WO2021258428A1 - 一种可变刚性的磁性重力补偿器的音圈电机 - Google Patents

一种可变刚性的磁性重力补偿器的音圈电机 Download PDF

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Publication number
WO2021258428A1
WO2021258428A1 PCT/CN2020/101283 CN2020101283W WO2021258428A1 WO 2021258428 A1 WO2021258428 A1 WO 2021258428A1 CN 2020101283 W CN2020101283 W CN 2020101283W WO 2021258428 A1 WO2021258428 A1 WO 2021258428A1
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magnet
mover
stator
moving
magnetic
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PCT/CN2020/101283
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English (en)
French (fr)
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印欣
李旋扬
孙亚雷
林浩元
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雅科贝思精密机电(南通)有限公司
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Publication of WO2021258428A1 publication Critical patent/WO2021258428A1/zh

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H02K41/035—DC motors; Unipolar motors
    • H02K41/0352—Unipolar motors
    • H02K41/0354—Lorentz force motors, e.g. voice coil motors
    • H02K41/0356—Lorentz force motors, e.g. voice coil motors moving along a straight path
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K53/00—Alleged dynamo-electric perpetua mobilia

Definitions

  • the invention relates to a voice coil motor, in particular to a voice coil motor of a variable rigidity magnetic gravity compensator.
  • the voice coil motor direct drive system has no mechanical transmission links, and has high efficiency and high reliability. At the same time, it can also achieve high response speed and high precision that the screw system cannot achieve. Therefore, it has been widely used in semiconductor, medical and other fields.
  • the existing patent publication number CN110855118A discloses a cylindrical voice coil motor with magnetic gravity compensation function.
  • the advantage of this solution is that it does not require a radially magnetized permanent magnet, and the structure is simple, which is conducive to production; the disadvantage is that Once the electromagnetic structure of the motor is fixed, the range in which the stiffness can be adjusted is very small, and the suspension force is positively related to the stiffness. If the suspension force is to be reduced, the stiffness will also change, which is difficult to match the stiffness range of the mechanical spring or flexible hinge; another disadvantage The linearity of the compensator is not good.
  • the objective of the present invention is to solve the deficiencies in the prior art and provide a magnetic gravity compensator with adjustable stiffness, which can be directly integrated with a cylindrical voice coil motor, saving design space and making the structure more compact ; By combining with mechanical springs or flexible hinges, a constant compensation force can be achieved.
  • the voice coil motor of a variable rigidity magnetic gravity compensator of the present invention is composed of a mover and a stator, and the shapes of the mover and the stator are both cylindrical; the stator sliding sleeve On the mover
  • the mover is composed of a cylindrical skeleton and at least one set of moving magnet components; the side wall of the cylindrical skeleton is provided with a moving component mounting groove corresponding to the moving magnet component, and the moving magnet component is installed on the moving magnet assembly.
  • the moving magnet assembly is composed of at least two mover magnets, and the mover magnets in the moving magnet assembly gradually decrease in width from bottom to top and are distributed in a stepped manner.
  • the movers in the same moving magnet assembly The magnetic pole direction of the magnet is the same;
  • the stator is composed of a cylindrical iron core and at least one set of fixed magnet components.
  • the center of the cylindrical iron core is provided with a column, the fixed magnet component is sleeved in the column, and the fixed magnet component is composed of a stator magnet.
  • the stator magnet and the magnetic conductive block are sleeved on the column, and the magnetic conductive block is arranged above the stator magnet; the number of fixed magnet assemblies is the same as the number of movable magnet assemblies.
  • both the mover magnet and the stator magnet are ring magnets.
  • the magnetic pole direction of the mover magnet is the same as the magnetic pole direction of the stator.
  • the magnetic poles of the stator magnets in the adjacent fixed magnet assemblies are opposite, and the phases The magnetic pole directions of the mover magnets of the adjacent mover magnets are the same.
  • the mover is further provided with a mover coil, and a corresponding coil installation slot is provided on the side wall of the corresponding cylindrical skeleton, and the moving assembly installation slot is arranged at the bottom of the coil installation slot.
