WO2020248236A1

WO2020248236A1 - Multi-directional controllable movement device with integration of push-pull units driven by electro-permanent magnets

Info

Publication number: WO2020248236A1
Application number: PCT/CN2019/091309
Authority: WO
Inventors: 韦岗; 苏瑞彩; 王一歌; 曹燕; 赵明剑; 凌丽娟
Original assignee: 广州丰谱信息技术有限公司
Priority date: 2019-06-10
Filing date: 2019-06-14
Publication date: 2020-12-17
Also published as: CN110247534A; CN110247534B

Abstract

The invention provides a multi-directional controllable movement device with integration of push-pull units driven by electro-permanent magnets. The device comprises push-pull units with controllable displacement in a linear direction, the unit is constructed by connecting a plurality of multi-stage telescopic parts and extension rods and then embedding in an electromagnetic coil assembly, and can produce a controllable specific displacement under the current control of a master control unit. A plurality of push-pull units are bundled and integrated in a certain way to form a multi-point push-pull drive array. The multi-point push-pull drive array is placed in a hard tube to form a push-pull drive array component. A plurality of push-pull drive array components are cascaded together to form a multi-directional controllable movement device. The specific push-pull drive array component is controlled to implement small-angle swinging to achieve multi-directional movement at any angle of the multi-directional controllable movement device. According to the invention, no intermediate transmission device is required, the energy efficiency is high, and the device can be widely used in movement control systems such as robots, robot dogs and the like.

Description

Multi-directional controllable movement device integrated with electromagnetic and permanent magnet hybrid drive push-pull unit

Technical field

The invention relates to the technical field of electromagnetic driving, in particular to a multi-directional controllable movement device integrated with an electromagnetic permanent magnet hybrid driving push-pull unit.

Background technique

With the development of science and technology, in many applications, machines have been able to replace humans or animals to complete certain actions. For example, industrial robots, a multi-joint manipulator or multi-degree-of-freedom machine device oriented to the industrial field, have gradually become the main development form of factory automation production lines. Industrial robots can perform work automatically, and rely on their own power and control capabilities to achieve various functions. At present, the motion control of industrial robots mainly adopts motor drive and mechanical transmission.

The mechanical transmission system usually consists of three parts: prime mover, transmission mechanism, and executive mechanism. The transmission mechanism can change the way, direction or speed of the movement provided by the power to obtain the desired movement mode. At present, the commonly used mechanical transmission mechanisms include gear transmission, chain transmission, worm gear transmission and other contact transmission methods. Affected by the manufacturing precision and installation precision of the machinery, friction and vibration will be generated during the transmission process, and more power needs to be consumed to overcome the frictional resistance between the contact surfaces, resulting in a waste of power. To realize complex motions, such as angle swing, multi-stage transmission is required, and each stage of transmission consumes considerable power.

Therefore, the energy efficiency of the existing multi-degree-of-freedom motion system of robots or robotic animals is not high, and there is a large energy waste.

Summary of the invention

The purpose of the present invention is to improve the energy efficiency of a multi-degree-of-freedom motion system, and proposes a multi-directional controllable motion device integrated with an electromagnetic and permanent magnet hybrid driving push-pull unit.

The electromagnetic and permanent magnet hybrid drive push-pull unit integrates a multi-directional controllable motion device. The device contains multiple push-pull drive array components. The push-pull drive array component contains several electromagnetic and permanent magnet hybrid drive push-pull units. The electromagnetic and permanent magnet hybrid drive push-pull units are in The electromagnetic coil master control unit generates a controllable specific displacement under current control, so that adjacent push-pull drive array components can swing with multiple degrees of freedom and small angles; multiple push-pull drive array components are assembled in a certain way and integrated into a multi-directional Controllable movement device, realizing multi-directional movement at any angle.

The multi-directional controllable movement device integrated by the electromagnetic permanent magnet hybrid drive push-pull unit. When multiple push-pull drive array components are cascaded together, the multi-directional controllable movement device can be realized by controlling the small-angle swing of the specific push-pull drive array component Multi-directional movement at any angle.

