electromagnet 1 and the permanent magnet 2 .

更具体地,信号补偿模块4可以再根据距离与补偿后的磁场强度电信号之间的函数关系,确定永磁体2与电磁铁1之间的实际距离。More specifically, the signal compensation module 4 can then determine the actual distance between the permanent magnet 2 and the electromagnet 1 according to the functional relationship between the distance and the compensated magnetic field strength electric signal.

在另一种实施方式中,所述装置还包括:电源模块,与所述电磁铁1、所述线性霍尔元件3和所述信号补偿模块4连接,用于向所述电磁铁1、所述线性霍尔元件3和所述信号补偿模块4供电。In another embodiment, the device further includes: a power supply module, connected to the electromagnet 1, the linear Hall element 3 and the signal compensation module 4, for supplying power to the electromagnet 1, the The linear Hall element 3 and the signal compensation module 4 are powered.

更具体地,供电电源(未示出)可以设置整体或者单个独立分别为电磁铁1、线性霍尔元件3或信号补偿模块4供电的电源,具体包括一次性电池、可充电电池等作为电源供电。More specifically, the power supply (not shown) can be set as a whole or a single independent power supply for the electromagnet 1, the linear Hall element 3 or the signal compensation module 4, specifically including a disposable battery, a rechargeable battery, etc. as a power supply .

更进一步地,本实用新型基于以下原理实施:Further, the utility model is implemented based on the following principles:

按照磁场的线性叠加原理,线性霍尔元件3获取的混合磁场可以被线性分解为永磁磁场B和电磁磁场B;其中,永磁磁场B受电磁铁1与永磁体2之间的距离h和该线性霍尔元件3附近电磁铁1铁芯的磁化程度α的影响;电磁磁场B受电磁铁1的励磁电流I和该线性霍尔元件3的位置系数β的影响。由于永磁体2不能被进一步磁化或退磁,故永磁磁场B与励磁电流I无关;多个线性霍尔元件3之间受电磁磁场的影响呈正相关关系、以位置系数β表征,位置系数β为常数、且与励磁电流I和距离h均无关。According to the principle of linear superposition of the magnetic field, the mixed magnetic field obtained by the linear Hall element 3 can be linearly decomposed into the permanent magnetic field B and the electromagnetic field B; The influence of the distance h and the magnetization degree α of the iron core of the electromagnet 1 near the linear Hall element 3 ; the electromagnetic field B is electrically affected by the excitation current I of the electromagnet 1 and the position coefficient β of the linear Hall element 3 . Since the permanent magnet 2 cannot be further magnetized or demagnetized, the permanent magnetic field B has nothing to do with the excitation current I; there is a positive correlation between multiple linear Hall elements 3 affected by the electromagnetic field, which is characterized by the position coefficient β, and the position coefficient β It is a constant and has nothing to do with the excitation current I and the distance h.

综上所述,各个线性霍尔元件3所获取的混合磁场有以下函数关系:To sum up, the mixed magnetic field obtained by each linear Hall element 3 has the following functional relationship:

B0=B(h)+B(I)B 0 = B Yong (h) + B Electric (I)

Bi=αi(h)B(h)+βiB(I)B i =α i (h) B Yong (h) + β i B electricity (I)

其中,βi为常数,可以直接测量并对电磁磁场B进行补偿。令补偿后的磁场B补偿后为如下表达式:Among them, β i is a constant, which can be directly measured and compensated for the electromagnetic field B. Let the compensated magnetic field B be the following expression after compensation :

Figure BDA0003596950380000071
Figure BDA0003596950380000071

由上式可知,补偿后的磁场B补偿后与励磁电流I无关,而仅与距离h有关,可以表征永磁体2与电磁铁1之间的距离。It can be seen from the above formula that the compensated magnetic field B has nothing to do with the excitation current I after compensation , but is only related to the distance h, which can represent the distance between the permanent magnet 2 and the electromagnet 1.

进一步地,所述电磁铁1为E型电磁铁1或电磁吸盘。Further, the electromagnet 1 is an E-type electromagnet 1 or an electromagnetic chuck.

