阅读说明：本技术 用于超宽幅片梭织机的片梭投射制止装置和方法 (Gripper projectile stopping device and method for ultra wide web shuttle loom ) 是由 张弛 刘念 郭帅 吴晓光 宛张灵 陈思远 于 2020-10-19 设计创作，主要内容包括：本发明属于纺织设备技术领域,公开了一种用于超宽幅片梭织机的片梭投射制止及悬浮装置和方法,包括电磁感应投梭制梭装置、电磁感应悬浮轨道和片梭；所述电磁感应投梭制梭装置共设置有两个,两个电磁感应投梭制梭装置分别位于电磁感应悬浮轨道两侧。本发明采用电磁感应装置提高织机车速,替代扭轴投梭,简化织机结构,减小片梭载荷,降低片梭启动加速度,精准控制片梭投梭速度；提高投梭效率和规则性；减小织机震动及噪音；采用电磁感应轨道使片梭悬浮,减小片梭摩擦力以增加织机门幅；在引纬过程中片梭仍受到电磁轨道控制,使得纬线张力属于受控状态,减小纬线退捻和收缩；取消导梭片,减少经线摩擦。(The invention belongs to the technical field of textile equipment, and discloses a projectile projection stopping and suspending device and method for an ultra-wide web shuttle loom, which comprises an electromagnetic induction projectile shuttle making device, an electromagnetic induction suspending track and a projectile; the electromagnetic induction picking and shuttle making devices are two in number and are respectively positioned on two sides of the electromagnetic induction suspension track. The invention adopts the electromagnetic induction device to improve the loom speed, replaces the torsion shaft to pick the shuttle, simplifies the loom structure, reduces the loading of the gripper shuttle, reduces the starting acceleration of the gripper shuttle and accurately controls the picking speed of the gripper shuttle; the picking efficiency and the regularity are improved; the vibration and the noise of the loom are reduced; the gripper is suspended by adopting an electromagnetic induction track, and the friction force of the gripper is reduced to increase the width of the loom; in the weft insertion process, the gripper is still controlled by the electromagnetic track, so that the tension of the weft is in a controlled state, and the untwisting and contraction of the weft are reduced; and 3, removing the guide shuttle and reducing the friction of the warp.)

1. A projectile projection inhibiting and suspending device for an ultra-wide web shuttle loom, the projectile projection inhibiting and suspending device for an ultra-wide web shuttle loom comprising:

the device comprises an electromagnetic induction picking and shuttle making device, an electromagnetic induction suspension track and a gripper;

the electromagnetic induction picking and shuttle making devices are two in number and are respectively positioned on two sides of the electromagnetic induction suspension track.

2. A projectile launch stopping and levitating device for an ultra-wide web shuttle loom as recited in claim 1, wherein said electromagnetic induction shuttle pick and hold device includes a non-magnetic bobbin and a plurality of sets of winding coils wound around an outer side of the non-magnetic bobbin, said winding coils being arranged in a Halbach array.

3. A projectile launch stopping and levitating device for an ultra-wide web shuttle loom as recited in claim 1, wherein said electromagnetic induction levitation track comprises N sets of electromagnetic modules, each set of electromagnetic modules comprising three pairs of electromagnetic coils and three U-shaped cores.

4. A projectile launch stopping and suspending device for an ultra-wide web shuttle loom as claimed in claim 3 wherein said electromagnetic coil is formed of litz wire tightly wound on a bobbin to form a coil for the electromagnetic track in a solenoid configuration.

5. The projectile launch stopping and levitating device for an ultra-wide web shuttle loom of claim 1, wherein said electromagnetic induction levitation track has a photosensor secured to an inner upper end thereof by a bolt.

6. A projectile launch stopping and levitating device for an ultra-wide web shuttle loom as recited in claim 1, wherein said non-magnetic skeletal material is aluminum, copper, graphene, or other highly conductive non-magnetic material.

7. A projectile launch stopping and levitating device for an ultra-wide web shuttle loom as recited in claim 1, wherein said projectile is aluminum, copper, graphene or other non-magnetic material having a high electrical conductivity.

