CN104393734B - Controllable displacement feeding drive system - Google Patents
Controllable displacement feeding drive system Download PDFInfo
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- CN104393734B CN104393734B CN201410642418.2A CN201410642418A CN104393734B CN 104393734 B CN104393734 B CN 104393734B CN 201410642418 A CN201410642418 A CN 201410642418A CN 104393734 B CN104393734 B CN 104393734B
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- yoke
- housing
- dynamic
- winding rod
- dynamic yoke
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Abstract
The present invention relates to a kind of driver, more particularly to one kind can form big stroke linear drives, and drive displacement and driving force controllable precise are directly fed drive system.The electromagnetic driver of the present invention, including housing, the side of housing or relative both sides are provided with openings；Gag lever post is fixed with housing, is arranged at intervals winding rod on gag lever post, wound around coil on winding rod；The side of winding rod or relative both sides are provided with dynamic yoke, and gag lever post and dynamic yoke are oppositely arranged and have gap；Groove is interval with dynamic yoke, projection is formed between groove, projection shifts to install with winding rod；The longitudinally disposed take-off lever for protruding from housing of dynamic yoke, take-off lever are passed by openings and relative to openings free movements.The present invention can not only realize accurate straight line micro-displacement but also can realize big travel displacement, and micro- essence combination compound displacement of long stroke, also the direct drive device with two-way bistable state fixed stroke driveability.
Description
Technical field
The present invention relates to a kind of driver, more particularly to one kind can form big stroke linear drives, drive displacement and driving
Power controllable precise is directly fed drive system.
Background technology
Driver be automatically control, the base unit device in the field such as robot.To the performance of driver, especially driving
In terms of dynamic displacement, driving force and driving behavior controllable precise, with automatically control, the development of robot technology, it is desirable to increasingly
It is high.But current driver, it is big driving trip to be often present, but drives precision low；Or driving precision is high, but driving trip
The defects of small.Especially need one kind to possess with precision actuation field can to form big stroke linear drives automatically controlling, drive
Displacement and driving force controllable precise are directly fed driver.
Found by the retrieval to prior art, the Chinese patent of 2 months Granted publications on the 06th in 2008, notification number is
CN1588768, it discloses a kind of micro cylindrical permanent magnet DC linear driver, is spliced using polylith bar shaped permanent magnets come near
The tubular permanent magnet of full radial magnetizing is seemingly approached, inside the magnetic conductive cylinder outside permanent magnets, front and rear cover and permanent magnets
Cylinder-shaped iron core form closed-loop path, the radial magnetic of approximate radial is formed in the air-gap between iron core and permanent magnets
.Current-carrier solenoid coil in air-gap can move on iron core slidably, during energization under electromagnetic force, and
By output shaft by power and movement output.The structures such as threading hole, groove are made on mover skeleton, using the shape for inlaying printed board
Formula draws lead, and safe ready is reliable.But this driver has shortcoming, the realization of its driveability is built upon one
Individual more permanent magnet blocks are integrated, and the driving of composite electromagnetic field, and its stability driven establishes the structure formed in more permanent magnets
Symmetry, manufacture installation accuracy, and permanent magnet magnetic field intensity in itself, magnetization uniformity etc.., based on this structure
Realize convenient driving and stable precision actuation, manufacture and mounting process, the optimization of structure design and the choosing of permanent-magnet material
Select and be all relatively difficult to control；In addition, this driver is present, component is more, and structure is relative complex, and the driving in suspension magnetic gap is not
It is stable, move rigidity deficiency.
The content of the invention
The technique effect of the present invention can overcome drawbacks described above, there is provided a kind of controllable displacement feeding drive system, it can be real
Existing accurate straight line micro-displacement can realize big travel displacement again, can also realize the straight of two-way bistable state fixed stroke driving behavior
Displacement of the lines driving element.
To achieve the above object, the present invention adopts the following technical scheme that：It includes housing, the side of housing or relative two
Side is provided with openings；Gag lever post is fixed with housing, is arranged at intervals winding rod on gag lever post, wound around coil on winding rod；Around
The side or relative both sides of group bar are provided with dynamic yoke, and gag lever post and dynamic yoke are oppositely arranged and have gap；It is spaced on dynamic yoke
Provided with groove, projection is formed between groove, projection shifts to install with winding rod；It is dynamic that yoke is longitudinally disposed protrudes from the defeated of housing
Rod, take-off lever are passed by openings and relative to openings free movements.
