A lateral balance type magnetic levitation device and method

Abstract

A laterally balanced magnetic levitation device is disclosed, in which a levitation magnet is disposed in the space on one side of a vertical plane, and a magnetic assembly is provided on the vertical plane. The upper magnetic pole group attracts the levitation magnet, while the lower magnetic pole group repels it. At the same time, a non-magnetic object is placed below the magnetic poles of the levitation magnet near the vertical plane to balance the torque generated by the magnetic force on the levitation magnet. This allows the levitation magnet to achieve force balance and levitation, greatly reducing the possibility of the levitation magnet rotating around its own center point in the vertical plane and improving the stability of levitation. In addition, the levitation assembly is balanced and suspended on the side of a fixed vertical plate, and there are open spaces above and below the levitation magnet, which can provide a new design basis for commercial products and broaden the application range of magnetic levitation products.

Description

Technical Field

[0001] This invention relates to the field of magnetic levitation technology, and in particular to a laterally balanced magnetic levitation device and method. Background Technology

[0002] Magnetic levitation technology, with its non-contact, frictionless, and wear-free characteristics, has broad application scenarios in fields such as semiconductor integrated circuit equipment and external centrifugal blood pumps. Furthermore, due to its engaging nature and the various technologies involved, including magnetic fields, sensors, detection, signal processing, and automatic control, magnetic levitation-related products are also widely used in education, research, toys, and ornamental applications, forming a considerable industry scale. Examples include magnetic levitation wood-grain lamps, magnetic levitation globes, and magnetic levitation potted plants. Currently, magnetic levitation-related products on the market are generally divided into two types: pull-up and lift-up. In pull-up magnetic levitation devices, the space below the float is open, such as in magnetic levitation chandeliers; in lift-up magnetic levitation devices, the space above the float is open, such as in magnetic levitation potted plants. The design of existing magnetic levitation applications is limited by these two types of magnetic levitation, leading to increasing product homogenization in the market. If new magnetic levitation structural designs can be proposed, changing the form of the open space, new design ideas can be provided for commercial products, resulting in unique products and broadening the design and application scope of magnetic levitation products.

[0003] Chinese invention patent CN113381642A discloses a laterally balanced magnetic levitation device and method. This device allows for open spaces above and below the float, but the lateral space of the float is limited because it needs to be suspended between two fixed vertical plates. Chinese invention patent CN114963135A discloses a laterally encircling levitation device and its lighting product. In this device, both the upper and lower parts of the float are open spaces, and the stator exists only on one side of the float, leaving the other side as an open space. This significantly changes the form of the open space. However, because the stator uses a ring-shaped permanent magnet or a ring-shaped permanent magnet composed of multiple magnet arrays, considering the horizontal plane γ where the center of the ring-shaped permanent magnet is located, the magnetization direction of the ring-shaped permanent magnet is the same above and below the horizontal plane γ, resulting in limited levitation force. Furthermore, the net torque generated by the ring-shaped permanent magnet or magnet array in the stator on the float may cause the float to rotate around its center in a vertical plane, leading to instability. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, the present invention provides a laterally balanced magnetic levitation device and method, which increases the magnitude of the levitation force on the float and fully considers the force balance and torque balance of the float to ensure the stability of the levitation state.

[0005] The laterally balanced magnetic levitation device disclosed herein includes: a magnet assembly, a levitation assembly, and a vertical plane for mounting and fixing the magnet assembly, wherein:

[0006] The magnet assembly includes multiple permanent magnets and / or electromagnets, each magnet being arranged in parallel along one side of the vertical plane, with the arrangement direction of the two magnetic poles perpendicular to the plane; and the magnet assembly includes an upper group of magnets and a lower group of magnets, with the magnetic poles of the upper group and the lower group arranged in opposite directions;

[0007] The levitation component includes a levitation magnet and a non-magnetic object, wherein:

[0008] The magnetic pole arrangement direction of the suspended magnet is parallel to the magnetic pole direction of the magnet in the vertical plane, with one magnetic pole facing the vertical plane, attracting the outer end of the upper group of magnets in the plane and repelling the outer end of the lower group of magnets.