  • the mover is also provided with a mover coil, a corresponding coil installation slot is provided on the side wall of the corresponding cylindrical frame, and the moving assembly installation slot is arranged at the bottom of the coil installation slot.
  • the mover magnet in the magnet assembly has the same magnetic pole direction as the stator magnet installed at the bottom.
  • the present invention is a design scheme of a variable rigidity magnetic gravity compensator and a voice coil motor. Compared with the prior art, it has the following advantages.
  • Constant compensation force can be achieved, gravity compensation has good linearity, large rigidity, wide adjustment range, and the selection of mechanical springs or flexible hinges is more convenient;
  • Mechanical spring or flexible hinge and magnetic gravity compensator have the same absolute rigidity and opposite direction, so as to form a constant suspension force independent of position.
  • the mover coil When the mover coil is powered by an external power supply or driver, it does not need to overcome the gravity of the load, but only needs to provide the acceleration required for the movement, so the current consumption is small, the temperature rise is low, the system deformation is small, and the dynamic response and accuracy are improved. Purpose.
  • Figure 1 is a schematic diagram of the new structure
  • Figure 2 is a schematic diagram of the structure of Example 1;
  • Figure 3 is a schematic diagram of the structure of Example 2.
  • Figure 4 is a schematic diagram of the structure of Example 3.
  • Figure 5 is a schematic diagram of the structure of Example 4.
  • Figure 6 is a schematic diagram of the structure of Example 5.
  • Figure 7 is a diagram of the relationship between the magnetic levitation force and the position of the mover
  • a voice coil motor of a variable rigidity magnetic gravity compensator is composed of a mover 1 and a stator 2.
  • the shapes of the mover 1 and the stator 2 are both cylindrical;
  • the stator 2 is slidably fitted on the mover 1;
  • the mover 1 is composed of a cylindrical frame 3 and a set of moving magnet components;
  • the side wall of the cylindrical frame 3 is provided with corresponding moving magnet components
  • the movable assembly installation groove, the movable magnet assembly is installed in the movable assembly installation groove, the movable magnet assembly is composed of two mover magnets 5, and the mover magnet 5 in the moving magnet assembly gradually decreases in width from bottom to top. Ladder distribution, the magnetic pole directions of the mover magnets 5 in the same moving magnet assembly are the same;
  • the stator 2 is composed of a cylindrical iron core 6 and a set of fixed magnet assemblies.
  • the center of the cylindrical iron core 6 is provided with a column 61, the fixed magnet assembly is nested in the column 61, and the fixed magnet assembly It is composed of a stator magnet 7 and a magnetic permeable block 8.
  • the stator magnet 7 and the permeable magnetic block 8 are sleeved on the column 61, and the permeable magnetic block 8 is arranged above the stator magnet 7.
  • the mover magnet 5 and the stator magnet 7 are both ring magnets, and the corresponding moving component mounting slot and the fixed component mounting slot are annular grooves; the magnetic pole direction of the mover magnet 5 is the same as the magnetic pole direction of the stator 2.
  • a voice coil motor of a variable rigidity magnetic gravity compensator is composed of a mover 1 and a stator 2.
  • the shapes of the mover 1 and the stator 2 are both cylindrical;
  • the stator 2 is slidably fitted on the mover 1;
  • the mover 1 is composed of a cylindrical frame 3 and a set of moving magnet components;
  • the side wall of the cylindrical frame 3 is provided with corresponding moving magnet components
  • the movable assembly installation groove, the movable magnet assembly is installed in the movable assembly installation groove, the movable magnet assembly is composed of three mover magnets 5, and the mover magnet 5 in the moving magnet assembly gradually decreases in width from bottom to top. Ladder distribution, the magnetic pole directions of the mover magnets 5 in the same moving magnet assembly are the same;
  • the stator 2 is composed of a cylindrical iron core 6 and a set of fixed magnet assemblies.
  • the center of the cylindrical iron core 6 is provided with a column 61, the fixed magnet assembly is nested in the column 61, and the fixed magnet assembly It is composed of a stator magnet 7 and a magnetic permeable block 8.
