CN1758523A - Magnetostriction linear motion driver - Google Patents
Magnetostriction linear motion driver Download PDFInfo
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- CN1758523A CN1758523A CN 200410073136 CN200410073136A CN1758523A CN 1758523 A CN1758523 A CN 1758523A CN 200410073136 CN200410073136 CN 200410073136 CN 200410073136 A CN200410073136 A CN 200410073136A CN 1758523 A CN1758523 A CN 1758523A
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- clamp body
- linear motion
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- table top
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Abstract
This invention relates to a magnetostrictive straight-line motion driver characterizing that it is composed of a drive unit generating deformation, two U-shaped electromagnetic clamp units, an iron magnet mesa and an exciting source, in which, the driving unit is rigidly connected with the two clamp units and set on the mesa relying on them, two yoke end faces of the clamp units contact with the mesa at the same time. U-shaped electromagnetic clamp is used to generate double clamp absorption regulated according to the inlet current based on the limit of the entire diameter having the advantages of a unit property, micro-volume, light quality, swift drive response, large output power and accurate offset.
Description
Technical field
The present invention relates to a kind of magnetostriction linear motion driver, mainly is to utilize magnetostrictive material to carry out displacement drive, utilizes U type electromagnet to carry out a kind of rectilinear motion magnetic telescopic driver of clamp/location.Potential location, measurement, the electro-mechanical system of being applied to, the development of micro electromechanical system or instrument and robot.
Background technology: in the last few years, some development and application as intellectual materials such as piezoelectric ceramic, magnetostrictive material, marmem, electrorheological fluid had obtained development rapidly, and some are based on the corresponding appearance with instrument of Mechatronic Systems of these materials.Utilized magnetostrictive material and piezoelectric ceramic to develop to can be used for accurate driving, precision positioning or be used for the serial drive products of accurate measurement as U.S. Etrema company and PI company.Owing to microstrain that these products produced or little driveability are directly to obtain based on precision/accurate little deformation of intellectual material, so this class series driver has superhigh precision drive displacement and positioning performance more, can reach the nano-precision location.But, because the strain property of intellectual material is limited, as the maximum magneto-strain of the Terfenol-D material static of the Etrema company of present microstrain best results is 1800 microstrains (one meter long Terfenol-D material can obtain maximum 1.8 millimeters elongation), a common defects is located exactly, the drive displacement stroke is limited so have based on the driving positioning devices of intellectual material development, particularly some small size devices are only limited to micrometer range and drive or displacement.Thereby, if can solve the limited problem of device drive displacement range of utilization intellectual material exploitation, both has Drive technology that the positioning accuracy height has a big stroke capability to the application that enlarges intellectual material and develop the novel precise device and have very positive meaning based on intellectual material and develop.
Summary of the invention
The technical problem that solves
For fear of the deficiencies in the prior art part, the present invention proposes a kind of magnetostriction linear motion driver, based on inchworm motion mechanism, utilization can produce the intellectual material of telescopic shape change and make displacement drive, utilizes the electromagnetic attraction of U type electromagnet to carry out clamp and realizes that the integral body of driver self moves.The driver of the present invention development will have the stroke of driving big (the big I of stroke is unrestricted), can before and after bi-directional drive, clamping institution is simple, it is bigger and adjustable to drive load capacity, volume is little, the characteristics that positioning accuracy is higher.
Technical scheme
Technical characterictic of the present invention is: it is by a driving mechanism C that can produce distortion and two U type electromagnet clamp body A and B, and a ferromagnet table top D and a driving source E form; Wherein, driving mechanism C and clamp body A and B are rigidly connected; And driving mechanism C relies on clamp body A and B to support and is placed on the ferromagnet table top D; Two yoke end faces of each of clamp body A and B keep contacting simultaneously with table top D.Utilize U type electromagnet clamp to be based under the limited condition of device overall dimensions, produce double clamp suction, and the big I of suction is adjusted according to feeding size of current.
