Gradient magnetic field generator and space servo motion system

Abstract

The present invention belongs to the field of space magnetic field technology, and provides a gradient magnetic field generating device and a space servo motion system. The gradient magnetic field generating device includes: a position detection module, a motion controller, a first magnetic source component and a first excitation control circuit; the position information of the controlled magnet is detected by the position detection module, and the motion controller generates a control signal according to the position information of the controlled magnet, so as to control the magnitude and direction of the current output to the excitation winding through the excitation control circuit, so that the magnetic source component generates a magnetic field of a certain magnitude and direction, thereby controlling the movement of the controlled magnet. The excitation winding is used as the magnetic source, the magnetic yoke frame is used as the magnetic conductive device, and the motion controller and the excitation control circuit are used as electromagnetic control elements to form a new controllable gradient magnetic field generating device, so that a high-stability gradient magnetic field with adjustable strength, magnitude and direction is generated in the center space of the device, and the magnetic conductive object in the magnetic field is driven to move in space.

Description

Technical Field

[0001] The invention belongs to the technical field of space magnetic field, and in particular relates to a gradient magnetic field generating device and a space servo motion system. Background Art

[0002] At present, the existing gradient magnetic field generating devices mostly use a combination of Helmholtz coil pairs or multiple pairs of permanent magnets to generate multi-dimensional gradient magnetic fields, but the gradient magnetic field strength that can be generated by the Helmholtz coil pair is relatively small. Although the magnetic field strength generated by the permanent magnet pair is relatively large, its amplitude and direction cannot be controlled. Electromagnetic bearings are bearing stators that use electromagnets to generate strong magnetic fields to support the rotor, but the limitations of their structure make it generate magnetic fields in two-dimensional directions in a certain working area at most, and require a small air gap between the stator and the rotor. Therefore, the existing methods cannot effectively and accurately perform servo motion control on objects in the magnetic field. Summary of the invention

[0003] The purpose of the present invention is to provide a gradient magnetic field generating device and a spatial servo motion system, aiming to solve the problem that the traditional technical solution cannot effectively and accurately perform servo motion control on an object in a magnetic field.

[0004] A gradient magnetic field generating device, comprising: a position detection module, a motion controller, a first magnetic source component and a first excitation control circuit;

[0005] The first magnetic source assembly includes a first magnetic yoke frame, a first electromagnetic magnetic source and a second electromagnetic magnetic source; the first electromagnetic magnetic source includes a first magnetic yoke column and a first excitation winding wound on the first magnetic yoke column, the second electromagnetic magnetic source includes a second magnetic yoke column and a second excitation winding wound on the second magnetic yoke column, one end of the first magnetic yoke column is connected to a first inner side of the first magnetic yoke frame; one end of the second magnetic yoke column is connected to a second inner side of the first magnetic yoke frame opposite to the first inner side, the other end of the first magnetic yoke column is directly opposite to the other end of the second magnetic yoke column, and a working position of a controlled magnet is formed therebetween;

[0006] The position detection module is configured to detect the position of the controlled magnet in the working position to generate a position signal. The motion controller is connected to the position detection module and configured to generate a first control signal according to the position signal. The first excitation control circuit is connected to the motion controller and configured to control the magnitude and direction of the current output to the first excitation winding and the magnitude and direction of the current output to the second excitation winding according to the first control signal.

[0007] In one of the embodiments, it further includes a second magnetic source component and a second excitation control circuit;

[0008] The second magnetic source component includes a third electromagnetic magnetic source and a fourth electromagnetic magnetic source; the third electromagnetic magnetic source includes a third yoke column and a third excitation winding wound on the third yoke column, the fourth electromagnetic magnetic source includes a fourth yoke column and a fourth excitation winding wound on the fourth yoke column, one end of the third yoke column is connected to the third inner side adjacent to the first inner side in the first yoke frame, and one end of the fourth yoke column is connected to the fourth inner side opposite to the third inner side in the first yoke frame; the motion controller is also configured to generate a second control signal according to the position signal, and the second excitation control circuit is connected to the motion controller, and is configured to control the magnitude and direction of the current output to the third excitation winding and the magnitude and direction of the current output to the fourth excitation winding according to the second control signal.

