WO2017124573A1 - 一种自带姿态传感的永磁球关节及其测量方法 - Google Patents

一种自带姿态传感的永磁球关节及其测量方法 Download PDF

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Publication number
WO2017124573A1
WO2017124573A1 PCT/CN2016/072099 CN2016072099W WO2017124573A1 WO 2017124573 A1 WO2017124573 A1 WO 2017124573A1 CN 2016072099 W CN2016072099 W CN 2016072099W WO 2017124573 A1 WO2017124573 A1 WO 2017124573A1
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WIPO (PCT)
Prior art keywords
permanent magnet
hall sensor
ball joint
spherical shell
magnetic induction
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PCT/CN2016/072099
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English (en)
French (fr)
Inventor
白坤
李国民
赵杰
王瑜辉
张超
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Dg-Sygole Digital Technology Co Ltd
Huazhong University of Science and Technology
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Dg-Sygole Digital Technology Co Ltd
Huazhong University of Science and Technology
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Publication of WO2017124573A1 publication Critical patent/WO2017124573A1/zh
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/06—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/06—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints
    • F16C11/0604—Construction of the male part
    • F16C11/0609—Construction of the male part made from two or more parts
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/06—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints
    • F16C11/068—Special features relating to lubrication
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C32/00—Bearings not otherwise provided for
    • F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2202/00—Solid materials defined by their properties
    • F16C2202/30—Electric properties; Magnetic properties
    • F16C2202/40—Magnetic
    • F16C2202/44—Magnetic hard-magnetic, permanent magnetic, e.g. samarium-cobalt

Definitions

  • the invention relates to the field of magnetic field sensing, in particular to a permanent magnet ball joint with self-contained attitude sensing and a measuring method thereof.
  • Conventional mechanical bearings are generally composed of inner ring, outer ring, rolling elements and cages. There is friction between the bearing and the rotating shaft, which generates useless power, which not only reduces the transmission efficiency but also generates noise.
  • the rolling bearing in the traditional bearing has a relatively large relative motion space inside, which results in a bearing with poor impact load, low life under high speed and heavy load conditions, and large mechanical vibration and noise.
  • multi-degree of freedom bearings In some cases where it is necessary to achieve multiple degrees of freedom of rotation, designers often use multi-degree of freedom bearings.
  • Traditional multi-degree-of-freedom bearings include spherical rolling bearings, universal joints, Hooke hinges, etc.
  • these multi-degree-of-freedom bearings can achieve multi-degree of freedom rotation, they have some disadvantages: spherical rolling bearings require high precision and long-term motion wear. After that, the accuracy of the movement cannot be guaranteed; the joints such as the universal joint and the Hooke hinge are complicated and the movement is not flexible enough.
  • Magnetic suspension bearings are a new type of bearing that has been studied more.
  • the magnetic suspension bearing keeps the shaft in suspension by controlling the induced magnetic field so that the shaft can rotate without contact.
  • the magnetic bearing control system senses the position of the shaft and adjusts it in real time to keep the shaft in the target position.
  • magnetic suspension bearings have no mechanical contact, high rotor speed, low mechanical wear, long life, clean and oil-free.
  • Magnetic suspension bearings can be divided into three categories according to the nature of the magnetic field generated by the magnetic bearings: First, the active magnetic bearing: the control system actively controls the magnetic field to make the rotor move to the expected requirements; Second, the passive magnetic bearing: the permanent magnet force Or electromagnetic force or super-conducting force to achieve the suspension of the rotor; third, hybrid magnetic bearing: the permanent magnet and the electromagnet work together to achieve the suspension of the rotor.
  • the object of the present invention is to overcome the deficiencies of the prior art, and to provide a permanent magnet ball joint with self-contained attitude sensing and a measuring method thereof, which has small friction force and convenient and quick measurement.
  • a permanent magnet ball joint with self-contained attitude sensing comprising a permanent magnet, a permanent magnet 2, a rotating shaft, a spherical shell, an upper base, a lower base and a Hall sensor; the permanent magnet is encapsulated in a spherical shell, and the permanent magnet is The second sensor is fixed on the lower base, the Hall sensor is disposed on the permanent magnet 2; the lower base is provided with a groove with an opening upward, and one end of the spherical shell is embedded in the groove of the lower base, and the other end of the spherical shell is extended.
  • the upper base is fixedly connected with a rotating shaft, and the rotating shaft drives the spherical shell to rotate relative to the upper base, the permanent magnet 2 and the lower base.
  • the permanent magnets of the present invention are disposed at the same polarity as the two poles of the permanent magnets and form a homopolar repulsive structure.
  • the permanent magnet of the present invention is a cylindrical permanent magnet.
  • the permanent magnet 2 of the present invention is a cylindrical permanent magnet, and a through hole is disposed in a middle portion of the cylindrical permanent magnet, and a Hall sensor is disposed in the through hole.
  • the permanent magnet 2 of the present invention is fixedly coupled to the lower base by an interference fit.
  • the Hall sensor of the present invention is a three-axis Hall sensor.
  • the lower base of the present invention is provided with a groove having a radius equal to the spherical shell, and the lower base and the spherical shell are provided with a magnetorheological fluid.
