CN109347249B

CN109347249B - Key-shaped actuator

Info

Publication number: CN109347249B
Application number: CN201811348838.4A
Authority: CN
Inventors: 杨斌堂; 张茂胜
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-11-13
Filing date: 2018-11-13
Publication date: 2024-05-28
Anticipated expiration: 2038-11-13
Also published as: CN109347249A

Abstract

The invention provides a key-shaped actuator, which comprises a driving part, a transmission part and an executing part, wherein the driving part is connected with the transmission part; the transmission part comprises a swing rod, the swing rod is provided with a rotating piece, and a first rod part and a second rod part are respectively formed at the two ends of the swing rod in the radial direction of the rotating piece along the length extension direction; the first rod part is provided with a first repulsive element, the driving part comprises a second repulsive element, and the second repulsive element drives the first repulsive element to rotate along the rotating piece; and one or more execution parts are arranged on the second rod part, and the distance from the execution part to the rotating part is larger than and/or equal to and/or smaller than the distance from the first repulsive element to the rotating part. The invention can realize simultaneous output of multiple rods, and can also realize displacement amplification output or thrust amplification output through the design of the position of the executing part on the shell.

Description

Key-shaped actuator

Technical Field

The invention relates to the field of actuators, in particular to a key-shaped actuator.

Background

Actuators or drives are currently widely used in various technical fields, and common functions include excitation, adjustment, transmission and the like. Patent document CN106971813a provides an electromagnetic actuator, which comprises a housing, a coil arranged in the housing, and a wiring block arranged on the housing and connected with the coil for providing current, wherein both ends of the inner wall of the coil are respectively provided with a limit sleeve and an iron core, one end of the iron core is provided with an actuating rod, the actuating rod is arranged on the limit sleeve in a penetrating manner, a return spring is sleeved on the actuating rod, and the setting of the return spring is matched with the energizing of the coil, so that the actuating rod can be pushed forwards and backwards. The actuators provided in this technical document belong to a relatively common structural form in the prior art, and such structures generally have the following drawbacks:

1. the displacement benefit and the frequency benefit cannot be obtained simultaneously: that is, on the premise of a certain frequency, the output displacement of the actuator is greatly limited;

2. It is difficult to make "gear" adjustments: according to different use environments, different requirements are made on stroke output or force output of the actuator, a structure similar to automobile gear adjustment is needed, the existing actuator cannot realize gear adjustment, or an adjustment structure is provided, but the structure is complex and the size is large;

3. The output direction of the actuator is difficult to adjust: the existing actuator is usually assembled in a single direction based on the relevant installation datum plane, the output direction cannot be flexibly adjusted, and the application range is affected.

Disclosure of Invention

In view of the shortcomings in the prior art, it is an object of the present invention to provide a key-shaped actuator.

The key-shaped actuator provided by the invention comprises a driving part, a transmission part and an actuating part;

The transmission part comprises a swing rod, the swing rod is provided with a rotating piece, and a first rod part and a second rod part are respectively formed at the two ends of the swing rod in the radial direction of the rotating piece along the length extension direction;

the first rod part is provided with a first repulsive element, the driving part comprises a second repulsive element, and the second repulsive element drives the first repulsive element to rotate along the rotating piece;

And one or more execution parts are arranged on the second rod part, and the distance from the execution part to the rotating part is larger than and/or equal to and/or smaller than the distance from the first repulsive element to the rotating part.

Preferably, the first attractive and repulsive element comprises a first permanent magnet fixedly mounted on the first lever portion; the second attractive and repulsive element includes an electromagnetic coil.

Preferably, the first repulsive element and the second repulsive element respectively include a first electrode plate pair and a first charge carrier, and the first electrode plate pair and the first charge carrier are mutually insulated; or alternatively

The first and second repulsive elements respectively comprise a second charge carrier and a second electrode plate pair, and charges on the second charge carrier and the second electrode plate pair can be mutually transferred.

Preferably, the key-shaped actuator further comprises a housing structure, the housing structure comprises a first housing and a second housing, a first accommodating space and a second accommodating space are formed in the first housing and the second housing respectively, the driving part is installed in the first accommodating space, and the swing rod extends from the first accommodating space to the second accommodating space.