The electromagnetic and permanent magnet hybrid drive push-pull unit integrates a multi-directional controllable movement device. The push-pull drive array assembly includes a rigid tube, several electromagnetic and permanent magnet hybrid drive push-pull units and a support body. The electromagnetic and permanent magnet hybrid drive push-pull unit relies on The support is fixed in the hard tube, and several electromagnetic and permanent magnet hybrid drive push-pull units are bundled and integrated in a certain way to form a multi-point push-pull drive array; the electromagnetic and permanent magnet hybrid drive push-pull unit in the push-pull drive array assembly generates pulling force or thrust , To pull or push adjacent push-pull drive array components to achieve small-angle swing; under the current control of the master control unit, the electromagnetic and permanent magnet hybrid drive push-pull units in the multiple push-pull drive array components generate combined pull forces and/or combinations in different directions Thrust, realizes multi-degree-of-freedom and small-angle swing of adjacent push-pull drive array components.

The adjacent push-pull drive array components are connected together by a middle elastic piece, which is a non-rigid piece, which balances the static force of the push-pull drive array component and plays a supporting role.

A multi-directional controllable movement device integrated with an electromagnetic and permanent magnet hybrid drive push-pull unit. The electromagnetic permanent magnet hybrid drive push-pull unit is composed of a hollow electromagnetic coil group, an extension rod and a plurality of multi-stage telescopic parts. The electromagnetic coil group is placed in the electromagnetic coil group; the electromagnetic coil group includes a hollow tube and several groups of coils wound outside the hollow tube, or the electromagnetic coil group is directly composed of several groups of coils; the current of each coil is independently controlled, and the length of the coil It can be long or short; the multi-stage expansion piece produces a multi-stage displacement controlled by the electromagnetic coil group under the electromagnetic force of the electromagnetic coil group; the extension rod is connected with the multi-stage expansion piece at the end to be responsible for the production of the multi-stage expansion piece The thrust or pulling force is transmitted to adjacent push-pull drive array components.

The above-mentioned multi-stage telescopic parts are composed of permanent magnets, electromagnets and telescopic rods connected in sequence, or composed of permanent magnets, gaskets and telescopic rods connected in sequence; the N-stages of the permanent magnets all point to the same direction; the telescopic rods are connected by ball to achieve expansion and contraction : Compressed under the action of thrust, stretched under the action of pulling force, similar to the pull rod of a trolley box; the electromagnet is realized by an energized coil, and its main function is to block adjacent permanent magnets from attracting together, because the N levels of the permanent magnets all point to the same Direction, the two permanent magnets must be connected at the opposite sex level. If there is no barrier, they must be attracted together, and the attraction of a certain distance is reduced, which is convenient for rapid movement; in addition to the separation function, the electromagnet can also be energized. Force, so that the adjacent electromagnets are not close to each other and move quickly, if only need to play a spacing function, it can also be replaced by ordinary gaskets.

The above-mentioned multi-stage telescopic element realizes the controllable multi-stage displacement method: the permanent magnet and the electromagnet generate thrust or pulling force under the action of the magnetic force to make the telescopic rod connected to it stretch or compress a fixed-length displacement. The fixed length is The telescopic rod is stuck in a ball way and precisely controlled; the combination of multiple different fixed lengths can achieve multi-stage and different length displacement; the displacement of each multi-stage telescopic element can be set to the same or different, so that one can be controlled by Or the displacement movement of a plurality of multi-stage telescopic parts to accurately control the displacement of different distances of the electromagnetic and permanent magnet hybrid drive push-pull unit.

