CN106357045B - The multiaxis working motion platform being composed based on displacement drive - Google Patents
The multiaxis working motion platform being composed based on displacement drive Download PDFInfo
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- CN106357045B CN106357045B CN201610786316.7A CN201610786316A CN106357045B CN 106357045 B CN106357045 B CN 106357045B CN 201610786316 A CN201610786316 A CN 201610786316A CN 106357045 B CN106357045 B CN 106357045B
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- 238000006073 displacement reaction Methods 0.000 title claims abstract description 30
- 230000003993 interaction Effects 0.000 claims abstract description 10
- 238000005096 rolling process Methods 0.000 claims description 2
- 230000005672 electromagnetic field Effects 0.000 abstract description 11
- 230000007246 mechanism Effects 0.000 abstract description 11
- 230000009471 action Effects 0.000 abstract description 5
- 230000004044 response Effects 0.000 abstract description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 abstract 2
- 150000001875 compounds Chemical class 0.000 abstract 1
- 229910052742 iron Inorganic materials 0.000 abstract 1
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 239000002520 smart material Substances 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000000919 ceramic Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
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- 230000010355 oscillation Effects 0.000 description 1
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
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Abstract
The invention discloses a kind of multiaxis working motion platforms being composed based on displacement drive, driving device includes the driving part and movement engine component for generating interaction force, and driving part is set and moves the guiding parts for being used for constrained motion engine component direction of displacement between engine component, wherein, driving part is fixed electromagnet or fixing permanent magnet, and the movement engine component is mobile permanent magnet or Mobile electromagnetic iron.The present invention is directly realized the linear reciprocation translation or rotational motion for deflecting and generating based on magnetic pole, and directly, mechanism is simple for movement driving, and rigidity is good；Big stroke easy to accomplish；Also micro travel easy to accomplish；Drive displacement is accurate；Motoricity, displacement and precision can be controlled by accurately applying the intensity in magnetic field or electric current, and control is simply, conveniently；Magnetic field is directly used in driving, electromagnetic field and permanent magnetic field compound action generate biggish driving magnetic field, keep the driving force of mechanism big, and driving response is fast, high-efficient.
Description
The application is a divisional application with the application number of 201210393968.6, the application date of 2012.10.17, and the invention name of 'displacement driving device based on the interaction of permanent magnet and electromagnet and combination thereof'.
Technical Field
The invention relates to the technical field of horizontal/rotary driving, in particular to a multi-axis working motion platform combined based on a displacement driving device.
Background
In recent years, the field of incoming calls and magnetostrictive materials develops rapidly, novel smart materials which can be used for developing precise drivers, sensors and linear motors, such as giant magnetostrictive materials, piezoelectric ceramics, magnetostrictive shape memory alloys and the like are generated, and the smart materials have the advantages of high energy density, high output power, precise telescopic deformation and the like, but the defects of small motion displacement, more driving excitation links, more components, poor reliability and the like generally exist in the driving based on the smart materials. Therefore, the telescoping mechanism based on smart materials is not suitable for the application field of small-volume high-energy large-stroke driving.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a multi-axis working motion platform combined based on a displacement driving device. The invention can generate magnetic pole deflection under the action of electromagnetic excitation so as to directly generate translational displacement or driving force by rotation/swing; the generated flat/rotary displacement and force can be controlled, and particularly, the instant large deformation volume ratio and large output force volume ratio driving are easy to generate.
The invention is realized by the following technical scheme.
A displacement driving device based on interaction of a permanent magnet and an electromagnet comprises a driving part and a motion starting part which generate interaction force, and a guide part which is arranged between the driving part and the motion starting part and used for restricting the displacement direction of the motion starting part.