具体地,电磁铁1可采用E型电磁铁或电磁吸盘,且采用E型电磁铁时,其开口端垂直向下,相对永磁体2布置;另外,当采用E型电磁铁时,线性霍尔元件3可设置三个,且其中一个线性霍尔元3件位于E型电磁铁的吸附面正中位置,三个线性霍尔元件3呈一字型排列设置在E型电磁铁的铁芯上;当采用电磁吸盘,线性霍尔元件3设置五个,且其中一个线性霍尔元件3位于电磁吸盘的吸附面正中位置,其余四个线性霍尔元件3呈等距的旋转对称设置在电磁吸盘的吸附面上。Specifically, the electromagnet 1 can use an E-type electromagnet or an electromagnetic chuck, and when an E-type electromagnet is used, its open end is vertically downward and arranged relative to the permanent magnet 2; in addition, when an E-type electromagnet is used, the linear Hall There can be three elements 3, and one of the three linear Hall elements is located in the middle of the adsorption surface of the E-type electromagnet, and the three linear Hall elements 3 are arranged in a straight line on the iron core of the E-type electromagnet; When an electromagnetic chuck is used, five linear Hall elements 3 are provided, and one of the linear Hall elements 3 is located in the middle of the adsorption surface of the electromagnetic chuck, and the remaining four linear Hall elements 3 are equidistant and rotationally symmetrically arranged on the electromagnetic chuck. adsorption surface.

进一步地,所述永磁体2为钕铁硼永磁体、钐钴永磁体或铝镍钴永磁体,所述永磁体2的形状为圆柱体、长方体或环形体。Further, the permanent magnet 2 is a neodymium iron boron permanent magnet, samarium cobalt permanent magnet or alnico permanent magnet, and the shape of the permanent magnet 2 is a cylinder, a cuboid or a ring.

具体地,永磁体2可采用钕铁硼永磁体、钐钴永磁体或铝镍钴永磁体等磁性较强的永磁体,且形状可以为圆柱体、长方体或环形体等形状,具体可根据实际使用环境确定。Specifically, the permanent magnet 2 can be a permanent magnet with strong magnetic properties such as NdFeB permanent magnet, samarium cobalt permanent magnet or alnico permanent magnet, and the shape can be a shape such as a cylinder, a cuboid or a ring, which can be determined according to actual conditions. The use environment is determined.

进一步地,所述线性霍尔元件3的数量3为三个,呈一字型等距间隔排列在所述吸附面上,且中间位置的线性霍尔元件3位于所述吸附面正中位置并与所述永磁体2位置相对。Further, the number 3 of the linear Hall elements 3 is three, which are arranged at equal intervals in a line on the adsorption surface, and the linear Hall element 3 in the middle position is located in the middle of the adsorption surface and is connected to the adsorption surface. The permanent magnets 2 are opposite to each other.

具体地,如图1-2所示,线性霍尔元件3设置为三个时,其中一个线性霍尔元件3位于电磁铁1的吸附面正中位置,并且三个线性霍尔元件3等距离对称分布,最优选的可采取一字型排列方式,能有效降低测量过程中永磁体2摇摆、侧偏对距离信号的影响,提高距离检测的准确度,线性霍尔元件3设置为三个时可以应用在E型电磁铁上。Specifically, as shown in Figure 1-2, when there are three linear Hall elements 3, one of the linear Hall elements 3 is located in the middle of the adsorption surface of the electromagnet 1, and the three linear Hall elements 3 are equidistant and symmetrical distribution, the most preferred one-line arrangement can be adopted, which can effectively reduce the influence of the permanent magnet 2 swing and side deviation on the distance signal during the measurement process, and improve the accuracy of distance detection. When the linear Hall element 3 is set to three, it can Applied to E-type electromagnets.

进一步地,所述线性霍尔元件3的数量为五个,且其中一个线性霍尔元件3位于所述吸附面正中位置并与所述永磁体2位置相对,其余四个线性霍尔元件3呈等距的旋转对称设置在所述吸附面的外围。Further, the number of the linear Hall elements 3 is five, and one of the linear Hall elements 3 is located in the middle of the adsorption surface and is opposite to the permanent magnet 2, and the other four linear Hall elements 3 are in the form of Equidistant rotational symmetry is arranged on the periphery of the adsorption surface.

