A two-degree-of-freedom magnetically driven platform and its control method

Abstract

This invention discloses a two-degree-of-freedom magnetically driven platform and its control method, relating to the field of two-degree-of-freedom platforms. This invention addresses the problem that existing two-degree-of-freedom platforms need to overcome significant resistance and suffer substantial energy loss during movement. In this invention, a first electromagnetic element array on a first base and a first permanent magnet array on a first movable slide form a first magnetic force, which causes the first movable slide and the first base to move relative to each other along a first slide rail. Similarly, a second electromagnetic element array on a second base and a second permanent magnet array on a second movable slide form a second magnetic force, which causes the second movable slide and the second base to move relative to each other along a first slide rail. The two-degree-of-freedom movement of the platform is achieved through magnetic field stress, reducing frictional losses during platform movement.

Description

Technical Field

[0001] This invention relates to the field of two-degree-of-freedom platforms, and in particular to a two-degree-of-freedom magnetically driven platform and its control method. Background Technology

[0002] Two-degree-of-freedom (DOF) platforms are primarily used in high-precision, long-distance machine tool processing and assembly operations, and are widely applied in common automation fields such as industrial measurement, material cutting, product welding, and parts assembly. Traditional two-degree-of-freedom platforms are mostly cross-shaped mechanical slides. They utilize a motor or manual operation to rotate a lead screw on a fixed guide rail, generating a thrust parallel to the guide rail, causing the movable slide to move along the guide rail. Two slides are fixed together vertically in a cross shape to form a two-degree-of-freedom mechanical slide. This type of mechanical slide converts the motor's rotary motion into linear motion, overcoming significant resistance and exhibiting drawbacks such as high heat dissipation and a complex control system. Summary of the Invention

[0003] To address the aforementioned problems, this invention provides a two-degree-of-freedom magnetically driven platform and its control method, which achieves two-degree-of-freedom movement of the platform through magnetic field stress, thereby reducing frictional losses generated during platform movement.

[0004] The present invention provides a two-degree-of-freedom magnetically driven platform, comprising a first platform, a second platform, and a connecting column connecting the first platform and the second platform. The first platform includes a first base, a first movable slide, and a first track. The first base is provided with a first electromagnetic element array composed of a plurality of first electromagnetic elements. The first movable slide is provided with a first permanent magnet array. The magnetic field generated by the first electromagnetic element array and the magnetic field of the first permanent magnet array form a first magnetic force. The first magnetic force causes the first movable slide and the first base to move relative to each other along the first slide track.

[0005] The second platform includes a second base, a second movable slide, and a second track. The second base is provided with a second electromagnetic element array consisting of a plurality of second electromagnetic elements. The second movable slide is provided with a second permanent magnet array. The magnetic field generated by the second electromagnetic element array and the magnetic field of the second permanent magnet array form a second magnetic force. The second magnetic force causes the second movable slide and the second base to move relative to each other along the second slide track.

[0006] Furthermore, a number of first electromagnetic elements are located on both sides of the first track and arranged in an array along the extension direction of the first track.

[0007] Furthermore, the first electromagnetic element is a conductor column or an excitation assembly, the excitation assembly including an iron core and a coil wound around the outside of the iron core.

[0008] Furthermore, the first permanent magnet array includes a uniform array of first permanent magnets located on both sides of the first movable slide, the arrangement direction of the first permanent magnets being perpendicular to the extension direction of the first track, and the polarities of the first permanent magnets being the same.

[0009] Furthermore, several second electromagnetic elements are located on both sides of the second track and arranged in an array along the extension direction of the second track.

[0010] Furthermore, the second electromagnetic element is a conductor column or an excitation assembly, the excitation assembly including an iron core and a coil wound around the outside of the iron core.

[0011] Furthermore, the second permanent magnet array includes a uniform array of second permanent magnets located on both sides of the second movable slide, the arrangement direction of the second permanent magnets being perpendicular to the extension direction of the second track, and the polarity of the second permanent magnets being the same.

[0012] Furthermore, the two-degree-of-freedom magnetic platform includes a control unit, which includes a central controller, a first excitation controller, and a second excitation controller. The first excitation controller outputs a control signal to adjust the magnitude and direction of the excitation current of the first excitation element, and the second excitation controller outputs a control signal to adjust the magnitude and direction of the excitation current of the second excitation element.