  • a method for measuring a permanent magnet ball joint using the self-contained attitude sensing includes the following steps:
  • Step 1 Set the attitude of the rotating shaft by Euler angle ( ⁇ , ⁇ ), and the range of motion of the rotating shaft to drive the spherical shell is - ⁇ 0 ⁇ ⁇ ⁇ ⁇ 0 , - ⁇ 0 ⁇ ⁇ ⁇ ⁇ 0 ;
  • Step 2 Set the permanent magnet - the magnetic induction generated at the Hall sensor is recorded as B p1 .
  • the magnetic induction generated by the Hall sensor is recorded as B p2 , and the magnetic induction intensity measured by the Hall sensor is B;
  • Step 3 Hall sensor measurement to obtain the current magnetic induction B;
  • Step 5 calculating the obtained permanent magnet - the magnetic induction intensity generated at the Hall sensor is B p1 , and obtaining the current posture ( ⁇ , ⁇ ) and the rotational axis position of the permanent magnet according to B p1 .
  • the calculation formula of the current magnetic induction intensity B of the Hall sensor according to step 3 of the present invention is:
  • M is the polarization vector of the permanent magnet 1
  • R is the coordinate point of the Hall sensor
  • R' is the coordinate of the point on the permanent magnet 1
  • n is the normal vector of the surface of the permanent magnet
  • ⁇ 0 is Vacuum permeability
  • step 5 of the present invention is as follows:
  • Step 502. The magnetic induction intensity generated by the permanent magnet at the Hall sensor is calculated as B p1 :
  • M is the polarization vector of the permanent magnet 1
  • R is the coordinate point of the Hall sensor
  • R' is the coordinate of the point on the permanent magnet 1
  • n is the normal vector of the surface of the permanent magnet
  • ⁇ 0 is The vacuum permeability
  • Rot( ⁇ , ⁇ ) is a rotation matrix corresponding to Euler angles ( ⁇ , ⁇ )
  • Rot'( ⁇ , ⁇ ) is an inverse matrix of Rot( ⁇ , ⁇ );
  • Step 504. Obtain a permanent posture ( ⁇ , ⁇ ) and a rotational axis position of the permanent magnet according to steps 502 and 503.
  • the beneficial effects of the present invention are: the rotating shaft drives the spherical shell to rotate relative to the upper base, the permanent magnet 2 and the lower base to realize multi-degree of freedom rotation of the rotating shaft; the polarization directions of the upper and lower permanent magnets are opposite, and the repulsive force can be Offset part of the gravity of the shaft, reduce the positive pressure of the shaft to the bearing contact part and reduce friction, reduce wear, prolong bearing life, reduce vibration and noise; set magnetorheological fluid on the contact surface of the lower base and the spherical shell, magnetic current
  • the liquid change can fill the gap between the mechanical parts, play a good lubrication effect, reduce the friction, reduce the wear of the mechanical parts, and reduce the sealing performance of the system; and obtain the position of the shaft conveniently and quickly through the Hall sensor detection and mapping relationship .
  • Figure 1 is a schematic view of the structure of the present invention
  • FIG. 2 is a schematic structural view of a hinge angle Euler angle of the present invention
  • FIG. 3 is a schematic structural diagram of a magnetic field and attitude mapping relationship according to the present invention.
  • the main purpose of the present invention is to overcome the deficiencies of the prior art, and provide a permanent magnet ball joint with self-contained attitude sensing and a measuring method thereof, belonging to the passive magnetic bearing in the above magnetic suspension bearing, and realizing the rotor by using the magnetic force generated by the permanent magnet.
  • the Hall sensor measures the magnetic induction at that point in real time.
  • FIG. 1 A schematic structural view of the present invention is shown in FIG. 1 , a permanent magnet ball joint with self-contained attitude sensing, comprising a permanent magnet 1 , a permanent magnet 2 , a rotating shaft 8 , a spherical shell 1 , an upper base 3 , a lower base 4 , and a Hall sensor 6; the permanent magnets 2 are encapsulated in the spherical shell 1, the permanent magnets 2 are fixed on the lower base 4, the Hall sensor 6 is disposed on the permanent magnets 2; and the lower base 4 is provided with an opening.
  • one end of the spherical shell 1 is embedded in the recess of the lower base 4, and the other end of the spherical shell 1 extends from the upper base 3 to be fixedly connected with a rotating shaft 8, and the rotating shaft 8 drives the spherical shell 1 relative to the upper base 3,
  • the permanent magnet 2 and the lower base 4 rotate.
  • the permanent magnet ball bearing belongs to the passive magnetic bearing in the above magnetic suspension bearing, and the magnetic force generated by the permanent magnets one and two is used to realize the suspension of the rotor.
  • Figure 1 is related to The two permanent magnets are all cylindrical, wherein the upper permanent magnet is fixed to the rotating shaft, and its posture changes with the change of the attitude of the rotating shaft; the lower permanent magnet 2 is fixedly connected with the lower base, and the posture remains unchanged.