The driving part is a fixed electromagnet or a fixed permanent magnet which is vertically arranged and generates a vertical magnetic pole direction, the motion starting part is a movable permanent magnet or a movable electromagnet which is horizontally arranged and generates a horizontal magnetic pole direction, the guide part comprises a stator and a rotor, wherein the stator is fixedly connected with one magnetic pole end face of the driving part, the rotor is fixedly connected with the side wall of the motion starting part, and the guide part is horizontally arranged between the driving part and the motion starting part.
The displacement driving device based on the interaction of the permanent magnet and the electromagnet further comprises a special-shaped outline body, and the special-shaped outline body is in rigid connection with the motion starting part to follow up.
The driving part is a fixed electromagnet or a fixed permanent magnet which is vertically arranged and generates a vertical magnetic pole direction, the motion starting part is a movable permanent magnet or a movable electromagnet which is horizontally arranged and generates a horizontal magnetic pole direction, the guide part comprises a stator and a rotor, wherein the rotor is fixedly connected with the side wall of the motion starting part, the stator and the motion starting part are fixedly connected with the driving part at an angle O, theta is more than 0 and less than 180 degrees, and the guide part is arranged between the driving part and the motion starting part at an angle theta.
The guide component is a circular guide component, the circular guide component and the motion starting component form a theta angle with the driving component, and theta is more than or equal to 0 and less than 180 degrees.
The motion starting part is formed by combining a plurality of movable permanent magnets.
A multi-axis working motion platform based on displacement driving device combination comprises a plurality of driving devices which are connected with each other and used for realizing x, y and/or z-axis translation and driving devices used for realizing α, β and/or gamma direction rotation.
The driving device for realizing x, y and/or z-axis translation is as follows: comprises a driving component and a motion starting component which generate interaction force, and a guide component which is arranged between the driving component and the motion starting component and used for restricting the displacement direction of the motion starting component; wherein,
the driving part is a fixed electromagnet or a fixed permanent magnet which is vertically arranged and generates a vertical magnetic pole direction, the motion starting part is a movable permanent magnet or a movable electromagnet which is horizontally arranged and generates a horizontal magnetic pole direction, the guide part comprises a stator and a rotor, wherein the stator is fixedly connected with one magnetic pole end face of the driving part, the rotor is fixedly connected with the side wall of the motion starting part, and the guide part is horizontally arranged between the driving part and the motion starting part; or
The motion starting part is a movable permanent magnet or a movable electromagnet which is horizontally arranged and generates a horizontal magnetic pole direction, the guide part comprises a stator and a rotor, wherein the rotor is fixedly connected with the side wall of the motion starting part, the stator and the motion starting part are fixedly connected with the driving part in an angle theta, the angle theta is more than 0 and less than 180 degrees, and the guide part is arranged between the driving part and the motion starting part in an angle theta.
The driving device for realizing x-axis translation, y-axis translation and/or z-axis translation further comprises a special-shaped contour body, and the special-shaped contour body is in rigid connection with the motion starting part and follows the motion starting part.
The driving device for realizing α, β and/or gamma-direction rotation comprises a driving component and a motion starting component which generate mutual acting force, and a guide component which is arranged between the driving component and the motion starting component and used for restricting the displacement direction of the motion starting component, wherein,
the guide component is a circular guide component, the circular guide component and the motion starting component are fixedly connected with the driving component at an angle theta, and theta is greater than or equal to 0 and less than 180 degrees; the motion starting part is formed by combining a plurality of movable permanent magnets.
The mechanism of the present invention is that when the driving electromagnetic force or permanent magnetic force acts on the moving permanent magnet or moving electromagnet as the motion starting part, the opposite magnetic poles attract and approach and the same magnetic poles repel and separate. Therefore, when the driving part is fixed, the magnetic poles of the motion starting part on the driving part are deflected by the electromagnetic force or the permanent magnetic force of the driving part, and at the moment, because a guide part which enables the motion starting part to move only in one direction is arranged between the driving part and the motion starting part, the motion starting part can only generate the motion of the guide direction of the guide part.