[0009] The non-magnetic object is installed directly below the magnetic poles facing the vertical plane in the levitation magnet. Under the combined action of the gravity provided by the object and the magnetic force provided by the magnet assembly, the resultant force and resultant torque on the levitation magnet are both zero, and it is suspended in equilibrium on one side of the vertical plane.

[0010] Furthermore, the magnet assembly includes a plurality of electromagnets, and also includes: a magnetic field sensor, and a control device, wherein:

[0011] A magnetic field sensor, installed in the vertical plane, is used to detect the position of the suspended magnet; a Hall sensor may be used.

[0012] The control device is used to individually control the power of each electromagnet based on data from the magnetic field sensor, so as to adjust the position or state of the levitated magnet or keep it in a balanced state.

[0013] Furthermore, the magnets on the vertical plane are arranged in a ring array, with each magnet symmetrically distributed front to back relative to the vertical plane where the array axis is located, and symmetrically distributed up to down relative to the horizontal plane where the array axis is located: the upper magnets are the upper group of magnets, and the lower magnets are the lower group of magnets.

[0014] Furthermore, the magnet assembly includes multiple permanent magnets and multiple electromagnets, with the two types of magnets forming a ring array and arranged coaxially. The ring array formed by the electromagnets is located on the inner side, and the magnetic field sensor is located at the center of the ring array.

[0015] Furthermore, the magnetic field sensor includes a lateral detection element and a longitudinal detection element.

[0016] This disclosure also provides a lateral balance magnetic levitation method using the above-described device, comprising the following steps:

[0017] The levitation magnet is placed in the side area of ​​the vertical plane with two magnetic poles distributed on the left and right sides. The position of the levitation magnet is adjusted so that its axis coincides with the axis of the ring array of permanent magnets.

[0018] Choose a suitable non-magnetic object whose center of mass position and mass satisfy the following condition: the total torque τ acting on the levitation magnet relative to its two magnetic pole center points O is τ = τ M +τ q =0, where τ M τ is the torque generated by the magnetic force of the permanent magnet on the suspending magnet. q This is the torque exerted by gravity on a non-magnetic object about point O.

[0019] The method also includes the following steps:

[0020] When external interference occurs, the magnetic field sensor monitors the position status of the levitated magnet in real time and transmits the position status information data to the control device.

[0021] The control device individually controls the power of each electromagnet based on the data, applies electromagnetic force to the levitating magnet, adjusts it back to a balanced state, and maintains it.

[0022] Compared with the prior art, the beneficial effects of this disclosure are: (1) By using magnetic and non-magnetic objects in the suspension component, the net torque on the suspended magnet is zero, which greatly reduces the possibility of the suspended magnet rotating around its own center point in the vertical plane and improves the stability of suspension; (2) The suspension component is suspended in a balanced manner on the side of the fixed plate, and the space above and below the suspended magnet is open, which can provide a basis for new designs for commercial products and broaden the application range of magnetic levitation products; (3) The structure is simple and easy to implement. Attached Figure Description

[0023] The above and other objects, features and advantages of this disclosure will become more apparent from the more detailed description of exemplary embodiments of this disclosure taken in conjunction with the accompanying drawings, in which the same reference numerals generally represent the same components.

[0024] Figure 1 This is a schematic diagram of a first exemplary embodiment of the present disclosure;

[0025] Figure 2 This is a side view and a force diagram of the levitating magnet in the first embodiment;

[0026] Figure 3 This is a schematic diagram of the layout of the fixed upright plate and its components in the first embodiment;

[0027] Figure 4 This is a schematic diagram of a second exemplary embodiment of the structure according to this disclosure;

[0028] Figure 5 This is a schematic diagram of the layout of the fixed upright plate and its components in the second embodiment;

[0029] In the diagram: 1. Suspended magnet, 2. Fixed plate, 3. Magnetic support assembly, 3A. Upper magnetic pole group, 3B. Lower magnetic pole group, 31. Permanent magnet, 4. Positioning platform, 5. Leveling assembly, 51. Electromagnet, 511. Cylindrical frame, 512. Solenoid coil, 52. Hall sensor, 521. Lateral detection element, 522. Longitudinal detection element, 53. Controller. Detailed Implementation

[0030] Preferred embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art.

