Dynamic homogeneous three-dimensional magnetic field generating device and method

Abstract

The application discloses a dynamic uniform three-dimensional magnetic field generating device and method, and belongs to the technical field of three-dimensional magnetic field construction. The application aims at the problem that the existing coaxial combined Halbach array method cannot generate a controllable dynamic uniform three-dimensional magnetic field. The device comprises a plurality of Halbach arrays, a transmission system, a driving system, a water cooling structure and an electromagnetic solenoid. The plurality of Halbach arrays are coaxially nested or symmetrically arranged along the axial direction. Each Halbach array is provided with a set of transmission system and driving system. The driving system drives the corresponding Halbach array to rotate through the transmission system. The electromagnetic solenoid is arranged in the plurality of Halbach arrays and coaxial with the plurality of Halbach arrays. The outer ring surface of the electromagnetic solenoid is provided with the water cooling structure. The application can improve the dynamic response frequency of the magnetic field generating device and has the dynamic regulation and control capability of the in-plane magnetic field strength and direction.

Description

Technical Field

[0001] This invention relates to a device and method for generating a dynamic uniform three-dimensional magnetic field, belonging to the field of three-dimensional magnetic field construction technology. Background Technology

[0002] Three-dimensional uniform magnetic fields have wide applications in scientific research. In robotics, to achieve remote control and rapid response, a three-dimensional uniform magnetic field can be used as a drive system to control robot movement, solving tasks that are difficult to perform in enclosed or narrow spaces. In the medical field, to achieve high safety for biological organisms, a three-dimensional uniform magnetic field can be used in medical devices or to control the movement of micro- and nano-robots within biological organisms, enabling precision medicine methods such as pathological analysis, minimally invasive surgery, and targeted drug delivery. In the field of smart materials, to achieve the characteristic of dynamically adjustable magnetic field strength and direction, a three-dimensional uniform magnetic field can be used as a magnetization device to program the magnetic arrangement of magnetically responsive composite materials, realizing complex mechanical deformation and shape transformation of magnetically responsive materials.

[0003] In existing technologies, three-dimensional magnetic field generating devices are typically built based on electromagnetic coils. These coil-based devices are driven by current, and the strength of the generated magnetic field is proportional to the driving current and inversely proportional to the square of the magnetic field strength. Furthermore, the magnetic field generated is only relatively uniform within a small space, which greatly limits the effective working space required for the design. At the same time, for the requirement of a uniform magnetic field over a large area or with high field strength, coil-type devices consume a great deal of energy, and most of the energy is dissipated in the form of Joule heat, requiring intermittent operation or external cooling devices to ensure continuous operation.

[0004] To overcome the drawbacks of electromagnetic coil-type devices, such as low magnetic field uniformity, high energy consumption, and high heat generation, there are precedents for using permanent magnets to generate uniform magnetic fields. Specifically, low-permeability permanent magnets are continuously rotated and arranged in a ring-shaped Halebeck array along their magnetization direction. A uniform magnetic field in the same direction is generated at the cross-section of the Halebeck array, and the strength and direction of the magnetic field are determined by the remanent magnetization of the permanent magnets and the array size. Simultaneously, using nested Halebeck arrays, the direction and angle between the magnetic vectors generated by the arrays are changed by adjusting the rotation angle of each array. Based on the principle of vector superposition, a uniform magnetic field with dynamically adjustable strength and direction is obtained.

[0005] However, due to the attenuation characteristics of the magnetic field strength, the use of a nested inner and outer ring Halebec array combination is necessary to achieve |B outer |=|B innerThe target magnetic field requires a large diameter for the outer Halebec array, resulting in a correspondingly large volume of permanent magnets. This leads to a large moment of inertia about the rotation axis, increasing the complexity of the mechanical mechanisms needed to adjust the rotation angle of the Halebec array. Furthermore, a large Halebec array is difficult to start, stop, reverse, or rotate frequently, limiting the generation of a dynamic magnetic field. Additionally, the method of coaxially combining Halebec arrays can only generate a dynamically uniform two-dimensional magnetic field, failing to meet the requirement of generating an adjustable dynamically uniform three-dimensional magnetic field. Summary of the Invention

[0006] To address the problem that existing methods using coaxial combined permanent magnet Helbeck arrays cannot generate a controllable, dynamically uniform three-dimensional magnetic field, this invention provides a device and method for generating a dynamically uniform three-dimensional magnetic field.

