CN212572354U - Voice coil motor of variable-rigidity magnetic gravity compensator - Google Patents
Voice coil motor of variable-rigidity magnetic gravity compensator Download PDFInfo
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- CN212572354U CN212572354U CN202021208395.1U CN202021208395U CN212572354U CN 212572354 U CN212572354 U CN 212572354U CN 202021208395 U CN202021208395 U CN 202021208395U CN 212572354 U CN212572354 U CN 212572354U
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Abstract
The utility model discloses a voice coil motor of a variable-rigidity magnetic gravity compensator, which consists of a rotor and a stator, wherein the rotor and the stator are both cylindrical; the stator is sleeved on the rotor in a sliding manner; the rotor consists of a cylindrical framework and at least one group of moving magnet assemblies; the stator consists of a cylindrical iron core and at least one group of fixed magnet assemblies, and the utility model adopts the scheme of the magnetic gravity compensator with adjustable rigidity and can be directly integrated with a cylindrical voice coil motor, thereby saving the design space and leading the structure to be more compact; by using in combination with a mechanical spring or a flexible hinge, a constant compensation force can be achieved.
Description
Technical Field
The utility model relates to a voice coil motor, concretely relates to voice coil motor of magnetic gravity compensator of variable rigidity.
Background
Compared with a traditional servo motor and lead screw transmission system, the voice coil motor direct drive system has no mechanical transmission link, has high efficiency and high reliability, and can achieve high response speed and high precision which are difficult to achieve by a lead screw system. Therefore, the method is widely applied to the fields of semiconductors, medical treatment and the like.
When a voice coil motor is used as a vertical motion shaft, additional current is required due to the need to overcome the gravitational forces of the mover and the load. When the load is heavy, the required current is correspondingly increased, and according to joule's law, the heat generation amount of the motor is in direct proportion to the square of the current, so that large heat is generated to cause the temperature of the system to rise. Depending on the coefficient of thermal expansion of the material, excessive temperatures can cause large amounts of deformation, thereby reducing the accuracy of the system. This is particularly evident in applications where extremely high precision is required, and needs to be taken into account in the design.
One method of overcoming the gravity of the system is to use a mechanical spring or a flexible hinge, and the disadvantage is that the tension or thrust of the spring is proportional to the amount of deformation according to hooke's law, so the compensation force also changes along with the up-and-down movement of the system, and constant compensation force cannot be achieved. The magnetic gravity compensator may have a "negative stiffness" or "negative spring" compensation characteristic, which if properly designed, may counteract the "positive stiffness" characteristic of the mechanical spring or flexible hinge, thereby achieving a constant compensation force, as shown in fig. 9. The voice coil motor only needs to provide the acceleration required by movement, and high dynamic response and extremely low temperature rise of the system can be realized.
Several magnetic gravity compensator structures are proposed in the prior patent with publication numbers WO2011/131462, US9172291, US6791443, CN105281530 and CN103034065, but a conical permanent magnet or a radially magnetized permanent magnet is often needed, so that the cost is high, and the magnetic gravity compensator is not easy to integrate with a cylindrical voice coil motor.
The prior patent with the publication number of CN110855118A discloses a cylindrical voice coil motor with the function of magnetic gravity compensation, and the scheme has the advantages that a radial magnetizing permanent magnet is not needed, the structure is simple, and the production is facilitated; the adjustable suspension force has the advantages that once the electromagnetic structure of the motor is fixed, the adjustable range of the rigidity is very small, the suspension force is positively correlated with the rigidity, and if the suspension force is reduced, the rigidity is changed along with the suspension force, so that the adjustable suspension force is difficult to match with the rigidity range of a mechanical spring or a flexible hinge; another disadvantage is that the linearity of the compensator is not good.
SUMMERY OF THE UTILITY MODEL
Utility model purpose: the utility model aims to solve the defects in the prior art, provides a magnetic gravity compensator scheme with adjustable rigidity, and can be directly integrated with a cylindrical voice coil motor, thereby saving the design space and leading the structure to be more compact; by using in combination with a mechanical spring or a flexible hinge, a constant compensation force can be achieved.
