CN103661572B - A kind of motion of translation non-overshoot electromagnetic assistor - Google Patents
A kind of motion of translation non-overshoot electromagnetic assistor Download PDFInfo
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- CN103661572B CN103661572B CN201310514896.0A CN201310514896A CN103661572B CN 103661572 B CN103661572 B CN 103661572B CN 201310514896 A CN201310514896 A CN 201310514896A CN 103661572 B CN103661572 B CN 103661572B
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Abstract
The present invention relates to a kind of motion of translation non-overshoot electromagnetic assistor, belong to technical field of electromechanical control.The present invention includes manual handle, manual stressed hydraulic pipe, force sensor, position transduser, electromagnetism power-assisted guide rail, electric-controlled plate, automatically controlled supply line, storage battery, signal wire (SW), U-shaped magnet coil supply line, hand push rod chute, manual handle pedestal, hydraulic pressure force-transmitting piston; Manual stressed hydraulic pipe two ends are provided with hydraulic pressure force-transmitting piston, and force sensor, position transduser are connected with electric-controlled plate respectively by signal wire (SW), and electric-controlled plate is connected with electromagnetism power-assisted guide rail by U-shaped magnet coil supply line.The present invention does not use motor, and without the need to movement instruction is passed to electrical motor, this just completely eliminates overshoot; Manual handle is directly connected with thrust mouth by stressed hydraulic pipe, achieves contacting directly of people and operative end surface, and feel is strong, manipulation real-time and precise; Structure is extremely simple, and reliability is high, reduces manufacturing cost, has market outlook.
Description
Technical field
The present invention relates to a kind of motion of translation non-overshoot electromagnetic assistor, belong to technical field of electromechanical control.
Background technology
Current motion of translation power-assisted mainly adopts mechanical-hydraulic power-assisted and electric boosted two classes.
Mechanical-hydraulic force aid system: the chief component of mechanical-hydraulic force aid system has Hydraulic Pump, oil pipe, pressure fluid control valves, V-type drive belt, petrol storage tank etc.This power-assisted mode is exported by a part of engine power to change into prexxure of the hydraulic pump, applies assistance force, thus realize assist exercise to kinematic scheme.In hydraulic booster, oil pump is essential element, and the engine mechanical of input can be converted into the pressure of fluid by it, and be virtually just consumed part energy, thus observable index is higher; The pipeline structure of hydraulic efficiency pressure system is very complicated, and the valve quantity of various control fluid is various, and the maintenance in later stage needs cost; A whole set of oil circuit often keeps high pressure conditions, and service life also can be affected, and these are all the shortcoming places of mechanical-hydraulic force aid system.Its advantage has: be all that mechanical part is connected between Control arm with power assistant arm, and precisely, information feed back enriches in manipulation; Technology maturation, reliability is high, average low cost of manufacture.Mechanical-hydraulic power-assisted is consumption of power source energy significantly, so people improve on this basis, have developed the electro-hydraulic assist exercise system of more saving energy consumption.The principle of electro-hydraulic power-assisted is substantially identical with mechanical-hydraulic power-assisted, and unlike oil pump by direct motor drive, power-assisted dynamics is variable simultaneously.ECU (Electrical Control Unit) can change oil liquid pressure according to obtaining data by the opening degree controlling steering control valve, thus realizes the size adjustment of power-assisted dynamics.Electro-hydraulic power-assisted has most of advantage of mechanical-hydraulic power-assisted, also reduces energy consumption simultaneously, and react also sensitiveer, power steering size also can regulate according to the parameter such as corner, the speed of a motor vehicle voluntarily, hommization more.But introduce a lot of electronic unit, its manufacture, maintenance cost also can correspondingly increase, and stability in use is also not so good as the firm of mechanical hydraulic-pressure type.
Electric boosted kinematic scheme: no longer include fluid, pipeline in this cover system, the substitute is directly clear-cut electronic circuit and equipment, primary clustering has ECU (Electrical Control Unit), position transduser, torque sensor, electrical motor etc., its principle is: sensor the position collected, kinematic velocity, stressed information conveyance to ECU, ECU determines hand of rotation and the power-assisted size of current of electrical motor, instruction is passed to electrical motor, auxiliary power is applied in kinematic scheme by electrical motor, and the power steering of so real-time adjustment is just achieved.Because electronic unit is more, system stability, reliability are all not so good as mechanical type parts; Owing to determining hand of rotation and the power-assisted size of current of electrical motor, instruction is passed to electrical motor, and control program becomes electric boosting steering system core technology, is difficult to eliminate overshoot completely, contacting directly of this isolation of system manipulator and actual motion, makes perception information deficient; And cost is higher etc., these are all the inferior position places of electric booster system.
Have the advantage of electronics power-assisted, have again the road feel of hydraulic booster, structure is simple simultaneously, and cost is low, and the work-saving device having multidirectional advantage like this concurrently is market in urgent need.
Summary of the invention
The technical problem to be solved in the present invention is: provide a kind of motion of translation non-overshoot electromagnetic assistor, electromagnetism power-assisted guide rail is adopted to realize power steering, overcome that existing machinery hydraulic booster system observable index is higher, the valve quantity of very complicated, the various control fluid of pipeline structure is various, the contacting directly of this isolation of system people and actual motion in electric booster system, there is the defects such as overshoot, avoid the shortcomings that two class force aid systems exist.
