EP3026680A1 - Actionneur lineaire et son utilisation - Google Patents

Actionneur lineaire et son utilisation Download PDF

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Publication number
EP3026680A1
EP3026680A1 EP15193019.5A EP15193019A EP3026680A1 EP 3026680 A1 EP3026680 A1 EP 3026680A1 EP 15193019 A EP15193019 A EP 15193019A EP 3026680 A1 EP3026680 A1 EP 3026680A1
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EP
European Patent Office
Prior art keywords
magnetic
linear actuator
elastomer composite
styrene
iron
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP15193019.5A
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German (de)
English (en)
Other versions
EP3026680B1 (fr
Inventor
Holger Böse
Johannes Ehrlich
Rabih Darwiche
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV
Original Assignee
Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV
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Publication of EP3026680A1 publication Critical patent/EP3026680A1/fr
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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F1/00—Magnets or magnetic bodies characterised by the magnetic materials therefor; Selection of materials for their magnetic properties
    • H01F1/44—Magnets or magnetic bodies characterised by the magnetic materials therefor; Selection of materials for their magnetic properties of magnetic liquids, e.g. ferrofluids
    • H01F1/447—Magnets or magnetic bodies characterised by the magnetic materials therefor; Selection of materials for their magnetic properties of magnetic liquids, e.g. ferrofluids characterised by magnetoviscosity, e.g. magnetorheological, magnetothixotropic, magnetodilatant liquids
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/08—Electromagnets; Actuators including electromagnets with armatures
    • H01F7/16—Rectilinearly-movable armatures
    • H01F7/1638—Armatures not entering the winding

