CN102694455A - Magnetic driver - Google Patents
Magnetic driver Download PDFInfo
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- CN102694455A CN102694455A CN2011100707803A CN201110070780A CN102694455A CN 102694455 A CN102694455 A CN 102694455A CN 2011100707803 A CN2011100707803 A CN 2011100707803A CN 201110070780 A CN201110070780 A CN 201110070780A CN 102694455 A CN102694455 A CN 102694455A
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- yoke
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Abstract
The present invention relates to a driver. The invention provides a magnetic driver which comprises a shell body. One side of the shell body or up and down sides of the shell body are provided with through holes. The shell body is internally provided with a fixed yoke iron which is fixedly arranged relative to the shell body. One side or two sides of the fixed yoke iron or a circle with the fixed yoke iron as the center is provided with a moving yoke iron. The fixed yoke iron and the moving yoke iron are relatively arranged and provided with a gap. The length of the fixed yoke iron is larger than the length of the moving yoke iron. Both relative sides of the fixed yoke iron and the moving yoke iron are provided with at least two grooves. A projection is arranged between the grooves. The grooves of the fixed yoke iron and/or the moving yoke iron is winded with coils. An upper side and/or a lower side of the moving yoke iron is fixedly connected with an output rod. The output rod penetrates through the through holes and moves freely relative to the through holes. The moving yoke iron is limited through a guide body. According to the magnetic driver, precise linear displacement can be realized, large-stroke displacement and micro-precision combination long-stroke composite displacement can be realized, and a direct drive device with upward and downward bistable fixed stroke driving performance also is provided.
Description
Technical field
The present invention relates to a kind of driver, relate in particular to a kind of big stroke linear drives that forms, drive displacement and actuating force be controlled direct feeding driver accurately.
Background technology
Driver is the base unit device in fields such as automatic control, robot.To the performance of driver, especially drive displacement, actuating force and driving behavior accurate controlled aspect, along with the development of automatic control, Robotics, require increasingly high.But present driver often exist the driving stroke big, but it is low to drive precision, or it is high to drive precision, but is driven the small defective of stroke.Need especially in automatic control and accurate driving field a kind of possess can form big stroke linear drives, the accurate controlled direct feeding driver of drive displacement and actuating force.
Retrieval through to prior art is found; February in 2008 Granted publication on the 06th Chinese patent; Notification number is CN1588768, and it discloses a kind of small cylindrical magnet DC linear driver, adopts polylith bar shaped permanent magnets to splice to come the close approximation overall diameter to the tubular permanent magnet that magnetizes; Form the closed-loop path through the outside magnetic conductive cylinder of permanent magnets, front and rear cover and permanent magnets inner cylindrical iron core, form the radial magnetic field of approximate radial in the air-gap between iron core and permanent magnets.The current-carrier solenoid coil that is in the air-gap can be free to slide on iron core, motion under electromagnetic force effect during energising, and pass through output shaft with power and motion output.On the mover skeleton, made structures such as through wires hole, groove, adopted the form of inlaying printed board that lead-in wire is drawn, safe ready is reliable.But; There is shortcoming in this driver; The realization that is exactly its driveability is to be based upon permanent magnet blocks more than to integrate; And the driving of composite electromagnetic field, the stability of its driving be based upon the formed structure of many permanent magnets symmetry, accuracy make to be installed, and the magnetic field intensity of permanent magnet itself, the uniformity etc. of magnetizing.Based on this structure, realize that convenient driving and stable precision drive, to make and mounting process, the selection of optimum Design of Structure property and permanent magnetic material all is difficult to control relatively; In addition, this driver exists assembly many, the structure relative complex, and the driving in the suspension magnetic gap is unstable, and moving rigidity is not enough.
Summary of the invention
Technique effect of the present invention can overcome above-mentioned defective; A kind of magnetic driver is provided; It can realize accurate straight line micrometric displacement, can realize big travel displacement again, also can realize to top and bistable state downwards fixedly stroke drive the straight-line displacement driving element of behavior.