By the object that above-mentioned feature rigid connection forms, can produce a single step displacement of (preceding) left as shown in Figure 2, this displacement process divided for 4 steps:
Clamp body B clamp (make and maintain static), clamp body A is in release condition (movably);
Driving mechanism C elongation, B fixes because of the clamp body, and clamp body A is moved to the left with the elongation of driving mechanism C;
Clamp body A clamp discharges clamp body B;
Driving mechanism C restores (contraction), and A fixes because of the clamp body, and driving mechanism C integral body is moved to the left; Clamp body B also is moved to the left with driving mechanism C;
So far, clamp body A, B and driving mechanism C three parts all are moved to the left, thereby moving object integral body has been moved to the left a step, and the mobile displacement elongation with driving mechanism C in theory is identical.Repeat the right-to-left motion (travelling forward) that above step just can realize this moving object; The same clamp order that changes clamp body B and clamp body A can realize this moving object motion (motion backward) from left to right.
Ferromagnet table top D can be " recessed " type framework 16, at two madial walls of this framework, leaves two grooved tracks 17 on the driver direction of motion; Guide post 2 two ends are equipped with bearing 3, and this bearing 3 can place track 17.
A pair of clamp body A and B contact placement with one of them madial wall of guide frame 16 simultaneously by the end face of its 4 yokes 10, and clamp body A and B are connected with nearby guide post 2 respectively.
Another madial wall or bottom surface at guide frame 16 can also contact a pair of clamp body A of placement and B, and end faces of 4 yokes 10 of clamp body contact placement with another madial wall or the bottom surface of guide frame 16 simultaneously, and clamp body A and B are respectively with nearby guide post 2 or move and export push rod 13 and be connected by each.
The 3rd inwall at guide frame 16, be another sidewall or bottom surface, can also contact and place a pair of clamp body A and B, and end faces of 4 yokes 10 of clamp body contact placement with one of them inwall of guide frame 16 simultaneously, and clamp body A and B export push rod 13 with moving nearby respectively or guide post 2 is connected by each.
Between clamp body A, B and table top D, add the non-magnet material film 18 that one deck prevents remanent magnetism, can adopt copper sheet or electroplating copper film.
Beneficial effect
The invention has the beneficial effects as follows: have in the device research and development in fields such as international and domestic precision manufacturing, robot, accurate measurement at present: correlative study and device exploitation are conceived to microminaturization; Pay attention to using two development trends of achievement in research development of new function element of intellectual material science.
The present invention implements at the potential and following application in precision manufacturing, robot, accurate measurement field just in conjunction with these two development trends.The driver of developing has small, the light weight of volume, and it is fast to drive response, and it is big to drive power output, and drive displacement is accurate, simple in structure, the characteristics that are easy to make.This driver has the cell cube characteristic, can be used as assembly of elements and be widely used in lightweight, small size, high-power driving, the application scenario that hi-Fix requires.
Description of drawings
Fig. 1: moving object schematic diagram
Fig. 2: the inchworm motion schematic diagram of moving object
Fig. 3: electromagnetic type clamp motion platform/linear electric machine schematic diagram
Fig. 4: matrix framework relative with the clamp body (possible is relative) position view
Fig. 5: no gathering sill U type electromagnet clamp magnetostriction linear actuator structure and explanation three-view diagram
Fig. 6: gathering sill U type electromagnet clamp magnetostriction linear actuator structure is arranged and two views are described
1-connecting rod 2-guide post 3-bearing 4-driver object 5-magnetostrictive material body 6-magnet exciting coil 7-disk spring 8-screws cover plate 9-and screws hole/wire guide 10-yoke 11-baffle plate 1 12-baffle plate 213-displacement output push rod 14-fastening bolt 15-coil 16-guide frame 17-gathering sill 18-non-magnet material film
Embodiment
Now in conjunction with the accompanying drawings the present invention is further described:
Embodiment 1: do not have guiding cell body activation configuration and explanation
The driving mechanism C that can produce elongation strain, two U type electromagnet clamp pawl A and B, a ferromagnet table top D, the drive displacement driving source of C and produce the electromagnetic force power supply of A, B.Utilize U type electromagnet clamp to be based under the limited condition of device overall dimensions, produce double clamp suction, and the big I of suction is adjusted according to feeding size of current.
