Magnetic suspension device and ornament

Abstract

The utility model relates to the field of magnetic suspension, and provides a magnetic suspension device and an ornament in order to solve the technical problem that a magnetic sensor is inconvenient to arrange, the magnetic suspension device comprises a base and a suspension permanent magnet, and the base comprises a fixed permanent magnet, an electromagnet, a magnetic sensor and a main control board with a main surface normal along a third direction which are fixedly arranged; in the operation process of the magnetic suspension device, the suspension permanent magnet is suspended on one side of the base, and the electromagnet is used for generating a control magnetic field to control the suspension position of the suspension permanent magnet; the magnetic sensor is directly and fixedly arranged on the main face of the main control board and used for detecting magnetic field signals so as to calculate the suspension position of the suspension permanent magnet, the suspension position is located on one side of the main control board in the third direction, and the fixed permanent magnet and the electromagnet are located on the other side of the main control board. According to the utility model, the installation of the magnetic sensor is simple and convenient, a stronger magnetic field signal generated by the suspension permanent magnet can be detected, and the suspension position of the suspension permanent magnet can be calculated according to the magnetic field signal.

Description

Technical Field

[0001] The utility model relates to the field of magnetic suspension, in particular to a magnetic suspension device. Background Art

[0002] The combination of a magnetic sensor and a permanent magnet is often used to detect the moving position of an object. The basic setup involves placing the magnetic sensor and permanent magnet on two objects that can move relative to each other. The magnetic sensor calculates the position of the permanent magnet by detecting the magnetic field generated by the permanent magnet, thereby determining the relative position of the two objects.

[0003] For example, existing magnetic levitation devices use magnetic sensors to detect the levitation position of a suspended permanent magnet. The specific basic scheme is that the magnetic levitation device includes a base and a suspended permanent magnet. The base includes a fixed electromagnet, a magnetic sensor and an annular permanent magnet (or multiple permanent magnets distributed along the annular direction). In the working state, the gravity of the suspended permanent magnet can be balanced by the magnetic force generated between the base and the suspended permanent magnet, so that it is suspended at a preset position near the magnetic base (for example, the target levitation position, which can be located on one side of the magnetic base in any direction, such as up, down, left, right, front, or back).

[0004] Among them, the magnetic sensor is used to detect magnetic field data and then calculate the position of the suspended permanent magnet. The electromagnet is used to apply magnetic force to the suspended permanent magnet together with the annular permanent magnet to balance the suspended permanent magnet at a preset position. Moreover, when the magnetic sensor detects that the position of the suspended permanent magnet deviates from the preset position, the electromagnet is controlled to apply magnetic force to the suspended permanent magnet to pull the suspended permanent magnet back to the preset position.

[0005] However, existing magnetic levitation devices usually fix their main control board on the side of the electromagnet and the annular permanent magnet that is away from the levitation permanent magnet (for example, the main control board is located on the lower side of the electromagnet and the annular permanent magnet, and the levitation permanent magnet is suspended on the upper side of the electromagnet and the annular permanent magnet), and use an additional circuit board or long pins to install the magnetic sensor, which makes the installation structure of the magnetic sensor more complicated and the installation of the magnetic sensor less convenient; moreover, the distance between the magnetic sensor and the levitation permanent magnet in the prior art is generally also far, and the magnetic field signal generated by the levitation permanent magnet that can be detected by the magnetic sensor is weak, which is not conducive to realizing the position detection of the levitation permanent magnet. Utility Model Content

[0006] One of the purposes of the present invention is to overcome the above-mentioned defects of the prior art and provide a magnetic suspension device.

[0007] The magnetic levitation device provided by the utility model includes a base and a levitation permanent magnet, the base includes a fixed permanent magnet, an electromagnet and a magnetic sensor. During the operation of the magnetic levitation device, the levitation permanent magnet is suspended on one side of the base under the action of the magnetic force of the base. The electromagnet is used to generate a control magnetic field to keep the levitation permanent magnet in a certain levitation position or drive the levitation permanent magnet to change the levitation position. The magnetic sensor is used to detect the magnetic field signal to calculate the levitation position of the levitation permanent magnet. The base also includes a main control board with a main surface normal along a third direction. The magnetic sensor is directly fixed on the main surface of the main control board. Along the third direction, the levitation position is located on one side of the main control board, and the fixed permanent magnet and the electromagnet are located on the other side of the main control board.