For realizing above-mentioned purpose, the present invention adopts following technical scheme: it comprises housing, and the one or both sides that housing is relative up and down are provided with openings; Be provided with in the housing and decide yoke, decide yoke and fixedly install with respect to housing; Decide the one or both sides of yoke or be that the circumference at center is provided with moving yoke to decide yoke, decide to be oppositely arranged between yoke and the moving yoke and gapped, the length of deciding yoke is greater than moving yoke length; Decide a yoke side relative and be provided with two grooves all at least, be provided with convexity between the groove with moving yoke; Decide winding around in the groove of yoke and/or moving yoke, the upside of moving yoke and/or downside are fixedly connected take-off lever, and take-off lever is passed by openings and with respect to the openings free movement; Moving yoke is spacing through guide way.
Decide yoke or moving yoke in separated, gap is fixedly connected through length adjustment device.Guide way is a strip, and after the strip guide way ran through moving yoke, one or both ends wherein were fixedly connected with housing, and moving yoke is with respect to the guide way free movement.Guide way is fixedly connected with the housing side, and guide way is provided with chute, and moving yoke is along the spacing slip of chute.Be provided with spring between the side above and/or under moving yoke and the housing, be provided with piezoelectric transducer between spring and the moving yoke.
The driver of this device also can adopt another kind of structure, and it comprises housing, and the one or both sides that housing is relative up and down are provided with openings; Be provided with in the housing and decide yoke, decide yoke and fixedly install with respect to housing; Decide the one or both sides of yoke or be that the circumference at center is provided with moving yoke to decide yoke, decide to be oppositely arranged between yoke and the moving yoke and gapped, the length of deciding yoke is greater than moving yoke length; Decide a yoke side relative and be provided with two grooves all at least, be provided with convexity between the groove with moving yoke; Decide to be provided with permanent magnet in the groove of winding around in the groove of yoke, moving yoke, perhaps decide to be provided with in the groove of yoke the interior winding around of groove of permanent magnet, moving yoke; The upside of moving yoke and/or downside are fixedly connected take-off lever, and take-off lever is passed by openings and with respect to the openings free movement; Moving yoke is spacing through guide way.
Compared with prior art; The present invention includes following advantage: not only can realize accurate straight line micrometric displacement, but also can realize big travel displacement; And the compound displacement of little smart long stroke of combination, also have upwards and the fixing direct driver spare of stroke driveability of downward bistable state.This driver can need not permanent magnet, assembly is few, simple in structure, and compact, easy for installation, cost is low.Driver of the present invention can be widely used in needs and produce small accurate displacement, the big direct drive displacement of stroke, the application of impact, vibratory drive and switch drive.
Description of drawings
Below in conjunction with accompanying drawing and embodiment the present invention is described in detail:
Fig. 1 is embodiments of the invention 1 structural representations;
Fig. 2 is embodiments of the invention 1 operate condition sketch mapes;
Fig. 3 is embodiments of the invention 2 structural representations;
Fig. 4 is embodiments of the invention 3 structural representations;
Fig. 5 is embodiments of the invention 4 structural representations;
Fig. 6 is embodiments of the invention 5 structural representations;
Fig. 7 is embodiments of the invention 6 structural representations;
Fig. 8 is embodiments of the invention 7 structural representations;
Fig. 9 is embodiments of the invention 8 structural representations;
Figure 10 is embodiments of the invention 9 structural representations;
Figure 11 is embodiments of the invention 10 structural representations;
Figure 12 is embodiments of the invention 11 structural representations;
Figure 13 is embodiments of the invention 12 structural representations.
Among the figure: 1. housing; 2. limit body; 3. groove; 4. protruding; 5. moving yoke body; 6. decide the yoke body; 7. coil; 8. take-off lever; 9. permanent magnet; 10. spring; 11. length adjustment device; 12. cushion; 13. piezoelectric transducer; 14. hall sensing sheet.
