Control method of magnetic suspension stirrer

Abstract

The invention discloses a control method of a magnetic suspension stirrer, and relates to the technical field of magnetic suspension motors. The magnetic suspension stirrer comprises a stand column, a stator assembly and an outer rotor assembly, the stator assembly is arranged on the stand column, the periphery of the stand column is sleeved with the outer rotor assembly, and the stator assembly is used for applying suspension force and torque to the outer rotor assembly; the magnetic suspension stirrer comprises an axial displacement control device, and the axial displacement control device is used for adjusting the axial position of the outer rotor assembly along the stand column; the control method comprises the following steps: determining a stirring strategy according to the condition of a stirred object; according to a stirring strategy, an axial displacement control device drives the outer rotor assembly to be adjusted to a target stirring position in the axial direction of the stand column; and the outer rotor assembly is controlled to rotate to implement stirring operation. According to the scheme, at least the mixing uniformity of the stirred object can be effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of magnetic levitation motors, and in particular to a control method for a magnetic levitation agitator. Background Art

[0002] In the fields of medicine, biochemistry, etc., stirring devices are often needed, for example, to stir and mix liquid medicines, suspend cells and culture them. The use of traditional stirring devices will bring some negative problems, such as the abrasives generated by the friction of mechanical bearings contacting the materials will enter the stirred material, affecting the purity of the product; friction generates heat, affecting the low-temperature preparation environment; and the oil and other materials brought in by maintenance will contaminate the stirred material. Therefore, in fields such as medicine and biochemistry that have strict requirements on the reaction environment, magnetic levitation stirrers are usually used to implement stirring operations to deal with the aforementioned problems of traditional stirrers.

[0003] In the related art, the magnetic levitation stirrer includes a column, a stator and a rotor impeller, wherein the stator is arranged on the column, the rotor impeller is mounted on the column corresponding to the stator, and the magnetic field generated by the stator is used to achieve the suspension and rotation of the rotor impeller. Since the rotor impeller and the stator are not in contact, high-speed rotation is achieved, so the mixing uniformity of the stirred objects can be improved. However, in practice, the improvement of the mixing uniformity of the stirred objects by the related magnetic levitation stirrer is still very limited. Summary of the invention

[0004] The present application provides a control method for a magnetic levitation stirrer, which can at least effectively improve the mixing uniformity of the stirred object.

[0005] An embodiment of the present application provides a control method for a magnetic levitation agitator.

[0006] The magnetic levitation stirrer comprises a column, a stator assembly and an outer rotor assembly, wherein the stator assembly is arranged on the column, the outer rotor assembly is sleeved on the outer periphery of the column, and the stator assembly is used to apply levitation force and torque to the outer rotor assembly; the magnetic levitation stirrer comprises an axial displacement control device, and the axial displacement control device is used to adjust the axial position of the outer rotor assembly along the column.

[0007] The control method includes: Determine the mixing strategy according to the conditions of the material being mixed; According to the stirring strategy, the outer rotor assembly is driven by the axial displacement control device to adjust to the target stirring position along the axial direction of the column; Control the rotation of the outer rotor assembly to perform mixing operations.

[0008] In some embodiments, the stator assembly includes a second magnetic drive winding, there are at least two stator assemblies, and each stator assembly is distributed along the axial direction of the column; the outer rotor assembly includes a second permanent magnet; the second magnetic drive winding and the second permanent magnet correspond to constitute a second magnetic control module, and the axial displacement control device includes the second magnetic control module.

[0009] Driving the outer rotor assembly to adjust to the target stirring position along the axial direction of the column by the axial displacement control device includes: Applying an axial driving force to the outer rotor assembly through the second magnetic control module to drive the outer rotor assembly to move along the column to the stator assembly corresponding to the target stirring position; The outer rotor assembly is suspended at the target stirring position by means of the corresponding stator assembly.

[0010] In some embodiments, the column includes telescopic pipe segments arranged in a one-to-one correspondence with the stator assembly, and the axial displacement control device includes the telescopic pipe segments.

[0011] Driving the outer rotor assembly to adjust to the target stirring position along the axial direction of the column by the axial displacement control device includes: By controlling the extension or shortening of the telescopic pipe section, the stator assembly and the corresponding outer rotor assembly thereon are driven to adjust to the target stirring position.

[0012] In some embodiments, the stator assembly includes a first magnetic drive winding, the outer rotor assembly includes a first permanent magnet, the first magnetic drive winding and the first permanent magnet correspond to form a first magnetic control module, and the first magnetic control module is used to apply suspension force and torque to the outer rotor assembly.

[0013] In the same stator assembly, along the axial direction of the column, the second magnetic drive winding is arranged on both sides of the first magnetic drive winding, and the second magnetic drive windings on both sides of the first magnetic drive winding are symmetrically distributed relative to the first magnetic drive winding; in the same outer rotor assembly, along its axial direction, the second permanent magnet is arranged on both sides of the first permanent magnet, and the second permanent magnets on both sides of the first permanent magnet are symmetrically distributed relative to the first permanent magnet; along the axial direction of the column, the corresponding second permanent magnets are staggered with the second magnetic drive winding.

[0014] When the outer rotor assembly is in the initial stirring position, the control method further includes: One of the second magnetic control modules applies an axial suction force distributed along the moving direction to the outer rotor assembly, and the other second magnetic control module applies an axial repulsion force distributed along the moving direction to the outer rotor assembly.

[0015] In some embodiments, in the process of driving the outer rotor assembly to move toward the target stirring position by the second magnetic control module, the control method further includes: Among the two second permanent magnets, at least one is located between the two second magnetic drive windings along the axial direction of the column, and is simultaneously exerted with an axial repulsive force and an axial attractive force distributed along the moving direction.

[0016] In some embodiments, the stator assembly includes a first magnetic drive winding, the outer rotor assembly includes a first permanent magnet, the first magnetic drive winding and the first permanent magnet correspond to form a first magnetic control module, and the first magnetic control module is used to apply suspension force and torque to the outer rotor assembly.

[0017] Before driving the outer rotor assembly through the second magnetic control module, the control method further includes: According to the speed control strategy, the rotation speed of the outer rotor assembly is reduced to zero by the corresponding stator assembly.

[0018] In some embodiments, the control method further comprises: According to the suspension control strategy, when the rotation speed of the outer rotor assembly is reduced to zero, the first permanent magnet and the first magnetic drive winding are staggered and distributed in the circumferential direction.

[0019] In some embodiments, in the axial direction of the column, the first magnetic drive windings in two adjacent stator assemblies are staggered in the circumferential direction.

[0020] The control method also includes: in the process of the outer rotor assembly rotating toward a stable suspension state at the target stirring position, driving the outer rotor assembly to reach a preset speed according to a speed control strategy.

[0021] In some embodiments, the stator assembly includes a first magnetic drive winding, the outer rotor assembly includes a first permanent magnet, the first magnetic drive winding and the first permanent magnet correspond to form a first magnetic control module, and the first magnetic control module is used to apply suspension force and torque to the outer rotor assembly.