[0007] The present invention provides a dynamic uniform three-dimensional magnetic field generating device, comprising a Heilbeck array of multiple permanent magnets, a transmission system, a drive system, a water-cooling structure, and an electromagnetic solenoid.

[0008] Multiple permanent magnet Helbeck arrays are arranged coaxially nested or symmetrically distributed along the axis. Each permanent magnet Helbeck array is equipped with a transmission system and a drive system. The drive system drives the corresponding permanent magnet Helbeck array to rotate through the transmission system.

[0009] The electromagnetic solenoid is located inside a Helbeck array of permanent magnets and is coaxial with the array; the outer ring surface of the electromagnetic solenoid is equipped with a water-cooling structure.

[0010] According to the dynamic uniform three-dimensional magnetic field generating device of the present invention, the driving system is mounted on a carrier plate and is electrically connected to the magnetic field control system.

[0011] According to the dynamic uniform three-dimensional magnetic field generating device of the present invention, the permanent magnet Heilbeck array includes multiple permanent magnets and a skeleton component, and the multiple permanent magnets are respectively fixed in position by the skeleton component to form a Heilbeck array.

[0012] According to the dynamic uniform three-dimensional magnetic field generating device of the present invention, each permanent magnet Heilbeck array has its axial position defined by a rotating support structure mounted on a carrier plate.

[0013] According to the dynamic uniform three-dimensional magnetic field generating device of the present invention, the rotating support structure includes a fixed ring, a rotating ring, and three supporting components.

[0014] The three support components are evenly distributed along the circumference. The three support components are fixedly connected to the fixing ring. A rotating ring is set on the upper surface of the fixing ring. The rotating ring is connected to the skeleton component. The rotating ring is driven by the transmission system.

[0015] According to the present invention, the rotating ring and the skeleton component are integrated into a single unit.

[0016] According to the dynamic uniform three-dimensional magnetic field generating device of the present invention, the rotating support structure further includes a rolling element, and the rolling element is disposed between the fixed ring and the rotating ring.

[0017] According to the dynamic uniform three-dimensional magnetic field generating device of the present invention, the transmission system includes a driving wheel, a transmission belt, and a driven wheel.

[0018] The driving wheel is connected to the output shaft of the drive system, and the driving wheel is connected to the driven wheel through a transmission belt. The driven wheel is fixedly connected to the rotating ring.

[0019] The present invention also provides a method for generating a dynamic uniform three-dimensional magnetic field, implemented based on the aforementioned dynamic uniform three-dimensional magnetic field generating device, comprising:

[0020] Align multiple permanent magnet Helbeck arrays to their initial working positions, with the solenoids not energized;

[0021] The magnetic field control system obtains the in-plane magnetic vector component command signal based on the target three-dimensional magnetic field and converts it into the mutual angle between multiple permanent magnet Helbeck arrays; then, based on the difference between the mutual angle and the position of the corresponding permanent magnet Helbeck array, it generates the driving signal for each permanent magnet Helbeck array.

[0022] The magnetic field control system obtains the planar normal magnetic vector component command signal based on the target three-dimensional magnetic field, and converts it into the magnitude and direction of the current signal, which serves as the control signal for the electromagnetic solenoid.

[0023] The drive signal of the magnetic field control system controls the transmission system through the drive system to drive the corresponding permanent magnet Helbeck array to rotate to the target position;

[0024] The control signal of the magnetic field control system controls the electromagnetic solenoid to generate a magnetic field along the plane normal; at the same time, it controls the water-cooling structure to cool the electromagnetic solenoid.

[0025] This allows for the acquisition of a dynamically adjustable target three-dimensional magnetic field.

[0026] According to the dynamic uniform three-dimensional magnetic field generation method of the present invention, the generation of the driving signal for each permanent magnet Helbeck array includes: planning the rotation speed of the permanent magnet Helbeck array based on the difference between the mutual angle and the position of the corresponding permanent magnet Helbeck array, combined with the maximum acceleration of the drive system rotation, and generating the driving signal for the permanent magnet Helbeck array.

[0027] The beneficial effects of the present invention are as follows: The present invention achieves a three-dimensional uniform magnetic field with dynamically adjustable intensity and direction by vector superposition of a uniform magnetic field in the plane generated by a permanent magnet array and a uniform magnetic field along the plane normal generated by an electromagnetic solenoid.

[0028] This invention can not only improve the uniformity and strength of the magnetic field, but also reduce energy consumption, while expanding the uniform area and working space of the magnetic field.