  • the stator magnet 7 and the permeable magnetic block 8 are sleeved on the column 61, and the permeable magnetic block 8 is arranged above the stator magnet 7.
  • the mover magnet 5 and the stator magnet 7 are both ring magnets, and the corresponding moving component mounting slot and the fixed component mounting slot are annular grooves; the magnetic pole direction of the mover magnet 5 is the same as the magnetic pole direction of the stator 2.
  • a voice coil motor of a variable rigidity magnetic gravity compensator is composed of a mover 1 and a stator 2.
  • the shapes of the mover 1 and the stator 2 are both cylindrical;
  • the stator 2 is slidably fitted on the mover 1;
  • the mover 1 is composed of a cylindrical frame 3 and two sets of moving magnet components;
  • the side wall of the cylindrical frame 3 is provided with corresponding moving magnet components
  • the movable assembly installation groove, the movable magnet assembly is installed in the movable assembly installation groove, the movable magnet assembly is composed of two mover magnets 5, and the mover magnet 5 in the moving magnet assembly gradually decreases in width from bottom to top. Ladder distribution, the magnetic pole directions of the mover magnets 5 in the same moving magnet assembly are the same;
  • the stator 2 is composed of a cylindrical iron core 6 and two sets of fixed magnet assemblies.
  • the center of the cylindrical iron core 6 is provided with a column 61, the fixed magnet assembly is nested in the column 61, and the fixed magnet assembly It is composed of a stator magnet 7 and a magnetic permeable block 8.
  • the stator magnet 7 and the permeable magnetic block 8 are sleeved on the column 61, and the permeable magnetic block 8 is arranged above the stator magnet 7.
  • the mover magnet 5 and the stator magnet 7 are both ring magnets, and the corresponding moving component mounting slot and the fixed component mounting slot are annular grooves; the magnetic pole direction of the mover magnet 5 is the same as the magnetic pole direction of the stator 2.
  • the voice coil motor of a variable rigidity magnetic gravity compensator shown in Figures 1 and 5 is composed of a mover 1 and a stator 2.
  • the shapes of the mover 1 and the stator 2 are both cylindrical;
  • the stator 2 is slidingly sleeved on the mover 1;
  • the mover 1 is composed of a cylindrical skeleton 3, a set of moving magnet components, and a set of mover coils 4;
  • the side wall of the cylindrical skeleton 3 has a moving component Mounting slot and a coil mounting slot, the moving sub-coil 4 is mounted in the coil mounting slot;
  • the moving magnet assembly is mounted in the moving assembly mounting slot, the moving assembly mounting slot is arranged below the coil mounting slot;
  • the magnet assembly is composed of two mover magnets 5, the mover magnets 5 in the moving magnet assembly gradually decrease in width from bottom to top and are distributed in a stepped manner, and the magnetic pole directions of the mover magnets 5 in the same moving magnet assembly are the same;
  • the stator 2 is composed of a cylindrical iron core 6 and two sets of fixed magnet assemblies.
  • the center of the cylindrical iron core 6 is provided with a column 61, the fixed magnet assembly is nested in the column 61, and the fixed magnet assembly It is composed of a stator magnet 7 and a magnetic permeable block 8.
  • the stator magnet 7 and the permeable magnetic block 8 are sleeved on the column 61, and the permeable magnetic block 8 is arranged above the stator magnet 7.
  • the mover magnet 5 and the stator magnet 7 are both ring magnets, and the corresponding moving component mounting slots and fixed component mounting slots are annular grooves; the mover magnet 5 in the moving magnet assembly and the stator magnet installed at the bottom The direction of the magnetic poles of 7 is the same.
  • a voice coil motor of a variable rigidity magnetic gravity compensator is composed of a mover 1 and a stator 2.
  • the shapes of the mover 1 and the stator 2 are both cylindrical;
  • the stator 2 is slidably fitted on the mover 1;
  • the mover 1 is composed of a cylindrical skeleton 3, a set of moving magnet components, and two groups of mover coils 4;
  • the side wall of the cylindrical skeleton 3 is movable
  • the moving sub-coil 4 is installed in the coil installation groove;
  • the moving magnet assembly is installed in the moving component installation groove, and the moving component installation groove is arranged in the two coil installation grooves.
