Planar electromagnetic transfer platform with adsorption force and transfer method thereof

Abstract

The invention provides a planar electromagnetic transfer platform with adsorption force and a transfer method thereof, and belongs to the technical field of aerospace. The problems that an existing transfer platform cannot adapt to the space microgravity environment, and the transfer efficiency is low are solved. The motor comprises a mover module and a stator module, the mover module is arranged above the stator module, the mover module comprises a base, four upper magnet yokes, permanent magnet assemblies and an upper bearing plate, the four upper magnet yokes are embedded into the base in a staggered mode, the permanent magnet assembly is arranged under each upper magnet yoke, and the upper bearing plate is arranged on the upper bearing plate. The four permanent magnet assemblies are arranged in a Halbach permanent magnet array mode, the upper bearing plate is arranged above the base, the stator module comprises a bottom magnet yoke, a guide rail, coil fixing frames and coils, the guide rail is arranged above the bottom magnet yoke, the four coil fixing frames form a group, and the coils are arranged on the guide rail. And the four coil fixing frames in each group are arranged in the gaps of the guide rails in an array manner. The device is mainly used for transferring loads in a space environment.

Description

Technical Field

[0001] The invention belongs to the field of aerospace technology, and in particular relates to a planar electromagnetic transfer platform with adsorption force and a transfer method thereof. Background Art

[0002] As people's exploration of space gradually deepens, the number and types of experiments and research that need to be carried out in the space environment increase, requiring rockets to carry a large number of experimental payloads of various specifications, assembly materials for cubic satellites or large equipment into space. After entering space, these payloads, equipment, and components need to be accurately and quickly transported to designated windows to be grabbed or released by robotic arms.

[0003] In order to enable the loads, equipment or components in storage to reach the required location quickly, there is an urgent need for transport devices of different specifications that can ensure fast and reliable transport in the microgravity environment of space. At present, transport in space is mostly achieved by robotic arms, which have good adaptability to transport of various specifications, but when the range of transport increases, the required size of the robotic arm increases a lot; due to the limitation of the freedom of the robotic arm, only loads at a certain angle can be transported; the robotic arm moves slowly, the transport process takes a long time, and the transport efficiency is low; the robotic arm has many degrees of freedom and the control system is complex.

[0004] Conventional ground transport systems are large in size and mass, require mechanical transmission, are subject to wear and tear, and have low transmission efficiency. Ground magnetic levitation planar motors do not require mechanical transmission systems, and can use electromagnetic force to suspend the mover platform and achieve multi-degree-of-freedom contactless drive. They are suitable for parallel and efficient transport of multiple targets of different specifications, but cannot adapt to the microgravity environment of space. Summary of the invention

[0005] In view of this, the present invention aims to propose a planar electromagnetic transfer platform with adsorption force and a transfer method thereof, so as to solve the problem that the existing transfer platform cannot adapt to the microgravity environment of space and has low transfer efficiency.

[0006] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a planar electromagnetic transfer platform with adsorption force, which includes a mover module and a stator module, the mover module is arranged above the stator module, the mover module includes a base, an upper magnetic yoke, a permanent magnet assembly and an upper receiving plate, the number of the upper magnetic yokes is four, the four upper magnetic yokes are staggered and embedded in the base, a permanent magnet assembly is arranged directly below each upper magnetic yoke, the four permanent magnet assemblies adopt the Halbach permanent magnet array arrangement form, the upper receiving plate is arranged above the base, the stator module includes a bottom magnetic yoke, a guide rail, a coil fixing frame and a coil, the guide rail is arranged above the bottom magnetic yoke, the four coil fixing frames form a group, the four coil fixing frames of each group are arrayed in the gap of the guide rail, multiple groups of coil fixing frames are arrayed on the bottom magnetic yoke, the coil is wound on the outside of the coil fixing frame, there is an air gap between the permanent magnet assembly and the bottom magnetic yoke, the coil is located in the air gap, the permanent magnet assembly is arranged opposite to the coil, and the mover module is slidably connected to the guide rail.

[0007] Furthermore, the permanent magnet assembly includes a left vertical permanent magnet, a transverse permanent magnet and a right vertical permanent magnet, and the left vertical permanent magnet, the transverse permanent magnet and the right vertical permanent magnet are arranged in order from left to right.

[0008] Furthermore, the magnetizing directions of the left vertical permanent magnet, the transverse permanent magnet and the right vertical permanent magnet are from left to right: top S and bottom N, left N and right S, top N and bottom S or top N and bottom S, left S and right N, top S and bottom N.

[0009] Furthermore, the coil fixing frame is a square fixing frame, the coil is a square coil, and the four coil fixing frames in each group are symmetrically arranged in a square.