[0008] As can be seen from the above, the "direct fixing" described in the present invention is compared with the existing technical solution that requires an additional special circuit board to be set up on the basis of the main control board to install the magnetic sensor; on the one hand, this is conducive to simplifying the installation structure of the magnetic sensor, reducing the difficulty of installing the magnetic sensor, and making the magnetic sensor easier to install; on the other hand, during the operation of the magnetic levitation device, the distance between the suspended permanent magnet and the magnetic sensor is closer, which is conducive to the magnetic sensor detecting a stronger magnetic field signal generated by the suspended permanent magnet, and thus more conducive to calculating the suspension position of the suspended permanent magnet based on this.

[0009] A preferred solution is that the magnetic sensor is a three-axis magnetic sensor.

[0010] As can be seen from the above, on the one hand, this is conducive to reducing the number of magnetic sensors (if a single-axis magnetic sensor is used, then at least two are required), further helping to reduce the difficulty of installing the magnetic sensor and simplifying the installation structure of the magnetic sensor. On the other hand, compared with the technical solution of using two single-axis magnetic sensors or one two-axis magnetic sensor, the use of a three-axis magnetic sensor in the utility model is also conducive to improving the detection accuracy of the suspension position of the suspended permanent magnet.

[0011] A further solution is that the three-axis magnetic sensor is equipped with a built-in DSP chip for pulse width modulation to directly output a control signal to the electromagnet.

[0012] As can be seen from the above, integrating the DSP chip into the three-axis magnetic sensor is beneficial to simplifying the circuit structure and reducing the control cost of the magnetic levitation device.

[0013] Another preferred solution is that the magnetic sensor is mounted on the main control board in a patch manner.

[0014] As can be seen from the above, this further helps to reduce the difficulty of installing the magnetic sensor.

[0015] Another preferred solution is that the south pole and north pole of the suspended permanent magnet are distributed along the third direction, the south pole and north pole of the fixed permanent magnet are distributed along the third direction, and the south pole of the suspended permanent magnet has the same orientation as the south pole of the fixed permanent magnet.

[0016] Another preferred solution is that the fixed permanent magnet is a ring-shaped permanent magnet with a center line parallel to the third direction; or, the fixed permanent magnet includes multiple independent permanent magnets, and each independent permanent magnet is distributed in an array around a center line parallel to the third direction.

[0017] Another preferred solution is that the electromagnet includes a first coil, a second coil, a third coil and a fourth coil, the first coil and the third coil are distributed along a first direction, and the suspension position is located between the first coil and the third coil in the first direction; the second coil and the fourth coil are distributed along a second direction, and the suspension position is located between the second coil and the fourth coil in the second direction; the first direction, the second direction and the third direction are perpendicular to each other.

[0018] A further solution is that the first coil and the third coil are connected in series to form a group, or the first coil and the third coil are controlled independently.

[0019] A further solution is that the second coil and the fourth coil are connected in series to form a group, or the second coil and the fourth coil are controlled independently.

[0020] Another preferred solution is that the base further includes a shell, and the fixed permanent magnet, the main control board and the electromagnet are all fixedly arranged in a shell cavity of the shell.

[0021] A further solution is that the housing has a first positioning groove for positioning the electromagnet, and the electromagnet is positioned in the first positioning groove; the housing has a second positioning groove for positioning and fixing the permanent magnet, and the electromagnet is positioned in the second positioning groove; the main control board is positioned in the housing.

[0022] As can be seen from the above, this is conducive to ensuring that the relative positions of various components are accurate and stable.

[0023] The second purpose of the present invention is to provide an ornament to overcome the above-mentioned defects of the prior art.

[0024] The ornament provided by the utility model includes the aforementioned magnetic suspension device. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a three-dimensional diagram of an embodiment of the magnetic levitation device of the present invention during operation.

[0026] Figure 2 It is a three-dimensional cross-sectional view of an embodiment of the magnetic levitation device of the utility model during operation.

[0027] Figure 3It is a partial structural diagram of the base in the embodiment of the magnetic levitation device of the present utility model. DETAILED DESCRIPTION

[0028] In this embodiment Figures 1 to 3 A unified spatial rectangular coordinate system (right-hand system) is used to represent the relative orientation relationship between various features, wherein the X-axis direction is the first direction, the Y-axis direction is the second direction, and the Z-axis direction is the third direction, and the positive direction of the Z-axis is vertically upward.

