CN203511756U - Linear movement overshoot-free electromagnetic power assisting device - Google Patents
Linear movement overshoot-free electromagnetic power assisting device Download PDFInfo
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- CN203511756U CN203511756U CN201320667057.8U CN201320667057U CN203511756U CN 203511756 U CN203511756 U CN 203511756U CN 201320667057 U CN201320667057 U CN 201320667057U CN 203511756 U CN203511756 U CN 203511756U
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Abstract
The utility model relates to a linear movement overshoot-free electromagnetic power assisting device, and belongs to the technical field of electromechanical control. The linear movement overshoot-free electromagnetic power assisting device comprises a manual handle, a manual stress hydraulic pipe, a stress sensor, a position sensor, an electromagnetic power assisting guide rail, an electronic control board, electronic-control electric supply lines, a storage battery, signal lines, U-shaped electric supply lines with electromagnetic coils, a manual slide groove with a push rod, manual handle bases and hydraulic power transfer pistons. The stress sensor and the position sensor are respectively connected with the electronic control panel by the signal lines, and the electronic control panel is connected with the electromagnetic power assisting guide rail by the U-shaped electric supply lines with the electromagnetic coils. The linear movement overshoot-free electromagnetic power assisting device has the advantages that motors are omitted, accordingly, movement instructions do not need to be transmitted to the motors, and overshoot can be completely prevented; the manual handle is directly connected with a thrust output end by the stress hydraulic pipe, so that people can directly touch working end surfaces, and the linear movement overshoot-free electromagnetic power assisting device is intense in hand feeling and can be controlled accurately in real time; the linear movement overshoot-free electromagnetic power assisting device is extremely simple in structure, is high in reliability and has an excellent market prospect, and the manufacturing cost can be reduced.
Description
Technical field
The utility model relates to a kind of motion of translation non-overshoot electromagnetic assistor, belongs to Electromechanical Control technical field.
Background technology
Motion of translation power-assisted mainly adopts mechanical-hydraulic power-assisted and electric boosted two classes at present.
Mechanical-hydraulic force aid system: the chief component of mechanical-hydraulic force aid system has Hydraulic Pump, oil pipe, pressure fluid control cock, V-type drive belt, petrol storage tank etc.This power-assisted mode is that a part of engine power output is changed into prexxure of the hydraulic pump, kinematic scheme is applied to assistance force, thereby realize assist exercise.In hydraulic booster, oil pump is indispensable parts, and it can be converted into the pressure of fluid by the engine mechanical of input, be virtually just consumed part energy, thereby energy consumption 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 also can be affected service life, and these are all the shortcoming places of mechanical-hydraulic force aid system.Its advantage has: between Control arm and power assistant arm, be all that mechanical part is connected, control precisely information feed back rich; 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, has developed the electro-hydraulic assist exercise system of more saving energy consumption.The principle of electro-hydraulic power-assisted and mechanical-hydraulic power-assisted are basic identical, and different is oil pump is by direct motor drive, and power-assisted dynamics is variable simultaneously.ECU (Electrical Control Unit) can change oil liquid pressure by controlling the opening degree of steering control valve according to obtaining data, thereby realizes the size adjustment of power-assisted dynamics.Electro-hydraulic power-assisted has most of advantage of mechanical-hydraulic power-assisted, has also reduced energy consumption simultaneously, reacts also sensitiveer, and power steering size also can regulate voluntarily according to parameters such as corner, the speed of a motor vehicle, more hommization.But introduced a lot of electronic units, it is manufactured, 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: the position that sensor handle collects, kinematic velocity, stressed information conveyance are to ECU, ECU determines hand of rotation and the power-assisted size of current of electrical motor, instruction is passed to electrical motor, electrical motor is applied to auxiliary power in kinematic scheme, 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 completely overshoot, this isolation of system contacting directly of manipulator and actual motion, make perception information deficient; And cost is higher etc., these are all the inferior position places of electric booster system.
The advantage with electronics power-assisted, has again the road feel of hydraulic booster, and simultaneously simple in structure, cost is low, and the work-saving device that has so multidirectional advantage concurrently is market in urgent need.
