CN107395045A - The two-way creeping motion type miniature linear and control method of ultra-magnetic telescopic driving - Google Patents
The two-way creeping motion type miniature linear and control method of ultra-magnetic telescopic driving Download PDFInfo
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- CN107395045A CN107395045A CN201710812513.6A CN201710812513A CN107395045A CN 107395045 A CN107395045 A CN 107395045A CN 201710812513 A CN201710812513 A CN 201710812513A CN 107395045 A CN107395045 A CN 107395045A
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- 230000033001 locomotion Effects 0.000 title claims abstract description 47
- 238000000034 method Methods 0.000 title claims abstract description 22
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 23
- 239000012782 phase change material Substances 0.000 claims abstract description 18
- 230000001939 inductive effect Effects 0.000 claims abstract description 14
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 5
- CWYNVVGOOAEACU-UHFFFAOYSA-N Fe2+ Chemical group [Fe+2] CWYNVVGOOAEACU-UHFFFAOYSA-N 0.000 claims description 3
- 238000001816 cooling Methods 0.000 claims description 3
- 230000003100 immobilizing effect Effects 0.000 claims description 3
- 238000004904 shortening Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 description 6
- 239000000919 ceramic Substances 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- -1 15th Substances 0.000 description 1
- 241000361919 Metaphire sieboldi Species 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/06—Drive circuits; Control arrangements or methods
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Abstract
The present invention discloses a kind of two-way creeping motion type miniature linear of ultra-magnetic telescopic driving and control method, its structure are made up of flat guide, magnet coil A, iron core A, push rod A, block A, screw A, end cap A, disc spring A, magnetic inductive block A, giant magnetostrictive rod, outer sleeve, magnet coil C, coil rack, phase-change material, phase-change material container, screw B, magnetic inductive block B, push rod B, disc spring B, block B, screw C, end cap B, magnet coil B and iron core B；By controlling magnet coil A, B, C power on/off order, moving forward and backward for motor can be achieved；The controllable speed advanced or retreated of frequency by changing make-and-break time；The size of electric current is passed through by changing magnet coil C, the step value of motor can be changed；The creeping motion type miniature linear that a kind of load capacity is strong, translational speed is adjustable, moving direction is variable, moving step length is variable, stroke is big, positioning precision high-low voltage drives is provided.
Description
Technical field
The present invention relates to a kind of micromachine, is that a kind of two-way creeping motion type of ultra-magnetic telescopic driving is miniature specifically
Linear electric motors and control method, available for bioengineering, miniature parts operation and assembling, robot and precision optical machinery, medical treatment
The fields such as apparatus.
Background technology
Micromachine is a kind of energy conversion device for realizing precision actuation, and it has, and movement travel is big, displacement resolution
High and advantages of simple structure and simple, can realize precision positioning while step motion.At present, micromachine, especially big row
Journey, high position precision miniature linear bioengineering, miniature parts operation and assembling, robot and precision optical machinery,
The application of the fields such as medicine equipment is very extensive.
Existing miniature linear is driven using piezoelectric more, and what is utilized is the inverse piezoelectricity effect of piezoelectric ceramics
Should, by applying electric field to piezoelectric ceramic piece, it is produced deformation, convert electrical energy into mechanical energy, realize the one of precision actuation
Kind micro device.
But many defects in itself be present in piezoelectric, as deflection is small, energy conversion rate is low, high voltage drive, by temperature
Degree influences the easily breakdown etc. of big, electrode, cause existing piezoelectric type miniature linear have movement velocity slowly, load capacity
The problems such as difference, dangerous height, stability deficiency, its application is set to have obtained great limitation.
The content of the invention
In view of the shortcomings of the prior art, the present invention discloses a kind of miniature straight-line electric of two-way creeping motion type of ultra-magnetic telescopic driving
Machine and control method, realize that a kind of load capacity is strong, translational speed is adjustable, moving direction is variable, moving step length is variable, stroke
Greatly, the creeping motion type miniature linear of positioning precision high-low voltage driving.