Definitions

  • the invention relates to a linear actuator, the at least one magnetic elastomer composite of an elastomer and magnetizable particles and an inner and an outer yoke and at least one coil and / or at least one permanent magnet or at least one switchable hard magnet for generating at least one magnetic circuit, the one Interruption contains.
  • the linear actuator is used for the controlled movement, adjustment or adjustment of a wide variety of objects, as well as for the generation of movement in robots as well as for tactile tactile elements.
  • linear motion is to be electrically controlled over a relatively short distance.
  • Such a requirement arises, for example, when adjusting flaps or optical elements such as mirrors or lighting elements.
  • Another application for such linear drives for short distances concerns the locking or unlocking of Doors, windows, etc.
  • Even in robotics such linear movements occur when, for example, an object is to be gripped and subsequently positioned (pick and place).
  • actuators are desired for human-machine interfaces with haptic feedback, in which a movement can be sensed with the fingers on a user interface, which provides the user with information z. B. mediated by a successful input.
  • actuators are needed that perform a linear movement over a relatively short distance of a few millimeters or centimeters.
  • the path of the movement to be covered should be flexible and precise.
  • the stroke of such a linear actuator should thus be electrically controlled.
  • the present invention solves the problem with the aid of magnetically controllable materials, so-called magneto-active polymers.
  • Magneto-active polymers are composite materials made of an elastomer matrix filled with magnetic or magnetizable particles. For this reason, they are referred to below as magnetic elastomer composites.
  • magnetic elastomer composites When applying a magnetic field, it comes on the one hand to a reversible stiffening of the material. On the other hand, deformation of the magnetic elastomer composite along the field lines occurs in the magnetic field. Will enter the air gap between two Magnetjoch kind Magnetic field generated, so pulls a magnetic Elastomerkomposit that does not bridge the gap in the unmagnetized state, in the length, so now takes a bridging. This effect is already known.
  • a linear actuator comprising at least one magnetic elastomer composite containing at least one elastomer and magnetizable particles. Furthermore, the linear actuator includes an inner and an outer yoke and at least one coil and / or at least one permanent magnet or at least one switchable hard magnet for generating at least one magnetic circuit having an interruption.
  • the magnetic elastomer composite is deformable when applying or changing the magnetic field such that a linear actuator movement is triggered and the distance of the actuator movement through the The strength of the magnetic field is continuously and / or reversibly controllable.
  • the invention therefore provides a linear actuator which enables such a precisely controllable linear movement.
  • a linear actuator is described with a special magnetic circuit in which a magnetic elastomer composite is attracted by the magnetic circuit lying on one side, while the other side of the magnetic Elastomerkomposits is freely accessible. Due to the magnetic attraction, the magnetic elastomer composite deforms, whereby the deformation and thus also the Aktorstellweg increase with increasing magnetic field strength or magnetic flux density. When switching off the magnetic field or reducing the magnetic field strength of the magnetic elastomer composite deforms back. The elastomer acts as an inherent return spring.
  • the magnetic elastomer composite may take various forms in the linear actuator.
  • a preferred embodiment of the invention provides that the magnetic elastomer composite is disc-shaped and the magnetic field is aligned substantially perpendicular to its base surface and the deformation of the magnetic elastomer composite in the form of a curvature of the magnetic elastomer composite dictates the direction of the actuator movement.
  • the disk-shaped magnetic Elastomerkomposit is connected, for example, with a largely closed cylindrical magnetic circuit of a coil, an inner and an outer yoke. In this case, the outer yoke, on which the magnetic elastomer composite rests, protrudes.
  • the middle part of the magnetic elastomer composite is attracted to the inner yoke, causing the deformation.
  • a recovery of the disc-shaped magnetic Elastomerkomposit determines the degree of deformation.
  • the inner yoke protrudes and the magnetic elastomer composite rests thereon.
  • the magnetic field when the magnetic field is switched on, the outer part of the magnetic elastomer composite is attracted to the outer yoke, resulting in a corresponding deformation.
  • the magnetic field is switched off, a reverse deformation of the disc-shaped magnetic elastomer composite takes place here as well. The strength of the magnetic field in turn determines the Degree of deformation.
  • the magnetic elastomer composite is substantially disk-shaped and has a larger or smaller pane thickness toward the center of the pane, in particular in the form of an outward or inward curvature on the side facing the inner yoke, wherein the Slice thickness changes steadily or gradually.
  • the inner yoke has a concave or convex curvature substantially corresponding to the disc shape. The shape matching between the elastomer composite and the inner yoke enhances the actuation force.
  • the magnetic elastomer composite with at least one mechanical and / or hydraulic element, in particular selected from the group consisting of a rod, a stamp, a thread, a hydraulic fluid, a bag filled with liquid or gas and combinations thereof, via which the deformation in a linear movement of the linear actuator is transferable.
  • the linear actuator preferably has a coil or a coil and a permanent magnet or a coil and a switchable hard magnet.