具体地,如图3-4所示,线性霍尔元件3设置为五个时,其中一个线性霍尔元件3位于电磁铁1的吸附面正中位置,其余四个线性霍尔元件3呈等距的旋转对称分布在电磁铁1的吸附面上,位于所述吸附面的外围,且该四个线性霍尔元件3与位于电磁铁1的吸附面正中位置的线性霍尔元件3的距离相等,采用这种设置方式能有效降低测量过程中永磁体2摇摆、侧偏对距离信号的影响,提高距离检测的准确度,线性霍尔元件3设置为五个时可以应用在电磁吸盘上。Specifically, as shown in Figure 3-4, when there are five linear Hall elements 3, one of the linear Hall elements 3 is located in the middle of the adsorption surface of the electromagnet 1, and the remaining four linear Hall elements 3 are equidistant The rotation symmetry of the electromagnet 1 is distributed on the adsorption surface of the electromagnet 1, located on the periphery of the adsorption surface, and the distance between the four linear Hall elements 3 and the linear Hall element 3 located in the middle of the adsorption surface of the electromagnet 1 is equal, Adopting this setting method can effectively reduce the influence of swinging and lateral deviation of the permanent magnet 2 on the distance signal during the measurement process, and improve the accuracy of distance detection. When the number of linear Hall elements 3 is set to five, it can be applied to the electromagnetic chuck.

进一步地,所述信号补偿模块4为数字控制器,所述数字控制器采用以下公式计算补偿后的磁场强度电信号:Further, the signal compensation module 4 is a digital controller, and the digital controller uses the following formula to calculate the compensated magnetic field strength electrical signal:

Figure BDA0003596950380000091
Figure BDA0003596950380000091

其中,U补偿后为补偿后的磁场强度电信号;U0为位于吸附面正中位置的线性霍尔元件获取的混合磁场的磁场强度电信号;K为补偿系数,U调零为调零系数;i为位于吸附面外围的第i个线性霍尔元件,且i≥1;n为位于吸附面外围的线性霍尔元件的个数;Ui为位于吸附面外围的线性霍尔元件获取的混合磁场的磁场强度电信号Wherein, after U is compensated, it is the magnetic field strength electric signal after compensation; U 0 is the magnetic field strength electric signal of the mixed magnetic field obtained by the linear Hall element located in the middle position of the adsorption surface; K is the compensation coefficient, and U zeroing is the zeroing coefficient; i is the i-th linear Hall element located at the periphery of the adsorption surface, and i≥1; n is the number of linear Hall elements located at the periphery of the adsorption surface; U i is the mixture obtained by the linear Hall elements located at the periphery of the adsorption surface magnetic field strength electric signal

具体地,当所述信号补偿模块4为数字控制器时,采用补偿公式

Figure BDA0003596950380000092
对输入的混合磁场的磁场强度电信号进行补偿、以抵消来自电磁磁场的影响、并输出仅与永磁磁场相关的补偿后的磁场强度电信号,用以表征所述电磁铁1与所述永磁体2之间的距离。Specifically, when the signal compensation module 4 is a digital controller, the compensation formula
Figure BDA0003596950380000092
Compensating the electric field strength signal of the input mixed magnetic field to counteract the influence from the electromagnetic field, and outputting a compensated electric field strength electric signal related only to the permanent magnetic field to characterize the electromagnet 1 and the permanent magnetic field. Distance between magnets 2.

进一步地,所述信号补偿模块4为模拟电路;Further, the signal compensation module 4 is an analog circuit;

所述模拟电路包括:依次串联的输入信号处理模块41和参数调整模块42;The analog circuit includes: an input signal processing module 41 and a parameter adjustment module 42 sequentially connected in series;

所述输入信号处理模块41包括至少两个第一运算放大器411,每一第一运算放大器411的输出端通过第一电阻412连接所述参数调整模块42的输入端,每一第一运算放大器411的同向输入端连接对应的线性霍尔元件3的输出端,每一第一运算放大器411的反向输入端连接各自的输出端;The input signal processing module 41 includes at least two first operational amplifiers 411, the output end of each first operational amplifier 411 is connected to the input end of the parameter adjustment module 42 through a first resistor 412, each first operational amplifier 411 The non-inverting input end of the first operational amplifier 411 is connected to the output end of the corresponding linear Hall element 3, and the inverting input end of each first operational amplifier 411 is connected to the respective output end;