Technical solution of the present invention is: a kind of motion of translation non-overshoot electromagnetic assistor, comprises manual handle 1, manual stressed hydraulic pipe 2, force sensor 3, position transduser 4, electromagnetism power-assisted guide rail 5, electric-controlled plate 6, automatically controlled supply line 7, storage battery 8, signal wire (SW) 9, U-shaped magnet coil supply line 20, hand push rod chute 26, manual handle pedestal 29, hydraulic pressure force-transmitting piston 30; Manual handle 1 is connected with manual stressed hydraulic pipe 2, force sensor 3 rotating shaft and position transduser 4 are placed in the manual handle pedestal 29 on hand push rod chute 26, between manual handle pedestal 29 and electromagnetism power-assisted guide rail 5, manual stressed hydraulic pipe 2 is set, manual stressed hydraulic pipe 2 two ends are provided with hydraulic pressure force-transmitting piston 30, force sensor 3, position transduser 4 are connected with electric-controlled plate 6 respectively by signal wire (SW) 9, electric-controlled plate 6 is connected with electromagnetism power-assisted guide rail 5 by U-shaped magnet coil supply line 20, and storage battery 8 is connected with automatically controlled supply line 7.
Described electromagnetism power-assisted guide rail 5 comprises U-shaped electromagnet 10, U-shaped electromagnet hold down groove 14, pushing slide block magnetic tooth 15, pushing slide block 17, thrust mouth 18, pushing slide block magnetic tooth trace circle supply line 21, electromagnetism power-assisted guide rail 5 is equipped with U-shaped electromagnet hold down groove 14, this hold down groove is fixed on main force's equipment body, U-shaped electromagnet 10 is provided with in U-shaped electromagnet hold down groove 14, U-shaped electromagnet 10 is wound around U-shaped magnet coil, guide rail is all arranged with A, the analog-U shaped magnet coil of B two, category-A coil is odd term L1 respectively, L3, L5, L2n+1, the U-shaped magnet coil of category-B is even item L2 respectively, L4, L6, L2n, two class coils produce U-shaped magnet coil N pole 12 and U-shaped magnet coil S pole 13 according to after position signal wheel flow-thru electrode, amount to 2 × n × 2 × 2 magnetic pole, all magnetic poles divide equally guide rail, the span of n determines U-shaped electromagnet according to the length of guide rail, and (n value is closeer, control more accurate), the diameter of electromagnetism power-assisted guide rail 5 is determined according to U-shaped electromagnet size, the size of U-shaped electromagnet 10 is then determined according to the intensity of power-assisted, multiple pushing slide block magnetic tooth 15 pushing slide block 17 is equipped with, thrust mouth 18 is provided with below pushing slide block 17, electric-controlled plate 6 is connected with pushing slide block magnetic tooth trace circle supply line 21.
The quantity of described pushing slide block magnetic tooth 15 is determined according to the intensity of power-assisted, and the gap between pushing slide block magnetic tooth 15 and U-shaped electromagnet 10 is less than 3mm; The width of pushing slide block magnetic tooth 15 is less than the interval of U-shaped electromagnet pole, pushing slide block magnetic tooth is electromagnet, there is unitized construction, pushing slide block 17 is arranged m group pushing slide block magnetic tooth 15, the magnet coil of each group magnetic tooth is same and forms around to two contrary coils, form the electromagnet that a pair magnetic force is contrary, pushing slide block 17 pushing slide block advance ball 16 setting up and down, pushing slide block magnetic tooth trace circle supply line 21 is hung under hanging wire slide bar 11, and U-shaped magnet coil supply line 20 is positioned at magnet coil supply line spool 19.
Described position transduser 4 comprises trigger vane 22, hall integrated package 23, Hall element 24, guide plate 25, hand push rod chute 26, position Hall element magnet 27, hand push rod chute 26 is positioned at the bottom of position transduser 4, position Hall element magnet 27 is installed in hand push rod chute 26, position Hall element magnet 27 stripe-arrangement, sensor-magnet quantity is 4n, divide equally hand push rod chute 26, adjacent permanent magnets polarity is contrary each other, Hall element 24 arranges to low groove, position Hall element magnet 27 is in groove, Hall element 24 is arranged on above hand push rod chute 26, horizontally set guide plate 25 in it, trigger vane 22 is arranged on arc groove side, trigger vane 22 arranges hall integrated package 23 below, force sensor 3 is made up of the piezoelectric transducer part be arranged on before and after manual handle pedestal 29, be connected with Hall element 24.
Hydraulic pressure force-transmitting piston cylinder 31 is provided with outside described hydraulic pressure force-transmitting piston 30, hydraulic pressure force-transmitting piston cylinder 31 and manual handle pedestal 29 connect as one, hydraulic pressure force-transmitting piston 30 is connected with manual handle 1 by pipe link, pressure between hydraulic pressure force-transmitting piston cylinder 31 and hydraulic pressure force-transmitting piston 30 or pulling force just can be present between manual handle pedestal 29 and manual handle 1, manipulator just can experience the power that thrust mouth 18 is passed over by hydraulic pressure force-transmitting piston 30, F=PS, S is that piston cross-section amasss, P is thrust mouth pressure, the mouth of thrust mouth 18 is provided with operative end surface 32, elastic element 33 is provided with between thrust mouth 18 and operative end surface 32, thrust or pulling force are passed to beaer by elastic element 33 by thrust mouth 18, manual handle 1 can the manually antagonistic force that applies to beaer of stressed hydraulic pipe 2 direct feeling.
Described electric-controlled plate 6 comprises two paths of signals amplifying circuit, the category-A L2n+1 coil of U-shaped electromagnet 10 is in parallel with category-B L2n magnet coil, form one group of complete U-shaped electromagnet 10 magnet coil, category-A L2n+1 coil input end in this group coil is connected with aerotron Ta2n emitter-base bandgap grading, category-B L2n magnet coil input end in this group coil is connected with aerotron Tb2n emitter-base bandgap grading, the mouth of this group all coils is communicated with ground connection, each group magnet coil is made up of adjacent m+1 category-A U-shaped magnet coil and the parallel connection of adjacent m category-B U-shaped magnet coil, pushing slide block magnetic tooth 15 amounts to m group magnetic tooth coils from parallel connection of coils, wherein magnetic tooth trace circle is form around to two contrary coils connected in series, electric capacity C is provided with between power positive cathode.