  • the moving magnet assembly is composed of two mover magnets 5, the mover magnets 5 in the moving magnet assembly gradually decrease in width from bottom to top, and are distributed in a stepped manner.
  • the mover magnets 5 in the same moving magnet assembly The direction of the magnetic poles is the same;
  • the stator 2 is composed of a cylindrical iron core 6 and three sets of fixed magnet assemblies.
  • the center of the cylindrical iron core 6 is provided with a column 61, the fixed magnet assembly is nested in the column 61, and the fixed magnet assembly It is composed of a stator magnet 7 and a magnetic permeable block 8.
  • the stator magnet 7 and the permeable magnetic block 8 are sleeved on the column 61, and the permeable magnetic block 8 is arranged above the stator magnet 7.
  • the mover magnet 5 and the stator magnet 7 are both ring magnets, and the corresponding moving component mounting slots and fixed component mounting slots are annular grooves; the mover magnet 5 in the moving magnet assembly and the stator magnet installed at the bottom The direction of the magnetic poles of 7 is the same.
  • the mover coil 4 is made of good conductors, usually copper wire, or aluminum wire.
  • the wire must have an insulating surface.
  • the mover coil 4 is powered by an external power supply or driver; the mover coil 4 Wound on the skeleton of mover 1, which needs to be insulated; mover magnet 5 and stator magnet 7 are made of permanent magnet materials, such as ferrite or rare earth permanent magnet materials, and the magnetizing direction is axial Magnetization can be one or more segments.
  • the rigidity of the magnetic gravity compensation can be flexibly adjusted;
  • the stator 2 core is made of soft magnetic materials with high permeability, such as Low-carbon steel;
  • the stator magnet 7 is glued to the iron core of the stator 2;
