EP3061103A1 - Electromagnetic actuator and method for producing such an actuator - Google Patents

Electromagnetic actuator and method for producing such an actuator

Info

Publication number
EP3061103A1
EP3061103A1 EP14789805.0A EP14789805A EP3061103A1 EP 3061103 A1 EP3061103 A1 EP 3061103A1 EP 14789805 A EP14789805 A EP 14789805A EP 3061103 A1 EP3061103 A1 EP 3061103A1
Authority
EP
European Patent Office
Prior art keywords
coils
carcass
longitudinal direction
actuator
plunger
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
EP14789805.0A
Other languages
German (de)
French (fr)
Other versions
EP3061103B1 (en
Inventor
Patrick Comtois
Patrick Larcher
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.)
Schneider Electric Industries SAS
Original Assignee
Schneider Electric Industries SAS
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Schneider Electric Industries SAS filed Critical Schneider Electric Industries SAS
Publication of EP3061103A1 publication Critical patent/EP3061103A1/en
Application granted granted Critical
Publication of EP3061103B1 publication Critical patent/EP3061103B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • H01F7/081—Magnetic constructions
    • 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
    • H01F7/121—Guiding or setting position of armatures, e.g. retaining armatures in their end position
    • 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
    • H01F7/127—Assembling
    • 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
    • H01F7/1607—Armatures entering the winding
    • 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
    • H01F2007/1692—Electromagnets or actuators with two coils