Described driving mechanism C is by the disk spring 7 of 6, two center drillings of 5, one magnet exciting coils of a magnetostrictive material body, two displacement output push rods 13,4, two center drillings of actuator housing of a rigidity screw cover plate 8, and two guide posts 2 are formed; Wherein magnetostrictive material body 5 places the shaft position of magnet exciting coil 6,5 two length direction end faces of magnetostrictive material body are connected with two displacement output push rods 13 respectively, push rod can stretch out by screwing cover plate 8 centre bores, end at contact magnetostrictive material 5 on the output push rod 13 has a convex, disk spring 7 can place this convex and screw between the cover plate 8, and end cap 8 can be by screw thread in actuator housing 4 axial precession or back-outs; Two guide posts 2 are anchored on respectively on two output push rods 13 screwing cover plate 8 outsides, and guide post 2 axially should be vertical and parallel with table top D with output push rod 13.
The displacement take-off lever 13 of driving mechanism C and clamp body A are connected by fastening bolt 14 with connecting rod 1 on the B; The position rotation that the position of the relative table top D with B of clamp body A can be carried out up and down or 360 degree scopes are interior is adjusted, after the adjustment, and fixing by fastening bolt 14.
Describe as Fig. 5 and in conjunction with Fig. 2 inchworm motion, U type electromagnetism clamp pawl A, B and magnetic telescopic driver C alternating action can be realized seesawing of this driver, and the movement travel size only depends on the control of electromagnetism input system and the size of platform D.
Process during specific implementation:
1, earlier energising produces electromagnetic attraction and is adsorbed in table top D to A, C and A be connected mutually hold because of this suction clamp motionless;
2, give the driver interior loop 6 energisings, coil 6 produces exciting fields and makes driver (magnetostrictive material barred body 5) elongation Δ L, and this moment, B did not switch on, and does not have electromagnetic attraction and is in free state, and B will produce distance moving for Δ L with the elongation of C;
3, energising produces electromagnetic attraction and is adsorbed in D to B, C and the B end that is connected mutually is motionless because of this suction clamp, give the magnetic attraction that coil 15 cuts off the power supply between elimination A and D among the A then, make A be in free state, give coil 6 outages among the C again, eliminate exciting field, the elongation of C will be restored, this moment is because B is in clamp state, and then C restores because of length and drives A and C self moves an amount of contraction Δ L to the direction of close B;
4, give coil 15 outages among the B at last, eliminate the magnetic attraction between B and D.So far B, A, C have moved a displacement that distance is Δ L to same direction respectively, and promptly BAC integral body has moved the displacement of Δ L.
5, change above power on/off order, make the coil 15 power on/off order exchange among A and the B, promptly change process " A is logical-C is logical-B is logical-A is disconnected-C is disconnected-B is disconnected " and be process " B is logical-C is logical-A is logical-B is disconnected-C is disconnected-A is disconnected ", then BAC is whole will move in the other direction, thus the displacement of generation-Δ L.
6, repeat above process, then single step displacement accumulation, and realize big movement travel.
In addition, the material of platform D is selected to be advisable with the soft magnetic material that does not produce the remanent magnetism phenomenon, if select general ferromagnetic material, then will consider to add the non-magnet material film 18 (as copper sheet or electroplating copper film) that one deck prevents remanent magnetism between A, B and D.Otherwise the remanent magnetism phenomenon will influence the effect that seesaws of driver.
Embodiment 2: guiding cell body activation configuration and explanation are arranged
Guide post shown in Fig. 5 is based on shown in Figure 6ly has framework and gathering sill structure to design.In the structure shown in Figure 6, except that having " recessed " guide frame 16 and gathering sill 17, other each several part all identical (mark and explanation are slightly) with Fig. 5.And the guide frame in the practical application is a scalable framework (not shown), and promptly frame spacing (two parallel conductive are to separation) can be according to the guide post length adjustment, and fastening.This guide frame is to move in order to ensure driver to be rectilinear motion, improves the motion positions precision and designs.
Describe as Fig. 6 and in conjunction with Fig. 2 inchworm motion, U type electromagnetism clamp pawl A, B and magnetic telescopic driver C alternating action are at the spacing rectilinear motion of realizing down of gathering sill 17; Specific implementation process is identical with slotless situation shown in Figure 5; The movement travel size only depends on the control of electromagnetism input system, guide frame 16 and the length dimension of gathering sill 17 on the direction of motion.
