CN-122009841-A - Three-dimensional passive driving system based on magnetic climbing effect and cavity rotation

Abstract

The invention belongs to the technical field of passive driving, and relates to a three-dimensional passive driving system based on a magnetic climbing effect and cavity rotation. According to the invention, the working magnetic rod is stably adsorbed on the outer wall of the cylinder body of the working cavity through the static magnetic attraction force formed between the working magnetic rod and the ferromagnetic rod, the magnetic climbing effect is generated by combining the limit of the constraint rod and the rotation of the working cavity, the three-dimensional passive driving under the sealed environment is realized, only the simple annular electromagnet is arranged as a direction regulating and controlling component, the manufacturing cost is reduced, the installation volume is reduced, meanwhile, the driving process uses the permanent magnetic static force as basic power, the electromagnet is only supplied for a short time when the direction is switched, continuous power consumption is not needed, in addition, the stable movement is realized through the cooperation of the mechanical limit of the constraint rod and the static magnetic adsorption, the compensation of a complex control algorithm is not needed, the working magnetic rod is automatically self-locked under the static magnetic adsorption effect when the system is stopped, and the driving precision and the movement repeatability are higher.

Inventors

• Guo Mengze
• TIAN LIMING
• ZHAI LIPENG
• LIANG YUHANG
• LI RONG

Assignees

• 西安交通大学

Dates

Publication Date

20260512

Application Date

20260410

Claims (9)

1. 1. Three-dimensional passive driving system based on magnetism climbing effect and cavity rotation, its characterized in that includes: The magnetic attraction working unit comprises a rotary table, a fixed table, a working cavity and a ferromagnetic rod, wherein the rotary table is horizontally arranged below the fixed table, the working cavity is arranged between the rotary table and the fixed table, the working cavity consists of a cover body and a cylinder body which are coaxially arranged, the lower part of the cover body is fixedly and hermetically connected with the rotary table, the lower end of the cylinder body is closed, the upper end of the cylinder body penetrates through the upper part of the cover body and is fixedly connected with the upper part of the cover body, and the ferromagnetic rod is vertically arranged in the cylinder body and the upper end of the ferromagnetic rod is fixedly connected with the fixed table; The loading moving unit comprises a loading tray, at least one working magnetic rod, an objective table and at least two constraint rods, wherein the loading tray is horizontally arranged in the cover body and positioned below the cylinder body, the loading tray is rotationally connected with the inner wall of the cover body, the working magnetic rod is horizontally arranged in the cover body, one end of the working magnetic rod is adsorbed on the side surface of the cylinder body, the other end of the working magnetic rod is rotationally connected with the lower part of the objective table, the two constraint rods are symmetrically arranged on two sides of the cylinder body, and the lower end of each constraint rod is connected with the loading tray; The control unit comprises a driving piece, an electromagnet and a control piece, wherein the driving piece is arranged at the lower part of the rotary table, the electromagnet is fixedly arranged at the lower part of the fixed table and is arranged around the ferromagnetic rod, the control piece is respectively electrically connected with the driving piece and the electromagnet and is used for controlling the start and stop of the driving piece, the driving piece is used for driving the rotary table to rotate, the working magnetic rod is enabled to generate relative sliding under the limiting effect of the constraint rod, the working magnetic rod moves upwards along the cylinder body by virtue of the magnetic climbing effect, the working state of the electromagnet is regulated and controlled by the control piece, the working magnetic rod is switched between ascending and descending, and meanwhile the lifting speed of the working magnetic rod is controlled by controlling the rotating speed of the driving piece.
2. 2. The three-dimensional passive driving system based on the magnetic climbing effect and cavity rotation according to claim 1, wherein the stability conditions of lifting of the working magnetic rod are: , In the formula, For the radius of the working magnetic pole, For the dynamic friction factor between the side of the cylinder and the working magnetic rod, For the quality of the working magnetic rod, For the equivalent gravitational acceleration, the force of gravity, For the length of the working magnet rod, For the working magnetic pole, the lowest point of the contact line is used as the rotation center to generate magnetic moment in the axial direction of the cylinder, And magnetic moment generated in the radial direction of the cylinder body by taking the lowest point of the contact line as the rotation center for the working magnetic rod.
3. 3. The three-dimensional passive driving system based on the magnetic climbing effect and the cavity autorotation according to claim 1, wherein the electromagnet is an annular electromagnet, the annular electromagnet is coaxially arranged with the ferromagnetic rod, the annular electromagnet is fixed at the lower part of the fixed table, and the annular electromagnet is electrically connected with the control member.
4. 4. The three-dimensional passive driving system based on the magnetic climbing effect and the cavity autorotation according to claim 1, wherein the electromagnets are a plurality of electromagnets arranged in a discrete array, a plurality of electromagnets are coaxially arranged with the ferromagnetic rod, a plurality of electromagnets are fixed at the lower part of the fixed table, and a plurality of electromagnets are electrically connected with the control member.
5. 5. The three-dimensional passive driving system based on the magnetic climbing effect and the cavity autorotation according to claim 1, wherein the loading and unloading tray is connected with the cover body through a first crossed roller bearing.
6. 6. The three-dimensional passive driving system based on the magnetic climbing effect and the cavity autorotation according to claim 1, wherein the working magnetic rod is connected with the objective table through a second crossed roller bearing, two gyrostabilisers are arranged at the lower part of the objective table along the direction of the working magnetic rod, and the two gyrostabilisers are positioned at two sides of the second crossed roller bearing.
7. 7. The three-dimensional passive driving system based on the magnetic climbing effect and the cavity autorotation according to claim 1, wherein the upper part of the loading and unloading tray is provided with a plurality of threaded holes, and the lower part of each constraint rod is in threaded connection with one of the threaded holes through a support.
8. 8. The three-dimensional passive driving system based on the magnetic climbing effect and the cavity autorotation according to claim 1, wherein the cover body, the cylinder body and each constraint rod are made of non-magnetic materials.
9. 9. The three-dimensional passive driving system based on the magnetic climbing effect and the cavity rotation according to claim 1, wherein the loading and unloading tray is made of magnetic materials.