所述参数调整模块42包括相互串联的第二运算放大器421和第三运算放大器422,所述第二运算放大器421的反向输入端连接所述输入信号处理模块41的输出端且还通过第二电阻423连接所述第二运算放大器421的输出端,所述第二运算放大器421的同向输入端连接可调电位计424,所述第二运算放大器421的输出端连接所述第三运算放大器422的同向输入端,所述第三运算放大器422的反向输入端连接所述第三运算放大器422的输出端,所述第三运算放大器422的输出端输出补偿后的磁场强度电信号。The parameter adjustment module 42 includes a second operational amplifier 421 and a third operational amplifier 422 connected in series. The resistor 423 is connected to the output end of the second operational amplifier 421, the same input end of the second operational amplifier 421 is connected to the adjustable potentiometer 424, and the output end of the second operational amplifier 421 is connected to the third operational amplifier The non-inverting input terminal of the third operational amplifier 422 is connected to the output terminal of the third operational amplifier 422, and the output terminal of the third operational amplifier 422 outputs a compensated magnetic field strength electric signal.

具体地,图5是本实用新型提供的永磁电磁混合系统的测距装置的信号补偿模块的结构示意图,如图5所示,本实施方式中设置五个线性霍尔元件3,所述模拟电路包括依次串联的输入信号处理模块41和参数调整模块42,所述输入信号处理模块41包括五个第一运算放大器411,每一第一运算放大器411的输出端通过第一电阻412连接所述参数调整模块42的输入端,每一第一运算放大器411的同向输入端连接对应的线性霍尔元件3的输出端,每一第一运算放大器411的反向输入端连接各自的输出端;所述参数调整模块42包括相互串联的第二运算放大器421和第三运算放大器422,所述第二运算放大器421的反向输入端连接所述输入信号处理模块41的输出端且还通过第二电阻423连接所述第二运算放大器421的输出端,所述第二运算放大器421的同向输入端连接可调电位计424,所述第二运算放大器421的输出端连接所述第三运算放大器422的同向输入端,所述第三运算放大器422的反向输入端连接所述第三运算放大器422的输出端,所述第三运算放大器422的输出端输出补偿后的磁场强度电信号。其中,第一运算放大器411和第一电阻412的数量与线性霍尔元件3的数量相同,且第一电阻412、第二电阻423均可采用滑动变阻器、变阻箱等;更进一步地,位于吸附面正中位置的线性霍尔元件3对应的第一电阻412采用滑动变阻器,位于吸附面外围的线性霍尔元件3对应的第一电阻412可采用固定阻值电阻;另外,通过调节第二电阻423的阻值,可以实现模拟电路对永磁磁场的灵敏度的调节;通过调节可调电位计424,可以实现对模拟电路的调零。Specifically, Fig. 5 is a structural schematic diagram of the signal compensation module of the distance measuring device of the permanent magnet electromagnetic hybrid system provided by the utility model. As shown in Fig. 5, five linear Hall elements 3 are set in this embodiment, and the simulation The circuit includes an input signal processing module 41 and a parameter adjustment module 42 connected in series in sequence, the input signal processing module 41 includes five first operational amplifiers 411, and the output terminal of each first operational amplifier 411 is connected to the The input end of the parameter adjustment module 42, the same direction input end of each first operational amplifier 411 is connected to the output end of the corresponding linear Hall element 3, and the inverting input end of each first operational amplifier 411 is connected to the respective output end; The parameter adjustment module 42 includes a second operational amplifier 421 and a third operational amplifier 422 connected in series. The resistor 423 is connected to the output end of the second operational amplifier 421, the same input end of the second operational amplifier 421 is connected to the adjustable potentiometer 424, and the output end of the second operational amplifier 421 is connected to the third operational amplifier The non-inverting input terminal of the third operational amplifier 422 is connected to the output terminal of the third operational amplifier 422, and the output terminal of the third operational amplifier 422 outputs a compensated magnetic field strength electric signal. Wherein, the number of the first operational amplifier 411 and the first resistor 412 is the same as the number of the linear Hall element 3, and both the first resistor 412 and the second resistor 423 can be sliding rheostats, rheostat boxes, etc.; The first resistor 412 corresponding to the linear Hall element 3 in the middle of the adsorption surface adopts a sliding rheostat, and the first resistor 412 corresponding to the linear Hall element 3 located on the periphery of the adsorption surface can adopt a fixed resistance resistor; in addition, by adjusting the second resistor The resistance value of 423 can realize the adjustment of the sensitivity of the analog circuit to the permanent magnetic field; by adjusting the adjustable potentiometer 424, the zero adjustment of the analog circuit can be realized.