[0009] In one of the embodiments, it further includes a third magnetic source component and a third excitation control circuit;

[0010] The third magnetic source assembly includes a second magnetic yoke frame, a fifth electromagnetic magnetic source and a sixth electromagnetic magnetic source, the plane where the first magnetic yoke frame is located is perpendicular to the plane where the second magnetic yoke frame is located, and the geometric centers of the first magnetic yoke frame and the second magnetic yoke frame overlap; the fifth electromagnetic magnetic source includes a fifth magnetic yoke column and a fifth excitation winding wound on the fifth magnetic yoke column, the sixth electromagnetic magnetic source includes a sixth magnetic yoke column and a sixth excitation winding wound on the sixth magnetic yoke column, one end of the fifth magnetic yoke column is connected to the first inner side of the second magnetic yoke frame, and one end of the sixth magnetic yoke column is connected to the second inner side of the second magnetic yoke frame opposite to the first inner side; the motion controller is also configured to generate a third control signal according to the position signal, and the third excitation control circuit is connected to the motion controller, and is configured to control the magnitude and direction of the current output to the fifth excitation winding and the magnitude and direction of the current output to the sixth excitation winding according to the third control signal.

[0011] In one embodiment, a third magnetic yoke frame is further included, and the plane where the first magnetic yoke frame is located, the plane where the second magnetic yoke frame is located, and the plane where the third magnetic yoke frame is located are perpendicular to each other, and their geometric centers overlap.

[0012] In one embodiment, the first excitation control circuit includes two current control modules, which are respectively connected to the first excitation winding and the second excitation winding, and each current control module includes a current detection circuit, a current controller and a power driving circuit;

[0013] The current detection circuit is configured to detect the output current of the power drive circuit, the current controller is connected to the current detection circuit and the motion controller, and is configured to generate a switching signal based on the control signal and the output current, the power drive circuit is connected to the current controller and the excitation winding, and is configured to control the magnitude and direction of the current output to the excitation winding according to the switching signal.

[0014] In one embodiment, the power driving circuit includes a first switch tube, a second switch tube, a third switch tube and a fourth switch tube;

[0015] The gate of the first switch tube, the gate of the second switch tube, the gate of the third switch tube and the gate of the fourth switch tube are all connected to the current controller, the drain of the first switch tube and the drain of the second switch tube are both connected to the positive electrode of the DC power supply, the drain of the third switch tube is connected to the source of the first switch tube, the source of the third switch tube is connected to the negative electrode of the DC power supply, the drain of the fourth switch tube is connected to the source of the second switch tube, the source of the fourth switch tube is connected to the negative electrode of the DC power supply, and the common terminal of the drain of the third switch tube and the source of the first switch tube and the common terminal of the drain of the fourth switch tube and the source of the second switch tube are both connected to the excitation winding.

[0016] In one embodiment, the other end of the first yoke column and the other end of the second yoke column are both provided with a V-shaped groove with a cross section formed from the top surface downward.

[0017] In one of the embodiments, the inner angle of the V-shaped groove is 90 degrees.

[0018] In one embodiment, a dovetail groove is provided on the inner side of a frame of the first yoke frame, a dovetail protrusion is provided at one end of the first yoke column, and the dovetail groove is matched and connected with the dovetail protrusion.

[0019] In addition, a spatial servo motion system is also provided, and the spatial servo motion system includes the above-mentioned gradient magnetic field generating device.

[0020] The above-mentioned gradient magnetic field generating device detects the position information of the controlled magnet through the position detection module, and the motion controller generates a control signal according to the position information of the controlled magnet, so as to control the magnitude and direction of the current output to the excitation winding through the excitation control circuit, so that the magnetic source component generates a magnetic field of a certain magnitude and direction, thereby controlling the movement of the controlled magnet. The excitation winding is used as the magnetic source, the magnetic yoke frame is used as the magnetic conductive device, and the motion controller and the excitation control circuit are used as electromagnetic control elements to form a new controllable gradient magnetic field generating device, which can make the central space field generate a high-stability gradient magnetic field with adjustable strength, magnitude and direction, and drive the magnetic conductive object in the magnetic field to move in space. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of the circuit structure of a gradient magnetic field generating device provided in an embodiment of the present invention;

[0022] Figure 2 A schematic diagram of the circuit structure of a gradient magnetic field generating device provided by another embodiment of the present invention;

[0023] Figure 3 A schematic diagram of the circuit structure of a gradient magnetic field generating device provided by another embodiment of the present invention;

[0024] Figure 4 A schematic diagram of the circuit structure of a gradient magnetic field generating device provided in an embodiment of the present invention;

[0025] Figure 5 for Figure 1 A schematic diagram of the three-dimensional structure of the gradient magnetic field generating device shown;

