CN102694455B - Magnetic driver - Google Patents
Magnetic driver Download PDFInfo
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- CN102694455B CN102694455B CN201110070780.3A CN201110070780A CN102694455B CN 102694455 B CN102694455 B CN 102694455B CN 201110070780 A CN201110070780 A CN 201110070780A CN 102694455 B CN102694455 B CN 102694455B
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- yoke
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- moving 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 one and can form large stroke linear drives, drive displacement and actuating force be controlled direct feeding driver accurately.
Background technology
Driver is the base unit device in the 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 more and more higher.But current driver, often exists and drives stroke large, but drives precision low, or drives precision high, but drives the small defect of stroke.Automatically controlling and accurate driving field needs one to possess can to form large stroke linear drives, the accurate controlled direct feeding driver of drive displacement and actuating force especially.
Through the retrieval of prior art is found, February in 2008 Granted publication on the 06th Chinese patent, notification number is CN1588768, it discloses a kind of micro cylindrical permanent magnet DC linear driver, adopt polylith bar shaped permanent magnets to splice to come the tubular permanent magnet of the full radial magnetizing of close approximation, the cylinder-shaped iron core of magnetic conductive cylinder, front and rear cover and permanent magnets inside by permanent magnets outside forms closed-loop path, forms the radial magnetic field of approximate radial in the air-gap between iron core and permanent magnets.Current-carrier solenoid coil in air-gap can be free to slide on iron core, moves, and by output shaft, force and motion is exported when energising under electromagnetic force.On mover skeleton, made the structure such as through wires hole, groove, adopted the form of inlaying printed board that lead-in wire is drawn, safe ready is reliable.But, this driver existent defect, 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 structure that many permanent magnets form symmetry, manufacture accuracy be installed, and the magnetic field intensity of permanent magnet itself, the uniformity etc. of magnetizing.Based on this structure, realize convenient driving and stable precision driving, to manufacture and mounting process, the optimization of structural design and the selection of permanent magnetic material are all difficult to control relatively; In addition, this driver exists assembly many, structure relative complex, and the driving in suspension magnetic gap is unstable, moving rigidity deficiency.
Summary of the invention
Technique effect of the present invention can overcome above-mentioned defect, a kind of magnetic driver is provided, it can be realized accurate straight line micrometric displacement, can realize large travel displacement again, also can realize the linear position actuator part of bistable state fixed stroke driving behavior upward and downwards.
For achieving the above object, the present invention adopts following technical scheme: it comprises housing, and housing one or both sides opposing upper and lower are provided with openings; In housing, be provided with and determine yoke, determine yoke and be fixedly installed with respect to housing; Determine the one or both sides of yoke or be provided with moving yoke by the circumference of determining centered by yoke, determine to be oppositely arranged between yoke and moving yoke and gapped, the length of determining yoke is greater than moving yoke length; Determine the side that yoke is relative with moving yoke and be all at least provided with two grooves, between groove, be provided with projection; Determine winding around in the groove of yoke and/or moving yoke, upside and/or the downside of moving yoke are fixedly connected with take-off lever, and take-off lever is passed by openings and with respect to openings free movement; Moving yoke is spacing by guide way.
Determine yoke or moving yoke in separated, gap is fixedly connected with by length adjustment device.Guide way is strip, and strip guide way runs through after moving yoke, and one or both ends are wherein fixedly connected with housing, and moving yoke is with respect to guide way free movement.Guide way is fixedly connected with housing side, and guide way is provided with chute, and moving yoke is along the spacing slip of chute.Above and/or under moving yoke and housing, between side, be provided with spring, between spring and moving yoke, be provided with piezoelectric transducer.
The driver of this device also can adopt another kind of structure, and it comprises housing, and housing one or both sides opposing upper and lower are provided with openings; In housing, be provided with and determine yoke, determine yoke and be fixedly installed with respect to housing; Determine the one or both sides of yoke or be provided with moving yoke by the circumference of determining centered by yoke, determine to be oppositely arranged between yoke and moving yoke and gapped, the length of determining yoke is greater than moving yoke length; Determine the side that yoke is relative with moving yoke and be all at least provided with two grooves, between groove, be provided with projection; Determine to be provided with permanent magnet in the groove of winding around in the groove of yoke, moving yoke, or determine to be provided with in the groove of yoke the interior winding around of groove of permanent magnet, moving yoke; Upside and/or the downside of moving yoke are fixedly connected with take-off lever, and take-off lever is passed by openings and with respect to openings free movement; Moving yoke is spacing by 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 large travel displacement, and the compound displacement of the long stroke of micro-essence combination, also there is the direct driver part of bistable state fixed stroke driveability up and down.This driver can be few, simple in structure, compact, easy for installation without permanent magnet, assembly, and cost is low.Driver of the present invention, can be widely used in producing small accurate displacement, the large direct drive displacement of stroke, the application of shock and vibration driving and switch drive.