Preferably, the second shell is provided with a guide tube, the executing part comprises an output rod, the output rod is slidably arranged in an axial through hole in the guide tube, and one end of the output rod is hinged to the swing rod along the two ends of the length extending direction, and the other end of the output rod forms a free end;

the plurality of guide tubes are identical or exist differently in position in the circumferential direction of the second housing.

Preferably, the output rod has any one or all of the following structures:

-the whole or part of the output rod is a rod of elastomeric material;

the pendulum rod is provided with a slider with degrees of freedom in the direction of extension along the length of the pendulum rod, on which the output rod is mounted in a hinged manner.

Preferably, the rotary part is provided with a damping part and/or a resetting element, which is/are mounted on the first housing;

The damping member comprises any one or more of the following: elastic damping piece, liquid damping piece, friction damping piece and electromagnetic damping piece;

The reset element can reset the swing rod, and in a reset state, the swing rod is parallel to the first shell in the length direction or forms an included angle with the first shell.

Preferably, a positioning guide hole is formed in the inner side of the first shell, and one end of the rotating piece in the length direction is rotatably installed in the positioning guide hole; a sliding supporting mechanism is arranged in the positioning guide hole; the rotation center of the rotating piece is positioned at the axle center of the sliding supporting mechanism;

Or the rotating piece is connected to the first shell through a spherical hinge, and the swing rod can rotate along the spherical surface.

Preferably, a plurality of second attractive elements are arranged in series and/or in parallel and/or independently; the second repulsive element is provided with a sensor structure;

the second repulsive element is C-shaped, and the first repulsive element is arranged at the notch position of the C-shaped second repulsive element; or alternatively

The second repulsive element is arranged around the first repulsive element, the first rod part extends along the direction opposite to the direction in which the second rod part is positioned to form a third rod part, and one or more executing parts are arranged on the third rod part; or alternatively

The swing rod comprises more than three branch structures which can be used for driving the executing part.

Preferably, a base is arranged on the first shell, and the base comprises a magnetic conduction rotating shell; the base also comprises any one of the following structures:

-permanent magnetic balls; the magnetic conduction rotating shell is fixedly connected with the first shell and forms a rolling space inside, and the permanent magnet ball is arranged in the rolling space;

-a permanent magnet setting; the permanent magnet fixed seat is positioned outside the magnetic conduction rotating shell, and the permanent magnet fixed seat and the magnetic conduction rotating shell can be attracted mutually.

Compared with the prior art, the invention has the following beneficial effects:

1. the invention can realize simultaneous output of multiple rods, and can also realize displacement amplification output or thrust amplification output through the design of the position of the executing part on the shell.

2. According to the invention, the frequency of the swing rod is controlled by the frequency of an external power supply, the output displacement is determined by the length of the swing rod, and the swing rod are not interfered with each other, so that the problem that the displacement benefit and the frequency benefit cannot be achieved is solved.

3. The invention can convert the swing of the swing rod into linear reciprocating motion through the crank sliding block mechanism, thereby meeting the functions of excitation, pushing, pressing or knocking and the like.

4. The smart arrangement of the base enables the output direction of the actuator to be adjusted at will, greatly improves the application range and reduces the installation difficulty.

5. Through the use of the sensor, the motion parameters of the swing rod can be measured, and the monitoring of the motion state and the realization of closed-loop control are facilitated.

6. The invention can simply realize the swinging of the swinging rod on the plane and the swinging, deflection or rotation of the swinging rod on the spherical surface through the design of the type and the position of the repulsive element.

Drawings

Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:

FIG. 1 is a front view of a key-shaped actuator provided by the present invention;

FIG. 2 is a top view of a key-shaped actuator provided by the present invention;

FIG. 3 is a schematic cross-sectional view of A-A of a front view of a key-shaped actuator;

FIG. 4 is an enlarged partial view of the slider position;

FIG. 5 is a B-B cross-sectional view of a top view of the key-shaped actuator;

FIG. 6 is a detailed cross-sectional view A-A of a front view of a key-shaped actuator;

FIG. 7 is a front view of a key-shaped actuator with protruding repulsive elements

FIG. 8 is a schematic diagram of the working principle of the base in the embodiment;

FIG. 9 is a schematic view of the base in a preferred embodiment in a horizontal position;

FIG. 10 is a schematic view of the base in a preferred embodiment in an up-tilt position;

FIG. 11 is a schematic view of the base in a preferred embodiment in a declined position;

FIG. 12 is a schematic diagram of an embodiment of a magnetic field strength sensor mounted on an electromagnetic coil;

FIG. 13 is a schematic diagram of a three-set electromagnetic coil assembly;

fig. 14 is a schematic structural view of a swing link driven by electrostatic repulsive force in modification 2;

FIG. 15 is a schematic view of a second attractive element disposed about a first attractive element;

fig. 16 is a schematic diagram of the swing link rotating along the sphere.