[0029] This invention uses a permanent magnet Helbeck array as a magnetic field source, which can generate a large-scale, high-intensity uniform and constant magnetic field without consuming external energy, thus solving the defects of high energy consumption and high heat generation caused by electromagnetic coils in traditional large-scale, high-intensity methods.

[0030] This invention breaks through the traditional nested structure of uniform magnetic field generating devices based on Halebeck arrays. By using an optimized Halebeck array arrangement, the size of a single array is reduced, the rotational inertia of the Halebeck array about the rotation axis is lowered, the dynamic response frequency of the magnetic field generating device can be improved, and the dynamic control capability of the magnetic field strength and direction in the plane can be achieved. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the structure of the dynamic uniform three-dimensional magnetic field generating device described in this invention;

[0032] Figure 2 This is a schematic diagram of the structure of a permanent magnet Helbeck array;

[0033] Figure 3 This is a schematic diagram of the rotating support structure;

[0034] Figure 4 This is a schematic diagram of the transmission system;

[0035] Figure 5 This is a schematic diagram of an ideal Hellbeck array generating a uniform and constant magnetic field in the same direction;

[0036] Figure 6 This is a schematic diagram illustrating the principle of two Hellbeck arrays generating a controllable magnetic field at a plane of symmetry; in the diagram, Bouter represents the magnetic field generated by the outer ring permanent magnet Hellbeck array, Binner represents the magnetic field generated by the inner ring permanent magnet Hellbeck array, and B... total =B outer +B inner α represents the total magnetic field after the two Hellbeck arrays are superimposed; α is the angle between the direction of the magnetic field of the outer ring permanent magnet Hellbeck array or the inner ring permanent magnet Hellbeck array and the direction of the total magnetic field.

[0037] Figure 7 It corresponds Figure 6 A schematic diagram showing the variation of the adjustable magnetic field strength generated by the two Hellbeck arrays at a symmetrical cross section with α; Figure B max =|B total | max =|B outer|+|B inner |;The schematic diagrams of the magnetic arrangement of the Hellbeck array correspond to α being 0 degrees, 90 degrees, and 180 degrees, respectively;

[0038] Figure 8 This is a schematic diagram of the uniform and constant magnetic field generated by the Hellbeck array in the first specific embodiment;

[0039] Figure 9 This is a schematic diagram of the Heilbeck array arrangement structure in specific embodiment one;

[0040] Figure 10 This is a schematic diagram of the uniform and constant magnetic field generated by the Hellbeck array in the second specific embodiment;

[0041] Figure 11 This is a schematic diagram of the Hellbeck array arrangement structure in specific embodiment two; from top to bottom, they are Hellbeck arrays a, b, and c; plane 1 is the symmetrical plane of the three Hellbeck arrays;

[0042] Figure 12 This is a schematic diagram illustrating the principle of three Hellbeck arrays generating an adjustable magnetic field at the plane of symmetry in specific embodiment two; Figure B equivalent To treat the magnetic field generated by the Hellbeck arrays a and c as an equivalent array, B middle For the magnetic field generated by the Hellbeck array b, B total =B equivalent +B middle α is the total magnetic field after the equivalent Hellbeck array and the Hellbeck array b are superimposed; α is the angle between the direction of the magnetic field of the equivalent Hellbeck array or the Hellbeck array b and the direction of the total magnetic field.

[0043] Figure 13 This is a schematic diagram showing the change of the adjustable magnetic field strength generated by the three Hellbeck arrays at the plane of symmetry in the second specific embodiment as a function of α; the schematic diagrams of the magnetic arrangement of the Hellbeck arrays correspond to α being 0 degrees, 90 degrees and 180 degrees respectively;

[0044] Figure 14 The figure shows the in-plane magnetic field strength curve generated by the Hellbeck array b at the symmetrical cross-section in specific embodiment 2; the dashed line in the figure represents the magnetic field strength curve measured at the x-axis of symmetry of the symmetrical cross-section, and the solid line represents the magnetic field strength curve measured at the y-axis of symmetry of the symmetrical cross-section.

[0045] Figure 15 These are the in-plane magnetic induction intensity curves generated by the Hellbeck arrays a and c at the plane of symmetry in the second specific embodiment. The two curves are the magnetic field strength measured at the x-axis and y-axis positions of the plane, respectively.