Brief description of the drawings
Below in conjunction with the drawings and specific embodiments, 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 schematic diagrames;
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.
In figure: 1. housing; 2. limit body; 3. groove; 4. projection; 5. moving yoke body; 6. determine yoke body; 7. coil; 8. take-off lever; 9. permanent magnet; 10. spring; 11. length adjustment devices; 12. cushions; 13. piezoelectric transducers; 14. hall sensing sheets.
Embodiment
Embodiment 1
As shown in Figure 1, driver of the present invention comprises housing 1, and housing 1 upside is provided with openings; In housing 1, be provided with and determine yoke 6, determine yoke 6 and be fixedly installed with respect to housing 1; One side of determining yoke 6 is provided with moving yoke 5, determine to be oppositely arranged between yoke 6 and moving yoke 5 and gapped, and the length of determining yoke 6 is greater than moves yoke 5 length; Determine the side that yoke 6 is relative with moving yoke 5 and be all provided with two grooves 3, between groove 3, be provided with projection 4; Determine the interior winding around 7 of groove 3 of yoke 6, the upside of moving yoke 5 is fixedly connected with take-off lever 8, and take-off lever 8 is passed by openings and with respect to openings free movement; Moving yoke 5 is spacing by guide way 2.
Wherein, determine yoke 6, moving yoke 5 has " E " type structure, symmetry is divided in its upper and lower half.The height of determining yoke 6 is greater than moving yoke 5, determine yoke 6, moves the placement location of yoke 5 in stiff case 1 and be staggered make-up
type.And, determine to keep gap between the opposite surface of yoke 6 and moving yoke 5, no matter moving yoke 5 is the in the situation that of static or motion, the guide way 2 that yoke 5 all can be moved by running through in this gap retrains and ensure.The difference in height of determining yoke 6 and moving yoke 5 is range or the stroke of moving yoke 5.
The course of work of the present embodiment is: when initial, make-up determine yoke 6 and the 5 bottoms alignment (as Fig. 1) of moving yoke, middle part and top all have dislocation.Coil 7 to upside is switched on, and determines to produce magnetic field in yoke 6, and makes
the right the first half of type electromagnetism yoke will produce closed magnetic path, moves up and inhale moving yoke 5, until
when the right area upper, middle opposite surface of type electromagnetism yoke is maximum, motion stops (as shown in Figure 2).And due to the positioning and guiding effect of guide way 2, determining can be by adhesive in yoke 6 and 5 motions of moving yoke.
In like manner, the coil 7 of downside is switched on, cut off coil 7 electric currents of upside simultaneously, moving yoke 5 will produce downward motion and gets back to initial position (as Fig. 1).Like this, driver of the present invention has formed bistable state fixed stroke up and down and has driven.
According to above operation principle, coil to upside and the coil of downside are switched on simultaneously, but logical current strength difference, under the composite force effect of electromagnetic force, self gravitation etc. that so moving yoke 5 will produce at the coil of the coil of upside and downside, produce and move, the vector of the electromagnetic force that the size of the direction of moving displacement is produced by upper lateral coil and lower lateral coil determines.Therefore, according to the difference degree of the coil loading current of the coil of upside and downside, can make yoke 5 form long stroke (being less than or equal to the difference in height of determining 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 large travel displacement again, and micro-essence closes the compound displacement of long stroke, also there is stable state fixed stroke driveability upwards.
As shown in Figure 3, the upside of housing 1 and downside are all provided with openings; The upside of moving yoke 5 is all fixedly connected with take-off lever 8 with downside, and take-off lever 8 is passed by openings and with respect to openings free movement.
The other the same as in Example 1.
The driving implement of this kind of structure has accurate straight line micrometric displacement and bistable state fixed stroke driveability up and down.
As shown in Figure 4, determine 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 passed through the coil of upside and the coil composite action of downside, strengthen or oppositely weaken in the same way the electromagnetic force of the coil of upside or the coil of downside, make the motion controllability of moving yoke 5 better.
The other the same as in Example 1.