The figure shows:

drive unit 100 execution unit 300

The second attractive and repulsive element 110 outputs the rod 310

Electromagnetic coil 111 crank slider mechanism 320

First coil 1111 slider 330

Second coil 1112 housing structure 400

Third coil 1113 first housing 411

First charge carrier 112 second housing 412

Guide tube 420 of transmission part 200

Swing rod 210 damping member 430

The first lever 211 slides the supporting mechanism 440

Second shaft 212 base 500

Rotating member 213 magnetic conductive rotating shell 510

Permanent magnetic ball 520 of first attractive and repulsive element 220

Permanent magnet seat 530 of first permanent magnet 221

First electrode plate pair 222 magnetic field strength sensor 600

Spherical hinge 230

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.

In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

As shown in fig. 1 and 2, the key-shaped actuator provided by the invention comprises a driving part 100, a transmission part 200 and an actuating part 300, wherein the transmission part 200 comprises a swing rod 210, the swing rod 210 is provided with a rotating member 213, and a first rod part 211 and a second rod part 212 are respectively formed at the parts of the swing rod 210, which are positioned at the two radial ends of the rotating member 213 along the length extending direction; the first lever portion 211 is provided with a first repulsive element 220, and the driving portion 100 includes a second repulsive element 110, and the second repulsive element 110 drives the first repulsive element 220 to rotate around the rotating member 213; the rotation process can be swinging on a plane or moving along any direction of a spherical surface. The second lever portion 212 is provided with one or more actuating portions 300, and the distance between the actuating portion 300 and the rotating member 213 is greater than and/or equal to and/or smaller than the distance between the first repulsive element 220 and the rotating member 213.

As shown in fig. 5, in the embodiment, the first repulsive element 220 includes a first permanent magnet 221, and the first permanent magnet 221 is fixedly mounted on the first lever 211; the second attractive and repulsive element 110 includes an electromagnetic coil 111, the electromagnetic coil 111 is C-shaped, and the first permanent magnet 221 is disposed at a notch position of the C-shaped electromagnetic coil 111. When alternating current of set amplitude and frequency is supplied to the electromagnetic coil 111, polarities of both ends of the electromagnetic coil 111 in the extending direction of the C-shape are changed, thereby driving the first permanent magnet 221 and the swing rod 210 to swing. Preferably, the first permanent magnet 221 includes a plurality of permanent magnets, and the poles of the plurality of permanent magnets are arranged in a homopolar opposite manner, and form an integral structure with uniform external polarity. The position of the actuator 300 on the second lever 212 affects the stroke output and the force output of the actuator 300, the greater the distance from the actuator 300 to the rotator 213, the higher the stroke output, and the lower the force output, and vice versa; the plurality of execution units 300 are provided at different positions, so that not only the stroke output and the force output can be adjusted according to actual demands, but also the output of a plurality of external structures can be completed at the same time. In the embodiment shown in fig. 1, three actuating portions 300 are provided at the distal end of the second shaft portion 212, and one actuating portion 300 is provided at the proximal end, and is shaped like a key in appearance. The force arm corresponding to the actuating part 300 at the near end is smaller than the force arm corresponding to the first repulsive element 220, so that the effect of force amplification output is achieved, and the force arm corresponding to the actuating part 300 at the far end is larger than the force arm corresponding to the first repulsive element 220, so that the effect of displacement amplification output is achieved; further, the moment arm of the actuating portion 300 may be equal to the moment arm corresponding to the first repulsive element 220, so as to meet the requirement of specific work, such as reversing. The swing frequency of the swing link 210 is determined by the ac frequency in the electromagnetic coil 111, and the displacement output of the actuator 300 is determined by the length of the swing link 210, so that there is no conflict between the displacement benefit and the frequency benefit. Further, the swinging motion of the swing link 210 is converted into a motion pattern by, for example, a crank slider mechanism 320, a crank rocker mechanism, or the like, for example, conversion from swinging to linear motion, rotation, or a combination thereof, or the like.