The device of the present invention utilizes maximum flux principle：Electromagnetic driver driving is according to " magnetic resistance minimum principle " or " most
Big magnetic flux principle ", i.e., magnetic flux always closes along the minimum path of magnetic resistance.I.e. the electromagnetic core of a pair of relative motions is in electromagnetism
Under field force excitation, have effigurate relative motion iron core and close to each other (can always be reduced along spacing or relative surface area increases
General orientation), until being moved to the minimum reluctance position in given electromagnetic field excitation, that is, relatively move the spindle return of electromagnet
Stop with the main shaft overlapping positions in magnetic field.In the process, the relative motion of electromagnet can produce controllable electromagnetic drive
Behavior.
Preferably, guide rail is provided with housing, guide rail is between inner walls and dynamic yoke.In the side and housing of guide rail
Wall is fixedly connected, and opposite side is provided with chute/block, moves yoke along the spacing slip of chute/block.
Grating sensor is provided with housing, grating sensor is between inner walls and dynamic yoke.Grating sensing
Device includes grating ruler reading head and grating scale, and grating scale is pasted onto on dynamic yoke, and face grating ruler reading head, and grating ruler reading head is read
The mobile size of grating scale, so as to accurately learn the moving displacement of dynamic yoke.
Spring is provided between the side of dynamic yoke and inner walls, piezoelectric transducer is provided between spring and dynamic yoke.
The embedded Hall plate on the flux path of dynamic yoke or winding rod, the changes of magnetic field of Hall plate detection relative movement, from
And detectable corresponding moving displacement.
Gag lever post is structure as a whole with winding rod.Dynamic yoke, projection, take-off lever are structure as a whole.
Compared with prior art, the present invention includes advantages below：Not only accurate straight line micro-displacement can have been realized but also big row can be realized
Cheng Weiyi, and micro- essence combination compound displacement of long stroke, the also direct drive with two-way bistable state fixed stroke driveability
Dynamic device.The driver can be few, simple in construction without permanent magnet, component, and compact, easy for installation, cost is low.Present invention driving
Device, it can be widely applied to need to produce small accurate displacement, the direct drive displacement of big stroke, shock and vibration driving and switch
The application field of driving.
Brief description of the drawings
The present invention is described in detail with reference to the accompanying drawings and detailed description：
Fig. 1 is the structural representation of embodiments of the invention 1；
Fig. 2 is the structural representation of embodiments of the invention 2；
Fig. 3 is the structural representation of embodiments of the invention 3.
In figure：1- housings；2- winding rods；3- grooves；4- is raised；5- moves yoke body；6- gag lever posts；7- coils；8- take-off levers；
9- grating ruler reading heads；10- grating scales；11- springs；12- pressure sensors；13- guide rails.
Embodiment
Embodiment 1
As shown in figure 1, the electromagnetic driver of the present invention includes housing 1, the side of housing 1 is provided with openings；It is solid in housing 1
Surely it is provided with gag lever post 6, is arranged at intervals winding rod 2 on gag lever post 6, wound around coil 7 on winding rod 2；The side of winding rod 2 is provided with dynamic
Yoke 5, gag lever post 6 and dynamic yoke 5 are oppositely arranged and have gap；Groove 3 is interval with dynamic yoke 5, is formed between groove 3 convex
4 are played, projection 4 shifts to install with winding rod 2；The longitudinally disposed take-off lever 8 for protruding from housing 1 of dynamic yoke 5, take-off lever 8 is by passing through
Port passes and relative to openings free movement.Guide rail 13 is provided with housing 1, guide rail 13 is located at the inwall of housing 1 and dynamic yoke 5
Between.The side of guide rail 13 is fixedly connected with the inwall of housing 1, and opposite side is provided with chute/block, moves yoke 5 along the spacing cunning of chute/block
Dynamic, guide rail 13 plays a part of spacing and is oriented to.Grating sensor is provided with housing 1, grating sensor is located in housing 1
Between wall and dynamic yoke 5, grating sensor includes grating ruler reading head 9 and grating scale 10, and grating scale 10 is pasted onto on dynamic yoke 5,
And face grating ruler reading head 9, grating scale 10 is servo-actuated yoke 5 and moved.Grating sensor can also be by hall sensing piece or foil gauge
Substitute.Spring 11 can be provided between the side of dynamic yoke 5 and the inwall of housing 1, piezoelectric sensing is provided between spring 11 and dynamic yoke 5
Device 12.Gag lever post 6 is structure as a whole with winding rod 2.Dynamic yoke 5, projection 4, take-off lever 8 are structure as a whole.