The technical scheme is as follows: the utility model relates to a voice coil motor of a variable rigidity magnetic gravity compensator, which consists of a rotor and a stator, wherein the rotor and the stator are both cylindrical; the stator is sleeved on the rotor in a sliding manner;
the rotor consists of a cylindrical framework and at least one group of moving magnet assemblies; the side wall of the cylindrical framework is provided with a movable assembly mounting groove corresponding to the movable magnet assembly, the movable magnet assembly is mounted in the movable assembly mounting groove and consists of at least two rotor magnets, the widths of the rotor magnets in the movable magnet assembly are gradually reduced from bottom to top and are distributed in a step shape, and the magnetic pole directions of the rotor magnets in the same movable magnet assembly are the same;
the stator consists of a cylindrical iron core and at least one group of fixed magnet assemblies, wherein the center of the cylindrical iron core is provided with an upright post, the fixed magnet assemblies are sleeved in the upright post, the fixed magnet assemblies consist of stator magnets and magnetic conduction blocks, the stator magnets and the magnetic conduction blocks are sleeved on the upright post, and the magnetic conduction blocks are arranged above the stator magnets; the number of the fixed magnet assemblies is the same as that of the movable magnet assemblies.
Furthermore, the rotor magnet and the stator magnet are both annular magnets.
Further, when the mover is provided with a set of moving magnet assemblies and the stator is provided with a set of fixed magnet assemblies, the magnetic pole direction of the mover magnet is the same as the magnetic pole direction of the stator.
Further, when at least two groups of moving magnet assemblies are arranged in the rotor and at least two groups of fixed magnet assemblies are arranged in the stator, the magnetic pole directions of the stator magnets in the adjacent fixed magnet assemblies are opposite, and the magnetic pole directions of the rotor magnets in the adjacent moving magnet rotors are the same.
Further, still be equipped with the active cell coil in the active cell, be equipped with corresponding coil mounting groove on the lateral wall that corresponds drum type skeleton, move the subassembly mounting groove and set up the below at the coil mounting groove.
Further, still be equipped with the active cell coil in the active cell, be equipped with corresponding coil mounting groove on the lateral wall that corresponds drum type skeleton, move the subassembly mounting groove and set up the below at the coil mounting groove, move the active cell magnet in the magnet subassembly and install the magnetic pole direction of stator magnet the below the same.
Has the advantages that: the utility model relates to a variable rigidity's magnetism gravity compensator and voice coil motor's design. Compared with the prior art, the method has the following advantages.
(1) The magnetic ring does not contain a radial magnetizing magnetic ring, has simple structure and low production cost, and can be conveniently integrated with a cylindrical voice coil motor;
(2) the size and the rigidity of the suspension force can be conveniently changed by adjusting the number of the segments and the material of the magnets;
(3) the device can be directly integrated with a cylindrical voice coil motor, so that the design space is saved, and the structure is more compact;
(4) the constant compensation force can be realized, the gravity compensation linearity is good, the rigidity is large, the adjustment range is wide, and the type selection of a mechanical spring or a flexible hinge is more convenient;
(5) the mechanical spring or the flexible hinge and the magnetic gravity compensator have the same absolute stiffness value and opposite directions, so that the mechanical spring or the flexible hinge and the magnetic gravity compensator are mutually superposed to form constant suspension force irrelevant to the position. When the rotor coil is powered by an external power supply or a driver, the gravity of a load does not need to be overcome, and only the acceleration required by the motion needs to be provided, so that the current consumption is low, the temperature rise is low, the system deformation is small, and the purposes of improving the dynamic response and the precision are achieved.