As shown in fig. 15 and 16, in the modification 1, the second attractive/repulsive element 110 includes a plurality of electromagnetic coils 111, and the plurality of electromagnetic coils 111 are arranged in series and/or in parallel and/or independently, and are designed to be arranged around the first permanent magnet 221, for example, in the up-down, front-back, left-right direction or a direction forming an angle with the reference plane, so long as enough space for the movement of the first lever portion 211 is ensured. Accordingly, the rotating member 213 is provided with a ball hinge 230, so as to realize the swinging, deflecting, rotating and other movements of the swing rod 210 on the spherical surface in all directions through controlling the power on/off, the alternating current voltage, the frequency, the phase and the like of the different electromagnetic coils 111. In accordance with the above-mentioned variant structure, the swing rod 210 is preferably a round rod, so that the swing rod 210 swings on different circumferences, and further, the position of the executing portion 300 along the circumferential direction of the swing rod 210 can be changed from the original two positions which are 180 degrees relatively to be capable of being set at any position, thereby greatly expanding the application range. Further, due to the change of the design of the electromagnetic coil 111, the first rod portion 211 can extend along the opposite direction to the direction in which the second rod portion 212 is located to form a third rod portion, and the third rod portion and the second rod portion 212 have the same function and can be used for driving the actuating portion 300, and both the actuating portions are simultaneously present, so that the key-shaped actuator is distributed in a wing shape as a whole; preferably, the swing link 210 is symmetrically disposed on the whole, that is, the swing link 210 uses the rotating member 213 as a symmetry center, a portion of the swing link 210 near the rotating member 213 is configured with the first repulsive element 220 and the second repulsive element 110, and a portion of the swing link 210 far from the rotating member 213 is used for driving the executing portion 300. Further preferably, the swing link 210 may also be a branch, for example, in the form of a crisscross, that is, the swing link includes three or more branch structures that can be used to drive the actuator 300. In addition, since the plurality of electromagnetic coils 111 are distributed around the first permanent magnet 221, the driving modes become more diverse by controlling the energization of the different electromagnetic coils 111, and the combination of the first permanent magnets 221 may be arbitrarily selected, and may be homopolar or heteropolar.

As shown in fig. 3, in the embodiment, the key-shaped actuator further includes a housing structure 400, where the housing structure 400 includes a first housing 411 and a second housing 412, a first accommodating space and a second accommodating space are formed in the first housing 411 and the second housing 412, respectively, the driving portion 100 is installed in the first accommodating space, the swing rod 210 extends from the first accommodating space to the second accommodating space, and the second accommodating space also forms a guiding function for the swing of the swing rod 210. The second housing 412 is provided with guide pipes 420, and the number of the guide pipes 420 is matched with the number of the executing parts 300. In an embodiment, the executing portion 300 includes an output rod 310, the output rod 310 is slidably mounted in an axial through hole in the guide tube 420, and one end of the output rod 310 is hinged to the swing rod 210 along the length extension direction, and the other end forms a free end for connecting and driving an external structure. The whole or part of the output rod 310 is made of elastic material, and when the swing rod 210 swings, the position of the hinged section of the output rod 310 relative to the guide tube 420 in the length direction of the first housing 411 will change to a certain extent, so that the output rod 310 is designed to have a certain elastic structure, and can be kept in the guide tube 420 to slide smoothly by deformation. However, in practical applications, when the displacement of the hinged section of the output rod 310 is large during the swinging, it may happen that the output rod 310 cannot adapt to the deformation and is blocked due to the movement, so, as shown in fig. 4, in a preferred embodiment, the swinging rod 210 is provided with a sliding member 330, the sliding member 330 has a degree of freedom of movement along the length extension direction of the swinging rod 210, the output rod 310 is hinged on the sliding member 330, and by sliding of the sliding member 330, the displacement of the hinged section of the output rod 310 relative to the guide tube 420 along the length direction of the first housing 411 caused by the swinging of a part of the swinging rod 210 is adapted and counteracted; further preferably, the output rod 310 may be entirely rigid, with the sliding movement of the slider 330 counteracting the overall displacement of the guide tube 420. In view of the above description of the implementation structure of the various techniques, the following conclusion can be drawn: in special cases, the actuation of the output rod 310 may be achieved by the arrangement of a structure such as an elastic material rod, without the need for a transmission structure such as the slider-crank mechanism 320.