[0026] Figure 6 for Figure 2 A schematic diagram of the three-dimensional structure of the gradient magnetic field generating device shown;

[0027] Figure 7 for Figure 3 A schematic diagram of the three-dimensional structure of the gradient magnetic field generating device shown;

[0028] Figure 8 A side view of a first yoke column of a gradient magnetic field generating device provided by an embodiment of the present invention;

[0029] Fig. 9 A schematic diagram of the three-dimensional structure of a gradient magnetic field generating device provided in another embodiment of the present invention;

[0030] Fig.10 A simulation diagram of the magnetic field generated when the third winding and the fourth winding pass a current with an ampere-turn of 15000 A·n in the same direction provided by an embodiment of the present invention;

[0031] Fig.11A simulation diagram of the magnetic field generated when the third winding provided in the embodiment of the present invention is not energized and a current with an ampere-turn of 10000 A·n is passed through the fourth winding;

[0032] Fig.12 The third winding provided in the embodiment of the present invention is not energized and a current with an ampere-turn of 15000 A·n is passed through the fourth winding to simulate the magnetic field generated. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0034] Figure 1 The circuit structure diagram of the gradient magnetic field generating device provided by the preferred embodiment of the present invention is shown. For the convenience of description, only the part related to the present embodiment is shown, which is described in detail as follows:

[0035] like Figure 1 and Figure 5 As shown, an embodiment of the present invention provides a gradient magnetic field generating device, which includes a position detection module 10, a motion controller 20, a first magnetic source component 40, and a first excitation control circuit 30. The first magnetic source component 40 includes a first magnetic yoke frame 41, a first electromagnetic magnetic source, and a second electromagnetic magnetic source; the first electromagnetic magnetic source includes a first magnetic yoke column 421 and a first excitation winding 422 wound on the first magnetic yoke column 421, the second electromagnetic magnetic source includes a second magnetic yoke column 431 and a second excitation winding 432 wound on the second magnetic yoke column 431, one end of the first magnetic yoke column 421 is connected to a first inner side of the first magnetic yoke frame 41, one end of the second magnetic yoke column 431 is connected to a second inner side of the first magnetic yoke frame 41 opposite to the first inner side, and the first magnetic yoke column 42 1 and the other end of the second yoke column 431 are directly opposite to each other, and a working position of the controlled magnet is formed therebetween; the position detection module 10 is configured to detect the position of the controlled magnet to generate a position signal, the motion controller 20 is connected to the position detection module 10, and is configured to generate a first control signal according to the position signal, and the first excitation control circuit 30 is connected to the motion controller 20, and is configured to control the magnitude and direction of the current output to the first excitation winding 422 and the magnitude and direction of the current output to the second excitation winding 432 according to the first control signal.

[0036] In this embodiment, the gradient magnetic field generating device detects the position information of the controlled magnet through the position detection module 10, and the motion controller 20 generates a control signal according to the position information of the controlled magnet, so as to control the magnitude and direction of the current output to the excitation winding through the excitation control circuit, so that the magnetic source component generates a magnetic field of a certain magnitude and direction, thereby controlling the movement of the controlled magnet. The excitation winding is used as the magnetic source, the magnetic yoke frame is used as the magnetic conductive device, and the motion controller 20 and the excitation control circuit are used as electromagnetic control elements to form a new controllable gradient magnetic field generating device, which can make the central space field generate a high-stability gradient magnetic field with adjustable intensity, magnitude and direction, and drive the controlled magnet in the magnetic field to move arbitrarily in space.

[0037] The first yoke frame 41 is supported by a bracket and placed on a platform. The first yoke frame 41 is made of magnetic conductive materials such as silicon steel and is used to transmit magnetic lines of force, reduce magnetic resistance, restrict the leakage magnetic flux of the induction coil from diffusing outward, and improve the magnetic induction intensity. The first yoke column 421 and the second yoke column 431 are made of silicon steel material, and the excitation winding is wound with copper enameled wire. The yoke column and the yoke frame are fixedly connected with a dovetail groove and bolts, which is convenient for installation and disassembly as well as equipment maintenance. Specifically, a dovetail groove is provided on the inner side of the frame of the first yoke frame 41, and a dovetail protrusion 4211 is provided at one end of the first yoke column 421 and one end of the second yoke column 431, and the dovetail groove is matched with the dovetail protrusion 4211. Figure 8 As shown, in one embodiment, the other end of the first yoke column 421 and the other end of the second yoke column 431 are both provided with a V-shaped groove 4212 whose cross section is formed from the top surface downward. In practical applications, the inner angle of the V-shaped groove 4212 can be determined according to specific needs. In a preferred embodiment, the inner angle a of the V-shaped groove 4212 is 90 degrees. At this time, the magnetic field generated by the electromagnetic magnetic source has a higher uniformity in the direction perpendicular to the axis of the magnetic source, and more spatial positions can be reserved.