[0029] The magnetic levitation device of this embodiment includes a base 100 and a levitation permanent magnet 200. The base 100 includes a lower shell 1, an upper shell 2, an annular permanent magnet 3 (an example of a fixed permanent magnet), a main control board 4, a three-axis magnetic sensor 5 (an example of a magnetic sensor) and four electromagnets 6. The lower shell 1 has a bottom plate 11 whose main surface normal is along the Z-axis direction and a side plate 12 that surrounds the outer edge of the bottom plate 11 and extends in the positive direction of the Z-axis. The main surface of the positive side of the bottom plate 11 in the Z-axis direction has a first mounting column 13 that protrudes in the positive direction of the Z-axis. The main surface normal of the upper shell 2 is along the Z-axis direction and covers the positive end of the side plate 12 in the Z-axis direction. The first screw 7 passes through the upper shell 2 in the negative direction of the Z-axis and is threadedly connected to the first mounting column 13 to fix the upper shell 2 to the lower shell 1.

[0030] The combination of the lower shell 1 and the upper shell 2 constitutes the outer shell of the base 100. The lower shell 1 and the upper shell 2 enclose an installation cavity V1 (shell cavity of the outer shell). The annular permanent magnet 3, the main control board 4, the three-axis magnetic sensor 5 and the electromagnet 6 are all fixedly installed in the installation cavity V1. The center line of the annular permanent magnet 3 is along the Z-axis direction, and the south pole and the north pole of the annular permanent magnet 3 are distributed along the positive direction of the Z-axis (the south pole faces downward and the north pole faces upward). The four electromagnets 6 are all located on the inner side of the ring of the annular permanent magnet 3 and are distributed in an array around the center line of the annular permanent magnet 3. Two of the electromagnets 6 are symmetrically distributed on both sides of the center line along the X-axis direction, and the other two electromagnets 6 are symmetrically distributed on both sides of the center line along the Y-axis direction. A first positioning groove for positioning and installing the electromagnet 3 and a second positioning groove for positioning and installing the annular permanent magnet 3 are formed on the bottom plate 11. The annular permanent magnet 3 is positioned and installed in the first positioning groove, and each electromagnet 6 is positioned and installed in the second positioning groove and fixedly connected to the bottom plate 11 (for example, embedded in the positioning groove).

[0031] The main control board 4 is fixed on the positive Z-axis side of the annular permanent magnet 3 and the electromagnet 6. The normal line of the main surface of the main control board 4 is along the Z-axis direction. The three-axis magnetic sensor 5 is directly fixed on the main surface of the positive Z-axis side of the main control board 4 in a patch manner. The center line of the annular permanent magnet 3 passes through the three-axis magnetic sensor 5.

[0032] The positive side of the Z axis of the base plate 11 also has a second mounting column 14 extending toward the positive direction of the Z axis. The second screw 8 passes through the main control board 4 along the negative direction of the Z axis and is threadedly connected to the second mounting column 14 to position and fix the main control board 4 to the lower shell 1.

[0033] During the operation of the magnetic levitation device, the suspended permanent magnet 200 is suspended at a certain suspension position on the positive side of the Z axis of the base 100 (for example, suspended at a preset target suspension position) under the action of the magnetic force with the base 100. At this time, the south pole and the north pole of the suspended permanent magnet 200 are distributed along the Z axis direction, with the south pole facing the negative direction of the Z axis and the north pole facing the positive direction of the Z axis.

[0034] The three-axis magnetic sensor 5 is used to detect magnetic field signals to calculate the levitation position of the levitation permanent magnet 200. In this embodiment, the target levitation position is located directly above the three-axis magnetic sensor 5. The levitation permanent magnet 200 is disc-shaped. When the levitation permanent magnet 200 is suspended at the target levitation position, the center line of the levitation permanent magnet 200 coincides with the center line of the annular permanent magnet 3.

[0035] The electromagnet 6 is used to generate a control magnetic field to control the levitation position of the levitation permanent magnet 200, for example, to control the levitation permanent magnet 200 to remain at the target levitation position, or to control the levitation permanent magnet 200 to return to the target levitation position when the levitation permanent magnet 200 is deviated from the target levitation position by an external force.