[0046] Figure 16This is a simulation diagram of the uniform magnetic field generated by the electromagnetic solenoid in the working area in the second specific embodiment; in the figure, I=10 indicates that the excitation current is 10A, N=2000 indicates that the number of coil turns is 2000; the white lines represent magnetic field lines. Detailed Implementation

[0047] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0049] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the scope of the invention.

[0050] Specific Implementation Method 1: Combination Figures 1 to 4 As shown, the first aspect of the present invention provides a dynamic uniform three-dimensional magnetic field generating device, comprising a Heilbeck array of multiple permanent magnets 1, a transmission system 4, a drive system 5, a water-cooling structure 6, and an electromagnetic solenoid 7.

[0051] Multiple permanent magnet Hellbeck arrays 1 are arranged coaxially nested or symmetrically distributed along the axis. Each permanent magnet Hellbeck array 1 is equipped with a transmission system 4 and a drive system 5. The drive system 5 drives the corresponding permanent magnet Hellbeck array 1 to rotate through the transmission system 4.

[0052] An electromagnetic solenoid 7 is disposed inside a plurality of permanent magnet Hellbeck arrays 1 and is coaxial with the plurality of permanent magnet Hellbeck arrays 1; a water-cooling structure 6 is configured on the outer ring surface of the electromagnetic solenoid 7. The water-cooling structure 6 is installed outside the electromagnetic solenoid 7 and is installed together inside the Hellbeck array 1.

[0053] Hellbeck arrays of permanent magnets are used to generate in-plane magnetic fields, producing uniform magnetic fields with high field strength over a large area with relatively low energy consumption. A single Hellbeck array can generate a constant magnetic field. By combining multiple Hellbeck arrays and adjusting the rotation angle of each array, the direction of the magnetic vector generated by each array can be changed. Based on the principle of vector superposition, a uniform magnetic field with dynamically adjustable strength and direction can be obtained. However, the mechanical structure required to control the magnetic field generated by the Hellbeck array is relatively complex, limiting its application scenarios. To solve this problem, this embodiment arranges multiple Hellbeck arrays axially, increasing the structural space and reducing the rotational inertia of the array about the rotation axis.

[0054] In this embodiment, the Hellbeck array can generate a large-scale uniform magnetic field in its symmetry plane. When superimposed with the planar normal magnetic field vector generated by the electromagnetic solenoid, a three-dimensional uniform magnetic field can be obtained. In other words, the Hellbeck array device and the electromagnetic solenoid device are nested to realize the generation of a dynamic uniform three-dimensional magnetic field.

[0055] Furthermore, combined with Figure 1 As shown, the drive system 5 is mounted on the carrier plate 3, and the drive system 5 is electrically connected to the magnetic field control system.

[0056] Furthermore, combining Figure 2 As shown, the permanent magnet Helbeck array 1 includes multiple permanent magnets 1-1 and a frame component 1-2. The multiple permanent magnets 1-1 are fixed in position by the frame component 1-2 to form a Helbeck array. The frame component 1-2 can ensure the accuracy of the magnetic field generation of the Helbeck array and the assembly reliability.

[0057] When multiple permanent magnet Hellbeck arrays 1 are arranged in a coaxial nested configuration, the symmetrical cross-sections of the outer and inner Hellbeck arrays 1 coincide; when multiple Hellbeck arrays 1 are arranged in a symmetrically dispersed configuration along the axial direction, the symmetrical plane of the multiple Hellbeck arrays 1 is plane 1, such as... Figure 12 As shown, the Hellbeck arrays 1, which are symmetrical to each other in plane 1, are identical and remain relatively stationary.

[0058] When the multiple permanent magnet Halebec arrays 1 are arranged coaxially nested or symmetrically distributed along the axis, a discrete approximation of the ideal Halebec array structure is adopted. In the symmetrically distributed method along the axis, the plane of symmetry of the multiple Halebec arrays 1 is plane 1. The Halebec arrays 1 that are symmetrical to each other with plane 1 are completely identical and remain relatively stationary. As an equivalent array, they generate magnetic vectors with another array or equivalent array at the plane of symmetry of the multiple Halebec arrays 1. Based on the principle of vector superposition, a uniform magnetic field in the plane is generated.

[0059] Furthermore, combining Figure 1 and Figure 3 As shown, each permanent magnet Helbeck array 1 has its axial position defined by a rotating support structure 2, which is mounted on a carrier plate 3.

[0060] The rotating support structure 2 provides support for multiple permanent magnet Helbeck arrays 1, ensuring their relative positions and rotational degrees of freedom, allowing each Helbeck array 1 to rotate independently.