  • the magnetic elastomer composite preferably contains as matrix material at least one elastomer which is preferably selected from the group consisting of silicone, fluorosilicone, polyurethane (PUR), polynorbornene, natural rubber (NR), styrene-butadiene (SBR), isobutylene-isoprene (IIR), Ethylene-propylene-diene terpolymer (EPDM / EPM), poly-chlorobutadiene (CR), chlorosulfonated polyethylene (CSM), acrylonitrile-butadiene (NBR), hydrogenated acrylonitrile-butadiene (HNBR), a fluororubber such as Viton, a thermoplastic elastomer such as styrene-styrene thermoplastic copolymers (styrene-butadiene-styrene (SBS), styrene-ethylene-butadiene-styrene (
  • Preferred magnetic particles are particles selected from the group consisting of iron, in particular carbonyl iron, cobalt, nickel, iron alloys, in particular iron-cobalt alloys or iron-nickel alloys, iron oxides, in particular magnetite or ferrite, preferably manganese zinc ferrite, aluminum-nickel alloys. Cobalt alloys and mixtures thereof selected.
  • the average size of the magnetic particles is preferably less than 100 microns.
  • the magnetic elastomer composite according to the invention preferably contains magnetizable elements or shaped bodies which differ from the magnetizable particles, the size of the elements or shaped bodies preferably exceeding the size of the particles by a factor of 10, particularly preferably by a factor of 100 , These magnetizable elements enhance the magnetic attractive forces on the magnetic elastomer composite. Alternatively, several or many magnetizable elements may be secured in or on the magnetic elastomer composite.
  • the magnetizable element or elements may be made of soft magnetic materials, in particular iron, preferably carbonyl iron, cobalt, nickel, iron alloys, preferably iron-cobalt alloys or iron-nickel alloys, iron oxides, preferably magnetite or ferrite, particularly preferably manganese zinc ferrite, or hard magnetic materials, in particular aluminum-nickel-cobalt, neodymium-iron-boron or samarium-cobalt or mixtures thereof.
  • soft magnetic materials in particular iron, preferably carbonyl iron, cobalt, nickel, iron alloys, preferably iron-cobalt alloys or iron-nickel alloys, iron oxides, preferably magnetite or ferrite, particularly preferably manganese zinc ferrite, or hard magnetic materials, in particular aluminum-nickel-cobalt, neodymium-iron-boron or samarium-cobalt or mixtures thereof.
  • the magnetic elastomer composite may also consist of a bellows with concentric folds. By unfolding the deformation in the magnetic field is facilitated. Another possibility is that the disk-shaped magnetic elastomer composite on one side has a bulge. In this way, there is a stronger magnetic attraction in the magnetic field.
  • the inner yoke and / or the coil may have a complementary concavity into which the bulge of magnetic elastomer composite moves. In this way, a stronger deformation movement of the magnetic Elastomerkomposits take place.
  • the deformation of the magnetic Elastomerkomposits in the magnetic field can be used directly as a linear movement.
  • the actuation takes place inwardly from the outside of the magnetic elastomer composite.
  • the deformation movement can be transferred by a mechanical transfer to the other side of the magnetic circuit.
  • a rod or a punch is inserted, which is passed through the inner yoke.
  • this can also be a hydraulic medium can be used, which transmits the movement of the magnetic Elastomerkomposits to the other side of the magnetic circuit.
  • the mechanical transmission can alternatively be done by the outer yoke.
  • the magnetic field for driving the magnetic elastomer composite is usually generated by a coil.
  • the magnetic circuit may also include a permanent magnet which generates a magnetic field without electrical energy.
  • An additional coil can then either selectively weaken or even compensate or amplify this magnetic field.
  • the permanent magnet in this way a basic setting of the linear actuator is defined with a certain deformation of the magnetic Elastomerkomposits.
  • the permanent magnet is made of neodymium-iron-boron or samarium-cobalt.
  • the hard magnet is provided with a permanent magnetization by a magnetic field generated by the coil for a short time. In this way, the magnetic elastomer composite is deformed and the linear actuator moves to a defined position. In this arrangement, electrical energy is needed only for changing the actuator position by giving the switchable hard magnet another magnetization.
  • the switchable hard magnet made of aluminum-nickel-cobalt or a ferrite.
  • materials with a coercive force of less than 100 kA / m and a saturation magnetization of more than 600 mT are preferred.
  • the linear actuator can also have two magnetic circuits, which can be electrically controlled separately.
  • the magnetic elastomer composite is preferably between the two magnetic circuits and may optionally be from one or the other magnetic circuit be attracted. Since there is no accessibility from the outside, the movement of the magnetic Elastomerkomposits will be transferred by the already shown mechanical or hydraulic transmission to the outside.
  • the magnetic elastomer composite may be used to control a property change by a linear actuator movement, which property change, for example, results in a change in a surface structure.
  • the change in the structure of the at least one surface causes the surface to transform into a control surface.
  • An activation signal generates a magnetic field via a coil, as a result of which the magnetic elastomer composite is changed in its shape and a control surface becomes visible.
  • the magnetic elastomer composite returns to its original shape, with the operating surface reverting to the initial surface.
  • This reversible moldable surfaces for covering, for example, switches, sensors, controls, etc. are possible.