[0031] This invention provides a laterally balanced magnetic levitation device, in which a levitation magnet is disposed in the space on one side of a vertical plane. It is levitated by force balance achieved through a magnetic assembly on the vertical plane. The upper magnetic pole group in the magnetic assembly attracts the levitation magnet, while the lower magnetic pole group repels it. At the same time, a non-magnetic object is placed below the magnetic poles of the levitation magnet near the vertical plane to balance the torque generated by the magnetic force on the levitation magnet, making the net torque on the levitation magnet zero. This greatly reduces the possibility of the levitation magnet rotating around its own center point in the vertical plane, improves the stability of levitation, and adds more options for the structural design of magnetic levitation application products.

[0032] Example 1

[0033] According to the present disclosure, a laterally balanced magnetic levitation device is provided, as shown in the attached figure. Figures 1 to 3 As shown, it includes a positioning platform 1, a fixed upright plate 2, a magnetic support assembly 3, a suspension assembly 4, and a leveling assembly 5. Among them:

[0034] The lower end of the fixed upright plate 2 is fixedly installed on the positioning platform 1 to maintain an upright position. The magnetic support assembly 3 includes several permanent magnets 31, which are distributed on one side of the fixed upright plate 2 and divided into an upper magnetic pole group 3A and a lower magnetic pole group 3B. The fixed upright plate is also equipped with a leveling assembly 5, which includes several electromagnets 51, a Hall sensor 52 as a magnetic field sensor, and a controller 53. The permanent magnets and electromagnets together provide a magnetic field for the levitation assembly.

[0035] The permanent magnets 31 on the fixed plate 2 are arranged in a ring array, preferably with 8 permanent magnets 31. The permanent magnets 31 are symmetrically distributed front and back with respect to the vertical plane where the array axis is located, and the permanent magnets 31 are symmetrically distributed vertically with respect to the horizontal plane where the array axis is located. The permanent magnets 31 located above the horizontal plane are the upper magnetic pole group 3A, and the permanent magnets 31 located below the horizontal plane are the lower magnetic pole group 3B. The outward magnetic pole direction of each permanent magnet 31 in the upper magnetic pole group 3A is opposite to the outward magnetic pole direction of each permanent magnet 31 in the lower magnetic pole group 3B.

[0036] In the leveling assembly 5, each electromagnet 51 is distributed on one side of the fixed upright plate 2 where the permanent magnets 31 are located. The electromagnets 51 are positioned inside the annular array formed by the permanent magnets 31, and the electromagnets 51 form an annular array arrangement. The axis of the annular array of each electromagnet 51 is coaxial with the axis of the annular array of each permanent magnet 31. Preferably, the fixed upright plate 2 has four electromagnets 51, two of which are located on the vertical plane where the array axis is located, and the other two are located on the horizontal plane where the array axis is located. Each electromagnet 51 includes a cylindrical frame 511 and a solenoid coil 512. The cylindrical frame 511 contains an iron core, and the solenoid coil 512 is wound around the cylindrical frame 511. The Hall sensor 52 is mounted on the fixed plate 2 and located at the center of the annular array. The Hall sensor 52 includes a transverse detection element 521 and a longitudinal detection element 522, which are used to detect the position of the levitation magnet 42. The controller 53 connects the Hall sensor 52 to each electromagnet 51. Through the data from the Hall sensor 52, the power of each electromagnet 51 is controlled individually, thereby adjusting or keeping the levitation magnet 42 in a balanced state.

[0037] The levitation assembly 4 includes a levitation magnet 42, a non-magnetic object 43, and a levitation platform 41 for connecting and fixing the two. The levitation magnet 42 and the non-magnetic object 43 are mounted on the levitation platform 41, with the non-magnetic object 43 located below the levitation magnet 42. The levitation magnet 42 has two magnetic poles, and its axis is coaxially arranged with the axis of the annular array of permanent magnets 31. One magnetic pole of the levitation magnet 42 faces the fixed plate 2 and is magnetically attracted to the outer end of the levitation magnet 42 in the upper magnetic pole group 3A of the fixed plate 2, and magnetically repelled by the outer end of the levitation magnet 42 in the lower magnetic pole group 3B. The non-magnetic object 43 is located directly below the magnetic pole of the levitation magnet 42 facing the fixed plate 2. Under the combined action of the magnetic force provided by the magnet assembly on the fixed plate and the gravity provided by the non-magnetic object, the resultant force and resultant torque on the levitation magnet are both zero.