As shown in fig. 6 and 7, the rotation member 213 is provided with a damper member 430, and the damper member 430 is preferably an elastic damper member such as a torsion spring, and of course, the damper member 430 may be a liquid damper member, a friction damper member, an electromagnetic damper member, or the like. The inner side of the first housing 411 is provided with a positioning guide hole in which one end of the rotation member 213 in the length direction is rotated or the ball hinge 230 is mounted and connected to the damping member 430. The rotating member 213 is provided with a reset element mounted on the first housing 411, which reset element effects a reset of the swing link 210, and in the reset state, the swing link 210 and the first housing 411 extend in parallel in the length direction, defined as an intermediate position. The arrangement of the reset element can avoid the swing rod 210 from changing into a bistable state, namely, the middle position can not be positioned, which is not beneficial to linearization control. For torsion springs, permanent magnets, etc., it may act as both the damping member 430 and the return element. Preferably, the damping member 430 and the reset element may be independent from each other, for example, the reset element includes a separate electromagnetic switch, and a reset electromagnetic switch is disposed in the middle position to implement reset by magnetic force. Preferably, the rotating member 213 is connected to the damping member 430 via a force transmitting connection provided to optimize the force transmission path. Further preferably, the positioning guide hole is provided with a sliding support mechanism 440, when the rotating member 213 can only rotate circumferentially, the rotation center of the rotating member 213 is located at the axial center of the sliding support mechanism 440, and the rotating member 213 and the damping member 430 are both located radially inside the sliding support mechanism 440, preferably, the sliding support mechanism 440 includes a graphite sleeve or bearing for restricting displacement of the rotating member 213 in the radial direction. The positioning guide hole is used to accommodate the mounting ball hinge 230 when the rotating member 213 is coupled to the first housing 411 through the ball hinge 230.

As shown in fig. 8, a base 500 is disposed on the first housing 411, the base 500 includes a magnetically conductive rotating shell 510, the magnetically conductive rotating shell 510 is fastened to the first housing 411 and forms a rolling space therein, and a permanent magnetic ball 520 is disposed in the rolling space. The magnetically permeable rotor 510 is preferably hemispherical, but may be, for example, disk-shaped, ellipsoidal, or the like. The magnetic conduction rotating shell 510 and the permanent magnet ball 520 form a tumbler-like structure, and for the hemispherical magnetic conduction rotating shell 510, the permanent magnet ball 520 can freely roll in a rolling space, namely a semicircular cavity, is always tangent with the lowest point of the hemisphere, is fixed by suction force when being adsorbed on a magnetic conduction plane, and can adjust the pose of the key-shaped actuator. Preferably, as shown in fig. 9 to 11, the base 500 includes a magnetically conductive rotating shell 510 and a permanent magnet fixed seat 530, wherein the permanent magnet fixed seat 530 is located outside the magnetically conductive rotating shell 510, and the magnetically conductive rotating shell 510 and the permanent magnet fixed seat 530 can attract each other, and the adjustment of different positions of the key-shaped actuator is achieved by adjusting the relative positions of the magnetically conductive rotating shell 510 and the permanent magnet fixed seat 530.

As shown in fig. 12, in the preferred embodiment, the electromagnetic coil 111 is further provided with a sensor structure, for example, a magnetic field intensity sensor 600, for example, a hall sensor, etc., and is preferably provided at both ends of the C-shaped electromagnetic coil in the C-shaped extending direction, corresponding to the two first permanent magnets 221. The magnetic field intensity sensor 600 is arranged, and parameters such as displacement, speed, acceleration and the like of the swing rod 210 can be known by detecting the magnetic field change, so that the control algorithm is assisted to perform closed-loop control, and expected characteristics of the displacement, speed and acceleration of the output rod 310 are obtained. As shown in fig. 13, in the preferred embodiment, a plurality of sets of electromagnetic coils 111 are disposed in the housing structure 400, and each set of electromagnetic coils 111 corresponds to a respective transmission portion 200 and execution portion 300. In practical applications, the plurality of groups of electromagnetic coils 111 may be connected in series, all the transmission parts 200 and the execution part 300 operate synchronously, so that the output force is increased, for example, the plurality of groups of electromagnetic coils 111 include a first coil 1111, a second coil 1112 and a third coil 1113, the plurality of groups of coils are connected in series or in parallel, and the plurality of groups of coils are connected in series or in parallel, so that the plurality of swinging rods 210 can share one damping member 430; preferably, the electromagnetic coils 111 of the plurality of groups may be independent of each other, and each electromagnetic coil 111 of the plurality of groups may be supplied with alternating current of different frequencies to achieve simultaneous output of different frequencies, and at this time, different swing rods 210 need to be respectively provided with a damping member 430.