Embodiment
As shown in Figure 1, driver of the present invention comprises housing 1, and housing 1 upside is provided with openings; Be provided with in the housing 1 and decide yoke 6, decide yoke 6 and fixedly install with respect to housing 1; One side of deciding yoke 6 is provided with moving yoke 5, decides to be oppositely arranged between yoke 6 and the moving yoke 5 and gapped, and the length of deciding yoke 6 is greater than moving yoke 5 length; Decide yoke 6 and all be provided with two grooves 3, be provided with protruding 4 between the groove 3 with moving yoke 5 relative sides; Decide winding arounds 7 in the groove 3 of yoke 6, the upside of moving yoke 5 is fixedly connected take-off lever 8, and take-off lever 8 is passed by openings and with respect to the openings free movement; Moving yoke 5 is spacing through guide way 2.
Wherein, decide yoke 6, moving yoke 5 has " E " type structure, symmetry is divided in its upper and lower half.The height of deciding yoke 6 is decided yoke 6, moving placement location interleaved make-up
type of yoke 5 in stiff case 1 greater than moving yoke 5.And, decide yoke 6 and moving yoke 5 to keeping the gap between actinal surface, no matter moving yoke 5 is under static or the situation of motion, this gap all can be leaned on and run through the guide way 2 that moves yoke 5 and retrain and guarantee.The difference in height of deciding yoke 6 and moving yoke 5 is the range or the stroke of moving yoke 5.
The course of work of present embodiment is: when initial, the yoke 6 of deciding of make-up aligns (like Fig. 1) with moving yoke 5 bottoms, and dislocation is all arranged at middle part and top.Coil 7 energisings to upside; Decide to produce magnetic field in the yoke 6; And make the right the first half of
type electromagnetism yoke will produce closed flux path; Move up and inhale moving yoke 5; Until
type electromagnetism yoke right go up, in when be maximum to the area of actinal surface, moving stops (as shown in Figure 2).And because the positioning and guiding effect of guide way 2, deciding can be by adhesive in yoke 6 and 5 motions of moving yoke.
In like manner, to coil 7 energisings of downside, cut off coil 7 electric currents of upside simultaneously, moving yoke 5 will produce downward motion and get back to initial position (like Fig. 1).Like this, driver of the present invention has formed upwards and downward fixedly stroke driving of bistable state.
According to above operation principle; The coil of upside and the coil of downside are switched on simultaneously; But the current strength of being led to is different; The composite force effect of the electromagnetic force that so moving yoke 5 will produce at the coil of the coil of upside and downside, self gravitation etc. produces down moves, and the size of the direction of moving displacement is by the vector and the decision of the electromagnetic force of last lateral coil and the generation of following lateral coil.Therefore, the difference degree according to the coil loading current of the coil of upside and downside can make yoke 5 form long strokes (smaller or equal to the difference in height of deciding yoke 6 and moving yoke 5), or small precise stroke rectilinear motion.
So far, of the present inventionly realize accurate straight line micrometric displacement, can realize big travel displacement again, and little essence closes the compound displacement of long stroke, also have fixedly stroke driveability of stable state upwards.
As shown in Figure 3, the upside of housing 1 and downside all are provided with openings; The upside of moving yoke 5 all is fixedly connected take-off lever 8 with downside, and take-off lever 8 is passed by openings and with respect to the openings free movement.
Other is with embodiment 1.
The driving implement of this kind structure has upwards and the fixing stroke driveability of downward accurate straight line micrometric displacement and bistable state.
As shown in Figure 4; Decide in the groove 3 of yoke 6, moving yoke 5 all winding arounds 7; The motion of moving like this yoke 5 can also be through the coil of upside and the coil composite action of downside; Strengthen or oppositely weaken the electromagnetic force effect of coil of coil or the downside of upside in the same way, make that the motion controllability of moving yoke 5 is better.
Other is with embodiment 1.
As shown in Figure 5, decide yoke 6 and all be provided with three grooves 3 with moving yoke 5 relative sides, be provided with protruding 4 between the groove 3; Decide groove 3 interior all winding arounds 7 of yoke 6, winding arounds 7 in the groove 3 of the centre of moving yoke 5.
Other is with embodiment 3.
As shown in Figure 6, decide winding arounds 7 in the groove 3 of yoke 6, be provided with permanent magnet 9 in the groove 3 of the downside of moving yoke 5.
Other is with embodiment 1.
As shown in Figure 7, decide in the groove 3 of yoke 6, moving yoke 5 all winding arounds 7, be provided with spring 10 between the upside of moving yoke 5 and housing 1.