To realize object above, the present invention is achieved by the following technical programs：A kind of pair of ultra-magnetic telescopic driving
To creeping motion type miniature linear, it is characterised in that：Include flat guide, magnet coil A, iron core A, push rod A, block A, screw
A, end cap A, disc spring A, magnetic inductive block A, giant magnetostrictive rod, outer sleeve, magnet coil C, coil rack, phase-change material, phase transformation material
Material container, screw B, magnetic inductive block B, push rod B, disc spring B, block B, screw C, end cap B, magnet coil B and iron core B.
The giant magnetostrictive rod has magnetostrictive effect, and when suffered magnetic field-enhanced, it extends, conversely, shortening；Institute
State iron core A to be fitted close with magnet coil A, B unshakable in one's determination and magnet coil B, slided without relative, form electromagnet；The plane is led
Rail is ferrous material, and the magnet coil that can be energized attracts, and guide level is smooth, and coefficient of friction is small；The phase-change material is filled out
Fill in phase-change material container, be giant magnetostrictive rod cooling, make its stable performance.
A kind of two-way creeping motion type miniature linear control method of ultra-magnetic telescopic driving, it is characterised in that：Comprising with
Lower step：
(a) original state：Magnet coil A is powered, the equal no power of magnet coil B, C, now magnet coil A and iron core A groups
Into electromagnet suck on flat guide, magnet coil B ends are in releasing orientation, when ensureing that magnet coil C is not powered, electricity
The position of machine keeps constant；
(b) elongation acts：Magnet coil C is powered, and produces driving magnetic field, and giant magnetostrictive rod extends under magnetic fields,
State is sucked because magnet coil A ends are in, and magnet coil B ends are in releasing orientation, and giant magnetostrictive rod is to magnet coil B ends
Elongation；
(c) fixed displacement amount：Magnet coil B is powered, and the electromagnet that magnet coil B and iron core B is formed is sucked in plane
On guide rail, now, magnet coil A, B ends are in sucking state, make the elongation of giant magnetostrictive rod keep immobilizing；
(d) pre- forward motion：Magnet coil A is powered off, and magnet coil A ends is in releasing orientation, is next step motor
Forward motion is ready；
(e) forward motion：Magnet coil C is powered off, and giant magnetostrictive rod is lost magnetic field, former length is returned to, due to electromagnetism
Loop A end is unclamped, and magnet coil B ends suck, and is caused motor overall and has been advanced certain displacement to magnet coil B ends；
(f) restPose：Magnet coil A is powered, and magnet coil B power-off, prepares next period of motion.
If magnet coil A and magnet coil B power on/off order are exchanged, motor can be transported towards magnet coil A extreme directions
It is dynamic；If changing magnet coil A, magnet coil B, magnet coil C power on/off frequency, the pace of motor can be adjusted
Section, makes the pace of motor have controllability；, can be to the step-length of motor if changing the size that magnet coil C is passed through electric current
It is adjusted, realizes variable step function.
The present invention discloses a kind of two-way creeping motion type miniature linear and control method of ultra-magnetic telescopic driving, its structure
By flat guide, magnet coil A, iron core A, push rod A, block A, screw A, end cap A, disc spring A, magnetic inductive block A, ultra-magnetic telescopic
Rod, outer sleeve, magnet coil C, coil rack, phase-change material, phase-change material container, screw B, magnetic inductive block B, push rod B, disc spring B,
Block B, screw C, end cap B, magnet coil B and iron core B compositions；, can be real by controlling magnet coil A, B, C power on/off order
Existing motor moves forward and backward, a kind of controllable speed advanced or retreated of the frequency by changing make-and-break time, there is provided band
Loading capability is strong, translational speed is adjustable, moving direction is variable, moving step length is variable, stroke is big, positioning precision high-low voltage drives
Dynamic creeping motion type miniature linear.
Brief description of the drawings
In order to illustrate more clearly of present invention implementation or technical scheme of the prior art, below by embodiment or existing skill
The required accompanying drawing used, which is done, in art description simply introduces, it should be apparent that, drawings in the following description are only the present invention
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
These accompanying drawings obtain other accompanying drawings.
Fig. 1 is a kind of structural representation of the two-way creeping motion type miniature linear of ultra-magnetic telescopic driving in the present invention；
Fig. 2 is Fig. 1 three dimensional structure diagram；
Fig. 3 is a kind of two-way creeping motion type miniature linear control method step of ultra-magnetic telescopic driving in the present invention
Schematic diagram；
Fig. 4 is a kind of program of the two-way creeping motion type miniature linear control method of ultra-magnetic telescopic driving in the present invention
Flow chart.