In the above embodiment, the application of the electromagnet and the permanent magnet can be flexibly selected according to actual needs, for example: the first and second attraction and repulsion elements 220, 110 may each be electromagnets; or the first attractive/repulsive element 220 is an electromagnet, and the second attractive/repulsive element 110 is a permanent magnet, etc., it is sufficient to enable the driving swing link 210 to swing or rotate.

In the magnetic field environment, as shown in fig. 14, in the modification 2, an electrostatic driving method is adopted to avoid magnetic field interference. The first and second repulsive elements 220 and 110 respectively include a first electrode plate pair 222 and a first charge carrier 112, for example, positive charges are introduced on the first charge carrier 112, positive and negative alternating charges are introduced on two electrode plates included in the first electrode plate pair 222, and an alternating electrostatic repulsive force is formed with the positive charges in the C-shaped first charge carrier 112, so as to push the swing rod 210 to swing. Further, the polarity of the electric charges in the first electrode plate pair 222 may be kept unchanged, so as to push the swing rod 210 to swing by continuously changing the polarity of the electric charges on the first electric charge carrier 112, and preferably, an insulating layer is connected to the end of the C-shaped first electric charge carrier 112, and the insulating layer may prevent the electric charges from being offset when the first electrode plate pair 222 contacts with the first electric charge carrier 112. Likewise, to realize the monitoring and closed-loop control of the swing rod 210, the motion parameters of the swing rod 210 need to be monitored, and for the electrostatic repulsive force structure, the electric signals generated between the first charge carrier 112 and the first electrode plate pair 222 due to the polarity or the distance change can be indirectly used for sensing data, for example, the distance between one of the electrode plates and the first charge carrier 112 is monitored, and the sensing data is obtained according to the principle that the voltage is proportional to the distance; preferably, a separate electric field strength sensor, such as a sensing capacitor, may also be used to monitor the motion parameters of the pendulum 210. The design of the indirect sensing or the independent sensing forms a sensor structure. Preferably, the first repulsive element 220 and the second repulsive element 110 may be configured as electrode plates, and the planar swing or the movement along the spherical surface of the swing rod 210 may be realized by a design similar to the electromagnetic driving in the embodiment. Further variations are possible for the key-shaped actuator employing the electrostatic driving structure in variation 2. The second repulsive element 110 comprises a second pair of electrode plates and the first repulsive element 220 comprises a second charge carrier. In the initial state, the second charge carrier is not electrified and is not positioned in the middle of the second electrode plate pair; when the second electrode plate charges, the charges in the second charge carrier are ionized, and the second charge carrier is not positioned in the middle position and is necessarily attracted and approached by the electrode plate with a relatively close distance, after the second charge carrier and the electrode plate are contacted with each other, the charges on the electrode plate are transferred to the second charge carrier and become a state of like poles repelling, the second charge carrier moves to be contacted with the other electrode plate, and the charges on the second charge carrier are subjected to processes of counteraction, charging and repelling; the swing of the swing link 210 is achieved by repeating the above steps.

The foregoing describes specific embodiments of the present application. It is to be understood that the application is not limited to the particular embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the claims without affecting the spirit of the application. The embodiments of the application and the features of the embodiments may be combined with each other arbitrarily without conflict.

