CN108964521A - A kind of the inclination external magnetic field driving apparatus and method of Small-scale Space bend pipe - Google Patents
A kind of the inclination external magnetic field driving apparatus and method of Small-scale Space bend pipe Download PDFInfo
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- CN108964521A CN108964521A CN201810789981.0A CN201810789981A CN108964521A CN 108964521 A CN108964521 A CN 108964521A CN 201810789981 A CN201810789981 A CN 201810789981A CN 108964521 A CN108964521 A CN 108964521A
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- electromagnet
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N15/00—Holding or levitation devices using magnetic attraction or repulsion, not otherwise provided for
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- Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
Abstract
The present invention discloses the inclination external magnetic field driving apparatus and method of a kind of Small-scale Space bend pipe, which includes the linear guide placed perpendicular to horizontal plane, and linear guide is equipped with mobile sliding block；Pedestal, pedestal are equipped with circuit module, and pedestal is connected by link block with mobile sliding block；The float being made of permanent-magnet material；It is respectively provided at the position sensor of electromagnet end, position sensor detects the distance between itself and float, the position for determining float is combined by three position sensors, according to the variation of float position, exciting current in regulating magnet respectively, keeps float to be in stable suspersion state；It is located at perpendicular to the space pipeline on horizontal plane direction.The present invention is acted on by electromagnetic repulsion force of the electromagnet to float, realizes the stable suspersion of float and the control of horizontal position, by the straight-line feed of pedestal, float may be implemented and moved ahead in a manner of not colliding tube wall in space pipeline.
Description
Technical field
The present invention relates to a kind of inclination external magnetic field driving apparatus of Small-scale Space bend pipe and methods, for realizing aviation combustion
Detection and dredging inside oily conveying space pipeline work.
Background technique
In recent years, with the development of electronic technology and control technology, magnetic levitation technology is in industrial technical field and life section
Field etc. is widely used.In magnetic levitation technology research field, single-degree-of-freedom magnetic levitation ball system is due to its composition
It is relatively easy, mathematical model is relatively unambiguous, control performance relative straightforward, R&D cycle are also relatively short, therefore to single-degree-of-freedom
The research of maglev ball system is constantly subjected to pay attention to and pay close attention to.Existing magnetic levitation ball Technical comparing is mature, but also can only be real
The one-dimensional control of existing float position, and the driving method in magnetic field is mostly based on preposition magnetic field.
New achievement is constantly obtained along with MEMS technology, the permanent magnetism Micro-Robot based on field drives technology and MEMS at
For research hotspot, however the motion range of the permanent magnetism Micro-Robot driven by Helmholtz coil is limited to Helmholtz's line
The size of circle.
Currently, the method that the surface quality inside pipeline-like machine components generallys use destructive test, although can be directly
The internal soundness of pipe piece is measured, but this method is only used for sampling Detection, the part examined cannot be delivered again
It uses.
Air fuel channel dosage is very big, and internal quality testing is the universal insurmountable workpiece of current industry
Problem, and microtubule is also easy to happen siltation blocking, the dredging work difficulty of pipeline is larger.
Summary of the invention
To solve the problems, such as the detection and dredging inside aviation pipeline, the present invention provides a kind of inclination of Small-scale Space bend pipe
External magnetic field driving apparatus and method realize the pipeline space movement based on extracorporeal magnetic driving, on solving using magnetic levitation technology
State problem.
To achieve the above object, the present invention adopts the following technical solutions:
A kind of inclination external magnetic field driving apparatus of Small-scale Space bend pipe, the inclination external magnetic field driving apparatus include perpendicular to
The linear guide that horizontal plane is placed, linear guide are equipped with mobile sliding block；
Pedestal, pedestal are equipped with circuit module, and pedestal is connected by link block with mobile sliding block；
The float being made of permanent-magnet material；
It is respectively provided at first position sensor, the second of the first electromagnet, the second electromagnet and third electromagnet end
Sensor and the third place sensor are set, first position sensor, second position sensor and the third place sensor are examined respectively
The distance between itself and float are surveyed, the position for determining float is combined by three position sensors, according to the change of float position
Change, adjust the exciting current in the first electromagnet, the second electromagnet and third electromagnet respectively, float is kept to be in stable suspersion
State；
It is located at perpendicular to the space pipeline on horizontal plane direction.