According to the principle of interaction between magnetic fields, when the magnetic field of the moving permanent magnet or moving electromagnet as the motion starting member is not in accordance with the magnetic field generated by the fixed permanent magnet or fixed electromagnet as the driving member, if the magnetic field of the driving member is strong enough, the motion starting member is deflected or moved in the direction in accordance with the magnetic pole of the driving member until the deflection or movement is stopped at a position where the direction of the magnetic field of the motion starting member is in accordance with the direction of the magnetic field of the driving member. Therefore, if the magnetic field direction of the motion starting part is not consistent with the magnetic field direction generated by the driving part before the driving part is excited, the magnetic pole direction of the motion starting part is deflected to the magnetic pole direction of the driving part under the action of the electromagnetic field. However, since the driving member is fixed, the motion-enabling member is thus constrained by the guide member, and the magnetic force of the magnetic pole oscillation of the motion-enabling member can be only output to the guide member in the direction of movement, thereby pushing the motion-enabling member to move in the direction of the guide member. In this way, the effect that the driving part exerts magnetic field force to the motion starting part in the vertical direction and the motion starting part moves in the direction guided by the guide part can be achieved.
And the magnitude of the displacement can be controlled by controlling the intensity of the current applied to the fixed electromagnet as the driving member, i.e., the intensity of the generated electromagnetic field and the direction of the applied current or the intensity of the magnetic field force of the fixed permanent magnet.
Similarly, when a reverse current is applied to the electromagnet to generate an electromagnetic force opposite to the previous magnetic pole in the opposite direction, the pole of the motion starting part which is previously far away from the driving part will be attracted to move in the direction close to the driving part, and the pole of the motion starting part which is previously attracted to the end surface of the driving part will be moved in the direction far away from the driving part by the repulsive force. Thus, by controlling the magnetic field intensity of the driving member, the motion starting member is caused to move horizontally in a direction opposite to the previous direction, and stops moving until the magnetic poles coincide with each other.
Thus, by applying a forward and reverse current or a magnetic field of a certain intensity to the driving member, the motion-generating member can be reciprocated in the horizontal direction.
Compared with the prior art, the invention has the following advantages:
1. the linear reciprocating translation or rotation motion generated based on the deflection of the magnetic poles is directly realized, the motion drive is direct, the mechanism is simple, and the rigidity is good;
2. the large stroke is easy to realize; the micro-stroke is easy to realize; the driving displacement is accurate;
3. the movement force, the displacement and the precision can be controlled by accurately applying the intensity of a magnetic field or current, and the control is simple and convenient;
4. the magnetic field is directly used for driving, and the electromagnetic field and the permanent magnetic field have combined action to generate a larger driving magnetic field, so that the driving force of the mechanism is large, the driving response is fast, and the efficiency is high.
The mechanism of the invention can be used for developing a device which requires few driving parts, small volume and weight, and generates larger displacement, high-precision reciprocating driving and multi-degree-of-freedom driving functions.
Drawings
FIG. 1 is a schematic view of example 1 of the present invention;
FIG. 2 (a) is a schematic view of example 2 of the present invention;
FIG. 2 (b) is a schematic view showing embodiment 3 of the present invention;
FIG. 3 is a schematic view of example 4 of the present invention;
FIG. 4 is a schematic view of example 5 of the present invention;
FIG. 5 is a schematic view of example 6 of the present invention;
FIG. 6 is a schematic view showing example 7 of the present invention;
in the figure, 1 is a driving part, 2 is a motion starting part, 3 is a guiding part, 4 is a fixed permanent magnet, 5 is a moving electromagnet, 6 is a special-shaped contour body, 11, 12 and 13 are driving devices for realizing x \ y \ z three-axis translation respectively, and 14 and 15 are driving devices for realizing α/β direction rotation respectively.
Detailed Description
The following examples illustrate the invention in detail: the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.