8. A control method for a projectile projection stopping and suspending device for an ultra-wide web shuttle loom as claimed in any one of claims 1 to 7, wherein the control method for a projectile projection stopping and suspending device for an ultra-wide web shuttle loom comprises:

firstly, when weft insertion starts, an electromagnetic induction picking shuttle making device is electrified to shoot a gripper into a shed formed by warp yarns, and the gripper continuously flies forwards by means of inertia;

step two, after a photoelectric sensor positioned in the electromagnetic induction suspension track detects that the gripper passes through the electromagnetic induction suspension track from the upper part, corresponding electromagnetic coils in the electromagnetic induction suspension track are electrified, and a suspension force and a forward propulsion force are generated after the electromagnetic coils are electrified;

and step three, after the gripper penetrates out of the shed and reaches the opposite electromagnetic induction picking and shuttle making device, electrifying the opposite electromagnetic induction picking and shuttle making device to form a reverse traveling wave magnetic field, decelerating the gripper under the action of electromagnetic force, and standing in the shuttle box.

9. A computer device, characterized in that the computer device comprises a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to carry out the steps of:

when weft insertion starts, the electromagnetic induction picking shuttle making device is electrified to shoot the gripper into a shed formed by warp yarns, and the gripper continues to fly forwards by means of inertia;

after a photoelectric sensor in the electromagnetic induction suspension track detects that the gripper passes through the electromagnetic induction suspension track from the upper part, a corresponding electromagnetic coil in the electromagnetic induction suspension track is electrified, and a suspension force and a forward propulsion force are generated after the electromagnetic coil is electrified;

when the gripper penetrates out of the shed and reaches the opposite electromagnetic induction picking and shuttle making device, the opposite electromagnetic induction picking and shuttle making device is electrified to form a reverse traveling wave magnetic field, the gripper decelerates under the action of electromagnetic force, and the gripper is static in the shuttle box.

10. A shuttle loom incorporating a projectile launch arrest and levitation device for an ultra-wide face-sheet shuttle loom as claimed in any one of claims 1 to 7.

Technical Field

The invention belongs to the technical field of textile equipment, and particularly relates to a projectile projection stopping and suspending device and method for an ultra-wide web shuttle loom.

Background

The picking power of the gripper loom comes from the stored elastic potential energy when the torsion shaft is twisted, and then the picking rod quickly swings back to shoot out the gripper instantaneously. The shuttle making process is realized by an oil pressure buffer block, and the gripper sequentially finishes shuttle selection, shuttle throwing, shuttle making and cross connection and then realizes primary warp and weft yarn weaving motion circulation.

The following disadvantages of the conventional gripper weaving machine still exist:

1) although the conventional gripper loom has a low speed, the flight speed of the gripper is very high, and the flight speed of the gripper of PH200 type produced by Ruyida corporation can reach 42.3 m/s. The starting acceleration of the gripper loom is about 1020 times that of the rapier loom. P7300HP, produced by ruyda corporation, has a beat-up force of 15000 n/m, but the gripper and the torsion shaft are subjected to a large load, so that the life of the gripper is reduced.

2) In the weaving process, the shuttle head and the shuttle tail of the gripper are repeatedly knocked to penetrate and draw weft yarns at a high speed, so that the gripper shell not only needs to be high in manufacturing precision, but also needs to have high surface smoothness, hardness and balance. The surface roughness Ra of the gripper shell is generally required to be less than or equal to 0.1.

3) Compared with rapier weft insertion movement, the starting acceleration of the gripper loom is large, and the starting acceleration of the gripper loom is about 1020 times of that of the rapier loom. If the picking torque is too large, or the weft yarn has weak twist or details, the tension rod is easy to break the weft yarn when rising. In addition to the pulsed thrust exerted by the dispensing mechanism to which the gripper is subjected, there is also the complexity of designing a suitable mechanism (torsion axis mechanism) that generates a thrust that is strong enough but not too great.

4) When the torsion shaft hitting force does not act symmetrically on the gripper, the trajectory of the gripper is subjected to lateral shocks controlled by the guides on which the gripper slides, so that the efficiency and regularity of the picking is deteriorated.

5) Twist spindle picking efficiency low the maximum theoretical mechanical efficiency of twist spindle picking is 18.3%.

6) The shuttle hitting and the shuttle making are easy to cause vibration and noise.

7) In the weft insertion process of the gripper, the movement trend of the gripper decreases from strong to weak, so that a certain limit weaving width exists, and the requirement of a larger weaving width cannot be met.