Other is with embodiment 3.
As shown in Figure 8, decide in the groove 3 of yoke 6, moving yoke 5 all winding arounds 7, be provided with spring 10 between the upside of moving yoke 5 and housing 1.
Decide yoke 6 in separated, gap is fixedly connected through length adjustment device 11.Can be implemented under the situation that does not change structure through this device; Regulate the height of deciding yoke 6; Can change the dislocation distance of deciding between yoke 6 and the moving yoke 5, thereby realize the adjustment function of the stroke distances of moving yoke 5, promptly said driver also has the total kilometres of driving adjustable size joint function.
Other is with embodiment 6.
As shown in Figure 9; Guide way 2 is a strip, and after strip guide way 2 ran through moving yoke 5, lower end wherein was fixedly connected with housing 1; Moving yoke 5 (also can adopt another kind of structure with respect to guide way 2 free movements; Be to be fixedly connected with it after strip guide way 2 runs through moving yoke 5, housing 1 is run through in the lower end of guide way 2, and guide way 2 is with respect to housing 1 free movement and do not break away from housing 1).
Decide in the groove 3 of yoke 6, moving yoke 5 all winding arounds 7, be provided with spring 10 between the upside of moving yoke 5 and housing 1.Be provided with piezoelectric transducer 13 between spring 10 and the moving yoke 5.In the driving process, when electromagnetic excitation is cancelled, because the remanent magnetism suction; The reseting movement of moving yoke 5 can be affected, therefore, and in the present embodiment; Be provided with spring 10 between the upside of moving yoke 5 and housing 1, like this, when the coil blackout of upside; Moving yoke 5 is easy under the effect of spring 10, reset, and helps the coil of downside to do the time spent, to the downward drive actions of moving yoke 5.
In addition, between the bottom of moving yoke 5 lower ends and housing 1, be added with cushion 12, to alleviate the impact of the bottom of moving 5 pairs of housings 1 of yoke.
For present embodiment, between spring 10 and moving yoke 5 upper surfaces, be provided with piezoelectric transducer 13.Extrusion spring 10 in moving yoke 5 motion processes, spring 10 extruding piezoelectric transducers 13 produce the signal of telecommunication.This signal of telecommunication can corresponding spring 10 force variation, and then the displacement of corresponding moving yoke 5 is so moving yoke 5 motion processes can be by piezoelectric transducer 13 sensings.
For the sensing function of present embodiment, can also in the upper end of deciding yoke 6, embed a hall sensing sheet 14 through in magnetic circuit perpendicular to the magnetic circuit flow direction.Because it is big more to decide the surperficial coincidence area of the make-up of yoke 6 and moving yoke 5, the magnetic flux in the yoke is strong more, and the induced signal of hall sensing sheet 14 will be to change.So hall sensing sheet 14 can sensing be decided the coincidence degree on the make-up surface of yoke 6 and moving yoke 5, and then can respond to the moving displacement of moving yoke 5.So, embed the effect that a hall sensing sheet 14 also can play the drive displacement of driver that sensing is invented.
Other is with embodiment 1.
Like this, for this embodiment, driver of the present invention is a kind of driving, sensing integrated driver.
Shown in figure 10, the upside of housing 1 and downside all are provided with openings; The upside of moving yoke 5 all is fixedly connected take-off lever 8 with downside, and take-off lever 8 is passed by openings and with respect to the openings free movement.
Guide way 2 is provided with two, and it is fixedly connected with housing 1 side respectively, and guide way 2 is provided with chute, and moving yoke 5 is along the spacing slip of chute.Present embodiment resolves into two segments up and down with guide way 5, and they are connected with stiff case 1 madial wall respectively.
Decide the groove 3 interior winding arounds 7 of yoke 6, be provided with permanent magnet 9 in the groove 3 of winding arounds 7, downside in the upside groove 3 of moving yoke 5.
Other is with embodiment 1.
Shown in figure 11, the upside of housing 1 is provided with openings; The upside of moving yoke 5 is fixedly connected take-off lever 8, and take-off lever 8 is passed by openings and with respect to the openings free movement.