Claims

1. A key-shaped actuator, characterized by comprising a driving part (100), a transmission part (200) and an actuating part (300);

The transmission part (200) comprises a swing rod (210), the swing rod (210) is provided with a rotating piece (213), and a first rod part (211) and a second rod part (212) are respectively formed at the parts of the swing rod (210) at the two radial ends of the rotating piece (213) along the length extending direction;

the first rod part (211) is provided with a first repulsive element (220), the driving part (100) comprises a second repulsive element (110), and the second repulsive element (110) drives the first repulsive element (220) to rotate along the rotating piece (213);

one or more execution parts (300) are arranged on the second rod part (212), and the distance from the execution part (300) to the rotating piece (213) is larger than or equal to or smaller than the distance from the first repulsive element (220) to the rotating piece (213);

The first attraction and repulsion element (220) comprises a first permanent magnet (221), and the first permanent magnet (221) is fixedly arranged on the first rod part (211); the second attractive/repulsive element (110) comprises an electromagnetic coil (111);

The key-shaped actuator further comprises a shell structure (400), the shell structure (400) comprises a first shell (411) and a second shell (412), a first accommodating space and a second accommodating space are respectively formed in the first shell (411) and the second shell (412), the driving part (100) is installed in the first accommodating space, and the swing rod (210) extends from the first accommodating space to the second accommodating space;

The second shell (412) is provided with a guide pipe (420), the executing part (300) comprises an output rod (310), the output rod (310) is slidably arranged in an axial through hole in the guide pipe (420), two ends of the output rod (310) along the length extension direction are hinged to the swing rod (210), and one end of the output rod is hinged to the swing rod (210), and the other end of the output rod forms a free end;

The positions of the plurality of guide tubes (420) in the circumferential direction of the second housing (412) are the same or different;

The output rod (310) has any one or all of the following structures:

-the output rod (310) is wholly or partly an elastic material rod;

-the swing link (210) is provided with a slider (330), the slider (330) having a degree of freedom in the direction of extension along the length of the swing link (210), the output lever (310) being hingedly mounted on the slider (330);

The rotating member (213) is provided with a damping member (430) and/or a resetting element, and the damping member (430) and/or the resetting element are/is mounted on the first housing (411);

The damping member (430) comprises any one or more of the following: elastic damping piece, liquid damping piece, friction damping piece and electromagnetic damping piece;

The reset element can reset the swing rod (210), and in a reset state, the swing rod (210) and the first shell (411) are parallel or form an included angle in the length direction;

A positioning guide hole is formed in the inner side of the first shell (411), and one end of the rotating piece (213) along the length direction is rotatably arranged in the positioning guide hole; a sliding supporting mechanism (440) is arranged in the positioning guide hole; the rotation center of the rotation piece (213) is positioned at the axle center of the sliding support mechanism (440);

Or the rotating piece (213) is connected to the first shell (411) through a spherical hinge (230), and the swing rod (210) can rotate along the spherical surface.

2. The key-shaped actuator according to claim 1, wherein the first and second repulsive elements (220, 110) comprise a first pair of electrode plates (222), respectively, a first charge carrier (112), the first pair of electrode plates (222) being insulated from the first charge carrier (112); or alternatively

The first repulsive element (220) and the second repulsive element (110) respectively comprise a second charge carrier and a second electrode plate pair, and charges on the second charge carrier and the second electrode plate pair can be mutually transferred.

3. The key-shaped actuator according to claim 1 or 2, wherein a plurality of second attractive and repulsive elements (110) are arranged in series and/or in parallel or independently; the second attractive/repulsive element (110) is provided with a sensor structure;

the second repulsive element (110) is C-shaped, and the first repulsive element (220) is arranged at the notch position of the C-shaped second repulsive element (110); or alternatively

The second repulsive element (110) is arranged around the first repulsive element (220), the first rod portion (211) extends along the direction opposite to the direction in which the second rod portion (212) is located to form a third rod portion, and one or more executing portions (300) are arranged on the third rod portion; or alternatively

The swing link includes three or more branched structures that can be used to drive the actuator (300).

4. The key-shaped actuator according to claim 1, wherein a base (500) is provided on the first housing (411), said base (500) comprising a magnetically permeable rotating shell (510); the base (500) further comprises any one of the following structures:

-a permanent magnet sphere (520); the magnetic conduction rotating shell (510) is fixedly connected with the first shell (411) and forms a rolling space inside, and the permanent magnet ball (520) is arranged in the rolling space;

-a permanent magnet mount (530); the permanent magnet fixed seat (530) is positioned outside the magnetic conduction rotating shell (510), and the permanent magnet fixed seat (530) and the magnetic conduction rotating shell (510) can be attracted mutually.