Wherein, winding rod 2, dynamic yoke 5 have " E " type structure, thereon, the latter half it is symmetrical.Winding rod 2, dynamic yoke 5 exist
Placement location in stiff case 1 is in staggeredly make-upType.Also, between being kept between the opposite surface of gag lever post 6 and dynamic yoke 5
Gap, no matter dynamic yoke 5 is in the case of static or motion, and the gap can lean on openings, guide rail 13 to constrain to ensure.Around
The initial misaligned maximum spacing of group bar 2 and dynamic yoke 5 is the range or stroke of dynamic yoke 5.
The course of work of the present embodiment is：When initial, the winding rod 2 and dynamic yoke 5 of make-up have dislocation, to left side
Coil electricity, magnetic field is produced in winding rod 2, based on magnetic resistance minimum principle,Type electromagnetism yoke will produce closure flux path, this
When because guide rail 13 is in the constraint of vertical direction, electromagnetic force will inhale the dynamic dynamic yoke 5 initially to misplace toType electromagnetic yoke
Iron misplace salty conjunction direction (such as Fig. 1 horizontal directions to the left) it is mobile, untilThe area of the opposite surface of type electromagnetism yoke pair
For maximum when, motion stop.Also, because guide rail 13 is in the effect of contraction of vertical direction, winding rod 2 and the motion of dynamic yoke 5
Will not be by adhesive.
Similarly, to the coil electricity of right side, while the coil current on a left side is cut off, moves the motion of yoke 5 by generation to the right
And return to initial position.So, driver of the present invention forms controllable bidirectional driving to the left and to the right.
It is dynamic that spring 11 is provided between yoke 5 and housing 1, so, work as coil blackout, dynamic yoke 5 is easy in spring 11
When being resetted under effect, and contributing to the coil of right side to act on, the drive actions to the right to moving yoke 5.
According to above operation principle, the coil of both sides is powered simultaneously, but the current strength led to is different, then dynamic yoke
Iron 5 will produce movement under electromagnetic force caused by coil, the size in the direction of the moving displacement electromagnetism as caused by coil
The vector of power determines.Therefore, according to the coil of left side and the difference degree of the coil loading current of right side, yoke can be made
Iron 5 forms long stroke, or small precise stroke linear reciprocating motion.
Between spring 10 and dynamic yoke 5, provided with piezoelectric transducer 12.Extrusion spring 10 in the dynamic motion process of yoke 5, bullet
Spring 10 extrudes piezoelectric transducer 12, produces electric signal.The electric signal can correspond to the force variation of spring 10, and then corresponding dynamic yoke
The displacement of iron 5, so the dynamic motion process of yoke 5 can be sensed by piezoelectric transducer 12.
Can also be by magnetic circuit, because the overlapping area of winding rod 6 and the make-up surface of dynamic yoke 5 is bigger, overlapping
During displacement can be changed by grating scale grid and relevant position is read by grating sensor changed, or the magnetic flux in yoke
Stronger/weak, the induced signal of hall sensing piece changes corresponding.So hall sensing piece can sense winding rod 6 and dynamic yoke
The coincidence degree on 5 make-up surface, and then the movement of dynamic yoke 5 can be sensed.So an embedded grating sensor or Hall
Sensing chip can also play a part of sensing the drive displacement of institute's invention driver.
So far, achievable accurate straight line micro-displacement of the present invention can realize that big travel displacement, and micro- essence close length again
The compound displacement of stroke, also with the reciprocal driveability of stable state fixed stroke.
Embodiment 2
As shown in Fig. 2 the left side and right side of housing 1 are all provided with openings；The both sides of dynamic yoke 5 are all fixedly connected with take-off lever
8, take-off lever 8 is passed by openings and relative to openings free movement.
The other the same as in Example 1.
The driver of such a structure has two-way accurate straight line micro-displacement and bistable state fixed stroke driveability.
Embodiment 3
As shown in figure 3, the both sides of winding rod 2 are provided with dynamic yoke 5, a take-off lever 8 each is fixedly connected with dynamic yoke 5,
Take-off lever 8 is passed by openings and relative to openings free movement.
The other the same as in Example 1.
A take-off lever 8 each is fixedly connected with dynamic yoke 5, one or two take-off lever 8 can also be fixedly connected with, it is former
Reason is same as above.