Further, space pipeline is the space pipeline comprising a variety of bendings；Float is realized under extracorporeal magnetic driving in sky
Between moved ahead in pipeline in a manner of not colliding tube wall.
Further, pedestal and mobile sliding block, which are driven in the movement of vertical direction by servo motor, realizes；Float is in sky
Between change in location on pipeline section it is real by the exciting current of the first electromagnet of control, the second electromagnet and third electromagnet
It is existing；The combination control that movement of the float in space pipeline passes through the axis of the first electromagnet, the second electromagnet and third electromagnet
It realizes.
Further, pedestal is equipped with the through-hole extended there through for space pipeline.
Further, the first electromagnet, the second electromagnet and third electromagnet are symmetrically arranged on pedestal；First electromagnet,
The angle of the axis and base plane of second electromagnet and third electromagnet is acute angle；First electromagnet, the second electromagnet and
The electromagnetism resultant force that third electromagnet generates keeps balancing with float gravity, to keep float to be in stable suspersion state.
Further, which further includes the first power amplifier, the second power amplifier and
Three power amplifiers, the output end of the first power amplifier, the second power amplifier and third power amplifier is respectively with first
Electromagnet, the second electromagnet are connected with third electromagnet, provide electromagnet exciting current.
Further, which further includes the first current sensor, the second current sensor and
Three current sensors, the input terminal of the first current sensor, the second current sensor and third current sensor is respectively with first
Electromagnet, the second electromagnet and the series connection of third electromagnet.
Further, which further includes controller, first position sensor, second position sensing
The output end of device and the third place sensor is connected to the input terminal of controller, the first current sensor, the second current sensor
Be connected to the input terminal of controller with the output end of third current sensor, the first power amplifier, the second power amplifier and
The input terminal of third power amplifier is connected to the output end of controller.
Further, first position sensor, second position sensor and the third place sensor are Hall sensor；
Outer driving unit of the magnet exciting coil of first electromagnet, the second electromagnet and third electromagnet is at least three.
A kind of inclination extracorporeal magnetic driving method of Small-scale Space bend pipe, it the following steps are included:
Step 1 powers on, when float is placed near the first electromagnet, the second electromagnet and third electromagnet,
Three electromagnet are powered immediately, and first position sensor, second position sensor and the third place sensor detect itself respectively
The distance between float is determined the position of float by three sensor combinations, automatically adjusts the excitation in three electromagnet
Electric current, to keep float stable suspersion in initial position；
Step 2 detects first by the first current sensor, the second current sensor and third current sensor respectively
Exciting current value in electromagnet, the second electromagnet and third electromagnet, automatically adjusts the exciting current in three electromagnet, with
Guarantee the exciting current stability in three electromagnet；
Step 3, according to space pipeline entry position, controller adjusts the exciting current in three electromagnet, changes float
Levitation position, to guarantee that float enters space pipeline with suspended state；
Step 4, mobile sliding block are fed forward along linear guide, drive pedestal straight-line feed, and driving float is suspended into sky
Between pipeline, controller adjusts the exciting current size in three electromagnet according to space pipeline metamorphosis in real time, floating to guarantee
Son is in suspended state in space pipeline；
Step 5, pedestal and mobile sliding block are driven by servo motor in the movement perpendicular to horizontal plane direction and are realized, are floated
Change in location of the son on space pipeline section realized by the exciting current of three electromagnet of control, passes through three electromagnet
The combination control of axis realizes that float moves ahead in a manner of not colliding tube wall in space pipeline.