[0038] The principle and method of this type of laterally balanced magnetic levitation device are as follows:

[0039] The levitation magnet 42 is placed on the side of the fixed plate 2 with two magnetic poles distributed on the left and right sides. The levitation magnet 42 has a cylindrical structure and is adjusted so that its axis coincides with the axis of the annular array of permanent magnets 31. In this state, the end of the levitation magnet 42 facing the fixed plate 2 is magnetically attracted to the outer end of the permanent magnet 31 of the upper magnetic pole group 3A of the fixed plate 2, and magnetically repelled to the outer end of the permanent magnet 31 of the lower magnetic pole group 3B.

[0040] Further detailed analysis is as follows:

[0041] A spatial rectangular coordinate system is established with the center point O of the levitation magnet 42 as the origin, the vertical direction as the z-axis, and the central axis of the levitation magnet 42 as the y-axis. e1, e2, and e3 are the basis vectors of the x-axis, y-axis, and z-axis, respectively. In the vertical direction, the vertical component F1 of the attraction force F1 exerted by the upper magnetic pole group 3A of the fixed plate 2 on the levitation magnet 42 is considered. 1⊥ The vertical component F of the repulsive force F2 exerted by the lower magnetic pole group 3B of the fixed plate 2 on the levitation magnet 42. 2⊥ F 1⊥ and F 2⊥ Vertically upward, opposite to the direction of gravity acting on the levitation component 4, therefore, under the combined action of the magnetic support component 3 on the fixed upright plate 2, sufficient levitation force can be provided to ensure that the levitation magnet 4 experiences a levitation force (F) in the vertical direction. 1⊥ +F 2⊥ This balances with the gravity acting on the levitation component. In the horizontal direction, consider the horizontal component F1 of the attractive force F1 exerted by the upper magnetic pole group 3A of the fixed vertical plate 2 on the levitation magnet 42. 1∥ The horizontal component F of the repulsive force F2 exerted by the lower magnetic pole group 3B of the fixed plate 2 on the levitation magnet 42 2∥ Since each permanent magnet 31 is symmetrically distributed front to back in the vertical plane relative to the array axis, therefore F 1∥ and F 2∥ Both are symmetric about the vertical plane yOz. After considering the direction, we have F. 1∥ =|F 1∥ |e2,F 2∥ =|F 2∥ |e2. Furthermore, because the permanent magnets 31 on the fixed plate 2 are symmetrically distributed vertically relative to the transverse plane where the array axis is located, F 1∥ and F 2∥ They are equal in size, i.e., |F 1∥ |=|F 2∥ Therefore, in the horizontal direction, the levitation magnet 42 is subjected to a force F. 1∥ +F 2∥ =|F 1∥ |e2+|F 2∥|e2=0, indicating a state of force equilibrium. Thus, the levitation magnet 42 is in a state of force equilibrium in both the vertical and horizontal directions.