Definitions

  • Electromagnetic actuator and method of manufacturing such an actuator are Electromagnetic actuator and method of manufacturing such an actuator
  • the present invention relates to an electromagnetic actuator.
  • the actuator comprises a ferromagnetic carcass, extending in a longitudinal direction and having a height in a vertical direction perpendicular to the longitudinal direction.
  • the actuator comprises two electromagnetic coils disposed inside the carcass, each comprising at least one winding around the longitudinal direction.
  • the actuator also comprises a ferromagnetic member disposed between the coils and a ferromagnetic plunger subjected to a magnetic field generated by the coils, the ferromagnetic plunger being movable in the longitudinal direction and able to be immobilized according to three distinct longitudinal positions depending on the field generated. by the coils.
  • the invention also relates to a method of manufacturing such an electromagnetic actuator.
  • Document EP 2 250 651 discloses an electromagnetic actuator comprising two coils, a plunger able to be immobilized in three positions, namely two extreme positions facing the coils and an intermediate position between the coils.
  • the plunger comprises a magnet and two members for guiding the flow of the magnet to the carcass, in order to stabilize the plunger in its intermediate position.
  • the actuator has an additional coil for compensating the field of the magnet when the plunger is in a position other than its intermediate position.
  • the object of the invention is therefore to provide a three-position actuator having a reduced cost and volume.
  • the subject of the invention is an electromagnetic actuator, in which the ferromagnetic member is integral with the carcass and has, in the vertical direction, a dimension greater than one sixth of the height of the carcass, preferably greater than a quarter of said height, more preferably greater than one-third of said height, the ferromagnetic member being furthermore situated at a distance less than a quarter of a distance in the longitudinal direction between the two coils, with respect to a median plane perpendicular to the longitudinal direction and located midway distance between the two coils, so as to guide the magnetic flux created by the coils to the carcass.
  • the electromagnetic actuator comprises one or more of the following characteristics, taken individually or in any technically possible combination:
  • each electromagnetic coil comprises an armature, the or each winding being fixed to the corresponding armature, and the ferromagnetic member is fixed to the two armatures;
  • the ferromagnetic member comprises, in the longitudinal direction, a passage recess of the plunger
  • the ferromagnetic member extends from ⁇ recess to the carcass
  • the recess has a peripheral edge, and the ferromagnetic member comprises at least one flange extending from said peripheral edge;
  • the flange extends in the longitudinal direction
  • the ferromagnetic member comprises at least one outer projection, the or each outer projection being disposed outside the carcass and at least partially in contact with the carcass;
  • the ferromagnetic member comprises at least one inner projection, the or each inner projection being disposed within the carcass and at least partially in contact with the carcass;
  • the projections are oriented in the longitudinal direction.
  • the invention also relates to a method for manufacturing an electromagnetic actuator, the method comprising the steps of:
  • each coil comprising at least one winding around the longitudinal direction
  • the ferromagnetic member is integral with the carcass and has, in the vertical direction, a dimension greater than one sixth of the height of the carcass, preferably greater than one quarter of said height, more preferably greater than one third of said height, the ferromagnetic member being furthermore located at a distance less than a quarter of a spacing in the longitudinal direction between the two coils, with respect to a median plane perpendicular to the direction longitudinal and located midway between the two coils, so as to guide the magnetic flux created by the coils to the carcass.
  • the manufacturing method comprises the following characteristic: during step c), the ferromagnetic member is fixed by laser welding to the carcass.
  • FIG. 1 is a perspective view of an actuator according to the invention, comprising a ferromagnetic carcass, two electromagnetic coils, a ferromagnetic plunger movable in translation and a guide member of a magnetic flux generated by the coils,
  • FIG. 2 is an exploded perspective view of the actuator of FIG. 1;
  • FIG. 3 is a perspective view of the flow guide member of FIG.
  • FIG. 4 is a flowchart of a manufacturing method according to the invention.
  • an electromagnetic actuator 10 comprises a carcass
  • the electromagnetic actuator 10 comprises a rod 26 for guiding the plunger.
  • the electromagnetic actuator 10 is for example used to establish or section a current. It is used in particular to control the direction of rotation of an electric motor.
  • the carcass 12 extends in a longitudinal direction X and has a generally cubic shape with rounded edges.
  • This carcass 12 is preferably made of a ferromagnetic material.
  • the carcass 12 comprises two U-shaped portions 28, 30 and two magnetic tips 32, 34.
  • the carcass 12 has a first height H1 in a vertical direction Z perpendicular to the longitudinal direction X.
  • the two electromagnetic coils 14, 16 are disposed inside the carcass 12.
  • the two coils 14, 16 are, for example, coaxial with respect to an axis in the longitudinal direction X.
  • Each electromagnetic coil 14, 16 comprises a respective winding 36, 38.
  • the two coils 14, 16 are spaced from each other by a spacing E in the longitudinal direction X, as shown in FIGS. 1 and 2.
  • the two armatures 18, 20 each hold a respective winding 36, 38 and fix the coils 14, 16 to the carcass 12.
  • the armatures 18, 20 are preferably made of plastic.
  • the armatures 18, 20 preferably form a single plastic part around which are wound two copper son to form the respective windings 36, 38.
  • Each armature 18, 20 is of revolution about the axis of the coils 14, 16 and has a U-shaped section open towards the outside in a vertical plane containing the axis of the coils, as can be seen in FIGS. 1 and 2
  • the armatures 18, 20 are then able to receive the windings 36, 38.
  • the armatures 18, 20 are fixed with respect to the carcass 12.
  • Each armature 18, 20 forms at its center a substantially cylindrical tube 39 and extending in the longitudinal direction X, and within which the plunger 22 is slidable, as shown in Figures 1 and 2.
  • the plunger 22 is subjected to a magnetic field generated by the coils 14, 16.
  • This plunger 22 is movable in translation along the axis of the coils 14, 16.
  • the plunger 22 comprises a ferromagnetic material, and is preferably made of said ferromagnetic material.
  • the plunger 22 is of revolution about the longitudinal direction X, and is arranged around the guide rod 26.
  • the plunger 22 has a cylindrical shape in its median portion in the longitudinal direction X and two convex conical shapes at each of its ends in the longitudinal direction X, as shown in Figures 1 and 2.
  • the plunger 22 is able to be immobilized according to three distinct longitudinal positions, namely two extreme positions facing the coils 14, 16 and an intermediate position between the coils 14, 16.
  • the intermediate position of the plunger 22 belongs for example to a median plane perpendicular to the longitudinal direction X and situated midway between the two coils 14, 16.
  • the guide member 24 is disposed between the coils 14, 16 and is fixed relative to the carcass 12.
  • the guide member 24 preferably passes through the carcass 12 to be fixed thereto.
  • the guide member 24 has, in the vertical direction Z, a second height H2 greater than one sixth of the first height H1 of the carcass 12, preferably greater than one quarter of said first height H1, more preferably greater than one third of said first height H1.
  • the second height H2 of the guide member 24 is greater than the first height H1 of the carcass 12, as shown in Figures 1 and 2.
  • the guide member 24, as shown in Figure 3, comprises a main portion 40, a recess 42, first 44A and second 44B edges.
  • the guide member 24 has upper outer projections 46A and lower 46B, and inner projections 48.
  • the outer outer projection 46A is intended to be disposed outside and above the carcass 12 in a perpendicular vertical direction Z in the longitudinal direction X
  • the lower outer projection 46B is intended to be disposed outside and below the carcass 12.
  • the inner projections 48 are intended to be disposed inside the carcass 12.
  • the guide member 24 is made of a ferromagnetic material, and is capable of guiding the magnetic flux generated by the coils 14, 16.
  • the guide member 24 is, for example, in the form of a ferromagnetic plate disposed in a plane substantially perpendicular to the longitudinal direction X.
  • the plane of the guide member 24 is located, in the longitudinal direction X, at a distance of distance less than a quarter of the distance E with respect to a median plane P perpendicular to the longitudinal direction and located midway between the two coils 14, 16.
  • the plane of the guide member 24 coincides with the median plane P.
  • the guide member 24 is disposed at the intermediate position of the plunger 22 in the direction longitudinal X.
  • the guide rod 26, visible in Figure 2 is for example plastic. It traverses the plunger 22 from one side to the other in the longitudinal direction X.
  • the guide rod 26 is, for example, fixed integrally to the plunger 22.
  • the guide rod 26 has a substantially cylindrical shape.
  • the guide rod 26 is able to guide the plunger 22, so that it moves only axially in the longitudinal direction X.
  • the guide rod 26 guides the plunger 22 so that it does not touch the inner wall of the tube 39 formed by the frames 18, 20, to reduce friction.
  • Each U-shaped portion 28 has 30 walls, namely a first transverse wall 50 perpendicular to the longitudinal direction X, an upper longitudinal wall 52 and a lower longitudinal wall 54.
  • Each transverse wall 50 has a hole 56 for passing through.
  • a tip 32, 34 corresponding.
  • the two U-shaped portions 28, 30 form, when they are assembled, a fixed frame. This frame forms a support for fixing the other elements of the electromagnetic actuator 10.
  • the end pieces 32, 34 of the carcass 12 are positioned at the longitudinal ends of the tube 39 formed by the armatures 18, 20. These end pieces 32, 34 make it possible to limit the displacement of the plunger 22 when it is in one of its positions. extremes facing one of the coils 14, 16. These tips 32, 34 and form stops. These tips 32, 34 are coaxial with the axis of the coils 14, 16, which is also the axis of translation of the plunger 22.
  • Each end piece 32, 34 has a concave conical shape oriented towards the inside of the actuator 10 in the longitudinal direction X. Otherwise, the concave shape of the end pieces 32, 34 is oriented towards the plunger 22. These conical shapes are complementary to the surfaces. convex cones of the plunger 22, as shown in Figures 1 and 2.
  • the end pieces 32, 34 preferably comprise at least one ferromagnetic part, in order to better guide a magnetic flux produced by the coils 14, 16.
  • Each end piece 32, 34 has a through-hole 57 that is longitudinal to allow the guide rod 26 to slide, and to limit the substantially radial displacements of the guide rod 26 as shown in FIG.
  • the main part 40 forms the central part of the member 24. It is preferably flat and in the longitudinal direction X. It extends from the recess 42, between the two frames 18, 20 to the ends of the carcass 12.
  • the recess 42 has a peripheral edge 58 in the plane of the guide member 24 perpendicular to the longitudinal direction X.
  • the recess 42 is formed in the main part 40. It is sufficiently wide in a radial direction perpendicular to a longitudinal direction X to allow the passage of the plunger 22. This recess 42 is oriented in the longitudinal direction X.
  • the recess 42 has, in the radial direction, an internal diameter D1 adjusted to the outer diameter D2 of the plunger 22 in this radial direction and to a mechanical tolerance close to allow the plunger 22 to slide, as shown in FIG.
  • Each flange 44A, 44B extends from the peripheral edge 58 of the recess, the first flange 44A in one direction and the second flange 44B in the other direction, along the longitudinal direction X, as visible in FIG. In the example of FIGS. 1 and 2, the flanges 44A, 44B fit into the two reinforcements 18, 20 in the longitudinal extension of the tube 39, so that the plunger 22 slides easily inside the tube 39 , the recess 42 and the flanges 44A, 44B.
  • the outer projections 46A, 46B are arranged outside the carcass 12 and at least partially in contact with the carcass 12.
  • the guide member 22 preferably comprises two outer projections 46A, 46B, namely the upper outer projection 46A. and the lower outer projection 46B.
  • each outer projection 46A, 46B is adapted to be in contact with each of the two parts 28, Forming the carcass 12.
  • Each outer projection 46A, 46B is, for example, in the form of a flat strip fixed perpendicular to the longitudinal direction, pressed against the outer surface of the carcass 12, as shown in FIG.
  • the inner projections 48 are disposed within the carcass 12 and at least partially in contact with the carcass 12. There are preferably two inner projections 48, one upper and one lower. These projections are oriented in the longitudinal direction X as can be seen in FIG.
  • Each inner projection 48 is, for example, in the form of a lug intended to be in contact with the inner surface of the carcass 12.
  • the outer projections 46A, 46B and the inner projections 48 are, for example, arranged to take the carcass 12 sandwiched. The member 24 is then in contact with both the inner face and the outer face of the carcass 12.
  • the initial step 100 consists in arranging the guiding member 24, provided with its flanges 44A, 44B, with its external projections 46A, 46B and its internal projections 48.
  • the member 24 is disposed at the median plane perpendicular to the axis of the coils 14, 16.
  • the guide member 24 is preferably a ferromagnetic plate that is arranged perpendicularly to the longitudinal direction X.
  • the flow guiding member 24 is formed, for example, by sintering two pieces, each U-shaped in the longitudinal direction X, and the U-shaped pieces being oriented in opposite directions to form a general shape in an H extending in the longitudinal direction X.
  • the following step 1 consists in arranging the electromagnetic coils 14, 16, fixing them to the member 24.
  • the armatures 18, 20 of the electromagnetic coils are then overmolded around the flux guiding member 24.
  • the armatures 18, 20 preferably form a single plastic part overmolded around the guiding member 24.
  • the guide member 24 is placed in a central position in a mold which then serves to overmold the reinforcements 18, 20.
  • the windings 36, 38 are then made by winding copper wires around the reinforcements 18, 20, the latter having been previously fixed to the guide member 24.
  • step 120 the guide rod 26 is placed in the ferromagnetic plunger 22 and then the guide rod 26 - plunger 22 assembly in the tube 39 formed by the armatures 18, 20.
  • step 130 the carcass 12 is made by placing the magnetic tips 32, 34, which slide the guide rod 26, in the U-shaped portions 28, 30, which fit together to form the carcass. 12.
  • the parts 28, 30 are during their assembly, sandwiched by the guide member 24 by means of the outer projections 46A, 46B and inner 48.
  • the guide member 24 is then fixed to the carcass 12 by laser welding.
  • the magnetic tips 32, 34 are attached to the U-shaped portions 28, also by laser welding.
  • one of the two electromagnetic coils 14, 16 is electrically energized so as to generate a magnetic field of attraction of the plunger 22.
  • the other electromagnetic coil 14, 16 is not electrically powered or is electrically powered to generate a repulsive magnetic field of the plunger 22.
  • the generated magnetic field or fields produce a magnetic flux which is guided by the ferromagnetic parts of the electromagnetic actuator 10, that is to say by the carcass 12, the plunger 22 and the guide member 24. This arrangement minimizes the leakage flow and improves the efficiency of the electromagnetic actuator 10.
  • the displacement of the plunger 22 towards its intermediate position is for example ensured by a return spring, not shown.
  • a return spring avoids feeding the electromagnetic coils 14, 16 to move the plunger 22 to its intermediate position.
  • the displacement of the plunger 22 towards its intermediate position is obtained by the generation of magnetic fields of repulsion or of fields of attraction of the plunger 22, these fields of repulsion or attraction being generated by the two electromagnetic coils 14, 16 which are then electrically powered.
  • the plunger 22 then moves inside the tube 39, the recess 42 and the flanges 44A, 44B, while being guided by the sliding of the guide rod 26 inside the end pieces 32, 34.
  • the guide member 24 makes it possible to ensure a better mechanical stability of the plunger 22 in its intermediate position, the guide member 24 improving the guidance of the magnetic flux towards the carcass 12 from the coils 14, 16.
  • the flanges 44A, 44B advantageously improve the stability of the plunger 22 in its intermediate position by guiding more the flows from the coils 14, 16 to the carcass 12.
  • the orientation of the flanges 44A, 44B parallel to the translation axis of the plunger 22, that is to say in the longitudinal direction X, further improves this flow guidance by minimizing the reluctance between the plunger 22 and the main portion 40 of the guide member.
  • the outer projections 46A, 46B further improve the stability of the plunger 22 in its intermediate position by improving the flow guidance.
  • the arrangement of the outer projections 46A, 46B in the longitudinal direction X parallel to the longitudinal walls of the carcass 12 further improves this flow guidance by minimizing the reluctance between the carcass 12 and the main portion 40 of the guide member.
  • the ferromagnetic member 24 allows, by its large radial dimensions and by its arrangement between the two electromagnetic coils 14, 16, to best guide the magnetic flux produced by the coils 14, 16, the plunger 22 is attracted to its position intermediate. This thus improves the stability of the intermediate position of the plunger 22 without resorting to other devices, such as the magnet and the additional coil of the actuator of the state of the art.
  • the ferromagnetic armatures 18, 20 make it possible to fix the coils 14, 16 so that they each exert a magnetic field for controlling the position of the plunger 22.
  • the overmolding of the reinforcements 18, 20 allows a better coaxial positioning of the coils 14, 16 with respect to the translation axis of the plunger 22 in the longitudinal direction X.
  • the shape of the plunger 22 with its two convex conical shapes at each of its ends in the longitudinal direction X makes it possible to reduce the ferromagnetic mass embedded in the actuator 10, and also to reduce a resistance force diagram.
  • the ferromagnetic member 24 extends from the recess 42 to the carcass 12, makes it possible to best guide the magnetic flux to the carcass, and reduces the magnetic reluctance of the whole assembly. the electromagnetic actuator 10.
  • the electromagnetic actuator 10 makes it possible to improve the stability of the intermediate position of the plunger 22 while presenting a reduced cost and volume compared to the electromagnetic actuator of the state of the art.

