Magnetostrictive-driven inertial stick-slip rotating motor and control method

Abstract

According to the magnetostriction-driven inertia stick-slip rotating motor and the control method, a load output disc is fixed to the upper surface of a bearing inner ring, a bearing outer ring is connected with an upper cover, and a grating glass coded disc is installed on the lower surface of the bearing inner ring and used for monitoring the angle position of the load output disc; a magnetostrictive material, a permanent magnet, an exciting coil and a framework are integrated in the magnetostrictive driving part. The displacement output end of the magnetostriction driving part and the inner ring of the bearing form a friction kinematic pair in a surface contact manner; the magnetic field in the magnetostrictive material is adjusted by changing the current intensity and direction in the excitation coil, the magnetostrictive material is driven to extend or shorten and output displacement to the friction pair, and the bearing inner ring is driven to drive the load output disc to rotate. And the signal conditioning circuit board outputs a reflected signal of the grating glass coded disc to the controller to complete high-precision closed-loop control of the load angle position. The invention has the characteristics of compact structure, low-voltage driving, low power consumption, high control precision, easy installation and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of high-precision drive control of precision machinery, and in particular to an inertial stick-slip rotating motor driven by magnetostriction and a control method thereof. Background Art

[0002] An inertial motor is a miniature drive mechanism that utilizes inertial drive to achieve precise displacement. It features a compact structure, excellent response characteristics, high precision, and easy control. It can achieve precise positioning while performing stepping motion, making it suitable for applications requiring high resolution and long travel. Currently, research on inertial motors primarily focuses on using piezoelectric materials as drive elements. By accumulating displacement, these materials can achieve long-travel, high-precision linear or rotational motion. However, piezoelectric materials suffer from drawbacks such as high drive voltage, low power density, and prone to electrode breakdown, which limits their application. Compared to piezoelectric materials, giant magnetostrictive materials offer advantages such as low drive voltage, high energy density, and high output power. They are widely used in actuators, positioning devices, and vibration and noise reduction systems. Therefore, the design of an inertial motor based on magnetostrictive drive has significant application value. Summary of the Invention

[0003] To overcome the problems of the prior art, the present invention provides a magnetostrictive-driven inertial stick-slip rotating motor and control method. This low-voltage drive, based on magnetostrictive materials, consumes low power and eliminates the need for high-voltage drive. The compact structure eliminates the need for additional heat dissipation devices such as water or oil cooling, reduces the complexity of the drive structure, and facilitates manufacturing, installation, and maintenance.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0005] A magnetostrictive driven inertial stick-slip rotating motor comprises an upper cover 1, a base 2, a load output disk 3, a grating glass code disk 4, a bearing and a magnetostrictive drive component; the load output disk 3 is fixedly mounted on the upper surface of the bearing inner ring 5; the bearing outer ring 6 is fixedly connected to the upper cover 1 by bolts; the grating glass code disk 4 is mounted on the lower surface of the bearing inner ring 5 for monitoring the rotation angle position of the load output disk 3; the magnetostrictive drive component internally integrates a magnetostrictive material 12, a first permanent magnet 11 and a second permanent magnet 13, an excitation coil 10 and a frame 9; The front and rear ends of the telescopic material 12 are rigidly connected to the first permanent magnet 11 and the second permanent magnet 13 respectively, and are installed on the inner side of the diamond preloading mechanism 8; the coil skeleton 9 is installed on the outer side of the magnetostrictive material 12 and is wound around the excitation coil 10; the front end of the diamond preloading mechanism 8 and the lower surface of the bearing inner ring 5 are in surface contact to form a friction kinematic pair 7; the rear end of the diamond preloading mechanism 8 is fixedly connected to the base 2 by bolts; the signal conditioning circuit board 9 is installed on the inner side of the base 2, and the signal conditioning circuit board 9 is connected to the grating glass code disk 4; the base 2 and the upper cover 1 are fixedly connected by bolts.

[0006] Arched beams are symmetrically arranged on both sides of the diamond-shaped pre-stressing mechanism 8 , and the diamond-shaped pre-stressing mechanism 8 is fixedly installed with the magnetostrictive material 12 and the first permanent magnet 11 and the second permanent magnet 13 by interference fit.

[0007] The diamond-shaped pre-stressing mechanism 8 is made of a magnetic conductive material with a high elastic modulus.

[0008] The magnetic conductive material with a high elastic modulus is spring steel, silicon steel or alloy structural steel, etc., which can withstand large stress without plastic deformation and has good magnetic conductivity.