The utility model has the advantages that
1. the present invention is set on pedestal there are three symmetrical electromagnet, electromagnet generates electromagnetic repulsion force to float, passes through tune
The electric current passed through in each electromagnet is saved, the equilbrium position of float is changed, so that float can overcome levitation in electromagnet
It surrounds on a certain position of overlying regions, realizes the control of float level position.
It is realized 2. pedestal of the invention and mobile sliding block are driven in the movement of vertical direction by servo motor, float is in sky
Between change in location on pipeline section realize that the combination control of three axis realizes that float exists by the exciting current of control electromagnet
Space pipeline is moved ahead in a manner of not colliding tube wall.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the inclination external magnetic field driving apparatus of Small-scale Space bend pipe of the invention；
Fig. 2 is the structural schematic diagram of pedestal in Fig. 1；
Fig. 3 is the circuit diagram of the inclination external magnetic field driving apparatus of Small-scale Space bend pipe of the invention；
In figure: 101- linear guide；102- moves sliding block；103- link block；104- pedestal；The first electromagnet of 105-；
The second electromagnet of 106-；107- third electromagnet；108- float；109- space pipeline；110- controller；The first position 111- passes
Sensor；The second position 112- sensor；113- the third place sensor；The first power amplifier of 114-；The second power of 115- is put
Big device；116- third power amplifier；The first current sensor of 117-；The second current sensor of 118-；119- third electric current passes
Sensor.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
The present invention proposes a kind of inclination external magnetic field driving apparatus of Small-scale Space bend pipe, and as shown in Figure 1, 2, it includes hanging down
The linear guide 101 directly placed in horizontal plane, linear guide 101 are equipped with mobile sliding block 102；Pedestal 104 is set on pedestal 104
There is circuit module, pedestal 104 is connected by link block 103 with mobile sliding block 102；The float 108 being made of permanent-magnet material, float
For ball-type, or cylindrical type；It is respectively provided at 107 end of the first electromagnet 105, the second electromagnet 106 and third electromagnet
First position sensor 111, second position sensor 112 and the third place sensor 113, as shown in Fig. 2, detection float
The distance between 108 and three position sensors determine the position of float 108 by three sensor combinations, according to float 108
The variation of position adjusts the exciting current in the first electromagnet 105, the second electromagnet 106 and third electromagnet 107, keeps floating
Son 108 is in stable suspersion state；It is located at the space pipeline 109 perpendicular to horizontal plane direction, the diameter of the space pipeline 109
Less than 20mm.
As shown in Figure 1, including the sky of a variety of bendings perpendicular to the not instead of straight tube of space pipeline 109 in horizontal plane direction
Between pipeline；Float 108 is moved ahead in a manner of not colliding tube wall under extracorporeal magnetic driving, it can be achieved that in space pipeline 109.
As shown in Fig. 2, pedestal 104 is equipped with through-hole, space pipeline 109 can be passed through from through-hole.
As shown in Figure 1, pedestal 104 and mobile sliding block 102 are driven in the movement perpendicular to horizontal plane direction by servo motor
Dynamic to realize, change in location of the float 108 on 109 section of space pipeline passes through control the first electromagnet 105, the second electromagnet
106 and the exciting current of third electromagnet 107 realize that the combination control of three electromagnet shafts realizes float 108 in space pipeline
Movement in 109.
As shown in Fig. 2, the first electromagnet 105, the second electromagnet 106 and third electromagnet 107 are symmetrically arranged at pedestal 104
On, the angle of three electromagnet axis and 104 plane of pedestal is acute angle；
Based on the above technical solution, as shown in figure 3, a kind of inclination extracorporeal magnetic driving of Small-scale Space bend pipe fills
Set further includes the first power amplifier 114, the second power amplifier 115 and third power amplifier 116, the first power amplifier
114, the output end of the second power amplifier 115 and third power amplifier 116 respectively with the first electromagnet 105, the second electromagnetism
Iron 106 is connected with third electromagnet 107, provides electromagnet exciting current.