在本实施方式中,位于吸附面正中位置的线性霍尔元件3对应的第一电阻412为VR0,位于外围的线性霍尔元件3对应的第一电阻412分别为R1、R2、R3、R4。在实际应用过程中,位于外围的线性霍尔元件3的第一电阻412设置为相同阻值。In this embodiment, the first resistance 412 corresponding to the linear Hall element 3 located in the middle of the adsorption surface is VR 0 , and the first resistance 412 corresponding to the linear Hall element 3 located on the periphery is R 1 , R 2 , R 3. R 4 . In practical application, the first resistors 412 of the peripheral linear Hall elements 3 are set to the same resistance value.

具体地,通过模拟电路进行信号补偿。Specifically, signal compensation is performed through an analog circuit.

以设置五个线性霍尔元件3为例,分别获取五个磁场强度电信号:U0、U1、U2、U3和U4;其中,U0是位于吸附面正中位置线性霍尔元件3获取的混合磁场的磁场强度电信号,受永磁磁场的影响较大;U1、U2、U3、U4分别是其余四个设置在所述吸附面的外围的线性霍尔元件3获取的混合磁场的磁场强度电信号,该四个线性霍尔元件3在几何上呈等距的旋转对称,受永磁磁场的影响较小。Take setting five linear Hall elements 3 as an example, and obtain five electrical signals of magnetic field strength respectively: U 0 , U 1 , U 2 , U 3 and U 4 ; among them, U 0 is a linear Hall element located in the middle of the adsorption surface 3. The electric signal of the magnetic field intensity of the mixed magnetic field obtained is greatly affected by the permanent magnetic field; U 1 , U 2 , U 3 , and U 4 are the remaining four linear Hall elements arranged on the periphery of the adsorption surface 3 The obtained electric signal of the magnetic field intensity of the mixed magnetic field shows that the four linear Hall elements 3 are geometrically equidistant and rotationally symmetrical, and are less affected by the permanent magnetic field.

该模拟电路的目的在于利用多个线性霍尔元件3获取的电磁磁场的磁场强度电信号之间具有线性关系,从而抵消来自电磁磁场的影响、并输出仅与永磁磁场相关的补偿后的磁场强度电信号。将线性霍尔元件3按同一朝向设置在电磁铁1的吸附面(如将线性霍尔元件3的工作面朝向电磁铁1),则电磁磁场对于U0的影响与对于U1、U2、U3、U4的影响相反,例如U0增大的同时,U1、U2、U3、U4减小。The purpose of this analog circuit is to use a plurality of linear Hall elements 3 to obtain a linear relationship between the magnetic field strength electrical signals of the electromagnetic field, thereby canceling the influence from the electromagnetic field and outputting a compensated magnetic field that is only related to the permanent magnetic field strength electrical signal. Set the linear Hall element 3 on the adsorption surface of the electromagnet 1 in the same direction (for example, the working surface of the linear Hall element 3 faces the electromagnet 1), then the influence of the electromagnetic field on U 0 is the same as that on U 1 , U 2 , The effects of U 3 and U 4 are opposite, for example, while U 0 increases, U 1 , U 2 , U 3 , and U 4 decrease.

由关于第二运算放大器421的电路分析可得以下关系:From the circuit analysis about the second operational amplifier 421, the following relationship can be obtained:

Figure BDA0003596950380000111
Figure BDA0003596950380000111

其中,R1=R2=R3=R4。进一步简化可得,Wherein, R 1 =R 2 =R 3 =R 4 . Further simplification can be obtained,

Figure BDA0003596950380000112
Figure BDA0003596950380000112

其中,U补偿后是所述第三运算放大器输出的补偿后的磁场强度电信号;

Figure BDA0003596950380000121
为U0
Figure BDA0003596950380000122
之间的敏感度,可看作模拟电路的补偿系数;U调零是调零系数,由可调电位计产生。Wherein, U after compensation is the compensated magnetic field strength electrical signal output by the third operational amplifier;
Figure BDA0003596950380000121
for U 0 with
Figure BDA0003596950380000122
The sensitivity between them can be regarded as the compensation coefficient of the analog circuit; U zeroing is the zeroing coefficient, which is generated by the adjustable potentiometer.