In addition, in order to increase the stationarity of clamp suction and motion, also have following several situations:
1. a pair of clamp body A and B contact placement with one of them madial wall of guide frame 16 simultaneously by the end face of its 4 yokes 10, and clamp body A and B be connected with nearby guide post 2 respectively, shown in Fig. 4 (a);
2. or on another madial wall or the following ground of guide frame 16 can also contact a pair of clamp body A of placement and B, and the end face that passes through its 4 yokes 10 contacts placement with one of them madial wall or the bottom surface of guide frame 16 simultaneously, and clamp body A and B be respectively with nearby guide post 2 or move output push rod 13 and be connected, as Fig. 4 (b) (c) shown in;
3. or at three inwalls (two side and bottom surface) of guide frame 16 contact a pair of clamp body A of placement and B respectively simultaneously, and end faces of 4 yokes 10 of clamp body is contacted placement with one of them inwall of guide frame 16 simultaneously by each, and clamp body A and B respectively with nearby move output push rod 13 or guide post 2 is connected, shown in Fig. 4 (d);
The motion beginning, also corresponding the becoming of controlling unit controlled a pair of clamp body or two pairs of clamp bodies or three pairs of clamp bodies when implementing.
Claims (8)
1, a kind of linear motion driver is characterized in that: it is by a driving mechanism C that can produce distortion and two U type electromagnet clamp body A and B, and a ferromagnet table top D and a driving source E form; Wherein, driving mechanism C and clamp body A and B are rigidly connected; And driving mechanism C relies on clamp body A and B to support and is placed on the ferromagnet table top D; Two yoke end faces of each of clamp body A and B keep contacting simultaneously with table top D.
2, linear motion driver according to claim 1, ferromagnet table top D can be " recessed " type framework (16), at two madial walls of this framework, leaves two grooved tracks (17) on the driver direction of motion; Guide post (2) two ends are equipped with bearing (3), and this bearing (3) can place track (17).
3, linear motion driver according to claim 2, it is characterized in that: a pair of clamp body A and B contact placement with one of them madial wall of guide frame (16) simultaneously by the end face of its 4 yokes (10), and clamp body A and B are connected with nearby guide post (2) respectively.
4, according to claim 2 or 3 described linear motion drivers, it is characterized in that: another madial wall or bottom surface at guide frame (16) can also contact a pair of clamp body A of placement and B, and end faces of 4 yokes (10) of clamp body contact placement with another madial wall or the bottom surface of guide frame (16) simultaneously, and clamp body A and B are respectively with nearby guide post (2) or move and export push rod (13) and be connected by each.
5, according to claim 2 or 3 or 4 described linear motion drivers, it is characterized in that: at the 3rd inwall of guide frame (16), be another sidewall or bottom surface, can also contact and place a pair of clamp body A and B, and end faces of 4 yokes (10) of clamp body contact placement with one of them inwall of guide frame (16) simultaneously, and clamp body A and B export push rod (13) with moving nearby respectively or guide post (2) is connected by each.
6, linear motion driver according to claim 1, it is characterized in that: described driving mechanism C is by a magnetostrictive material body (5), a magnet exciting coil (6), the disk spring of two center drillings (7), two displacement output push rods (13), the actuator housing of a rigidity (4), two center drillings screw cover plate (8), and two guide posts (2) are formed; Wherein magnetostrictive material body (5) places the shaft position of magnet exciting coil (6), (5) two length direction end faces of magnetostrictive material body are connected with two displacement output push rods (13) respectively, push rod can stretch out by screwing cover plate (8) centre bore, the end that output push rod (13) is gone up at contact magnetostrictive material (5) has a convex, disk spring (7) can place this convex and screw between the cover plate (8), and end cap (8) can be by screw thread in axially precession or back-out of actuator housing (4); Two guide posts (2) are anchored on respectively on two output push rods (13) screwing cover plate (8) outside, and guide post (2) axially should be vertical and parallel with table top D with output push rod (13).
7, according to claim 1 or 6 described linear motion drivers, it is characterized in that: the displacement take-off lever (13) of driving mechanism C and clamp body A are connected by fastening bolt (14) with connecting rod (1) on the B; The position rotation that the position of the relative table top D with B of clamp body A can be carried out up and down or 360 degree scopes are interior is adjusted, after the adjustment, and fixing by fastening bolt (14).