Based on the above technical solution, as shown in figure 3, a kind of inclination extracorporeal magnetic driving of Small-scale Space bend pipe fills
Set further includes the first current sensor 117, the second current sensor 118 and third current sensor 119, the first current sensor
117, the input terminal of the second current sensor 118 and third current sensor 119 respectively with the first electromagnet 105, the second electromagnetism
Iron 106 and third electromagnet 107 are connected, to detect the current value passed through in electromagnet.
Based on the above technical solution, as shown in figure 3, a kind of inclination extracorporeal magnetic driving of Small-scale Space bend pipe fills
Setting further includes controller 110, first position sensor 111, second position sensor 112 and the third place sensor 113 it is defeated
Outlet is connected to the input terminal of controller 110, the first current sensor 117, the second current sensor 118 and third current sense
The output end of device 119 is connected to the input terminal of controller 110, the first power amplifier 114, the second power amplifier 115 and
The input terminal of three power amplifiers 116 is connected to the output end of controller 110.
The present invention also proposes a kind of plane extracorporeal magnetic driving method of Small-scale Space pipeline, as shown in Figure 1-3, this method
The following steps are included:
(1) when working, power on, when float 108 is placed on the first electromagnet 105, the second electromagnet 106 and third electricity
When near magnet 107, three electromagnet are powered immediately, first position sensor 111, second position sensor 112 and third position
It sets sensor 113 and detects the distance between itself and float 108, the position of float 108 is determined by three sensor combinations, from
It is dynamic to adjust the electric current passed through in three electromagnet, to keep 108 stable suspersion of float in initial position；
(2) it is detected respectively by the first current sensor 117, the second current sensor 118 and third current sensor 119
The current value that first electromagnet 105, the second electromagnet 106 and third electromagnet 107 pass through, automatically adjusts in three electromagnet
Exciting current, to guarantee that electromagnet passes through current stability；
(3) according to 109 entry position of hollow space pipeline, controller 110 adjusts the electric current passed through in three electromagnet, changes
Become the levitation position of float 108, to guarantee that float 108 can enter space pipeline 109 with suspended state；
(4) mobile sliding block 102 is fed forward along linear guide 101, drives 104 straight-line feed of pedestal, and driving float 108 is outstanding
Floating to enter space pipeline 109, controller 110 adjusts the electric current in three electromagnet according to 109 metamorphosis of space pipeline in real time
Size, to guarantee float 108 in space pipeline 109 in suspended state；
(5) pedestal 104 and mobile sliding block 102 are driven by servo motor in the movement perpendicular to horizontal plane direction and are realized,
Change in location of the float 108 on 109 section of space pipeline is real by the exciting current of control electromagnet
Limiting the scope of the invention, those skilled in the art should understand that, in technical solution of the present invention
On the basis of, the various modifications or variations that can be made by those skilled in the art with little creative work still of the invention
Within protection scope.
Claims (10)
1. a kind of inclination external magnetic field driving apparatus of Small-scale Space bend pipe, which is characterized in that the inclination extracorporeal magnetic driving dress
The linear guide (101) including placing perpendicular to horizontal plane is set, the linear guide (101) is equipped with mobile sliding block (102)；
Pedestal (104), the pedestal (104) be equipped with circuit module, the pedestal (104) by link block (103) with it is described
Mobile sliding block (102) are connected；
The float (108) being made of permanent-magnet material；
The first position for being respectively provided at the first electromagnet (105), the second electromagnet (106) and third electromagnet (107) end passes
Sensor (111), second position sensor (112) and the third place sensor (113), the first position sensor (111), institute
It states second position sensor (112) and the third place sensor (113) detects itself between the float (108) respectively
Distance, the position of the float (108) is determined by the combination of three position sensors, according to the float (108) position
Variation, is adjusted respectively in first electromagnet (105), second electromagnet (106) and the third electromagnet (107)
Exciting current keeps the float (108) to be in stable suspersion state；
It is located at perpendicular to the space pipeline (109) on horizontal plane direction.