The magnetic force required for the above multi-stage telescopic element to achieve multi-stage displacement comes from two parts, one part is an electromagnet, and one part comes from the electromagnetic coil group; the electrified electromagnet and the adjacent permanent magnet generate repulsion or attraction, stretch or compress adjacent The telescopic rod, the magnetic force is small; the coil at the corresponding position of the electromagnetic coil group is energized, and a strong magnetic force is generated inside the corresponding position of the electromagnetic coil group, which promotes the movement of the permanent magnet; the direction of the energizing current determines its magnetic force to act on the telescopic rod The above effect is to stretch or compress the length of the telescopic rod to produce displacement.

A multi-directional controllable motion device integrated by an electromagnetic and permanent magnet hybrid driving push-pull unit. The master control unit of the multi-directional controllable motion device adopts a program-controlled manner to perform selective combination control of current for each coil; the coil includes each push-pull drive array Each electromagnetic coil group in the assembly, and each coil used to realize the electromagnet in the multi-level expansion piece;

Control each coil of the electromagnetic coil group in the electromagnetic permanent magnet hybrid drive push-pull unit, that is, can control the generation of segmented magnetic force in the electromagnetic permanent magnet hybrid drive push-pull unit, and control the state of the permanent magnet at the corresponding position inside;

Controlling each coil used to realize the electromagnet in the multi-stage telescopic element is to generate force to keep the adjacent permanent magnets in three states; the three states include forward movement, reverse movement and static state, These three states all require current; according to the actual application, forward motion can be defined as the motion caused by the forward force in the stretching direction, the reverse motion is the motion caused by the reverse force of contraction, and the static state is not The moving state, that is, the forward force and the reverse force are equal;

The total control unit combination selects part of the coil to be energized, and controls the size and direction of the energization. Then, the state of the corresponding coil can be controlled, so that the corresponding electromagnet can move, generating thrust or pulling force on the telescopic rod, thereby realizing any push-pull drive array assembly Swing in multiple directions.

Compared with the prior art, the present invention has the following advantages and beneficial effects:

(1) This device makes full use of the movement characteristics of the permanent magnet and the electromagnet itself in the magnetic field to excite the whole movement device to realize the conversion of electromagnetic energy to kinetic energy. There is no transmission loss during this period, so the whole device has high energy efficiency;

(2) The electromagnetic and permanent magnet hybrid drive push-pull unit of the device generates controllable and accurate multi-level displacement through the combined action of external magnetic force and internal magnetic force. The external magnetic force is generated by the coils of the electromagnetic coil group, and the internal magnetic force is generated by the electromagnet of the multi-stage telescopic element;

(3) Utilize the integration of linear push-pull motions of multiple electromagnetic and permanent magnet hybrid drive push-pull units to realize small-angle multi-directional swing, which is beneficial to realize non-periodical small-angle random drive or linear expansion and contraction of a specific length;

(4) By cascading multiple push-pull drive array components together, the device can control the small-angle swing of each push-pull drive array component to achieve multi-directional motion of the multi-directional controllable motion device at any angle, completing complex action. The device can be widely used in motion control systems of robots and robot dogs.

Description of the drawings

Figure 1(a) is a cross-sectional view of the push-pull drive array assembly of this embodiment.

Figure 1(b) is a schematic diagram of the connection of adjacent push-pull drive array components in this embodiment.

Fig. 2 is a partial schematic diagram of the multi-stage telescopic element in this embodiment.

3 is a schematic diagram of the electromagnetic coil group of the electromagnetic and permanent magnet hybrid driving push-pull unit in this embodiment.

Figure 4 (a) is a schematic diagram of the initial state of the multi-directional controllable movement device in this embodiment.

Fig. 4(b) is a schematic diagram of the swing angle α of the multi-directional controllable movement device in this embodiment.

Detailed ways

The drawings of the present invention are only used for exemplary description, and should not be construed as limiting the present invention. In order to better illustrate the following embodiments, some components in the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, some well-known structures in the drawings and their descriptions may be omitted. Understandable.