[0061] Furthermore, combining Figure 3 As shown, the rotating support structure 2 includes a fixed ring 2-1, a rotating ring 2-3, and three support components 2-4.

[0062] The three support components 2-4 are evenly distributed along the circumference. The three support components 2-4 are fixedly connected to the fixing ring 2-1. A rotating ring 2-3 is set on the upper surface of the fixing ring 2-1. The rotating ring 2-3 is connected to the skeleton component 1-2. The rotating ring 2-3 is driven by the transmission system 4.

[0063] As an example, the rotating ring 2-3 and the skeleton component 1-2 are integrated into one piece.

[0064] Furthermore, combining Figure 3 As shown, the rotating support structure 2 also includes a rolling element 2-2, which is disposed between the fixed ring 2-1 and the rotating ring 2-3; in a specific implementation, the rolling element 2-2 can be omitted, and sliding friction is performed between the fixed ring 2-1 and the rotating ring 2-3.

[0065] Furthermore, combining Figure 4 As shown, the transmission system 4 includes a driving pulley 4-1, a transmission belt 4-2, and a driven pulley 4-3.

[0066] The driving wheel 4-1 is connected to the output shaft of the drive system 5. The driving wheel 4-1 is connected to the driven wheel 4-3 through the transmission belt 4-2. The driven wheel 4-3 is fixedly connected to the rotating ring 2-3. The rotating ring 2-3 then drives the permanent magnet array to rotate through the skeleton component 1-2.

[0067] In this embodiment, the magnetic field control system sends commands to the drive system 5 based on the target magnetic field, driving the Hellbeck array 1 to rotate and adjusting its rotation angle to dynamically regulate the intensity and direction of the in-plane magnetic field component of the target magnetic field. Simultaneously, it energizes the electromagnetic solenoid 7, controlling the magnitude and direction of the current to dynamically regulate the intensity and direction of the in-plane normal magnetic field component of the target magnetic field. To achieve more precise control of the generated magnetic field, an encoder can be installed on the permanent magnet Hellbeck array 1 or the drive system 5 to perform closed-loop control of the generated magnetic field.

[0068] Specific Implementation Method Two: Combination Figures 5 to 16 As shown, another aspect of the present invention provides a method for generating a dynamic uniform three-dimensional magnetic field, implemented based on the dynamic uniform three-dimensional magnetic field generating device described in Specific Embodiment 1, comprising:

[0069] The mechanical system is initialized by aligning the multiple permanent magnet Helbeck array 1 to the initial working position, and the electromagnetic solenoid 7 is not energized; the magnetic field control system defines this state as zero.

[0070] The magnetic field control system obtains the in-plane magnetic vector component command signal based on the target three-dimensional magnetic field and converts it into the mutual angle between multiple permanent magnet Helbeck arrays 1; then, based on the difference between the mutual angle and the angle between the corresponding permanent magnet Helbeck array 1 position, it generates the driving signal for each permanent magnet Helbeck array 1.

[0071] The magnetic field control system obtains the planar normal magnetic vector component command signal based on the target three-dimensional magnetic field, and converts it into the magnitude and direction of the current signal, which serves as the control signal for the electromagnetic solenoid 7.

[0072] The drive signal of the magnetic field control system controls the transmission system 4 through the drive system 5 to rotate the corresponding permanent magnet Heilbeck array 1 to the target position;

[0073] The control signal of the magnetic field control system controls the electromagnetic solenoid 7 to generate a magnetic field along the plane normal; at the same time, it controls the water cooling structure 6 to cool the electromagnetic solenoid 7, control the temperature of the electromagnetic solenoid, and ensure its safe and continuous operation.

[0074] This allows for the acquisition of a dynamically adjustable target three-dimensional magnetic field.

[0075] The method of the present invention can wait for external command control signals at any time and repeat the above steps to achieve dynamic control of the three-dimensional magnetic field.

[0076] An ideal Hellbeck array magnet structure can generate a uniform magnetic field in the same direction, such as Figure 5 As shown. The working principle of this invention is: based on the superposition of magnetic vectors generated by multiple Hellbeck arrays at the array's symmetry plane, a uniform magnetic field with dynamically adjustable intensity and direction is generated within the plane, such as... Figure 6 and Figure 7 As shown.

[0077] Furthermore, the generation of the drive signal for each permanent magnet Hellbeck array 1 includes: planning the rotation speed of the permanent magnet Hellbeck array 1 based on the difference between the mutual angle and the position of the corresponding permanent magnet Hellbeck array 1, combined with the maximum acceleration of the rotation of the drive system 5, and generating the drive signal for the permanent magnet Hellbeck array 1.