Summary of the invention
The technical problems to be solved in the utility model is: a kind of motion of translation non-overshoot electromagnetic assistor is provided, adopt electromagnetism power-assisted guide rail to realize power steering, overcome that existing machinery hydraulic booster system energy consumption is higher, the valve quantity of very complicated, the various control fluid of pipeline structure is various, in electric booster system this isolation of system people and actual motion contact directly, exist the defects such as overshoot, the shortcomings of avoiding two class force aid systems to exist.
Technical solutions of the utility model are: 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 shafts 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 by signal wire (SW) 9 respectively, 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, in U-shaped electromagnet hold down groove 14, be provided with U-shaped electromagnet 10, on U-shaped electromagnet 10, be 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 respectively odd term L1, L3, L5, L2n+1, the U-shaped magnet coil of category-B is respectively even item L2, L4, L6, L2n, two class coils are according to producing the U-shaped magnet coil N utmost point 12 and the U-shaped magnet coil S utmost point 13 after position signal wheel flow-thru electrode, amount to 2 * n * 2 * 2 magnetic pole, all magnetic poles are divided equally guide rail, the span of n is determined 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 according to helping intensity of force to determine, a plurality of pushing slide block magnetic teeth 15 are housed in pushing slide block 17, below pushing slide block 17, be provided with thrust mouth 18, 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 according to helping intensity of force to determine, 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, m group pushing slide block magnetic tooth 15 is set in pushing slide block 17, the magnet coil of each group magnetic tooth is same and forms around two coils to contrary, form the electromagnet that a pair of magnetic force is contrary, pushing slide block 17 pushing slide block advance ball 16 setting up and down, 21 hangings of pushing slide block magnetic tooth trace circle supply line are 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 triggering blade 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 hand push rod chute 26 tops, horizontally set guide plate 25 in it, trigger blade 22 and be arranged on arc groove one side, trigger blade 22 hall integrated package 23 is set below, force sensor 3 consists of the piezoelectric transducer part that is arranged on manual handle pedestal 29 front and back, be connected with Hall element 24.
Described hydraulic pressure force-transmitting piston 30 outsides are provided with hydraulic pressure force-transmitting piston cylinder 31, hydraulic pressure force-transmitting piston cylinder 31 connects as one with manual handle pedestal 29, 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 passes over by hydraulic pressure force-transmitting piston 30, F=PS, S is that piston cross-section is long-pending, P is thrust mouth pressure, the mouth of thrust mouth 18 is provided with operative end surface 32, between thrust mouth 18 and operative end surface 32, be provided with elastic element 33, thrust mouth 18 passes to beaer by thrust or pulling force by elastic element 33, the antagonistic force that manual handle 1 can apply to beaer by manual stressed hydraulic pipe 2 direct feelings.
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 consists 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 around in series to two contrary coils, between power positive cathode, be provided with capacitor C.