Example 1
The embodiment comprises the following steps: a driving part 1 and a motion-enabling part 2 which generate mutual acting force, and a guide part 3 which is arranged between the driving part 1 and the motion-enabling part 2 and is used for restricting the displacement direction of the motion-enabling part 2.
As shown in fig. 1, in the present embodiment, the driving member 1 is a fixed electromagnet, and the motion generating member 2 is a movable permanent magnet. Initially, the fixed electromagnet is vertically placed and used for generating a magnetic pole in the vertical direction; the movable permanent magnet is horizontally arranged and used for generating a permanent magnet pole in the horizontal direction, and a horizontally arranged guide component 3 is arranged on one magnetic pole end face of the fixed electromagnet and the side face of the movable permanent magnet. The guide component 3 comprises a stator and a rotor, wherein the stator is fixedly connected with the end face of the fixed electromagnet, and the rotor is fixedly connected with the side wall of the movable permanent magnet; the magnetic pole direction of the movable permanent magnet is vertical to the magnetic pole direction of the fixed electromagnet.
According to the interaction principle of the magnetic fields, when the magnetic field of the movable permanent magnet is inconsistent with the magnetic field generated by the fixed electromagnet, if the electromagnetic field is strong enough, the movable permanent magnet deflects or moves towards the direction consistent with the magnetic pole of the electromagnetic field until the deflection or the movement stops at the position where the magnetic field direction of the movable permanent magnet is consistent with the magnetic field direction of the fixed electromagnet. Therefore, for the mechanism shown in fig. 1, if the magnetic field direction of the moving permanent magnet is not consistent with the magnetic field direction generated by the fixed electromagnet before the fixed electromagnet is excited, and is vertical as shown in fig. 1, the magnetic pole direction of the moving permanent magnet is deflected under the action of the electromagnetic field to cause the moving permanent magnet to deflect. However, since the moving permanent magnet is constrained by the horizontal guide member, the magnetic attraction force that causes the permanent magnet to oscillate is only output in the horizontal direction, and the moving permanent magnet can be attracted to move in the horizontal direction (x or Y direction), that is, to generate a translational motion. The magnetic attraction force is exerted in the vertical direction of the fixed electromagnet, and the movable permanent magnet moves in the horizontal direction. The magnitude of the displacement can be controlled by controlling the intensity of the current applied to the fixed electromagnet, i.e., the intensity of the electromagnetic field generated or the intensity of the electromagnetic field force.
Similarly, the reverse current is applied to the fixed electromagnet to generate an electromagnetic force opposite to the previous magnetic pole in the opposite direction, so that the pole of the moving permanent magnet which is previously far away from the fixed electromagnet is attracted to move in the direction close to the fixed electromagnet, and meanwhile, the end of the moving permanent magnet which is previously attracted to the fixed electromagnet is repelled to move in the direction far away from the fixed electromagnet. Thus, by controlling the strength of the fixed electromagnet magnetic field, the moving permanent magnet can be caused to move horizontally in a direction opposite to the previous direction, and stopped at the position where the magnetic poles overlap.
Thus, by applying a forward and reverse electromagnetic field of a certain intensity to the stationary electromagnet, the moving permanent magnet can reciprocate in the horizontal direction.
Example 2
Example 2 is a modification of example 1.
As shown in fig. 2 (a), the present embodiment is different from embodiment 1 in that the motion-starting member 2 is replaced with a moving electromagnet, and the driving member 1 is replaced with a fixed permanent magnet, in addition to embodiment 1.
Example 3
Example 3 is a modification of example 1.
As shown in fig. 2 (b), the present embodiment is different from embodiment 1 in that the moving motive member 2 is replaced with a moving electromagnet, the driving member 1 is still a fixed electromagnet, and the acting forces between the applied magnetic fields are all electromagnetic field forces, in addition to embodiment 1.
Example 4
Example 4 is a variation of the three embodiments described above.