[0022] In the process of driving the outer rotor assembly to move toward the target stirring position by the second magnetic control module, the control method further includes: According to the suspension control strategy, a normal electromagnetic force is applied to the outer rotor assembly through the corresponding first magnetic control module, so that the axis of the outer rotor assembly tends to coincide with the axis of the column.

[0023] In some embodiments, the stirring strategy includes at least one of the following: Implement stirring operation at the boundary position of the liquid layer of the stirred object; Perform stirring operation at a preset position in the target liquid layer; Mixing of target materials at a preset rotation speed The technical solution adopted in the embodiments of the present application can achieve the following beneficial effects: In the control method disclosed in the embodiment of the present application, the outer rotor assembly can be suspended at different heights on the column through the axial position adjustment function of the axial displacement control device. According to the needs of the stirred object, the position of the outer rotor assembly can be adaptively adjusted, and it has the ability to perform stirring operations at any specific height position in the stirred object, thereby meeting its stirring needs and making the stirred object evenly mixed. It can be seen that the control method of the magnetic levitation agitator disclosed in the embodiment of the present application can meet the horizontal and vertical stirring needs of different liquid layer material components, so it can be effectively applied to stirred objects with different stirring needs, thereby greatly improving the mixing uniformity of the stirred objects.

[0024] In addition, the outer rotor assembly performs stirring operations at different positions, and its rotation speed can be controlled to adapt to the stirring requirements of the material components at the corresponding positions, so as to achieve effects such as preventing excessive shear force from damaging the components of the stirred material by controlling the rotation speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0026] In the attached picture: Figure 1 A flow chart of a control method of a magnetic levitation stirrer disclosed in some embodiments of the present application; Figure 2 This is a schematic structural diagram of a stirring container disclosed in the first embodiment of the present application; Figure 3 This is a schematic diagram of the structure of the stirring container disclosed in the first embodiment of the present application when a portion of the container shell is hidden; Figure 4 A schematic diagram of the structure of a stator assembly disclosed in some embodiments of the present application; Figure 5 A schematic diagram of the structure of an outer rotor assembly disclosed in some embodiments of the present application; Figure 6 This is a schematic structural diagram of a magnetic levitation stirrer disclosed in the first embodiment of the present application; Figure 7 About Figure 6 AA cross-sectional view; Figure 8 for Figure 7 A partial enlarged view of point C in the middle; Fig. 9 About Figure 6 A cross-sectional view along the BB direction; Fig.10 A partial cross-sectional view of the magnetic levitation stirrer disclosed in the first embodiment of the present application; Figure 11~Figure 16 A schematic diagram of controlling the movement of an outer rotor assembly of a magnetic levitation agitator disclosed in some embodiments of the present application; Fig.17 This is a schematic diagram of the structure of the magnetic levitation agitator disclosed in the second embodiment of the present application.

[0027] Description of reference numerals: 100-column, 100a-first column, 100a1-receiving cavity, 100b-second column, 110-shell unit, 200-stator assembly, 210-first magnetic drive winding, 220-second magnetic drive winding, 230-first magnetic isolation member, 300-outer rotor assembly, 310-impeller, 310a-first wheel body, 310b-second wheel body, 311-impeller body, 312-first cover body, 320-first permanent magnet, 330-second permanent magnet, 340-second magnetic isolation member, 400-detection element, 500-wiring harness, 600 - container shell, 610 - second cover, 620 - stirring chamber. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0029] In order to facilitate understanding of the control method of the magnetic levitation agitator provided in the embodiment of the present application, the relevant technology is first introduced in conjunction with the application scenario.

[0030] In the related technologies using magnetic levitation stirrers for stirring, it is often found that the mixing uniformity of the stirred objects (drug solutions, cell culture media, etc.) cannot meet expectations. That is to say, even if a magnetic levitation stirrer is used, the mixing uniformity of the stirred objects cannot be effectively improved.

[0031] After research, the inventors found that the above problems are mainly caused by the poor applicability of the magnetic levitation agitator. Specifically, the impeller distribution of the same magnetic levitation agitator is fixed, so the corresponding impeller can only stir the stirred material at the same height. However, in some scenarios with high-standard stirring requirements, some stirred materials need to be stirred at a specific height, such as the boundary position of different liquid layers or within the corresponding liquid layer. In addition, the material ratio needs to be adjusted, and the liquid layer distribution and other conditions will also change accordingly, which will make the corresponding stirring requirements more complicated. Since the impeller in the related technology cannot perform stirring operations at a controllable height, the materials of the stirred materials cannot be fully mixed, resulting in poor mixing uniformity. For such high-standard stirring requirements, special agitators can also be customized, but the cost will increase significantly.

[0032] For this reason, see Figure 1 to Figure 17 Some embodiments of the present application provide a control method for a magnetic levitation stirrer. The magnetic levitation stirrer is used for a stirring container. The stirring container involved in the embodiments of the present application can be a liquid stirring tank, a bioreactor, a cell culture container, etc., and there is no specific limitation on it.

[0033] For example, Figure 1 and Figure 2 As shown, the stirring container includes a container shell 600, and the magnetic levitation stirrer is placed in the container shell 600 to perform stirring operations in a stirring chamber 620 in the container shell 600. The container shell 600 may include a second cover 610, and the second cover 610 is detachably connected to the main body of the container shell 600, so that it is convenient to disassemble and install the magnetic levitation stirrer in the container shell 600.

[0034] In an embodiment of the present application, the magnetic levitation agitator includes a column 100, a stator assembly 200 and an outer rotor assembly 300, the stator assembly 200 is arranged on the column 100, the outer rotor assembly 300 is sleeved on the outer periphery of the column 100, and the stator assembly 200 is used to apply suspension force and torque to the outer rotor assembly 300; the magnetic levitation agitator includes an axial displacement control device, which is used to adjust the axial position of the outer rotor assembly 300 along the column 100.

[0035] The column 100 is a basic component of the magnetic levitation stirrer, and serves as the installation base of the stator assembly 200. The column 100 has an installation space inside, and the stator assembly 200 is arranged in the installation space, so that the stator assembly 200 can be protected by the column 100, and can also be isolated from the external stirred object to avoid damage. Specifically, the stator assembly 200 includes a first magnetic drive winding 210, and the first magnetic drive winding 210 is arranged in the column 100.

[0036] like Figure 2 , Figure 3 , Figure 6 and Figure 7 As shown, the column 100 includes a plurality of shell units 110 distributed along its axial direction, and each shell unit 110 can be installed with a corresponding stator assembly 200. Adjacent shell units 110 can be separated from each other, so that it is convenient to install the stator assembly 200 into the shell unit 110 and then assemble the shell unit 110; in this case, when a stator assembly 200 is damaged, it is also convenient to check or disassemble and replace it. Of course, the column 100 can also be an integrally formed structure. In this case, the stator assembly 200 can be installed into the column 100 in sequence, and each stator assembly 200 can be positioned and assembled in the axial direction of the column 100 by means such as snap-on.