[0078] An ideal Halebec array magnet structure can be viewed as a continuously rotating circular ring with a magnetization direction. However, in practice, it is impossible to fabricate permanent magnets with continuously changing magnetization directions. Therefore, in specific embodiments, a discrete approximation of the ideal Halebec array structure is used. This involves dividing the circular ring structure into several parts with the same shape and remanent magnetization, and arranging them according to a discrete change in magnetization direction. The discrete Halebec array magnet structure includes, but is not limited to, a circular ring Halebec array composed of polygonal cross-section permanent magnets, and a polygonal Halebec array composed of polygonal cross-section permanent magnets.

[0079] Specific Embodiment 1: A dynamic uniform three-dimensional magnetic field generating device is provided, comprising two Halebec arrays, a Halebec array rotating support structure, a transmission system, a drive system, a water-cooling structure, an electromagnetic solenoid, and a magnetic field control system. The Halebec arrays are mounted on a carrier plate via the rotating support mechanism; the drive system is mounted on the carrier plate and connected to the transmission system to drive the Halebec arrays to rotate; the drive system is electrically connected to the magnetic field control system; the water-cooling structure is mounted outside the electromagnetic solenoid and together they are mounted inside the Halebec arrays.

[0080] In this embodiment, a single Hellbeck array uses a circular ring Hellbeck array composed of permanent magnets with regular hexagonal cross-sections as a discrete approximation of the ideal Hellbeck array structure. This magnet structure uses 12 permanent magnets with the same shape, remanent magnetization, and magnetization direction, arranged in a rotating manner according to a regular magnetization direction. The angle between the magnetization directions of adjacent permanent magnets is 60°, which can generate a uniform and constant magnetic field in the same direction. Figure 8 As shown.

[0081] In this embodiment, the two Hellbeck arrays are arranged in a nested inner and outer ring configuration. The symmetrical cross-sections of the outer and inner Hellbeck arrays coincide, generating a large-scale uniform magnetic field in the plane at the symmetrical cross-sections. Figure 9 As shown.

[0082] In this embodiment, the electromagnetic solenoid is arranged inside the Hellbeck array, and its symmetrical cross-section coincides with the symmetrical cross-section of the Hellbeck array. When energized, it generates a uniform magnetic field along the plane normal.

[0083] The specific workflow is as follows:

[0084] 1. Mechanical system initialization: The outer ring Hellbeck array returns to its initial position, generating a large-scale uniform magnetic field at the symmetrical cross-section. The inner ring Hellbeck array generates a uniform magnetic field of the same intensity but opposite direction at the same overlapping plane, making the combined magnetic field strength 0. The electromagnetic solenoid is not energized, and the magnetic field control system defines this state as zero.

[0085] 2. The magnetic field control system receives the in-plane magnetic vector component command signal of the target three-dimensional magnetic field, converts it into the angle between the outer and inner Hellbeck arrays, compares the difference with the current angle, plans the movement speed of the Hellbeck array based on the maximum acceleration of the motor rotation, and generates a drive signal.

[0086] 3. Simultaneously, the magnetic field control system receives the command signal of the plane normal magnetic vector component of the target's three-dimensional magnetic field, converts it into the magnitude and direction of the current energizing the electromagnetic solenoid, and generates a control signal.

[0087] 4. The drive system receives drive signals from the magnetic field control system and drives each Helbeck array to rotate to the corresponding position;

[0088] 5. When the electromagnetic solenoid is energized, it generates a magnetic field normal to the plane, and the water-cooling structure starts to work, controlling the temperature of the electromagnetic solenoid to ensure its safe and continuous operation.

[0089] 6. The system is on standby. The magnetic field control system waits for external command signals and repeats steps 2-5. Specific Implementation Example 2:

[0091] This embodiment provides a dynamic uniform three-dimensional magnetic field generating device, including three Halebec arrays, a Halebec array rotating support structure, a transmission system, a drive system, a water-cooling structure, an electromagnetic solenoid, and a magnetic field control system. The Halebec arrays are mounted on a carrier plate via the rotating support mechanism; the drive system is mounted on the carrier plate and connected to the transmission system to drive the Halebec arrays to rotate; the drive system is electrically connected to the magnetic field control system; the water-cooling structure is mounted outside the electromagnetic solenoid and together they are mounted inside the Halebec arrays.