As Figure 7-8, in the course of the work, electric-controlled plate 6 comprises two paths of signals amplifying circuit, be respectively used to amplify by force signal and position signal, position signal need arrange amplification becomes square-wave voltage, the spread pattern of correspondence position Hall element magnet 27, adjacent square-wave voltage is contrary, amplitude is equal, force sensor 3 provides by force signal, input electric-controlled plate 6 amplifies, voltage signal is converted to by force signal, the size of voltage magnitude corresponds to stressed size, the direction that the positive and negative correspondence of voltage is stressed, the complementary OTL amplifying circuit of holohedry is utilized to be separated by positive negative wave, positive wave voltage is by aerotron Ta2, Ta4, Ta2n base stage controls this aerotron emitter current size, the size of electric current is proportional to positive wave voltage, negative wave voltage is by aerotron Tb2, Tb4, Tb2n base stage controls this aerotron emitter current size, the size of electric current is proportional to negative wave voltage, adopt m group pushing slide block magnetic tooth 15, the magnet coil of each group magnetic tooth is same and forms around to two contrary coils, form the electromagnet that a pair magnetic force is contrary, if positive wave voltage, open aerotron Ta2, Ta4, Ta2n, the magnet coil L1 of the U-shaped electromagnet of category-A, L3, L5, the magnet coil L2 of L2n+1 and the U-shaped electromagnet of category-B, L4, L6, L2n takes turns flow-thru electrode, form electromagnet, U-shaped electromagnet side is U-shaped magnet coil N pole 12, opposite side is then U-shaped magnet coil S pole 13, there are 4 category-A U-shaped magnet coil energisings altogether, the magnetic pole of the pushing slide block magnetic tooth 15 between U-shaped electromagnet is NS, the magnetic pole of corresponding side is N pole, this magnetic tooth is between two N poles, produce a thrust, corresponding opposite side is S pole, and equally, this magnetic tooth is between two S poles, also produces a thrust, and three groups of magnetic teeth are formed makes a concerted effort, if negative wave voltage is by aerotron Tb2, Tb4, Tb2n base stage controls this aerotron emitter current size, direction of current is contrary, the magnet coil L1 of the U-shaped electromagnet of category-A, L3, L5, the magnet coil L2 of L2n+1 and the U-shaped electromagnet of category-B, L4, L6, L2n takes turns flow-thru electrode, then all magnetic poles are reverse, the direction of power is contrary, before the magnet coil Li of the U-shaped electromagnet of correspondence, oppositely pair of diodes Di is set, ensure that this magnet coil works under a kind of current situation, the power of magnetic force is certainly in the size of magnetic tooth trace circle and U-shaped coil current, coil current is decided by again the size that force sensor 3 is stressed, power suffered by force sensor 3 is the antagonistic force that applies to beaer of stressed hydraulic pipe 2 direct feeling manually.Such thrust mouth 18 power-assisted is strictly proportional to people and is applied to power on force sensor 3, both can not delayed also can not be advanced, this has just stopped the generation of overshoot in principle.
Position signal is exaggerated becomes square-wave voltage, according to the spread pattern of position Hall element magnet 27, adjacent square-wave voltage is contrary, and amplitude is equal, utilizes the complementary OTL amplifying circuit of holohedry to be separated by positive and negative square wave, positive square-wave voltage control aerotron Ta1, Ta3 ..., the unlatching of Ta2n+1 and shutoff, occur that positive square wave opens aerotron, otherwise turn off, losing side wave voltage control aerotron Tb1, Tb3 ..., Tb2n+1 open and turn off, occur that losing side ripple opens aerotron, otherwise turn off; So just allow corresponding magnet coil in running order.What square-wave signal sensor adopted is Hall element 24, and hall signal producer is active device, and it needs to provide power supply to work, and the power supply of hall integrated package 23 is provided by storage battery.The current collection of HALL-IC output stage is very opened a way output form, and hall signal producer has three pig-tail wires, and wherein one is power input line, and one is hall signal output line, and one is grounding jumper.When electric current by the solid-state chip (title Hall element) that is placed in magnetic field and direction of current is vertical with magnetic direction time, namely the transverse side of the solid-state chip perpendicular to electric current and magnetic flux produces a voltage, and this voltage is called Hall voltage.The height of Hall voltage is directly proportional to the electric current I passed through and magnetic induction density B.The feature of hall signal producer: first: functional reliability is high, the advantages such as hall signal producer is without worn parts, not by the impact of dust, greasy dirt, without adjustment component, small-sized firm, and the life-span is long; Second: the output voltage signal of hall signal producer is relevant with the position of impeller vane, but have nothing to do with the kinematic velocity of impeller vane.That is the speed of it and flux change has nothing to do, and it is different from magnetic induction signal generator, and it is not subject to the impact of bearing circle rotating speed, makes aerotron be in correctly stable mode of operation.This is that electromagnetic sensor does not have.This characteristic is required for the present invention just to be wanted.