[0042] Furthermore, consider the torque acting on the levitation magnet 42. First, consider the torque exerted on the levitation magnet 42 by the magnetic forces generated by the permanent magnets 31 of the magnetic support assembly 3. The magnetization of the levitation magnet 42 is M = Me². In the external magnetic field B = B₁e₁ + B₂e₂ + B₃e₃ provided by the permanent magnets 31 of the magnetic support assembly 3, with point O as the reference point, the torque τ exerted on the levitation magnet 42 by the magnetic forces generated by the permanent magnets 31 of the magnetic support assembly 3 is... M =∫∫∫(M×V)dV=∫∫∫(-MB1e3+MB3e1)dV=M(∫∫∫B3dVe1-∫∫∫B1dVe3) (where dV represents the volume element of the levitation magnet 42). Since the permanent magnets 31 in the magnetic support assembly 3 are symmetrically distributed with respect to the vertical plane of the array axis, that is, symmetrically distributed with respect to the plane yOz, the x-direction component B1 of the external magnetic field B provided by each permanent magnet 31 is also symmetrically distributed with respect to the plane yOz. According to the symmetry and considering the direction of the magnetic field, we have ∫∫∫B1dV=0. Furthermore, in the magnetic support assembly 3, each permanent magnet 31 is symmetrically distributed vertically relative to the transverse plane where the array axis is located. However, the outward magnetic pole direction of each permanent magnet 31 in the upper magnetic pole group 3A is opposite to that of each permanent magnet 31 in the lower magnetic pole group 3B. Based on symmetry and considering the direction of the magnetic field, the torque τ on the levitation magnet 42 is obtained. M =∫∫∫B3dVe1, and ∫∫∫B3dV<0 (because B3<0 always holds true inside the levitation magnet 42), this torque causes the levitation magnet 42 to rotate around point O in the plane yOz. To balance the torque τ generated by the magnetic force... M This makes the net torque on the levitation magnet 42 zero, and the mass installed on the levitation platform 41 is m. q A non-magnetic object 43 is located directly below the levitation magnet 42. The center of mass Q of the non-magnetic object 43 lies in the plane yOz, and the distance from the center of mass Q to the plane xOz is l. q The gravitational force (m) acting on a non-magnetic object 43 q The torque τ of ge3 about the reference point O q =OQ×(-m q ge3)=l q m q The torque ge1 (where g is the acceleration due to gravity) causes the levitation magnet 42 to rotate about point O in the plane yOz. Thus, the total torque τ relative to the reference point O experienced by the levitation magnet 42 is τ = τ M +τ q =(M∫∫∫B3dV+l q m qg)e1, and ∫∫∫B3dV<0, l q m q g>0. Select a suitable non-magnetic object 43, so that l q and m q When the size is appropriate, the total torque τ = 0 is generated, so that the levitation magnet 42 can be in a state of torque balance.

[0043] In summary, the resultant force of the magnetic force on the levitation magnet 42 and the gravity on the levitation component 4 is 0, and the resultant torque on the levitation magnet 42 is 0. Therefore, the levitation magnet 42 can be suspended in equilibrium on the side of the fixed plate 2. Since the permanent magnets 31 are arranged in a ring array, and each permanent magnet 31 is symmetrically distributed front and back with respect to the vertical plane where the array axis is located, and symmetrically distributed vertically with respect to the horizontal plane where the array axis is located, this symmetrical layout makes the magnetic force on the levitation magnet 42 uniform and multidirectional. This gives the levitation magnet 42 a certain self-adjusting ability and fault tolerance, which can compensate for the manufacturing errors during product production.

[0044] Under conditions such as external vibration or the positioning platform 4 not being perfectly horizontal, the levitation magnet 42 will experience positional changes or a tendency to change position. If the positional change is too large, the levitation magnet 42 will fall out of the balance range that the magnetic support component 3 can achieve to balance the levitation magnet, causing the levitation magnet 42 to lose its levitation state. Therefore, a leveling component 5 is needed to compensate for this. The Hall sensor 52 includes a lateral detection element 521 and a longitudinal detection element 522, which can cover the vertical plane for detection. The Hall sensor 52 monitors the position status of the levitation magnet 42 in real time and transmits the position status information data to the controller 53. The controller 53 calculates based on the data information. If it detects that the position of the levitation magnet 42 has deviated, it controls the power of each electromagnet 51 individually, applies electromagnetic force to the levitation magnet 42, and adjusts it back to a balanced state and maintains it. For example, if the levitation magnet 42 is detected to be deviating in one direction, the power of the corresponding electromagnet 51 is increased or decreased to form an electromagnetic force in the opposite direction of deviation, adjusting the magnetic levitation body 1 back to a balanced state. Then, the power of each electromagnet 51 is decreased or increased again to form an electromagnetic force to keep the levitation magnet 42 in a balanced state. The leveling component 5 greatly improves the self-adjustment capability and fault tolerance of this lateral balance magnetic levitation device, improving the actual user experience.