由上式可知,微调VR0,可以抵消电磁磁场对U补偿后的影响;微调VR第二,可以调节模拟电路对永磁磁场的灵敏度;微调U调零,可以对模拟电路的输出信号调零。It can be seen from the above formula that fine-tuning VR 0 can offset the influence of the electromagnetic field on U after compensation ; fine-tuning VR secondly can adjust the sensitivity of the analog circuit to the permanent magnetic field; fine-tuning U zero can zero-adjust the output signal of the analog circuit .

实施例1Example 1

如图1-2所示,本实施例中,电磁铁1采用E型电磁铁;永磁体2为长方体;在E型电磁铁的吸附面上设置三个线性霍尔元件3,三个线性霍尔元件3呈一字型等距间隔排列在所述吸附面上,且中间位置的线性霍尔元件3位于所述吸附面正中位置、并与所述永磁体2位置相对;信号补偿模块4设置在所述吸附面上。通过这种方式进行信号检测,能够有效降低测量过程中永磁体2摇摆、侧偏对距离信号的影响、提高距离检测的准确度。As shown in Figure 1-2, in this embodiment, the electromagnet 1 adopts an E-type electromagnet; the permanent magnet 2 is a cuboid; three linear Hall elements 3 are arranged on the adsorption surface of the E-type electromagnet, and the three linear Hall elements Hall elements 3 are arranged on the adsorption surface at equal intervals in a straight line, and the linear Hall element 3 in the middle position is located in the middle of the adsorption surface and is opposite to the permanent magnet 2; the signal compensation module 4 is set on the adsorption surface. The signal detection in this way can effectively reduce the influence of the permanent magnet 2 swinging and lateral deviation on the distance signal during the measurement process, and improve the accuracy of the distance detection.

实施例2Example 2

如图3-4所示,本实施例中,电磁铁1采用电磁吸盘;永磁体2为圆柱体;在电磁吸盘的吸附面上设置五个线性霍尔元件3,其中一个线性霍尔元件3位于电磁铁1的吸附面正中位置,其余四个线性霍尔元件3呈等距的旋转对称分布在电磁铁1的吸附面上,位于所述吸附面的外围,且该四个线性霍尔元件3与位于电磁铁1的吸附面正中位置的线性霍尔元件3的距离相等;信号补偿模块4设置在所述吸附面上。通过这种方式进行信号检测,能够有效降低测量过程中永磁体2摇摆、侧偏对距离信号的影响、提高距离检测的准确度。As shown in Figure 3-4, in this embodiment, the electromagnet 1 adopts an electromagnetic chuck; the permanent magnet 2 is a cylinder; five linear Hall elements 3 are arranged on the adsorption surface of the electromagnetic chuck, and one of the linear Hall elements 3 Located in the center of the adsorption surface of the electromagnet 1, the remaining four linear Hall elements 3 are equidistant and rotationally symmetrically distributed on the adsorption surface of the electromagnet 1, located on the periphery of the adsorption surface, and the four linear Hall elements 3 is equal to the distance from the linear Hall element 3 located in the middle of the adsorption surface of the electromagnet 1; the signal compensation module 4 is arranged on the adsorption surface. The signal detection in this way can effectively reduce the influence of the permanent magnet 2 swinging and lateral deviation on the distance signal during the measurement process, and improve the accuracy of the distance detection.