8) In the weaving process, under the repeated friction action of the shuttle guiding plate, the size film is gradually damaged, so that the warp is not protected, then a friction object pulls out some fibers from the yarn, the fibers on the yarn slide mutually, the local stretching and damage of some fibers are generated, the unrecoverable elongation is generated, and the capability of resisting the breakage of the warp is gradually reduced along with the increase of the cycle times and the gradual accumulation of the abrasion action until the warp cannot bear the external force to break.

Aiming at the problems 1) to 6), CN 106012242 discloses another structure of electromagnetic weft insertion device, which provides a solution that a plurality of coils are arranged in series along the throwing track of the gripper in succession, and the coils are activated in succession in the form of coil groups to generate an electromagnetic attraction effect, so that the problem that the conventional electromagnetic device cannot achieve the equivalent speed of twisting shaft picking and the problem that the system efficiency is low due to the loss caused by the joule effect of the electromagnetic coil is solved, but the electromagnetic device of the patent essentially belongs to a reluctance electromagnetic transmitting device of an electromagnetic gun, and the coil type electromagnetic transmitting technology has the problems of large coil winding current and serious heating caused by low air permeability, and the defect that the pulse power supply capacity is large due to low energy conversion efficiency. In order to meet the requirements of different weaving widths, the picking device is required to change the picking speed by changing the current of the electromagnetic coil, and the patent does not describe how to change the picking speed. If the current in the electromagnetic coil is changed, the power supply voltage needs to be increased or decreased, so that the electromagnetic device is not suitable for changing the speed of the picking.

In view of the problems 1) to 7), patent CN 110485035 discloses a variable reluctance magnetic suspension weft insertion device, but this device cannot reach the speed equivalent to the gripper thrown by machine in the actual weaving process, and secondly this device needs to be installed together with the sley and make beating-up motion along with the sley. Under the high-frequency vibration, the structural strength of the device cannot be ensured. In addition, the structure of the shuttle guiding plate can easily cause the weft to be blocked in the groove of the shuttle guiding plate when the weft is withdrawn.

Through the above analysis, the problems and defects of the prior art are as follows:

(1) the CN 106012242 coil type electromagnetic emission technology has the problems of large coil winding current and serious heating caused by low air permeability, and the defect of large pulse power supply capacity caused by low energy conversion efficiency

(2) The device of patent CN 110485035 cannot reach the speed equivalent to the gripper that is mechanically thrown in the actual weaving process, and secondly, the device needs to be installed with the sley to make beating-up motion along with the sley. Under the vibration of high frequency, the structural strength of the device can not be ensured. In addition, the structure of the shuttle guiding plate can easily cause the weft to be blocked in the groove of the shuttle guiding plate when the weft is withdrawn.

The difficulty in solving the above problems and defects is:

aiming at the defects of patent CN 106012242, the difficulty to be solved is how to avoid low air permeability and reduce the magnetic leakage of the electromagnetic coil so as to improve the energy conversion efficiency. How to adjust the picking speed of the electromagnetic device in a more controlled way.

Aiming at the defects of the patent CN 110485035, the difficulty to be solved is how to separate the weft insertion device from the sley, so that the weft insertion device does not move along with the sley.

The significance of solving the problems and the defects is as follows:

aiming at the defects of the patent CN 106012242, the significance of solving is to avoid low air permeability and improve energy conversion efficiency, so that the current in the coil is not too large to cause overheating of the coil. Reducing the capacity of the pulse power supply. The speed of the picking of the gripper can be controlled by changing the frequency of the alternating current in the electromagnetic coil of the electromagnetic picking device.

Aiming at the defects of the patent CN 110485035, the weft insertion device is separated from a sley, and the weft insertion device does not move along with the sley, so that the strength of the weft insertion device is ensured.

Disclosure of Invention

In view of the problems of the prior art, the present invention provides a projectile projection stopping and levitating device and method for an ultra-wide web shuttle loom.

The invention is realized in this way, a projectile projection stopping and suspending device for an ultra-wide web shuttle loom includes:

the device comprises an electromagnetic induction picking and shuttle making device, an electromagnetic induction suspension track and a gripper;

the electromagnetic induction picking and shuttle making devices are two in number and are respectively positioned on two sides of the electromagnetic induction suspension track.