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 and be subject to force signal and position signal, position signal need arrange to amplify becomes square-wave voltage, the spread pattern of correspondence position Hall element magnet 27, adjacent square-wave voltage is contrary, amplitude equates, force sensor 3 provides and is subject to force signal, input electric-controlled plate 6 amplifies, be subject to force signal to be converted to voltage signal, the size of voltage magnitude is corresponding to stressed size, the stressed direction of positive and negative correspondence of voltage, utilize the complementary OTL amplifying circuit of holohedry that positive negative wave is carried out to separation, 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 two coils to contrary, form the electromagnet that a pair of 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 one side is the U-shaped magnet coil N utmost point 12, opposite side is the U-shaped magnet coil S utmost point 13, there are altogether 4 category-A U-shaped magnet coil energisings, the magnetic pole of the pushing slide block magnetic tooth 15 between U-shaped electromagnet is NS, the magnetic pole of a corresponding side is the N utmost point, this magnetic tooth is between the two N utmost points, produce a thrust, corresponding opposite side is the S utmost point, and same, this magnetic tooth, between the two S utmost points, also produces a thrust, and three groups of magnetic teeth form makes a concerted effort, if negative wave voltage is by aerotron Tb2, Tb4, Tb2n base stage controls this aerotron emitter current size, current opposite in direction, 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, all magnetic poles are reverse, the opposite direction of power, before the magnet coil Li of the U-shaped electromagnet of correspondence, pair of diodes Di is oppositely set, guarantee 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, the antagonistic force that the suffered power of force sensor 3 applies to beaer by manual stressed hydraulic pipe 2 direct feelings.Such thrust mouth 18 power-assisteds are strictly proportional to people and are applied to the power on force sensor 3, and neither can lag behind can be not leading yet, and 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 equates, utilizes the complementary OTL amplifying circuit of holohedry that positive and negative square wave is carried out to separation, positive square-wave voltage control aerotron Ta1, Ta3 ..., Ta2n+1 unlatching and shutoff, occur that positive square wave opens aerotron, otherwise turn-off, losing side wave voltage control aerotron Tb1, Tb3 ..., Tb2n+1 opens and turn-off, appearance losing side ripple is opened aerotron, otherwise turn-offs; 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 need to provide power supply to work, and the power supply of hall integrated package 23 is provided by storage battery.The current collection of the HALL-IC output stage output form of very opening a way, 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 is by being placed on solid-state chip (title Hall element) in magnetic field and direction of current when vertical with magnetic direction, on the transverse side of the solid-state chip perpendicular to electric current and magnetic flux, produce a voltage, this voltage is called Hall voltage.The height of Hall voltage is directly proportional to the electric current I of passing through and magnetic induction density B.The feature of hall signal producer: first: functional reliability is high, the advantage such as hall signal producer, without worn parts, is not subject to 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 irrelevant with the kinematic velocity of impeller vane.The speed that is to say it and flux change is irrelevant, and it is different from magnetic induction signal generator, and it is not subject to the impact of bearing circle rotating speed, makes aerotron in correct stable mode of operation.This is that electromagnetic sensor does not have.This characteristic just the utility model is needed.
Can adopt the piezoelectric transducer part that sell in market to form force sensor 3, the output signal of this force sensor 3 is arranged on request, meet the size of voltage magnitude corresponding to stressed size, the positive and negative correspondence of voltage is subject to force direction.Utilize the complementary OTL amplifying circuit of holohedry that positive negative wave is carried out to separation, 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 is controlled and is opened and closed by odd number aerotron; Be subject to force signal to control electric current power 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, between odd number class aerotron and even number class aerotron, by pair of diodes Di separately, 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
i, due to the unidirectional general character of diode, while making odd number class Ta and Tb work, 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; Tb class aerotron is responsible for coil current size, and both co-ordinations realize the orderly control of magnet coil Li.
Position signal is controlled magnet coil in can mode of operation, and the size of current of stressed signal control magnet coil, 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, and 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 is slightly wider than △ h, h=△ h+0.1cm.According to the length H of position transduser, determined thus the quantity of n, H is definite by equipment power-assisted length, for example 10-30cm.
M is the quantity that a plurality of pushing slide block magnetic teeth 15 are housed in pushing slide block 17, the quantity of m is determined by assistant's size, if the electromagnetic force that each pushing slide block magnetic tooth 15 produces is Fi, the strength that needs power-assisted is 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 has determined the length L that equipment power-assisted moves, this length distribution has n group category-A and category-B magnetic pole, and the quantity of each class magnetic pole equals m, 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 △ L, comprises m to magnetic pole, so n=L/ △ L in △ L.The length of L is determined by equipment power-assisted scope length.1-3 rice for example.The expansion of range of movement: mobile h on position transduser 4 is exactly △ L at the amount of movement of U-shaped electromagnet hold down groove 14, and motion is amplified in proportion, and power-assisted is also amplified in proportion.If for example adopt aforementioned proportion, △ L=10h.