Description

Three-dimensional passive driving system based on magnetic climbing effect and cavity rotation Technical Field The invention belongs to the technical field of passive driving, and relates to a three-dimensional passive driving system based on a magnetic climbing effect and cavity rotation. Background Under the environment of special sealed cavities such as ultrahigh pressure, ultrahigh vacuum, sterile bioreactors and the like, the execution of precise operation has extremely high requirements on the driving technology, and the extreme working conditions not only strictly limit the sealing integrity of the cavity, but also do not allow any form of medium leakage, foreign matter invasion or external interference, and simultaneously provide strict standards for the precision, stability and compatibility of the driving process. The passive driving technology can realize non-contact, low-disturbance and high-stability precise driving on the premise of not damaging the sealing integrity of the cavity, does not need to provide any through hole on the sealing cavity, radically avoids the risk of sealing failure, and is perfectly suitable for the extreme working condition requirement of the special sealing cavity. At present, the existing passive driving technology forms various technical paths, mainly comprising piezoelectric stick-slip driving, optical driving, acoustic surface wave driving, active magnetic field driving and the like, wherein the active magnetic field driving is used as a non-contact passive driving mode, the core working principle is that a gradient magnetic field or a rotating magnetic field is accurately generated through an externally arranged complex electromagnetic coil system, and a magnetic coupling effect of the magnetic field is utilized to drive a magnetic object placed in advance in a sealing cavity to realize expected translational, rotational and other movements without arranging any power source or electric components in the cavity. However, the existing active magnetic field driving technology still has many defects in the practical application process, namely, the active magnetic field driving needs to be provided with a plurality of groups of independently controlled electromagnetic coils, and needs to be matched with a high-precision power supply, a heat dissipation cooling system and a magnetic field shielding component, so that the manufacturing cost of equipment is high, a large amount of installation space is occupied, the electromagnetic coils need to continuously consume a large amount of electric energy to maintain a strong magnetic field required by driving, the use cost of the equipment is increased, and the third, because the distribution of the magnetic field in the space is easily influenced by factors such as coil layout, environmental interference and the like, the absolute uniform magnetic field distribution is difficult to realize, and particularly when a complex motion path is executed, the complex control algorithm is needed to compensate, so that the control difficulty is increased, the stable control precision is difficult to ensure, and fourth, the power transmission of the active magnetic field driving completely depends on the dynamic magnetic force generated by the electromagnetic coils, no static magnetic force participates in the process, so that the weak interaction between the external electromagnetic coils and magnetic objects in a cavity is easy to deviate, and the stable state cannot be maintained. Disclosure of Invention The invention aims to provide a three-dimensional passive driving system based on a magnetic climbing effect and cavity rotation, which can realize passive magnetic driving and object conveying with simple structure, low energy consumption, simple and convenient control, stable positioning and three-dimensional omnidirectional movement in a closed special environment. In order to achieve the above purpose, the technical scheme provided by the invention is as follows: three-dimensional passive driving system based on magnetism climbing effect and cavity rotation includes: The magnetic attraction working unit comprises a rotary table, a fixed table, a working cavity and a ferromagnetic rod, wherein the rotary table is horizontally arranged below the fixed table, the working cavity is arranged between the rotary table and the fixed table, the working cavity consists of a cover body and a cylinder body which are coaxially arranged, the lower part of the cover body is fixedly and hermetically connected with the rotary table, the lower end of the cylinder body is closed, the upper end of the cylinder body penetrates through the upper part of the cover body and is fixedly connected with the upper part of the cover body, and the ferromagnetic rod is vertically arranged in the cylinder body and the upper end of the ferromagnetic rod is fixedly connected with the fixed table; The loading moving unit comprises a loading tray, at least one wo