  • the middle of the permanent magnet has an inner hole for mounting the Hall sensor, and the Hall sensor can measure the magnetic induction of the point in real time.
  • the polarities of the permanent magnets 2 and 2 adjacent to the permanent magnets 2 are set to the same poles, and constitute a homopolar repulsive structure.
  • the permanent magnets are subjected to an upward force F, which can offset a part of the gravity of the rotating shaft.
  • F the positive pressure of the rotating shaft on the bearing contact part to reduce friction, reduce wear, prolong bearing life, reduce vibration and noise.
  • the permanent magnets 2 also generate a moment T to the upper permanent magnets, and the torque always returns the permanent magnets to the equilibrium position.
  • the permanent magnets 2 of the present invention are cylindrical permanent magnets.
  • the permanent magnet 2 of the present invention is a cylindrical permanent magnet, and a through hole is arranged in a middle portion of the cylindrical permanent magnet, and the Hall sensor 6 is placed in the through hole, and the permanent magnet 2 is fixed to the lower base 4 by an interference fit. connection.
  • the permanent magnet 2 is a cylindrical permanent magnet with holes, which is fixed to the lower base by an interference fit; the permanent magnet is a cylindrical permanent magnet, which is encapsulated in a spherical shell, the spherical shell is placed on the lower base, etc.
  • the other end of the spherical shell is connected with the rotating shaft through a thread, so that the multi-degree of freedom rotation of the rotating shaft can be realized, and the range of motion of the rotating shaft is - ⁇ 0 ⁇ ⁇ ⁇ ⁇ 0 , - ⁇ 0 ⁇ ⁇ ⁇ ⁇ 0 .
  • the base is threaded to connect with other fixed components.
  • the Hall sensor 6 of the present invention is a three-axis Hall sensor.
  • the control system can calculate the current posture ( ⁇ , ⁇ ) of the permanent magnet based on the measured value B of the Hall sensor.
  • the lower base 4 of the present invention is provided with a groove having a radius equal to that of the spherical shell 1, and the lower base 4 is provided with a magnetorheological fluid 5 on the surface of the spherical shell 1.
  • a magnetorheological fluid is a suspension of a mixture of tiny soft magnetic particles of high magnetic permeability and low hysteresis and a non-magnetic fluid. Magnetorheological fluid 5 is added to the parts where the mechanical parts are in contact with each other, and the magnetorheological fluid can be filled.
  • the gap between the mechanical parts plays a good lubricating role, reduces the friction and reduces the wear of the mechanical parts; when the magnetorheological fluid encounters the permanent magnet, the magnetorheological fluid will adsorb around the permanent magnet without going around Spreading, this can reduce the requirements for system sealing performance.
  • the present invention is filled with a magnetorheological fluid in a place where the spherical shell and the base are in contact, and the magnetorheological fluid can play a lubricating role, and the repulsive force between the permanent magnets can reduce the tolerance of the spherical shell.
  • the combined effect of the two can reduce the wear of the parts, reduce the vibration and noise, and prolong the service life of the bearing;
  • the magnetic induction value measured by the Hall sensor can solve the current position of the permanent magnet 1 and realize the position of the rotating shaft. Measurement.
  • the invention also discloses a measuring method of the permanent magnet ball joint using the self-contained attitude sensing, wherein the attitude of the rotating shaft is represented by Euler angles ( ⁇ , ⁇ ), as shown in FIG. 2 .
  • the coordinate system XYZ is a fixed coordinate system
  • the coordinate system xyz is a motion coordinate system fixed to the rotation axis
  • the coordinate system XYZ coincides with the initial position of the xyz
  • the two coordinate origin o coincides with the spherical core.
  • the shaft first rotates the alpha angle around the x-axis and then rotates the beta angle about the y-axis. After the attitude of the rotating shaft is changed, the posture of the permanent magnet 1 attached thereto will also change.
  • the change of the posture of the permanent magnet will cause the change of the distribution of the magnetic induction intensity in the space; the Hall sensor arranged in the middle of the permanent magnet can measure the space.
  • the measured value of the Hall sensor also changes. Therefore, there is a certain mapping relationship between the posture of the permanent magnet and the measured value of the fixed Hall sensor. The mapping relationship between the permanent magnet attitude and the measured value of the sensor is established, and the posture of the permanent magnet can be calculated by the measured value of the sensor.
  • the magnetic induction B [B X B Y B Z ] T generated by the point R of the permanent magnet in space
  • M is the polarization vector of the permanent magnet
  • R' is the point on the permanent magnet
  • ⁇ 0 is the vacuum permeability
  • the magnetic induction measured by the Hall sensor is a combination of the permanent magnet 1 and the permanent magnet 2. Since the magnetic induction is a vector and satisfies the law of superposition, the magnetic induction generated by the permanent magnet at the Hall sensor is denoted as B p1 , and the magnetic induction generated by the permanent magnet at the Hall sensor is denoted as B p2 , thus the Hall sensor
  • B B p1 + B p2 is shown in Fig. 3. Since the posture ( ⁇ , ⁇ ) of the permanent magnet 1 is always changing, B p1 is an amount related to ( ⁇ , ⁇ ) as follows.