Further, the electromagnetic induction picking and shuttle making device comprises a non-magnetic framework and a plurality of groups of winding coils wound on the outer side of the non-magnetic framework, wherein the winding coils are distributed in a Halbach array.

Furthermore, the electromagnetic induction suspension track comprises N groups of electromagnetic modules, the number of the electromagnetic modules is determined by the effective weft insertion width of the loom, and each group of the electromagnetic modules consists of three pairs of electromagnetic coils and three U-shaped iron cores.

Further, photoelectric sensors are fixed to the upper end of the inner side of the electromagnetic induction suspension track through bolts and located between each group of electromagnetic modules.

Further, the electromagnetic coil is a coil for an electromagnetic track made of litz wire tightly wound on a bobbin in a solenoid structure.

Further, the non-magnetic framework material is aluminum, copper, graphene or other non-magnetic materials with strong electric conductivity.

Further, the projectile shuttle is made of aluminum, copper, graphene or other non-magnetic materials with strong electric conductivity.

Another object of the present invention is to provide a method for controlling a gripper projection stopping and suspending device for an ultra-wide web shuttle loom, the method comprising:

firstly, when weft insertion starts, an electromagnetic induction picking shuttle making device is electrified to shoot a gripper into a shed formed by warp yarns, and the gripper continuously flies forwards by means of inertia;

step two, after a photoelectric sensor positioned in the electromagnetic induction suspension track detects that the gripper passes through the electromagnetic induction suspension track from the upper part, corresponding electromagnetic coils in the electromagnetic induction suspension track are electrified, and the electromagnetic coils are electrified to generate suspension force and forward propelling force;

and step three, after the gripper penetrates out of the shed and reaches the opposite electromagnetic induction picking and shuttle making device, electrifying the opposite electromagnetic induction picking and shuttle making device to form a reverse travelling wave magnetic field, decelerating the gripper under the action of electromagnetic force, and finally standing in a shuttle box which is positioned at two ends of the electromagnetic induction picking and shuttle making device.

It is a further object of the invention to provide a computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of:

when weft insertion starts, the electromagnetic induction picking shuttle making device is electrified to shoot the gripper into a shuttle port formed by warp yarns, and the gripper continues to fly forwards by means of inertia;

after a photoelectric sensor in the electromagnetic induction suspension track detects that the gripper passes through the electromagnetic induction suspension track from the upper part, a corresponding electromagnetic coil in the electromagnetic induction suspension track is electrified, and the electromagnetic coil generates suspension force and forward propelling force after being electrified;

when the gripper penetrates out of the shed and reaches the opposite electromagnetic induction picking shuttle making device, the opposite electromagnetic induction picking shuttle making device is electrified to form a reverse traveling wave magnetic field, the gripper decelerates under the action of electromagnetic force, and the gripper is static in the shuttle box.

Another object of the present invention is to provide a shuttle loom carrying said projectile launching stop and suspension device for ultra wide face-piece shuttle looms.

By combining all the technical schemes, the invention has the advantages and positive effects that:

according to the invention, the electromagnetic induction shuttle throwing device is adopted to reduce the air gap of the electromagnetic device, and the windings are arranged in a halbach array, so that the low air permeability is avoided, the energy conversion efficiency is improved, and the coil is prevented from being overheated due to overlarge current in the coil. Reducing the capacity of the pulse power supply. The speed of the picking of the gripper can be controlled by varying the frequency of the alternating current in the electromagnetic coil of the electromagnetic picking device. The picking efficiency and the regularity are improved. Reduce the vibration and noise of the weaving machine. The gripper is suspended by adopting an electromagnetic induction track, and the friction force of the gripper is reduced to increase the width of the loom. The weft insertion device is separated from the sley, and the weft insertion device does not move along with the sley, so that the strength of the weft insertion device is ensured. And the guide shuttle is removed, and the warp friction is reduced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic diagram of a projectile projection inhibiting and suspending device for an ultra-wide web shuttle loom in accordance with an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of an electromagnetic induction picking and shuttle making device according to an embodiment of the present invention.

Fig. 3 is a schematic structural diagram of an electromagnetic induction levitation track provided in an embodiment of the present invention.

