Nonlinear hinge adaptive to variable reluctance motor

Abstract

The invention relates to the technical field of machinery, and particularly discloses a nonlinear hinge adaptive to a variable reluctance motor or a reluctance actuator. The hinge is mainly composed of two sets of bending pieces and parallel blades which are matched with each other, the original nonlinear force-displacement change relation of the variable reluctance motor is approximately linearized, and accurate control over the rotation angle and torque is achieved. According to the non-linear hinge, bending assemblies at the two ends are oppositely arranged, the blades of the bending structures are hinged or connected in a penetrating and sleeving mode through sleeves on the inner walls or the outer walls in the parallel state, deformation is gradually generated in the rotating process, and therefore needed non-linear force-angle transmission is achieved. In cooperation with magnetic force changes provided by a variable reluctance motor or a magnetic resistance actuator, the hinge can keep stable force-displacement control characteristics when the torque is increased or decreased, and the overall transmission precision and response speed of a system are improved. The hinge structure can be integrally formed through SLS, SLM and other 3D printing processes, assembly errors are reduced, the structure is simplified, and the hinge structure can be applied to small, light and high-precision magnetic resistance actuators or related mechanical systems.

Description

Technical Field

[0001] The present invention belongs to the field of mechanical technology, and specifically relates to a dual-leaf parallel mechanical hinge for a variable reluctance motor or a reluctance actuator. The hinge can convert the original nonlinear force-displacement relationship of the variable reluctance motor into an approximate linear relationship within a certain angle range, thereby improving the precise control of the rotation angle and the rotation torque. Background Art

[0002] With the rapid development of intelligent manufacturing, Lorentz force-based actuators have reached physical limits in these characteristics, while reluctance-based actuators can become new actuators that provide more force density and less dissipation. From a control perspective, the main problem with reluctance actuators is: the inherent quadratic nonlinear relationship between current and force, that is, the position dependence of force, and the system exhibits negative rigidity. When the position changes, the reluctance force caused by the armature current also changes dynamically, making it difficult to achieve linear prediction and control of angle and force. Although existing technologies have been improved by strengthening permanent magnets or improving magnetic materials, the nonlinearity between force and displacement cannot be ignored in high-precision control.

[0003] Based on the above reasons, there is a need for a mechanical soft-link device with a simple structure, easy to process, and coupleable with a magnetic resistance actuator. It can transform the originally nonlinear relationship between the rotational force and the rotation angle into an approximate linear relationship that is easier to control, so as to improve the application range and control accuracy of actuators such as variable reluctance motors. Summary of the invention

[0004] In order to overcome the difficulty of precise control caused by the nonlinear force-displacement relationship of variable reluctance motors or reluctance actuators in the prior art, the present invention provides a mechanical hinge with a dual-leaf parallel structure. During the rotation process, the hinge uses the deformation and matching mode of the leaves to approximately convert the nonlinear force-displacement relationship into a linear relationship, thereby achieving more controllable and predictable rotational force and angle.

[0005] A nonlinear hinge adapted for use with a variable reluctance motor, the hinge comprising two groups of arc structures (a first curved member and a second curved member), each of the arc structures being composed of two blades arranged in parallel; the two blades of each group of arc structures are respectively hinged or sleeved through the inner wall and the outer wall of a sleeve, so that the two blades can deform when rotating, thereby generating an approximately linear change between the rotation angle and the rotation force; the first curved member and the second curved member are arranged in the same sleeve in a mutually opposite manner, and are connected to form an integral hinge in a cross or interpenetrating manner; during the rotation process, when the angle gradually increases, the blades rapidly increase the torque due to their own bending or compression deformation, so that the force tends to be nonlinear with the change of displacement.

[0006] Preferably, the material, size or distance between the blades can be adjusted according to actual application requirements to achieve refined control of the force-angle variation curve.

[0007] Preferably, the hinge is coupled with the rotor of a variable reluctance motor or a reluctance actuator, which can realize the nonlinear relationship between the rotational force and the rotation angle, and improve the real-time control accuracy of the system on displacement and force.

[0008] Preferably, the outer shape of the sleeve can be designed to be cylindrical, elliptical or other curved shapes according to the required installation space, so as to be used in different types of actuators.

[0009] By cleverly utilizing the deformation of the hinge's blades during rotation, the force-displacement relationship that originally varied nonlinearly in the variable reluctance or reluctance actuator is approximately converted into a linear relationship; the structure is simplified, and no additional complex adjustment mechanism is required. The hinge itself is easy to manufacture through 3D printing methods such as SLS and SLM, or conventional machining methods; the overall accuracy and repeatability are improved, providing a new solution for miniaturized and lightweight reluctance actuator systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a plan view of the front and back sides of the hinge of the present invention.