[0036] Of the four electromagnets 6 in this embodiment, two are distributed along the X-axis direction and are used to control the levitation position of the levitation permanent magnet 200 in the X-axis direction, and the other two are distributed along the Y-axis direction and are used to control the levitation position of the levitation permanent magnet 200 in the Y-axis direction, thereby controlling the levitation position of the levitation permanent magnet 200 in the XOY direction; optionally, in other embodiments of the present invention, the number and distribution of the electromagnets may also be set with reference to the prior art, for example, with reference to the Chinese invention patent application with publication number CN105790641A, entitled “Magnetic Levitation Device”, which will not be described in detail here.

[0037] In this embodiment, the magnitude and direction of the current of each electromagnet 6 are configured to be independently controllable, that is, each electromagnet 6 in this embodiment individually constitutes a group whose current can be independently controlled. Optionally, in other embodiments of the present invention, two electromagnets distributed along the X-axis direction can be connected in series to form a group, and two electromagnets distributed along the Y-axis direction can be connected in series to form a group. The magnitude and direction of the current of the two groups of electromagnets are configured to be independently controllable, and the magnitude and direction of the current of the two electromagnets in the same group are synchronously controlled. Of course, in this embodiment, since the change of the magnitude and direction of the current of the two electromagnets in the same group can only be controlled synchronously, the magnetic force of the two electromagnets in the same group on the levitating permanent magnet can only be set to one as an attractive force and the other as a repulsive force, to ensure that the direction of the combined force of the attractive and repulsive forces is approximately along the arrangement direction of the two electromagnets (the magnetic force of one group of electromagnets on the levitating permanent magnet is along the X-axis direction, and the magnetic force of the other group of electromagnets on the levitating permanent magnet is along the Y-axis direction). Therefore, this embodiment can only control the levitation position of the levitating permanent magnet in the XOY direction. In the present embodiment, since each electromagnet 6 constitutes a group of electromagnets whose current can be independently controlled, the magnetic force of each electromagnet 6 on the suspended permanent magnet 200 can be independently controlled. In addition to being used to control the suspended position of the suspended permanent magnet 200 in the XOY direction, each electromagnet 6 can also be used to control the suspended position of the suspended permanent magnet 200 in the Z-axis direction. For example, in the present embodiment, each electromagnet 6 can be controlled to generate a repulsive force on the suspended permanent magnet 200, thereby increasing the suspended position of the suspended permanent magnet 200, or each electromagnet 6 can be controlled to generate an attractive force on the suspended permanent magnet 200, thereby decreasing the suspended position of the suspended permanent magnet 200.

[0038] The present magnetic levitation device uses the following method to detect the position of the suspended permanent magnet during operation: during the operation of the magnetic levitation device, first data and second data are obtained; wherein the first data is the magnetic field vector data detected in real time by the three-axis magnetic sensor 5; the second data is the magnetic field vector data that can be detected by the three-axis magnetic sensor 5 when the suspended permanent magnet 200 is not in a suspended state and the electromagnet 6 is supplied with a current equal to the real-time current, which is pre-stored in the magnetic levitation device; then the second data is subtracted from the first data to obtain target data, and then the suspended position of the suspended permanent magnet 200 is calculated based on the target data.

[0039] When the suspended permanent magnet 200 is not in a suspended state and the electromagnet 6 is supplied with a current equal to the real-time current, the magnetic field (corresponding to the second data) that can be detected by the three-axis magnetic sensor 5 includes both the magnetic field generated by the annular permanent magnet 3 and the magnetic field generated by the electromagnet 6.

[0040] It can be understood that since both the first data and the second data are vector data, the operation of subtracting the second data from the first data is applicable to vector operation rules, and the obtained target data is also vector data.

[0041] Specifically, the first data includes first component data along the X-axis direction, second component data along the Y-axis direction, and third component data along the Z-axis direction; the second data includes fourth component data along the X-axis direction, fifth component data along the Y-axis direction, and sixth component data along the Z-axis direction; the target data includes seventh component data along the X-axis direction, eighth component data along the Y-axis direction, and ninth component data along the Z-axis direction; the value of the seventh component data is equal to the difference between the value of the fourth component data and the value of the first component data, the value of the eighth component data is equal to the difference between the value of the fifth component data and the value of the second component data, and the value of the ninth component data is equal to the difference between the value of the sixth component data and the value of the third component data.