As shown in fig. 3, in the embodiment, on the basis of any one of the above three embodiments, the mover of the guide member 3 is fixedly connected with the side wall of the motion starting member 2, the stator thereof is fixedly connected with the drive member 1 together with the motion starting member 2 at an angle θ, 0 < θ < 180 degrees, and the guide member 3 is arranged between the drive member 1 and the motion starting member 2 at the angle θ. Thus, based on the mechanism and driving process of embodiment 1, the motion-enabling part 2 will reciprocate in the direction at the angle θ from the driving part 1.
Example 5
Example 5 is a variation of examples 1, 2 or 3.
As shown in fig. 4, this embodiment further includes a specially-shaped contoured body 6 on the basis of embodiments 1, 2 or 3, and the specially-shaped contoured body 6 is rigidly connected with the motion-generating component 2 to follow. Based on the mechanism and driving process of embodiment 1, the motion starting part 2 drives the special-shaped profile body 6 to reciprocate, so that an object in sliding/rolling contact with the special-shaped profile body 6 is driven to reciprocate up and down in the vertical direction. The movement can be controlled by an electric current or a magnetic current of the drive member 1. This embodiment converts electricity/magnetic force into vertical direction's driving force, produces the effect of vertical direction motion.
Example 6
Example 6 is a variation of examples 1, 2 or 3.
As shown in fig. 5, in this embodiment, in addition to embodiments 1, 2 or 3, the guide member 3 is a circular guide member 3. The circular guide component 3 and the motion starting component 2 are fixedly connected with the driving component 1 at an angle theta, and theta is more than or equal to 0 and less than 180 degrees.
Preferably, the motion-enabling part 2 is a combination of one or more moving permanent magnets. Based on the mechanism and driving process of embodiment 1, moving the permanent magnet or combination thereof will only produce rotation under the constraint of the circular guide member. The angle and direction of rotation can be controlled by current or magnetic current in the drive member.
Example 7
Embodiment 7 is a multi-axis working motion platform in which one or more translational drive devices provided in embodiments 1 to 5 and one or more rotational drive devices provided in embodiment 6 are combined.
As shown in fig. 6, the present embodiment includes a plurality of driving devices connected to each other for achieving x, y and/or z-axis translation and α, β and/or γ -direction rotation.
For example, as shown in fig. 6 (a), three driving devices 11, 12, 13 for implementing x, y and/or z-axis translation realized based on embodiments 1-5 are selected, and the combination can implement an x \ y \ z three-axis translation motion platform.
As shown in fig. 6 (b), the driving device for realizing α, β and/or γ -direction rotation realized in embodiment 6 is added on the X \ y \ Z three-axis translational motion platform, that is, as shown in the figure, a rotation driving device 15 is added between the driver 11 and the driver 12, so that the whole driving device 11 can rotate around the Z-axis, and a rotation driving device 14 is installed on the driving device 11, so that the driving device 11 can drive the driven object to rotate around the X-axis when moving the whole driving device 11, thereby realizing a five-axis working motion platform.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (3)
1. A multi-axis working motion platform based on displacement driving device combination is characterized by comprising a plurality of driving devices which are connected with each other and used for realizing x, y and/or z-axis translation and driving devices used for realizing α, β and/or gamma direction rotation;
the driving device for realizing x, y and/or z-axis translation and the driving device for realizing α, β and/or gamma direction rotation respectively comprise a driving part and a motion starting part for generating interaction force, and a guide part which is arranged between the driving part and the motion starting part and used for restricting the displacement direction of the motion starting part;
the driving device for realizing x, y and/or z-axis translation is specifically as follows: comprises a driving part a and a motion starting part a which generate mutual acting force, and a guide part a which is arranged between the driving part a and the motion starting part a and is used for restricting the displacement direction of the motion starting part a;
the driving device for realizing x, y and/or z-axis translation further comprises a special-shaped contour body, and the special-shaped contour body is in rigid connection with the motion starting part a and follows the motion starting part a; the motion starting part a drives the special-shaped profile body to reciprocate, so that an object in sliding/rolling contact with the special-shaped profile body is driven to reciprocate up and down in the vertical direction.