[0092] In this embodiment, a single Hellbeck array uses a circular ring Hellbeck array composed of square-section permanent magnets as a discrete approximation of the ideal Hellbeck array structure, and the magnetic field B generated at any point R is... array The magnetic field B generated at this point by the individual dipole permanent magnets that make up the array can be determined by the magnetic field B generated at that point. i Obtained through vector superposition, its intensity is Where r i This represents the position of each dipole. The magnet structure uses 16 permanent magnets of the same shape, remanent magnetization, and magnetization direction, arranged in a rotating manner according to a regular magnetization direction. The angle between the magnetization directions of adjacent permanent magnets is 45°, generating a uniform and constant magnetic field in the same direction. Figure 10 As shown.

[0093] In this embodiment, three Hellbeck arrays are arranged at equal intervals along the axial direction, and are named Hellbeck arrays a, b, and c from top to bottom. The plane of symmetry of the three Hellbeck arrays is plane 1, as shown below. Figure 11 As shown.

[0094] Hellbeck arrays a and c are symmetrical about plane 1. The two Hellbeck arrays are identical and remain relatively stationary, forming an equivalent array. Hellbeck array b is symmetrical about plane 1. All three Hellbeck arrays together generate a large-scale uniform magnetic field within plane 1. Figure 12 As shown.

[0095] The magnetic vectors generated by the three Hellbeck arrays are based on the principle of vector superposition, producing a uniform magnetic field with dynamically adjustable strength and direction at the array's symmetry plane, such as... Figure 13 As shown.

[0096] In this embodiment, the electromagnetic solenoid is arranged inside the Hellbeck array, and its symmetry plane coincides with the symmetry plane of the Hellbeck array. When energized, it generates a uniform magnetic field along the normal direction of the plane.

[0097] The specific workflow is as follows:

[0098] 1. Mechanical system initialization: Hellbeck arrays a and c remain relatively stationary. As an equivalent Hellbeck array, a large-scale uniform magnetic field is generated in the plane of symmetry. Hellbeck array b generates a uniform magnetic field with the same intensity but opposite direction in the same plane of symmetry, so that the combined magnetic field intensity is 0. The electromagnetic solenoid is not energized. The magnetic field control system defines this state as zero.

[0099] 2. The magnetic field control system receives the in-plane magnetic vector component command signal of the target three-dimensional magnetic field, converts it into the angle between the equivalent Hellbeck array and the Hellbeck array b, compares the difference with the current angle, plans the motion speed of the Hellbeck array according to the maximum acceleration of the motor rotation, and generates a drive signal.

[0100] 3. Simultaneously, the magnetic field control system receives the command signal of the plane normal magnetic vector component of the target's three-dimensional magnetic field, converts it into the magnitude and direction of the current energizing the electromagnetic solenoid, and generates a control signal.

[0101] 4. The drive system receives drive signals from the magnetic field control system and drives each Helbeck array to rotate to the corresponding position;

[0102] 5. When the electromagnetic solenoid is energized, it generates a magnetic field normal to the plane, and the water-cooling structure starts to work, controlling the temperature of the electromagnetic solenoid to ensure its safe and continuous operation.

[0103] 6. The system is on standby. The magnetic field control system waits for external command signals and repeats steps 2-5.

[0104] Effects of the invention: In specific embodiment two, when the permanent magnet geometric dimensions used in the permanent magnet Hellbeck array b are 25×25×25mm, the diameter of the permanent magnet's location is 19.75mm, and the remanent magnetization is 1T, the Hellbeck array b can generate a large-scale uniform magnetic field within its symmetrical cross-section. The magnetic field intensity curve at the center of its plane is shown in the figure. Figure 14As shown; when the permanent magnet geometric dimensions used in the permanent magnet Hellbeck arrays a and c are 25×25×17mm, the diameter of the permanent magnet location is 19.75mm, and the remanent magnetization is 1T, the Hellbeck arrays a and c can generate a large-scale uniform magnetic field at the plane of symmetry. The magnetic field intensity curve at the center of the plane is shown in the figure. Figure 15 As shown; when the electromagnetic solenoid excitation current is 10A, the number of enameled wire turns is 2000, the inner diameter of the solenoid is 78mm, the outer diameter of the solenoid is 154mm, and the height of the solenoid is 106mm, the electromagnetic solenoid will generate a uniform magnetic field in the working area. The simulation of its magnetic field line distribution and magnetic induction intensity is as follows. Figure 16 As shown.