In the figure: 1. an electromagnetic induction picking and shuttle making device; 2. an electromagnetic induction levitation track; 3. a gripper; 4. warp threads; 5. a weft; 6. a non-magnetic skeleton; 7. a winding coil; 8. an electromagnetic coil; 9. a U-shaped iron core; 10. A fabric.

FIG. 4 is a schematic illustration of the velocity of a gripper at the weft insertion stage according to an embodiment of the present invention.

Fig. 5 is a magnetic force line distribution diagram of the electromagnetic induction picking and shuttle making device according to the embodiment of the invention.

FIG. 6 is a graph of the change in gripper levitation height over time at the instant that the electromagnetic induction track is energized, as provided by an embodiment of the present invention.

Fig. 7 is a schematic diagram of a state of change of the levitation force borne by the gripper over time, which is simulated by the electromagnetic simulation software maxwell provided in the embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In view of the problems of the prior art, the present invention provides a projectile projection stopping and suspending device and method for an ultra-wide web shuttle loom, which will be described in detail below with reference to the accompanying drawings.

As shown in fig. 1, a projectile projection inhibiting and suspending device for an ultra-wide web shuttle loom according to an embodiment of the present invention includes:

the device comprises an electromagnetic induction picking and shuttle making device 1, an electromagnetic induction suspension track 2 and a gripper shuttle 3;

the two electromagnetic induction picking and shuttle making devices 1 are arranged, and the two electromagnetic induction picking and shuttle making devices 1 are respectively positioned on two sides of the electromagnetic induction suspension track 2. The projectile shuttle is made of aluminum, copper, graphene or other non-magnetic materials with strong conductive capability.

As shown in fig. 2, the electromagnetic induction picking and shuttle manufacturing device 1 in the embodiment of the present invention includes a non-magnetic frame 6 and a plurality of sets of winding coils 7 wound on the outer side of the non-magnetic frame 6, and the winding coils 7 are arranged in a Halbach array. The non-magnetic framework material is aluminum, copper, graphene or other non-magnetic materials with strong conductive capability.

As shown in fig. 3, the electromagnetic induction levitation track 2 in the embodiment of the present invention includes N sets of electromagnetic modules, the number of the electromagnetic modules is determined by the effective width of the loom, and each set of the electromagnetic modules is composed of three pairs of electromagnetic coils 8 and three U-shaped cores 9.

And a photoelectric sensor is fixed at the upper end of the inner side of the electromagnetic induction suspension track 2 through a bolt.

The electromagnetic coil is a coil for an electromagnetic track made of litz wire tightly wound on a bobbin and is in a solenoid structure.

When the electromagnetic induction picking device is used, the electromagnetic induction picking device is electrified to shoot the gripper into a shed formed by warp yarns at the beginning of weft insertion. The projectile continues to fly forward by inertia. At the moment, after the photoelectric sensor positioned in the electromagnetic induction track detects that the gripper passes through the upper part, the corresponding electromagnetic coil in the electromagnetic suspension track is opened to electrify the gripper. When the electromagnetic coil is electrified, the levitation force and the forward propelling force can be generated. When the gripper passes through the shed and reaches the opposite electromagnetic induction picking and shuttle making device, the opposite electromagnetic induction picking and shuttle making device is electrified to form a reverse traveling wave magnetic field, the gripper decelerates under the action of electromagnetic force, and finally the gripper is static in the shuttle box. The speed of the shuttle at each stage is shown in figure 4.

The electromagnetic induction picking and shuttle making device 1 winds a three-phase coil winding on a non-magnetic framework, when three-phase symmetrical alternating current is introduced into a coil, a moving travelling wave magnetic field is generated in an air gap, an eddy current is induced in a secondary conductor plate by the travelling wave magnetic field, the direction of the eddy current magnetic field is opposite to that of a primary travelling wave magnetic field, and the eddy current magnetic field and the primary travelling wave magnetic field interact to realize projectile and stopping of the projectile shuttle. Because coil winding does not have the iron core, what the winding coil was produced after the circular telegram, can only pass through the circulation of air, and the magnetic leakage in the air is very big, can't concentrate magnetic field, can produce very strong magnetic field after simultaneously letting in great electric current as primary coil, can cause very big amount degree electromagnetic radiation to the surrounding environment, consequently the magnetic field that motion magnetic field electromagnetism Halbach array produced has following requirement: 1. a travelling wave magnetic field capable of generating motion; 2. can generate strong magnetic field and realize self-shielding, namely magnetic single polarity. Fig. 5 is a magnetic line distribution diagram of the electromagnetic induction picking and shuttle making device simulated by the electromagnetic simulation software maxwell when the electromagnetic induction picking and shuttle making device is powered on. As can be seen from the figure, the magnetic lines generated inside the electromagnetic coil are high in density, and the magnetic lines generated outside the electromagnetic induction device are low in density, so that the requirement of magnetic single polarity is met. When currents with the difference of the electric angles of 120 degrees are respectively introduced into the electromagnetic coils of each phase, a travelling wave magnetic field moving in the motion direction of the gripper can be generated.