[0009] The first permanent magnet 11 and the second permanent magnet 13 are both made of neodymium iron boron material and are magnetized in a vertical direction, with the N pole at the top and the S pole at the bottom. The magnetization directions must remain consistent during installation.

[0010] Compared with existing technologies, the present invention offers the following advantages: It utilizes an inertial stick-slip drive principle and a low-voltage drive using magnetostrictive materials, resulting in low power consumption and eliminating the need for a high-voltage drive. The integration of the magnetic flux circuit structure and the preload mechanism makes the rotating motor more compact, effectively reducing its size and improving the space utilization of the device. The simple magnetic flux circuit structure facilitates heat dissipation, eliminating the need for additional heat dissipation devices such as water or oil cooling. This reduces the complexity of the drive structure, facilitates manufacturing, and facilitates installation and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the overall structure of the rotating electrical machine of the present invention.

[0012] Figure 2 This is a schematic diagram of an explosion of the rotating electrical machine of the present invention.

[0013] Figure 3 This is a cross-sectional view of the magnetostrictive drive component and bearing structure of the present invention.

[0014] Figure 4 This is a cross-sectional view of the magnetostrictive drive component structure of the present invention.

[0015] Figure 5 This is a schematic diagram of the magnetostrictive material and permanent magnet structure of the present invention. DETAILED DESCRIPTION

[0016] The present invention is further described in detail below with reference to the accompanying drawings and specific implementations.

[0017] like Figure 1 and Figure 2 As shown, a magnetostrictive-driven inertial stick-slip rotating motor includes an upper cover 1, a base 2, a load output disk 3, a grating glass code disk 4, a bearing, and a magnetostrictive drive component. The load output disk 3 is fixedly mounted on the upper surface of the bearing inner ring 5. The bearing outer ring 6 is fixedly connected to the upper cover 1 by bolts. The grating glass code disk 4 is mounted on the lower surface of the bearing inner ring 5 and is used to monitor the rotational angular position of the load output disk 3. The magnetostrictive drive component integrates a magnetostrictive material 12, a first permanent magnet 11, a second permanent magnet 13, an excitation coil 10, and a bobbin 9. The front and rear ends of the magnetostrictive material 12 are rigidly connected to the first permanent magnet 11 and the second permanent magnet 13, respectively, and are mounted inside a diamond-shaped preload mechanism 8. The coil bobbin 9 is mounted outside the magnetostrictive material 12 and is wound around the excitation coil 10. The rear end of the diamond-shaped preload mechanism 8 is fixedly connected to the base 2 by bolts. A signal conditioning circuit board 9 is mounted inside the base 2. The base 2 is fixedly connected to the upper cover 1 by bolts.

[0018] like Figure 3 and Figure 4 As shown, the diamond-shaped preload mechanism 8 has symmetrically arranged arched beams on both sides, ensuring structural rigidity while preloading the magnetostrictive material 12 and providing preload. The diamond-shaped preload mechanism 8 is secured to the magnetostrictive material 12 and the first and second permanent magnets 11, 13 via an interference fit. The front end of the diamond-shaped preload mechanism 8 forms a surface contact with the lower surface of the bearing inner ring 5, forming a friction pair 7.

[0019] like Figure 5 As shown, the first permanent magnet 11 and the second permanent magnet 13 are both made of neodymium iron boron material and are magnetized in a vertical direction, with an N pole at the top and an S pole at the bottom. During installation, the magnetization direction must remain consistent to maintain the bias magnetic field within the magnetostrictive material 12 in a prepolarized state, avoiding frequency doubling and ensuring operation in the linear region.

[0020] The operating principle of the present invention is as follows: The diamond-shaped preload mechanism 8 applies preload to the magnetostrictive material 12 through an interference fit, placing the magnetostrictive material 12 under pressure. The magnetic flux generated by the first and second permanent magnets 11, 13 at either end of the magnetostrictive material 12 passes through the diamond-shaped preload mechanism 8, forming a closed magnetic circuit. This bias magnetic field is applied to the magnetostrictive material 12, placing it in a magnetically biased state. Current is input to the excitation coil 10, generating an axial magnetic field. Adjusting the current's amplitude and direction causes the generated axial magnetic field to vary with the current. This magnetic field variation, combined with the bias magnetic field generated by the first and second permanent magnets 11, 13, drives the magnetostrictive material 12 to produce an output displacement. The magnetostrictive material 12 causes the diamond-shaped preload mechanism 8 to produce elastic deformation, which is then transmitted to the bearing inner ring 5 via the friction pair 7. The bearing inner ring 5 then rotates the load output disc 3. The grating glass code disk 4 feeds back the rotation angle position information of the load output disk 3 to the controller in real time through the signal conditioning circuit board 9, thereby achieving high-precision closed-loop control of the load rotation angle position.