Drawings
FIG. 1 is a schematic diagram of the novel structure of the present application;
FIG. 2 is a schematic structural view of example 1;
FIG. 3 is a schematic structural view of example 2;
FIG. 4 is a schematic structural view of example 3;
FIG. 5 is a schematic structural view of example 4;
FIG. 6 is a schematic structural view of example 5;
FIG. 7 is a diagram of the relationship between the magnetic levitation force and the mover position;
FIG. 8 is a graph of suspension stiffness for various configurations;
FIG. 9 is a composite plot of magnetic levitation force and mechanical spring force;
1. a mover; 2. a stator; 3. a cylindrical skeleton; 4. a mover coil; 5. a mover magnet; 6. a cylindrical iron core; 61. a column; 7. a stator magnet; 8. a magnetic conduction block.
Detailed Description
Example 1
As shown in fig. 1-2, a voice coil motor of a variable-rigidity magnetic gravity compensator is composed of a mover 1 and a stator 2, wherein the mover 1 and the stator 2 are both cylindrical; the stator 2 is sleeved on the rotor 1 in a sliding manner; the mover 1 consists of a cylindrical framework 3 and a group of moving magnet assemblies; a moving assembly mounting groove corresponding to the moving magnet assembly is formed in the side wall of the cylindrical framework 3, the moving magnet assembly is mounted in the moving assembly mounting groove and consists of two rotor magnets 5, the widths of the rotor magnets 5 in the moving magnet assembly are gradually reduced from bottom to top and are distributed in a step shape, and the magnetic pole directions of the rotor magnets 5 in the same moving magnet assembly are the same;
The rotor magnet 5 and the stator magnet 7 are both annular magnets, and the corresponding movable assembly mounting groove and the corresponding fixed assembly mounting groove are annular grooves; the magnetic pole direction of the mover magnet 5 is the same as the magnetic pole direction of the stator 2.
Example 2
As shown in fig. 1 and 3, a voice coil motor of a variable-rigidity magnetic gravity compensator is composed of a mover 1 and a stator 2, wherein the mover 1 and the stator 2 are both cylindrical; the stator 2 is sleeved on the rotor 1 in a sliding manner; the mover 1 consists of a cylindrical framework 3 and a group of moving magnet assemblies; a moving assembly mounting groove corresponding to the moving magnet assembly is formed in the side wall of the cylindrical framework 3, the moving magnet assembly is mounted in the moving assembly mounting groove and consists of three rotor magnets 5, the widths of the rotor magnets 5 in the moving magnet assembly are gradually reduced from bottom to top and are distributed in a step shape, and the magnetic pole directions of the rotor magnets 5 in the same moving magnet assembly are the same;
The rotor magnet 5 and the stator magnet 7 are both annular magnets, and the corresponding movable assembly mounting groove and the corresponding fixed assembly mounting groove are annular grooves; the magnetic pole direction of the mover magnet 5 is the same as the magnetic pole direction of the stator 2.
Example 3
As shown in fig. 1 and 4, a voice coil motor of a variable-rigidity magnetic gravity compensator is composed of a mover 1 and a stator 2, wherein the mover 1 and the stator 2 are both cylindrical; the stator 2 is sleeved on the rotor 1 in a sliding manner; the rotor 1 consists of a cylindrical framework 3 and two groups of moving magnet assemblies; a moving assembly mounting groove corresponding to the moving magnet assembly is formed in the side wall of the cylindrical framework 3, the moving magnet assembly is mounted in the moving assembly mounting groove and consists of two rotor magnets 5, the widths of the rotor magnets 5 in the moving magnet assembly are gradually reduced from bottom to top and are distributed in a step shape, and the magnetic pole directions of the rotor magnets 5 in the same moving magnet assembly are the same;
The rotor magnet 5 and the stator magnet 7 are both annular magnets, and the corresponding movable assembly mounting groove and the corresponding fixed assembly mounting groove are annular grooves; the magnetic pole direction of the mover magnet 5 is the same as the magnetic pole direction of the stator 2.