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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Electromagnets (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)

Abstract

The invention relates to an electromagnetic actuator (10), which includes a ferromagnetic housing (12) extending in a longitudinal direction (X) and having a height (H1) in a vertical direction (Z) perpendicular to the longitudinal direction (X), two coils (14, 16) arranged inside the housing and each comprising at least one winding (36, 38) around the longitudinal direction (X), a ferromagnetic member (24) arranged between the coils, and a ferromagnetic plunger (22) subjected to a magnetic field generated by the coils, the plunger being movable in the longitudinal direction and suitable for being immobilized in three different longitudinal positions depending on the field generated by the coils. The ferromagnetic member (24) is rigidly connected to the housing (12) and has, in the vertical direction (Z), a size (H2) that is greater than one sixth of the height (H1) of the housing, the ferromagnetic member (24) being in addition located at a distance that is smaller than one fourth of a gap (E) in the longitudinal direction (X) between the two coils, relative to a median plane (P) that is perpendicular to the longitudinal direction and located at the midpoint between the two coils.

Description

Actionneur électromagnétique et procédé de fabrication d'un tel actionneur  Electromagnetic actuator and method of manufacturing such an actuator

La présente invention concerne un actionneur électromagnétique. L'actionneur comprend une carcasse ferromagnétique, s'étendant suivant une direction longitudinale et présentant une hauteur suivant une direction verticale perpendiculaire à la direction longitudinale. L'actionneur comprend deux bobines électromagnétiques disposées à l'intérieur de la carcasse, comportant chacune au moins un enroulement autour de la direction longitudinale. The present invention relates to an electromagnetic actuator. The actuator comprises a ferromagnetic carcass, extending in a longitudinal direction and having a height in a vertical direction perpendicular to the longitudinal direction. The actuator comprises two electromagnetic coils disposed inside the carcass, each comprising at least one winding around the longitudinal direction.

L'actionneur comprend également un organe ferromagnétique disposé entre les bobines et un plongeur ferromagnétique soumis à un champ magnétique généré par les bobines, le plongeur ferromagnétique étant mobile suivant la direction longitudinale et apte à être immobilisé selon trois positions longitudinales distinctes en fonction du champ généré par les bobines.  The actuator also comprises a ferromagnetic member disposed between the coils and a ferromagnetic plunger subjected to a magnetic field generated by the coils, the ferromagnetic plunger being movable in the longitudinal direction and able to be immobilized according to three distinct longitudinal positions depending on the field generated. by the coils.

L'invention concerne également un procédé de fabrication d'un tel actionneur électromagnétique.  The invention also relates to a method of manufacturing such an electromagnetic actuator.

On connaît du document EP 2 250 651 un actionneur électromagnétique comportant deux bobines, un plongeur apte à être immobilisé selon trois positions, à savoir deux positions extrêmes en regard des bobines et une position intermédiaire entre les bobines.  Document EP 2 250 651 discloses an electromagnetic actuator comprising two coils, a plunger able to be immobilized in three positions, namely two extreme positions facing the coils and an intermediate position between the coils.

Le plongeur comprend un aimant et deux organes de guidage du flux de l'aimant jusqu'à la carcasse, afin de stabiliser le plongeur dans sa position intermédiaire. L'actionneur comporte une bobine additionnelle permettant de compenser le champ de l'aimant lorsque le plongeur est dans une position autre que sa position intermédiaire.  The plunger comprises a magnet and two members for guiding the flow of the magnet to the carcass, in order to stabilize the plunger in its intermediate position. The actuator has an additional coil for compensating the field of the magnet when the plunger is in a position other than its intermediate position.

Toutefois, un tel actionneur est relativement complexe, puisqu'il implique la présence d'un aimant et d'une bobine additionnelle pour permettre une meilleure stabilité de la position intermédiaire.  However, such an actuator is relatively complex, since it involves the presence of a magnet and an additional coil to allow better stability of the intermediate position.

Le but de l'invention est donc de proposer un actionneur à trois positions ayant un coût et un volume réduits.  The object of the invention is therefore to provide a three-position actuator having a reduced cost and volume.

A cet effet, l'invention a pour objet un actionneur électromagnétique, dans lequel l'organe ferromagnétique est solidaire de la carcasse et présente, suivant la direction verticale, une dimension supérieure à un sixième de la hauteur de la carcasse, de préférence supérieure à un quart de ladite hauteur, de préférence encore supérieure à un tiers de ladite hauteur, l'organe ferromagnétique étant en outre situé à une distance inférieure au quart d'un écartement selon la direction longitudinale entre les deux bobines, par rapport à un plan médian perpendiculaire à la direction longitudinale et situé à mi- distance entre les deux bobines, de manière à guider le flux magnétique créé par les bobines vers la carcasse. For this purpose, the subject of the invention is an electromagnetic actuator, in which the ferromagnetic member is integral with the carcass and has, in the vertical direction, a dimension greater than one sixth of the height of the carcass, preferably greater than a quarter of said height, more preferably greater than one-third of said height, the ferromagnetic member being furthermore situated at a distance less than a quarter of a distance in the longitudinal direction between the two coils, with respect to a median plane perpendicular to the longitudinal direction and located midway distance between the two coils, so as to guide the magnetic flux created by the coils to the carcass.

Suivant d'autres aspects avantageux, l'actionneur électromagnétique comprend une ou plusieurs des caractéristiques suivantes, prises isolément ou suivant toutes les combinaisons techniquement possibles :  According to other advantageous aspects, the electromagnetic actuator comprises one or more of the following characteristics, taken individually or in any technically possible combination:

- chaque bobine électromagnétique comporte une armature, le ou chaque enroulement étant fixé à l'armature correspondante, et l'organe ferromagnétique est fixé aux deux armatures ;  each electromagnetic coil comprises an armature, the or each winding being fixed to the corresponding armature, and the ferromagnetic member is fixed to the two armatures;

- l'organe ferromagnétique comporte suivant la direction longitudinale un évidement de passage du plongeur ;  the ferromagnetic member comprises, in the longitudinal direction, a passage recess of the plunger;

- l'organe ferromagnétique s'étend depuis Γ évidement jusqu'à la carcasse ;  - The ferromagnetic member extends from Γ recess to the carcass;

- l'évidement présente un bord périphérique, et l'organe ferromagnétique comporte au moins un rebord s'étendant à partir dudit bord périphérique ;  the recess has a peripheral edge, and the ferromagnetic member comprises at least one flange extending from said peripheral edge;

- le rebord s'étend suivant la direction longitudinale ;  the flange extends in the longitudinal direction;

- l'organe ferromagnétique comporte au moins une saillie extérieure, la ou chaque saillie extérieure étant disposée à l'extérieur de la carcasse et au moins partiellement en contact avec la carcasse ;  - The ferromagnetic member comprises at least one outer projection, the or each outer projection being disposed outside the carcass and at least partially in contact with the carcass;

- l'organe ferromagnétique comporte au moins une saillie intérieure, la ou chaque saillie intérieure étant disposée à l'intérieur de la carcasse et au moins partiellement en contact avec la carcasse ; et  - The ferromagnetic member comprises at least one inner projection, the or each inner projection being disposed within the carcass and at least partially in contact with the carcass; and

- les saillies sont orientées selon la direction longitudinale.  the projections are oriented in the longitudinal direction.

L'invention a également pour objet un procédé de fabrication d'un actionneur électromagnétique, le procédé comprenant les étapes consistant à :  The invention also relates to a method for manufacturing an electromagnetic actuator, the method comprising the steps of:

a) réaliser une carcasse ferromagnétique s'étendant suivant une direction longitudinale et présentant une hauteur suivant une direction verticale perpendiculaire à la direction longitudinale,  a) producing a ferromagnetic carcass extending in a longitudinal direction and having a height in a vertical direction perpendicular to the longitudinal direction,

b) disposer deux bobines électromagnétiques à l'intérieur de la carcasse, chaque bobine comportant au moins un enroulement autour de la direction longitudinale,  b) arranging two electromagnetic coils inside the carcass, each coil comprising at least one winding around the longitudinal direction,

c) disposer un organe ferromagnétique entre les bobines,  c) arranging a ferromagnetic member between the coils,

d) placer un plongeur ferromagnétique dans un champ magnétique généré par les bobines, le plongeur étant mobile suivant la direction longitudinale et apte à être immobilisé selon trois positions longitudinales distinctes en fonction du champ généré par les bobines,  d) placing a ferromagnetic plunger in a magnetic field generated by the coils, the plunger being movable in the longitudinal direction and able to be immobilized according to three distinct longitudinal positions as a function of the field generated by the coils,

dans lequel, lors de l'étape c) l'organe ferromagnétique est solidaire de la carcasse et présente, suivant la direction verticale, une dimension supérieure à un sixième de la hauteur de la carcasse, de préférence supérieure à un quart de ladite hauteur, de préférence encore supérieure à un tiers de ladite hauteur, l'organe ferromagnétique étant en outre situé à une distance inférieure au quart d'un écartement selon la direction longitudinale entre les deux bobines, par rapport à un plan médian perpendiculaire à la direction longitudinale et situé à mi-distance entre les deux bobines, de manière à guider le flux magnétique créé par les bobines vers la carcasse. in which, during step c) the ferromagnetic member is integral with the carcass and has, in the vertical direction, a dimension greater than one sixth of the height of the carcass, preferably greater than one quarter of said height, more preferably greater than one third of said height, the ferromagnetic member being furthermore located at a distance less than a quarter of a spacing in the longitudinal direction between the two coils, with respect to a median plane perpendicular to the direction longitudinal and located midway between the two coils, so as to guide the magnetic flux created by the coils to the carcass.