[0037] Regarding the stator assembly 200, it has a motor winding, such as a first magnetic drive winding 210, which includes an iron core and a coil wound on the iron core, which together constitute an electromagnet to form an electromagnetic field when the coil is energized. Figure 6 and Figure 7 As shown, a wire harness 500 is arranged in the column 100 along its axial direction, and the wire harness 500 is connected to the coil in the corresponding stator assembly 200 to supply power and realize signal interaction.

[0038] The outer rotor assembly 300 includes an impeller 310 and a permanent magnetic structure, such as a first permanent magnet 320, disposed on the impeller 310. The impeller 310 is a basic component of the outer rotor assembly 300, which can provide a mounting base for the above-mentioned permanent magnetic structure. Exemplarily, the above-mentioned permanent magnetic structure can also be disposed inside the impeller 310, so that the former is protected by the impeller 310 to avoid damage, such as contamination and corrosion by the stirred object. In order to facilitate the installation of the above-mentioned permanent magnetic structure inside the impeller 310, the impeller 310 can be configured to include an impeller body 311 and a first cover body 312, and the first cover body 312 is detachably connected to the impeller body 311.

[0039] The impeller 310 is mounted on the outer periphery of the column 100; the first magnetic drive winding 210 and the first permanent magnet 320 may constitute a first magnetic control module, which is used to apply torque and suspension force to the outer rotor assembly 300. It can be understood that since the impeller 310 is mounted on the outer periphery of the column 100, the first permanent magnet 320 on the impeller 310 may correspond to the first magnetic drive winding 210 of the stator assembly 200 at the corresponding position. The magnetic fields generated by the first magnetic drive winding 210 and the first permanent magnet 320 can interact with each other, and can generate suspension force and electromagnetic torque on the first permanent magnet 320, the impeller 310 and even the entire outer rotor assembly 300, so as to drive the outer rotor assembly to rotate around the corresponding stator assembly 200. By adjusting the magnitude and direction of the current in the first magnetic drive winding 210, the speed and direction of the outer rotor assembly 300 can be controlled respectively.

[0040] In an embodiment of the present application, the control method comprises the following steps: S101, determine the stirring strategy according to the conditions of the stirred objects. Since the proportions of the materials are different, the proportions of the liquid layers of the materials in the stirring container are also different. After placing the materials in the stirring container, the stirring strategy can be determined according to the actual conditions of the stirred objects after mixing.

[0041] S102, according to the stirring strategy, the outer rotor assembly 300 is driven by the axial displacement control device to adjust to the target stirring position along the axial direction of the column 100. The axial displacement control device can adjust the axial position of the outer rotor assembly 300 along the column 100, thereby adjusting the stirring area of ​​the outer rotor assembly 300 corresponding to the stirred object.

[0042] S103, controlling the outer rotor assembly 300 to rotate and performing a stirring operation.

[0043] In the related art, the control of the axial freedom of the outer rotor assembly 300 by the stator assembly 200 usually belongs to passive suspension control, which can maintain the axial posture balance of the outer rotor assembly 300. Different from the related art, the control method of the embodiment of the present application can drive the outer rotor assembly 300 to move axially along the column 100 through the axial displacement control device, because the control of the axial freedom of the outer rotor assembly 300 by the magnetic suspension agitator includes active control.

[0044] Based on the above analysis, the outer rotor assembly 300 can be suspended at different heights on the column 100 through the axial position adjustment function of the axial displacement control device. According to the needs of the stirred object, the positions of the impeller 310 and the outer rotor assembly 300 can be adaptively adjusted, and the stirring operation can be performed at any specific height position in the stirred object, so as to meet its stirring needs and make the stirred object evenly mixed. It can be seen that the control method of the magnetic levitation agitator disclosed in the embodiment of the present application can meet the lateral and longitudinal stirring needs of different liquid layer material components, so it can be effectively applied to stirred objects with different stirring needs, and can greatly improve the mixing uniformity of the stirred objects. Among them, the lateral stirring demand is to implement the stirring operation in the corresponding area through the outer rotor assembly 300, and the longitudinal stirring demand can be adjusted by the outer rotor assembly 300 moving axially along the column 100 and regulating the longitudinal position to adjust the stirring effect on the longitudinal path.

[0045] In addition, the outer rotor assembly 300 performs stirring operations at different positions, and its rotation speed can be controlled to adapt to the stirring requirements of the material components at the corresponding positions, so as to achieve effects such as preventing excessive shear force from damaging the stirred components by controlling the rotation speed.

[0046] In some embodiments, Figure 2As shown, there can be multiple outer rotor assemblies 300, and the speed of each outer rotor assembly 300 can be independently regulated. The control method includes separately regulating the speeds of different outer rotor assemblies 300. For example, each outer rotor assembly 300 can perform stirring operations at the same speed or at different speeds, thereby forming a variety of stirring schemes to adapt to stirred objects with different stirring requirements. Based on this, at least the following technical objectives can be achieved: maximally protecting low shear force solutions from damage, improving the mixing uniformity of high viscosity solutions, etc.

[0047] In the embodiments of the present application, no specific limitation is made to the axial displacement control device.

[0048] In some embodiments, the column 100 includes telescopic pipe sections arranged one-to-one with the stator assembly 200, and the axial displacement control device includes the telescopic pipe section. It should be understood that under such a layout, the telescopic pipe section can be extended and retracted to drive the corresponding stator assembly 200 to adjust its position along the axial direction of the column 100, thereby driving the outer rotor assembly 300 to adjust its position in the stirred object to meet different stirring requirements.

[0049] Based on this, in the control method of the embodiment of the present application, driving the outer rotor assembly 300 to adjust to the target stirring position along the axial direction of the column 100 through the axial displacement control device includes: controlling the extension or shortening of the telescopic tube section to drive the stator assembly 200 and the corresponding outer rotor assembly 300 thereon to adjust to the target stirring position.

[0050] Regarding the telescopic pipe section, it can be a sleeve structure with inner and outer sleeves, and the inner pipe can be driven by a related driving member to generate relative movement with the outer pipe, thereby realizing the telescopic action. Specifically, the inner pipe can be driven by a linear motor, a pneumatic drive device, etc. For the relatively moving parts in the telescopic pipe section, a dynamic sealing method can be used to achieve sealing to prevent the stirred matter from entering the column 100 and causing damage to the device.

[0051] In some embodiments, the stator assembly 200 includes a second magnetic drive winding 220, there are at least two stator assemblies 200, and each stator assembly 200 is distributed along the axial direction of the column 100; the outer rotor assembly 300 includes a second permanent magnet 330; the second magnetic drive winding 220 and the second permanent magnet 330 correspond to constitute a second magnetic control module, and the axial displacement control device includes the second magnetic control module.

[0052] The first magnetic drive winding 210 and the second magnetic drive winding 220 can be separated by a first magnetic isolation member 230 to avoid mutual influence of the magnetic fields generated by the two, so as to enhance the magnetic drive effects of each other. The first magnetic isolation member 230 can be a magnetic isolation ring. And the first permanent magnet 320 and the second permanent magnet 330 can be separated by a second magnetic isolation member 340 to avoid mutual influence of the magnetic fields generated by the two. The second magnetic isolation member 340 can be a magnetic isolation ring.