Example 4
As shown in fig. 1 and 5, the voice coil motor of the variable-rigidity magnetic gravity compensator is composed of a mover 1 and a stator 2, wherein the mover 1 and the stator 2 are both cylindrical; the stator 2 is sleeved on the rotor 1 in a sliding manner; the rotor 1 consists of a cylindrical framework 3, a group of moving magnet assemblies and a group of rotor coils 4; the side wall of the cylindrical framework 3 is provided with a movable assembly mounting groove and a coil mounting groove, and the movable coil 4 is mounted in the coil mounting groove; the moving magnet assembly is arranged in a moving assembly mounting groove, and the moving assembly mounting groove is arranged below the coil mounting groove; the moving magnet assembly consists of two rotor magnets 5, the widths of the rotor magnets 5 in the moving magnet assembly are gradually reduced from bottom to top and are distributed in a step shape, and the magnetic pole directions of the rotor magnets 5 in the same moving magnet assembly are the same;
The rotor magnet 5 and the stator magnet 7 are both annular magnets, and the corresponding movable assembly mounting groove and the corresponding fixed assembly mounting groove are annular grooves; the mover magnet 5 of the moving magnet assembly has the same magnetic pole direction as the stator magnet 7 installed at the lowermost position.
Example 5
As shown in fig. 1 and 6, a voice coil motor of a variable-rigidity magnetic gravity compensator is composed of a mover 1 and a stator 2, wherein the mover 1 and the stator 2 are both cylindrical; the stator 2 is sleeved on the rotor 1 in a sliding manner; the rotor 1 consists of a cylindrical framework 3, a group of moving magnet assemblies and two groups of rotor coils 4; the side wall of the cylindrical framework 3 is provided with a movable assembly mounting groove and two coil mounting grooves, and the rotor coil 4 is mounted in the coil mounting grooves; the moving magnet assembly is arranged in a moving assembly mounting groove which is arranged below the two coil mounting grooves; the moving magnet assembly consists of two rotor magnets 5, the widths of the rotor magnets 5 in the moving magnet assembly are gradually reduced from bottom to top and are distributed in a step shape, and the magnetic pole directions of the rotor magnets 5 in the same moving magnet assembly are the same;
The rotor magnet 5 and the stator magnet 7 are both annular magnets, and the corresponding movable assembly mounting groove and the corresponding fixed assembly mounting groove are annular grooves; the mover magnet 5 of the moving magnet assembly has the same magnetic pole direction as the stator magnet 7 installed at the lowermost position.
In examples 1 to 5, the mover coil 4 is made of a good conductor by winding, usually a copper wire, or an aluminum wire, the wire needs to have an insulating surface layer, and the mover coil 4 is powered by an external power supply or a driver; the rotor coil 4 is wound on the rotor 1 framework, and the rotor 1 framework needs to be subjected to insulation treatment; the rotor magnet 5 and the stator magnet 7 are made of permanent magnetic materials, such as ferrite or rare earth permanent magnetic materials, the magnetizing direction is axial magnetizing, and can be one section or multiple sections, and the rigidity value of magnetic gravity compensation can be flexibly adjusted by adjusting the inner diameter, the outer diameter, the height and the materials of different magnet sections; the iron core of the stator 2 is made of soft magnetic material with high magnetic conductivity, such as low-carbon steel; the stator magnet 7 is adhered to the iron core of the stator 2 through glue; the flux-conducting blocks 8 are made of a soft magnetic material of high permeability, such as mild steel, which acts to conduct magnetic flux and form a closed magnetic circuit with the stator 2 core.
As shown in fig. 8, a graph of the suspension stiffness of the structures of examples 1, 3, 4 is shown.