2. the inclination external magnetic field driving apparatus of Small-scale Space bend pipe according to claim 1, which is characterized in that the sky
Between pipeline (109) be the space pipeline comprising a variety of bendings；The float (108) is realized under extracorporeal magnetic driving in the sky
Between moved ahead in pipeline (109) in a manner of not colliding tube wall.
3. the inclination external magnetic field driving apparatus of Small-scale Space bend pipe according to claim 2, which is characterized in that the bottom
Seat (104) and the mobile sliding block (102), which are driven in the movement of vertical direction by servo motor, to be realized；The float (108)
Change in location on the space pipeline (109) section is by controlling first electromagnet (105), second electromagnet
(106) it is realized with the exciting current of the third electromagnet (107)；The float (108) is in the space pipeline (109)
The group that movement passes through the axis of first electromagnet (105), second electromagnet (106) and the third electromagnet (107)
Control is closed to realize.
4. the inclination external magnetic field driving apparatus of Small-scale Space bend pipe according to claim 1, which is characterized in that the bottom
Seat (104) is equipped with the through-hole extended there through for the space pipeline (109).
5. the inclination external magnetic field driving apparatus of Small-scale Space bend pipe according to claim 1, which is characterized in that described
One electromagnet (105), second electromagnet (106) and the third electromagnet (107) are symmetrically arranged at the pedestal (104)
On；The axis of first electromagnet (105), second electromagnet (106) and the third electromagnet (107) and the bottom
The angle of seat (104) plane is acute angle；First electromagnet (105), second electromagnet (106) and third electricity
The electromagnetism resultant force that magnet (107) generates keeps balancing with the float (108) gravity, to keep the float (108) to be in steady
Determine suspended state.
6. the inclination external magnetic field driving apparatus of Small-scale Space bend pipe according to any one of claims 1-5, feature
It is, the inclination external magnetic field driving apparatus further includes the first power amplifier (114), the second power amplifier (115) and
Three power amplifiers (116), first power amplifier (114), second power amplifier (115) and the third function
The output end of rate amplifier (116) respectively with first electromagnet (105), second electromagnet (106) and the third
Electromagnet (107) is connected, and provides electromagnet exciting current.
7. the inclination external magnetic field driving apparatus of Small-scale Space bend pipe according to any one of claims 1-5, feature
It is, the inclination external magnetic field driving apparatus further includes the first current sensor (117), the second current sensor (118) and
Three current sensors (119), first current sensor (117), second current sensor (118) and third electricity
The input terminal of flow sensor (119) respectively with first electromagnet (105), second electromagnet (106) and the third
Electromagnet (107) series connection.
8. the inclination external magnetic field driving apparatus of Small-scale Space bend pipe according to any one of claims 1-5, feature
It is, the inclination external magnetic field driving apparatus further includes controller (110), the first position sensor (111), described second
The output end of position sensor (112) and the third place sensor (113) is connected to the input of the controller (110)
End, first current sensor (117), second current sensor (118) and the third current sensor (119)
Output end is connected to the input terminal of the controller (110), first power amplifier (114), second power amplification
The input terminal of device (115) and the third power amplifier (116) is connected to the output end of the controller (110).
9. the inclination external magnetic field driving apparatus of Small-scale Space bend pipe according to claim 1, which is characterized in that described
One position sensor (111), the second position sensor (112) and the third place sensor (113) are that Hall passes
Sensor；Outside the magnet exciting coil of first electromagnet (105), second electromagnet (106) and the third electromagnet (107)
Secondary driving unit is at least three.