实施例3Example 3

图6是本实用新型提供的补偿后的磁场强度电信号与电磁铁和永磁体之间距离的变化关系示意图;如图6所示,本实施例中所述信号补偿模块4为模拟电路,所述测距装置包括五个线性霍尔元件3,且其中一个线性霍尔元件3位于所述吸附面正中位置、并与所述永磁体2位置相对,其余四个线性霍尔元件3呈等距的旋转对称设置在所述吸附面的外围。位于外围的线性霍尔元件3对应的第一电阻412的阻值为90千欧,位于吸附面正中位置的线性霍尔元件3对应的第一电阻412的阻值为169.2千欧。利用模拟电路对线性霍尔元件3获取的混合磁场的磁场强度电信号进行补偿、以抵消来自电磁磁场的影响、并输出仅与永磁磁场相关的补偿后的磁场强度电信号。进一步地,信号补偿模块4可以再根据距离与补偿后的磁场强度电信号之间的函数关系,确定永磁体2与电磁铁1之间的实际距离,如图6所示,在三个不同励磁电流(0mA、100mA、-100mA)的情况下,信号补偿模块4输出的补偿后的磁场强度电信号几乎一致,说明补偿后的磁场强度电信号不再受电磁磁场的影响、仅与永磁磁场相关。Fig. 6 is the change relation schematic diagram of the magnetic field intensity electric signal after the compensation provided by the utility model and the distance between the electromagnet and the permanent magnet; As shown in Fig. 6, the signal compensation module 4 described in the present embodiment is an analog circuit, so The distance measuring device includes five linear Hall elements 3, and one of the linear Hall elements 3 is located in the middle of the adsorption surface and is opposite to the permanent magnet 2, and the remaining four linear Hall elements 3 are equidistant The rotational symmetry of is arranged on the periphery of the adsorption surface. The resistance value of the first resistor 412 corresponding to the peripheral linear Hall element 3 is 90 kΩ, and the resistance value of the first resistor 412 corresponding to the linear Hall element 3 located in the middle of the adsorption surface is 169.2 kΩ. The analog circuit is used to compensate the magnetic field strength electric signal of the mixed magnetic field obtained by the linear Hall element 3 to cancel the influence from the electromagnetic field, and output the compensated magnetic field strength electric signal related only to the permanent magnetic field. Further, the signal compensation module 4 can determine the actual distance between the permanent magnet 2 and the electromagnet 1 according to the functional relationship between the distance and the compensated magnetic field strength electric signal, as shown in Figure 6, in three different excitation Under the situation of electric current (0mA, 100mA,-100mA), the electric signal of the magnetic field strength after the compensation of signal compensating module 4 outputs is almost consistent, shows that the electric signal of magnetic field strength after compensation is no longer subject to the influence of electromagnetic field, only with permanent magnetic field relevant.

以上结合附图详细描述了本实用新型实施例的可选实施方式,但是,本实用新型实施例并不限于上述实施方式中的具体细节,在本实用新型实施例的技术构思范围内,可以对本实用新型实施例的技术方案进行多种简单变型,这些简单变型均属于本实用新型实施例的保护范围。The optional implementation of the embodiment of the utility model has been described in detail above in conjunction with the accompanying drawings. However, the embodiment of the utility model is not limited to the specific details in the above-mentioned implementation. Various simple modifications are made to the technical solution of the embodiment of the utility model, and these simple modifications all belong to the protection scope of the embodiment of the utility model.

另外需要说明的是,在上述具体实施方式中所描述的各个具体技术特征,在不矛盾的情况下,可以通过任何合适的方式进行组合。为了避免不必要的重复,本实用新型实施例对各种可能的组合方式不再另行说明。In addition, it should be noted that the various specific technical features described in the above specific implementation manners may be combined in any suitable manner if there is no contradiction. In order to avoid unnecessary repetition, the embodiments of the present utility model will not further describe various possible combinations.

本领域技术人员可以理解实现上述实施例方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成,该程序存储在一个存储介质中,包括若干指令用以使得单片机、芯片或处理器(processor)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括:U盘、移动硬盘、只读存储器(ROM,Read-Only Memory)、随机存取存储器(RAM,Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。Those skilled in the art can understand that all or part of the steps in the method of the above-mentioned embodiments can be completed by instructing the relevant hardware through a program. (processor) executes all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes. .

此外,本实用新型实施例的各种不同的实施方式之间也可以进行任意组合,只要其不违背本实用新型实施例的思想,其同样应当视为本实用新型实施例所公开的内容。In addition, any combination of various implementations of the embodiments of the present invention can also be made, as long as they do not violate the idea of the embodiments of the present invention, they should also be regarded as the content disclosed by the embodiments of the present invention.