[0053] Under such a layout, the second magnetic control module is used to apply an axial driving force to the outer rotor assembly 300 to drive the outer rotor assembly 300 to move between positions corresponding to different stator assemblies 200. Specifically, the second permanent magnet 330 on the outer rotor assembly 300 can correspond to the second magnetic drive winding 220 of the corresponding stator assembly 200. The magnetic fields generated by the second magnetic drive winding 220 and the second permanent magnet 330 can interact with each other, and can generate an axial driving force on the second permanent magnet 330, the impeller 310 and even the entire outer rotor assembly 300, thereby driving the outer rotor assembly 300 to move axially along the column 100.

[0054] Based on this, see Figure 11~Figure 16 In the control method of the embodiment of the present application, driving the outer rotor assembly 300 to adjust to the target stirring position along the axial direction of the column 100 through the axial displacement control device includes: applying an axial driving force to the outer rotor assembly 300 through the second magnetic control module to drive the outer rotor assembly 300 to move along the column 100 to the stator assembly 200 corresponding to the target stirring position; and suspending the outer rotor assembly 300 at the target stirring position through the corresponding stator assembly 200.

[0055] By adopting the control method of this example, the outer rotor assembly 300 is moved axially along the column 100 by magnetic control to adjust its position in the stirred material. In this way, the magnetic control adjustment method can achieve rapid response, higher control efficiency, and low failure rate, and the column 100 can be set to a closed structure to prevent the stirred material from damaging the internal components of the column 100.

[0056] It is worth noting that, in the process of the outer rotor assembly 300 moving along the column 100, when the outer rotor assembly 300 is in the initial stirring position, an axial driving force is applied to the outer rotor assembly 300 through the second magnetic control module, and the suspension force on the outer rotor assembly 300 can be weakened by reducing the current. The axial driving force overcomes the influence of the suspension force, and the outer rotor assembly 300 is reliably and stably separated from the control of the stator assembly 200 at the initial stirring position, and moved to the target stirring position, and the suspension force is applied by the stator assembly 200 at this position, thereby realizing a complete process of the outer rotor assembly 300 moving on the column 100.

[0057] in, Figure 11~Figure 16The embodiment shown only represents a control method for the outer rotor assembly 300 to move on the column 100, and is not a specific limitation on the control method of the embodiment of the present application. Figure 11~Figure 16 The second magnetic drive winding 220 which is not powered can also be powered to generate a magnetic field to apply force to the outer rotor assembly 300.

[0058] According to the magnetic resistance characteristics, when the outer rotor assembly 300 is close to the stator assembly 200 at the target stirring position, the suspension control effect of the stator assembly 200 on the axial freedom of the outer rotor assembly 300 will generate a magnetic pulling force to pull the outer rotor assembly 300 to a balanced position.

[0059] Of course, in the embodiment of the present application, the specific control details of the axial movement of the outer rotor assembly 300 along the column 100 are not limited. For example, in the control process of the outer rotor assembly 300 separating from the stator assembly 200 from the initial stirring position, the current in the stator assembly 200 at the initial stirring position may not be reduced, and the stator assembly 200 may still provide a large suspension force to maintain a relatively stable suspension state. In this case, the axial driving force applied to the outer rotor assembly 300 by the second magnetic control module can be increased. In addition, the axial driving force applied to the outer rotor assembly 300 by the second magnetic control modules can be applied by different second magnetic control modules. Specifically, it can be a second magnetic control module formed by the stator assembly 200 and the outer rotor assembly 300 at the initial stirring position, or it can be a second magnetic control module formed by the stator assembly 200 and the outer rotor assembly 300 at the target stirring position. Of course, the above two second magnetic control modules can also apply axial driving force at the same time, and the two can apply thrust and pulling force respectively.

[0060] In some embodiments, Figure 4~Figure 8 As shown, in the same stator assembly 200, along the axial direction of the column 100, the second magnetic drive winding 220 is arranged on both sides of the first magnetic drive winding 210, and the second magnetic drive winding 220 on both sides of the first magnetic drive winding 210 is symmetrically distributed relative to the first magnetic drive winding 210; in the same outer rotor assembly 300, along its axial direction, the second permanent magnet 330 is arranged on both sides of the first permanent magnet 320, and the second permanent magnet 330 on both sides of the first permanent magnet 320 is symmetrically distributed relative to the first permanent magnet 320.

[0061] It can be understood that under such a layout, in the outer rotor assembly 300, the first permanent magnet 320 is located in the middle, and the second permanent magnets 330 symmetrically distributed on both sides of the first permanent magnet 320 can achieve relative balance, preventing the outer rotor assembly 300 from being skewed as a whole during suspension, rotation and axial movement.

[0062] Based on the above structural layout, the stator assembly 200 is provided with a second magnetic drive winding 220 on both the upper and lower sides of the first magnetic drive winding 210, so that two groups of second magnetic control modules can be formed with the outer rotor assembly 300, so that axial driving force can be applied on the upper and lower sides of the outer rotor assembly 300, thereby optimizing the driving effect; at the same time, compared with the second magnetic drive winding 220 being set on one side, it can avoid the situation where the magnetic field effect is poor due to the distance from the second permanent magnet 330 is too far, and there is no need to take measures such as increasing the number of coil turns of the second magnetic drive winding 220 to strengthen the magnetic field, which will increase costs.

[0063] In addition, the structural layout of this example constructs two groups of second magnetic control modules. When suspension control is achieved between the outer rotor assembly 300 and the stator assembly 200, the second magnetic control modules can provide axial constraints on the outer rotor assembly 300 to prevent its axial movement.

[0064] At the same time, please refer to Fig.10 , along the axial direction of the column 100, the corresponding second permanent magnets 330 and the second magnetic drive windings 220 are staggered. Under such a layout, when the outer rotor assembly 300 is in the initial stirring position, Fig.11 As shown, the control method further includes: one of the second magnetic control modules applies an axial suction force distributed along the moving direction to the outer rotor assembly 300, and another second magnetic control module applies an axial repulsion force distributed along the moving direction to the outer rotor assembly 300. It should be understood that by superimposing the axial suction force and the axial repulsion force distributed along the moving direction of the outer rotor assembly 300, the outer rotor assembly 300 is jointly driven to move along the column 100, thereby improving the driving control efficiency.

[0065] For example, Fig.11 As shown, the second permanent magnet 330 of the outer rotor assembly 300 and the second magnetic drive winding 220 of the corresponding stator assembly 200 are axially misaligned but partially overlapped, wherein the magnetic flux lines of the second permanent magnet 330 on the upper side of the outer rotor assembly 300 and the corresponding second magnetic drive winding 220 are externally closed, so a suction force toward the center is generated between them, and the axial component of the suction force drives the outer rotor assembly 300 to move axially downward, that is, toward another stator assembly 200. It is worth noting that the radial component of the outer rotor assembly 300 is usually offset and can be ignored.