The piezoelectric transducer part that market can be adopted to sell forms force sensor 3, is arranged on request by the output signal of this force sensor 3, and the size namely meeting voltage magnitude corresponds to stressed size, the positive and negative corresponding Impact direction of voltage.Utilize the complementary OTL amplifying circuit of holohedry to be separated by positive negative wave, positive wave voltage by aerotron Ta2, Ta4 ..., Ta2n base stage controls this aerotron emitter current size, the size of electric current is proportional to positive wave voltage; Negative wave voltage by aerotron Tb2, Tb4 ..., Tb2n base stage controls this aerotron emitter current size, the size of electric current is proportional to negative wave voltage.
Position signal controls to open and close by odd number aerotron; Control electric current power by force signal by the aerotron of even item, as shown in Figure 7 and Figure 8, as can be seen from Figure 8, produce category-A magnet coil effect and be connected in series common management and control magnet coil L by odd number class Ta and Tb
i, produce category-B magnet coil effect and be connected in series common management and control magnet coil L by even number class Ta and Tb between odd number class aerotron and even number class aerotron by pair of diodes Di separately
i, due to the unidirectional general character of diode, when odd number class Ta and Tb is worked, in coil, there is positive current, produce category-A electromagnet effect; And in coil, there is counter current during even number class Ta and Tb work, produce category-B electromagnet effect.Here Ta class aerotron is responsible for when opening and closing coil current; Coil current size is responsible for by Tb class aerotron, and both co-ordinations realize the orderly control of magnet coil Li.
Position signal controls that magnet coil is in can mode of operation, and the size of current of stressed signal control magnet coil, namely determines the size that power-assisted is stressed, and both coordinate could correct work.
N is the quantity of Hall element magnet 27, for position transduser 4, displacement is determined by the length of position transduser, position transduser is provided with n position Hall element magnet 27, length is longer, the Hall element magnet more than 27 of installation, if the length of position transduser 4 is H, the spacing of two sensor-magnet is h, so n=H/h.If the width of Hall element magnet 27 is △ h=0.3 ~ 1cm, the spacing of two sensor-magnet slightly wider than △ h, then h=△ h+0.1cm.Determine the quantity of n thus according to the length H of position transduser, H is determined by equipment power-assisted length, such as 10-30cm.
M is quantity pushing slide block 17 being equipped with multiple pushing slide block magnetic tooth 15, the quantity of m is determined by the size of assistant, if the electromagnetic force that each pushing slide block magnetic tooth 15 produces is Fi, the strength of power-assisted is needed to be F=F1+F2+ ... + Fi+ ... + Fm, amounts to m pushing slide block magnetic tooth.
The relation of m and n: the length of U-shaped electromagnet hold down groove 14 determines the length L of equipment power-assisted movement, and this length distribution has n group category-A and category-B magnetic pole, and the quantity of each class magnetic pole equals m, namely with the number of magnetic poles m correspondent equal of pushing slide block magnetic tooth 15.The pattern length of each group category-A and category-B magnetic pole is comprise m to magnetic pole in △ L, △ L, so n=L/ △ L.The length of L is determined by equipment power-assisted extent length.Such as 1-3 rice.The expansion of range of movement: mobile h on position transduser 4, be exactly △ L at the amount of movement of U-shaped electromagnet hold down groove 14, motion scales up, and power-assisted also scales up.If such as adopt aforementioned proportion, △ L=10h.
The invention has the beneficial effects as follows: adopt electromagnetism power-assisted guide rail to realize motion of translation power-assisted in the present invention, power-assisted size is arranged according to magnet quantity and magnet size; Because the present invention does not adopt electrical motor, thus without the need to the instruction of push-and-pull state is passed to electrical motor, electric booster system is controlled by control program, this just eliminates overshoot completely, manual handle is directly connected with thrust mouth by stressed hydraulic pipe, achieve contacting directly of people and operative end surface, feel is strong, and manipulation precisely; Avoid existing electric booster system electronic unit more, system stability, reliability are all not so good as the shortcoming of mechanical type parts, and structure is extremely simple, and reliability is high, reduces manufacturing cost.Achieve light, energy-conservation, respond target rapidly, have multiple advantage concurrently, have market outlook.
Accompanying drawing explanation
Fig. 1 is integral structure schematic diagram of the present invention;
Fig. 2 is electromagnetism power-assisted guide rail schematic cross-section of the present invention;
Fig. 3 is electromagnetism power-assisted guide rail A-A section plan structure schematic diagram of the present invention;
Fig. 4 is force sensor of the present invention and position transduser top cross-sectional view;
Fig. 5 is hall sensing cross-sectional schematic of the present invention;
Fig. 6 is the manual stressed hydraulic pipe structure schematic diagram of the present invention;
Fig. 7 is the stressed and position signal amplifying circuit schematic diagram of the present invention;
Fig. 8 is electromagnetism force aid system schematic circuit diagram of the present invention.
In Fig. 1-8, each label is: 1-manual handle, the manual stressed hydraulic pipe of 2-, 3-force sensor, 4-position transduser, 5-electromagnetism power-assisted guide rail, 6-electric-controlled plate, the automatically controlled supply line of 7-, 8-storage battery, 9-signal wire (SW), 10-U shape electromagnet, 11-hanging wire slide bar, 12-U shape magnet coil N pole, 13-U shape magnet coil S pole, 14-U shape electromagnet hold down groove, 15-pushing slide block magnetic tooth, 16-pushing slide block advance ball, 17-pushing slide block, 18-thrust mouth, 19-magnet coil supply line spool, 20-U shape magnet coil supply line, 21-pushing slide block magnetic tooth trace circle supply line, 22-trigger vane, 23-hall integrated package, 24-Hall element, 25-guide plate, 26-hand push rod chute, 27-position Hall element magnet, the manual stressed push rod advance ball of 28-, 29-manual handle pedestal, 30-hydraulic pressure force-transmitting piston, 31-hydraulic pressure force-transmitting piston cylinder, 32-operative end surface, 33-elastic element.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the invention will be further described.