  • the magnetic block 8 is made of a soft magnetic material with high permeability, such as low-carbon steel, which is used to conduct magnetism and work with the iron core of the stator 2 Form a closed magnetic circuit.
  • the levitation force has the characteristics of a "negative spring” as shown in FIG. 7.
  • the size and stiffness of the suspension force can be flexibly changed to match the mechanical spring and flexible hinge; as shown in Figure 9; under ideal conditions, the mechanical spring Or the rigidity of the flexible hinge and the magnetic gravity compensator are the same in absolute value, but in opposite directions, so as to form a constant levitation force independent of position by superimposing each other.
  • the mover coil When the mover coil is powered by an external power supply or driver, it does not need to overcome the gravity of the load, but only needs to provide the acceleration required for the movement, so the current consumption is small, the temperature rise is low, the system deformation is small, and the dynamic response and accuracy are improved. Purpose.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electromagnetism (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)

Abstract

一种可变刚性的磁性重力补偿器的音圈电机，由动子（1）和定子（2）组成，该动子（1）和定子（2）的形状均为圆筒形；该定子（2）滑动套装在动子（1）上；该动子（1）是由圆筒型骨架（3）以及至少一组动磁铁组件（5）组成；该定子（2）是由圆筒型铁芯（6）以及至少一组定磁铁组件组成。通过刚度可调的磁性重力补偿器方案，并且可以与圆筒型音圈电机直接集成，节约设计空间，使结构更加紧凑；通过与机械弹簧或柔性铰链联合使用，可以实现恒定的补偿力。

Description

一种可变刚性的磁性重力补偿器的音圈电机 技术领域
本发明涉及一种音圈电机，具体涉及一种可变刚性的磁性重力补偿器的音圈电机。
背景技术
与传统伺服电机加丝杆传动的系统相比，音圈电机直驱系统无机械传动环节，具有高效率和高可靠性的同时，还可以达到丝杆系统难以达到的高响应速度和高精度。因此在半导体、医疗等领域获得越来越广泛的应用。
音圈电机用作垂直运动轴时，由于需要克服动子和负载的重力，需要额外的电流。而当负载较重的时候，需要的电流也相应增加，根据焦耳定律，电机的发热量与电流的平方成正比，因此会产生较大的热量，引起系统温度上升。根据材料的热膨胀系数，过高的温度会引起较大的形变量，从而降低系统的精度。这在需要极高精度的应用领域尤其明显，需要在设计时加以考虑。