  • linear actuators according to the invention are used for controlled movement, adjustment or adjustment of flaps, doors, mirrors, optical elements, in particular radiation sources. Likewise, the linear actuators can be used to generate movements in robots as well as tactile tactile elements.
  • Figure component description reference numeral Magnetic steel, yoke part 1 Hydraulic medium 2 Magnetic elastomer composite 3 Coil, electromagnet 4 magnetic field 5 permanent magnet 6 Unmagnetized hard magnet 7 Magnetized hard magnet 8th Non-magnetic material 9
  • the first embodiment shows a linear actuator with a magnetic circuit with a coil.
  • the outer yoke on which the magnetic elastomer composite rests is longer than the inner yoke, whereby the magnetic circuit between the inner yoke and the disc-shaped magnetic elastomer composite has an interruption ( FIG. 1 , Left).
  • a current is applied in the coil, a magnetic field is generated by which the magnetic elastomer composite is attracted to the inner yoke and deforms ( FIG. 1 , right).
  • the amount of deformation is continuously controllable by the strength of the applied magnetic field across the coil current.
  • the magnetic field is switched off, the magnetic elastomer composite is restored to its original form.
  • the outer yoke is shorter than the inner yoke.
  • the disc-shaped magnetic elastomer composite rests on the inner yoke (FIG. FIG. 2 , Left).
  • the magnetic elastomer composite is attracted to the outer yoke and deforms accordingly ( FIG. 2 , right).
  • the third researcherssbespiel again shows a linear actuator with a shorter inner yoke.
  • the magnetic elastomer composite on the inner yoke side facing a bulge on FIG. 3 , Left).
  • the magnetic elastomer composite is attracted by the inner yoke with a stronger force than without a bulge.
  • the amount of deformation is limited by the bulge ( FIG. 3 , right).
  • the inner yoke has a concavity which is complementary to the bulge on the magnetic elastomer composite ( FIG. 4 , Left).
  • the bulge on the magnetic elastomer composite can penetrate into the indentation in the inner yoke ( FIG. 4 , right).
  • the fifth embodiment shows a linear actuator with a shorter inner yoke, which is traversed by a channel which is sealed at the upper end by a membrane.
  • the space between the magnetic elastomer composite and the inner yoke and the channel are filled with a hydraulic fluid ( FIG. 5 , Left).
  • the magnetic elastomer composite deforms in the direction of the inner yoke, displacing the hydraulic fluid from the intermediate space.
  • the hydraulic fluid is pushed upwards through the channel, deforming the upper membrane ( FIG. 5 , right).
  • the channel is only partially filled with a hydraulic fluid. Above the liquid surface there is a rod ( FIG. 6 , Left). When the magnetic field is applied, the hydraulic fluid pushes the rod up and out of the yoke ( FIG. 6 , right).
  • FIG. 7 shows how the fifth embodiment, a linear actuator in which the deformation of the magnetic Elastomerkomposits is transmitted by a hydraulic fluid upwards.
  • a magnetic molding is attached to the magnetic elastomer composite to enhance the actuation force.
  • the force is first transmitted hydraulically and then via a rod, as in the sixth embodiment.
  • the magnetic elastomer composite has the form of a bellows ( FIG. 9 , Left).
  • the bellows unfolds and pushes up a hydraulic fluid, which in turn deforms a diaphragm.
  • the magnetic circuit includes, in addition to the electromagnet, an annular switchable hard magnet made of an aluminum-nickel-cobalt alloy, which is initially not magnetized ( FIG. 11 , Left).
  • an annular switchable hard magnet made of an aluminum-nickel-cobalt alloy, which is initially not magnetized ( FIG. 11 , Left).
  • FIG. 11 , Left When generating a magnetic field through the coil of the hard magnet is magnetized and retains the magnetization even after switching off the coil current at ( FIG. 11 , right).
  • the deformation of the magnetic Elastomerkomposits, the displacement of the hydraulic fluid upward and the deformation of the overlying membrane are obtained without further electrical energy must be supplied through the coil. Only for a change in the AktuationsShes electrical energy must be supplied through the coil to change the magnetization of the hard magnet.
  • the magnetic circuit includes, in addition to the electromagnet, a ring-shaped permanent magnet made of a samarium-cobalt alloy.
  • the magnetic field generated by the permanent magnet deforms the magnetic elastomer composite without the supply of electrical energy ( FIG. 13 , Left).
  • An additional magnetic field generated by the coil can amplify the field of the permanent magnet and thus increase the deformation of the magnetic elastomer composite ( FIG. 13 , Middle). By reversing the current direction in the coil, the additional magnetic field can also weaken the field of the permanent magnet and thereby reduce or even cancel the deformation of the magnetic elastomer composite ( FIG. 13 , right).
  • Fig. 14 shows a compact form of a linear actuator with magnetic elastomer composite.
  • the magnetic elastomer composite is tapered with a flattened tip ( Fig. 14 , Left).
  • the coil winding has a triangular cross-section which is largely complementary to the conical shape of the magnetic elastomer composite.
  • the magnetic elastomer composite deforms and pushes up a short rod ( Fig. 14 , right).
  • the linear actuator is constructed similarly as in the embodiment according to Fig. 14 ,
  • the magnetic elastomer composite here contains a magnetic molding.
  • the force of attraction on the inner yoke and thus the Aktuationskraft is reinforced again.
  • the magnetic elastomer composite has the shape of a cylinder. It is located in the linear actuator between a lower and an upper yoke part, but fills the intermediate space between yoke parts only partially ( Fig. 16 , Left). Upon application of the magnetic field, the magnetic elastomer composite is attracted by both yoke parts and expands in length upwards. This moves a rod upwards through the inner yoke ( Fig. 16 , right).