Suivant un autre aspect avantageux, le procédé de fabrication comprend la caractéristique suivante: lors de l'étape c), l'organe ferromagnétique est fixé par soudure laser à la carcasse.  According to another advantageous aspect, the manufacturing method comprises the following characteristic: during step c), the ferromagnetic member is fixed by laser welding to the carcass.

Ces caractéristiques et avantages de l'invention apparaîtront à la lecture de la description qui va suivre, donnée uniquement à titre d'exemple non limitatif, et faite en référence aux dessins annexés, sur lesquels :  These features and advantages of the invention will become apparent on reading the description which follows, given solely by way of nonlimiting example, and with reference to the appended drawings, in which:

- la figure 1 est une vue en perspective d'un actionneur selon l'invention, comprenant une carcasse ferromagnétique, deux bobines électromagnétiques, un plongeur ferromagnétique mobile en translation et un organe de guidage d'un flux magnétique généré par les bobines,  - Figure 1 is a perspective view of an actuator according to the invention, comprising a ferromagnetic carcass, two electromagnetic coils, a ferromagnetic plunger movable in translation and a guide member of a magnetic flux generated by the coils,

- la figure 2 est une vue en perspective éclatée de l'actionneur de la figure 1 , FIG. 2 is an exploded perspective view of the actuator of FIG. 1;

- la figure 3 est une vue en perspective de l'organe de guidage du flux de la figureFIG. 3 is a perspective view of the flow guide member of FIG.

1 , et 1, and

- la figure 4 est un organigramme d'un procédé de fabrication selon l'invention. Sur les figures 1 et 2, un actionneur électromagnétique 10 comprend une carcasse FIG. 4 is a flowchart of a manufacturing method according to the invention. In FIGS. 1 and 2, an electromagnetic actuator 10 comprises a carcass

12, deux bobines électromagnétiques 14, 16, deux armatures 18, 20, un plongeur 22, un organe 24 de guidage d'un champ magnétique généré par les bobines 14, 16. 12, two electromagnetic coils 14, 16, two armatures 18, 20, a plunger 22, a member 24 for guiding a magnetic field generated by the coils 14, 16.

En complément, l'actionneur électromagnétique 10 comprend une tige 26 de guidage du plongeur.  In addition, the electromagnetic actuator 10 comprises a rod 26 for guiding the plunger.

L'actionneur électromagnétique 10 est par exemple utilisé pour établir ou sectionner un courant. Il est notamment utilisé pour commander le sens de rotation d'un moteur électrique.  The electromagnetic actuator 10 is for example used to establish or section a current. It is used in particular to control the direction of rotation of an electric motor.

La carcasse 12 s'étend suivant une direction longitudinale X et présente une forme générale cubique aux arrêtes arrondies. Cette carcasse 12 est constituée de préférence d'un matériau ferromagnétique. La carcasse 12 comprend deux parties 28, 30 en forme de U et deux embouts magnétiques 32, 34.  The carcass 12 extends in a longitudinal direction X and has a generally cubic shape with rounded edges. This carcass 12 is preferably made of a ferromagnetic material. The carcass 12 comprises two U-shaped portions 28, 30 and two magnetic tips 32, 34.

La carcasse 12 présente une première hauteur H1 suivant une direction verticale Z perpendiculaire à la direction longitudinale X.  The carcass 12 has a first height H1 in a vertical direction Z perpendicular to the longitudinal direction X.

Les deux bobines électromagnétiques 14, 16 sont disposées à l'intérieur de la carcasse 12. Les deux bobines 14, 16 sont, par exemple, coaxiales par rapport à un axe selon la direction longitudinale X. Chaque bobine électromagnétique 14, 16 comprend un enroulement 36, 38 respectif. The two electromagnetic coils 14, 16 are disposed inside the carcass 12. The two coils 14, 16 are, for example, coaxial with respect to an axis in the longitudinal direction X. Each electromagnetic coil 14, 16 comprises a respective winding 36, 38.

Les deux bobines 14, 16 sont espacées l'une de l'autre d'un écartement E selon la direction longitudinale X, comme représenté sur les figures 1 et 2.  The two coils 14, 16 are spaced from each other by a spacing E in the longitudinal direction X, as shown in FIGS. 1 and 2.

Les deux armatures 18, 20 maintiennent chacune un enroulement respectif 36, 38 et fixent les bobines 14, 16 à la carcasse 12. Les armatures 18, 20 sont réalisées de préférence en plastique. Dans l'exemple des figures 1 et 2, les armatures 18, 20 forment de préférence une seule et même pièce plastique autour de laquelle sont enroulés deux fils de cuivre pour former les enroulements 36, 38 respectifs.  The two armatures 18, 20 each hold a respective winding 36, 38 and fix the coils 14, 16 to the carcass 12. The armatures 18, 20 are preferably made of plastic. In the example of Figures 1 and 2, the armatures 18, 20 preferably form a single plastic part around which are wound two copper son to form the respective windings 36, 38.

Chaque armature 18, 20 est de révolution autour de l'axe des bobines 14, 16 et présente une section en forme de U ouvert vers l'extérieur suivant un plan vertical contenant l'axe des bobines, comme visible sur les figures 1 et 2. Les armatures 18, 20 sont alors aptes à recevoir les enroulements 36, 38. Les armatures 18, 20 sont fixes par rapport à la carcasse 12.  Each armature 18, 20 is of revolution about the axis of the coils 14, 16 and has a U-shaped section open towards the outside in a vertical plane containing the axis of the coils, as can be seen in FIGS. 1 and 2 The armatures 18, 20 are then able to receive the windings 36, 38. The armatures 18, 20 are fixed with respect to the carcass 12.

Chaque armature 18, 20 forme en son centre un tube 39 sensiblement cylindrique et s'étendant selon la direction longitudinale X, et à l'intérieur duquel le plongeur 22 est apte à coulisser, comme représenté sur les figures 1 et 2.  Each armature 18, 20 forms at its center a substantially cylindrical tube 39 and extending in the longitudinal direction X, and within which the plunger 22 is slidable, as shown in Figures 1 and 2.

Le plongeur 22 est soumis à un champ magnétique généré par les bobines 14, 16. The plunger 22 is subjected to a magnetic field generated by the coils 14, 16.

Ce plongeur 22 est mobile en translation selon l'axe des bobines 14, 16. Le plongeur 22 comporte un matériau ferromagnétique, et est de préférence constitué dudit matériau ferromagnétique. This plunger 22 is movable in translation along the axis of the coils 14, 16. The plunger 22 comprises a ferromagnetic material, and is preferably made of said ferromagnetic material.

Le plongeur 22 est de révolution autour de la direction longitudinale X, et est disposé autour de la tige de guidage 26.  The plunger 22 is of revolution about the longitudinal direction X, and is arranged around the guide rod 26.

Le plongeur 22 présente une forme cylindrique dans sa partie médiane suivant la direction longitudinale X et deux formes coniques convexes en chacune de ses extrémités suivant la direction longitudinale X, comme représenté sur les figures 1 et 2.  The plunger 22 has a cylindrical shape in its median portion in the longitudinal direction X and two convex conical shapes at each of its ends in the longitudinal direction X, as shown in Figures 1 and 2.

Le plongeur 22 est apte à être immobilisé selon trois positions longitudinales distinctes, à savoir deux positions extrêmes en regard des bobines 14, 16 et une position intermédiaire entre les bobines 14, 16. La position intermédiaire du plongeur 22 appartient par exemple à un plan médian perpendiculaire à la direction longitudinale X et situé à mi- distance entre les deux bobines 14, 16.  The plunger 22 is able to be immobilized according to three distinct longitudinal positions, namely two extreme positions facing the coils 14, 16 and an intermediate position between the coils 14, 16. The intermediate position of the plunger 22 belongs for example to a median plane perpendicular to the longitudinal direction X and situated midway between the two coils 14, 16.