[0042] Alternatively, in other embodiments of the present invention, since the levitation position of the levitation permanent magnet can be adjusted only in the plane direction perpendicular to the Z-axis direction in most usage scenarios, the position of the levitation permanent magnet can be calculated based on the seventh component data and the eighth component data. Therefore, in this embodiment, the three-axis magnetic sensor can also be replaced by a two-axis magnetic sensor, and the two-axis magnetic sensor only detects the magnetic field in the XOY two-dimensional plane direction (the measured magnetic field vector data is also parallel to the XOY plane), and then the position of the levitation permanent magnet is calculated based on the magnetic field in the two-dimensional plane direction (for example, the Chinese invention patent application with publication number CN117559843A, entitled "A non-contact magnetic levitation system and its controllable lifting and translation control method for suspended body" is used to replace the three-axis magnetic sensor with a two-axis magnetic sensor). In the technical solution in which the sensor is installed at a position 1 / 2 of the height of the electromagnet, the basic requirement for calculating the position of the suspended permanent magnet can be met based on the magnetic field data in the direction parallel to the horizontal plane). The magnetic sensitive direction / detection direction of the two-axis magnetic sensor can be, for example, the X-axis direction and the Y-axis direction. Of course, it is preferred to adopt the solution of using the three-axis magnetic sensor 5 in this embodiment to detect the three-dimensional magnetic field. In this way, the detection accuracy of the suspended position of the suspended permanent magnet 200 in this embodiment can be improved by detecting the magnetic field in the Z-axis direction. Moreover, when the suspended position of the suspended permanent magnet 200 can be adjusted in three-dimensional space compared to the base 100 (for example, adjusted in a direction close to the base, or adjusted in a direction away from the base), the three-axis magnetic sensor 5 can still be used to detect the position of the suspended permanent magnet 200.

[0043] In this embodiment, the Z-axis is vertically upward, and the suspended position of the suspended permanent magnet 200 is located directly above the base 100. Optionally, in other embodiments of the present invention, the suspended permanent magnet can also be suspended in a suspended position below, obliquely above, or obliquely below the base.

[0044] Since the target data of this embodiment has filtered out the magnetic field interference from the electromagnet 6 and the annular permanent magnet 3, it can more accurately reflect the magnetic field generated by the suspended permanent magnet 200 at the three-axis magnetic sensor 5, thereby more accurately calculating the suspended position of the suspended permanent magnet 200. Furthermore, this also means that when setting the position of the three-axis magnetic sensor 5, there is no need to consider the magnetic field interference caused by the annular permanent magnet 3 and the electromagnet 6. This embodiment can be more flexible in selecting the position of the three-axis magnetic sensor 5. In particular, this embodiment can be based more on the need to detect the magnetic field of the suspended permanent magnet 200. The three-axis magnetic sensor 5 can be located at a position on the base 100 closer to the target suspended position, thereby further improving the accuracy of detecting the suspended position of the suspended permanent magnet 200 in this embodiment. This embodiment does not need to restrict the three-axis magnetic sensor 5 to a specific position to eliminate the magnetic field interference from the electromagnet 6 and the annular permanent magnet 3. This embodiment has fewer restrictions on the installation position of the three-axis magnetic sensor 5, which helps to reduce the difficulty of installing the three-axis magnetic sensor 5.

[0045] In this embodiment, the main control board 4 is specifically arranged on the Z-axis positive side of the annular permanent magnet 3 and the electromagnet 6 (the side close to the target suspension position), and a three-axis magnetic sensor 5 is used to detect the suspension position of the suspended permanent magnet 200. The three-axis magnetic sensor 5 is directly fixed on the main surface of the Z-axis positive side of the main control board 4. On the one hand, this makes it unnecessary to use an additional circuit board to specifically install the three-axis magnetic sensor 5 in this embodiment, which is conducive to simplifying the installation structure of the three-axis magnetic sensor 5 and the overall structure of the magnetic suspension device, and is conducive to reducing the difficulty of installing the three-axis magnetic sensor 5. On the other hand, this makes the distance between the suspended permanent magnet 200 and the three-axis magnetic sensor 5 closer during the operation of the magnetic suspension device, which is conducive to the three-axis magnetic sensor 5 detecting a stronger magnetic field signal generated by the suspended permanent magnet 200, and is further conducive to calculating the suspension position of the suspended permanent magnet 200 based on this.