[0066] Among them, the second permanent magnet 330 on the lower side of the outer rotor assembly 300 and its corresponding second magnetic drive winding 220 have a self-closed relationship in their magnetic flux lines, so a repulsive force away from the center will be generated between them. The axial component of the repulsive force drives the outer rotor assembly 300 to move axially downward, that is, toward the other stator assembly 200.

[0067] In some embodiments, reference may be made to Fig.12 , Fig.14 and 15 , in the process of driving the outer rotor assembly 300 to move to the target stirring position through the second magnetic control module, the control method also includes: among the two second permanent magnets 330, at least one is located between the two second magnetic drive windings 220 along the axial direction of the column 100, and is simultaneously applied with axial repulsion and axial attraction distributed along the moving direction. It should be understood that when the second permanent magnet 330 of the outer rotor assembly 300 is axially located between the two second magnetic drive windings 220 of the same stator assembly 200 or two adjacent stator assemblies 200, the second permanent magnet 330 can form two second magnetic control modules with the two second magnetic drive windings 220 on the upper and lower sides, and the two second magnetic control modules can jointly apply axial driving force to the second permanent magnet 330, that is, the outer rotor assembly 300 is jointly driven to move along the axial direction of the column 100 through the axial repulsion (actually the axial component of the repulsion) and the axial attraction (actually the axial component of the attraction), thereby improving the driving control efficiency.

[0068] For example, in Fig.12 In the illustrated embodiment, the second permanent magnet 330 on the lower side of the outer rotor assembly 300 is axially offset and non-overlapping with the second magnetic drive winding 220 adjacent to the upper side. Based on the principle that like magnetic poles repel each other, the N poles repel each other, and the second permanent magnet 330 is subjected to axial repulsion. At the same time, the second permanent magnet 330 is axially offset and non-overlapping with the second magnetic drive winding 220 adjacent to the lower side. Based on the principle that unlike magnetic poles attract each other, the N poles attract each other, and the second permanent magnet 330 is subjected to axial attraction.

[0069] It is worth mentioning that, in some cases, while ensuring that one of the second permanent magnets 330 in the outer rotor assembly 300 is simultaneously applied with an axial repulsive force and an axial attractive force distributed along the moving direction between the two second magnetic drive windings 220, the other second permanent magnet 330 may be subjected to a driving force deviating from the moving direction, for example, Fig.12 In the figure, the second permanent magnet 330 on the upper side of the outer rotor assembly 300 and the second magnetic drive winding 220 on the lower side of the stator assembly 200 above constitute a second magnetic control module, which will generate an axially distributed repulsive force on the second permanent magnet 330 and hinder the outer rotor assembly 300 from moving along the target direction. In this regard, since the second permanent magnet 330 on the lower side of the outer rotor assembly 300 is simultaneously driven axially by the two second magnetic control modules, overall, it can overcome the movement resistance of the outer rotor assembly 300, thereby smoothly moving axially along the column 100 to the target stirring position.

[0070] In some embodiments, before the outer rotor assembly 300 is driven by the second magnetic control module, the control method further includes: according to the speed control strategy, reducing the rotation speed of the outer rotor assembly 300 to zero through the corresponding stator assembly 200. The speed control strategy refers to applying torque to the outer rotor assembly 300 through the stator assembly 200 based on a control algorithm related to speed control, and controlling and adjusting the speed of the outer rotor assembly 300.

[0071] It should be understood that in this example, by adjusting the rotation speed of the outer rotor assembly 300 to zero, the outer rotor assembly 300 can be prevented from being affected by torque during the axial movement along the column 100, and in particular, the outer rotor assembly 300 can be prevented from being deflected and swung due to torque.

[0072] In some embodiments, the control method further includes: according to the suspension control strategy, when the rotation speed of the outer rotor assembly 300 is reduced to zero, the first permanent magnet 320 and the first magnetic drive winding 210 are staggered in the circumferential direction. The suspension control strategy refers to applying a suspension force to the outer rotor assembly 300 through the stator assembly 200 based on a control algorithm related to suspension control, so that the outer rotor assembly 300 maintains a non-contact suspension state.

[0073] It should be understood that in the control coordination relationship between the first magnetic drive winding 210 and the first permanent magnet 320, when the two are circumferentially opposite, a repulsive force will be generated and a stable suspension state cannot be maintained. In the embodiment of the present application, the stable suspension state refers to the outer rotor assembly 300 roughly maintaining a stable state of suspension and zero speed when the magnetic suspension motor does not apply additional electromagnetic force. In this example, before driving the outer rotor assembly 300 to displace along the axial direction of the column 100 through the above-mentioned control method, the first permanent magnet 320 and the first magnetic drive winding 210 are staggered in the circumferential direction, so that the outer rotor assembly 300 is more conducive to automatically tending to a stable suspension state without applying additional torque to the outer rotor assembly 300 through the stator assembly 200 to achieve a preset angle, such as making the first permanent magnet 320 and the first magnetic drive winding 210 opposite in the circumferential direction.

[0074] In some embodiments, in the axial direction of the column 100, the first magnetic drive windings 210 in two adjacent stator assemblies 200 are staggered along the circumferential direction. The control method further includes: when the outer rotor assembly 300 rotates toward a stable suspension state at the target stirring position, the outer rotor assembly 300 is driven to reach a preset speed according to a speed control strategy.

[0075] It should be understood that in the process of the outer rotor assembly 300 moving from the position corresponding to one stator assembly 200 to the position corresponding to another stator assembly 200, the first magnetic drive winding 210 of the first stator assembly 200 and the first permanent magnet 320 of the outer rotor assembly 300 form a stable suspension state before axial displacement. In this example, through the above-mentioned structural layout, when the outer rotor assembly 300 moves to the position corresponding to the rear stator assembly 200, the first magnetic drive winding 210 of the rear stator assembly 200 and the first permanent magnet 320 of the outer rotor assembly 300 are not in a stable suspension state, but a torque will be applied to the outer rotor assembly 300 to make the two tend to a stable suspension state. In the process of the outer rotor assembly 300 rotating to a stable suspension state relying on the torque, the control method of the embodiment of the present application can drive the outer rotor assembly 300 to a preset speed based on the speed control strategy. It can be seen that the control method based on this example can reduce the energy consumption of the magnetic suspension agitator to a certain extent.

[0076] In some embodiments, in the process of driving the outer rotor assembly 300 to move toward the target stirring position through the second magnetic control module, the control method further includes: according to the suspension control strategy, applying a normal electromagnetic force to the outer rotor assembly 300 through the corresponding first magnetic control module, so that the axis of the outer rotor assembly 300 tends to coincide with the axis of the column 100. In this way, the axis of the outer rotor assembly 300 tends to coincide with the axis of the column 100 during the movement of the outer rotor assembly 300 along the column 100, so that the vibration effect of the outer rotor assembly 300 caused by nonlinear dynamic characteristics or other uncertainties can be overcome or reduced, thereby ensuring the stability and reliability of the outer rotor assembly 300 during the axial movement along the column 100.