[0013] This invention provides a control method for a two-degree-of-freedom magnetically driven platform, implemented based on the aforementioned two-degree-of-freedom magnetically driven platform, comprising:

[0014] The first excitation controller outputs a control signal, the first excitation element is connected to current to form a first magnetic field, the first magnetic field and the magnetic field of the first permanent magnet array form a first magnetic force, and the first magnetic force uses the first moving slide table and the first base to move relative to each other along the first slide rail;

[0015] The second excitation controller outputs a control signal, and the second excitation element is connected to current to form a second magnetic field. The second magnetic field and the magnetic field of the second permanent magnet array form a second magnetic force. The second magnetic force is used to move the second movable slide table and the second base relative to each other along the second slide rail.

[0016] As described above, compared with the prior art, the present invention has the following advantages:

[0017] 1. This invention uses electromagnetic force instead of mechanical force, which greatly reduces frictional losses caused by platform movement. At the same time, it does not require any intermediate conversion method and directly converts electrical energy into mechanical energy, which improves efficiency and reduces the complexity of the control system and the device structure.

[0018] 2. The first and second platforms of the present invention move via guide rails, which can achieve the required position combination. The first and second platforms move independently in two degrees of freedom, which reduces the spatial volume of the platform and reduces the interference of the air gap magnetic field in the two directions.

[0019] 3. According to different weighing requirements, the first electromagnetic element and the second electromagnetic element can be flexibly selected as current-carrying conductors, coils, or a combination of both, which greatly improves the utilization rate of magnetic field energy and meets different needs.

[0020] 4. The first and second permanent magnet arrays of the present invention use surface-mount permanent magnets, which are easy to install, have a simple structure, and are easy to maintain.

[0021] 5. This invention controls the movement direction of the platform by changing the direction of the excitation current and adjusts the movement speed by changing the magnitude of the excitation current, thereby maximizing the utilization of the electromagnetic force of the electromagnetic components and improving operating efficiency. Attached Figure Description

[0022] Figure 1 This is a top view of the first platform according to a specific embodiment of the present invention;

[0023] Figure 2 This is a top view of the second platform according to a specific embodiment of the present invention;

[0024] Figure 3 These are top views of the first and second platforms according to a specific embodiment of the present invention;

[0025] Figure 4 This is a longitudinal cross-sectional schematic diagram of the first and second platforms in a specific embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of the control unit according to a specific embodiment of the present invention;

[0027] Figure 6 This is a schematic diagram of the excitation module according to a specific embodiment of the present invention;

[0028] Figure 7 This is a schematic diagram of the control method for a two-degree-of-freedom platform according to a specific embodiment of the present invention;

[0029] Figure 8 This is a schematic diagram illustrating the positional changes of the first and second platforms when moving from point O to point P, according to a specific embodiment of the present invention.

[0030] Figure 9 This is a schematic diagram of the longitudinal section of the first and second platforms in a specific embodiment of the present invention;

[0031] Figure 10This is a schematic diagram of the longitudinal section of the first and second platforms in a specific embodiment three of the present invention.

[0032] In the figure, 1-first platform, 11-first base, 12-first movable slide, 13-first track, 14-first electromagnetic element, 15-first permanent magnet, 16-first magnetic field detector, 17-first position sensor, 2-second platform, 21-second base, 22-second movable slide, 23-second track, 24-second electromagnetic element, 25-second permanent magnet, 26-second magnetic field detector, 27-second position sensor, 3-connecting column. Detailed Implementation

[0033] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0034] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the illustrations only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0035] Example 1: A two-degree-of-freedom magnetic platform of this example includes a control unit, a first platform 1, a second platform 2, and a connecting column 3 connecting the first platform 1 and the second platform 2. The first platform 1 and the second platform 2 are arranged in an overlapping manner.

[0036] like Figure 1 As shown, the first platform 1 includes a first base 11, a first movable slide 12, and a first track 13. The first base 11 is provided with a first electromagnetic element array, which includes a plurality of first electromagnetic elements 14. The plurality of first electromagnetic elements 14 are located on both sides of the first track 13 and are uniformly arranged in an array along the extension direction of the first track 13. In this embodiment, the first base 11 has two edges parallel to the first track 13. The first electromagnetic elements 14 are uniformly installed on the two edges. A plurality of first magnetic field detectors 16 are installed between the first movable slide 12 and the edge of the first base 11.