Embodiment 1: as shown in figures 1-8, a kind of motion of translation non-overshoot electromagnetic assistor, comprises manual handle 1, manual stressed hydraulic pipe 2, force sensor 3, position transduser 4, electromagnetism power-assisted guide rail 5, electric-controlled plate 6, automatically controlled supply line 7, storage battery 8, signal wire (SW) 9, U-shaped magnet coil supply line 20, hand push rod chute 26, manual handle pedestal 29, hydraulic pressure force-transmitting piston 30; Manual handle 1 is connected with manual stressed hydraulic pipe 2, force sensor 3 rotating shaft and position transduser 4 are placed in the manual handle pedestal 29 on hand push rod chute 26, between manual handle pedestal 29 and electromagnetism power-assisted guide rail 5, manual stressed hydraulic pipe 2 is set, manual stressed hydraulic pipe 2 two ends are provided with hydraulic pressure force-transmitting piston 30, force sensor 3, position transduser 4 are connected with electric-controlled plate 6 respectively by signal wire (SW) 9, electric-controlled plate 6 is connected with electromagnetism power-assisted guide rail 5 by U-shaped magnet coil supply line 20, and storage battery 8 is connected with automatically controlled supply line 7.
Described electromagnetism power-assisted guide rail 5 comprises U-shaped electromagnet 10, U-shaped electromagnet hold down groove 14, pushing slide block magnetic tooth 15, pushing slide block 17, thrust mouth 18, pushing slide block magnetic tooth trace circle supply line 21, electromagnetism power-assisted guide rail 5 is equipped with U-shaped electromagnet hold down groove 14, this hold down groove is fixed on main force's equipment body, U-shaped electromagnet 10 is provided with in U-shaped electromagnet hold down groove 14, U-shaped electromagnet 10 is wound around U-shaped magnet coil, guide rail is all arranged with A, the analog-U shaped magnet coil of B two, two class coils produce U-shaped magnet coil N pole 12 and U-shaped magnet coil S pole 13 according to after position signal wheel flow-thru electrode, multiple pushing slide block magnetic tooth 15 pushing slide block 17 is equipped with, thrust mouth 18 is provided with below pushing slide block 17, electric-controlled plate 6 is connected with pushing slide block magnetic tooth trace circle supply line 21.
Embodiment 2: as shown in figures 1-8, a kind of motion of translation non-overshoot electromagnetic assistor, comprises manual handle 1, manual stressed hydraulic pipe 2, force sensor 3, position transduser 4, electromagnetism power-assisted guide rail 5, electric-controlled plate 6, automatically controlled supply line 7, storage battery 8, signal wire (SW) 9, U-shaped magnet coil supply line 20, hand push rod chute 26, manual handle pedestal 29, hydraulic pressure force-transmitting piston 30; Manual handle 1 is connected with manual stressed hydraulic pipe 2, force sensor 3 rotating shaft and position transduser 4 are placed in the manual handle pedestal 29 on hand push rod chute 26, between manual handle pedestal 29 and electromagnetism power-assisted guide rail 5, manual stressed hydraulic pipe 2 is set, manual stressed hydraulic pipe 2 two ends are provided with hydraulic pressure force-transmitting piston 30, force sensor 3, position transduser 4 are connected with electric-controlled plate 6 respectively by signal wire (SW) 9, electric-controlled plate 6 is connected with electromagnetism power-assisted guide rail 5 by U-shaped magnet coil supply line 20, and storage battery 8 is connected with automatically controlled supply line 7.
Described electromagnetism power-assisted guide rail 5 comprises U-shaped electromagnet 10, U-shaped electromagnet hold down groove 14, pushing slide block magnetic tooth 15, pushing slide block 17, thrust mouth 18, pushing slide block magnetic tooth trace circle supply line 21, electromagnetism power-assisted guide rail 5 is equipped with U-shaped electromagnet hold down groove 14, this hold down groove is fixed on main force's equipment body, U-shaped electromagnet 10 is provided with in U-shaped electromagnet hold down groove 14, U-shaped electromagnet 10 is wound around U-shaped magnet coil, guide rail is all arranged with A, the analog-U shaped magnet coil of B two, two class coils produce U-shaped magnet coil N pole 12 and U-shaped magnet coil S pole 13 according to after position signal wheel flow-thru electrode, multiple pushing slide block magnetic tooth 15 pushing slide block 17 is equipped with, thrust mouth 18 is provided with below pushing slide block 17, electric-controlled plate 6 is connected with pushing slide block magnetic tooth trace circle supply line 21.
Described pushing slide block magnetic tooth 15 has unitized construction, pushing slide block 17 is arranged m group pushing slide block magnetic tooth 15, pushing slide block 17 pushing slide block advance ball 16 setting up and down, pushing slide block magnetic tooth trace circle supply line 21 is hung under hanging wire slide bar 11, and U-shaped magnet coil supply line 20 is positioned at magnet coil supply line spool 19.
Described position transduser 4 comprises trigger vane 22, hall integrated package 23, Hall element 24, guide plate 25, hand push rod chute 26, position Hall element magnet 27, hand push rod chute 26 is positioned at the bottom of position transduser 4, position Hall element magnet 27 is installed in hand push rod chute 26, position Hall element magnet 27 stripe-arrangement, divide equally hand push rod chute 26, Hall element 24 arranges to low groove, position Hall element magnet 27 is in groove, Hall element 24 is arranged on above hand push rod chute 26, horizontally set guide plate 25 in it, trigger vane 22 is arranged on arc groove side, trigger vane 22 arranges hall integrated package 23 below, force sensor 3 is made up of the piezoelectric transducer part be arranged on before and after manual handle pedestal 29, be connected with Hall element 24.
