CN103457438A - Design method of iron core magnetism-keeping parallel-stepping drivers - Google Patents
Design method of iron core magnetism-keeping parallel-stepping drivers Download PDFInfo
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- CN103457438A CN103457438A CN2013104030317A CN201310403031A CN103457438A CN 103457438 A CN103457438 A CN 103457438A CN 2013104030317 A CN2013104030317 A CN 2013104030317A CN 201310403031 A CN201310403031 A CN 201310403031A CN 103457438 A CN103457438 A CN 103457438A
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Abstract
The technical field of iron core magnetism-keeping parallel-kepping drivers belongs to the fields of mechanical manufacturing, intelligent control, robot technologies, automatic control and electromagnetic technologies. The technology is mainly characterized in that a plurality of iron core magnetism-keeping driver units are connected end to end to be rowed in a straight line, travel of each iron core magnetism-keeping driver unit defines one step, and thus several iron core magnetism-keeping driver units can be pushed forward or shrunk according to requirements to achieve required travel.
Description
Technical field
It is to belong to machine-building that iron core magnetic keeps the technical field of parallel step actuator. Based Intelligent Control. and Robotics. automation is controlled. electromagnetic technology field, a plurality of unit iron core magnetic that to the effect that passes through of technology keeps driver, join end to end, alinement, each unit iron core magnetic keeps the stroke of driver, define a step, so just can advance on demand or shrink several unit magnetic and keep the iron core driver, reach the stroke needed.
Background technology
Due to artificial intelligence, robot is developed on a large scale, and the industrial demand of using linear actuator is increasing, acceleration and rate request to driver are more and more higher, the stability of product work and the requirement of durability are also more and more higher, and some product requirements are when motive force is enough, volume is the smaller the better, weight is more gently better, linear actuator on market is nearly four kinds now, 1. with the bent thick stick of driven by motor, principle is just as tailor's car, 2. with being with cogged driven by motor tooth bar, realize linear drives, 3. use the driven by motor ball screw, realize linear drives, 4. linear electric motors, directly can realize linear drives.The advantage technology maturation of first method, cheap, simple in structure, shortcoming is bulky, and error is large, and the time that startup and execution need is longer, and reaction speed and acceleration are slow, low precision, power consumption is large, reaches fixing point and is difficult to fix.Second method, the advantage technology maturation, cheap, simple in structure, also can realize the function of stepping, shortcoming is that volume is larger, and error is large, and the time that startup and execution need is longer, and reaction acceleration and speed are slow, low precision, weight is larger, and power consumption is large, reaches fixing point and is difficult to fix.By the advantage of driven by motor ball screw, be than driving moment, to be 1/3 with the lead screw parafacies, high-precision assurance, micro-feeding may, high without sideshake, rigidity, high speed feed may, shortcoming is to prevent dust, and reacts slower, and volume is larger, fixing trouble, noise is larger, and power consumption is large, reaches fixing point and is difficult to fix.The advantage of the 4th kind is good speed characteristics, acceleration is large, positioning precision is high, and stroke is unrestricted, and simple in structure, motion steadily, noise is little, little, little, the long service life, safe and reliable of wearing and tearing of moving component friction, shortcoming is that volume is large, and reaction speed is not exceedingly fast, and cost is high, power consumption is large, reaches fixing point and is difficult to fix.Four kinds of top methods can meet most market demands, but all there are 5 shortcomings in they, 1. volume is not little, 2. reaction speed and acceleration are slow, 3. heavier, 4. power consumption is large, 5. reaches fixing point and is difficult to fix, can not meet the requirement of some high-end technologies, such as the fast reaction of Humanoid intelligent robot and the minimum power consumption of requirement.
Summary of the invention
In order to meet the requirement of some high-end technologies, the particularly requirement of Humanoid intelligent robot, we have developed iron core magnetic and have kept parallel step actuator, 1. its volume is little, 2. reaction speed and acceleration are fast, 3. low weight, 4. power consumption is little, 5. reach fixing point just fixing, it is characterized in that it is to have inside and outside shell to form that unit iron core magnetic keeps driver, centre coils, magnet is put at two at driver, magnet is that the same sex is relative, there is a circular hole centre of the magnet of front, through circular hole is through the driving shaft come by iron core, put iron core in the middle of inner casing, driving shaft is set up in centre at iron core, driving shaft is through the magnet circular hole, the material of driving shaft is can be by the material of attraction, give like this direct impulse electric current of lead-in wire of coil, iron core just is magnetized, produce magnetic pole, front end is the N utmost point, rear end is the S utmost point, because the magnet before and after driver is that S is relative with S, the magnet of iron core and back repels each other and the magnet of front attracts each other, so travel forward, by the attraction of front, lived, at this moment just can cut off the power supply, iron core keeps by the magnet state of front, driving shaft is in advanced state, if give reverse pulse current of coil, iron core is magnetized, at this moment the front of iron core is the S utmost point, back is the N utmost point, iron core just repels mutually with the magnet of front, with the magnet of back, attract mutually, iron core is motion backward just, by the attraction of back, lived, under state, driving shaft is in the indentation state, unit iron core magnetic keeps the front and back magnet N of driver relative with N, electric current and top operation also can reach identical effect on the contrary, keep the unit iron core magnetic with upper surface function driver to be end-to-end according to the number of demand, that is to say and keep a rear unit iron core magnetic driving shaft of driver to be connected to the afterbody that previous element iron core magnetic keeps driver, coupling together one by one, form line style, keep last unit iron core magnetic the afterbody of driver to be fixed on the inside that iron core magnetic keeps the shell of parallel step actuator afterbody, top unit iron core magnetic keeps the driving shaft of driver long, and the middle circular hole of front end that keeps parallel step actuator through iron core magnetic, unit iron core magnetic keeps the lead-in wire of driver to pass the side that iron core magnetic keeps parallel step actuator, and carve a horizontal stripe to lead-in wire, lead-in wire can seesaw, keep driver direct impulse electric current so just can to each unit iron core magnetic simultaneously, iron core magnetic keeps parallel step actuator just to provide maximum stroke so, if keep reverse impulse electric current of driver to each unit iron core magnetic simultaneously, iron core magnetic keeps parallel step actuator to provide the shortest stroke so, when you need great stroke, just start how many unit iron core magnetic and keep driver, each unit iron core magnetic keeps the stroke of driver to be defined as a step.