[0077] In some embodiments, the stirring strategy includes at least one of the following: performing stirring at a boundary position of a liquid layer of the stirred object; performing stirring at a preset position in a target liquid layer; performing stirring at a preset rotation speed for a target material.

[0078] In some embodiments, Figure 4 As shown, there are multiple first magnetic drive windings 210, and they are evenly arranged along the circumference of the column 100. There are multiple second magnetic drive windings 220, and they are evenly arranged along the circumference of the column 100. In the circumference of the column 100, the first magnetic drive windings 210 and the second magnetic drive windings 220 are staggered.

[0079] It can be understood that no matter it is the first magnetic drive winding 210 or the second magnetic drive winding 220, at the circumferential position of each corresponding column 100, its magnetic flux is larger, that is, the density of magnetic flux lines is larger. Under the structural layout of this example, the passage areas of the corresponding magnetic flux lines of the first magnetic drive winding 210 and the second magnetic drive winding 220 are at least mostly staggered, which can greatly reduce the interference between the magnetic fields generated by the first magnetic drive winding 210 and the second magnetic drive winding 220, which is beneficial for the stator assembly 200 to provide a reliable magnetic drive force, specifically, to provide a suspension force and torque provided by the first magnetic control module, and an axial driving force provided by the second magnetic control module, so as to reliably implement the suspension and rotation control of the outer rotor assembly 300, so as to effectively implement the stirring operation, and reliably implement the axial drive control of the outer rotor assembly 300, so as to smoothly adjust the axial position of the outer rotor assembly 300 on the column 100.

[0080] In some embodiments, Figure 6~Figure 8 As shown, in the same stator assembly 200, along the axial direction of the column 100, the center distance between the second magnetic drive winding 220 and the first magnetic drive winding 210 is a first distance a; in the same outer rotor assembly 300, along the axial direction of the impeller 310, the center distance between the second permanent magnet 330 and the first permanent magnet 320 is a second distance b; the first distance a is not equal to the second distance b.

[0081] It can be understood that, in the state where the outer rotor assembly 300 and the corresponding stator assembly 200 achieve stable suspension and rotation through the first magnetic control module, along the axial direction of the column 100, the first permanent magnet 320 and the first magnetic drive winding 210 correspond to each other, that is, the first permanent magnet 320 and the first magnetic drive winding 210 are approximately at the same height position, so that a temporarily determined height position relationship is formed between the outer rotor assembly 300 and the stator assembly 200. Combined with the structural layout of this example, when the outer rotor assembly 300 is in the initial stirring position, since the first distance a is not equal to the second distance b, the second permanent magnet 330 and the second magnetic drive winding 220 are staggered in the axial direction of the column 100, which is conducive to the interaction of the magnetic fields of the second magnetic drive winding 220 and the second permanent magnet 330 to generate an axial driving force, and is conducive to the smooth realization of the axial control of the outer rotor assembly 300. It is worth noting that when the outer rotor assembly 300 is in a state of stable suspension and rotation, if the second permanent magnet 330 and the second magnetic drive winding 220 are approximately at the same height position, the axial driving forces on the upper and lower sides of the second permanent magnet 330 will offset each other, which is not conducive to achieving axial control of the outer rotor assembly 300.

[0082] Of course, in some embodiments of the present application, when the outer rotor assembly 300 is in a state of stable suspension and rotation, the second permanent magnet 330 and the second magnetic drive winding 220 can also be configured at the same height position. In this case, the second magnetic control module constructed by the second magnetic drive winding 220 of the adjacent stator assembly 200 and the second permanent magnet 330 of the outer rotor assembly 300 can provide axial driving force, and the axial control of the outer rotor assembly 300 can also be achieved.

[0083] In the embodiments of the present application, the specific type of the second permanent magnet 330 is not limited.

[0084] Exemplarily, the second permanent magnet 330 may include a plurality of permanent magnet units, and the plurality of permanent magnet units are evenly distributed along the circumference of the impeller 310. It can be understood that in this example, the second permanent magnet 330 is formed by distributing a plurality of permanent magnet units along the axial direction, and each permanent magnet unit can be separately assembled and disassembled. In this way, if the installation of the second permanent magnet 330 does not meet the requirements, the permanent magnet units can be separately debugged to meet the preset requirements, and the entire second permanent magnet 330 can be avoided from being adjusted.

[0085] In another specific embodiment, Figure 4 As shown, the second permanent magnet 330 is a magnetic ring, which is arranged around the circumference of the impeller 310. It can be understood that the magnetic flux lines of the magnetic ring along the circumference are extremely uniformly distributed, so that in the area corresponding to the magnetic field generated by the second magnetic drive winding 220, the magnetic fields of each part corresponding to the magnetic ring are also relatively more uniform, so that the axial driving force generated by the corresponding area of ​​the magnetic field is applied in a roughly uniformly arranged manner in the circumferential direction, and the axial driving forces at different parts in the circumferential direction are roughly equal, thereby generating an axial resultant force distributed along the axial direction of the column 100 without deflection, so that the outer rotor assembly 300 can smoothly achieve the movement action.

[0086] In an embodiment of the present application, the magnetic levitation agitator may include a detection element 400 provided in correspondence with the stator assembly 200, and the detection element 400 is used to detect the axial position of the outer rotor assembly 300, and the controller may obtain the axial position data of the outer rotor assembly 300 through it to adjust the axial driving force and / or the suspension force. Among them, the embodiment of the present application does not limit the specific type of the detection element 400. Exemplarily, the detection element 400 may be a Hall sensor or an eddy current sensor. Accordingly, the outer rotor assembly 300 includes a sensing element corresponding to the detection element 400. Specifically, when the detection element 400 is a Hall sensor, the sensing element is a permanent magnetic structure corresponding to the Hall sensor. Exemplarily, the sensing element may be the first permanent magnet 320; when the detection element 400 is an eddy current sensor, the sensing element may be a metal conductor corresponding to the eddy current sensor.

[0087] Furthermore, if Figure 4, Figure 6 and Fig. 9 As shown, there are multiple first magnetic drive windings 210, which are evenly arranged along the circumference of the column 100, and the detection element 400 is arranged in the area between adjacent first magnetic drive windings 210. It can be understood that the first magnetic drive windings 210 distributed along the circumference of the column 100 are spaced apart from each other, and the detection element 400 is arranged through the gap between adjacent first magnetic drive windings 210, which improves the structural compactness of the magnetic levitation agitator.

[0088] It is worth mentioning that, in combination with the aforementioned embodiment in which the second magnetic drive winding 220 and the first magnetic drive winding 210 are circumferentially offset on the column 100, the magnetic flux lines of the magnetic field generated by the second magnetic drive winding 220 mainly pass along the gap between the first magnetic drive winding 210. In this example, since the detection element 400 is arranged in the gap of the first magnetic drive winding 210, the interference of different magnetic fields in this area is relatively small, which is beneficial for the detection element 400 to detect the magnetic field generated by the second magnetic drive winding 220, so as to determine the magnitude of the axial driving force applied by the second magnetic control module to the outer rotor assembly 300, thereby expanding the detection benefit of the detection element 400. Based on this, it is also beneficial to adjust the magnitude of the axial driving force through feedback, thereby improving the control accuracy of the axial movement of the outer rotor assembly 300.