[0038] In this embodiment, the gradient magnetic field generating device is a one-dimensional magnetic field generating device, and the position detection module 10 includes a first camera, which is configured to detect the projection of the controlled magnet on a plane perpendicular to the first yoke column 421 and the second yoke column 431 to generate a position signal. Specifically, taking the extension direction of the first yoke column 421 or the second yoke column 431 as the X-axis to establish a coordinate axis as an example, the detection of the position signal is specifically to detect the position information of the controlled magnet on the X-axis. The motion controller 20 generates a control signal according to the position signal and the target position of the controlled magnet, controls the magnitude and direction of the current on the first excitation winding 422 and the second excitation winding 432, and the first magnetic source component 40 generates a gradient magnetic field in the space in the X-axis direction, so that the controlled magnet in the magnetic field obtains the electromagnetic force in the X-axis direction, and controls the controlled magnet to move in the X-axis direction. When the gradient magnetic field generating device is working, the controlled magnet is placed in a working container, and the working container is made of non-magnetic conductive material, and the interior is an air environment or a liquid environment.

[0039] like Figure 4 As shown, in one embodiment, the first excitation control circuit 30 includes two current control modules, which are respectively connected to the first excitation winding 422 and the second excitation winding 432, and each current control module includes a current detection circuit 31, a current controller 32 and a power drive circuit 33; the current detection circuit 31 is configured to detect the output current of the power drive circuit 33, the current controller 32 is connected to the current detection circuit 31 and the motion controller 20, and is configured to generate a switching signal according to the first control signal and the output current, and the power drive circuit 33 is connected to the current controller 32 and the excitation winding, and is configured to control the magnitude and direction of the current output to the excitation winding according to the switching signal.

[0040] In order to control the magnitude and direction of the current in the field winding in the gradient magnetic field generating device, the power driving circuit 33 of the embodiment of the present invention adopts a full-bridge circuit to control the current of each field winding. The circuit schematic diagram of the full-bridge circuit is shown in FIG. Figure 4As shown. In one embodiment, the power driving circuit 33 includes a first switch tube Q1, a second switch tube Q2, a third switch tube Q3 and a fourth switch tube Q4; the gate of the first switch tube Q1, the gate of the second switch tube Q2, the gate of the third switch tube Q3 and the gate of the fourth switch tube Q4 are all connected to the current controller 32, the drain of the first switch tube Q1 and the drain of the second switch tube Q2 are all connected to the positive electrode of the DC power supply, the drain of the third switch tube Q3 is connected to the source of the first switch tube Q1, the source of the third switch tube Q3 is connected to the negative electrode of the DC power supply, the drain of the fourth switch tube Q4 is connected to the source of the second switch tube Q2, the source of the fourth switch tube Q4 is connected to the negative electrode of the DC power supply, and the common connection end of the drain of the third switch tube Q3 and the source of the first switch tube Q1 and the common connection end of the drain of the fourth switch tube Q4 and the source of the second switch tube Q2 are all connected to the excitation winding. If the first switch tube Q1 and the fourth switch tube Q4 are turned on, the current flows in the direction of: positive pole of DC power supply - first switch tube Q1 - first excitation winding 422 - fourth switch tube Q4 - negative pole of power supply. If the fourth switch tube Q4 is kept turned on, the current controller 32 outputs the first pulse width modulation signal to control the first switch tube Q1 to open and close continuously, and according to the current value measured by the current detection circuit 31, the current controller 32 is used to control the duty cycle of the first pulse width modulation signal, so as to adjust the current of the excitation winding. Similarly, if the second switch tube Q2 and the third switch tube Q3 are turned on, the current flows in the direction of: positive pole of power supply - second switch tube Q2 - excitation winding - third switch tube Q3 - negative pole of power supply. In this way, the current flowing through the rotor is reversed. Similarly, if the second switch tube Q2 is kept turned on, the current controller 32 outputs a second pulse width modulation signal to control the third switch tube Q3 to continuously open and close, and according to the current value measured by the current detection circuit 31, the current controller 32 is used to control the duty cycle of the second pulse width modulation signal, so that the direction of the excitation winding current can be changed and the amplitude can be adjusted.