[0037] The first movable slide 12 is equipped with a first permanent magnet array and a first position sensor 17. The first permanent magnet array includes first permanent magnets 15 evenly arranged on both sides of the first movable slide 12. The arrangement direction of the first permanent magnets 15 is perpendicular to the extension direction of the first track 13, and all the first permanent magnets 15 have the same polarity. The first permanent magnets 15 are surface-mount permanent magnets, and their specific number can be set and installed as needed. During operation, current is passed through the first electromagnetic element 14, thereby forming a magnetic field. This magnetic field and the magnetic field of the first permanent magnet array form a first magnetic force, which causes the first movable slide 12 and the first base 11 to move relative to each other along the first slide rail.

[0038] In this embodiment, the first electromagnetic element 14 is used to generate a magnetic field based on the electric field. In this embodiment, the electromagnetic element 14 is a conductor column, as shown in the figure, and the central axis of the conductor column is perpendicular to the first base 11. The electromagnetic element 14 can also adopt an excitation assembly structure, which includes an iron core and a coil wound around the outside of the iron core. During operation, both the conductor column and the excitation assembly generate a magnetic field based on the electric field to form a first magnetic force with the first permanent magnet array.

[0039] like Figure 2 As shown, similar to the first platform, the second platform includes a second base 21, a second movable slide 22, and a second track 23. The second base 21 is provided with an array of second electromagnetic elements 24 composed of a plurality of second electromagnetic elements 24. The plurality of second electromagnetic elements 24 are located on both sides of the second track 23 and arranged in an array along the extension direction of the second track 23. The second base 21 has two edges parallel to the second track 23. The second electromagnetic elements 24 are uniformly installed on the two edges. A plurality of uniformly arranged second magnetic field detectors 26 are provided between the second movable slide 22 and the edge of the second base 21.

[0040] The second movable slide 22 is equipped with a second permanent magnet array and a second position sensor 27. The second permanent magnet array includes second permanent magnets 25 evenly arranged on both sides of the second movable slide 22. The arrangement direction of the second permanent magnets 25 is perpendicular to the extension direction of the second track 23, and all the second permanent magnets 25 have the same polarity. The second permanent magnets 25 are patch-type permanent magnets, and their specific number can be set and installed as needed. During operation, current is passed into the second electromagnetic element 24, thereby forming a magnetic field. This magnetic field and the magnetic field of the second permanent magnet array form a second magnetic force, which causes the second movable slide 22 and the second base 21 to move relative to each other along the first slide rail.

[0041] like Figure 3As shown in this embodiment, the first platform 1 and the second platform 2 are positioned with the first platform 1 on top and the second platform 2 on the bottom. In specific applications, the relative positions between the first platform and the second platform can be arranged as needed. For example, the first platform and the second platform can be placed vertically or at other angles to meet different work requirements.

[0042] In this embodiment, the first base 11 and the first movable slide 12 are the objects to be adjusted. During use, the first movable slide 13 can be moved as a load-bearing platform. When only the load-bearing target needs to move in the X-axis direction, the magnitude of the excitation current on the first platform is controlled to make the first movable slide 12 move in the X-axis direction. If only the load-bearing target needs to move in the Y-axis direction, the first excitation controller does not operate. At this time, the second excitation controller controls the lower excitation current to push the first base 11 to move on the second guide rail 23, thereby realizing the movement of the load-bearing target in the Y-axis. The first and second exciters are linked through the first and second excitation controllers to realize the movement of the platform in two degrees of freedom.

[0043] In this embodiment, the extension direction of the first track 13 is perpendicular to the extension direction of the second track 23. For ease of description, the first track 13 is designated as the x-axis track and the second track 23 is designated as the y-axis track. The x-axis track is divided into left and right parts by the center line O1. The left side is designated as the -x-axis track and the right side is designated as the +x track. Similarly, the y-axis track is divided into upper and lower parts by the center line O2. The upper side is designated as the +y-axis track and the lower side is designated as the -y-axis track.