The beneficial effects of the utility model are: in the utility model, adopt electromagnetism power-assisted guide rail to realize motion of translation power-assisted, power-assisted size arranges according to magnet quantity and magnet size; Because the utility model does not adopt electrical motor, thereby without the instruction of push-and-pull state is passed to electrical motor, by control program, control electric booster system, this just eliminates overshoot completely, manual handle is directly connected with thrust mouth by stressed hydraulic pipe, realized contacting directly of people and operative end surface, feel is strong, controls precisely; Avoided 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, has improved reliability high, has reduced manufacturing cost.Realized light, energy-conservation, respond target rapidly, have multiple advantage concurrently, have market outlook.
Accompanying drawing explanation
Fig. 1 is the utility model integral structure schematic diagram;
Fig. 2 is the utility model electromagnetism power-assisted guide rail schematic cross-section;
Fig. 3 is the utility model electromagnetism power-assisted guide rail A-A section plan structure schematic diagram;
Fig. 4 is the utility model force sensor and position transduser top cross-sectional view;
Fig. 5 is the utility model hall sensing cross-sectional schematic;
Fig. 6 is the manual stressed hydraulic pipe structure schematic diagram of the utility model;
Fig. 7 is the stressed and position signal amplifying circuit schematic diagram of the utility model;
Fig. 8 is the utility model electromagnetism force aid system schematic circuit diagram.
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, the 12-U shape magnet coil N utmost point, the 13-U shape magnet coil S utmost point, 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-triggers blade, 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.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
Embodiment 1: as shown in Fig. 1-8, a 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 shafts 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 by signal wire (SW) 9 respectively, 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, in U-shaped electromagnet hold down groove 14, be provided with U-shaped electromagnet 10, on U-shaped electromagnet 10, be 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 are according to producing the U-shaped magnet coil N utmost point 12 and the U-shaped magnet coil S utmost point 13 after position signal wheel flow-thru electrode, a plurality of pushing slide block magnetic teeth 15 are housed in pushing slide block 17, below pushing slide block 17, be provided with thrust mouth 18, electric-controlled plate 6 is connected with pushing slide block magnetic tooth trace circle supply line 21.
Embodiment 2: as shown in Fig. 1-8, a 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 shafts 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 by signal wire (SW) 9 respectively, 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, in U-shaped electromagnet hold down groove 14, be provided with U-shaped electromagnet 10, on U-shaped electromagnet 10, be 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 are according to producing the U-shaped magnet coil N utmost point 12 and the U-shaped magnet coil S utmost point 13 after position signal wheel flow-thru electrode, a plurality of pushing slide block magnetic teeth 15 are housed in pushing slide block 17, below pushing slide block 17, be provided with thrust mouth 18, 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, m group pushing slide block magnetic tooth 15 is set in pushing slide block 17, pushing slide block 17 pushing slide block advance ball 16 setting up and down, 21 hangings of pushing slide block magnetic tooth trace circle supply line are 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 triggering blade 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 tops, horizontally set guide plate 25 in it, trigger blade 22 and be arranged on arc groove one side, trigger blade 22 hall integrated package 23 is set below, force sensor 3 consists of the piezoelectric transducer part that is arranged on manual handle pedestal 29 front and back, be connected with Hall element 24.
Embodiment 3: as shown in Fig. 1-8, a 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 shafts 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 by signal wire (SW) 9 respectively, 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, in U-shaped electromagnet hold down groove 14, be provided with U-shaped electromagnet 10, on U-shaped electromagnet 10, be 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 are according to producing the U-shaped magnet coil N utmost point 12 and the U-shaped magnet coil S utmost point 13 after position signal wheel flow-thru electrode, a plurality of pushing slide block magnetic teeth 15 are housed in pushing slide block 17, below pushing slide block 17, be provided with thrust mouth 18, 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, m group pushing slide block magnetic tooth 15 is set in pushing slide block 17, pushing slide block 17 pushing slide block advance ball 16 setting up and down, 21 hangings of pushing slide block magnetic tooth trace circle supply line are 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 triggering blade 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 tops, horizontally set guide plate 25 in it, trigger blade 22 and be arranged on arc groove one side, trigger blade 22 hall integrated package 23 is set below, force sensor 3 consists of the piezoelectric transducer part that is arranged on manual handle pedestal 29 front and back, be connected with Hall element 24.