Example

Fig. 1(a) shows a cross-sectional view of the push-pull drive array assembly of this embodiment, and Fig. 1(b) is a schematic diagram of the connection of adjacent push-pull drive array assemblies of this embodiment. The push-pull drive array assembly of the multi-directional controllable motion device integrated by the electromagnetic permanent magnet hybrid drive push-pull unit consists of a hard tube 1, a plurality of electromagnetic permanent magnet hybrid drive push-pull units evenly distributed along the tube wall 2, a support body 3, and a hard tube Between the middle elastic piece 4 constitutes.

As shown in Figure 2, the electromagnetic permanent magnet hybrid drive push-pull unit 2 is composed of an electromagnetic coil group 9 and a multi-stage telescopic element. Here we mainly show the multi-stage telescopic parts in the electromagnetic permanent magnet hybrid drive push-pull unit, so the coils wound by the electromagnetic coil group are not shown here, but shown in Figure 3. The multi-stage telescopic element in Figure 2 is composed of two permanent magnets 5, an electromagnetic coil group 6 and a telescopic rod 7 connected in sequence. Here, an extension rod 8 connected to one end of the multi-stage telescopic element is also shown. The other end of the extension rod 8 is connected to The adjacent push-pull drive array components are connected, so that the generated thrust or pull force can be transmitted to the adjacently connected push-pull drive array components.

In Fig. 2, the N levels of the permanent magnet 5 all point to the same direction; the telescopic rod 7 is connected by ball to achieve expansion and contraction: compressed under the action of thrust, stretched under the action of pulling force, similar to the pull rod of a trolley box; electromagnetic coil group 6 uses energized coils Realized, its main function is to block adjacent permanent magnets from being attracted together. Since the N levels of the permanent magnets all point to the same direction, the two permanent magnets must be connected at opposite levels. If there is no barrier, they must be attracted together. , And a certain distance apart, the suction force is reduced, which is convenient for rapid movement; in addition, the electromagnet can also be energized to generate magnetic force, so that the adjacent electromagnets are not close to each other and move quickly. Ordinary gaskets can also be used instead.

The tension or thrust generated by the permanent magnet 5 and the electromagnetic coil group 6 under the action of the magnetic force causes the telescopic rod 7 connected to it to retract or stretch a fixed length of displacement. The fixed length is that the telescopic rod is stuck in a ball way, which can be accurate Control; the combination of multiple different fixed lengths can achieve multi-stage and different length displacements; the displacement of each multi-stage telescopic element can be set to the same or different, which can control the displacement movement of one or more multi-stage telescopic elements To accurately control the displacement of the push-pull unit driven by the electromagnetic and permanent magnet hybrid at different distances.

As shown in FIG. 3, it is a schematic diagram of the electromagnetic coil group of each electromagnetic permanent magnet hybrid driving push-pull unit in this embodiment. The electromagnetic coil set 9 includes a hollow tube and several sets of coils 10 wound around the hollow tube. The current of each coil is independently controlled, and the length of the coils is not equal; the multi-stage telescopic element generates a run under the electromagnetic force of the electromagnetic coil set Controllable multi-level displacement.

The magnetic force required for the multi-stage telescopic part of the multi-directional controllable motion device to achieve multi-stage displacement comes from two parts, one part is an electromagnet, and one part comes from the electromagnetic coil group; the electrified electromagnet and the adjacent permanent magnet generate repulsion or attraction , Stretch or compress the adjacent telescopic rod, the magnetic force is small; the coil at the corresponding position of the electromagnetic coil group is energized, and a strong magnetic force is generated in the corresponding position of the electromagnetic coil group to promote the movement of the permanent magnet; the direction of the current The effect that determines the magnetic force acting on the telescopic rod is to stretch or compress the length of the telescopic rod, resulting in displacement.

As shown in Figure 4(a) and Figure 4(b), a multi-directional controllable motion device composed of two push-pull drive array components in cascade is taken as an example to illustrate its movement. The work flow of adjacent push-pull drive array components swinging to the right by an angle α.

Two electromagnetic permanent magnet hybrid drive push-pull units are distributed in the hard tube of the push-pull drive array assembly below.