Decide winding arounds 7 in the groove 3 of yoke 6, decide yoke 6 in separated, gap is through length adjustment device 11 fixed connections.
Other is with embodiment 9.
Shown in figure 12, be provided with spring 10 between the upside of moving yoke 5 and the housing 1.Decide yoke 6, moving yoke 5 in separated, gap all is fixedly connected through length adjustment device 11.
Other is with embodiment 10.
Shown in figure 13, the both sides of deciding yoke 6 are provided with moving yoke 5, are fixedly connected a take-off lever 8 on each moving yoke 5, and take-off lever 8 is passed by openings and with respect to the openings free movement.
Other is with embodiment 1.
Be fixedly connected a take-off lever 8 on each moving yoke 5, also can be fixedly connected one or two take-off lever 8, its principle is the same.
To decide being interval with moving yoke 5 on the circumference that yoke 6 is the center.
Other is with embodiment 1.
More than embodiments of the invention have been done detailed description, be to be to implement under the prerequisite, but protection scope of the present invention is not limited to the above embodiments with technical scheme of the present invention.
Claims (10)
1. a magnetic driver is characterized in that, comprises housing (1), and the relative up and down one or both sides of housing (1) are provided with openings; Be provided with in the housing (1) and decide yoke (6), decide yoke (6) and fixedly install with respect to housing (1); Decide the one or both sides of yoke (6) or be that the circumference at center is provided with moving yoke (5) to decide yoke (6), decide to be oppositely arranged between yoke (6) and the moving yoke (5) and gapped, the length of deciding yoke (6) is greater than moving yoke (5) length; Decide yoke (a 6) side relative and be provided with two grooves (3) all at least, be provided with convexity (4) between the groove (3) with moving yoke (5); Decide the interior winding around of groove (3) (7) of yoke (6) and/or moving yoke (5), the upside of moving yoke (5) and/or downside are fixedly connected take-off lever (8), and take-off lever (8) is passed by openings and with respect to the openings free movement; Moving yoke (5) is spacing through guide way (2).
2. magnetic driver according to claim 1 is characterized in that, decide yoke (6) or moving yoke (5) in separated, gap is fixedly connected through length adjustment device (11).
3. magnetic driver according to claim 2; It is characterized in that guide way (2) is a strip, after strip guide way (2) runs through moving yoke (5); One or both ends wherein are fixedly connected with housing (1), and moving yoke (5) is with respect to guide way (2) free movement.
4. magnetic driver according to claim 2 is characterized in that, guide way (2) is fixedly connected with housing (1) side, and guide way (2) is provided with chute, and moving yoke (5) is along the spacing slip of chute.
5. according to claim 3 or 4 described magnetic drivers, it is characterized in that, be provided with spring (10) between the side above and/or under moving yoke (5) and the housing (1), be provided with piezoelectric transducer (13) between spring (10) and the moving yoke (5).
6. a magnetic driver is characterized in that, comprises housing (1), and the relative up and down one or both sides of housing (1) are provided with openings; Be provided with in the housing (1) and decide yoke (6), decide yoke (6) and fixedly install with respect to housing (1); Decide the one or both sides of yoke (6) or be that the circumference at center is provided with moving yoke (5) to decide yoke (6), decide to be oppositely arranged between yoke (6) and the moving yoke (5) and gapped, the length of deciding yoke (6) is greater than moving yoke (5) length; Decide yoke (a 6) side relative and be provided with two grooves (3) all at least, be provided with convexity (4) between the groove (3) with moving yoke (5); Decide to be provided with permanent magnet (9) in the groove (3) of the interior winding around of groove (3) (7) of yoke (6), moving yoke (5), perhaps decide the interior winding around of groove (3) (9) that is provided with permanent magnet (9) in the groove (3) of yoke (6), moves yoke (5); The upside of moving yoke (5) and/or downside are fixedly connected take-off lever (8), and take-off lever (8) is passed by openings and with respect to the openings free movement; Moving yoke (5) is spacing through guide way (2).
7. magnetic driver according to claim 6 is characterized in that, decide yoke (6) or moving yoke (5) in separated, gap is fixedly connected through length adjustment device (11).
