CN111277108A - Driving and guiding integrated device - Google Patents

Abstract

The invention provides a driving and guiding integrated device, which comprises a guiding component and a stator component; the stator component comprises an iron core and a coil wound on the iron core; the guide assembly comprises a base, a flexible guide mechanism and a permanent magnet rotor; the base is provided with a first positioning groove and a second positioning groove, the first positioning groove is used for installing the flexible guide mechanism and the permanent magnet rotor, and the stator assembly is fixedly installed on the base through the second positioning groove; the end surface of the iron core is opposite to the permanent magnet with a gap; when the coil is electrified, the permanent magnet moves under the action of electromagnetic force, the force is transmitted to the flexible guide mechanism, the flexible guide mechanism deforms under the action of force, and displacement is output through the output shaft. The device can output high-precision displacement and can be used in the fields of high-precision movement, positioning and the like.

Description

A drive and guide integrated device

technical field

The invention relates to the field of mechatronics design, in particular to a drive-guidance integrated device.

Background technique

The flexible guiding mechanism is deformed by force and transmits displacement through deformation, so that it has the advantages of high linearity, no friction, and no backlash. It is widely used in applications where the displacement accuracy needs to reach the nanometer level. When the stroke is below one hundred microns, the piezoelectric ceramic actuator can be used as the driving device of the flexible guiding mechanism, but due to the limitation of the number of piezoelectric ceramic stacks and the size of the device, the stroke range is less than one hundred microns. Although piezo actuators can use the inchworm structure to increase the stroke range, the short lifespan is the biggest limiting factor.

Using a linear motor as a driving device can improve the stroke range of the flexible guide mechanism. In order to improve the performance index of the device, the linear motor needs to: 1. Reduce the mass of the moving part; 2. Improve the thrust density; 3. The thrust is stable within the stroke range; 4. The motor Reasonable heat dissipation.

However, at present, the flexible guide mechanism and the motor are designed independently, and the two are connected by fasteners, resulting in a large overall space occupation. In addition, most of the existing linear motors are three-phase motors, and the level of thrust stability is difficult to meet the standard. The voice coil motor is a single-phase motor, and its thrust is stable, but the voice coil motor using the moving coil structure is faced with the problem of large mover mass and difficult heat dissipation; the voice coil motor using the moving magnet structure causes the system to suffer. Basically no damping, the system is very easy to vibrate, reducing the positioning accuracy.

SUMMARY OF THE INVENTION

Aiming at the above-mentioned technical situation, the present invention provides an integrated drive and guide device, which integrates a design of a guide mechanism and a drive motor, can output high-precision displacement, and can be used in the fields of high-precision movement and positioning.

The technical scheme of the present invention is as follows: a drive-guidance integrated device, comprising a guide assembly and a stator assembly;

The stator assembly includes an iron core and a coil wound on the iron core;

The guide assembly includes a base, a flexible guide mechanism and a permanent magnet mover; the base is provided with a first positioning groove for installing the flexible guide mechanism and the permanent magnet mover; a second positioning groove is also set on the base, and the stator assembly It is fixedly installed on the base through the second positioning slot; when the permanent magnet mover is installed in the first positioning slot and the stator assembly is fixedly installed on the base, the end face of the iron core is opposite to the permanent magnet with a gap;

When the coil is energized, the permanent magnet moves under the action of electromagnetic force, and the force is transmitted to the flexible guide mechanism. The flexible guide mechanism is deformed by force to generate displacement, and the displacement is transmitted through the output shaft.

The permanent magnet mover is made of permanent magnet material, which can provide an excitation magnetic field, and the permanent magnet moves under the action of electromagnetic force when the coil is energized.

The flexible guiding mechanism is deformed by force and transmits displacement through deformation, and its structure is not limited, and can have a certain topology structure. Preferably, the flexible guide mechanism adopts high-strength and high-elasticity materials, and is machined to form a specific topological shape.

The coil is made of conductive material. As an implementation manner, the coil is wound and formed and then embedded on the iron core.

The stator assembly is mounted on at least one side of the base. For example, the stator assembly is mounted on the upper side, the lower side, or both the upper side and the lower side of the base. The number of stator assemblies installed on the base is not limited, and one base can be installed with one, two or more stator assemblies.

Preferably, a conductive sheet is arranged on the end face of the iron core opposite to the permanent magnet. When the coil is energized and the permanent magnet moves under the action of electromagnetic force, a relative displacement is generated with the conductive sheet, and the magnetic field excited by the permanent magnet will be on the conductive sheet. Eddy currents are generated in the vortex, so that the permanent magnets are subjected to a damping force proportional to the speed, which can improve the anti-disturbance of the device, improve the stability, and at the same time improve the controllability of the device. As a further preference, a suitable damping force can be obtained by adjusting the thickness of the conductive sheet.