10. a kind of inclination extracorporeal magnetic driving method of Small-scale Space bend pipe, which is characterized in that it the following steps are included:
Step 1 powers on, when float (108) is placed on the first electromagnet (105), the second electromagnet (106) and third electricity
Magnet (107) nearby when, three electromagnet are powered immediately, first position sensor (111), second position sensor (112) and
The third place sensor (113) detects the distance between itself and float (108) respectively, is determined by three sensor combinations floating
The position of sub (108), automatically adjusts the exciting current in three electromagnet, to keep float (108) stable suspersion in initial bit
It sets；
Step 2 passes through the first current sensor (117), the second current sensor (118) and third current sensor (119) point
The exciting current value in the first electromagnet (105), the second electromagnet (106) and third electromagnet (107) is not detected, is automatically adjusted
Exciting current in three electromagnet, to guarantee the exciting current stability in three electromagnet；
Step 3, according to space pipeline (109) entry position, controller (110) adjusts the exciting current in three electromagnet, changes
Become the levitation position of float (108), to guarantee that float (108) enters space pipeline (109) with suspended state；
Step 4, mobile sliding block (102) are fed forward along linear guide (101), drive pedestal (104) straight-line feed, and driving is floating
Sub (108) are suspended into space pipeline (109), and controller (110) adjusts three according to space pipeline (109) metamorphosis in real time
Exciting current size in a electromagnet, to guarantee float (108) in space pipeline (109) in suspended state；
Step 5, pedestal (104) and mobile sliding block (102) are driven in fact in the movement perpendicular to horizontal plane direction by servo motor
Existing, change in location of the float (108) on space pipeline (109) section is realized by the exciting current of three electromagnet of control,
Realize float (108) in space pipeline (109) in a manner of not colliding tube wall the combination of the axis of three electromagnet control
It moves ahead.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810789981.0A CN108964521A (en) | 2018-07-18 | 2018-07-18 | A kind of the inclination external magnetic field driving apparatus and method of Small-scale Space bend pipe |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810789981.0A CN108964521A (en) | 2018-07-18 | 2018-07-18 | A kind of the inclination external magnetic field driving apparatus and method of Small-scale Space bend pipe |
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| CN108964521A true CN108964521A (en) | 2018-12-07 |
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ID=64497479
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|---|---|---|---|
| CN201810789981.0A Pending CN108964521A (en) | 2018-07-18 | 2018-07-18 | A kind of the inclination external magnetic field driving apparatus and method of Small-scale Space bend pipe |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115276474A (en) * | 2022-07-11 | 2022-11-01 | 泉州装备制造研究所 | Magnetic suspension device |
| WO2024087577A1 (en) * | 2022-10-28 | 2024-05-02 | 中国科学院深圳先进技术研究院 | Semi-open magnetic control apparatus for micro robot |
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| CN107306099A (en) * | 2016-04-18 | 2017-10-31 | 复旦大学 | Magnetic suspension guider and its control method |
| CN107465365A (en) * | 2017-09-29 | 2017-12-12 | 武汉卿汉盛世文化创意有限责任公司 | Omnidirectional's magnetic levitation system |
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| CN204064285U (en) * | 2014-07-07 | 2014-12-31 | 南京联塑科技实业有限公司 | A kind of maglev type plastic pipe inside diameter detection device |
| CN205453554U (en) * | 2015-12-30 | 2016-08-10 | 歌尔科技有限公司 | Magnetic suspender |
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| CB03 | Change of inventor or designer information |
Inventor after: Lu Yonghua Inventor after: Zhang Chi Inventor after: Wang Rui Inventor after: Zhang Xiang Inventor after: Zhang Jia Inventor before: Lu Yonghua Inventor before: Zhang Chi Inventor before: Wang Rui Inventor before: Zhang Xiang Inventor before: Zhang Jia |
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Application publication date: 20181207 |