[0041] like Figure 2 and Figure 6As shown, in one embodiment, the gradient magnetic field generating device further includes a second magnetic source component 60 and a second excitation control circuit 50; the second magnetic source component 60 includes a third electromagnetic magnetic source and a fourth electromagnetic magnetic source; the third electromagnetic magnetic source includes a third magnetic yoke column 621 and a third excitation winding 622 wound on the third magnetic yoke column 621, the fourth electromagnetic magnetic source includes a fourth magnetic yoke column 631 and a fourth excitation winding 632 wound on the fourth magnetic yoke column 631, one end of the third magnetic yoke column 621 is connected to the third inner side adjacent to the first inner side of the first magnetic yoke frame 41, and one end of the fourth magnetic yoke column 631 is connected to the fourth inner side opposite to the third inner side of the first magnetic yoke frame 41; the motion controller 20 is further configured to generate a second control signal according to the position signal, and the second excitation control circuit 50 is connected to the motion controller 20, and is configured to control the magnitude and direction of the current output to the third excitation winding 622 and the magnitude and direction of the current output to the fourth excitation winding 632 according to the second control signal.

[0042] In this embodiment, the gradient magnetic field generating device is a two-dimensional magnetic field generating device, and the position detection module 10 includes a first camera and a second camera. The first camera is configured to detect the projection of the controlled magnet on a plane perpendicular to the first yoke column 421 and the second yoke column 431, and the second camera is configured to detect the projection of the controlled magnet on a plane perpendicular to the third yoke column 621 and the fourth yoke column 631 to generate a position signal. Specifically, a coordinate axis is established with the extension direction of the first yoke column 421 or the second yoke column 431 as the X-axis and the extension direction of the third yoke column 621 and the fourth yoke column 631 as the Y-axis, and the detection module 10 includes a first camera and a second camera. The measured position signal is specifically the position information of the controlled magnet in the plane where the X-axis and the Y-axis are located. The motion controller 20 generates a control signal according to the position signal and the target position of the controlled magnet, controls the magnitude and direction of the current on the first excitation winding 422, the second excitation winding 432, the third excitation winding 622 and the fourth excitation winding 632, and the first magnetic source component 40 and the second magnetic source component 60 generate a gradient magnetic field in the space in the X-axis direction and / or the space in the Y-axis direction, so that the controlled magnet in the magnetic field obtains the electromagnetic force in the X-axis direction and / or the Y-axis direction, and controls the controlled magnet to move in the plane where the X-axis and the Y-axis are located. When the gradient magnetic field generating device is working, the controlled magnet is placed in a working container, the working container is made of non-magnetic conductive material, and the interior is an air environment or a liquid environment.

[0043] like Figure 3 and Figure 7As shown, in one embodiment, the gradient magnetic field generating device further includes a third magnetic source component 80 and a third excitation control circuit 70; the third magnetic source component 80 includes a second magnetic yoke frame 61, a fifth electromagnetic magnetic source and a sixth electromagnetic magnetic source, the plane where the first magnetic yoke frame 41 is located and the plane where the second magnetic yoke frame 61 is located are perpendicular to each other, and the geometric centers of the first magnetic yoke frame 41 and the second magnetic yoke frame 61 overlap; in this embodiment, the first magnetic yoke frame 41 and the second magnetic yoke frame 61 are both centrally symmetrical structures, that is, the first magnetic yoke frame 41 and the second magnetic yoke frame 61 have the same symmetry center. The fifth electromagnetic magnetic source includes a fifth yoke column 821 and a fifth excitation winding 822 wound on the fifth yoke column 821, and the sixth electromagnetic magnetic source includes a sixth yoke column 831 and a sixth excitation winding 832 wound on the sixth yoke column 831, one end of the fifth yoke column 821 is connected to the first inner side of the second yoke frame 61, and one end of the sixth yoke column 831 is connected to the second inner side of the second yoke frame 61 opposite to the first inner side; the motion controller 20 is also configured to generate a third control signal according to the position signal, and the third excitation control circuit 70 is connected to the motion controller 20, and is configured to control the magnitude and direction of the current output to the fifth excitation winding 822 and the magnitude and direction of the current output to the sixth excitation winding 832 according to the third control signal.