L'organe de guidage 24 est disposé entre les bobines 14, 16 et est fixe par rapport à la carcasse 12. L'organe de guidage 24 traverse de préférence la carcasse 12 pour être fixé à elle.  The guide member 24 is disposed between the coils 14, 16 and is fixed relative to the carcass 12. The guide member 24 preferably passes through the carcass 12 to be fixed thereto.

L'organe de guidage 24 présente, suivant la direction verticale Z, une deuxième hauteur H2 supérieure à un sixième de la première hauteur H1 de la carcasse 12, de préférence supérieure à un quart de ladite première hauteur H1 , de préférence encore supérieure à un tiers de ladite première hauteur H1 . The guide member 24 has, in the vertical direction Z, a second height H2 greater than one sixth of the first height H1 of the carcass 12, preferably greater than one quarter of said first height H1, more preferably greater than one third of said first height H1.

Dans l'exemple de réalisation décrit, la deuxième hauteur H2 de l'organe de guidage 24 est supérieure à la première hauteur H1 de la carcasse 12, comme représenté sur les figures 1 et 2.  In the embodiment described, the second height H2 of the guide member 24 is greater than the first height H1 of the carcass 12, as shown in Figures 1 and 2.

L'organe de guidage 24, comme visible sur la figure 3, comporte une partie principale 40, un évidement 42, des premier 44A et deuxième 44B rebords. L'organe de guidage 24 comporte des saillies extérieures supérieure 46A et inférieure 46B, et des saillies intérieures 48. La saillie extérieure supérieure 46A est destinée à être disposée à l'extérieur et au-dessus de la carcasse 12 selon une direction verticale Z perpendiculaire à la direction longitudinale X, et la saillie extérieure inférieure 46B est destinée à être disposée à l'extérieur et au-dessous de la carcasse 12. Les saillies intérieures 48 sont destinées à être disposées à l'intérieur de la carcasse 12.  The guide member 24, as shown in Figure 3, comprises a main portion 40, a recess 42, first 44A and second 44B edges. The guide member 24 has upper outer projections 46A and lower 46B, and inner projections 48. The outer outer projection 46A is intended to be disposed outside and above the carcass 12 in a perpendicular vertical direction Z in the longitudinal direction X, and the lower outer projection 46B is intended to be disposed outside and below the carcass 12. The inner projections 48 are intended to be disposed inside the carcass 12.

L'organe de guidage 24 est constitué d'un matériau ferromagnétique, et est apte à guider le flux magnétique généré par les bobines 14, 16.  The guide member 24 is made of a ferromagnetic material, and is capable of guiding the magnetic flux generated by the coils 14, 16.

L'organe de guidage 24 est, par exemple, en forme d'une plaque ferromagnétique disposée selon un plan sensiblement perpendiculaire à la direction longitudinale X. Le plan de l'organe de guidage 24 est situé, selon la direction longitudinale X, à une distance inférieure au quart de l'écartement E par rapport à un plan médian P perpendiculaire à la direction longitudinale et situé à mi-distance entre les deux bobines 14, 16.  The guide member 24 is, for example, in the form of a ferromagnetic plate disposed in a plane substantially perpendicular to the longitudinal direction X. The plane of the guide member 24 is located, in the longitudinal direction X, at a distance of distance less than a quarter of the distance E with respect to a median plane P perpendicular to the longitudinal direction and located midway between the two coils 14, 16.

Dans l'exemple de réalisation décrit, le plan de l'organe de guidage 24 est confondu avec le plan médian P. Autrement dit, l'organe de l'guidage 24 est disposé au niveau de la position intermédiaire du plongeur 22 selon la direction longitudinale X.  In the embodiment described, the plane of the guide member 24 coincides with the median plane P. In other words, the guide member 24 is disposed at the intermediate position of the plunger 22 in the direction longitudinal X.

La tige de guidage 26, visible sur la figure 2, est par exemple en plastique. Elle traverse le plongeur 22 de part en part selon la direction longitudinale X. La tige de guidage 26 est, par exemple, fixée solidairement au plongeur 22. La tige de guidage 26 présente une forme essentiellement cylindrique.  The guide rod 26, visible in Figure 2, is for example plastic. It traverses the plunger 22 from one side to the other in the longitudinal direction X. The guide rod 26 is, for example, fixed integrally to the plunger 22. The guide rod 26 has a substantially cylindrical shape.

La tige de guidage 26 est apte à guider le plongeur 22, de façon à ce qu'il se déplace uniquement axialement selon la direction longitudinale X. En complément, la tige de guidage 26 guide le plongeur 22 de façon à ce qu'il ne touche pas la paroi interne du tube 39 formé par les armatures 18, 20, afin de réduire les frottements.  The guide rod 26 is able to guide the plunger 22, so that it moves only axially in the longitudinal direction X. In addition, the guide rod 26 guides the plunger 22 so that it does not touch the inner wall of the tube 39 formed by the frames 18, 20, to reduce friction.

Chaque partie 28, 30 en forme de U comporte 3 parois, à savoir une première paroi transversale 50 perpendiculaire à la direction longitudinale X, une paroi longitudinale supérieure 52 et une paroi longitudinale inférieure 54. Chaque paroi transversale 50 comporte un orifice 56 de passage d'un embout 32, 34 correspondant. L'ensemble des deux parties 28, 30 en U forme, lorsqu'elles sont assemblées, un cadre fixe. Ce cadre forme un support de fixation des autres éléments de l'actionneur électromagnétique 10. Each U-shaped portion 28 has 30 walls, namely a first transverse wall 50 perpendicular to the longitudinal direction X, an upper longitudinal wall 52 and a lower longitudinal wall 54. Each transverse wall 50 has a hole 56 for passing through. a tip 32, 34 corresponding. Together, the two U-shaped portions 28, 30 form, when they are assembled, a fixed frame. This frame forms a support for fixing the other elements of the electromagnetic actuator 10.

Les embouts 32, 34 de la carcasse 12 sont positionnés aux extrémités longitudinales du tube 39 formé par les armatures 18, 20. Ces embouts 32, 34 permettent de limiter le déplacement du plongeur 22 lorsqu'il se trouve dans l'une de ses positions extrêmes en regard de l'une des bobines 14, 16. Ces embouts 32, 34 forment ainsi des butées. Ces embouts 32, 34 sont coaxiaux avec l'axe des bobines 14, 16, qui est aussi l'axe de translation du plongeur 22.  The end pieces 32, 34 of the carcass 12 are positioned at the longitudinal ends of the tube 39 formed by the armatures 18, 20. These end pieces 32, 34 make it possible to limit the displacement of the plunger 22 when it is in one of its positions. extremes facing one of the coils 14, 16. These tips 32, 34 and form stops. These tips 32, 34 are coaxial with the axis of the coils 14, 16, which is also the axis of translation of the plunger 22.

Chaque embout 32, 34 présente une forme conique concave orientée vers l'intérieur de l'actionneur 10 selon la direction longitudinale X. Autrement, la forme concave des embouts 32, 34 est orientée vers le plongeur 22. Ces formes coniques sont complémentaires aux surfaces coniques convexes du plongeur 22, comme représenté sur les figures 1 et 2.  Each end piece 32, 34 has a concave conical shape oriented towards the inside of the actuator 10 in the longitudinal direction X. Otherwise, the concave shape of the end pieces 32, 34 is oriented towards the plunger 22. These conical shapes are complementary to the surfaces. convex cones of the plunger 22, as shown in Figures 1 and 2.

Les embouts 32, 34 comprennent de préférence au moins une partie ferromagnétique, afin de mieux guider un flux magnétique produit par les bobines 14, 16.  The end pieces 32, 34 preferably comprise at least one ferromagnetic part, in order to better guide a magnetic flux produced by the coils 14, 16.

Chaque embout 32, 34 comporte un trou débouchant 57 longitudinal pour permettre le coulissement de la tige de guidage 26, et pour limiter les déplacements sensiblement radiaux de la tige de guidage 26 comme représenté sur la figure 2.  Each end piece 32, 34 has a through-hole 57 that is longitudinal to allow the guide rod 26 to slide, and to limit the substantially radial displacements of the guide rod 26 as shown in FIG.

La partie principale 40 forme la partie centrale de l'organe 24. Elle est de préférence plate et à la direction longitudinale X. Elle s'étend depuis l'évidement 42, entre les deux armatures 18, 20 jusqu'aux extrémités de la carcasse 12.  The main part 40 forms the central part of the member 24. It is preferably flat and in the longitudinal direction X. It extends from the recess 42, between the two frames 18, 20 to the ends of the carcass 12.

L'évidement 42 présente un bord périphérique 58 dans le plan de l'organe de guidage 24 perpendiculaire à la direction longitudinale X.  The recess 42 has a peripheral edge 58 in the plane of the guide member 24 perpendicular to the longitudinal direction X.

L'évidement 42 est formé dans la partie principale 40. Il est suffisamment large selon une direction radiale perpendiculaire à une direction longitudinale X pour permettre le passage du plongeur 22. Cet évidement 42 est orienté selon la direction longitudinale X.  The recess 42 is formed in the main part 40. It is sufficiently wide in a radial direction perpendicular to a longitudinal direction X to allow the passage of the plunger 22. This recess 42 is oriented in the longitudinal direction X.