Step 1: Put the total control current of the solenoid coils and the power supply of each electromagnet in the multi-directional drive device of all the electromagnetic and permanent magnet hybrid drive push-pull units in the initial state, as shown in Figure 4(a), 2 push-pull drive arrays All the electromagnetic and permanent magnet hybrid drive push-pull units in the assembly are in a balanced position, making it stand firmly as a whole. The extension rod of the lower push-pull drive array assembly is in contact with the adjacent (upper) push-pull drive array assembly, so that the generated thrust can be transmitted to the adjacently connected push-pull drive array assembly.

Step 2: To the left side of the push-pull drive array assembly in Fig. 4(a), the specific electromagnet in the hybrid drive push-pull unit that generates repulsive force is passed through, so that the magnetic field is opposite to the equilibrium position, and the electromagnet is opposite to the adjacent permanent magnet. The magnet generates force to push the telescopic rod.

Step 3: At the same time, energize a specific coil of the electromagnetic coil group in the electromagnetic and permanent magnet hybrid drive push-pull unit on the left side of Fig. 4(a) to generate strong magnetic force and push the specific permanent magnet and electromagnet to move magnetically. The telescopic rod is Stretching a fixed-length displacement, the extension rod connected to the telescopic rod pushes the left side of the adjacent push-pull drive array assembly to rise, so that the push-pull drive array assembly swings to the right by an angle α, as shown in Figure 4(b).

It can be seen that when a plurality of the push-pull drive array components are cascaded together, the small-angle swing of each push-pull drive array component can be controlled to realize the multi-directional motion of the multi-directional controllable motion device at any angle.

Obviously, the above-mentioned embodiments of the present invention are merely examples to clearly illustrate the embodiments of the present invention, and are not intended to limit the specific embodiments of the present invention. Any modification, equivalent replacement and improvement made within the spirit and principle of the claims of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