[0021] The present invention is based on the inertial stick-slip motion mechanism and adopts a magnetostrictive drive mode. It has the characteristics of compact structure, low-voltage drive, low power consumption, high control accuracy, and easy installation. It is suitable for aerospace, ultra-precision drive control, applied optics and other fields.

Claims

1. A magnetostrictive driven inertial stick-slip rotating motor, characterized in that: The invention comprises an upper cover (1), a base (2), a load output disk (3), a grating glass code disk (4), a bearing and a magnetostrictive drive component; the load output disk (3) is fixedly mounted on the upper surface of the bearing inner ring (5); the bearing outer ring (6) and the upper cover (1) are fixedly connected by bolts; the grating glass code disk (4) is mounted on the lower surface of the bearing inner ring (5) and is used to monitor the rotation angle position of the load output disk (3); the magnetostrictive drive component internally integrates a magnetostrictive material (12), a first permanent magnet (11) and a second permanent magnet (13), an excitation coil (10) and a skeleton (9); the magnetostrictive material (12) is divided into a front end and a rear end. The magnetostrictive material (12) is rigidly connected to the first permanent magnet (11) and the second permanent magnet (13), and is installed on the inner side of the diamond preloading mechanism (8); the coil skeleton (9) is installed on the outer side of the magnetostrictive material (12) and is wound around the excitation coil (10); the front end of the diamond preloading mechanism (8) and the lower surface of the bearing inner ring (5) form a friction motion pair (7) in the form of surface contact; the rear end of the diamond preloading mechanism (8) is fixedly connected to the base (2) by bolts; the signal conditioning circuit board (9) is installed on the inner side of the base (2), and the signal conditioning circuit board (9) is connected to the grating glass code disk (4); the base (2) and the upper cover (1) are fixedly connected by bolts.

2. The magnetostrictive driven inertial stick-slip rotating motor according to claim 1, characterized in that: Arched beams are symmetrically arranged on both sides of the diamond-shaped pre-pressing mechanism (8), and the diamond-shaped pre-pressing mechanism (8) is fixedly mounted with the magnetostrictive material (12) and the first permanent magnet (11) and the second permanent magnet (13) by means of interference fit.

3. The magnetostrictive driven inertial stick-slip rotating motor according to claim 1, characterized in that: The diamond-shaped pre-pressing mechanism (8) is made of a magnetic conductive material with a high elastic modulus.

4. The magnetostrictive driven inertial stick-slip rotating motor according to claim 3, characterized in that: The magnetic conductive material with high elastic modulus is spring steel, silicon steel or alloy structural steel.

5. The magnetostrictive driven inertial stick-slip rotating motor according to claim 1, characterized in that: The first permanent magnet (11) and the second permanent magnet (13) are both made of neodymium iron boron material and are magnetized in a vertical direction, with an N pole at the top and an S pole at the bottom; the magnetization directions must remain consistent during installation.

6. The control method of a magnetostrictive driven inertial stick-slip rotating electrical machine according to any one of claims 1 to 5, characterized in that: The diamond pre-pressing mechanism (8) provides pre-pressing force to the magnetostrictive material (12) through interference fit, so that the magnetostrictive material (12) is in a compressed state; the magnetic flux generated by the first permanent magnet (11) and the second permanent magnet (13) at both ends of the magnetostrictive material (12) passes through the diamond pre-pressing mechanism (8) to form a closed magnetic circuit, providing a bias magnetic field to the magnetostrictive material (12), so that the magnetostrictive material (12) is in a magnetic bias state; current is input to the excitation coil (10) to generate an axial magnetic field, and the amplitude and direction of the current are adjusted, so that the generated axial magnetic field will also be generated along with the current. The invention relates to a method for controlling the rotation angle of the load output disk (3) and the load output disk (3). The method comprises the following steps: a) a first permanent magnet (11) and a second permanent magnet (13) generate a magnetic field change; b) a bias magnetic field generated by the first permanent magnet (11) and the second permanent magnet (13) is superimposed on the magnetic field change, driving the magnetostrictive material (12) to generate an output displacement; c) the magnetostrictive material (12) drives the diamond preload mechanism (8) to generate elastic deformation, and transmits the deformation to the bearing inner ring (5) through the friction motion pair (7); c) the bearing inner ring (5) drives the load output disk (3) to rotate; and c) the grating glass code disk (4) feeds back the rotation angle position information of the load output disk (3) to the controller in real time through the signal conditioning circuit board (9), thereby realizing high-precision closed-loop control of the load rotation angle position.

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