Described hydraulic pressure force-transmitting piston 30 outsides are provided with hydraulic pressure force-transmitting piston cylinder 31, hydraulic pressure force-transmitting piston cylinder 31 connects as one with manual handle pedestal 29, 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, between thrust mouth 18 and operative end surface 32, is provided with elastic element 33.
Embodiment 4: as shown in Fig. 1-8, a 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 shafts 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 by signal wire (SW) 9 respectively, 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, in U-shaped electromagnet hold down groove 14, be provided with U-shaped electromagnet 10, on U-shaped electromagnet 10, be 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 are according to producing the U-shaped magnet coil N utmost point 12 and the U-shaped magnet coil S utmost point 13 after position signal wheel flow-thru electrode, a plurality of pushing slide block magnetic teeth 15 are housed in pushing slide block 17, below pushing slide block 17, be provided with thrust mouth 18, 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, m group pushing slide block magnetic tooth 15 is set in pushing slide block 17, pushing slide block 17 pushing slide block advance ball 16 setting up and down, 21 hangings of pushing slide block magnetic tooth trace circle supply line are 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 triggering blade 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 tops, horizontally set guide plate 25 in it, trigger blade 22 and be arranged on arc groove one side, trigger blade 22 hall integrated package 23 is set below, force sensor 3 consists of the piezoelectric transducer part that is arranged on manual handle pedestal 29 front and back, be connected with Hall element 24.
Described hydraulic pressure force-transmitting piston 30 outsides are provided with hydraulic pressure force-transmitting piston cylinder 31, hydraulic pressure force-transmitting piston cylinder 31 connects as one with manual handle pedestal 29, 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, between thrust mouth 18 and operative end surface 32, is provided with elastic element 33.
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 consists 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 around in series to two contrary coils, between power positive cathode, be provided with capacitor C.
By reference to the accompanying drawings specific embodiment of the utility model is explained in detail above, but the utility model is not limited to above-described embodiment, in the ken possessing those of ordinary skills, can also under the prerequisite that does not depart from the utility model aim, make various variations.
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), 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) is connected with electric-controlled plate (6) by signal wire (SW) (9) respectively, 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, in U-shaped electromagnet hold down groove (14), be provided with U-shaped electromagnet (10), the U-shaped magnet coil of the upper winding of U-shaped electromagnet (10), guide rail is all arranged with A, the analog-U shaped magnet coil of B two, two class coils are according to producing the U-shaped magnet coil N utmost point (12) and the U-shaped magnet coil S utmost point (13) after position signal wheel flow-thru electrode, a plurality of pushing slide block magnetic teeth (15) are housed in pushing slide block (17), below pushing slide block (17), be provided with thrust mouth (18), 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 1 and 2, it is characterized in that: described pushing slide block magnetic tooth (15) has unitized construction, m group pushing slide block magnetic tooth (15) is set in pushing slide block (17), pushing slide block (17) pushing slide block advance ball setting up and down (16), 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 triggering blade (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 blade (22) and be arranged on arc groove one side, trigger blade (22) hall integrated package (23) is set below, force sensor (3) consists of the piezoelectric transducer part that is arranged on manual handle pedestal (29) front and back, 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) connects as one with manual handle pedestal (29), 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), between thrust mouth (18) and operative end surface (32), is provided with elastic element (33).
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 consists 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 around in series to two contrary coils, between power positive cathode, be provided with capacitor C.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320667057.8U CN203511756U (en) | 2013-10-28 | 2013-10-28 | Linear movement overshoot-free electromagnetic power assisting device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320667057.8U CN203511756U (en) | 2013-10-28 | 2013-10-28 | Linear movement overshoot-free electromagnetic power assisting device |
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| CN203511756U true CN203511756U (en) | 2014-04-02 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661572A (en) * | 2013-10-28 | 2014-03-26 | 昆明理工大学 | Linear motion overshoot-free electromagnetic power assisting device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661572A (en) * | 2013-10-28 | 2014-03-26 | 昆明理工大学 | Linear motion overshoot-free electromagnetic power assisting device |
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