[0010] Furthermore, the upper surface of the upper receiving plate is provided with magnetic blocks and positioning posts, and the magnetic blocks are embedded in the upper receiving plate in a square symmetrical arrangement.

[0011] Furthermore, universal beads are symmetrically arranged around the lower surface of the base, and grooves are opened on the guide rails, and the universal beads slide along the grooves.

[0012] Furthermore, the upper magnetic yoke and the bottom magnetic yoke are both made of soft magnetic alloy 1J50 material.

[0013] Furthermore, the permanent magnet assembly is made of NdFeB alloy hard magnetic material.

[0014] Furthermore, the base, the upper supporting plate and the guide rail are all made of 2A12 aluminum alloy material.

[0015] The present invention also provides a method for transporting a planar electromagnetic transport platform with adsorption force, specifically: the load is placed above the mover module, the magnetic flux generated by the upper magnetic yoke, the permanent magnet assembly and the bottom magnetic yoke forms a lower permanent magnet loop, the lower permanent magnet loop causes the permanent magnet assembly and the bottom magnetic yoke to generate adsorption force, the four staggered upper magnetic yokes and permanent magnet assemblies respectively generate four permanent magnetic fields in the air gap, the coil located in the air gap is affected by the permanent magnetic field, the coil is energized to generate electromagnetic force, and drives the mover module to move to complete the transport.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The present invention makes up for the problems of slow transfer speed and large volume and mass of the current space manipulator due to its large travel range. It can adapt to the space environment and realize the high-efficiency transfer of loads of various specifications in a microgravity environment. It has the advantages of small volume and mass, high transfer efficiency, and many types of transfers. The planar electromagnetic transfer platform with adsorption force can well ensure that the load and the mover module will not be separated during the transfer process; Halbach's magnet array can increase the magnetic field of the air gap below, suppress the magnetic field above, and increase the output force of the coil under the same current; the staggered coil and permanent magnet assembly can make full use of the limited space and provide larger permanent magnets and coils; coils with equal sides can ensure that the mover module is subjected to force at every moment during the movement process, ensuring the accuracy of positioning.

[0018] Compared with the existing technology, the advantages are:

[0019] 1. Compared with the mechanical arm grabbing and transporting, the present invention has a high transport speed, can transport loads within a larger travel range, has a small volume and mass, is simple to control, and has high efficiency.

[0020] 2. The present invention is different from conventional ground-based magnetic levitation planar motors in that the planar transfer system relies on the bottom magnetic yoke and the permanent magnet assembly on the mover module to generate adsorption force, which can ensure that the mover module always remains on the guide rail and adapts to the microgravity environment of the space environment.

[0021] 3. The present invention utilizes staggered permanent magnet assemblies and coil windings to effectively increase the occupancy rate of permanent magnet assemblies and coil windings in the same space; the permanent magnet assemblies and coil windings are installed opposite to each other to ensure that the coil is subjected to force in only one direction in the magnetic field generated by the permanent magnet, which is convenient for control; coils with equal sides ensure that the mover module can be subjected to force in all directions at all times during movement, thereby improving the accuracy of positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0023] Figure 1 This is a schematic diagram of a transverse cross-sectional structure of a planar electromagnetic transport platform with adsorption force according to the present invention;

[0024] Figure 2 This is a schematic diagram of the three-dimensional structure of a planar electromagnetic transport platform with adsorption force according to the present invention;

[0025] Figure 3 This is a schematic diagram of the transverse cross-sectional structure of the mover module of the present invention;

[0026] Figure 4 This is a schematic diagram of the three-dimensional structure of the mover module of the present invention;

[0027] Figure 5 It is a schematic diagram of the connection structure between the upper magnetic yoke and the permanent magnet assembly of the present invention;

[0028] Figure 6 This is a bottom view of the structure of the mover module of the present invention.

[0029] In the figure:

