Moving-coil type large range mobile magnetic floating six-freedom worktable

Abstract

A moving coil type magnetically suspended 6-degree-of-freedom workbench which can move in a wide range is mainly applied to the production field of equipment and robots. The workbench comprises a base platform and a movable platform, wherein, a plane permanent-magnetic array is arranged on the top of the base platform, the movable platform is composed of a platform and a mobile electromagnetic structure arranged on the bottom of the platform, the mobile electromagnetic structure is composed of more than four coil arrays, each of which is formed by the linear arrangement of a plurality of rectangular coils without iron cores, the arrangement directions of the coils are at an angle of 45 degrees with the arrangement direction of the permanent-magnetic array, and the directions of each adjacent coil arrays are arranged vertical to each other. Because the moving range of the movable platform is not restricted by the size of the movable platform, the movable platform can move on a base platform with a plane size far larger than the plane size of the movable plarform, thus greatly increasing the relative travel (far larger than 1) of the movable plarform and realizing the horizontal movement of the movable platform in a wide range, and meanwhile, each electrified coil is affected by acting forces in X, Z or Y, Z directions.

Description

technical field [0001] The invention relates to a maglev six-degree-of-freedom workbench, in particular to a moving-coil type large-range mobile maglev six-degree-of-freedom workbench, which is mainly used in the fields of manufacturing equipment and robots. Background technique [0002] A multi-degree-of-freedom workbench (such as a traditional XY workbench) is an electromechanical component used to realize the relative movement between the workpiece and the tool, between the base part and the end part, and between multiple workpieces in manufacturing equipment and robots. The traditional multi-degree-of-freedom workbench is composed of two or more sets of linear drive units stacked vertically. Each set of linear drive units consists of a rotary motor, a set of linear motion conversion mechanism and a set of linear guide rails, or a linear drive unit. Composed of a motor and a set of linear guides. The linear drive unit located on the bottom not only bears the drive of the...

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Problems solved by technology

[0004] At present, due to the limitation of the electromagnetic structure and operating principle, the moving range of the maglev multi-degree-of-freedom workbench, especially the relative movement range, is relatively small, and generally only has three degrees of freedom. For example, in the maglev XY workbench proposed by Kim et al., only There are three degrees of freedom of X, Y and rotation around the Z axis. The side length of the mobile platform is 321mm×321mm, but the travel along the X and Y directions is only 50mm (see Kim’s doctoral thesis "High-precision planar magnetic" completed in 1997. levitation" and the paper "Modeling and vector control of planar magnetic levitator" published in Volume 34, Issue 6, 1998), less than 20% of the side length of the mobile station

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