  • Rot( ⁇ , ⁇ ) is the rotation matrix corresponding to the Euler angles ( ⁇ , ⁇ )
  • Rot'( ⁇ , ⁇ ) is the inverse matrix of Rot( ⁇ , ⁇ )
  • the specific expression of Rot( ⁇ , ⁇ ) is as follows :
  • the magnetic induction B at an arbitrary attitude within a range of movement of the shaft may be Calculated by numerical calculation.
  • the neural network tool is used to fit the mapping relationship between the magnetic induction intensity and the rotational axis attitude.
  • the magnetic induction intensity data is used as the input layer of the neural network and the rotational axis attitude is used as the output layer of the neural network.
  • the neural network can be trained to obtain the magnetic induction intensity and the rotational axis attitude. Mapping relationship; after establishing the mapping relationship between the magnetic induction intensity and the rotation axis attitude, the magnetic induction intensity data is input into the neural network to output the posture of the current rotation axis.
  • the control system can calculate the current posture ( ⁇ , ⁇ ) of the permanent magnet based on the measured value B of the Hall sensor.
  • the method for measuring a permanent magnet ball joint of the self-contained attitude sensing described in the present invention includes the following steps:
  • Step 1 Set the attitude of the rotating shaft by Euler angle ( ⁇ , ⁇ ), and the range of motion of the rotating shaft to drive the spherical shell is - ⁇ 0 ⁇ ⁇ ⁇ ⁇ 0 , - ⁇ 0 ⁇ ⁇ ⁇ ⁇ 0 ;
  • Step 2 Set the permanent magnet - the magnetic induction generated at the Hall sensor is recorded as B p1 , the magnetic induction generated by the permanent magnet 2 at the Hall sensor is recorded as B p2 , and the magnetic induction intensity measured by the Hall sensor is B;
  • Step 3 Hall sensor measurement to obtain the current magnetic induction B;
  • Step 5 calculating the obtained permanent magnet - the magnetic induction intensity generated at the Hall sensor is B p1 , and obtaining the current posture ( ⁇ , ⁇ ) and the rotational axis position of the permanent magnet according to B p1 .
  • the calculation formula of the current magnetic induction intensity B of the Hall sensor according to step 3 of the present invention is:
  • R is the coordinate point of the Hall sensor
  • R' is the coordinate of the point on the permanent magnet 1
  • a coordinate system xyz is established in the entire joint, the coordinate system The origin coincides with the center of the spherical shell. Since the size of the entire device is known, the coordinates of the Hall sensor in the coordinate system xyz can be obtained according to the position of the Hall sensor; in addition, the permanent magnet 1 in the coordinate system xyz Any point above is represented by R'. Since R' appears in the integral term, that is, all the points on the permanent magnet one are used, not specifically for a certain point, so R' is only related to the size and shape of the permanent magnet. R' is related to the actual rotation angle. n is the normal vector of the surface of the permanent magnet, and ⁇ 0 is the vacuum permeability.
  • step 5 of the present invention is as follows:
  • Step 502. The magnetic induction intensity generated by the permanent magnet at the Hall sensor is calculated as B p1 :
  • M is the polarization vector of the permanent magnet 1
  • R is the coordinate point of the Hall sensor
  • R' is the coordinate of the point on the permanent magnet 1
  • n is the normal vector of the surface of the permanent magnet
  • ⁇ 0 is The vacuum permeability
  • Rot( ⁇ , ⁇ ) is a rotation matrix corresponding to Euler angles ( ⁇ , ⁇ )
  • Rot'( ⁇ , ⁇ ) is an inverse matrix of Rot( ⁇ , ⁇ );
  • Step 504. Obtain a permanent posture ( ⁇ , ⁇ ) and a rotational axis position of the permanent magnet according to steps 502 and 503.