8. magnetic driver according to claim 7; It is characterized in that guide way (2) is a strip, after strip guide way (2) runs through moving yoke (5); One or both ends wherein are fixedly connected with housing (1), and moving yoke (5) is with respect to guide way (2) free movement.
9. magnetic driver according to claim 7 is characterized in that, guide way (2) is fixedly connected with housing (1) side, and guide way (1) is provided with chute, and moving yoke (5) slides along chute.
10. according to Claim 8 or 9 described magnetic drivers, it is characterized in that, be provided with spring (10) between the side above and/or under moving yoke (5) and the housing (1), be provided with piezoelectric transducer (13) between spring (10) and the moving yoke (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110070780.3A CN102694455B (en) | 2011-03-23 | 2011-03-23 | Magnetic driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110070780.3A CN102694455B (en) | 2011-03-23 | 2011-03-23 | Magnetic driver |
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| Publication Number | Publication Date |
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| CN102694455A true CN102694455A (en) | 2012-09-26 |
| CN102694455B CN102694455B (en) | 2014-06-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110070780.3A Active CN102694455B (en) | 2011-03-23 | 2011-03-23 | Magnetic driver |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103955229A (en) * | 2014-04-10 | 2014-07-30 | 上海交通大学 | Precise and controllable sliding table devices and combination thereof |
| CN104393734A (en) * | 2014-11-13 | 2015-03-04 | 杨锦堂 | Controllable displacement feeding drive system |
| CN104793564A (en) * | 2015-04-03 | 2015-07-22 | 上海交通大学 | Precision controllable linear driver and its combination |
| CN103955229B (en) * | 2014-04-10 | 2018-02-09 | 上海交通大学 | Accurate controllable slide rest device and combinations thereof |
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| JP2920089B2 (en) * | 1995-05-23 | 1999-07-19 | オリエンタルモーター株式会社 | Cylindrical linear pulse motor |
| US6321781B1 (en) * | 1999-03-30 | 2001-11-27 | Pierburg Ag | Apparatus for monitoring the valve stroke of an electromagnetically actuated valve |
| CN1976185A (en) * | 2005-11-28 | 2007-06-06 | 中国科学院电工研究所 | Large power mixed linear motor |
| CN101425733A (en) * | 2008-08-07 | 2009-05-06 | 上海交通大学 | Electromagnetic permanent magnet combined driving apparatus |
| CN201956867U (en) * | 2011-03-23 | 2011-08-31 | 杨锦堂 | Magnetic force driver |
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2011
- 2011-03-23 CN CN201110070780.3A patent/CN102694455B/en active Active
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| JP2920089B2 (en) * | 1995-05-23 | 1999-07-19 | オリエンタルモーター株式会社 | Cylindrical linear pulse motor |
| US6321781B1 (en) * | 1999-03-30 | 2001-11-27 | Pierburg Ag | Apparatus for monitoring the valve stroke of an electromagnetically actuated valve |
| CN1976185A (en) * | 2005-11-28 | 2007-06-06 | 中国科学院电工研究所 | Large power mixed linear motor |
| CN101425733A (en) * | 2008-08-07 | 2009-05-06 | 上海交通大学 | Electromagnetic permanent magnet combined driving apparatus |
| CN201956867U (en) * | 2011-03-23 | 2011-08-31 | 杨锦堂 | Magnetic force driver |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103955229A (en) * | 2014-04-10 | 2014-07-30 | 上海交通大学 | Precise and controllable sliding table devices and combination thereof |
| CN103955229B (en) * | 2014-04-10 | 2018-02-09 | 上海交通大学 | Accurate controllable slide rest device and combinations thereof |
| CN104393734A (en) * | 2014-11-13 | 2015-03-04 | 杨锦堂 | Controllable displacement feeding drive system |
| CN104393734B (en) * | 2014-11-13 | 2017-11-24 | 杨锦堂 | Controllable displacement feeding drive system |
| CN104793564A (en) * | 2015-04-03 | 2015-07-22 | 上海交通大学 | Precision controllable linear driver and its combination |
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| Publication number | Publication date |
|---|---|
| CN102694455B (en) | 2014-06-04 |
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