1, flat guide in figure, 2, magnet coil A, 3, iron core A, 4, push rod A, 5, block A, 6 screw A, 7, end cap A, 8,
Disc spring A, 9, magnetic inductive block A, 10, giant magnetostrictive rod, 11, outer sleeve, 12, magnet coil C, 13, coil bone, 14, phase transformation material,
15th, phase-change material holds, and 16, screw, 17, magnetic inductive block, 18, push rod, 19, disc spring, 20, block, 21, screw, 22, end cap, 23, electricity
Magnetic coil B, 24, iron core B.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art exist
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
As shown in Figure 1 and Figure 2, the present invention discloses a kind of two-way creeping motion type miniature linear of ultra-magnetic telescopic driving, bag
Containing flat guide, magnet coil A, iron core A3, push rod A4, block A, screw A, end cap A, disc spring A, magnetic inductive block A, ultra-magnetic telescopic
Rod, outer sleeve, magnet coil C, coil rack, phase-change material, phase-change material container, screw B, magnetic inductive block B, push rod B, disc spring B,
Block B, screw C, end cap B, magnet coil B and iron core B；
The giant magnetostrictive rod has magnetostrictive effect, and when suffered magnetic field-enhanced, it extends, conversely, shortening；
The iron core A is fitted close with magnet coil A, B unshakable in one's determination and magnet coil B, is slided without relative, is formed electromagnet；
The flat guide is ferrous material, and the magnet coil that can be energized attracts, and guide level is smooth, coefficient of friction
It is small；
The phase-change material is filled in phase-change material container, is giant magnetostrictive rod cooling, is made its stable performance.
As shown in figure 3, the present invention discloses a kind of two-way creeping motion type miniature linear controlling party of ultra-magnetic telescopic driving
Method, comprise the steps of：
(a) original state：Magnet coil A is powered, the equal no power of magnet coil B, C, now magnet coil A and iron core A groups
Into electromagnet suck on flat guide, magnet coil B ends are in releasing orientation, when ensureing that magnet coil C is not powered, electricity
The position of machine keeps constant；
(b) elongation acts：Magnet coil C is powered, and produces driving magnetic field, and giant magnetostrictive rod extends under magnetic fields,
State is sucked because magnet coil A ends are in, and magnet coil B ends are in releasing orientation, and giant magnetostrictive rod is to magnet coil B ends
Elongation；
(c) fixed displacement amount：Magnet coil B is powered, and the electromagnet that magnet coil B and iron core B is formed is sucked in plane
On guide rail, now, magnet coil A, B ends are in sucking state, make the elongation of giant magnetostrictive rod keep immobilizing；
(d) pre- forward motion：Magnet coil A is powered off, and magnet coil A ends is in releasing orientation, is next step motor
Forward motion is ready；
(e) forward motion：Magnet coil C is powered off, and giant magnetostrictive rod is lost magnetic field, former length is returned to, due to electromagnetism
Loop A end is unclamped, and magnet coil B ends suck, and is caused motor overall and has been advanced certain displacement to magnet coil B ends；
(f) restPose：Magnet coil A is powered, and magnet coil B power-off, prepares next period of motion.
As shown in figure 4, the present invention discloses a kind of two-way creeping motion type miniature linear controlling party of ultra-magnetic telescopic driving
Method, if magnet coil A and magnet coil B power on/off order are exchanged, motor can move towards magnet coil A extreme directions；If
Change magnet coil A, magnet coil B, magnet coil C power on/off frequency, the pace of motor can be adjusted, make electricity
The pace of machine has controllability；If changing the size that magnet coil C is passed through electric current, the step-length of motor can be adjusted
Section, realizes variable step function.
The creeping motion type advance principle of the present invention：Based on magnetostrictive effect, giant magnetostrictive rod can become under magnetic fields
Shape, within the specific limits, as the increase of magnetic field intensity, its deflection are bigger.The present invention is at the both ends of giant magnetostrictive rod point
Do not couple electromagnet, by controlling the break-make electricity condition of electromagnet, make to locate between the both ends of giant magnetostrictive rod and flat guide
In sucking or releasing orientation so that giant magnetostrictive rod deforms to one direction, and creeping motion type advances as earthworm.