[0044] like Figure 4 As shown, Figure 4 To be Figure 3 A schematic diagram of the longitudinal section structure is obtained along line L1-L2. The first movable slide 12 and the first track 13 are both located on the upper surface of the first base 11. The lower end of the first movable slide 12 is embedded in the first track 13. Under the action of the first magnetic force, the first movable slide 12 can reciprocate within the first track 13. The second movable slide 22 and the second track 23 are both located on the upper surface of the second base 21. The lower end of the second movable slide 22 is embedded in the second track 23. Under the action of the second magnetic force, the second movable slide 22 reciprocates within the second track 23. The upper end of the connecting column 3 is fixed to the lower end of the first base 11, and the lower end of the connecting column 3 is fixedly connected to the second movable slide 22.

[0045] Depend on Figure 4As can be seen, the weight borne by the second movable slide 22 in this embodiment includes the weight of the first movable slide 12, the first base 11, and the connecting column 3. Therefore, the second movable slide 22 requires a large second magnetic force during movement. In this case, the electromagnetic element with a conductor column structure alone may not be able to meet the requirements. Therefore, the second electromagnetic element 24 in this embodiment adopts an excitation assembly structure. The excitation assembly consists of an iron core and a coil wound around the outside of the iron core. During operation, current is passed into the coil, and the excitation assembly generates the required magnetic field.

[0046] like Figure 5 As shown, the control unit in this embodiment includes a central controller, a first excitation controller, a second excitation controller, a first excitation current detection circuit, and a second excitation current detection circuit. The first excitation controller provides excitation current to the energized conductor column through a first excitation module. The number of first excitation modules is the same as the number of conductor columns. The first excitation controller provides excitation current to the corresponding conductor column through the first excitation module. Each first excitation module can output excitation current in two directions, and the magnitude and direction of the excitation current are adjusted by the excitation controller to control the magnetic field strength and direction of the energized conductor column. The second excitation controller provides excitation current to the excitation assembly through a second excitation module. The number of second excitation modules is the same as the number of excitation assemblies. The second excitation controller provides excitation current to the corresponding excitation assembly through the second excitation module. Each second excitation module can output excitation current in two directions, and the magnitude and direction of the excitation current are adjusted by the excitation controller to control the magnetic field strength and direction of the excitation assembly. The first position sensor and the second position sensor are used to detect the position information of the first movable slide 12 and the second movable slide 22. The central controller outputs current control commands according to the position information. The magnetic field detector feeds back the air gap magnetic field strength and magnetic field direction information to the excitation controller to realize the closed-loop control of the air gap magnetic field by the excitation controller.

[0047] In this embodiment, the first excitation module and the second excitation module have the same structure, such as Figure 6As shown, the system includes an energy storage inductor L1, a magnetizing inductor L2, a fast recovery diode D1, filter capacitors C1 and C2, a protection resistor R, and switching transistors Q1, Q2, Q3, Q4, and Q5. In this embodiment, the switching transistors (Q1 to Q5) are all fully controllable MOSFETs. One end of the energy storage inductor L1 is connected to the positive terminal of the DC power supply, and the other end of the energy storage inductor L1 is connected to the positive terminal of the fast recovery diode D1 and the drain of the switching transistor Q1. The source of the switching transistor Q1 is connected to the negative terminal of the DC power supply, the negative terminal of the fast recovery diode D1 is connected to one end of the filter capacitor C1, and the other end of the filter capacitor C1 is connected to the negative terminal of the DC power supply. The switching transistors Q2 and Q4 are connected in series to form the first bridge arm, and the switching transistors Q3 and Q5 are connected in series to form the second bridge arm. The midpoint of the first bridge arm is connected to one end of the protection resistor R through the magnetizing inductor L2, and the midpoint of the second bridge arm is connected to the other end of the protection resistor R. The two ends of the filter capacitor C2 are connected to the midpoints of the first and second bridge arms, respectively.