Preferably, a casing is arranged on the periphery of the stator assembly for strengthening and protecting the stator assembly, and the casing is fixed on the base through a fixing member. As a further preference, the stator assembly is embedded in the casing and consolidated into one body by gluing.

As an implementation manner, the permanent magnet mover is fixedly connected to the flexible guide mechanism.

As an implementation, as shown in FIG. 4, both ends of the iron core are bent in the same direction to form a U-shaped structure. The iron core of this structure is called a U-shaped iron core, and the bent part is called a U-shaped iron core. It is a tooth part, and the part connecting the tooth part is called a yoke part, and the coil is wound around the tooth part. The top of the tooth portion is called a tooth top, and the tooth top surface is opposite to the permanent magnet mover with a gap. The tooth top can be formed into various shapes by design. Preferably, the tooth tip extends laterally to both sides, forming a T-shaped structure with the rest of the tooth portion, and this structure is beneficial to widen the magnetic field and improve the uniformity of the magnetic field. When the stator assembly has the teeth of the T-shaped structure, the second positioning groove structure matches the tooth top structure, and the tooth top can be embedded in the second positioning groove, so that the stator assembly is fixedly installed on the base.

Compared with the prior art, the driving and guiding integrated device of the present invention has the following beneficial effects:

(1) The present invention adopts the stator assembly and the guide assembly, which is matched with the machined positioning groove, and has high assembly precision and simplified assembly, realizes the integration of the linear drive motor and the flexible guide mechanism, and avoids the separation of the flexible guide mechanism and the motor. The resulting problems of large volume and loss of precision can provide high-precision displacement;

(2) The present invention adopts a moving magnet linear motor structure, and the mass of the moving part is mainly concentrated on the permanent magnet, which reduces the mass of the moving part; the end face of the iron core is matched with the permanent magnet positioning groove to ensure the consistency of the thickness of the air gap; The thrust fluctuation is small within the stroke range, and the output force and current are basically proportional, the installation is simple and the output is large, and the flexible mechanism can be effectively driven to achieve high-speed and high-precision displacement;

(3) as a preference, in the present invention, a conductive sheet is arranged on the opposite end face of the iron core and the permanent magnet, and damping is generated when the permanent magnet moves, which improves the anti-interference ability and controllability of the device;

(4) Preferably, the iron core in the present invention includes a tooth portion and a yoke portion, and the tooth portion structure can enhance the air gap magnetic field, improve the mutual electromagnetic interaction between the coil and the permanent magnet, and improve the thrust density;

(5) In the present invention, the flexible guide mechanism restricts the permanent magnet to move only in a limited direction, and the transmission of its displacement utilizes the deformation of the flexible guide mechanism, and the electromagnetic force acts on the permanent magnet without contact, realizing frictionless and backlash-free GPS.

(6) In the present invention, the thermal conductivity of the stator assembly is good, and the heat generated by the coil can be quickly conducted, thereby limiting the temperature rise.

Therefore, the integrated drive and guide device of the present invention has the advantages of small size, light weight, and high thrust density, can output high-precision displacement, is simple in installation, has high stability, can have its own damping, can effectively suppress external disturbances, and can be used in high-precision It has good application prospects in technical fields such as sports and positioning.

Description of drawings

FIG. 1 is a schematic view of the assembly structure of the drive and guide integrated device in Embodiment 1 of the present invention.

FIG. 2 is a schematic diagram of an exploded structure of the integrated drive and guide device in Embodiment 1 of the present invention.

FIG. 3 is a top view of the guide assembly of FIG. 2 .

4 is a schematic cross-sectional view of an electromagnetic component composed of a permanent magnet, a coil, and an iron core in Embodiment 1 of the present invention.

1 to 4 are: stator assembly 1, guide assembly 2, stator casing 11a, stator casing fixing member 11b, coil 12a, iron core 12b, first protrusion 12bI, second protrusion 12bII , conductive sheet 12c, base 21, permanent magnet 22, output shaft 23, flexible guide mechanism 24.

Detailed ways

The present invention will be further described in detail below with reference to the embodiments of the accompanying drawings. It should be noted that the embodiments described below are intended to facilitate the understanding of the present invention, but do not have any limiting effect on it.

Example 1:

As shown in FIG. 1 , the integrated drive and guide device of this embodiment includes a stator assembly 1 and a guide assembly 2 . The stator components are symmetrically distributed on the upper and lower parts of the horizontal plane of the guide components to form a sandwich structure.

As shown in FIGS. 2 and 4 , the stator assembly includes a coil 12a and a U-shaped iron core 12b.

As shown in FIGS. 2 and 3 , the guide assembly 2 includes a base 21 , a permanent magnet 22 and a flexible guide mechanism 24 . A first positioning slot is defined on the base 21 for installing the permanent magnet 22 and the flexible guide mechanism 24 . The base is further provided with a second positioning groove 21a, and the stator assembly 1 is fixedly installed on the base through the second positioning groove 21a.