[0044] like Figure 7 As shown, in one embodiment, the gradient magnetic field generating device further includes a third magnetic yoke frame 81, and the plane where the first magnetic yoke frame 41 is located, the plane where the second magnetic yoke frame 61 is located, and the plane where the third magnetic yoke frame 81 is located are perpendicular to each other, and the geometric centers of the three overlap, respectively used to transmit magnetic lines of force in three dimensions, reduce magnetic resistance, restrict the leakage magnetic flux of the induction coil from diffusing outward, and improve the magnetic induction intensity. In this embodiment, the first magnetic yoke frame 41, the second magnetic yoke frame 61, and the third magnetic yoke frame 81 are all centrally symmetrical structures, that is, the first magnetic yoke frame 41, the second magnetic yoke frame 61, and the third magnetic yoke frame 81 have the same symmetry center.

[0045] In this embodiment, the gradient magnetic field generating device is a three-dimensional magnetic field generating device, and the position detection module 10 includes a first camera, a second camera and a third camera. The first camera is configured to detect the projection of the controlled magnet on a plane perpendicular to the first yoke column 421 and the second yoke column 431, the second camera is configured to detect the projection of the controlled magnet on a plane perpendicular to the third yoke column 621 and the fourth yoke column 631, and the third camera is configured to detect the projection of the controlled magnet on a plane perpendicular to the fifth yoke column 821 and the sixth yoke column 831 to generate a position signal. Specifically, the extension direction of the first yoke column 421 or the second yoke column 431 is taken as the X-axis, the extension direction of the third yoke column 621 and the fourth yoke column 631 is taken as the Y-axis, and the The extension direction of the fifth magnetic yoke column 821 or the sixth magnetic yoke column 831 is to establish the coordinates of the Z axis. The detected position signal is specifically to detect the position information of the controlled magnet in the coordinate space. The motion controller 20 generates a control signal according to the position signal and the target position of the controlled magnet to control the magnitude and direction of the current on the first excitation winding 422, the second excitation winding 432, the third excitation winding 622, the fourth excitation winding 632, the fifth excitation winding 822 and the sixth excitation winding 832. The first magnetic source component 40 generates a gradient magnetic field in the space in the X-axis direction and / or the Y-axis direction and / or the Z-axis direction, so that the controlled magnet in the magnetic field obtains the electromagnetic force in the X-axis direction and / or the Y-axis direction and / or the Z-axis direction, and controls the controlled magnet to move in the coordinate space. When the magnetic field generating device is working, the controlled magnet is placed in a working container, and the working container is made of non-magnetic conductive material, and the interior is an air environment or a liquid environment.

[0046] By controlling the current in the first excitation winding 422 and the second excitation winding 432 through the current controller 32, a gradient magnetic field can be generated in the space in the X direction, so that the controlled magnet in the magnetic field obtains an electromagnetic force in the X direction; similarly, when it is necessary to control the controlled magnet to drive in the Y direction, the current in the third excitation winding 622 and the fourth excitation winding 632 is controlled by the current controller 32, so that a gradient magnetic field is generated in the space in the Y direction, so that the controlled magnet obtains an electromagnetic force in the Y direction; when it is necessary to control the controlled magnet to drive in the Z direction, the driving The device controls the current in the fifth excitation winding 822 and the sixth excitation winding 832 to generate a magnetic field gradient in the space in the Z direction, so that the controlled magnet obtains an electromagnetic force in the Z direction; and by simultaneously controlling the magnitude and direction of the current in the first excitation winding 422, the second excitation winding 432, the third excitation winding 622, the fourth excitation winding 632, the fifth excitation winding 822 and the sixth excitation winding 832, a variety of different magnetic fields can be combined to obtain driving forces of different driving directions and magnitudes, thereby controlling the controlled magnet to perform three-dimensional six-degree-of-freedom movement in space.

[0047] like Fig. 9As shown, in one embodiment, in addition to being similar to Figure 2 The regulated 2D magnetic field shown can also generate a 2D translational magnetic field by translating the magnetic source on the guide rail.