[0048] The energy storage inductor L1, fast recovery diode D1, and switch Q1 form a Boost converter circuit, while switches Q2 to Q5 form a commutator bridge circuit. When the circuit is working, the excitation controller generates a PWM wave to control the duty cycle of switch Q1 in the Boost converter circuit, thereby adjusting the magnitude of the excitation current. It also controls the on and off states of switches Q2 to Q5 in the commutator bridge to adjust the direction of the excitation current. In this embodiment, the excitation current is positive when switches Q2 and Q5 are turned on, and negative when switches Q3 and Q4 are turned on.

[0049] This invention provides a control method for a two-degree-of-freedom magnetically driven platform, implemented based on the aforementioned two-degree-of-freedom magnetically driven platform, comprising:

[0050] The first excitation controller outputs a control signal, the first excitation element is connected to current to form a first magnetic field, the first magnetic field and the magnetic field of the first permanent magnet array form a first magnetic force, the first magnetic force uses the first moving slide table 12 and the first base 11 to move relative to each other along the first slide rail;

[0051] The second excitation controller outputs a control signal, and the second excitation element is connected to current to form a second magnetic field. The second magnetic field and the magnetic field of the second permanent magnet array 25 form a second magnetic force. The second magnetic force uses the second moving slide table 22 and the second base 21 to move relative to each other along the second slide rail.

[0052] like Figure 10As shown, the first movable slide 12 is located at the midpoint of the first track 13, and the second movable slide 22 is located at the midpoint of the second track 23. The midpoints of the first and second movable slides coincide, and are set as the origin O. The first movable slide 12 needs to be moved to point P(x1, y1). The central controller sets the distance x1 by which the first movable slide 12 moves along the +x direction, and sets the distance y1 by which the second movable slide 22 moves along the +y axis direction.

[0053] First, move the first movable slide 12 to the right by a distance x1. When the polarity of the first permanent magnet 15 is N, an upward current is passed through the conductor post located on the upper edge of the first base 11, indicated by "·" in the figure. A downward current is passed through the conductor post located on the lower edge of the first base 11, indicated by "×" in the figure. Figure 1 As shown, the air gap magnetic field formed at this time pushes the first moving slide 12 to move to the right by a distance x1.

[0054] Then move the second movable slide 22 upwards by a distance y1: When the polarity of the second permanent magnet 25 is N, with the center line O3 of the second movable slide as the dividing line, in the initial position, the center line O3 and the center line O2 coincide. Excitation currents in different directions are passed into the coil of the excitation assembly, making the polarity of the excitation assembly above the center line O3 S, and the polarity of the excitation assembly below the center line O3 N, specifically as follows... Figure 2 As shown, the excitation component with magnetic pole S exerts an attractive force on the second permanent magnet 25, and the excitation component with magnetic pole N exerts a repulsive force on the second permanent magnet 25. The two forces combine in the y-axis direction to form a thrust, i.e., the second magnetic force, which pushes the second movable slide 22 to move a distance y1 in the +y-axis direction, so that the center point of the first movable slide moves to point P(x1, y1).

[0055] During operation, the second movable slide 22 can be moved upward by a distance y1, and then the first movable slide 12 can be moved to the right by a distance x1, using the same method as described above. When it is necessary to move the first movable slide 12 towards the -x axis, the direction of the current flowing into the conductor post is changed, thereby changing the direction of the first magnetic force, causing the first movable slide 12 to move towards the -x axis. When it is necessary to move the first movable slide 12 towards the -y axis, the direction of the current flowing into the coil in the excitation assembly is changed, thereby changing the direction of the second magnetic force, causing the first movable slide 12 to move towards the -y axis.

[0056] During the movement, if the magnetic force is too large when the distance to the target point is small, the movement may be too fast and exceed the expected distance due to external factors such as inertia. If the magnetic force is too small, the movement may be significantly different from the expected distance due to external factors such as friction. Both situations will affect the movement accuracy of the platform. Therefore, in this embodiment, the main controller adjusts the current flowing through the first electromagnetic element 14 and the second electromagnetic element 24 according to the movement distance to adjust the movement speed. The control principle is as follows: Figure 7 As shown.