[0046] The second data of this embodiment is obtained by calculation based on experiments. Specifically, when the suspended permanent magnet 200 is not in the suspended state and the electromagnet 6 is supplied with the same current as the real-time current, the magnetic field vector data that can be detected by the three-axis magnetic sensor 5 is: Wherein, Mp is the magnetic field vector data that can be detected by the three-axis magnetic sensor 5 when the suspended permanent magnet 200 is not yet in a suspended state, and only the p-th group of electromagnets 6 is supplied with a current equal to its real-time current, while the currents of the remaining electromagnets are 0. Mq is the magnetic field vector data that can be detected by the three-axis magnetic sensor 5 and is generated only by the annular permanent magnet 3 (that is, Mq is the magnetic field vector data detected by the three-axis magnetic sensor 5 when the suspended permanent magnet 200 is not yet in a suspended state and the currents of the electromagnets 6 are all 0).

[0047] Specifically, when the levitated permanent magnet 200 is not yet in the levitated state, and only the p-th group of electromagnets 6 is supplied with the current Ip that is the same as its real-time current, and the currents of the other electromagnets are zero, the magnetic field vector data Mp that can be detected by the three-axis magnetic sensor 5 satisfies the following relationship: (Mp-M1)×(I2-I1)=(M2-M1)×(Ip-I1); where M1 is the magnetic field detected by the three-axis magnetic sensor 5 when the levitated permanent magnet 200 is not yet in the levitated state, and only the p-th group of electromagnets 6 is supplied with the current I1 that is the same as its real-time current, and the currents of the other electromagnets are zero. Vector data, M2 is the magnetic field vector data detected by the three-axis magnetic sensor 5 when the suspended permanent magnet 200 is not yet in a suspended state and only the p-th group of electromagnets 6 is supplied with the same current I2 as its real-time current, while the current of the remaining electromagnets is 0. M1, M2, I1, and I2 are measured experimentally, and M1 ≠ M2 and I1 ≠ I2. This embodiment uses (Mp-M1)×(I2-I1)=(M2-M1)×(Ip-I1) to calculate Mp. This formula is a linear function relationship with Mp and Ip as variables. The form of the linear function relationship can be transformed without departing from the scope of protection of this patent.

[0048] As can be seen from the above, each Mp includes the magnetic field vector data generated by the annular permanent magnet 3 that can be detected by the three-axis magnetic sensor 5, and the magnetic field vector data generated by the pth group of electromagnets with the current Ip; specifically, M1 includes the magnetic field vector data generated by the annular permanent magnet 3 that can be detected by the three-axis magnetic sensor 5, and the magnetic field vector data generated by the pth group of electromagnets with the current I1, and M2 includes the magnetic field vector data generated by the annular permanent magnet 3 that can be detected by the three-axis magnetic sensor 5, and the magnetic field vector data generated by the pth group of electromagnets with the current I2.

[0049] Alternatively, in other embodiments of the present invention, Mp can also be measured experimentally. For example, when the base is just powered on and the suspended permanent magnets are not yet in a suspended state, only the pth group of electromagnets is passed with current Ip, and the current of the remaining electromagnets is 0, the magnetic field vector data Mp at this time is obtained by detecting with a three-axis magnetic sensor. Of course, this embodiment requires detecting the corresponding magnetic field vector data Mp in various situations with different directions and magnitudes of the current Ip to obtain the corresponding relationship between Mp and Ip.

[0050] Alternatively, in other embodiments of the present invention, when the suspended permanent magnet is not in a suspended state and the electromagnet is supplied with a current equal to the real-time current, the magnetic field vector data M detectable by the three-axis magnetic sensor can also be pre-measured experimentally.

[0051] Preferably, the three-axis magnetic sensor of this embodiment has a built-in DSP chip for pulse width modulation to directly output the control signal for the electromagnet; this eliminates the need to set up an external circuit to generate the control signal for the electromagnet, which is beneficial to simplifying the structure of the main control board and reducing the control cost of the magnetic levitation device.

[0052] Specifically, the electromagnet 6 includes coils (in this embodiment, the two coils distributed along the X-axis direction are the first coil and the third coil, and the two coils distributed along the Y-axis direction are the second coil and the fourth coil). Energizing the electromagnet 6 means energizing the coils of the electromagnet 6, and the circuit connection relationship of the electromagnet 6 is the connection relationship of the coils of the electromagnet 6.

[0053] In this embodiment, the annular permanent magnet 3 is used as the fixed permanent magnet. Alternatively, in other embodiments of the present invention, multiple independent permanent magnets can also be used as fixed permanent magnets, and the multiple independent permanent magnets are distributed in an array around a center line parallel to the Z-axis direction.