一种克服系统重力的方法是利用机械弹簧或柔性铰链，缺点是根据胡克定律，弹簧的拉力或推力与形变量成正比，因此补偿力也随着系统的上下运动而改变，无法做到恒定的补偿力。磁性重力补偿器可以做到“负刚度”或“负弹簧”的补偿特性，如果设计得当，可以与机械弹簧或柔性铰链的“正刚度”特性相抵消，从而实现恒定的补偿力，如图9所示。音圈电机本身只需要提供运动所需要的加速度，可以实现系统的高动态响应，以及极低的温升。
现有专利公告号为WO2011/131462、US9172291、US6791443、CN105281530、CN103034065的的专利中提出了几种磁性重力补偿器的结构，但往往需要锥形永磁体或径向充磁的永磁体，成本较高，且不易与圆筒型音圈电机集成。
现有专利公告号为CN110855118A的专利公开了一种具有磁性重力补偿功能的圆筒型音圈电机，该方案的优点是无须径向充磁的永磁体，并且结构简单，有利于生产；缺点是一旦电机电磁结构固定，刚度可以调节的范围非常小，并且悬浮力与刚度成正相关，如果要降低悬浮力，刚度也随之改变，比较难以与机械弹簧或柔性铰链的刚度范围匹配；另外一个缺点是补偿器的线性度不好。
发明内容
发明目的：本发明的目的是为了解决现有技术中的不足，提供一种刚度可调的磁性重力补偿器方案，并且可以与圆筒型音圈电机直接集成，节约设计空间，使结构更加紧凑；通过与机械弹簧或柔性铰链联合使用，可以实现恒定的补偿力。
技术方案：本发明所述的一种可变刚性的磁性重力补偿器的音圈电机，是由动子和定子组成，所述动子和定子的形状均为圆筒形；所述定子滑动套装在动子上；
所述动子是由圆筒型骨架以及至少一组动磁铁组件组成；所述圆筒型骨架的侧壁上设有与动磁铁组件对应的动组件安装槽，所述动磁铁组件安装在动组件安装槽中，所述动磁铁组件是由至少两个动子磁铁组成，动磁铁组件中的动子磁铁由下至上宽度逐渐减少，呈阶梯状分布，所述同一动磁铁组件中的动子磁铁的磁极方向相同；
所述定子是由圆筒型铁芯以及至少一组定磁铁组件组成，所述圆筒型铁芯中心设有立柱，所述定磁铁组件套装在立柱中，所述定磁铁组件是由定子磁铁和导磁块组成，所述定子磁铁和导磁块套装在立柱上，导磁块设置在定子磁铁上方；所述设置定磁铁组件的数量与设置动磁铁组件的数量相同。
进一步的，所述动子磁铁、定子磁铁均为环形磁铁。
进一步的，所述当动子中设有一组动磁铁组件，定子中设有一组定磁铁组件时，所述动子磁铁的磁极方向与定子方向的磁极方向相同。
进一步的，所述当动子中设有至少两组动磁铁组件，定子中设有至少两组定磁铁组件时，所述相邻的定磁铁组件中的定子磁铁的磁极方向相反，所述相邻的动磁铁动子中的动子磁铁的磁极方向相同。
进一步的，所述动子中还设有动子线圈，对应圆筒型骨架的侧壁上设有对应的线圈安装槽，所述动组件安装槽设置在线圈安装槽的最下方。
进一步的，所述动子中还设有动子线圈，对应圆筒型骨架的侧壁上设有对应的线圈安装槽，所述动组件安装槽设置在线圈安装槽的最下方，所述动磁铁组件中的动子磁铁与安装在最下方的定子磁铁的磁极方向相同。
有益效果：本发明一种可变刚性的磁性重力补偿器和音圈电机的设计方案。与现有技术相比，它具有如下优点。
(1)不包含径向充磁的磁环，结构简单，生产成本低，并且可以方便地与圆筒型音圈电机集成；
(2)可以通过调整磁铁的段数和材料，方便地改变悬浮力的大小和刚度；
(3)可以与圆筒型音圈电机直接集成，节约设计空间，使结构更加紧凑；
(4)可以实现恒定的补偿力，重力补偿线性度好，刚度大，调整范围宽，机械弹簧或柔性铰链的选型更方便；
(5)机械弹簧或柔性铰链和磁性重力补偿器两者刚度绝对值相同，方向相反，从而相互叠加形成与位置无关的恒定悬浮力。当动子线圈通过外部电源或驱动器供电时，无需克服负载的重力，只需要提供运动所需的加速度即可，因此电流消耗小，温升低，系统形变量小，达到提高动态响应和精度的目的。
附图说明
图1为本使用新型的结构示意图；
图2为是实例1结构示意图；
图3为是实例2结构示意图；
图4为是实例3结构示意图；
图5为是实例4结构示意图；
图6为是实例5结构示意图；
图7为磁性悬浮力与动子位置的关系图；
图8不同结构的悬浮刚度图；
图9磁性悬浮力与机械弹簧力的合成图；
1、动子；2、定子；3、圆筒型骨架；4、动子线圈；5、动子磁铁；6、圆筒型铁芯；61、立柱；7、定子磁铁；8、导磁块。
具体实施方式
实施例1