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  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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  • General Physics & Mathematics (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

一种自带姿态传感的永磁球关节及其测量方法，所述永磁球关节包括永磁体一（2）、永磁体二（7）、转轴（8）、球壳（1）、上底座（3）、下底座（4）及霍尔传感器（6）；永磁体一（2）封装于球壳（1）内，永磁体二（7）固设于下底座（4）上，霍尔传感器（6）设置于永磁体二（7）上；下底座（4）上设置开口朝上的凹槽，球壳（1）一端嵌装于下底座（4）的凹槽内，球壳（1）的另一端伸出上底座（3）与一转轴（8）固定连接，转轴（8）带动球壳（1）相对上底座（3）、永磁体二（7）及下底座（4）转动。该球关节能够实现转轴（8）的多自由度转动，上下永磁体的极化方向相反，排斥力抵消掉转轴（8）的一部分重力，减小转轴（8）对轴承接触部位的正压力进而减小摩擦，降低磨损、延长轴承寿命、减小振动和噪声；通过霍尔传感器（6）检测及映射关系，获得转轴（8）位置。

Description

一种自带姿态传感的永磁球关节及其测量方法 技术领域
本发明涉及磁场传感领域，特别是涉及一种自带姿态传感的永磁球关节及其测量方法。
背景技术
传统的机械轴承一般由内圈、外圈、滚动体和保持架等部分组成，轴承与转轴之间存在摩擦，产生无用功耗，这样不仅降低了传动效率而且还会产生噪声。此外，传统轴承中的滚动轴承由于其内部存在很大的相对运动空间，导致轴承承受冲击载荷的能力较差，高速重载工况下寿命较低，存在较大的机械振动和噪声。
在有些需要实现多个自由度的转动的场合，设计者往往采用多自由度轴承。传统的多自由度轴承包括球面滚动轴承、万向节、虎克铰等，这些多自由度轴承虽然都能实现多自由度转动，但是却有一些不足：球面滚动轴承制造要求精度高，长时间运动磨损后无法保证运动的精度；万向节、虎克铰等结构复杂，运动不够灵活。
由于传统机械轴承存在摩擦、磨损、振动和噪声等问题，因此国内外的学者一直在致力于新型轴承的研究以解决传统轴承的这些问题。磁悬浮轴承就是其中被研究得比较多的一种新型轴承。磁悬浮轴承通过控制感应磁场，使轴保持悬浮状态，这样轴能在不接触的情况下转动。磁性轴承的控制系统能够感应轴的位置，并且实时调整使轴保持在目标位置。与传统轴承相比，磁悬浮轴承没有机械接触，转子转速高，具有机械磨损小、寿命长、清洁无油污等优点。
磁悬浮轴承根据磁轴承产生磁场的性质通常可以分为三类：第一、主动磁轴承：控制系统对磁场进行主动控制，使转子的运动达到预期的要求；第二、被动磁轴承：用永磁力或电磁力或超导力实现转子的悬浮；第三、混合磁轴承：用永磁体和电磁铁共同作用，实现转子悬浮。
发明内容
本发明的目的在于克服现有技术的不足，提供一种自带姿态传感的永磁球关节及其测量方法，摩擦力小，测量方便快捷。
为了达到上述目的，本发明采用的技术方案是：
一种自带姿态传感的永磁球关节，包括永磁体一、永磁体二、转轴、球壳、上底座、下底座及霍尔传感器；所述永磁体一封装于球壳内，永磁体二固设于下底座上，霍尔传感器设置于永磁体二上；所述下底座上设置开口朝上的凹槽，球壳一端嵌装于下底座的凹槽内，球壳的另一端伸出上底座与一转轴固定连接，转轴带动球壳相对上底座、永磁体二及下底座转动。
作为本发明的较佳实施例，本发明所述永磁体一与永磁体二相邻两个极端的极性设置为同极，构成同极相斥结构。
作为本发明的较佳实施例，本发明所述永磁体一为圆柱型永磁体。
作为本发明的较佳实施例，本发明所述永磁体二为圆柱型永磁体，且圆柱型永磁体的中部设置通孔，霍尔传感器置于通孔内。
作为本发明的较佳实施例，本发明所述永磁体二通过过盈配合与下底座固定连接。
作为本发明的较佳实施例，本发明所述霍尔传感器为三轴霍尔传感器。
作为本发明的较佳实施例，本发明所述下底座上设置与球壳等半径的凹槽，且下底座与球壳接触面设置磁流变液。
一种应用所述的自带姿态传感的永磁球关节的测量方法，包括如下步骤：
步骤1.设置转轴的姿态用欧拉角(α,β)表示，转轴带动球壳转动的运动范围是-α0≤α≤α0、-β0≤β≤β0；
步骤2.设置永磁体一在霍尔传感器处产生的磁感应强度记为Bp1体二在霍尔传感器处产生的磁感应强度记为Bp2，霍尔传感器测量到的磁感应强度位B；
步骤3.霍尔传感器测量获得当前磁感应强度B；
步骤4.根据磁感应强度矢量叠加定律，磁感应强度B的计算公式为B＝Bp1+Bp2，因永磁体二的位置保持不变，磁感应强度Bp2为固定值；