[0045] Example 2

[0046] See Figure 4 and Figure 5In the leveling component 5 of this embodiment, the annular array axis of each electromagnet 51 is coaxially arranged with the annular array axis of each permanent magnet 31. The vertical plane β where the array axis is located and the horizontal plane γ where the array axis is located are respectively used as planes of symmetry. The four electromagnets 51 are arranged symmetrically in pairs. This helps to balance the current distribution of each electromagnet and prevents any single electromagnet from having excessive power. The remaining structure and working principle are similar to those in Specific Implementation Case 1.

[0047] The above technical solutions are merely exemplary embodiments of the present invention. For those skilled in the art, based on the application methods and principles disclosed in the present invention, it is easy to make various types of improvements or modifications, and not limited to the methods described in the specific embodiments of the present invention. Therefore, the methods described above are merely preferred and not restrictive.

Claims

1. A laterally balanced magnetic levitation device, characterized in that, include: A magnet assembly, a levitation assembly, and an upright plane for mounting and fixing the magnet assembly, wherein: The magnet assembly includes multiple permanent magnets and / or electromagnets, each magnet being arranged in parallel along one side of the vertical plane, with the arrangement direction of the two magnetic poles perpendicular to the plane; and the magnet assembly includes an upper group of magnets and a lower group of magnets, with the magnetic poles of the upper group and the lower group arranged in opposite directions; The levitation component includes a levitation magnet and a non-magnetic object, wherein: The magnetic pole arrangement direction of the suspended magnet is parallel to the magnetic pole direction of the magnet in the vertical plane, with one magnetic pole facing the vertical plane, attracting the outer end of the upper group of magnets in the plane and repelling the outer end of the lower group of magnets. The non-magnetic object is installed directly below the magnetic poles facing the vertical plane in the levitation magnet. Under the combined action of the gravity provided by the object and the magnetic force provided by the magnet assembly, the resultant force and resultant torque on the levitation magnet are both zero, and it is suspended in equilibrium on one side of the vertical plane.

2. The apparatus according to claim 1, characterized in that, The magnet assembly includes a plurality of electromagnets, and also includes: a magnetic field sensor, and a control device, wherein: A magnetic field sensor, installed in the vertical plane, is used to detect the position and status of the levitated magnet; The control device is used to individually control the power of each electromagnet based on data from the magnetic field sensor, so as to adjust the position or state of the levitated magnet or keep it in a balanced state.

3. The apparatus according to claim 2, characterized in that, The magnets on the vertical plane are arranged in a ring array. Each magnet is symmetrically distributed front to back with respect to the vertical plane where the array axis is located, and symmetrically distributed vertically with respect to the horizontal plane where the array axis is located: the upper magnets are the upper group of magnets, and the lower magnets are the lower group of magnets.

4. The apparatus according to claim 3, characterized in that, The magnet assembly includes multiple permanent magnets and multiple electromagnets. The two types of magnets form a ring array and are arranged coaxially. The ring array formed by the electromagnets is located on the inner side, and the magnetic field sensor is located at the center of the ring array.

5. The apparatus according to any one of claims 2-4, characterized in that, The magnetic field sensor includes a lateral detection element and a longitudinal detection element.

6. A laterally balanced magnetic levitation method using the device of claim 4 or 5, comprising the following steps: The levitation magnet is placed in the side area of ​​the vertical plane with two magnetic poles distributed on the left and right sides. The position of the levitation magnet is adjusted so that its axis coincides with the axis of the ring array of permanent magnets. Choose a suitable non-magnetic object whose center of mass position and mass satisfy the following condition: the total torque τ acting on the suspending magnet relative to its two magnetic pole center points O = M + q =0, where τ M τ is the torque generated by the magnetic force of the permanent magnet on the suspending magnet. q This is the torque exerted by gravity on a non-magnetic object about point O.

7. The method according to claim 6, further comprising the following step: When external interference occurs, the magnetic field sensor monitors the position status of the levitated magnet in real time and transmits the position status information data to the control device. The control device individually controls the power of each electromagnet based on the data, applies electromagnetic force to the suspending magnet, adjusts it back to a balanced state, and maintains it.

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