As shown in Figure 5, determine the side that yoke 6 is relative with moving yoke 5 and be all provided with three grooves 3, between groove 3, be provided with projection 4; Determine the interior whole winding arounds 7 of groove 3 of yoke 6, the interior winding around 7 of groove 3 of the centre of moving yoke 5.
The other the same as in Example 3.
As shown in Figure 6, determine the interior winding around 7 of groove 3 of yoke 6, in the groove 3 of the downside of moving yoke 5, be provided with permanent magnet 9.
The other the same as in Example 1.
As shown in Figure 7, determine in the groove 3 of yoke 6, moving yoke 5 all winding arounds 7, between moving yoke 5 and the upside of housing 1, be provided with spring 10.
The other the same as in Example 3.
As shown in Figure 8, determine in the groove 3 of yoke 6, moving yoke 5 all winding arounds 7, between moving yoke 5 and the upside of housing 1, be provided with spring 10.
Determine yoke 6 in separated, gap is fixedly connected with by length adjustment device 11.Can realize the change structure not in the situation that by this device, regulate the height of determining yoke 6, can change the dislocation distance of determining between yoke 6 and moving yoke 5, thereby realize the adjustment function of the stroke distances of moving yoke 5, described driver also has the adjustable function of the total kilometres of driving size.
Other is with embodiment 6.
As shown in Figure 9, guide way 2 is strip, strip guide way 2 runs through after moving yoke 5, lower end is wherein 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 depart from housing 1).
Determine in the groove 3 of yoke 6, moving yoke 5 all winding arounds 7, between moving yoke 5 and the upside of housing 1, be provided with spring 10.Between spring 10 and moving yoke 5, be provided with piezoelectric transducer 13.In driving process, in the time that electromagnetic excitation is cancelled, due to remanent magnetism suction, the reseting movement of moving yoke 5 can be affected, therefore, in the present embodiment, between moving yoke 5 and the upside of housing 1, be provided with spring 10, like this, when the coil blackout of upside, moving yoke 5 is easy to reset under the effect of spring 10, and contributes to the coil of downside to do the used time, to the downward drive actions of moving yoke 5.
In addition, between moving yoke 5 lower ends and the bottom of housing 1, be added with cushion 12, to alleviate the impact of the bottom of moving yoke 5 to housing 1.
For the 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 pushes piezoelectric transducer 13, produces the signal of telecommunication.This signal of telecommunication can corresponding spring 10 force variation, and then the displacement of corresponding moving yoke 5, so moving yoke 5 motion processes can be by piezoelectric transducer 13 sensings.
For the sensing function of the present embodiment, can also, by magnetic circuit, in the upper end of determining yoke 6, embed a hall sensing sheet 14 perpendicular to magnetic circuit flow direction.Owing to determining, the coincidence area on make-up surface of yoke 6 and moving yoke 5 is larger, and the magnetic flux in yoke is stronger, and the induced signal of hall sensing sheet 14 changes correspondence.So hall sensing sheet 14 can sensing be determined the coincidence degree on the make-up surface of yoke 6 and moving yoke 5, and then can respond to the moving displacement that moves yoke 5.So, embed a hall sensing sheet 14 and also can play the effect of the drive displacement of sensing institute invention driver.
The other the same as in Example 1.
Like this, for this embodiment, driver of the present invention is a kind of driving, sensing integrated driver.
As shown in figure 10, the upside of housing 1 and downside are all provided with openings; The upside of moving yoke 5 is all fixedly connected with take-off lever 8 with downside, and take-off lever 8 is passed by openings and with respect to openings free movement.
Guide way 2 arranges 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.Guide way 5 is resolved into upper and lower two segments by the present embodiment, and they are connected with stiff case 1 madial wall respectively.
Determine the interior winding around 7 of groove 3 of yoke 6, in the interior winding around 7 of upside groove 3 of moving yoke 5, the groove 3 of downside, be provided with permanent magnet 9.
The other the same as in Example 1.
As shown in figure 11, the upside of housing 1 is provided with openings; The upside of moving yoke 5 is fixedly connected with take-off lever 8, and take-off lever 8 is passed by openings and with respect to openings free movement.
Determine the interior winding around 7 of groove 3 of yoke 6, determine yoke 6 in separated, gap is fixedly connected with by length adjustment device 11.
Other is with embodiment 9.
As shown in figure 12, between the upside of moving yoke 5 and housing 1, be provided with spring 10.Determine yoke 6, moving yoke 5 in separated, gap is all fixedly connected with by length adjustment device 11.
The other the same as in Example 10.