As shown in FIG. 4 , in this embodiment, the electromagnetic components of the integrated driving and guiding device include a coil 12 a , an iron core 12 b , a conductive sheet 12 c and a permanent magnet 22 . The coil 12a is wound around the teeth of the iron core 12b. The iron core 12b is made of a material with good magnetic conductivity, and its tooth tops extend laterally to both sides, that is, there are first protrusions 12bI and second protrusions 12bII, forming a T-shaped structure with the rest of the teeth, which is conducive to widening magnetic field, and improve the uniformity of the magnetic field. A conductive sheet 12c is attached to the top surface of the tooth. As shown in FIG. 2 , the structure of the second positioning groove 21a matches the structure of the tooth top, and the tooth top can be embedded in the second positioning groove 21a, so that the stator assembly is fixedly installed on the base.

As shown in FIG. 2 , a stator casing 11a is arranged on the periphery of the stator assembly for strengthening and protecting the stator assembly. The stator case 11a is a container structure with an open bottom. The stator casing 11a can be potted integrally with the stator assembly, and fixed on the base 21 by the stator casing fixing member 11b.

The permanent magnet 22 is a hard magnetic material and can provide magnetic field excitation.

The flexible guide mechanism 24 is made of high-strength, high-elasticity materials, and a certain topology structure is formed through machining, plastic deformation occurs under force, and displacement is transmitted through the output shaft 23, which protrudes from the base to provide interaction with the outside world. interface.

The coil 12a is energized to generate a magnetic field, and the magnetic field passes through the permanent magnet 22 to generate electromagnetic interaction. The permanent magnet 22 moves after being subjected to electromagnetic force, which drives the flexible guide mechanism 24 to plastically deform, and transmits displacement to the outside world through the output shaft 23 . During the movement, the flexible guide mechanism 24 only undergoes plastic deformation, and the electromagnetic force has a linear relationship with the displacement driven by it. Therefore, the device can provide high-precision displacement and can be used for high-precision movement and positioning. In addition, the permanent magnet 22 produces relative displacement with the conductor piece 12c when moving, the magnetic field excited by the permanent magnet 22 will generate eddy current in the conductor piece 12c, and the permanent magnet 22 is subjected to a damping force proportional to the speed. The damping force can improve the anti-disturbance, improve the stability of the system, and improve the controllability of the system.

The above embodiments describe the technical solutions of the present invention in detail. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Anything done within the scope of the principles of the present invention Any modifications, additions or substitutions in similar manners, etc., shall be included within the protection scope of the present invention.

Claims (10)

1. A drive and guide integrated device is characterized in that: it comprises a guide assembly and a stator assembly; The stator assembly includes an iron core and a coil wound on the iron core; The guide assembly includes a base, a flexible guide mechanism and a permanent magnet mover; the base is provided with a first positioning groove for installing the flexible guide mechanism and the permanent magnet mover; a second positioning groove is also set on the base, and the stator assembly It is fixedly installed on the base through the second positioning slot; when the permanent magnet mover is installed in the first positioning slot and the stator assembly is fixedly installed on the base, the end face of the iron core is opposite to the permanent magnet with a gap; When the coil is energized, the permanent magnet is moved by the electromagnetic force, the force is transmitted to the flexible guide mechanism, the flexible guide mechanism is deformed by force to generate displacement, and the displacement is transmitted through the output shaft of the flexible guide mechanism. 2 . The integrated drive and guide device according to claim 1 , wherein a conductive sheet is provided on the end face of the iron core opposite to the permanent magnet. 3 . 3 . The integrated drive and guide device according to claim 1 , wherein the flexible guide mechanism adopts high-strength and high-elasticity materials, and forms a specific topological shape through machining. 4 . 4. The integrated drive and guide device according to claim 1, wherein the stator assembly is mounted on at least one side of the base. 5 . The integrated drive and guide device according to claim 1 , wherein a casing is arranged on the periphery of the stator assembly, and the casing is fixed on the base through a fixing member. 6 . 6 . The integrated drive and guide device according to claim 5 , wherein the stator assembly is embedded in the casing and consolidated into one body by gluing. 7 . 7 . The integrated drive and guide device according to claim 1 , wherein the permanent magnet mover is fixedly connected to the flexible guide mechanism. 8 . 8 . The integrated drive and guide device according to claim 1 , wherein the iron core is a U-shaped iron core, the coil is wound around the tooth portion, and the top surface of the tooth is opposite to the permanent magnet mover with a gap. 9 . 9 . The integrated drive and guide device according to claim 8 , wherein the tooth crest expands laterally to both sides and forms a T-shaped structure with the rest of the tooth portion. 10 . 10. The integrated drive and guide device according to claim 9, wherein the structure of the second positioning groove is matched with the structure of the tooth top, and the tooth top can be embedded in the second positioning groove, so that the stator assembly can be fixedly installed on the pedestal.

Images