The multi-directional controllable movement device integrated by the electromagnetic and permanent magnet hybrid drive push-pull unit is characterized in that it is assembled by a plurality of push-pull drive array components; wherein the push-pull drive array assembly includes several electromagnetic and permanent magnet hybrid drive push-pull units. The magnetic hybrid drive push-pull unit generates a controllable specific displacement under the current control of the electromagnetic coil master control unit, so that the adjacent push-pull drive array components produce multiple degrees of freedom and small angle swings, thereby realizing the multi-directional controllable movement device at any angle.向运动.
The multi-directional controllable motion device according to claim 1, wherein the push-pull drive array assembly comprises a rigid tube, a plurality of electromagnetic and permanent magnet hybrid drive push-pull units and a support body, wherein the electromagnetic and permanent magnet hybrid drive push-pull unit relies on The support is fixed in the hard tube, and several electromagnetic and permanent magnet hybrid drive push-pull units are bundled and integrated to form a multi-point push-pull drive array; the electromagnetic and permanent magnet hybrid drive push-pull unit in the push-pull drive array assembly generates pulling force or thrust, pulling or Push adjacent push-pull drive array components to achieve small-angle swings; under the current control of the master control unit, the electromagnetic and permanent magnet hybrid drive push-pull units in the multiple push-pull drive array components generate combined pulling forces and/or combined thrusts in different directions to achieve Adjacent push-pull drive array components swing with multiple degrees of freedom and small angles.
The multi-directional controllable motion device according to claim 1, wherein when a plurality of push-pull drive array components are cascaded together, one of the push-pull drive array components can be controlled to swing at a small angle to achieve multi-directional controllability. Multi-directional movement of the motion device at any angle.
The multi-directional controllable motion device according to claim 2, wherein the connection between the push-pull drive array components is connected together by an intermediate elastic piece, which is a non-rigid piece, which balances the static force of the push-pull drive array assembly , Play a supporting role.
The multi-directional controllable movement device according to claim 2, wherein the electromagnetic and permanent magnet hybrid driving push-pull unit is composed of a hollow electromagnetic coil group, an extension rod and a plurality of multi-stage telescopic parts, and a plurality of multi-stage telescopic parts The electromagnetic coil group is placed in the electromagnetic coil group; the electromagnetic coil group includes a hollow tube and several groups of coils wound outside the hollow tube, or the electromagnetic coil group is directly composed of several groups of coils; the current of each coil is independently controlled, and the length of the coil Varying; the multi-stage telescopic element produces a multi-stage displacement that is controllable under the electromagnetic force of the electromagnetic coil group; the extension rod is connected with the multi-stage telescopic element at the end and is responsible for transmitting the thrust or pulling force generated by the multi-stage telescopic element to Adjacent push-pull drive array components.
The multi-directional controllable movement device according to claim 5, wherein the multi-stage telescopic element is composed of permanent magnets, electromagnets and telescopic rods connected in sequence, or composed of permanent magnets, gaskets and telescopic rods connected in sequence; The N-level magnets all point to the same direction; the telescopic rod is connected by ball to achieve expansion and contraction: it is compressed under the action of thrust, and stretched under the action of pulling force; the electromagnet is energized to generate force, so that the adjacent electromagnets are not close and fast Displacement; the spacer acts as a spacer between the permanent magnet and the shrink rod.
The multi-directional controllable movement device according to claim 6, wherein the multi-stage telescopic element realizes the multi-stage displacement controlled by the run length: the permanent magnet and the electromagnet generate thrust or pull under the action of the magnetic force so as to connect with it The telescopic rod stretches or compresses a fixed-length displacement. This fixed length is precisely controlled by the telescopic rod in a ball way; the combination of multiple different fixed lengths can achieve multi-level displacement of different lengths; each multi-level The displacements of the telescopic members can be set to be the same or different, so that the displacement of the electromagnetic and permanent magnet hybrid driving push-pull unit can be accurately controlled by controlling the displacement movement of one or more multi-stage telescopic members.
The multi-directional controllable movement device according to claim 7, wherein the magnetic force required to realize the displacement of the multi-stage telescopic element comes from two parts, one is an electromagnet, and the other is from an electromagnetic coil group; the energized electromagnet and Adjacent permanent magnets produce repulsive force or gravitational force, which stretches or compresses adjacent telescopic rods. This magnetic force is small; the coils at the corresponding position of the electromagnetic coil group are energized, and a strong magnetic force is generated inside the corresponding position of the electromagnetic coil group to push The movement of the permanent magnet; the direction of the energized current determines the effect of the magnetic force acting on the telescopic rod is to stretch or compress the length of the telescopic rod, resulting in displacement.
The multi-directional controllable motion device according to claim 5, characterized in that the master control unit adopts a program-controlled manner to perform selective combined control of the current of each coil; the coil includes each electromagnetic permanent magnet in each push-pull drive array component Each electromagnetic coil group in the hybrid drive push-pull unit, and each coil used to realize the electromagnet in the multi-stage telescopic element;

Control each electromagnetic coil group in the electromagnetic permanent magnet hybrid drive push-pull unit, that is, the electromagnetic permanent magnet hybrid drive push-pull unit can control the generation of segmented magnetic force, and control the state of the permanent magnet at the corresponding position inside;

Controlling each coil used to realize the electromagnet in the multi-stage telescopic element is to generate force to keep the adjacent permanent magnets in three states, the three states include forward movement, reverse movement and static state, These three states all require current; according to the actual application, forward motion can be defined as the motion caused by the forward force in the stretching direction, the reverse motion is the motion caused by the reverse force in the compression direction, and the static state is motionless. The state, that is, the forward force and the reverse force are equal;

The total control unit combination selects part of the coil to be energized, and controls the size and direction of the energization. Then, the state of the corresponding coil can be controlled, so that the corresponding electromagnet can move, generating thrust or pulling force on the telescopic rod, thereby realizing any push-pull drive array assembly Swing in multiple directions.