[0105] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A device for generating a dynamic uniform three-dimensional magnetic field, characterized in that... It includes a Heilbeck array of multiple permanent magnets (1), a transmission system (4), a drive system (5), a water-cooling structure (6), and an electromagnetic solenoid (7). Multiple permanent magnet Helbeck arrays (1) are arranged coaxially nested or symmetrically distributed along the axis. Each permanent magnet Helbeck array (1) is equipped with a transmission system (4) and a drive system (5). The drive system (5) drives the corresponding permanent magnet Helbeck array (1) to rotate through the transmission system (4). The electromagnetic solenoid (7) is located inside the multiple permanent magnet Helbeck array (1) and is coaxial with the multiple permanent magnet Helbeck array (1); the outer ring surface of the electromagnetic solenoid (7) is equipped with a water-cooling structure (6). The permanent magnet Helbeck array (1) includes multiple permanent magnets (1-1) and a skeleton component (1-2). The multiple permanent magnets (1-1) are fixed in position by the skeleton component (1-2) to form a Helbeck array. Each permanent magnet Helbeck array (1) is positioned axially by a rotating support structure (2) mounted on a carrier plate (3); The rotating support structure (2) includes a fixed ring (2-1), a rotating ring (2-3), and three support components (2-4). The three support components (2-4) are evenly distributed along the circumference. The three support components (2-4) are fixedly connected to the fixing ring (2-1). A rotating ring (2-3) is set on the upper surface of the fixing ring (2-1). The rotating ring (2-3) is connected to the skeleton component (1-2). The rotating ring (2-3) is driven by the transmission system (4).

2. The dynamic uniform three-dimensional magnetic field generating device according to claim 1, characterized in that, The drive system (5) is mounted on the carrier plate (3) and is electrically connected to the magnetic field control system.

3. The dynamic uniform three-dimensional magnetic field generating device according to claim 1, characterized in that, The rotating ring (2-3) and the skeleton component (1-2) are integrated into one piece.

4. The dynamic uniform three-dimensional magnetic field generating device according to claim 3, characterized in that, The rotating support structure (2) also includes a rolling element (2-2), and the rolling element (2-2) is disposed between the fixed ring (2-1) and the rotating ring (2-3).

5. The dynamic uniform three-dimensional magnetic field generating device according to claim 4, characterized in that, The transmission system (4) includes a driving pulley (4-1), a transmission belt (4-2), and a driven pulley (4-3). The driving wheel (4-1) is connected to the output shaft of the drive system (5). The driving wheel (4-1) is connected to the driven wheel (4-3) through the transmission belt (4-2). The driven wheel (4-3) is fixedly connected to the rotating ring (2-3).

6. A method for generating a dynamic uniform three-dimensional magnetic field, implemented based on the dynamic uniform three-dimensional magnetic field generating device according to any one of claims 1 to 5, characterized in that... include: Align multiple permanent magnet Helbeck arrays (1) to their initial working positions, with the solenoid (7) not energized; The magnetic field control system obtains the in-plane magnetic vector component command signal based on the target three-dimensional magnetic field and converts it into the mutual angle between multiple permanent magnet Helbeck arrays (1); then, based on the difference between the mutual angle and the position of the corresponding permanent magnet Helbeck array (1), it generates the driving signal for each permanent magnet Helbeck array (1). The magnetic field control system obtains the planar normal magnetic vector component command signal based on the target three-dimensional magnetic field and converts it into the magnitude and direction of the current signal, which serves as the control signal for the electromagnetic solenoid (7). The drive signal of the magnetic field control system controls the transmission system (4) through the drive system (5) to rotate the corresponding permanent magnet Heilbeck array (1) to the target position; The control signal of the magnetic field control system controls the electromagnetic solenoid (7) to generate a magnetic field along the plane normal; at the same time, it controls the water cooling structure (6) to cool the electromagnetic solenoid (7); This allows for the acquisition of a dynamically adjustable target three-dimensional magnetic field.

7. The method for generating a dynamic uniform three-dimensional magnetic field according to claim 6, characterized in that, The generation of the driving signal for each permanent magnet Helbeck array (1) includes: planning the rotation speed of the permanent magnet Helbeck array (1) based on the difference between the mutual angle and the position of the corresponding permanent magnet Helbeck array (1) and the maximum acceleration of the rotation of the driving system (5), and generating the driving signal for the permanent magnet Helbeck array (1).

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