[0089] In the above-mentioned embodiment where the magnetic levitation stirrer includes a detection element 400, as Figure 3 , Figure 4 and Fig.10 As shown, along the axial direction of the column 100 , the detection element 400 can be arranged corresponding to the corresponding first magnetic drive winding 210 .

[0090] It can be understood that when the outer rotor assembly 300 is in a stable suspension state, the suspension force and torque between it and the stator assembly 200 are provided by the first magnetic control module composed of the first permanent magnet 320 and the first magnetic drive winding 210. Therefore, in the axial direction of the column 100, when the outer rotor assembly 300 realizes the movement action, the height position corresponding to the first magnetic drive winding 210 is actually equivalent to the initial stirring position, which can be characterized by a value of 0. In this example, since the detection element 400 is set corresponding to the first magnetic drive winding 210 in the axial direction of the column 100, it is correspondingly matched with the value 0 of the initial stirring position. Therefore, when the outer rotor assembly 300 is controlled to move toward the target stirring position, the detection element 400 detects its position change, and the data value fed back by it will also change accordingly.

[0091] In other embodiments of the present application, the detection element 400 may also be offset from the first magnetic drive winding 210 in the axial direction of the column 100, but in this case, when the outer rotor assembly 300 is in a stable suspension state, the outer rotor assembly 300 corresponds to the first magnetic drive winding 210, but the detection element 400 is not at the height position where the outer rotor assembly 300 and the first magnetic drive winding 210 are located, so the actual data value fed back by the detection element 400 will not be 0, and in order to match the state of the outer rotor assembly 300 in the initial stirring position, the data value detected by the detection element 400 at this time must be corrected, which increases the judgment and processing burden of the controller. Accordingly, this example can reduce the burden in the processing and judgment process and optimize the control efficiency and accuracy of the axial movement of the outer rotor by setting the detection element 400 in correspondence with the corresponding first magnetic drive winding 210 in the axial direction of the column 100.

[0092] Furthermore, when the stator assembly 200 has a vertically symmetrical structural layout relative to the first magnetic drive winding 210 , the detection element 400 may be disposed corresponding to the middle portion of the stator assembly 200 .

[0093] In some embodiments, the detection element 400 of the embodiment of the present application may also have the function of detecting the rotation angle of the outer rotor assembly 300 .

[0094] In an embodiment of the present application, in the same stator assembly 200, the first magnetic drive winding 210 and the second magnetic drive winding 220 are arranged axially or radially along the column 100; in the same outer rotor assembly 300, the first permanent magnet 320 and the second permanent magnet 330 are arranged axially or radially along the impeller 310.

[0095] For example, Figure 4~Figure 8 As shown, in the same stator assembly 200, the first magnetic drive winding 210 and the second magnetic drive winding 220 are arranged along the axial direction of the column 100; at the same time, in the same outer rotor assembly 300, the first permanent magnet 320 and the second permanent magnet 330 are arranged along the axial direction of the impeller 310. It can be understood that in this example, the radial size of the stator assembly 200 is reduced, which can provide conditions for expanding the radial size of the impeller 310 in the outer rotor assembly 300 and improve the stirring effect; at the same time, since the two magnetic drive windings of the same stator assembly 200 are staggered in the axial direction of the column 100, it is also convenient for the respective wire harnesses 500 in the column 100 to be staggered in space, optimize the routing, prevent winding, etc.; furthermore, since the first permanent magnet 320 and the second permanent magnet 330 are arranged along the axial direction of the impeller 310, the radial space occupied is reduced, and adjustment is provided to increase the radial size of the impeller 310, which is conducive to improving the stirring effect.

[0096] In addition, in the magnetic levitation agitator disclosed in the embodiment of the present application, the arrangement of the first magnetic drive winding 210 and the second magnetic drive winding 220 and the arrangement of the first permanent magnet 320 and the second permanent magnet 330 can be combined with each other. The combination method and effect analysis can refer to the above examples and will not be repeated here.

[0097] In some embodiments, Fig.17 As shown, the column 100 is divided into a first column 100a and a second column 100b, and the impeller 310 is divided into a first wheel body 310a and a second wheel body 310b. The first wheel body 310a is mounted on the outer periphery of the first column 100a. The first column 100a has an axially penetrating receiving cavity 100a1. The second column 100b is arranged in the receiving cavity 100a1. The second wheel body 310b is mounted on the outer periphery of the second column 100b, and in the axial direction of the second column 100b, the projection of the second wheel body 310b is located in the gap between the first column 100a and the second column 100b.

[0098] It can be understood that in this example, the first column 100a and the second column 100b both have the features and functions common to the column 100, and the first wheel 310a and the second wheel 310b also have the features and functions common to the impeller 310. Therefore, and based on the above structural layout, the first wheel 310a can be suspended, rotated and axially moved on the outer periphery of the first column 100a, and the second wheel 310b can be suspended, rotated and axially moved in the space between the second column 100b and the first column 100a. That is to say, the inner and outer impellers 310 (i.e., the first wheel 310a and the second wheel 310b) in this example can achieve the mixing effect of inner and outer nesting, and also have the ability to adjust the height position along the axial direction, so as to further improve the mixing uniformity and further expand the applicability. Furthermore, the length of the first column 100a is less than the length of the second column 100b, and the second wheel 310b can move along the second column 100b to the part of the second column 100b extending out of the first column 100a. It can be understood that under such a layout, the magnetic levitation stirrer will have at least the following two working states: in the first working state, the second wheel body 310b moves to the corresponding overlapping range of the first column 100a and the second column 100b, so as to achieve the stirring effect of the first wheel body 310a and the second wheel body 310b being nested inside and outside; in the second working state, the second wheel body 310b can be moved out of the range blocked by the first column 100a, that is, extend from the gap between the first column 100a and the second column 100b, so that the second wheel body 310b can directly contact the external stirred object.

[0099] In the first working state, stirring can be performed in the area near the column 100, reducing the risk of material accumulation in the area of ​​the column 100 in the related art. In the second working state, the second wheel body 310b moves to the position where the second column 100b extends out of the first column 100a, expanding the stirring range of the outer rotor assembly 300.

[0100] Furthermore, the second column 100b extends out from the top of the first column 100a, so that the second wheel 310b (which is smaller in size) can stir at the top of the column 100, and the material at the top is less gathered due to gravity, so the stirring force required is not high; the first wheel 310a is still used to stir at the bottom of the column 100, and its size is larger, which can meet the stirring needs of the material gathered due to gravity.

[0101] As described above, the control method of the embodiment of the present application includes the method content implemented corresponding to the aforementioned structural scheme. Exemplarily, the control method may include controlling the first wheel body 310a and the second wheel body 310b to move to corresponding overlapping positions along the axial direction of the vertical shaft 100 to achieve an inside-outside nested stirring effect; and may include controlling the second wheel body 310b to move to the position where the second column 100b extends out of the first column 100a to expand the stirring range.