L'évidement 42 présente, selon la direction radiale, un diamètre interne D1 ajusté au diamètre externe D2 du plongeur 22 selon cette direction radiale et à une tolérance mécanique près pour permettre le coulissement du plongeur 22, comme représenté sur la figure 2.  The recess 42 has, in the radial direction, an internal diameter D1 adjusted to the outer diameter D2 of the plunger 22 in this radial direction and to a mechanical tolerance close to allow the plunger 22 to slide, as shown in FIG.

Chaque rebord 44A, 44B s'étend depuis le bord périphérique 58 de l'évidement, le premier rebord 44A dans un sens et le deuxième rebord 44B dans l'autre sens, suivant la direction longitudinale X, comme visible sur la figure 3. Dans l'exemple des figures 1 et 2, les rebords 44A, 44B s'insèrent dans les deux armatures 18, 20 dans le prolongement longitudinal du tube 39, de façon à ce que le plongeur 22 coulisse facilement à l'intérieur du tube 39, de l'évidement 42 et des rebords 44A, 44B. Each flange 44A, 44B extends from the peripheral edge 58 of the recess, the first flange 44A in one direction and the second flange 44B in the other direction, along the longitudinal direction X, as visible in FIG. In the example of FIGS. 1 and 2, the flanges 44A, 44B fit into the two reinforcements 18, 20 in the longitudinal extension of the tube 39, so that the plunger 22 slides easily inside the tube 39 , the recess 42 and the flanges 44A, 44B.

Les saillies extérieures 46A, 46B sont disposées à l'extérieur de la carcasse 12 et au moins partiellement en contact avec la carcasse 12. L'organe de guidage 22 comporte de préférence deux saillies extérieures 46A, 46B, à savoir la saillie extérieure supérieure 46A et la saillie extérieure inférieure 46B.  The outer projections 46A, 46B are arranged outside the carcass 12 and at least partially in contact with the carcass 12. The guide member 22 preferably comprises two outer projections 46A, 46B, namely the upper outer projection 46A. and the lower outer projection 46B.

Les saillies extérieures 46A, 46B sont orientées selon la direction longitudinale X et suivant les deux sens, comme cela est visible sur la figure 3. Autrement dit, chaque saillie extérieure 46A, 46B est adapté pour être en contact avec chacune des deux parties 28, 30 formant la carcasse 12.  The external projections 46A, 46B are oriented in the longitudinal direction X and in both directions, as can be seen in FIG. 3. In other words, each outer projection 46A, 46B is adapted to be in contact with each of the two parts 28, Forming the carcass 12.

Chaque saillie extérieure 46A, 46B est, par exemple, en forme d'une bande plane fixée perpendiculairement à la direction longitudinale, plaquée contre la surface extérieure de la carcasse 12, comme représenté sur la figure 1 .  Each outer projection 46A, 46B is, for example, in the form of a flat strip fixed perpendicular to the longitudinal direction, pressed against the outer surface of the carcass 12, as shown in FIG.

Les saillies intérieures 48 sont disposées à l'intérieur de la carcasse 12 et au moins partiellement en contact avec la carcasse 12. Il y a de préférence deux saillies intérieures 48, une supérieure et une inférieure. Ces saillies sont orientées selon la direction longitudinale X comme cela est visible sur la figure 3.  The inner projections 48 are disposed within the carcass 12 and at least partially in contact with the carcass 12. There are preferably two inner projections 48, one upper and one lower. These projections are oriented in the longitudinal direction X as can be seen in FIG.

Chaque saillie intérieure 48 est, par exemple, en forme d'un ergot destiné à être en contact de la surface intérieure de la carcasse 12.  Each inner projection 48 is, for example, in the form of a lug intended to be in contact with the inner surface of the carcass 12.

Les saillies extérieures 46A, 46B et les saillies intérieures 48 sont, par exemple, disposées de manière à prendre la carcasse 12 en sandwich. L'organe 24 est alors en contact à la fois avec la face interne et la face externe de la carcasse 12.  The outer projections 46A, 46B and the inner projections 48 are, for example, arranged to take the carcass 12 sandwiched. The member 24 is then in contact with both the inner face and the outer face of the carcass 12.

Le procédé de fabrication de l'actionneur électromagnétique 10 va être à présent décrit à l'aide de l'organigramme de la figure 4.  The method of manufacturing the electromagnetic actuator 10 will now be described using the flowchart of FIG. 4.

L'étape initiale 100 consiste à disposer l'organe de guidage 24, muni de ses rebords 44A, 44B, de ses saillies extérieures 46A, 46B et de ses saillies intérieures 48. L'organe 24 est disposé au niveau du plan médian perpendiculaire à l'axe des bobines 14, 16. L'organe de guidage 24 est de préférence une plaque ferromagnétique que l'on dispose perpendiculairement à la direction longitudinale X.  The initial step 100 consists in arranging the guiding member 24, provided with its flanges 44A, 44B, with its external projections 46A, 46B and its internal projections 48. The member 24 is disposed at the median plane perpendicular to the axis of the coils 14, 16. The guide member 24 is preferably a ferromagnetic plate that is arranged perpendicularly to the longitudinal direction X.

L'organe de guidage de flux 24 est formé, par exemple, par frittage de deux pièces, chacune étant en forme de U suivant la direction longitudinale X, et les pièces en forme de U étant orientées suivant des sens opposés de manière à former une forme générale en un H s'étendant suivant la direction longitudinale X. L'étape suivante 1 10 consiste à disposer les bobines électromagnétiques 14, 16, en les fixant à l'organe 24. The flow guiding member 24 is formed, for example, by sintering two pieces, each U-shaped in the longitudinal direction X, and the U-shaped pieces being oriented in opposite directions to form a general shape in an H extending in the longitudinal direction X. The following step 1 consists in arranging the electromagnetic coils 14, 16, fixing them to the member 24.

Les armatures 18, 20 des bobines électromagnétiques sont alors de préférence surmoulées autour de l'organe de guidage de flux 24. Les armatures 18, 20 forment de préférence une unique pièce plastique surmoulée autour de l'organe de guidage 24. Dans ce cas, lors de l'étape initiale 100, l'organe de guidage 24 est disposé en position centrale dans un moule servant ensuite au surmoulage des armatures 18, 20.  The armatures 18, 20 of the electromagnetic coils are then overmolded around the flux guiding member 24. The armatures 18, 20 preferably form a single plastic part overmolded around the guiding member 24. In this case, during the initial step 100, the guide member 24 is placed in a central position in a mold which then serves to overmold the reinforcements 18, 20.

Les enroulements 36, 38 sont ensuite réalisés par bobinage de fils de cuivre autour des armatures 18, 20, ces dernières ayant été préalablement fixées à l'organe de guidage 24.  The windings 36, 38 are then made by winding copper wires around the reinforcements 18, 20, the latter having been previously fixed to the guide member 24.

Ensuite, lors de l'étape 120, on place la tige de guidage 26 dans le plongeur ferromagnétique 22 puis l'ensemble tige de guidage 26 - plongeur 22 dans le tube 39 formé par les armatures 18, 20.  Then, during step 120, the guide rod 26 is placed in the ferromagnetic plunger 22 and then the guide rod 26 - plunger 22 assembly in the tube 39 formed by the armatures 18, 20.

Enfin, à l'étape 130, on réalise la carcasse 12 en plaçant les embouts magnétiques 32, 34, qui laissent coulisser la tige de guidage 26, dans les parties 28, 30 en forme de U, qui s'emboitent pour former la carcasse 12.  Finally, in step 130, the carcass 12 is made by placing the magnetic tips 32, 34, which slide the guide rod 26, in the U-shaped portions 28, 30, which fit together to form the carcass. 12.

Les parties 28, 30 sont lors de leur assemblage, prises en sandwich par l'organe de guidage 24 au moyen des saillies extérieures 46A, 46B et intérieures 48.  The parts 28, 30 are during their assembly, sandwiched by the guide member 24 by means of the outer projections 46A, 46B and inner 48.

L'organe de guidage 24 est alors fixé à la carcasse 12 par soudage laser. Les embouts magnétiques 32, 34 sont fixés aux parties en forme de U 28, 30 également par soudage laser.  The guide member 24 is then fixed to the carcass 12 by laser welding. The magnetic tips 32, 34 are attached to the U-shaped portions 28, also by laser welding.

Le fonctionnement de l'actionneur électromagnétique 10 va être à présent décrit. Pour déplacer le plongeur 22 vers l'une de ses deux positions extrêmes, l'une des deux bobines électromagnétiques 14, 16 est alimentée électriquement de manière à générer un champ magnétique d'attraction du plongeur 22. L'autre bobine électromagnétique 14, 16 n'est pas alimentée électriquement ou bien est alimentée électriquement de manière à générer un champ magnétique de répulsion du plongeur 22.  The operation of the electromagnetic actuator 10 will now be described. To move the plunger 22 towards one of its two extreme positions, one of the two electromagnetic coils 14, 16 is electrically energized so as to generate a magnetic field of attraction of the plunger 22. The other electromagnetic coil 14, 16 is not electrically powered or is electrically powered to generate a repulsive magnetic field of the plunger 22.