As shown in figure 13, the both sides of determining yoke 6 are provided with moving yoke 5, on each moving yoke 5, are fixedly connected with a take-off lever 8, and take-off lever 8 is passed by openings and with respect to openings free movement.
The other the same as in Example 1.
On each moving yoke 5, be fixedly connected with a take-off lever 8, also can be fixedly connected with one or two take-off lever 8, its principle is the same.
To determine being interval with moving yoke 5 on the circumference centered by yoke 6.
The other the same as in Example 1.
Above embodiments of the invention being explained in detail, be to implement under taking technical solution of the present invention as prerequisite, but protection scope of the present invention is not limited to the above embodiments.
Claims (6)
1. a magnetic driver, is characterized in that, comprises housing (1), and housing (1) one or both sides opposing upper and lower are provided with openings; In housing (1), be provided with and determine yoke (6), determine yoke (6) and be fixedly installed with respect to housing (1); Determine the one or both sides of yoke (6) or be provided with moving yoke (5) by the circumference of determining centered by yoke (6), determine to be oppositely arranged between yoke (6) and moving yoke (5) and gapped, the length of determining yoke (6) is greater than moving yoke (5) length; Determine the side that yoke (6) is relative with moving yoke (5) and be all at least provided with two grooves (3), between groove (3), be provided with projection (4); Determine the interior winding around of groove (3) (7) of yoke (6) and/or moving yoke (5), upside and/or the downside of moving yoke (5) are fixedly connected with take-off lever (8), and take-off lever (8) is passed by openings and with respect to openings free movement; Moving yoke (5) is spacing by guide way (2); Guide way (2) is strip, and strip guide way (2) runs through after moving yoke (5), and one or both ends are wherein fixedly connected with housing (1), and moving yoke (5) is with respect to guide way (2) free movement; 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.
2. magnetic driver according to claim 1, is characterized in that, determine yoke (6) or moving yoke (5) in separated, gap is fixedly connected with by length adjustment device (11).
3. magnetic driver according to claim 1, is characterized in that, is provided with spring (10) above and/or under moving yoke (5) and housing (1) between side, between spring (10) and moving yoke (5), is provided with piezoelectric transducer (13).
4. a magnetic driver, is characterized in that, comprises housing (1), and housing (1) one or both sides opposing upper and lower are provided with openings; In housing (1), be provided with and determine yoke (6), determine yoke (6) and be fixedly installed with respect to housing (1); Determine the one or both sides of yoke (6) or be provided with moving yoke (5) by the circumference of determining centered by yoke (6), determine to be oppositely arranged between yoke (6) and moving yoke (5) and gapped, the length of determining yoke (6) is greater than moving yoke (5) length; Determine the side that yoke (6) is relative with moving yoke (5) and be all at least provided with two grooves (3), between groove (3), be provided with projection (4); Determine 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), or determine 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); Upside and/or the downside of moving yoke (5) are fixedly connected with take-off lever (8), and take-off lever (8) is passed by openings and with respect to openings free movement; Moving yoke (5) is spacing by guide way (2); Guide way (2) is strip, and strip guide way (2) runs through after moving yoke (5), and one or both ends are wherein fixedly connected with housing (1), and moving yoke (5) is with respect to guide way (2) free movement; 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.
5. magnetic driver according to claim 4, is characterized in that, determine yoke (6) or moving yoke (5) in separated, gap is fixedly connected with by length adjustment device (11).
6. magnetic driver according to claim 4, is characterized in that, is provided with spring (10) above and/or under moving yoke (5) and housing (1) between side, between spring (10) and moving yoke (5), is provided with piezoelectric transducer (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110070780.3A CN102694455B (en) | 2011-03-23 | 2011-03-23 | Magnetic driver |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110070780.3A CN102694455B (en) | 2011-03-23 | 2011-03-23 | Magnetic driver |
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| CN102694455A CN102694455A (en) | 2012-09-26 |
| CN102694455B true CN102694455B (en) | 2014-06-04 |
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| CN201110070780.3A Active CN102694455B (en) | 2011-03-23 | 2011-03-23 | Magnetic driver |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104393734B (en) * | 2014-11-13 | 2017-11-24 | 杨锦堂 | Controllable displacement feeding drive system |
| CN104793564B (en) * | 2015-04-03 | 2017-11-14 | 上海交通大学 | Accurate controllable linear drive apparatus and combinations thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
-
2011
- 2011-03-23 CN CN201110070780.3A patent/CN102694455B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Non-Patent Citations (1)
| Title |
|---|
| JP第2920089号B2 1999.04.23 |
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