8, linear motion driver according to claim 1 is characterized in that: add the non-magnet material film (18) that one deck prevents remanent magnetism between clamp body A, B and table top D, can adopt copper sheet or electroplating copper film.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410073136 CN1758523A (en) | 2004-10-09 | 2004-10-09 | Magnetostriction linear motion driver |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410073136 CN1758523A (en) | 2004-10-09 | 2004-10-09 | Magnetostriction linear motion driver |
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| CN1758523A true CN1758523A (en) | 2006-04-12 |
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| CN 200410073136 Pending CN1758523A (en) | 2004-10-09 | 2004-10-09 | Magnetostriction linear motion driver |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100547899C (en) * | 2006-12-15 | 2009-10-07 | 中国科学技术大学 | Dual voltage electrical body nano positioning and voltage electrical driver, its control method and controller |
| CN101207320B (en) * | 2007-12-13 | 2010-06-02 | 上海交通大学 | Fast linear electric motor |
| WO2012062034A1 (en) * | 2010-11-12 | 2012-05-18 | 上海交通大学 | Inchworm-motion linear motor based on electromagnetic clamping mechanisms |
| CN102565458A (en) * | 2012-02-15 | 2012-07-11 | 北京航空航天大学 | Push-pull two-dimensional micro-movement/positioning device |
| CN102967503A (en) * | 2012-11-09 | 2013-03-13 | 济南时代试金试验机有限公司 | Clamping and moving device and method of cross beam of horizontal type tensile and compression testing machine |
| CN103208942A (en) * | 2013-03-14 | 2013-07-17 | 哈尔滨工业大学 | Morphology-changeable bi-stable electro-active polymer robot crawling foot mechanism |
| CN105416614A (en) * | 2016-01-08 | 2016-03-23 | 哈尔滨工业大学 | Piezoelectric driving type sleeve folding and unfolding mechanism |
| CN107395045A (en) * | 2017-09-11 | 2017-11-24 | 安徽理工大学 | The two-way creeping motion type miniature linear and control method of ultra-magnetic telescopic driving |
| CN109728745A (en) * | 2019-01-09 | 2019-05-07 | 桂林电子科技大学 | A kind of micro displacement magnifying mechanism and its application method of Piezoelectric Ceramic |
-
2004
- 2004-10-09 CN CN 200410073136 patent/CN1758523A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100547899C (en) * | 2006-12-15 | 2009-10-07 | 中国科学技术大学 | Dual voltage electrical body nano positioning and voltage electrical driver, its control method and controller |
| CN101207320B (en) * | 2007-12-13 | 2010-06-02 | 上海交通大学 | Fast linear electric motor |
| WO2012062034A1 (en) * | 2010-11-12 | 2012-05-18 | 上海交通大学 | Inchworm-motion linear motor based on electromagnetic clamping mechanisms |
| CN102565458A (en) * | 2012-02-15 | 2012-07-11 | 北京航空航天大学 | Push-pull two-dimensional micro-movement/positioning device |
| CN102967503A (en) * | 2012-11-09 | 2013-03-13 | 济南时代试金试验机有限公司 | Clamping and moving device and method of cross beam of horizontal type tensile and compression testing machine |
| CN103208942A (en) * | 2013-03-14 | 2013-07-17 | 哈尔滨工业大学 | Morphology-changeable bi-stable electro-active polymer robot crawling foot mechanism |
| CN103208942B (en) * | 2013-03-14 | 2015-04-01 | 哈尔滨工业大学 | Morphology-changeable bi-stable electro-active polymer robot crawling foot mechanism |
| CN105416614A (en) * | 2016-01-08 | 2016-03-23 | 哈尔滨工业大学 | Piezoelectric driving type sleeve folding and unfolding mechanism |
| CN107395045A (en) * | 2017-09-11 | 2017-11-24 | 安徽理工大学 | The two-way creeping motion type miniature linear and control method of ultra-magnetic telescopic driving |
| CN109728745A (en) * | 2019-01-09 | 2019-05-07 | 桂林电子科技大学 | A kind of micro displacement magnifying mechanism and its application method of Piezoelectric Ceramic |
| CN109728745B (en) * | 2019-01-09 | 2023-08-29 | 桂林电子科技大学 | Piezoelectric ceramic driven micro-displacement amplifying mechanism and use method thereof |
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