Le ou les champs magnétiques générés produisent un flux magnétique qui est guidé par les parties ferromagnétiques de l'actionneur électromagnétique 10, c'est-à-dire par la carcasse 12, le plongeur 22 et l'organe de guidage 24. Cette disposition minimise le flux de fuite et permet d'améliorer le rendement de l'actionneur électromagnétique 10.  The generated magnetic field or fields produce a magnetic flux which is guided by the ferromagnetic parts of the electromagnetic actuator 10, that is to say by the carcass 12, the plunger 22 and the guide member 24. This arrangement minimizes the leakage flow and improves the efficiency of the electromagnetic actuator 10.

Le déplacement du plongeur 22 vers sa position intermédiaire est par exemple assuré par un ressort de rappel, non représenté. L'utilisation d'un ressort de rappel permet d'éviter d'alimenter les bobines électromagnétiques 14, 16 pour déplacer le plongeur 22 vers sa position intermédiaire. En variante, le déplacement du plongeur 22 vers sa position intermédiaire est obtenu par la génération de champs magnétiques de répulsion ou bien de champs d'attraction du plongeur 22, ces champs de répulsion ou d'attraction étant générés par les deux bobines électromagnétiques 14, 16 qui sont alors alimentées électriquement. The displacement of the plunger 22 towards its intermediate position is for example ensured by a return spring, not shown. The use of a return spring avoids feeding the electromagnetic coils 14, 16 to move the plunger 22 to its intermediate position. As a variant, the displacement of the plunger 22 towards its intermediate position is obtained by the generation of magnetic fields of repulsion or of fields of attraction of the plunger 22, these fields of repulsion or attraction being generated by the two electromagnetic coils 14, 16 which are then electrically powered.

Le plongeur 22 se déplace alors à l'intérieur du tube 39, de l'évidement 42 et des rebords 44A, 44B, tout en étant guidé par le coulissement de la tige de guidage 26 à l'intérieur des embouts 32, 34.  The plunger 22 then moves inside the tube 39, the recess 42 and the flanges 44A, 44B, while being guided by the sliding of the guide rod 26 inside the end pieces 32, 34.

L'organe de guidage 24 selon l'invention permet alors d'assurer une meilleure stabilité mécanique du plongeur 22 dans sa position intermédiaire, l'organe de guidage 24 améliorant le guidage des flux magnétiques vers la carcasse 12 depuis les bobines 14, 16.  The guide member 24 according to the invention then makes it possible to ensure a better mechanical stability of the plunger 22 in its intermediate position, the guide member 24 improving the guidance of the magnetic flux towards the carcass 12 from the coils 14, 16.

Les rebords 44A, 44B permettent d'améliorer avantageusement la stabilité du plongeur 22 dans sa position intermédiaire en guidant davantage les flux depuis les bobines 14, 16 vers la carcasse 12. L'orientation des rebords 44A, 44B parallèlement à l'axe de translation du plongeur 22, c'est-à-dire suivant la direction longitudinale X, permet d'améliorer encore ce guidage des flux en minimisant la réluctance entre le plongeur 22 et la partie principale 40 de l'organe de guidage.  The flanges 44A, 44B advantageously improve the stability of the plunger 22 in its intermediate position by guiding more the flows from the coils 14, 16 to the carcass 12. The orientation of the flanges 44A, 44B parallel to the translation axis of the plunger 22, that is to say in the longitudinal direction X, further improves this flow guidance by minimizing the reluctance between the plunger 22 and the main portion 40 of the guide member.

Les saillies extérieures 46A, 46B permettent d'améliorer encore la stabilité du plongeur 22 dans sa position intermédiaire en améliorant le guidage des flux. La disposition des saillies extérieures 46A, 46B selon la direction longitudinale X parallèlement aux parois longitudinales de la carcasse 12 permet d'améliorer encore ce guidage des flux en minimisant la réluctance entre la carcasse 12 et la partie principale 40 de l'organe de guidage.  The outer projections 46A, 46B further improve the stability of the plunger 22 in its intermediate position by improving the flow guidance. The arrangement of the outer projections 46A, 46B in the longitudinal direction X parallel to the longitudinal walls of the carcass 12 further improves this flow guidance by minimizing the reluctance between the carcass 12 and the main portion 40 of the guide member.

Ainsi, l'organe ferromagnétique 24 permet, par ses dimensions radiales importantes et par sa disposition entre les deux bobines électromagnétiques 14, 16, de guider au mieux le flux magnétique produit par les bobines 14, 16, le plongeur 22 est attiré vers sa position intermédiaire. Cela améliore ainsi la stabilité de la position intermédiaire du plongeur 22 sans recourir à d'autres dispositifs, tels que l'aimant et la bobine additionnelle de l'actionneur de l'état de la technique.  Thus, the ferromagnetic member 24 allows, by its large radial dimensions and by its arrangement between the two electromagnetic coils 14, 16, to best guide the magnetic flux produced by the coils 14, 16, the plunger 22 is attracted to its position intermediate. This thus improves the stability of the intermediate position of the plunger 22 without resorting to other devices, such as the magnet and the additional coil of the actuator of the state of the art.

Les armatures ferromagnétiques 18, 20 permettent de fixer les bobines 14, 16 pour qu'elles exercent chacune un champ magnétique de contrôle de la position du plongeur 22.  The ferromagnetic armatures 18, 20 make it possible to fix the coils 14, 16 so that they each exert a magnetic field for controlling the position of the plunger 22.

Le surmoulage des armatures 18, 20 permet un meilleur positionnement coaxial des bobines 14, 16 par rapport à l'axe de translation du plongeur 22 selon la direction longitudinale X. La forme du plongeur 22 avec ses deux formes coniques convexes en chacune de ses extrémités suivant la direction longitudinale X permet de diminuer la masse ferromagnétique embarquée dans l'actionneur 10, et également de réduire un diagramme d'effort résistant. The overmolding of the reinforcements 18, 20 allows a better coaxial positioning of the coils 14, 16 with respect to the translation axis of the plunger 22 in the longitudinal direction X. The shape of the plunger 22 with its two convex conical shapes at each of its ends in the longitudinal direction X makes it possible to reduce the ferromagnetic mass embedded in the actuator 10, and also to reduce a resistance force diagram.

La complémentarité des formes coniques du plongeur 22 avec les formes coniques respectives des embouts magnétiques 32, 34 permet un repositionnement géométrique coaxial, tout en évitant, via la tige de guidage 26, un collage entre lesdites formes coniques.  The complementarity of the conical shapes of the plunger 22 with the respective conical shapes of the magnetic tips 32, 34 allows a coaxial geometric repositioning, while avoiding, via the guide rod 26, a bonding between said conical shapes.

En complément, le fait que l'organe ferromagnétique 24 s'étende depuis l'évidement 42 jusqu'à la carcasse 12, permet de guider au mieux le flux magnétique jusqu'à la carcasse, et réduit la reluctance magnétique de l'ensemble de l'actionneur électromagnétique 10.  In addition, the fact that the ferromagnetic member 24 extends from the recess 42 to the carcass 12, makes it possible to best guide the magnetic flux to the carcass, and reduces the magnetic reluctance of the whole assembly. the electromagnetic actuator 10.

On conçoit ainsi que l'actionneur électromagnétique 10 selon l'invention permet d'améliorer la stabilité de la position intermédiaire du plongeur 22 tout en présentant un coût et un volume réduits par rapport à l'actionneur électromagnétique de l'état de la technique.  It is thus conceivable that the electromagnetic actuator 10 according to the invention makes it possible to improve the stability of the intermediate position of the plunger 22 while presenting a reduced cost and volume compared to the electromagnetic actuator of the state of the art.