Embodiment 3: as shown in figures 1-8, a kind of motion of translation non-overshoot electromagnetic assistor, comprises manual handle 1, manual stressed hydraulic pipe 2, force sensor 3, position transduser 4, electromagnetism power-assisted guide rail 5, electric-controlled plate 6, automatically controlled supply line 7, storage battery 8, signal wire (SW) 9, U-shaped magnet coil supply line 20, hand push rod chute 26, manual handle pedestal 29, hydraulic pressure force-transmitting piston 30; Manual handle 1 is connected with manual stressed hydraulic pipe 2, force sensor 3 rotating shaft and position transduser 4 are placed in the manual handle pedestal 29 on hand push rod chute 26, between manual handle pedestal 29 and electromagnetism power-assisted guide rail 5, manual stressed hydraulic pipe 2 is set, manual stressed hydraulic pipe 2 two ends are provided with hydraulic pressure force-transmitting piston 30, force sensor 3, position transduser 4 are connected with electric-controlled plate 6 respectively by signal wire (SW) 9, electric-controlled plate 6 is connected with electromagnetism power-assisted guide rail 5 by U-shaped magnet coil supply line 20, and storage battery 8 is connected with automatically controlled supply line 7.
Described electromagnetism power-assisted guide rail 5 comprises U-shaped electromagnet 10, U-shaped electromagnet hold down groove 14, pushing slide block magnetic tooth 15, pushing slide block 17, thrust mouth 18, pushing slide block magnetic tooth trace circle supply line 21, electromagnetism power-assisted guide rail 5 is equipped with U-shaped electromagnet hold down groove 14, this hold down groove is fixed on main force's equipment body, U-shaped electromagnet 10 is provided with in U-shaped electromagnet hold down groove 14, U-shaped electromagnet 10 is wound around U-shaped magnet coil, guide rail is all arranged with A, the analog-U shaped magnet coil of B two, two class coils produce U-shaped magnet coil N pole 12 and U-shaped magnet coil S pole 13 according to after position signal wheel flow-thru electrode, multiple pushing slide block magnetic tooth 15 pushing slide block 17 is equipped with, thrust mouth 18 is provided with below pushing slide block 17, electric-controlled plate 6 is connected with pushing slide block magnetic tooth trace circle supply line 21.
Described pushing slide block magnetic tooth 15 has unitized construction, pushing slide block 17 is arranged m group pushing slide block magnetic tooth 15, pushing slide block 17 pushing slide block advance ball 16 setting up and down, pushing slide block magnetic tooth trace circle supply line 21 is hung under hanging wire slide bar 11, and U-shaped magnet coil supply line 20 is positioned at magnet coil supply line spool 19.
Described position transduser 4 comprises trigger vane 22, hall integrated package 23, Hall element 24, guide plate 25, hand push rod chute 26, position Hall element magnet 27, hand push rod chute 26 is positioned at the bottom of position transduser 4, position Hall element magnet 27 is installed in hand push rod chute 26, position Hall element magnet 27 stripe-arrangement, divide equally hand push rod chute 26, Hall element 24 arranges to low groove, position Hall element magnet 27 is in groove, Hall element 24 is arranged on above hand push rod chute 26, horizontally set guide plate 25 in it, trigger vane 22 is arranged on arc groove side, trigger vane 22 arranges hall integrated package 23 below, force sensor 3 is made up of the piezoelectric transducer part be arranged on before and after manual handle pedestal 29, be connected with Hall element 24.
Hydraulic pressure force-transmitting piston cylinder 31 is provided with outside described hydraulic pressure force-transmitting piston 30, hydraulic pressure force-transmitting piston cylinder 31 and manual handle pedestal 29 connect as one, hydraulic pressure force-transmitting piston 30 is connected with manual handle 1 by pipe link, the mouth of thrust mouth 18 is provided with operative end surface 32, is provided with elastic element 33 between thrust mouth 18 and operative end surface 32.
Embodiment 4: as shown in figures 1-8, a kind of motion of translation non-overshoot electromagnetic assistor, comprises manual handle 1, manual stressed hydraulic pipe 2, force sensor 3, position transduser 4, electromagnetism power-assisted guide rail 5, electric-controlled plate 6, automatically controlled supply line 7, storage battery 8, signal wire (SW) 9, U-shaped magnet coil supply line 20, hand push rod chute 26, manual handle pedestal 29, hydraulic pressure force-transmitting piston 30; Manual handle 1 is connected with manual stressed hydraulic pipe 2, force sensor 3 rotating shaft and position transduser 4 are placed in the manual handle pedestal 29 on hand push rod chute 26, between manual handle pedestal 29 and electromagnetism power-assisted guide rail 5, manual stressed hydraulic pipe 2 is set, manual stressed hydraulic pipe 2 two ends are provided with hydraulic pressure force-transmitting piston 30, force sensor 3, position transduser 4 are connected with electric-controlled plate 6 respectively by signal wire (SW) 9, electric-controlled plate 6 is connected with electromagnetism power-assisted guide rail 5 by U-shaped magnet coil supply line 20, and storage battery 8 is connected with automatically controlled supply line 7.