Through the interaction of the rotor magnet 5 and the stator magnet 7, a levitation force opposite to the direction of gravity is formed, which has the characteristic of a "negative spring" as shown in fig. 7. The size and the rigidity of the suspension force can be flexibly changed by adjusting the number, the size and the material of the segments of the rotor magnet 5 in the rotor magnet assembly, so that the rotor magnet assembly is matched with a mechanical spring and a flexible hinge; as shown in fig. 9; under ideal conditions, the mechanical spring or the flexible hinge and the magnetic gravity compensator have the same absolute stiffness value and opposite directions, so that the mechanical spring or the flexible hinge and the magnetic gravity compensator are superposed to form constant suspension force independent of position. When the rotor coil is powered by an external power supply or a driver, the gravity of a load does not need to be overcome, and only the acceleration required by the motion needs to be provided, so that the current consumption is low, the temperature rise is low, the system deformation is small, and the purposes of improving the dynamic response and the precision are achieved.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiments, and although the present invention has been disclosed with the preferred embodiments, it is not limited to the present invention, and any skilled person in the art can make some modifications or equivalent embodiments without departing from the scope of the present invention, but all the technical matters of the present invention are within the scope of the present invention.
Claims (5)
1. A voice coil motor of a variable-rigidity magnetic gravity compensator comprises a rotor and a stator, wherein the rotor and the stator are both cylindrical; the stator is sleeved on the rotor in a sliding manner; the method is characterized in that:
the rotor consists of a cylindrical framework and at least one group of moving magnet assemblies; the side wall of the cylindrical framework is provided with a movable assembly mounting groove corresponding to the movable magnet assembly, the movable magnet assembly is mounted in the movable assembly mounting groove and consists of at least two rotor magnets, the widths of the rotor magnets in the movable magnet assembly are gradually reduced from bottom to top and are distributed in a step shape, and the magnetic pole directions of the rotor magnets in the same movable magnet assembly are the same;
the stator consists of a cylindrical iron core and at least one group of fixed magnet assemblies, wherein the center of the cylindrical iron core is provided with an upright post, the fixed magnet assemblies are sleeved in the upright post, the fixed magnet assemblies consist of stator magnets and magnetic conduction blocks, the stator magnets and the magnetic conduction blocks are sleeved on the upright post, and the magnetic conduction blocks are arranged above the stator magnets; the number of the fixed magnet assemblies is the same as that of the movable magnet assemblies.
2. A voice coil motor for a variable stiffness magnetic gravity compensator as claimed in claim 1 wherein: and the rotor magnet and the stator magnet are both annular magnets.
3. A voice coil motor for a variable stiffness magnetic gravity compensator as claimed in claim 2, wherein: when the rotor is provided with a group of moving magnet assemblies and the stator is provided with a group of fixed magnet assemblies, the magnetic pole direction of the rotor magnet is the same as that of the stator.
4. A voice coil motor for a variable stiffness magnetic gravity compensator as claimed in claim 2, wherein: when at least two groups of moving magnet assemblies are arranged in the rotor and at least two groups of fixed magnet assemblies are arranged in the stator, the magnetic pole directions of the stator magnets in the adjacent fixed magnet assemblies are opposite, and the magnetic pole directions of the rotor magnets in the adjacent moving magnet assemblies are the same.
5. A voice coil motor for a variable stiffness magnetic gravity compensator as claimed in claim 2, wherein: still be equipped with the active cell coil in the active cell, be equipped with corresponding coil mounting groove on the lateral wall that corresponds drum type skeleton, move the below that the subassembly mounting groove set up at the coil mounting groove, move the active cell magnet in the magnet subassembly and install the magnetic pole direction of stator magnet the below the same.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021208395.1U CN212572354U (en) | 2020-06-24 | 2020-06-24 | Voice coil motor of variable-rigidity magnetic gravity compensator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021208395.1U CN212572354U (en) | 2020-06-24 | 2020-06-24 | Voice coil motor of variable-rigidity magnetic gravity compensator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021258428A1 (en) * | 2020-06-24 | 2021-12-30 | 雅科贝思精密机电(南通)有限公司 | Voice coil motor for variable-rigidity magnetic gravity compensator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021258428A1 (en) * | 2020-06-24 | 2021-12-30 | 雅科贝思精密机电(南通)有限公司 | Voice coil motor for variable-rigidity magnetic gravity compensator |
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