The reversing principle of the present invention：On the basis of above-mentioned creeping motion type advance principle, the present invention only need to be by exchanging super magnetic
Cause the break-make electricity condition of extension stem both ends electromagnet, you can change the direction of advance of the present invention.
The speed governing of the present invention and variable step principle：Because the present invention need to only control magnet coil A, B, C power on/off order,
Forward motion can be achieved, therefore, need to only change magnet coil A, B, C power on/off frequency, you can realize the speed governing of the present invention
Function；Because the deflection of giant magnetostrictive rod is relevant with suffered magnetic field intensity, therefore, it need to only change and be passed through magnet coil C's
Size of current, you can change the step value of the present invention, play a part of variable step.
In summary, the present invention discloses a kind of two-way creeping motion type miniature linear and controlling party of ultra-magnetic telescopic driving
Method, its structure is by flat guide, magnet coil A, iron core A, push rod A, block A, screw A, end cap A, disc spring A, magnetic inductive block A, super
Magnetostrictive rod, outer sleeve, magnet coil C, coil rack, phase-change material, phase-change material container, screw B, magnetic inductive block B, push rod
B, disc spring B, block B, screw C, end cap B, magnet coil B and iron core B compositions；By the power on/off for controlling magnet coil A, B, C
Sequentially, moving forward and backward for motor can be achieved；The controllable speed advanced or retreated of frequency by changing make-and-break time；Pass through
Change the size that magnet coil C is passed through electric current, the step value of motor can be changed；There is provided a kind of load capacity is strong, translational speed can
Regulation, moving direction is variable, moving step length is variable, stroke is big, the miniature straight-line electric of creeping motion type of positioning precision high-low voltage driving
Machine.
It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-exclusive
Include to property, so that process, method, article or equipment including a series of elements not only include those key elements, but also
Including the other element being not expressly set out, or also include for this process, method, article or equipment intrinsic want
Element.In the absence of more restrictions, the key element limited by sentence "including a ...", and it is non-excluded included described
Other identical element also be present in the process of key element, method, article or equipment.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
The present invention is described in detail, those of ordinary skill in the art should be understood：It still can be to foregoing embodiments
Described technical scheme is modified, or carries out equivalent substitution to which part technical characteristic；And these are changed or replaced
Change, the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (9)
- A kind of 1. two-way creeping motion type miniature linear of ultra-magnetic telescopic driving, it is characterised in that：Include flat guide, electromagnetism Loop A, iron core A, push rod A, block A, screw A, end cap A, disc spring A, magnetic inductive block A, giant magnetostrictive rod, outer sleeve, electromagnetic wire Enclose C, coil rack, phase-change material, phase-change material container, screw B, magnetic inductive block B, push rod B, disc spring B, block B, screw C, end cap B, magnet coil B and iron core B.
- 2. a kind of two-way creeping motion type miniature linear of ultra-magnetic telescopic driving according to claim 1, its feature exist In：The giant magnetostrictive rod has magnetostrictive effect, and when suffered magnetic field-enhanced, it extends, conversely, shortening.
- 3. a kind of two-way creeping motion type miniature linear of ultra-magnetic telescopic driving according to claim 1, its feature exist In：The iron core A is fitted close with magnet coil A, B unshakable in one's determination and magnet coil B, is slided without relative, is formed electromagnet.
- 4. a kind of two-way creeping motion type miniature linear of ultra-magnetic telescopic driving according to claim 1, its feature exist In：The flat guide is ferrous material, and the magnet coil that can be energized attracts, and guide level is smooth, and coefficient of friction is small.
- 5. a kind of two-way creeping motion type miniature linear of ultra-magnetic telescopic driving according to claim 1, its feature exist In：The phase-change material is filled in phase-change material container, is giant magnetostrictive rod cooling, is made its stable performance.