The accompanying drawing explanation
fig. 1it is the structure chart that iron core magnetic keeps parallel step actuator, 1 represents shell, 2 represent that a rear unit iron core magnetic keeps the driving shaft of driver to be connected to the back that previous element iron core magnetic keeps driver, and be that connection is dead, 3 represent that top unit iron core magnetic keeps the driving shaft of driver, through externally acting of shell, 4 represent coil, to keep shell and the unit iron core magnetic of the inside of driver to keep between the shell of driver around unit iron core magnetic, 5 represent that last unit iron core magnetic keeps driver to be connected with shell, and be even dead, 6.7.8.9.10 be that representative unit iron core magnetic keeps driver, here be to keep driver by Shao Ge unit, design requirement Anduo County iron core magnetic, not necessarily five, 11.12.13.14.15.16.17.18.19.20 be the lead-in wire that represents coil.Fig. 2 is the structure chart that unit iron core magnetic keeps driver, the 1st, representative unit iron core magnetic keeps the shell of driver, the 2nd, representative unit iron core magnetic keeps the inner casing of driver, 3.4 represent magnet, the 5th, represent iron core, the 6th, represent coil, the 7th, represent driving shaft, 8.9 be the lead-in wire of coil, S.N represents the polarity of magnet.
implementation method:
It is under the effect of processor and encoder, to work that iron core magnetic keeps parallel step actuator, when processor, to iron core magnetic, keep some unit iron core magnetic of the inside of parallel step actuator to keep direct impulse voltage of driver, by peripheral circuit, keep direct impulse electric current of driver will to this unit iron core magnetic, this unit iron core magnetic keeps driver to push ahead, encoder will record the state that this unit iron core magnetic keeps driver, when processor, to iron core magnetic, keep some unit iron core magnetic of the inside of parallel step actuator to keep reverse voltage of driver, by peripheral circuit, keep reverse impulse electric current of driver will to this unit iron core magnetic, this unit iron core magnetic keeps driver indentation backward, encoder will record the state that this unit iron core magnetic keeps driver, and each unit iron core magnetic keeps front end or the rear end of driver to set up transducer, the effect of transducer is to perceive unit iron core magnetic to keep the state of driver be advanced state or contraction state, processor reads the data of encoder or can know that according to the information of transducer current iron core magnetic keeps each unit iron core magnetic of parallel step actuator the inside to keep the state of driver like this, when how many strokes of need of work, processor will according to the state of current encoder device or transducer information, will make decision at once, open or close several unit iron core magnetic simultaneously and keep driver, reach the purpose of parallel drive, the speed that its is carried out be that any other equipment is inaccessiable now soon.