Claims (10)

1. A distance measuring device of a permanent magnet and electromagnetic hybrid system comprises an electromagnet (1) and a permanent magnet (2), wherein the bottom surface of the electromagnet (1) is a horizontal adsorption surface, and the permanent magnet (2) is positioned under the electromagnet (1) and is not in contact with the electromagnet (1); characterized in that, permanent magnetism electromagnetic hybrid system's range unit includes:
the electromagnet (1) comprises at least two linear Hall elements (3) which are arranged on an adsorption surface of the electromagnet (1) at intervals, wherein one linear Hall element (3) is positioned in the middle of the adsorption surface and is opposite to the permanent magnet (2), and the at least two linear Hall elements (3) are used for acquiring a magnetic field intensity electric signal of a mixed magnetic field obtained by superposing a permanent magnetic field excited by the permanent magnet (2) and an electromagnetic field excited by exciting current in the electromagnet (1);
and the signal compensation module (4) is electrically connected with each linear Hall element (3) and is used for compensating the magnetic field intensity electric signal of the mixed magnetic field so as to offset the influence from the electromagnetic field and outputting the compensated magnetic field intensity electric signal only related to the permanent magnetic field, so that the distance between the electromagnet (1) and the permanent magnet (2) is represented.
2. A ranging device of a permanent magnet electromagnetic hybrid system according to claim 1, characterized in that said electromagnet (1) is an E-type electromagnet.
3. A ranging device of a permanent magnet electromagnetic hybrid system according to claim 1, characterized in that said electromagnet (1) is an electromagnetic chuck.
4. The distance measuring device of the permanent magnet and electromagnetic hybrid system according to claim 1, wherein the permanent magnet (2) is a neodymium-iron-boron permanent magnet, a samarium-cobalt permanent magnet or an alnico permanent magnet, and the permanent magnet (2) is in the shape of a cylinder, a cuboid or an annular body.
5. The distance measuring device of the permanent magnetic electromagnetic hybrid system according to claim 1, wherein the number of the linear hall elements (3) is three, the linear hall elements are arranged on the adsorption surface in a straight line shape at equal intervals, and the middle linear hall element (3) is located in the center of the adsorption surface and opposite to the permanent magnet (2).
6. The ranging device of a permanent magnet electromagnetic hybrid system according to claim 1, wherein the number of the linear hall elements (3) is five, one of the linear hall elements (3) is located at the center of the adsorption plane and opposite to the permanent magnet (2), and the other four linear hall elements (3) are arranged at the periphery of the adsorption plane in an equidistant rotational symmetry manner.
7. Ranging device of a permanent magnetic electromagnetic hybrid system according to claim 1, characterized in that said signal compensation module (4) is a digital controller.
8. Ranging device of a permanent-magnet electromagnetic hybrid system according to claim 1, characterized in that said signal compensation module (4) is an analog circuit.
9. A ranging apparatus of a permanent magnet electromagnetic hybrid system according to claim 8, wherein the analog circuit comprises: the device comprises an input signal processing module (41) and a parameter adjusting module (42) which are sequentially connected in series;
the input signal processing module (41) comprises at least two first operational amplifiers (411), the output end of each first operational amplifier (411) is connected with the input end of the parameter adjusting module (42) through a first resistor (412), the homodromous input end of each first operational amplifier (411) is connected with the output end of the corresponding linear Hall element (3), and the reverse input end of each first operational amplifier (411) is connected with the respective output end;
parameter adjustment module (42) are including second operational amplifier (421) and third operational amplifier (422) of establishing ties each other, the reverse input end of second operational amplifier (421) is connected the output of input signal processing module (41) and still connect through second resistance (423) the output of second operational amplifier (421), adjustable potentiometer (424) is connected to the syntropy input of second operational amplifier (421), the output of second operational amplifier (421) is connected the syntropy input of third operational amplifier (422), the reverse input end of third operational amplifier (422) is connected the output of third operational amplifier (422), the output of third operational amplifier (422) exports the signal of telecommunication after the compensation.
10. A ranging apparatus of a permanent magnet electromagnetic hybrid system according to claim 1, further comprising:
and the power supply module is connected with the electromagnet (1), the linear Hall element (3) and the signal compensation module (4) and used for supplying power to the electromagnet (1), the linear Hall element (3) and the signal compensation module (4).
CN202220920093.XU 2022-04-14 2022-04-14 Distance measuring device for permanent magnet electromagnetic hybrid system Expired - Fee Related CN218066289U (en)

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