- A kind of 6. two-way creeping motion type miniature linear control method of ultra-magnetic telescopic driving, it is characterised in that：Comprising following Step：(a) original state：Magnet coil A is powered, the equal no power of magnet coil B, C, and now magnet coil A and iron core A is formed Electromagnet is sucked on flat guide, and magnet coil B ends are in releasing orientation, when ensureing that magnet coil C is not powered, motor Position keeps constant；(b) elongation acts：Magnet coil C is powered, and produces driving magnetic field, and giant magnetostrictive rod extends under magnetic fields, due to Magnet coil A ends are in and suck state, and magnet coil B ends are in releasing orientation, and giant magnetostrictive rod is stretched to magnet coil B ends It is long；(c) fixed displacement amount：Magnet coil B is powered, and the electromagnet that magnet coil B and iron core B is formed is sucked in flat guide On, now, magnet coil A, B ends are in sucking state, make the elongation of giant magnetostrictive rod keep immobilizing；(d) pre- forward motion：Magnet coil A is powered off, and magnet coil A ends is in releasing orientation, is the advance of next step motor Action is ready；(e) forward motion：Magnet coil C is powered off, and giant magnetostrictive rod is lost magnetic field, is returned to former length, due to magnet coil A End is unclamped, and magnet coil B ends suck, and is caused motor overall and has been advanced certain displacement to magnet coil B ends；(f) restPose：Magnet coil A is powered, and magnet coil B power-off, prepares next period of motion.
- 7. a kind of two-way creeping motion type miniature linear control method of ultra-magnetic telescopic driving according to claim 6, It is characterized in that：If magnet coil A and magnet coil B power on/off order are exchanged, motor can be towards magnet coil A extreme directions Motion.
- A kind of 8. two-way creeping motion type miniature linear controlling party of ultra-magnetic telescopic driving according to claim 6 or 7 Method, it is characterised in that：, can be to the advance of motor if changing magnet coil A, magnet coil B, magnet coil C power on/off frequency Speed is adjusted, and makes the pace of motor have controllability.
- A kind of 9. two-way creeping motion type miniature linear control of ultra-magnetic telescopic driving according to claim 6 or 7 or 8 Method, it is characterised in that：If changing the size that magnet coil C is passed through electric current, the step-length of motor can be adjusted, realize and become step Long function.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710812513.6A CN107395045A (en) | 2017-09-11 | 2017-09-11 | The two-way creeping motion type miniature linear and control method of ultra-magnetic telescopic driving |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710812513.6A CN107395045A (en) | 2017-09-11 | 2017-09-11 | The two-way creeping motion type miniature linear and control method of ultra-magnetic telescopic driving |
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| CN107395045A true CN107395045A (en) | 2017-11-24 |
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| CN201710812513.6A Pending CN107395045A (en) | 2017-09-11 | 2017-09-11 | The two-way creeping motion type miniature linear and control method of ultra-magnetic telescopic driving |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109584747A (en) * | 2018-12-12 | 2019-04-05 | 张玲 | A kind of poster pasting board |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1564452A (en) * | 2004-03-19 | 2005-01-12 | 浙江大学 | Phase change temp controlling super magneto strictive extension microshifting actuator |
| CN1758523A (en) * | 2004-10-09 | 2006-04-12 | 西北工业大学 | Magnetostriction linear motion driver |
| CN101281950A (en) * | 2007-04-05 | 2008-10-08 | 杨锦堂 | Magnetostriction apparatus as well as linear motor and vibrating device using the same |
| CN102255555A (en) * | 2011-07-11 | 2011-11-23 | 南京航空航天大学 | Permanent magnet dual-coil-driven giant magnetostrictive actuator and working method thereof |
-
2017
- 2017-09-11 CN CN201710812513.6A patent/CN107395045A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1564452A (en) * | 2004-03-19 | 2005-01-12 | 浙江大学 | Phase change temp controlling super magneto strictive extension microshifting actuator |
| CN1758523A (en) * | 2004-10-09 | 2006-04-12 | 西北工业大学 | Magnetostriction linear motion driver |
| CN101281950A (en) * | 2007-04-05 | 2008-10-08 | 杨锦堂 | Magnetostriction apparatus as well as linear motor and vibrating device using the same |
| CN102255555A (en) * | 2011-07-11 | 2011-11-23 | 南京航空航天大学 | Permanent magnet dual-coil-driven giant magnetostrictive actuator and working method thereof |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109584747A (en) * | 2018-12-12 | 2019-04-05 | 张玲 | A kind of poster pasting board |
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