步骤5，计算获得永磁体一在霍尔传感器处产生的磁感应强度为Bp1，根据Bp1获得永磁体一当前的姿态(α,β)及转轴位置。
作为本发明的较佳实施例，本发明步骤3所述的霍尔传感器当前磁感应强度B的计算公式为：
Figure PCTCN2016072099-appb-000001
其中，M为永磁体一的极化强度矢量，所述R为霍尔传感器的坐标点，R＇为永磁体一上的点的坐标，n为永磁体一表面的法向矢量，μ0为真空磁导率。
作为本发明的较佳实施例，本发明步骤5具体步骤如下：
步骤501.根据B＝Bp1+Bp2获得Bp1的值；
步骤502.永磁体一在霍尔传感器处产生的磁感应强度记为Bp1的计算公式为：
Figure PCTCN2016072099-appb-000002
其中，M为永磁体一的极化强度矢量，所述R为霍尔传感器的坐标点，R＇为永磁体一上的点的坐标，n为永磁体一表面的法向矢量，μ0为真空磁导率，Rot(α,β)是与欧拉角(α,β)对应的旋转矩阵，Rot’(α,β)是Rot(α,β)的逆矩阵；
步骤503.Rot(α,β)具体表达形式如下：
Figure PCTCN2016072099-appb-000003
步骤504.根据步骤502及503获得永磁体一当前的姿态(α,β)及转轴位置。
与现有技术相比，本发明的有益效果是：转轴带动球壳相对上底座、永磁体二及下底座转动，实现转轴的多自由度转动；上下永磁体的极化方向相反，排斥力可以抵消掉转轴的一部分重力，减小转轴对轴承接触部位的正压力进而减小摩擦，降低磨损、延长轴承寿命、减小振动和噪声；在下底座与球壳接触面设置磁流变液，磁流变液可以充满机械部件间的间隙，起到良好的润滑作用，减小摩擦，降低机械部件的磨损，同时降低系统密封性能的要求；通过霍尔传感器检测及映射关系，方便快捷地获得转轴位置。
附图说明
图1为本发明的结构示意图；
图2为本发明的转轴姿态欧拉角定义结构示意图；
图3为本发明的磁场和姿态映射关系结构示意图。
具体实施方式
本发明的主旨在于克服现有技术的不足，提供一种自带姿态传感的永磁球关节及其测量方法，属于上述磁悬浮轴承中的被动磁轴承，利用永磁体产生的磁力来实现转子的悬浮，霍尔传感器可以实时测量该点的磁感应强度。下面结合实施例参照附图进行详细说明，以便对本发明的技术特征及优点进行更深入的诠释。
本发明的结构示意图如图1所示，一种自带姿态传感的永磁球关节，包括永磁体一2、永磁体二7、转轴8、球壳1、上底座3、下底座4及霍尔传感器6；所述永磁体一2封装于球壳1内，永磁体二7固设于下底座4上，霍尔传感器6设置于永磁体二7上；所述下底座4上设置开口朝上的凹槽，球壳1一端嵌装于下底座4的凹槽内，球壳1的另一端伸出上底座3与一转轴8固定连接，转轴8带动球壳1相对上底座3、永磁体二7及下底座4转动。如图1所示，永磁球轴承属于上述磁悬浮轴承中的被动磁轴承，利用永磁体一、二产生的磁力来实现转子的悬浮。图1所涉及到 的两个永磁体都是圆柱形的，其中上面的永磁体一与转轴固连，其姿态会随着转轴姿态的改变而改变；下面的永磁体二与下底座固连，姿态保持不变，永磁体二中间有一个内孔，用来安装霍尔传感器，霍尔传感器可以实时测量该点的磁感应强度。
如图1所示，本发明所述永磁体一2与永磁体二7相邻两个极端的极性设置为同极，构成同极相斥结构。通过设置上下永磁体的极化方向相反，由于同极相斥，上下永磁体之间会产生相互排斥的力，永磁体一会受到向上的力F，这种排斥力可以抵消掉转轴的一部分重力，减小转轴对轴承接触部位的正压力进而减小摩擦，降低磨损、延长轴承寿命、减小振动和噪声。当永磁体一发生倾斜时，永磁体二还会对上永磁体产生力矩T，力矩总是使永磁体一恢复到平衡位置。
本发明中，本发明所述永磁体一2为圆柱型永磁体。本发明所述永磁体二7为圆柱型永磁体，且圆柱型永磁体的中部设置通孔，霍尔传感器6置于通孔内，所述永磁体二7通过过盈配合与下底座4固定连接。永磁体二是一个圆柱形的带孔永磁体，通过过盈配合与下底座固连；永磁体一是一个圆柱形永磁体，它被封装在一个球壳中，球壳置于下底座的等半径的凹槽处，球壳的另一端通过螺纹与转轴连接，这样可以实现转轴的多自由度转动，转轴的运动范围为-α0≤α≤α0、-β0≤β≤β0。底座通过螺纹与其他固定的部件连接。
本发明所述霍尔传感器6为三轴霍尔传感器。在带孔的圆柱形永磁体的孔中布置有三轴霍尔传感器，该霍尔传感器能够测量该点的磁感应强度B＝[BX BY BZ]。根据图3中利用神经网络工具建立的这两者之间的映射关系，控制系统就能够根据霍尔传感器的测量值B求解出永磁体当前的姿态(α,β)。