Claims (1)
1. an iron core magnetic keeps the method for designing of parallel step actuator, it is characterized in that, it is to have inside and outside shell to form that unit iron core magnetic keeps driver, centre coils, magnet is put at two at driver, magnet is that the same sex is relative, there is a circular hole centre of the magnet of front, through circular hole is through the driving shaft come by iron core, put iron core in the middle of inner casing, driving shaft is set up in centre at iron core, driving shaft is through the magnet circular hole, the material of driving shaft is can be by the material of attraction, give like this direct impulse electric current of lead-in wire of coil, iron core just is magnetized, produce magnetic pole, front end is the N utmost point, rear end is the S utmost point, because the magnet before and after driver is that S is relative with S, the magnet of iron core and back repels each other and the magnet of front attracts each other, so travel forward, by the attraction of front, lived, at this moment just can cut off the power supply, iron core keeps by the magnet state of front, driving shaft is in advanced state, if give reverse pulse current of coil, iron core is magnetized, at this moment the front of iron core is the S utmost point, back is the N utmost point, iron core just repels mutually with the magnet of front, with the magnet of back, attract mutually, iron core is motion backward just, by the attraction of back, lived, under state, driving shaft is in the indentation state, it is relative with N that the front and back magnet that unit iron core magnetic keeps driver also can N, electric current and top operation also can reach identical effect on the contrary, keep the unit iron core magnetic with upper surface function driver to be end-to-end according to the number of demand, that is to say and keep a rear unit iron core magnetic driving shaft of driver to be connected to the afterbody that previous element iron core magnetic keeps driver, coupling together one by one, form line style, keep last unit iron core magnetic the afterbody of driver to be fixed on the inside that iron core magnetic keeps the shell of parallel step actuator afterbody, top unit iron core magnetic keeps the driving shaft of driver long, and the middle circular hole of front end that keeps parallel step actuator through iron core magnetic, unit iron core magnetic keeps the lead-in wire of driver to pass the side that iron core magnetic keeps parallel step actuator, and carve a horizontal stripe to lead-in wire, lead-in wire can seesaw, keep driver direct impulse electric current so just can to each unit iron core magnetic simultaneously, iron core magnetic keeps parallel step actuator just to provide maximum stroke so, if keep reverse impulse electric current of driver to each unit iron core magnetic simultaneously, iron core magnetic keeps parallel step actuator to provide the shortest stroke so, when you need great stroke, just start how many unit iron core magnetic and keep driver, each unit iron core magnetic keeps the stroke of driver to be defined as a step.
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| CN201310403031.7A CN103457438B (en) | 2013-09-09 | 2013-09-09 | A kind of iron core magnetic keeps the method for designing of parallel step actuator |
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| CN201310403031.7A CN103457438B (en) | 2013-09-09 | 2013-09-09 | A kind of iron core magnetic keeps the method for designing of parallel step actuator |
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| CN103457438B CN103457438B (en) | 2016-08-10 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105564522A (en) * | 2015-10-16 | 2016-05-11 | 朱虹斐 | Arthropod type electromagnetic exploration robot |
| CN106715847A (en) * | 2014-08-18 | 2017-05-24 | 伊顿公司 | Valvetrain with rocker arm housing magnetically actuated latch |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040095219A1 (en) * | 2000-08-03 | 2004-05-20 | Kelly Hugh Peter Granville | Electrical short stroke linear actuator |
| CN101630891A (en) * | 2008-07-16 | 2010-01-20 | 中国科学院沈阳自动化研究所 | Miniature linear motion actuator and driving mode thereof |
| CN101834509A (en) * | 2010-04-21 | 2010-09-15 | 胡俊兵 | Novel electromagnetic driver and application thereof |
| CN101931304A (en) * | 2009-06-26 | 2010-12-29 | 中国科学院沈阳自动化研究所 | Micro electromagnetic actuator |
-
2013
- 2013-09-09 CN CN201310403031.7A patent/CN103457438B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040095219A1 (en) * | 2000-08-03 | 2004-05-20 | Kelly Hugh Peter Granville | Electrical short stroke linear actuator |
| CN101630891A (en) * | 2008-07-16 | 2010-01-20 | 中国科学院沈阳自动化研究所 | Miniature linear motion actuator and driving mode thereof |
| CN101931304A (en) * | 2009-06-26 | 2010-12-29 | 中国科学院沈阳自动化研究所 | Micro electromagnetic actuator |
| CN101834509A (en) * | 2010-04-21 | 2010-09-15 | 胡俊兵 | Novel electromagnetic driver and application thereof |
Non-Patent Citations (1)
| Title |
|---|
| 李靖等: "类骨骼肌电磁直线驱动器设计", 《微特电机》, no. 9, 30 September 2011 (2011-09-30) * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106715847A (en) * | 2014-08-18 | 2017-05-24 | 伊顿公司 | Valvetrain with rocker arm housing magnetically actuated latch |
| CN106715847B (en) * | 2014-08-18 | 2021-02-19 | 伊顿智能动力有限公司 | Valvetrain with rocker arm housing magnetically actuated latch |
| CN105564522A (en) * | 2015-10-16 | 2016-05-11 | 朱虹斐 | Arthropod type electromagnetic exploration robot |
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| CN103457438B (en) | 2016-08-10 |
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Effective date of registration: 20181227 Address after: Room 107, Di Shang Science and Technology House, West District, Chang Xincun, Jizhou District, Tianjin 301900 Patentee after: Tianjin ocean Hangzhou Science and Technology Co., Ltd. Address before: 325100 No. 35 Zhongxing Village Central Road, Shangtang Town, Yongjia County, Wenzhou City, Zhejiang Province Patentee before: Hu Mingjian |
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Effective date of registration: 20190619 Address after: 300000 Second Floor, No. 20 Jiyun Street, Tianjin Special Vehicle Industrial Park, Jizhou District, Tianjin Patentee after: Tianjin Onafulin Technology Co., Ltd. Address before: Room 107, Di Shang Science and Technology House, West District, Chang Xincun, Jizhou District, Tianjin 301900 Patentee before: Tianjin ocean Hangzhou Science and Technology Co., Ltd. |
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