An electric current flows through the electromagnetic coil of the electromagnetically induced levitation track 2, generating a magnetic field in the vicinity. A U-shaped iron core is arranged in the electromagnetic coil, the magnetic permeability of the iron core is high, and the magnetic field and the change of the magnetic flux of the magnetic field can be concentrated and strengthened so as to achieve the purpose of exciting a strong magnetic field by using small conduction current. The electromagnetic coil and the iron core are regarded as a whole, alternating current A is introduced, when A changes, the electromagnetic coil can generate an alternating magnetic field, the magnetic flux passing through the gripper placed above the coil changes continuously, and induced eddy current B is generated in the gripper. The eddy current A and the eddy current B have a certain phase difference, and generate an induced magnetic field opposite to the original magnetic field direction, namely the gripper is subjected to an upward magnetic field force. When the force of the magnetic field is balanced with the weight of the gripper, the gripper floats over the coil. FIG. 6 is a graph of the change of the projectile levitation height over time at the instant the electromagnetic induction track is energized as simulated by the electromagnetic simulation software maxwell. As can be seen from the figure, the flying height of the gripper rises along with the increase of time, and finally, the gripper stably floats at a certain height.

The invention also provides a control method of a gripper projection stopping and suspending device for an ultra-wide web shuttle loom, which comprises the following steps:

firstly, when weft insertion starts, an electromagnetic induction picking shuttle making device is electrified to shoot a gripper into a shed formed by warp yarns, and the gripper continuously flies forwards by means of inertia;

step two, after a photoelectric sensor positioned in the electromagnetic induction suspension track detects that the gripper passes through the electromagnetic induction suspension track from the upper part, corresponding electromagnetic coils in the electromagnetic induction suspension track are electrified, and the electromagnetic coils are electrified to generate suspension force and forward propelling force;

and step three, after the gripper penetrates out of the shed and reaches the opposite electromagnetic induction picking and shuttle making device, electrifying the opposite electromagnetic induction picking and shuttle making device to form a reverse travelling wave magnetic field, decelerating the gripper under the action of electromagnetic force, and finally standing in the shuttle box.

The invention is further described below in conjunction with a detailed principles analysis.

The alternating current induction magnetic levitation realizes the levitation of the gripper by using Lorentz force. Assuming that the current passed through the solenoid is

Where w is the angular frequency of the current, w ═ 2 π f, and f is the frequency of the current.

Assuming a uniform distribution of the induced current in the gripper, the magnitude of the induced current in the gripper can be expressed as:

is the phase difference between the current in the solenoid and the current induced in the gripper.

The voltage equation for a loop in a projectile can be expressed by kirchhoff's law as:

in the formula R₂Is the resistance of the projectile, L₂Is the self-inductance of the gripper, and M is the mutual inductance between the electromagnetic coil and the gripper.

The induced current in the gripper can be obtained by bringing the formulas (1) and (2) into the formula (3)

Assuming that the radius of the electromagnetic coil is R, the length is L and the number of turns is n, the radial component of the magnetic field intensity borne by the gripper is as follows:

B(t)＝μ₀ ²nI₁Ksin(wt) (5)

in the formula of₀K is a distance parameter from the central axis for air permeability.

The cyclic force received by the gripper in the axial direction can be expressed as:

in the formula r_cIs the gripper circumference radius.

Fig. 7 is a time-dependent change state of the levitation force applied to the gripper simulated by the electromagnetic simulation software maxwell.

In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships that are based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing and simplifying the description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any modification, equivalent replacement, and improvement made by those skilled in the art within the technical scope of the present invention disclosed in the present invention should be covered within the scope of the present invention.