为了减少摩擦力、振动和噪音，本发明所述下底座4上设置与球壳1等半径的凹槽，且下底座4与球壳1接触面设置磁流变液5。磁流变液是一种由高磁导率、低磁滞性的微小软磁性颗粒和非导磁性液体混合而成的悬浮体。在机械部件相互接触的部位添加磁流变液5，磁流变液可以充满 机械部件间的间隙，起到良好的润滑作用，减小摩擦，降低机械部件的磨损；当磁流变液遇到永磁体时，磁流变液会吸附在永磁体周围，而不会向四周散开，这可以降低对系统密封性能的要求。本发明与现有技术相比，在球壳和底座接触的地方充满了磁流变液，磁流变液能够起到润滑的作用，而永磁体之间的斥力能够减小球壳所承受的正压力，这两者的综合作用可以降低零件磨损、减小振动和噪声，延长轴承的使用寿命；利用霍尔传感器测量得到的磁感应强度值可以求解出永磁体一的当前位置，实现对转轴位置的测量。
本发明还公开了一种应用所述的自带姿态传感的永磁球关节的测量方法，转轴的姿态用欧拉角(α,β)表示，如图2所示。图中坐标系XYZ是固定坐标系，坐标系xyz是与转轴固连的运动坐标系，坐标系XYZ与xyz初始位置重合,两坐标原点o与球壳球心重合。转轴先绕着x轴旋转α角，然后绕着y轴旋转β角。转轴姿态改变后，与之固连的永磁体一的姿态也会发生改变，永磁体一姿态的改变会引起空间中磁感应强度的分布的改变；永磁体二中间布置的霍尔传感器可以测量空间中某点的磁感应强度，当上面的永磁体的姿态改变后，霍尔传感器的测量值也会发生变化，因此，永磁体一的姿态和固定的霍尔传感器的测量值存在一定的映射关系。建立永磁体姿态和传感器测量值的映射关系，永磁体的姿态就可以通过传感器的测量值计算出来。
本发明中，永磁体在空间中的点R产生的磁感应强度B＝[BX BY BZ]T可以用如下公式计算：
Figure PCTCN2016072099-appb-000004
这里，M是永磁体的极化强度矢量，R＇是永磁体上的点，n永磁体表面的法向矢量，μ0是真空磁导率。
由于在该球关节轴承中存在两个永磁体，因此霍尔传感器测量到的磁感应强度是永磁体一和永磁体二的共同作用。由于磁感应强度是矢量，满足叠加定律，将永磁体一在霍尔传感器处产生的磁感应强度记为Bp1，永 磁体二在霍尔传感器处产生的磁感应强度记为Bp2，因此霍尔传感器的测量值B＝Bp1+Bp2，如图3所示。由于永磁体一的姿态(α,β)一直在变化，因此Bp1是一个与(α,β)有如下关系的量，
Figure PCTCN2016072099-appb-000005
这里Rot(α,β)是与欧拉角(α,β)对应的旋转矩阵，Rot’(α,β)是Rot(α,β)的逆矩阵，Rot(α,β)具体表达形式如下：
Figure PCTCN2016072099-appb-000006
而永磁体二的位置保持不变，因此Bp2保持不变。
由于转轴的运动范围是-α0≤α≤α0、-β0≤β≤β0，结合上述的空间中磁感应强度的计算方法，因此，转轴运动范围内的任意姿态下的磁感应强度B可以用数值计算的方式计算出来。接着神经网络工具被用来拟合磁感应强度和转轴姿态的映射关系，磁感应强度数据作为神经网络的输入层而转轴姿态作为神经网络的输出层，然后训练神经网络即可得到磁感应强度和转轴姿态的映射关系；建立磁感应强度和转轴姿态的映射关系后，将磁感应强度数据输入神经网络即可输出当前转轴的姿态。
在带孔的圆柱形永磁体的孔中布置有三轴霍尔传感器，该霍尔传感器能够测量该点的磁感应强度B＝Bp1+Bp2。根据图3中利用神经网络工具建立的这两者之间的映射关系，控制系统就能够根据霍尔传感器的测量值B求解出永磁体当前的姿态(α,β)。
综合以上，本发明记载的一种应用所述的自带姿态传感的永磁球关节的测量方法，包括如下步骤：
步骤1.设置转轴的姿态用欧拉角(α,β)表示，转轴带动球壳转动的运动范围是-α0≤α≤α0、-β0≤β≤β0；
步骤2.设置永磁体一在霍尔传感器处产生的磁感应强度记为Bp1，永磁体二在霍尔传感器处产生的磁感应强度记为Bp2，霍尔传感器测量到的 磁感应强度位B；
步骤3.霍尔传感器测量获得当前磁感应强度B；
步骤4.根据磁感应强度矢量叠加定律，磁感应强度B的计算公式为B＝Bp1+Bp2，因永磁体二的位置保持不变，磁感应强度Bp2为固定值；
步骤5，计算获得永磁体一在霍尔传感器处产生的磁感应强度为Bp1，根据Bp1获得永磁体一当前的姿态(α,β)及转轴位置。
作为本发明的较佳实施例，本发明步骤3所述的霍尔传感器当前磁感应强度B的计算公式为：
Figure PCTCN2016072099-appb-000007
其中，M为永磁体一的极化强度矢量，所述R为霍尔传感器的坐标点，R＇为永磁体一上的点的坐标，在整个关节中建立了一个坐标系xyz，坐标系的原点与球壳的球心重合，由于整个装置的尺寸是已知的，那么根据霍尔传感器的位置就可以得到霍尔传感器在坐标系xyz中的坐标；此外，在坐标系xyz中永磁体一上的任意一点用R＇表示，由于R＇出现在积分项里面即永磁体一上所有的点都要用到，不是特指某一点，因此R＇仅仅与永磁体一的尺寸和形状有关，R＇跟实际旋转角度有关系。n为永磁体一表面的法向矢量，μ0为真空磁导率。
作为本发明的较佳实施例，本发明步骤5具体步骤如下：
步骤501.根据B＝Bp1+Bp2获得Bp1的值；
步骤502.永磁体一在霍尔传感器处产生的磁感应强度记为Bp1的计算公式为：