[0048] The following three groups of simulation experiments are as follows Figures 10 to 12 As shown. We take the two-dimensional magnetic field mode of the gradient magnetic field generating device of the present invention as an example, and take the working center of the two-dimensional magnetic field mode as the coordinate origin. First, only the third excitation winding 622 and the fourth excitation winding 632 are passed with a current of 15000A·n in the same direction, and a gradient magnetic field can be obtained. The simulation diagram is as shown in FIG. Fig.10 The display shows the magnetic field cloud map, magnetic flux distribution map, and magnetic field size curve on the Y axis. It can be seen that the device can obtain a very good gradient magnetic field; the controlled magnet is placed at the coordinate (0, 17.5), and through simulation, it can be obtained that the controlled magnet in the working space can be subjected to a force of 27.4N in the +Y direction. When the third excitation winding 622 is not energized and only the fourth excitation winding 632 is energized with a current of 10000A·n, the simulation diagram is as follows Fig.11 show, Fig.11 The magnetic field cloud map, magnetic flux distribution map, and magnetic field size curve on the Y axis are shown in the figure, and the force size and direction are marked in the magnetic field cloud map; through simulation, the controlled magnet in the workspace can be subjected to a force of 2.8N in the -Y direction. Fig.10 The simulation results show that the controlled magnet is subjected to a force in the opposite direction, which indicates that the force direction of the controlled magnet in the magnetic field is controllable. When the third excitation winding 622 is not energized and only the fourth excitation winding 632 is energized with a current of 15000A·n, the simulation diagram is as follows: Fig.12 The simulation results show that the controlled magnet is subjected to a force of 5.8N in the -Y direction. Fig.11 Compared with the results of the simulation experiment, the controlled magnet is subjected to a greater force in the same direction, proving that the magnitude of the force on the controlled magnet in the magnetic field is also controllable. Through the simulation of the two-dimensional magnetic field, it is proved that the magnitude and direction of the magnetic field strength in the two-dimensional direction are controllable. When combined into a three-dimensional magnetic field generating device, it can actually be regarded as a combination of three two-dimensional magnetic field devices, so the feasibility of the three-dimensional magnetic field generating device is also proved by the same logic; when we remove a pair of two-dimensional magnetic yoke columns and windings, the device becomes a one-dimensional controllable gradient magnetic field generating device, which proves that a gradient magnetic field with controllable size can be generated in one-dimensional, two-dimensional or three-dimensional space.

[0049] In addition, based on the above-mentioned gradient magnetic field generating device, an embodiment of the present invention further provides a space servo motion system, which includes the above-mentioned gradient magnetic field generating device. The position information of the controlled magnet is detected by the position detection module 10, and the motion controller 20 generates a control signal according to the position information of the controlled magnet, so as to control the magnitude and direction of the current output to the excitation winding through the excitation control circuit, so that the magnetic source component generates a magnetic field of a certain magnitude and direction, thereby controlling the movement of the controlled magnet. The excitation winding is used as the magnetic source, the magnetic yoke frame is used as the magnetic conductive device, and the motion controller 20 and the excitation control circuit are used as electromagnetic control elements to form a new controllable gradient magnetic field generating device, which constitutes a controllable gradient magnetic field generating device, which can make the central space field generate a high-stability gradient magnetic field with adjustable intensity, magnitude and direction, and drive the controlled magnet in the magnetic field to move arbitrarily in space.