[0011] Figure 2 It is a schematic diagram of the internal structure of the hinge of the present invention.

[0012] Figure 3 It is the principle diagram of the variable reluctance motor of the present invention.

[0013] Description of reference numerals: 1. First sleeve; 2. Second sleeve; 3. First curved structure; 4. Second curved structure; 5. First blade of the first curved structure; 6. Second blade of the first curved structure; 7. First blade of the second curved structure; 8. Second blade of the second curved structure, 10. Rotor 11. Hinge 12. Iron core 13. Coil 14. Iron core 15. N-pole magnet 16. S-pole magnet. DETAILED DESCRIPTION

[0014] The present invention will now be described in further detail with reference to the accompanying drawings.

[0015] As shown in FIG1 , the hinge of the present invention is mainly composed of two groups of curved members (a first curved structure 3 and a second curved structure 4). Each group of curved structures is composed of two parallel blades (such as a first blade 5 and a second blade 6 of the first curved structure), and are hinged or sleeved by means of the inner wall or outer wall of the first sleeve 1 and the second sleeve 2. During installation, the first curved structure 3 and the second curved structure 4 are arranged in a positive and negative manner, so that the whole presents a staggered or interpenetrating plane layout.

[0016] When the hinge rotates, the blade generates force due to deformation. Since two parallel blades are used, the force and rotation angle are no longer simple linear changes, but the rotation force increases rapidly as the angle increases, thus showing a nonlinear change. Combined with the negative rigidity of the variable reluctance motor, the nonlinear problem of force and displacement of the variable reluctance motor can be converted into a linear problem within a certain range.

[0017] As shown in FIG3 , for a variable reluctance motor, its force mainly comes from the coupling between the armature current and the iron core 12. When the motor is working, the position of the rotor 10 and the current jointly determine the magnitude and direction of the magnetic force. However, this force often presents negative rigidity nonlinearity with position changes. When the hinge 11 of the present invention is installed or coupled between the motor rotor 10 and the external connecting shaft, the nonlinear force-displacement relationship can be corrected within a certain range, so that the force-displacement curves of the output end and the input end tend to be linear. By changing the blade material, thickness or spacing, the mechanical properties of the hinge can be finely adjusted, thereby improving the real-time control of the speed, torque and angle.

[0018] In order to meet the needs of miniaturization and personalization, the present invention can preferably use the selective laser sintering (SLS) or selective laser melting (SLM) process for 3D printing manufacturing. The steps include: Prepare raw materials: select metal powder and adhesive or alloy powder; Preheating, powder spreading and sintering: After the powder material is laid on the platform in layers, it is sintered locally or layer by layer by laser; Cleaning, debinding and post-sintering treatment: remove excess powder and high temperature treatment to increase material density; After cooling and taking out the finished product, you can get a hinge with high precision and complex internal structure.

[0019] If the application environment requires, other metal processing methods or polymer materials can also be used for manufacturing.

[0020] The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims

1. A nonlinear hinge adapted for use with a variable reluctance motor, characterized in that: The invention comprises: a first curved structure (3) and a second curved structure (4), each of which is composed of two parallel blades; a first sleeve (1) and a second sleeve (2), which are used to position and connect the first curved structure (3) and the second curved structure (4); wherein the first curved structure (3) and the second curved structure (4) are arranged in opposite directions in the sleeve and interpenetrate each other, so that when the hinge rotates, the deformation force generated by the blades compensates for the nonlinearity of the variable reluctance motor within a predetermined range as the rotation angle changes, thereby realizing a linear correction of the output force-displacement relationship of the variable reluctance motor.

2. The hinge according to claim 1, characterized in that: The first curved structure (3) comprises a first blade (5) and a second blade (6), and the second curved structure (4) comprises a first blade (7) and a second blade (8), each blade being fixed to the inner wall or the outer wall of the first sleeve (1) and the second sleeve (2) by means of hinge connection or sleeve connection.

3. The hinge according to claim 1 or 2, characterized in that: The material, size or distance between the blades can be selected according to the working requirements of the variable reluctance motor to adjust the linearity of the force-displacement curve.

4. The hinge according to any one of claims 1 to 3, characterized in that: The hinge can be coupled with the rotor of the variable reluctance motor or the reluctance actuator through key connection, flange connection or bolt connection, so as to achieve precise control of torque and angle.

5. The hinge according to any one of claims 1 to 4, characterized in that: The hinge can be manufactured in one piece by using a 3D printing process such as selective laser sintering (SLS) or selective laser melting (SLM).

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