Figure PCTCN2016072099-appb-000008
其中，M为永磁体一的极化强度矢量，所述R为霍尔传感器的坐标点，R＇为永磁体一上的点的坐标，n为永磁体一表面的法向矢量，μ0为真空磁导 率，Rot(α,β)是与欧拉角(α,β)对应的旋转矩阵，Rot’(α,β)是Rot(α,β)的逆矩阵；
步骤503.Rot(α,β)具体表达形式如下：
Figure PCTCN2016072099-appb-000009
步骤504.根据步骤502及503获得永磁体一当前的姿态(α,β)及转轴位置。
通过以上实施例中的技术方案对本发明进行清楚、完整的描述，显然所描述的实施例为本发明一部分的实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。

Claims (10)

  1. 一种自带姿态传感的永磁球关节，其特征在于：包括永磁体一(2)、永磁体二(7)、转轴(8)、球壳(1)、上底座(3)、下底座(4)及霍尔传感器(6)；所述永磁体一(2)封装于球壳(1)内，永磁体二(7)固设于下底座(4)上，霍尔传感器(6)设置于永磁体二(7)上；所述下底座(4)上设置开口朝上的凹槽，球壳(1)一端嵌装于下底座(4)的凹槽内，球壳(1)的另一端伸出上底座(3)与一转轴(8)固定连接，转轴(8)带动球壳(1)相对上底座(3)、永磁体二(7)及下底座(4)转动。
  2. 根据权利要求1所述的自带姿态传感的永磁球关节，其特征在于：所述永磁体一(2)与永磁体二(7)相邻两个极端的极性设置为同极，构成同极相斥结构。
  3. 根据权利要求2所述的自带姿态传感的永磁球关节，其特征在于：所述永磁体一(2)为圆柱型永磁体。
  4. 根据权利要求2所述的自带姿态传感的永磁球关节，其特征在于：所述永磁体二(7)为圆柱型永磁体，且圆柱型永磁体的中部设置通孔，霍尔传感器(6)置于通孔内。
  5. 根据权利要求4所述的自带姿态传感的永磁球关节，其特征在于：所述永磁体二(7)通过过盈配合与下底座(4)固定连接。
  6. 根据权利要求4所述的自带姿态传感的永磁球关节，其特征在于：所述霍尔传感器(6)为三轴霍尔传感器。
  7. 根据权利要求1所述的自带姿态传感的永磁球关节，其特征在于：所述下底座(4)上设置与球壳(1)等半径的凹槽，且下底座(4)与球壳(1)接触面设置磁流变液(5)。
  8. 一种应用权利要求1-7中任一项所述的自带姿态传感的永磁球关节的测量方法，其特征在于，包括如下步骤：
    步骤1.设置转轴的姿态用欧拉角(α,β)表示，转轴带动球壳转动的运动 范围是-α0≤α≤α0、-β0≤β≤β0。
    步骤2.设置永磁体一在霍尔传感器处产生的磁感应强度记为Bp1，永磁体二在霍尔传感器处产生的磁感应强度记为Bp2，霍尔传感器测量到的磁感应强度位B；
    步骤3.霍尔传感器测量获得当前磁感应强度B；
    步骤4.根据磁感应强度矢量叠加定律，磁感应强度B的计算公式为B＝Bp1+Bp2，因永磁体二的位置保持不变，磁感应强度Bp2为固定值；
    步骤5，计算获得永磁体一在霍尔传感器处产生的磁感应强度为Bp1，根据Bp1获得永磁体一当前的姿态(α,β)及转轴位置。
  9. 根据权利要求8所述的自带姿态传感的永磁球关节的测量方法，其特征在于，步骤3所述的霍尔传感器当前磁感应强度B的计算公式为：
    Figure PCTCN2016072099-appb-100001
    其中，M为永磁体一的极化强度矢量，所述R为霍尔传感器的坐标点，R＇为永磁体一上的点的坐标，n为永磁体一表面的法向矢量,μ0为真空磁导率。
  10. 根据权利要求9所述的自带姿态传感的永磁球关节的测量方法，其特征在于，步骤5具体步骤如下：
    步骤501.根据B＝Bp1+Bp2获得Bp1的值；
    步骤502.永磁体一在霍尔传感器处产生的磁感应强度记为Bp1的计算公式为：
    Figure PCTCN2016072099-appb-100002
    其中，M为永磁体一的极化强度矢量，所述R为霍尔传感器的坐标点，R＇为永磁体一上的点的坐标，n为永磁体一表面的法向矢量，μ0为真空磁导率，Rot(α,β)是与欧拉角(α,β)对应的旋转矩阵，Rot’(α,β)是Rot(α,β)的 逆矩阵；
    步骤503.Rot(α,β)具体表达形式如下：
    Figure PCTCN2016072099-appb-100003
    步骤504.根据步骤502及503获得永磁体一当前的姿态(α,β)及转轴位置。
PCT/CN2016/072099 2016-01-20 2016-01-26 一种自带姿态传感的永磁球关节及其测量方法 Ceased WO2017124573A1 (zh)

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