Claims

REVENDICATIONS 1 . - Actionneur électromagnétique (10) comprenant : 1. - Electromagnetic actuator (10) comprising: - une carcasse ferromagnétique (12) s'étendant suivant une direction longitudinale (X) et présentant une hauteur (H1 ) suivant une direction verticale (Z) perpendiculaire à la direction longitudinale (X),  a ferromagnetic carcass extending in a longitudinal direction and having a height in a vertical direction perpendicular to the longitudinal direction; - deux bobines électromagnétiques (14, 16) disposées à l'intérieur de la carcasse (12) et comportant chacune au moins un enroulement (36, 38) autour de la direction longitudinale (X),  two electromagnetic coils (14, 16) disposed inside the carcass (12) and each comprising at least one winding (36, 38) around the longitudinal direction (X), - un organe ferromagnétique (24) agencé entre les bobines (14, 16),  a ferromagnetic member (24) arranged between the coils (14, 16), - un plongeur ferromagnétique (22) soumis à un champ magnétique généré par les bobines (14, 16), le plongeur (22) étant mobile suivant la direction longitudinale (X) et apte à être immobilisé selon trois positions longitudinales distinctes en fonction du champ généré par les bobines (14, 16),  - A ferromagnetic plunger (22) subjected to a magnetic field generated by the coils (14, 16), the plunger (22) being movable in the longitudinal direction (X) and capable of being immobilized in three distinct longitudinal positions depending on the field generated by the coils (14, 16), caractérisé en ce que l'organe ferromagnétique (24) est solidaire de la carcasse characterized in that the ferromagnetic member (24) is integral with the carcass (12) et présente, suivant la direction verticale (Z), une dimension (H2) supérieure à un sixième de la hauteur (H1 ) de la carcasse (12), de préférence supérieure à un quart de ladite hauteur (H1 ), de préférence encore supérieure à un tiers de ladite hauteur (H1 ), l'organe ferromagnétique (24) étant en outre situé à une distance inférieure au quart d'un écartement (E) selon la direction longitudinale (X) entre les deux bobines (14, 16), par rapport à un plan médian (P) perpendiculaire à la direction longitudinale et situé à mi- distance entre les deux bobines (14, 16), de manière à guider le flux magnétique créé par les bobines (14, 16) vers la carcasse (12) et en ce que l'organe ferromagnétique (24) comporte au moins une saillie (46A, 46B, 48), la ou chaque saillie (46A, 46B, 48) étant au moins partiellement en contact avec la carcasse (12). (12) and has, in the vertical direction (Z), a dimension (H2) greater than one-sixth of the height (H1) of the carcass (12), preferably greater than a quarter of said height (H1), of preferably still greater than one-third of said height (H1), the ferromagnetic member (24) being furthermore located at a distance less than a quarter of a distance (E) in the longitudinal direction (X) between the two coils (14). 16) with respect to a median plane (P) perpendicular to the longitudinal direction and situated midway between the two coils (14, 16) so as to guide the magnetic flux created by the coils (14, 16). towards the carcass (12) and in that the ferromagnetic member (24) has at least one projection (46A, 46B, 48), the or each projection (46A, 46B, 48) being at least partially in contact with the carcass (12). 2. - Actionneur (10) selon la revendication 1 , dans lequel chaque bobine électromagnétique (14, 16) comporte une armature (18, 20), le ou chaque enroulement (36, 38) et étant fixé à l'armature correspondante (18, 20), et l'organe ferromagnétique (24) est fixé aux deux armatures (18, 20). 2. - Actuator (10) according to claim 1, wherein each electromagnetic coil (14, 16) comprises an armature (18, 20), the or each winding (36, 38) and being fixed to the corresponding armature (18, 20). , 20), and the ferromagnetic member (24) is fixed to the two armatures (18, 20). 3. - Actionneur (10) selon la revendication 1 ou 2, dans lequel l'organe ferromagnétique (24) comporte suivant la direction longitudinale (X) un évidement (42) de passage du plongeur (22). 3. - Actuator (10) according to claim 1 or 2, wherein the ferromagnetic member (24) comprises in the longitudinal direction (X) a recess (42) passage of the plunger (22). 4. - Actionneur (10) selon la revendication 3, dans lequel l'organe ferromagnétique (24) s'étend depuis l'évidement (42) jusqu'à la carcasse (12). 4. - Actuator (10) according to claim 3, wherein the ferromagnetic member (24) extends from the recess (42) to the carcass (12). 5. - Actionneur (10) la revendication 3 ou 4, dans lequel l'évidement (42) présente un bord périphérique (58), et l'organe ferromagnétique (24) comporte au moins un rebord5. - Actuator (10) claim 3 or 4, wherein the recess (42) has a peripheral edge (58), and the ferromagnetic member (24) comprises at least one flange (44A, 44B) s'étendant à partir dudit bord périphérique (58). (44A, 44B) extending from said peripheral edge (58). 6. - Actionneur (10) la revendication 5, dans lequel le rebord (44A, 44B) s'étend suivant la direction longitudinale (X). The actuator (10) of claim 5, wherein the flange (44A, 44B) extends in the longitudinal direction (X). 7. - Actionneur (10) selon l'une des revendications précédentes, dans lequel au moins une de la ou chaque saillie est une saillie extérieure (46A, 46B), la ou chaque saillie extérieure (46A, 46B) étant disposée à l'extérieur de la carcasse (12). 7. - Actuator (10) according to one of the preceding claims, wherein at least one of the or each protrusion is an outer projection (46A, 46B), the or each outer projection (46A, 46B) being arranged at the outside the carcass (12). 8.- Actionneur (10) selon l'une des revendications précédentes, dans lequel au moins une de la ou chaque saille est une saillie intérieure (48), la ou chaque saillie intérieure (48) étant disposée à l'intérieur de la carcasse (12). 8. An actuator (10) according to one of the preceding claims, wherein at least one of the or each scar is an inner projection (48), the or each inner projection (48) being disposed inside the carcass (12). 9. - Actionneur (10) selon l'une des revendications précédentes, dans lequel les saillies (46A, 46B, 48) sont orientées selon la direction longitudinale (X). 9. - Actuator (10) according to one of the preceding claims, wherein the projections (46A, 46B, 48) are oriented in the longitudinal direction (X). 10. - Procédé de fabrication d'un actionneur électromagnétique (10), le procédé comprenant les étapes consistant à : A method of manufacturing an electromagnetic actuator (10), the method comprising the steps of: a) réaliser une carcasse ferromagnétique (12) s'étendant suivant une direction longitudinale (X) et présentant une hauteur (H1 ) suivant une direction verticale (Z) perpendiculaire à la direction longitudinale (X),  a) producing a ferromagnetic carcass (12) extending in a longitudinal direction (X) and having a height (H1) in a vertical direction (Z) perpendicular to the longitudinal direction (X), b) disposer deux bobines électromagnétiques (14, 16) à l'intérieur de la carcasse (12), chaque bobine (14, 16) comportant au moins un enroulement (36, 38) autour de la direction longitudinale (X),  b) arranging two electromagnetic coils (14, 16) inside the carcass (12), each coil (14, 16) having at least one winding (36, 38) about the longitudinal direction (X), c) disposer un organe ferromagnétique (24) entre les bobines (14, 16),  c) arranging a ferromagnetic member (24) between the coils (14, 16), d) placer un plongeur (22) ferromagnétique dans un champ magnétique généré par les bobines (14, 16), le plongeur (22) étant mobile suivant la direction longitudinale (X) et apte à être immobilisé selon trois positions longitudinales distinctes en fonction du champ généré par les bobines (14, 16),  d) placing a ferromagnetic plunger (22) in a magnetic field generated by the coils (14, 16), the plunger (22) being movable in the longitudinal direction (X) and able to be immobilized in three distinct longitudinal positions depending on the field generated by the coils (14, 16), caractérisé en ce que, lors de l'étape c) l'organe ferromagnétique (24) est solidaire de la carcasse (12) et présente, suivant la direction verticale (Z), une dimension (H2) supérieure à un sixième de la hauteur (H1 ) de la carcasse (12), de préférence supérieure à un quart de ladite hauteur (H1 ), de préférence encore supérieure à un tiers de ladite hauteur (H1 ), l'organe ferromagnétique (24) étant en outre situé à une distance inférieure au quart d'un écartement (E) selon la direction longitudinale (X) entre les deux bobines (14, 16), par rapport à un plan médian (P) perpendiculaire à la direction longitudinale (X) et situé à mi-distance entre les deux bobines (14, 16), de manière à guider le flux magnétique créé par les bobines (14, 16) vers la carcasse (12) et en ce que, lors de l'étape c) l'organe ferromagnétique (24) comporte au moins une saillie (46A, 46B, 48), la ou chaque saillie (46A, 46B, 48) étant au moins partiellement en contact avec la carcasse (12). characterized in that, in step c) the ferromagnetic member (24) is integral with the carcass (12) and has, in the vertical direction (Z), a dimension (H2) greater than one sixth of the height (H1) of the carcass (12), preferably greater than one quarter of said height (H1), more preferably greater than one third of said height (H1), the ferromagnetic member (24) ) being at a distance of less than one quarter of a distance (E) in the longitudinal direction (X) between the two coils (14, 16), with respect to a median plane (P) perpendicular to the longitudinal direction ( X) and situated halfway between the two coils (14, 16), so as to guide the magnetic flux created by the coils (14, 16) towards the carcass (12) and that, during the step c) the ferromagnetic member (24) has at least one projection (46A, 46B, 48), the or each projection (46A, 46B, 48) being at least partially in contact with the carcass (12). 1 1 .- Procédé selon la revendication 10, dans lequel, lors de l'étape c), l'organe ferromagnétique (24) est fixé par soudure laser à la carcasse (12). 1 1 .- The method of claim 10, wherein, in step c), the ferromagnetic member (24) is fixed by laser welding to the carcass (12).
EP14789805.0A 2013-10-21 2014-10-20 Electromagnetic actuator and method for producing such an actuator Active EP3061103B1 (en)

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FR1360246A FR3012251B1 (en) 2013-10-21 2013-10-21 ELECTROMAGNETIC ACTUATOR AND METHOD FOR MANUFACTURING SUCH ACTUATOR
PCT/EP2014/072429 WO2015059086A1 (en) 2013-10-21 2014-10-20 Electromagnetic actuator and method for producing such an actuator

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WO2024101016A1 (en) * 2022-11-11 2024-05-16 アルプスアルパイン株式会社 Electronic device and vibration generation device
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US9704635B2 (en) 2017-07-11
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JP6797684B2 (en) 2020-12-09
CN105580094B (en) 2018-01-16

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