[0050] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A gradient magnetic field generating device, characterized in that: The gradient magnetic field generating device comprises: a position detection module, a motion controller, a first magnetic source component and a first excitation control circuit; The first magnetic source assembly includes a first magnetic yoke frame, a first electromagnetic magnetic source and a second electromagnetic magnetic source; the first electromagnetic magnetic source includes a first magnetic yoke column and a first excitation winding wound on the first magnetic yoke column, the second electromagnetic magnetic source includes a second magnetic yoke column and a second excitation winding wound on the second magnetic yoke column, one end of the first magnetic yoke column is connected to a first inner side of the first magnetic yoke frame; one end of the second magnetic yoke column is connected to a second inner side of the first magnetic yoke frame opposite to the first inner side, the other end of the first magnetic yoke column is directly opposite to the other end of the second magnetic yoke column, and a working position of a controlled magnet is formed therebetween; The position detection module is configured to detect the position of the controlled magnet at the working position to generate a position signal, the motion controller is connected to the position detection module and configured to generate a first control signal according to the position signal, the first excitation control circuit is connected to the motion controller and configured to control the magnitude and direction of the current output to the first excitation winding and the magnitude and direction of the current output to the second excitation winding according to the first control signal, so that the first magnetic source component generates a magnetic field of a certain magnitude and direction, thereby controlling the movement of the controlled magnet; The gradient magnetic field generating device further comprises a second magnetic source component and a second excitation control circuit, a third magnetic source component and a third excitation control circuit; The second magnetic source component includes a third electromagnetic magnetic source and a fourth electromagnetic magnetic source; the third electromagnetic magnetic source includes a third yoke column and a third excitation winding wound on the third yoke column, the fourth electromagnetic magnetic source includes a fourth yoke column and a fourth excitation winding wound on the fourth yoke column, one end of the third yoke column is connected to the third inner side of the first yoke frame adjacent to the first inner side, and one end of the fourth yoke column is connected to the fourth inner side of the first yoke frame opposite to the third inner side; the motion controller is also configured to generate a second control signal according to the position signal, and the second excitation control circuit is connected to the motion controller The device is connected to the third excitation winding and configured to control the magnitude and direction of the current output to the third excitation winding and the magnitude and direction of the current output to the fourth excitation winding according to the second control signal; the third magnetic source assembly includes a second magnetic yoke frame, a fifth electromagnetic magnetic source and a sixth electromagnetic magnetic source, the plane where the first magnetic yoke frame is located and the plane where the second magnetic yoke frame is located are perpendicular to each other, and the geometric centers of the first magnetic yoke frame and the second magnetic yoke frame overlap; the gradient magnetic field generating device also includes a third magnetic yoke frame, the plane where the first magnetic yoke frame is located, the plane where the second magnetic yoke frame is located and the plane where the third magnetic yoke frame is located are perpendicular to each other, and the geometric centers of the three overlap; Among them, the gradient magnetic field generating device is a three-dimensional magnetic field generating device, and the position detection module includes a first camera, a second camera and a third camera. The first camera is configured to detect the projection of the controlled magnet on a plane perpendicular to the first yoke column and the second yoke column, the second camera is configured to detect the projection of the controlled magnet on a plane perpendicular to the third yoke column and the fourth yoke column, and the third camera is configured to detect the projection of the controlled magnet on a plane perpendicular to the fifth yoke column and the sixth yoke column to generate a position signal; the other end of the first yoke column, the other end of the second yoke column, the other end of the third yoke column, and the other end of the fourth yoke column are all provided with a V-shaped groove with a cross-section formed from the top surface downward, and the internal angle of the V-shaped groove is 90 degrees.

2. The gradient magnetic field generating device according to claim 1, characterized in that: The fifth electromagnetic magnetic source includes a fifth yoke column and a fifth excitation winding wound on the fifth yoke column, the sixth electromagnetic magnetic source includes a sixth yoke column and a sixth excitation winding wound on the sixth yoke column, one end of the fifth yoke column is connected to the first inner side of the second yoke frame, and one end of the sixth yoke column is connected to the second inner side of the second yoke frame opposite to the first inner side; the motion controller is also configured to generate a third control signal according to the position signal, and the third excitation control circuit is connected to the motion controller, and is configured to control the magnitude and direction of the current output to the fifth excitation winding and the magnitude and direction of the current output to the sixth excitation winding according to the third control signal.

3. The gradient magnetic field generating device according to claim 1, characterized in that: The first excitation control circuit includes two current control modules, which are respectively connected to the first excitation winding and the second excitation winding, and each current control module includes a current detection circuit, a current controller and a power driving circuit; The current detection circuit is configured to detect the output current of the power drive circuit, the current controller is connected to the current detection circuit and the motion controller, and is configured to generate a switching signal based on the control signal and the output current, the power drive circuit is connected to the current controller and the excitation winding, and is configured to control the magnitude and direction of the current output to the excitation winding according to the switching signal.

4. The gradient magnetic field generating device according to claim 3, characterized in that: The power driving circuit includes a first switch tube, a second switch tube, a third switch tube and a fourth switch tube; The gate of the first switch tube, the gate of the second switch tube, the gate of the third switch tube and the gate of the fourth switch tube are all connected to the current controller, the drain of the first switch tube and the drain of the second switch tube are both connected to the positive electrode of the DC power supply, the drain of the third switch tube is connected to the source of the first switch tube, the source of the third switch tube is connected to the negative electrode of the DC power supply, the drain of the fourth switch tube is connected to the source of the second switch tube, the source of the fourth switch tube is connected to the negative electrode of the DC power supply, and the common terminal of the drain of the third switch tube and the source of the first switch tube and the common terminal of the drain of the fourth switch tube and the source of the second switch tube are both connected to the excitation winding.

5. The gradient magnetic field generating device according to claim 1, characterized in that: A dovetail groove is provided on the inner side of a frame of the first yoke frame, a dovetail protrusion is provided at one end of the first yoke column, and the dovetail groove is matched and connected with the dovetail protrusion.

6. A spatial servo motion system, characterized in that: The spatial servo motion system comprises a gradient magnetic field generating device as claimed in any one of claims 1 to 5.

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