Claims (6)
1. a kind of controllable displacement feeding drive system, it is characterised in that including housing (1), the side of housing (1) or relative two
Side is provided with openings；Gag lever post (6) is fixed with housing (1), winding rod (2), winding rod are arranged at intervals on gag lever post (6)
(2) wound around coil (7) on；The side or relative both sides of winding rod (2) are provided with dynamic yoke (5), gag lever post (6) and dynamic yoke
(5) it is oppositely arranged and has gap；Groove (3) is interval with dynamic yoke (5), is formed raised (4) between groove (3), raised (4)
Shifted to install with winding rod (2)；Winding rod (6) is respectively provided with multiple with groove (3)；It is dynamic that yoke (5) is longitudinally disposed protrudes from shell
The take-off lever (8) of body (1), take-off lever (8) are passed by openings and relative to openings free movements；Set in the housing (1)
There is guide rail (13), guide rail (13) is located between housing (1) inwall and dynamic yoke (5)；The side of the guide rail (13) and housing (1)
Inwall is fixedly connected, and opposite side is provided with chute/block, moves yoke (5) along the spacing slip of chute/block；Light is provided with the housing (1)
Gate sensor, grating sensor are located between housing (1) inwall and dynamic yoke (5).
2. controllable displacement feeding drive system according to claim 1, it is characterised in that grating sensor includes grating scale
Read head (9) and grating scale (10), grating scale (10) are pasted onto on dynamic yoke (5), and face grating ruler reading head (9).
3. controllable displacement feeding drive system according to claim 1, it is characterised in that in dynamic yoke (5) or winding rod
(2) embedded Hall plate on flux path, the changes of magnetic field of Hall plate detection relative movement.
4. controllable displacement feeding drive system according to claim 1, it is characterised in that the side of dynamic yoke (5) and shell
Spring (11) is provided between body (1) inwall, piezoelectric transducer (12) is provided between spring (11) and dynamic yoke (5).
5. controllable displacement feeding drive system according to claim 1, it is characterised in that gag lever post (6) and winding rod (2)
It is structure as a whole.
6. controllable displacement feeding drive system according to claim 1, it is characterised in that dynamic yoke (5), raised (4), defeated
Rod (8) is structure as a whole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410642418.2A CN104393734B (en) | 2014-11-13 | 2014-11-13 | Controllable displacement feeding drive system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410642418.2A CN104393734B (en) | 2014-11-13 | 2014-11-13 | Controllable displacement feeding drive system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104393734A CN104393734A (en) | 2015-03-04 |
| CN104393734B true CN104393734B (en) | 2017-11-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410642418.2A Active CN104393734B (en) | 2014-11-13 | 2014-11-13 | Controllable displacement feeding drive system |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106208594B (en) * | 2016-07-11 | 2018-05-29 | 清华大学 | A kind of high speed moves back and forth platform |
| CN106323465B (en) * | 2016-09-26 | 2018-06-26 | 深圳市太赫兹科技创新研究院 | Be delayed line apparatus and terahertz time-domain spectroscopy instrument system |
| CN106774150B (en) * | 2016-12-29 | 2023-05-26 | 上海交通大学 | Accurate repeated positioning driving system capable of being controlled in open loop and control method thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102694455A (en) * | 2011-03-23 | 2012-09-26 | 杨锦堂 | Magnetic driver |
| CN203708063U (en) * | 2013-12-04 | 2014-07-09 | 中国科学院宁波材料技术与工程研究所 | Permanent-magnetism linear oscillation motor and electrical device |
| CN103997187A (en) * | 2013-02-20 | 2014-08-20 | 山洋电气株式会社 | Interior magnet linear induction motor |
| CN204179915U (en) * | 2014-11-13 | 2015-02-25 | 杨锦堂 | Controlled displacement feeding drive system |
-
2014
- 2014-11-13 CN CN201410642418.2A patent/CN104393734B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102694455A (en) * | 2011-03-23 | 2012-09-26 | 杨锦堂 | Magnetic driver |
| CN103997187A (en) * | 2013-02-20 | 2014-08-20 | 山洋电气株式会社 | Interior magnet linear induction motor |
| CN203708063U (en) * | 2013-12-04 | 2014-07-09 | 中国科学院宁波材料技术与工程研究所 | Permanent-magnetism linear oscillation motor and electrical device |
| CN204179915U (en) * | 2014-11-13 | 2015-02-25 | 杨锦堂 | Controlled displacement feeding drive system |
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| CN104393734A (en) | 2015-03-04 |
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