如图1-2所示，一种可变刚性的磁性重力补偿器的音圈电机，是由动子1和定子2组成，所述动子1和定子2的形状均为圆筒形；所述定子2滑动套装在动子1上；所述动子1是由圆筒型骨架3以及一组动磁铁组件组成；所述圆筒型骨架3的侧壁上设有与动磁铁组件对应的动组件安装槽，所述动磁铁组件安装在动组件安装槽中，所述动磁铁组件是由两个动子磁铁5组成，动磁铁组件中的动子磁铁5由下至上宽度逐渐减少，呈阶梯状分布，所述同一动磁铁组件中的动子磁铁5的磁极方向相同；
所述定子2是由圆筒型铁芯6以及一组定磁铁组件组成，所述圆筒型铁芯6中心设有立柱61，所述定磁铁组件套装在立柱61中，所述定磁铁组件是由一个定子磁铁7和一个导磁块8组成，所述定子磁铁7和导磁块8套装在立柱61上，导磁块8设置在定子磁铁7上方。
所述动子磁铁5、定子磁铁7均为环形磁铁，对应的动组件安装槽和定组件安装槽为环形凹槽；所述动子磁铁5的磁极方向与定子2方向的磁极方向相同。
实施例2
如图1、3所示，一种可变刚性的磁性重力补偿器的音圈电机，是由动子1和定子2组成，所述动子1和定子2的形状均为圆筒形；所述定子2滑动套装在动子1上；所述动子1是由圆筒型骨架3以及一组动磁铁组件组成；所述圆筒型骨架3的侧壁上设有与动磁铁组件对应的动组件安装槽，所述动磁铁组件安装在动组件安装槽中，所述动磁铁组件是由三个动子磁铁5组成，动磁铁组件中的动子磁铁5由下至上宽度逐渐减少，呈阶梯状分布，所述同一动磁铁组件中的 动子磁铁5的磁极方向相同；
所述定子2是由圆筒型铁芯6以及一组定磁铁组件组成，所述圆筒型铁芯6中心设有立柱61，所述定磁铁组件套装在立柱61中，所述定磁铁组件是由一个定子磁铁7和一个导磁块8组成，所述定子磁铁7和导磁块8套装在立柱61上，导磁块8设置在定子磁铁7上方。
所述动子磁铁5、定子磁铁7均为环形磁铁，对应的动组件安装槽和定组件安装槽为环形凹槽；所述动子磁铁5的磁极方向与定子2方向的磁极方向相同。
实施例3
如图1、4所示，一种可变刚性的磁性重力补偿器的音圈电机，是由动子1和定子2组成，所述动子1和定子2的形状均为圆筒形；所述定子2滑动套装在动子1上；所述动子1是由圆筒型骨架3以及两组动磁铁组件组成；所述圆筒型骨架3的侧壁上设有与动磁铁组件对应的动组件安装槽，所述动磁铁组件安装在动组件安装槽中，所述动磁铁组件是由两个动子磁铁5组成，动磁铁组件中的动子磁铁5由下至上宽度逐渐减少，呈阶梯状分布，所述同一动磁铁组件中的动子磁铁5的磁极方向相同；
所述定子2是由圆筒型铁芯6以及两组定磁铁组件组成，所述圆筒型铁芯6中心设有立柱61，所述定磁铁组件套装在立柱61中，所述定磁铁组件是由一个定子磁铁7和一个导磁块8组成，所述定子磁铁7和导磁块8套装在立柱61上，导磁块8设置在定子磁铁7上方。
所述动子磁铁5、定子磁铁7均为环形磁铁，对应的动组件安装槽和定组件安装槽为环形凹槽；所述动子磁铁5的磁极方向与定子2方向的磁极方向相同。
实施例4
如图1、5所示一种可变刚性的磁性重力补偿器的音圈电机，是由动子1和定子2组成，所述动子1和定子2的形状均为圆筒形；所述定子2滑动套装在动子1上；所述动子1是由圆筒型骨架3、一组动磁铁组件、一组动子线圈4组成；所述圆筒型骨架3的侧壁一个动组件安装槽以及一个线圈安装槽，所述动子线圈4安装在线圈安装槽中；所述动磁铁组件安装在动组件安装槽中，所述动组件安装槽设置在线圈安装槽下方；所述动磁铁组件是由两个动子磁铁5组成，动磁铁组件中的动子磁铁5由下至上宽度逐渐减少，呈阶梯状分布，所述同一动磁铁组件中的动子磁铁5的磁极方向相同；
所述定子2是由圆筒型铁芯6以及两组定磁铁组件组成，所述圆筒型铁芯6中心设有立柱61，所述定磁铁组件套装在立柱61中，所述定磁铁组件是由一个定子磁铁7和一个导磁块8组成，所述定子磁铁7和导磁块8套装在立柱61上，导磁块8设置在定子磁铁7上方。
所述动子磁铁5、定子磁铁7均为环形磁铁，对应的动组件安装槽和定组件安装槽为环形凹槽；所述动磁铁组件中的动子磁铁5与安装在最下方的定子磁铁7的磁极方向相同。
实施例5
如图1、6所示，一种可变刚性的磁性重力补偿器的音圈电机，是由动子1和定子2组成，所述动子1和定子2的形状均为圆筒形；所述定子2滑动套装在动子1上；所述动子1是由圆筒型骨架3、一组动磁铁组件、两组动子线圈4组成；所述圆筒型骨架3的侧壁一个动组件安装槽以及两个线圈安装槽，所述动子线圈4安装在线圈安装槽中；所述动磁铁组件安装在动组件安装槽中，所述动组件安装槽设置在两个线圈安装槽的下方；所述动磁铁组件是由两个动子磁铁5组成，动磁铁组件中的动子磁铁5由下至上宽度逐渐减少，呈阶梯状分布，所述同一动磁铁组件中的动子磁铁5的磁极方向相同；