2. The multi-axis working motion platform based on the combination of displacement driving devices according to claim 1, characterized in that the driving component a is a fixed electromagnet or a fixed permanent magnet which is vertically arranged and generates a vertical magnetic pole direction, the motion starting component a is a movable permanent magnet or a movable electromagnet which is horizontally arranged and generates a horizontal magnetic pole direction, the guiding component a comprises a stator and a rotor, wherein the stator is fixedly connected with one magnetic pole end face of the driving component a, the rotor is fixedly connected with the side wall of the motion starting component a, and the guiding component a is horizontally arranged between the driving component a and the motion starting component a; or
The motion starting part a is a moving permanent magnet or a moving electromagnet, the motion starting part a is horizontally arranged and generates a horizontal magnetic pole direction, the guide part a comprises a stator and a rotor, the rotor is fixedly connected with the side wall of the motion starting part a, the stator and the motion starting part a are fixedly connected with the driving part a in an angle theta, the angle theta is more than 0 and less than 180 degrees, and the guide part a is arranged between the driving part a and the motion starting part a in the angle theta.
3. The multi-axis working motion platform formed by combining the displacement driving devices according to claim 1, wherein the driving device for realizing α, β and/or gamma direction rotation comprises a driving component b and a motion starting component b for generating interaction force, and a guiding component b arranged between the driving component b and the motion starting component b for restricting the displacement direction of the motion starting component b,
the guide component b is a circular guide component, the circular guide component and the motion starting component b are fixedly connected with the driving component b at an angle theta, and theta is greater than or equal to 0 and less than 180 degrees; the motion starting part b is formed by combining a plurality of moving permanent magnets.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610786316.7A CN106357045B (en) | 2012-10-17 | 2012-10-17 | The multiaxis working motion platform being composed based on displacement drive |
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| CN201610786316.7A CN106357045B (en) | 2012-10-17 | 2012-10-17 | The multiaxis working motion platform being composed based on displacement drive |
| CN201210393968.6A CN102946164B (en) | 2012-10-17 | 2012-10-17 | The displacement drive interacted based on permanent magnet and electromagnet |
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| CN201210393968.6A Division CN102946164B (en) | 2012-10-17 | 2012-10-17 | The displacement drive interacted based on permanent magnet and electromagnet |
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| CN106357045A CN106357045A (en) | 2017-01-25 |
| CN106357045B true CN106357045B (en) | 2018-12-18 |
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| CN201610778628.3A Active CN106329814B (en) | 2012-10-17 | 2012-10-17 | The displacement drive to be interacted based on permanent magnet and electromagnet |
| CN201210393968.6A Active CN102946164B (en) | 2012-10-17 | 2012-10-17 | The displacement drive interacted based on permanent magnet and electromagnet |
| CN201610778656.5A Active CN106329815B (en) | 2012-10-17 | 2012-10-17 | The displacement drive to be interacted based on permanent magnet and electromagnet |
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| CN201210393968.6A Active CN102946164B (en) | 2012-10-17 | 2012-10-17 | The displacement drive interacted based on permanent magnet and electromagnet |
| CN201610778656.5A Active CN106329815B (en) | 2012-10-17 | 2012-10-17 | The displacement drive to be interacted based on permanent magnet and electromagnet |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106329815A (en) | 2017-01-11 |
| CN102946164B (en) | 2016-12-21 |
| CN106329815B (en) | 2018-11-16 |
| CN102946164A (en) | 2013-02-27 |
| CN106357045A (en) | 2017-01-25 |
| CN106329814B (en) | 2019-01-25 |
| CN106329814A (en) | 2017-01-11 |
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