[0057] Two position sensors acquire position signals from the two degrees of freedom of movement, respectively. These signals are then filtered by a Kalman filter observer to obtain the actual displacement values ​​(x, y) and the actual platform movement velocity (V) in the two degrees of freedom directions. x V y ), reference values ​​for two degrees of freedom (x) * y * The difference between the actual value (x, y) and the actual value (x, y) is used to obtain the platform speed reference value (V) through the position loop controller. x * V y * Platform speed reference value (V) x * V y * Then compare with the actual platform speed value (V) x V y The difference is calculated, and the reference values ​​of the excitation current (I) of each excitation module of the first and second bodies are obtained through the speed loop controller. x * ,I y * The current sensor detects the actual value of the excitation current (I) of each excitation module. x I y ) and the excitation current reference value (I x * ,I y * The platform moves by controlling the duty cycle of the switching transistors in the excitation module circuit through a current loop controller to generate a PWM wave. During the platform's movement, the relative position between the excitation unit and the permanent magnet changes. To ensure continuous platform movement, a magnetic field detector detects the polarity of the magnetic field at the current position and determines the magnetic pole reversal point. When the magnetic field reversal point is reached, the direction of the excitation current is changed by adjusting the closing and closing of the switching transistors in the reversing bridge circuit of the excitation module, thus achieving continuous platform movement.

[0058] The magnetic field detector in this embodiment includes a detection coil. When the movable slide moves, the permanent magnets on both sides of the movable slide move synchronously. The change in the relative position of the permanent magnets and the excitation element causes the air gap magnetic field to change, which in turn causes the detection coil to generate an induced current. The magnitude and polarity of the current magnetic field are determined according to the magnitude and direction of the induced current in the detection coil of the magnetic field detector, and the reversal point position is determined according to the magnitude and polarity of the magnetic field.

[0059] Example 2: Figure 9 As shown, the difference between this embodiment and Embodiment 1 is that in this embodiment, the first movable slide 12 and the first track 13 are both located on the lower surface of the first base 11, and the upper end of the first movable slide 12 is embedded in the first track 13. The second movable slide 22 and the second track 23 are both located on the lower surface of the second base 21, and the upper end of the second movable slide 22 is embedded in the second track 23. The upper end of the connecting column 3 is fixed to the lower end of the first movable slide 12, and the lower end of the connecting column 3 is fixed to the upper end of the second base. During operation, the first base remains stationary. By adjusting the direction and magnitude of the current supplied to the first electromagnetic element 14 and the second electromagnetic element 24, the second movable slide is moved to a designated position. For the specific moving method, please refer to the control method of Embodiment 1, which will not be repeated here.

[0060] Since the first movable slide 12 in this embodiment bears a large weight, the first electromagnetic element 14 in this embodiment can adopt the form of an excitation assembly structure, while the second movable slide 22 bears a relatively small weight, so the second electromagnetic element 15 can adopt the form of a conductor column.

[0061] Example 3: Figure 10 As shown, the difference between this embodiment and Embodiment 1 is that in this embodiment, the first track 13 passes through the upper and lower sides of the first base 11, and the second track 23 passes through the upper and lower sides of the second base 21. The upper end of the connecting column 3 passes through the first track 13 and connects to the first movable slide 12. The lower end of the connecting column passes through the second movable slide 22 and extends into the second track 23. When it is necessary to move in the positive / negative x-axis direction within the first track, the direction of the current is adjusted so that the first movable slide 12 moves along the first track 13. At the same time, the connecting column 3 drives the second base 21 to move synchronously with the first movable slide 12. When it is necessary to move in the positive / negative y-axis direction within the second track, the direction of the current is adjusted so that the second movable slide 22 moves along the second track 23. At the same time, the connecting column 3 drives the first base 11 to move synchronously with the second movable slide 22. For the specific movement control method, please refer to the control method of Embodiment 1, which will not be repeated here.

[0062] This invention differs from traditional mechanical slide tables that rely on external motor traction. Instead, it utilizes the interaction principle between a energized conductor or excitation component and a permanent magnet array within the air gap magnetic field. This allows for two-degree-of-freedom movement—lateral and longitudinal—on the first base 11 and the second base 12, significantly reducing frictional losses between the moving slide table and the fixed guide rail, thus improving operational efficiency. A magnetic field detector and a position sensor detect the direction of the air gap magnetic field and the platform's position. The excitation control system adjusts the magnitude and direction of the excitation current to alter the strength and direction of the air gap magnetic field, enabling precise movement of the platform in both directions. Furthermore, the platform movement process of this invention requires no motion conversion, simplifying the structure while reducing frictional losses and extending the platform's service life.