所述定子2是由圆筒型铁芯6以及三组定磁铁组件组成，所述圆筒型铁芯6中心设有立柱61，所述定磁铁组件套装在立柱61中，所述定磁铁组件是由一个定子磁铁7和一个导磁块8组成，所述定子磁铁7和导磁块8套装在立柱61上，导磁块8设置在定子磁铁7上方。
所述动子磁铁5、定子磁铁7均为环形磁铁，对应的动组件安装槽和定组件安装槽为环形凹槽；所述动磁铁组件中的动子磁铁5与安装在最下方的定子磁铁7的磁极方向相同。
实例1至5中，动子线圈4采用良导体绕制而成，通常是铜线，也可采用铝线，线材需要具有绝缘表层，动子线圈4通过外部电源或驱动器供电；动子线圈4绕制在动子1骨架上，动子1骨架需要做绝缘处理；动子磁铁5和定子磁铁7是由永磁材料制成，如铁氧体或稀土永磁材料，充磁方向为轴向充磁，可以是一段或多段，通过调整不同磁铁段的内外径、高度和材料，可以灵活地调整磁性重力补偿的刚度值；定子2铁芯采用高磁导率的软磁材料制成，如低碳钢；定子磁铁7通过胶水粘在定子2铁芯上；导磁块8由高磁导率的软磁材料制成，如低碳钢，其作用是导磁并和定子2铁芯一起形成闭合磁路。
如图8所示，为实例1、3、4结构的悬浮刚度图。
通过动子磁铁5和定子磁铁7相互作用，行成一个与重力方向相反的悬浮力，该悬浮力具有“负弹簧”的特性如图7所示。通过调整动磁铁组件中动子磁铁5的段数、尺寸和材料，可以灵活地改变悬浮力的大小和刚度，从而与机械弹簧和柔性铰链匹配；如图9所示；在理想条件下，机械弹簧或柔性铰链和磁性重力补偿器两者刚度绝对值相同，方向相反，从而相互叠加形成与位置无关的恒定悬浮力。当动子线圈通过外部电源或驱动器供电时，无需克服负载的重力，只需要提供运动所需的加速度即可，因此电流消耗小，温升低，系统形变量小，达到提高动态响应和精度的目的。
以上所述，仅是本发明的较佳实施例而已，并非对本发明作任何形式上的限制，虽然本发明已以较佳实施例揭露如上，然而并非用以限定本发明，任何熟悉本专业的技术人员，在不脱离本发明技术方案范围内，当可利用上述揭示的技术内容作出些许更动或修饰为等同变 化的等效实施例，但凡是未脱离本发明技术方案的内容，依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化与修饰，均仍属于本发明技术方案的范围内。

Claims (5)

  1. 一种可变刚性的磁性重力补偿器的音圈电机，是由动子和定子组成，所述动子和定子的形状均为圆筒形；所述定子滑动套装在动子上；其特征在于：
    所述动子是由圆筒型骨架以及至少一组动磁铁组件组成；所述圆筒型骨架的侧壁上设有与动磁铁组件对应的动组件安装槽，所述动磁铁组件安装在动组件安装槽中，所述动磁铁组件是由至少两个动子磁铁组成，动磁铁组件中的动子磁铁由下至上宽度逐渐减少，呈阶梯状分布，所述同一动磁铁组件中的动子磁铁的磁极方向相同；
    所述定子是由圆筒型铁芯以及至少一组定磁铁组件组成，所述圆筒型铁芯中心设有立柱，所述定磁铁组件套装在立柱中，所述定磁铁组件是由定子磁铁和导磁块组成，所述定子磁铁和导磁块套装在立柱上，导磁块设置在定子磁铁上方；所述设置定磁铁组件的数量与设置动磁铁组件的数量相同。
  2. 根据权利要求1所述的一种可变刚性的磁性重力补偿器的音圈电机，其特征在于：所述动子磁铁、定子磁铁均为环形磁铁。
  3. 根据权利要求2所述的一种可变刚性的磁性重力补偿器的音圈电机，其特征在于：所述当动子中设有一组动磁铁组件，定子中设有一组定磁铁组件时，所述动子磁铁的磁极方向与定子方向的磁极方向相同。
  4. 根据权利要求2所述的一种可变刚性的磁性重力补偿器的音圈电机，其特征在于：所述当动子中设有至少两组动磁铁组件，定子中设有至少两组定磁铁组件时，所述相邻的定磁铁组件中的定子磁铁的磁极方向相反，所述相邻的动磁铁动子中的动子磁铁的磁极方向相同。
  5. 根据权利要求2所述的一种可变刚性的磁性重力补偿器的音圈电机，其特征在于：所述动子中还设有动子线圈，对应圆筒型骨架的侧壁上设有对应的线圈安装槽，所述动组件安装槽设置在线圈安装槽的最下方，所述动磁铁组件中的动子磁铁与安装在最下方的定子磁铁的磁极方向相同。
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