Described electromagnetism power-assisted guide rail 5 comprises U-shaped electromagnet 10, U-shaped electromagnet hold down groove 14, pushing slide block magnetic tooth 15, pushing slide block 17, thrust mouth 18, pushing slide block magnetic tooth trace circle supply line 21, electromagnetism power-assisted guide rail 5 is equipped with U-shaped electromagnet hold down groove 14, this hold down groove is fixed on main force's equipment body, U-shaped electromagnet 10 is provided with in U-shaped electromagnet hold down groove 14, U-shaped electromagnet 10 is wound around U-shaped magnet coil, guide rail is all arranged with A, the analog-U shaped magnet coil of B two, two class coils produce U-shaped magnet coil N pole 12 and U-shaped magnet coil S pole 13 according to after position signal wheel flow-thru electrode, multiple pushing slide block magnetic tooth 15 pushing slide block 17 is equipped with, thrust mouth 18 is provided with below pushing slide block 17, electric-controlled plate 6 is connected with pushing slide block magnetic tooth trace circle supply line 21.
Described pushing slide block magnetic tooth 15 has unitized construction, pushing slide block 17 is arranged m group pushing slide block magnetic tooth 15, pushing slide block 17 pushing slide block advance ball 16 setting up and down, pushing slide block magnetic tooth trace circle supply line 21 is hung under hanging wire slide bar 11, and U-shaped magnet coil supply line 20 is positioned at magnet coil supply line spool 19.
Described position transduser 4 comprises trigger vane 22, hall integrated package 23, Hall element 24, guide plate 25, hand push rod chute 26, position Hall element magnet 27, hand push rod chute 26 is positioned at the bottom of position transduser 4, position Hall element magnet 27 is installed in hand push rod chute 26, position Hall element magnet 27 stripe-arrangement, divide equally hand push rod chute 26, Hall element 24 arranges to low groove, position Hall element magnet 27 is in groove, Hall element 24 is arranged on above hand push rod chute 26, horizontally set guide plate 25 in it, trigger vane 22 is arranged on arc groove side, trigger vane 22 arranges hall integrated package 23 below, force sensor 3 is made up of the piezoelectric transducer part be arranged on before and after manual handle pedestal 29, be connected with Hall element 24.
Hydraulic pressure force-transmitting piston cylinder 31 is provided with outside described hydraulic pressure force-transmitting piston 30, hydraulic pressure force-transmitting piston cylinder 31 and manual handle pedestal 29 connect as one, hydraulic pressure force-transmitting piston 30 is connected with manual handle 1 by pipe link, the mouth of thrust mouth 18 is provided with operative end surface 32, is provided with elastic element 33 between thrust mouth 18 and operative end surface 32.
Described electric-controlled plate 6 comprises two paths of signals amplifying circuit, the category-A L2n+1 coil of U-shaped electromagnet 10 is in parallel with category-B L2n magnet coil, form one group of complete U-shaped electromagnet 10 magnet coil, category-A L2n+1 coil input end in this group coil is connected with aerotron Ta2n emitter-base bandgap grading, category-B L2n magnet coil input end in this group coil is connected with aerotron Tb2n emitter-base bandgap grading, the mouth of this group all coils is communicated with ground connection, each group magnet coil is made up of adjacent m+1 category-A U-shaped magnet coil and the parallel connection of adjacent m category-B U-shaped magnet coil, pushing slide block magnetic tooth 15 amounts to m group magnetic tooth coils from parallel connection of coils, wherein magnetic tooth trace circle is form around to two contrary coils connected in series, electric capacity C is provided with between power positive cathode.
By reference to the accompanying drawings specific embodiments of the invention are explained in detail above, but the present invention is not limited to above-described embodiment, in the ken that those of ordinary skill in the art possess, various change can also be made under the prerequisite not departing from present inventive concept.
Claims (6)
1. a motion of translation non-overshoot electromagnetic assistor, is characterized in that: comprise manual handle (1), manual stressed hydraulic pipe (2), force sensor (3), position transduser (4), electromagnetism power-assisted guide rail (5), electric-controlled plate (6), automatically controlled supply line (7), storage battery (8), signal wire (SW) (9), U-shaped magnet coil supply line (20), hand push rod chute (26), manual handle pedestal (29), hydraulic pressure force-transmitting piston (30), manual handle (1) is connected with manual stressed hydraulic pipe (2), force sensor (3) rotating shaft and position transduser (4) are placed in the manual handle pedestal (29) on hand push rod chute (26), manual stressed hydraulic pipe (2) is set between manual handle pedestal (29) and electromagnetism power-assisted guide rail (5), manual stressed hydraulic pipe (2) two ends are provided with hydraulic pressure force-transmitting piston (30), force sensor (3), position transduser (4) is connected with electric-controlled plate (6) respectively by signal wire (SW) (9), electric-controlled plate (6) is connected with electromagnetism power-assisted guide rail (5) by U-shaped magnet coil supply line (20), storage battery (8) is connected with automatically controlled supply line (7).
2. motion of translation non-overshoot electromagnetic assistor according to claim 1, is characterized in that: described electromagnetism power-assisted guide rail (5) comprises U-shaped electromagnet (10), U-shaped electromagnet hold down groove (14), pushing slide block magnetic tooth (15), pushing slide block (17), thrust mouth (18), pushing slide block magnetic tooth trace circle supply line (21), electromagnetism power-assisted guide rail (5) is equipped with U-shaped electromagnet hold down groove (14), this hold down groove is fixed on main force's equipment body, U-shaped electromagnet (10) is provided with in U-shaped electromagnet hold down groove (14), U-shaped electromagnet (10) is upper is wound around U-shaped magnet coil, guide rail is all arranged with A, the analog-U shaped magnet coil of B two, two class coils produce U-shaped magnet coil N pole (12) and U-shaped magnet coil S pole (13) according to after position signal wheel flow-thru electrode, multiple pushing slide block magnetic tooth (15) pushing slide block (17) is equipped with, thrust mouth (18) is provided with below pushing slide block (17), electric-controlled plate (6) is connected with pushing slide block magnetic tooth trace circle supply line (21).