[0054] The three-axis magnetic sensor 5 of this embodiment is directly fixed on the main surface of the main control board 4, and the center line of the annular permanent magnet 3 passes through the three-axis magnetic sensor 5. Optionally, in other embodiments of the present invention, the three-axis magnetic sensor can also be set at other positions. For example, without changing the setting method of the main control board, the three-axis magnetic sensor can be fixed on the main surface of the main control board at a position deviated from the center line of the annular permanent magnet.

[0055] This embodiment uses a three-axis magnetic sensor 5 as a magnetic sensor to detect the levitation position of the suspended permanent magnet 200. Optionally, in other embodiments of the present invention, three orthogonally arranged single-axis magnetic sensors can be used to replace the three-axis magnetic sensor of this embodiment, which can also realize the detection of the levitation position of the suspended permanent magnet.

[0056] The ornament of this embodiment can be, for example, a globe. The globe adopts the magnetic levitation device of this embodiment, with the base of the magnetic levitation device as the base of the globe, and the levitation permanent magnet of the magnetic levitation device is fixed on the earth model, thereby achieving the purpose of suspending the earth model above the base; of course, in other embodiments of the present invention, the ornament can also be used to suspend and display other items, such as for suspending and displaying goods for sale.

[0057] Finally, it should be emphasized that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A magnetic levitation device comprising a base and a levitation permanent magnet, wherein the base comprises a fixed permanent magnet, an electromagnet, and a magnetic sensor; During the operation of the magnetic levitation device, the levitation permanent magnet is suspended on one side of the base under the action of the magnetic force of the base, and the electromagnet is used to generate a control magnetic field to keep the levitation permanent magnet in a certain levitation position or drive the levitation permanent magnet to change the levitation position; The magnetic sensor is used to detect magnetic field signals to calculate the levitation position of the levitation permanent magnet; Its characteristics are: The base also includes a main control board with a main surface normal along a third direction. The magnetic sensor is directly fixed on the main surface of the main control board. Along the third direction, the suspension position is located on one side of the main control board, and the fixed permanent magnet and the electromagnet are located on the other side of the main control board.

2. The magnetic levitation device according to claim 1, characterized in that: The magnetic sensor is a three-axis magnetic sensor.

3. The magnetic levitation device according to claim 2, characterized in that: The three-axis magnetic sensor is equipped with a built-in DSP chip for pulse width modulation to directly output a control signal to the electromagnet.

4. The magnetic levitation device according to any one of claims 1 to 3, characterized in that: The magnetic sensor is mounted on the main control board in a patch manner.

5. The magnetic levitation device according to any one of claims 1 to 3, characterized in that: The south pole and north pole of the suspended permanent magnet are distributed along the third direction, the south pole and north pole of the fixed permanent magnet are distributed along the third direction, and the south pole of the suspended permanent magnet is oriented in the same direction as the south pole of the fixed permanent magnet; The fixed permanent magnet is an annular permanent magnet with a center line parallel to the third direction; or, the fixed permanent magnet includes a plurality of independent permanent magnets, each of which is distributed in an array around a center line parallel to the third direction.

6. The magnetic levitation device according to any one of claims 1 to 3, characterized in that: The electromagnet includes a first coil, a second coil, a third coil, and a fourth coil, the first coil and the third coil are distributed along a first direction, and the levitation position is located between the first coil and the third coil in the first direction; The second coil and the fourth coil are distributed along a second direction, and the suspension position is located between the second coil and the fourth coil in the second direction; The first direction, the second direction and the third direction are perpendicular to each other.

7. The magnetic levitation device according to claim 6, characterized in that: The first coil and the third coil are connected in series to form a group, or the first coil and the third coil are independently controlled; The second coil and the fourth coil are connected in series to form a group, or the second coil and the fourth coil are independently controlled.

8. The magnetic levitation device according to any one of claims 1 to 3, characterized in that: The base further includes a shell, and the fixed permanent magnet, the main control board and the electromagnet are all fixedly arranged in a shell cavity of the shell.

9. The magnetic levitation device according to claim 8, characterized in that: The housing has a first positioning groove for positioning the electromagnet, and the electromagnet is positioned in the first positioning groove; The housing has a second positioning groove for positioning the fixed permanent magnet, and the electromagnet is positioned in the second positioning groove; The main control board is positioned at the housing.

10. An ornament, characterized in that: The invention comprises the magnetic levitation device according to any one of claims 1 to 9.

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