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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
  • Electromagnets (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)
EP15193019.5A 2014-11-10 2015-11-04 Actionneur linéaire et son utilisation Active EP3026680B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102014222832.8A DE102014222832A1 (de) 2014-11-10 2014-11-10 Linearaktor und dessen Verwendung

Publications (2)

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EP3026680A1 true EP3026680A1 (fr) 2016-06-01
EP3026680B1 EP3026680B1 (fr) 2020-04-29

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3552247B1 (fr) * 2016-12-09 2020-04-29 Koninklijke Philips N.V. Dispositif actionneur et procédé

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007028663A1 (de) * 2007-06-21 2008-12-24 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Magnetorheologische Kompositmaterialien mit hartmagnetischen Partikeln, Verfahren zu deren Herstellung sowie deren Verwendung
US20090045042A1 (en) * 2007-08-16 2009-02-19 Gm Global Technology Operations, Inc. Active material based bodies for varying frictional force levels at the interface between two surfaces
EP2239837A1 (fr) * 2007-12-28 2010-10-13 Kyushu Institute of Technology Actionneur utilisant une force magnétique, et dispositif d'entraînement et capteur l'utilisant
DE102012202418A1 (de) 2011-11-04 2013-05-08 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Adaptive Feststell-und Lösevorrichtung und deren Verwendung zum gesteuerten Blockieren bzw. Freigeben beweglicher Bauteile

Family Cites Families (3)

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Publication number Priority date Publication date Assignee Title
US3459126A (en) * 1966-03-21 1969-08-05 Mohawk Data Sciences Corp Control devices employing magnetostrictive materials
DE102004041649B4 (de) * 2004-08-27 2006-10-12 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Magnetorheologische Elastomere und deren Verwendung
DE102011010757B4 (de) * 2011-02-09 2012-09-13 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Magnetoaktives oder elektroaktives Kompositmaterial, dessen Verwendung und Verfahren zur Beeinflussung von auf dem magnetoaktiven oder elektroaktiven Kompositmaterial angelagerten biologischen Zellen

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007028663A1 (de) * 2007-06-21 2008-12-24 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Magnetorheologische Kompositmaterialien mit hartmagnetischen Partikeln, Verfahren zu deren Herstellung sowie deren Verwendung
US20090045042A1 (en) * 2007-08-16 2009-02-19 Gm Global Technology Operations, Inc. Active material based bodies for varying frictional force levels at the interface between two surfaces
EP2239837A1 (fr) * 2007-12-28 2010-10-13 Kyushu Institute of Technology Actionneur utilisant une force magnétique, et dispositif d'entraînement et capteur l'utilisant
DE102012202418A1 (de) 2011-11-04 2013-05-08 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Adaptive Feststell-und Lösevorrichtung und deren Verwendung zum gesteuerten Blockieren bzw. Freigeben beweglicher Bauteile

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
SHUNTA KASHIMA ET AL: "Novel Soft Actuator Using Magnetorheological Elastomer", IEEE TRANSACTIONS ON MAGNETICS, IEEE SERVICE CENTER, NEW YORK, NY, US, vol. 48, no. 4, 1 April 2012 (2012-04-01), pages 1649 - 1652, XP011436708, ISSN: 0018-9464, DOI: 10.1109/TMAG.2011.2173669 *

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EP3026680B1 (fr) 2020-04-29
DE102014222832A1 (de) 2016-05-12

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