[0030] 1-base, 2-upper yoke, 3-permanent magnet assembly, 4-upper receiving plate, 5-magnetic block, 6-universal bead, 7-bottom yoke, 8-guide rail, 9-coil fixing frame, 10-coil, 11-positioning column. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely explain the technical solutions in the embodiments of the present invention. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict, and the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0032] See also Figure 1-6This embodiment describes a planar electromagnetic transfer platform with adsorption force, which includes a mover module and a stator module. The mover module is arranged above the stator module. The mover module includes a base 1, an upper magnetic yoke 2, a permanent magnet assembly 3 and an upper receiving plate 4. The number of the upper magnetic yokes 2 is four, and the four upper magnetic yokes 2 are staggered and embedded in the base 1. A permanent magnet assembly 3 is arranged directly below each upper magnetic yoke 2. The four permanent magnet assemblies 3 adopt a Halbach permanent magnet array arrangement. The upper receiving plate 4 is arranged above the base 1. The upper magnetic yoke 2 and the upper receiving plate 4 are both installed on the base 1 by screws. The stator module includes a bottom magnetic yoke 7, a guide rail 8, and a coil fixing frame. 9 and a coil 10, the guide rail 8 is arranged above the bottom yoke 7, four of the coil fixing frames 9 form a group, and the four coil fixing frames 9 of each group are arranged in an array in the gap of the guide rail 8, and multiple groups of coil fixing frames 9 are arranged in an array on the bottom yoke 7, the guide rail 8 and the coil fixing frame 9 are installed on the bottom yoke 7 by screws, the coil 10 is wound on the outside of the coil fixing frame 9, and a gap is left in the guide rail 8 for installing the coil 10, there is an air gap between the permanent magnet assembly 3 and the bottom yoke 7, the coil 10 is located in the air gap, the permanent magnet assembly 3 and the coil 10 are arranged opposite to each other, and there is no angle between the two, and the mover module is slidably connected to the guide rail 8.

[0033] In this embodiment, the permanent magnet assembly 3 includes a left vertical permanent magnet, a transverse permanent magnet and a right vertical permanent magnet, and the left vertical permanent magnet, the transverse permanent magnet and the right vertical permanent magnet are arranged in order from left to right.

[0034] In this embodiment, the magnetization directions of the left vertical permanent magnet, the transverse permanent magnet and the right vertical permanent magnet are from left to right: top S and bottom N, left N and right S, top N and bottom S or top N and bottom S, left S and right N, top S and bottom N.

[0035] In this embodiment, the coil fixing frame 9 is a square fixing frame, the coil 10 is a square coil, and the four coil fixing frames 9 in each group are symmetrically arranged in a square shape.

[0036] In this embodiment, the upper surface of the upper receiving plate 4 is provided with magnetic blocks 5 and positioning columns 11. The magnetic blocks 5 are embedded in the upper receiving plate 4 in a square symmetrical arrangement. The magnetic blocks 5 and positioning columns 11 are used to maintain the load and ensure the load position during the transportation process.

[0037] In this embodiment, universal beads 6 are symmetrically arranged around the lower surface of the base 1, and grooves are opened on the guide rails 8. The universal beads 6 contact and slide along the grooves.

[0038] In this embodiment, the upper magnetic yoke 2 and the bottom magnetic yoke 7 are both made of soft magnetic alloy 1J50. The permanent magnet assembly 3 is made of NdFeB alloy hard magnetic material. The base 1, the upper receiving plate 4 and the guide rail 8 are all made of 2A12 aluminum alloy.

[0039] This embodiment is a method for transporting a planar electromagnetic transport platform with adsorption force, specifically: the load is placed above the mover module through a robotic arm or other transport device, and the universal bead 6 slides on the groove of the stator module guide rail 8 to ensure the relative position of the load and the mover module until it is fully loaded. The magnetic flux generated by the upper yoke 2, the permanent magnet assembly 3 and the bottom yoke 7 forms a lower permanent magnet loop, which causes the permanent magnet assembly 3 and the bottom yoke 7 to generate adsorption force. The four staggered upper yokes 2 and permanent magnet assemblies 3 respectively generate four permanent magnetic fields in the air gap. The coil 10 located in the air gap is affected by the permanent magnetic field. The coil 10 is energized to generate electromagnetic force, which drives the mover module to move and complete the transport.

[0040] In the embodiment, four staggered permanent magnet assemblies 3 cooperate with the coil 10 to generate two mutually perpendicular forces in the horizontal direction, the diagonal permanent magnet assemblies 3 and the coil 10 generate forces in the same direction, and the adjacent permanent magnet assemblies 3 and the coil 10 generate forces in the perpendicular direction.

[0041] The permanent magnetic circuit in the air gap generated by the permanent magnet assembly 3 is: the magnetic flux starts from the N pole of the vertical permanent magnet on the left, passes through the bottom magnetic yoke 7, and returns to the S pole of the vertical permanent magnet on the right. The left side of the middle transverse permanent magnet is the N pole, passes through the bottom magnetic yoke 7, and returns to the S pole on the right side of the transverse permanent magnet. The permanent magnetic flux in the gap is the superposition of the magnetic fluxes of the vertical permanent magnets and the transverse permanent magnets on the left and right sides.