[0102] In another further embodiment, the first cylinder 100a has a communication port, and the communication port connects the gap with the outside of the first cylinder 100a. It can be understood that in this example, the first cylinder 100a is connected to the inside and outside through the connection structure, so that the material entering the gap between the first cylinder 100a and the second cylinder 100b can flow to the outside, avoiding the accumulation of materials in the gap between the first cylinder 100a and the second cylinder 100b, and improving the mixing uniformity.

[0103] The communication port may be a hollow window that passes through the first column 100 a , and there are multiple hollow windows that are evenly distributed.

[0104] In the case where the first cylinder 100a has the above-mentioned connecting port, the magnetic levitation stirrer may include at least one set of stator assemblies 200 correspondingly arranged at the same axial position of the first cylinder 100a and the second cylinder 100b. It can be understood that under such a layout, the first wheel body 310a and the second wheel body 310b can be driven to the same height position via the corresponding second magnetic drive module, and the stirring operation can be performed at the same height position to optimize the stirring effect at a specific height position in the stirred object, thereby improving the mixing uniformity of the stirred object. It can be seen that this example can realize the internal and external nested stirring operation at the same height position, and can be used in scenes with particularly high requirements for mixing uniformity.

[0105] The above embodiments of the present application focus on describing the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. Considering the simplicity of the text, they will not be repeated here.

[0106] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A control method for a magnetic levitation stirrer, characterized in that: The magnetic levitation stirrer comprises a column, a stator assembly and an outer rotor assembly, wherein the stator assembly is arranged on the column, the outer rotor assembly is sleeved on the outer periphery of the column, and the stator assembly is used to apply levitation force and torque to the outer rotor assembly; The magnetic suspension stirrer comprises an axial displacement control device, and the axial displacement control device is used to adjust the axial position of the outer rotor assembly along the column; The control method comprises: Determine the mixing strategy according to the conditions of the material being mixed; According to the stirring strategy, the outer rotor assembly is driven by the axial displacement control device to be adjusted to a target stirring position along the axial direction of the column; The outer rotor assembly is controlled to rotate to perform a stirring operation.

2. The control method of the magnetic levitation stirrer according to claim 1, characterized in that: The stator assembly includes a second magnetic drive winding, and there are at least two stator assemblies, each of which is distributed along the axial direction of the column; the outer rotor assembly includes a second permanent magnet; the second magnetic drive winding and the second permanent magnet correspondingly constitute a second magnetic control module, and the axial displacement control device includes the second magnetic control module; The step of driving the outer rotor assembly to adjust to a target stirring position along the axial direction of the column by the axial displacement control device comprises: Applying an axial driving force to the outer rotor assembly through the second magnetic control module to drive the outer rotor assembly to move along the column to the stator assembly corresponding to the target stirring position; The outer rotor assembly is suspended at the target stirring position by the corresponding stator assembly.

3. The control method of the magnetic levitation stirrer according to claim 1, characterized in that: The upright column includes telescopic pipe sections arranged in one-to-one correspondence with the stator assembly, and the axial displacement control device includes the telescopic pipe sections; The step of driving the outer rotor assembly to adjust to a target stirring position along the axial direction of the column by the axial displacement control device comprises: By controlling the extension or shortening of the telescopic tube section, the stator assembly and the corresponding outer rotor assembly thereon are driven to adjust to the target stirring position.

4. The control method of the magnetic levitation stirrer according to claim 2, characterized in that: The stator assembly includes a first magnetic drive winding, the outer rotor assembly includes a first permanent magnet, the first magnetic drive winding and the first permanent magnet correspond to form a first magnetic control module, and the first magnetic control module is used to apply suspension force and torque to the outer rotor assembly; In the same stator assembly, along the axial direction of the column, the second magnetic drive winding is arranged on both sides of the first magnetic drive winding, and the second magnetic drive windings on both sides of the first magnetic drive winding are symmetrically distributed relative to the first magnetic drive winding; in the same outer rotor assembly, along its axial direction, the second permanent magnet is arranged on both sides of the first permanent magnet, and the second permanent magnets on both sides of the first permanent magnet are symmetrically distributed relative to the first permanent magnet; along the axial direction of the column, the corresponding second permanent magnets and the second magnetic drive windings are staggered; When the outer rotor assembly is in the initial stirring position, the control method further includes: One of the second magnetic control modules applies an axial suction force distributed along the moving direction to the outer rotor assembly, and the other second magnetic control module applies an axial repulsion force distributed along the moving direction to the outer rotor assembly.

5. The control method of the magnetic levitation stirrer according to claim 4, characterized in that: In the process of driving the outer rotor assembly to move toward the target stirring position by the second magnetic control module, the control method further includes: Among the two second permanent magnets, at least one is located between the two second magnetic drive windings along the axial direction of the column, and is simultaneously applied with an axial repulsive force and an axial attractive force distributed along the moving direction.

6. The control method of the magnetic levitation stirrer according to claim 2, characterized in that: The stator assembly includes a first magnetic drive winding, the outer rotor assembly includes a first permanent magnet, the first magnetic drive winding and the first permanent magnet correspond to form a first magnetic control module, and the first magnetic control module is used to apply suspension force and torque to the outer rotor assembly; Before driving the outer rotor assembly through the second magnetic control module, the control method further includes: According to the speed control strategy, the rotation speed of the outer rotor assembly is reduced to zero through the corresponding stator assembly.

7. The control method of the magnetic levitation stirrer according to claim 6, characterized in that: The control method further comprises: According to the suspension control strategy, when the rotation speed of the outer rotor assembly is reduced to zero, the first permanent magnet and the first magnetic drive winding are staggered in the circumferential direction.

8. The control method of the magnetic levitation stirrer according to claim 7, characterized in that: In the axial direction of the column, the first magnetic drive windings in two adjacent stator assemblies are staggered and distributed along the circumferential direction; The control method further includes: when the outer rotor assembly rotates toward a stable suspension state at the target stirring position, driving the outer rotor assembly to reach a preset speed according to a speed control strategy.

9. The control method of the magnetic levitation stirrer according to any one of claims 2, 4 to 8, characterized in that: The stator assembly includes a first magnetic drive winding, the outer rotor assembly includes a first permanent magnet, the first magnetic drive winding and the first permanent magnet correspond to form a first magnetic control module, and the first magnetic control module is used to apply suspension force and torque to the outer rotor assembly; In the process of driving the outer rotor assembly to move toward the target stirring position by the second magnetic control module, the control method further includes: According to the suspension control strategy, a normal electromagnetic force is applied to the outer rotor assembly through the corresponding first magnetic control module, so that the axis of the outer rotor assembly tends to coincide with the axis of the column.

10. The control method of a magnetic levitation stirrer according to any one of claims 1 to 8, characterized in that: The stirring strategy includes at least one of the following: Implement stirring operation at the boundary position of the liquid layer of the stirred object; Perform stirring operation at a preset position in the target liquid layer; The mixing operation is carried out at a preset rotation speed for the target material.

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