[0063] Compared to existing single-layer platform structures, this invention employs a two-sided platform structure, allowing the magnetic forces in the first and second guide rails to be independent and complementary. This avoids the problems of platform movement being hindered and movement accuracy reduced due to the interaction of surrounding magnetic field stresses in single-layer platform structures. The excitation control strategy of this invention is simpler than that of single-layer platform control; the two platforms can be controlled independently, and the position signals and control commands of both platforms are easily acquired without interference. Even in the event of a sudden external power outage, the platform can still move between the two platforms in two degrees of freedom using external propulsion, offering greater application flexibility.

[0064] The above embodiments can be applied in different scenarios to achieve free movement of the platform in two-dimensional space through magnetic field stress. These embodiments are merely illustrative of the principles and effects of the invention and are not intended to limit the invention. Anyone skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this invention should still be covered by the claims of this invention.

Claims

1. A two-degree-of-freedom magnetically driven platform, characterized in that, The system includes a first platform, a second platform, and a connecting column connecting the first platform and the second platform. The first platform includes a first base, a first movable slide, and a first track. The first base is provided with a first electromagnetic element array composed of a plurality of first electromagnetic elements. The first movable slide is provided with a first permanent magnet array. The magnetic field generated by the first electromagnetic element array and the magnetic field of the first permanent magnet array form a first magnetic force. The first magnetic force causes the first movable slide and the first base to move relative to each other along the first slide track. The plurality of first electromagnetic elements are located on both sides of the first track and are arranged in an array along the extension direction of the first track. The second platform includes a second base, a second movable slide, and a second track. The second base is provided with a second electromagnetic element array consisting of a plurality of second electromagnetic elements. The second movable slide is provided with a second permanent magnet array. The magnetic field generated by the second electromagnetic element array and the magnetic field of the second permanent magnet array form a second magnetic force. The second magnetic force causes the second movable slide and the second base to move relative to each other along the second slide track. The plurality of second electromagnetic elements are located on both sides of the second track and are arranged in an array along the extension direction of the second track. The first electromagnetic element is a conductor column or an excitation assembly. The excitation assembly includes an iron core and a coil wound around the outside of the iron core. The first permanent magnet array includes first permanent magnets arranged in a uniform array on both sides of the first moving slide. The arrangement direction of the first permanent magnets is perpendicular to the extension direction of the first track, and the polarities of the first permanent magnets are the same. The second electromagnetic element is a conductor column or an excitation assembly. The excitation assembly includes an iron core and a coil wound around the outside of the iron core. The second permanent magnet array includes second permanent magnets arranged in a uniform array on both sides of the second moving slide. The arrangement direction of the second permanent magnets is perpendicular to the extension direction of the second track, and the polarities of the second permanent magnets are the same.

2. The two-degree-of-freedom magnetically driven platform according to claim 1, characterized in that, The two-degree-of-freedom magnetic platform includes a control unit, which includes a central controller, a first excitation controller, and a second excitation controller. The first excitation controller outputs a control signal to adjust the magnitude and direction of the excitation current of the first excitation element, and the second excitation controller outputs a control signal to adjust the magnitude and direction of the excitation current of the second excitation element.

3. A control method for a two-degree-of-freedom magnetically driven platform, characterized in that, Based on the two-degree-of-freedom magnetically driven platform described in any one of claims 1-2, it includes: The first excitation controller outputs a control signal, the first excitation element is connected to current to form a first magnetic field, the first magnetic field and the magnetic field of the first permanent magnet array form a first magnetic force, the first magnetic force uses the first moving slide table and the first base to move relative to each other along the first slide rail; a number of first electromagnetic elements are located on both sides of the first track and arranged in an array along the extension direction of the first track. The second excitation controller outputs a control signal, the second excitation element is connected to current to form a second magnetic field, the second magnetic field and the magnetic field of the second permanent magnet array form a second magnetic force, the second magnetic force is used to move the second movable slide table and the second base relative to each other along the second slide rail; a number of second electromagnetic elements are located on both sides of the second track and arranged in an array along the extension direction of the second track.

Images