[0042] The permanent magnetic circuit in the upper yoke 2 is: the magnetic flux starts from the N pole of the vertical permanent magnet on the right, passes through the upper yoke 2, and returns to the S pole of the vertical permanent magnet on the left. The left side of the middle transverse permanent magnet is the N pole, passes through the upper yoke 2, and returns to the S pole on the right side of the transverse permanent magnet. The permanent magnetic flux above is the difference between the magnetic fluxes of the vertical permanent magnets and the transverse permanent magnets on the left and right sides.

[0043] The specific embodiments of the present invention disclosed above are only used to help explain the present invention. The specific embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. According to the content of this specification, many modifications and changes can be made. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well.

Claims

1. A planar electromagnetic transport platform with adsorption force, characterized in that: It comprises a mover module and a stator module, wherein the mover module is arranged above the stator module, the mover module comprises a base (1), an upper magnetic yoke (2), a permanent magnet assembly (3) and an upper receiving plate (4), the number of the upper magnetic yokes (2) being four, the four upper magnetic yokes (2) being staggered and embedded in the base (1), a permanent magnet assembly (3) being arranged directly below each upper magnetic yoke (2), the four permanent magnet assemblies (3) being arranged in a Halbach permanent magnet array, the upper receiving plate (4) being arranged above the base (1), the stator module comprising a bottom magnetic yoke (7), a guide rail (8), a coil fixing frame (9) and a coil (10), the guide rail (8) is arranged above the bottom magnetic yoke (7), four coil fixing frames (9) form a group, and the four coil fixing frames (9) in each group are arranged in an array in the gap of the guide rail (8), and multiple groups of coil fixing frames (9) are arranged in an array on the bottom magnetic yoke (7), the coil (10) is wound on the outside of the coil fixing frame (9), there is an air gap between the permanent magnet assembly (3) and the bottom magnetic yoke (7), the coil (10) is located in the air gap, the permanent magnet assembly (3) and the coil (10) are arranged opposite to each other, and the mover module is slidably connected to the guide rail (8).

2. The planar electromagnetic transport platform with adsorption force according to claim 1, characterized in that: The permanent magnet assembly (3) comprises a left vertical permanent magnet, a transverse permanent magnet and a right vertical permanent magnet, and the left vertical permanent magnet, the transverse permanent magnet and the right vertical permanent magnet are arranged in order from left to right.

3. The planar electromagnetic transport platform with adsorption force according to claim 2, characterized in that: The magnetization directions of the left vertical permanent magnet, the transverse permanent magnet and the right vertical permanent magnet are from left to right: top S and bottom N, left N and right S, top N and bottom S or top N and bottom S, left S and right N, top S and bottom N.

4. The planar electromagnetic transport platform with adsorption force according to claim 1, characterized in that: The coil fixing frame (9) is a square fixing frame, the coil (10) is a square coil, and the four coil fixing frames (9) in each group are symmetrically arranged in a square shape.

5. The planar electromagnetic transport platform with adsorption force according to claim 1, characterized in that: The upper surface of the upper receiving plate (4) is provided with a magnetic block (5) and a positioning column (11), and the magnetic block (5) is embedded in the upper receiving plate (4) in a square symmetrical arrangement.

6. The planar electromagnetic transport platform with adsorption force according to claim 1, characterized in that: Universal beads (6) are symmetrically arranged around the lower surface of the base (1), and a groove is provided on the guide rail (8), and the universal beads (6) slide along the groove.

7. The planar electromagnetic transport platform with adsorption force according to claim 1, characterized in that: The upper magnetic yoke (2) and the bottom magnetic yoke (7) are both made of soft magnetic alloy 1J50 material.

8. The planar electromagnetic transport platform with adsorption force according to claim 1, characterized in that: The permanent magnet assembly (3) is made of a neodymium iron boron alloy hard magnetic material.

9. The planar electromagnetic transport platform with adsorption force according to claim 1, characterized in that: The base (1), the upper supporting plate (4) and the guide rail (8) are all made of 2A12 aluminum alloy material.

10. A method for transporting the planar electromagnetic transport platform with adsorption force as claimed in claim 1, characterized in that: The load is placed above the mover module, and the magnetic flux generated by the upper magnetic yoke (2), the permanent magnet assembly (3) and the bottom magnetic yoke (7) forms a lower permanent magnet loop, which causes the permanent magnet assembly (3) and the bottom magnetic yoke (7) to generate an adsorption force. The four staggered upper magnetic yokes (2) and permanent magnet assemblies (3) respectively generate four permanent magnetic fields in the air gap, and the coil (10) located in the air gap is affected by the permanent magnetic field. The coil (10) is energized to generate electromagnetic force, which drives the mover module to move and complete the transfer.

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