3. motion of translation non-overshoot electromagnetic assistor according to claim 2, it is characterized in that: described pushing slide block magnetic tooth (15) has unitized construction, pushing slide block (17) is arranged m group pushing slide block magnetic tooth (15), pushing slide block (17) pushing slide block advance ball (16) setting up and down, pushing slide block magnetic tooth trace circle supply line (21) hanging is under hanging wire slide bar (11), and U-shaped magnet coil supply line (20) is positioned at magnet coil supply line spool (19).
4. motion of translation non-overshoot electromagnetic assistor according to claim 1, it is characterized in that: described position transduser (4) comprises trigger vane (22), hall integrated package (23), Hall element (24), guide plate (25), hand push rod chute (26), position Hall element magnet (27), hand push rod chute (26) is positioned at the bottom of position transduser (4), position Hall element magnet (27) is installed in hand push rod chute (26), position Hall element magnet (27) stripe-arrangement, divide equally hand push rod chute (26), Hall element (24) arranges to low groove, position Hall element magnet (27) is in groove, Hall element (24) is arranged on hand push rod chute (26) top, horizontally set guide plate (25) in it, trigger vane (22) is arranged on arc groove side, trigger vane (22) arranges hall integrated package (23) below, force sensor (3) is made up of the piezoelectric transducer part be arranged on before and after manual handle pedestal (29), be connected with Hall element (24).
5. motion of translation non-overshoot electromagnetic assistor according to claim 2, it is characterized in that: described hydraulic pressure force-transmitting piston (30) outside is provided with hydraulic pressure force-transmitting piston cylinder (31), hydraulic pressure force-transmitting piston cylinder (31) and manual handle pedestal (29) connect as one, hydraulic pressure force-transmitting piston (30) is connected with manual handle (1) by pipe link, the mouth of thrust mouth (18) is provided with operative end surface (32), is provided with elastic element (33) between thrust mouth (18) and operative end surface (32).
6. motion of translation non-overshoot electromagnetic assistor according to claim 1, it is characterized in that: described electric-controlled plate (6) comprises two paths of signals amplifying circuit, the category-A L2n+1 coil of U-shaped electromagnet (10) is in parallel with category-B L2n magnet coil, form one group of complete U-shaped electromagnet (10) magnet coil, category-A L2n+1 coil input end in this group coil is connected with aerotron Ta2n emitter-base bandgap grading, category-B L2n magnet coil input end in this group coil is connected with aerotron Tb2n emitter-base bandgap grading, the mouth of this group all coils is communicated with ground connection, each group magnet coil is made up of adjacent m+1 category-A U-shaped magnet coil and the parallel connection of adjacent m category-B U-shaped magnet coil, pushing slide block magnetic tooth (15) amounts to m group magnetic tooth coils from parallel connection of coils, wherein magnetic tooth trace circle is form around to two contrary coils connected in series, electric capacity C is provided with between power positive cathode.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310514896.0A CN103661572B (en) | 2013-10-28 | 2013-10-28 | A kind of motion of translation non-overshoot electromagnetic assistor |
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| CN201310514896.0A CN103661572B (en) | 2013-10-28 | 2013-10-28 | A kind of motion of translation non-overshoot electromagnetic assistor |
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| CN103661572B true CN103661572B (en) | 2016-01-13 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5491632A (en) * | 1994-05-26 | 1996-02-13 | General Motors Corporation | Rotary encoder with neutral position |
| DE10159704A1 (en) * | 2000-12-27 | 2002-08-14 | Continental Teves Ag & Co Ohg | Vehicle steering arrangement, comprises electromechanical steering unit associated with steered wheels effectively connected to steering control and transmission device for setting the steering angle of the vehicle |
| GB0504484D0 (en) * | 2005-03-03 | 2005-04-13 | Ultra Electronics Ltd | Haptic feedback device |
| DE102008002672A1 (en) * | 2008-06-26 | 2009-12-31 | Zf Lenksysteme Gmbh | Locking device for shaft of e.g. electrical power steering of passenger car, has electromagnetic lift magnets load locking element, and energy storage partially made of permanent magnet i.e. slide bearing, which acts on locking element |
| CN103029746B (en) * | 2013-01-01 | 2017-03-29 | 南陵旺科知识产权运营有限公司 | Motor turning non-overshoot electromagnetic assistor |
| CN203511756U (en) * | 2013-10-28 | 2014-04-02 | 昆明理工大学 | Linear movement overshoot-free electromagnetic power assisting device |
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Application publication date: 20140326 Assignee: Yunnan Tailixin Electromechanical Equipment Co.,Ltd. Assignor: Kunming University of Technology Design and Research Institute Co.,Ltd. Contract record no.: X2023530000059 Denomination of invention: A linear motion non overshoot electromagnetic assistance device Granted publication date: 20160113 License type: Common License Record date: 20230914 Application publication date: 20140326 Assignee: KMUST ELECTRIC POWER ENGINEERING TECHNOLOGY Co.,Ltd. Assignor: Kunming University of Technology Design and Research Institute Co.,Ltd. Contract record no.: X2023530000056 Denomination of invention: A linear motion non overshoot electromagnetic assistance device Granted publication date: 20160113 License type: Common License Record date: 20230914 Application publication date: 20140326 Assignee: Yunnan Tusai Engineering Construction Co.,Ltd. Assignor: Kunming University of Technology Design and Research Institute Co.,Ltd. Contract record no.: X2023530000055 Denomination of invention: A linear motion non overshoot electromagnetic assistance device Granted publication date: 20160113 License type: Common License Record date: 20230914 |