JP2013118332A - Solenoid drive device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a solenoid drive device which is applicable to a humanoid robot.SOLUTION: The solenoid drive device includes a first housing 10 which has a cylindrical side wall 10a formed of a material of 600 or larger in relative magnetic permeability, and has one end face opened and the other end face closed to form a bottom face 10b, a permanent magnet 11 which is positioned in the first housing 10, and supported by a bottom face 10b to extend toward the opening, a second housing 20 which has a cylindrical side wall 20a formed of a material of 600 or larger in relative magnetic permeability, and has one end face opened and the other end face closed to form a bottom face 20b, a solenoid 21 which is positioned in the second housing 20 and uneven in winding density of a conductor, and an electrode 22 connected to the solenoid 21, the second housing 20 being stored in the first housing 10 like the permanent magnet 11 enclosed in the solenoid 21 and also put in and out of the first housing 10 while at least partially stored in the first housing 10.

Description

  The present invention relates to a solenoid driving device.

  Conventionally, as a device for driving a humanoid robot, a rotary motor, a piston type linear drive device using gas, and the like have been used.

  Conventionally, a drive device using a solenoid is known. For example, there are those disclosed in Patent Documents 1 and 2.

JP 2009-236308 A JP 2010-154749 A

  The above rotary motor lacks the agility of motion control for humanoid robots and has many difficulties because the strength of force is also controlled by rotation control. Needless to say, it is preferable that a robot for supplementing a human limb can realize a motion (speed, force, movement, etc.) close to that of a human. There is a limit to using a rotary motor to realize human movement that achieves various movements by changing the balance of various muscle contractions.

  Moreover, the piston type linear drive device using gas requires a compressor for generating high-pressure gas, and when used for a humanoid robot, the size and weight of the device become a problem.

  In addition, the drive device using a conventional solenoid is applied to a simple control device such as an exciter or an electromagnet for sorting metal pieces, but for humanoid robots, it has the ability to have both generated force and stroke. There was a limit.

  Accordingly, an object of the present invention is to provide a drive device applicable to a humanoid robot.

  According to the present invention, there is provided a first casing having a cylindrical side wall formed of a material having a relative permeability of 600 or more, one end face being open and the other end face being closed to form a bottom face. A permanent magnet positioned inside the first housing, supported by the bottom surface and extending toward the opening, and a cylindrical side wall formed of a material having a relative permeability of 600 or more. A second housing having one end face opened and the other end face closed to form a bottom surface, a solenoid located inside the second housing and having a non-uniform winding density of the conductor, An electrode connected to a solenoid, and the second casing is housed in the first casing so that the permanent magnet is contained in the solenoid, and at least a part of the second casing is stored in the first casing. A solenoid driving device capable of entering and exiting the first housing while being housed in the housing; It is subjected.

  Further, according to the present invention, it has a cylindrical side wall made of a conductive material having a relative permeability of 600 or more, one end face is open, and the other end face is closed to form a bottom face. A first casing, a permanent magnet located inside the first casing, supported by the bottom surface, and extending toward the opening; and a relative permeability of 600 or more and a conductive material. A second casing having a cylindrical side wall, one end face being open and the other end face being closed to form a bottom face, and the second casing being located inside the second casing. A solenoid connected to the side wall of the body, and the second housing is arranged so that the permanent magnet is contained in the solenoid and on the inner surface of the side wall of the first housing. The second housing is housed in the first housing so that the outer surface of the side wall is in contact, and at least one There solenoid drive device is provided which is capable out within the first housing in a state of being housed in the first housing.

  ADVANTAGE OF THE INVENTION According to this invention, the drive device applicable to a humanoid robot is implement | achieved.

It is an example of the cross-sectional schematic diagram of the solenoid drive device of this embodiment. It is an example of the cross-sectional schematic diagram of the solenoid drive device of this embodiment. It is an example of the cross-sectional schematic diagram which extracted and showed a part of solenoid drive apparatus shown in FIG. It is an example of the cross-sectional schematic diagram which extracted and showed a part of solenoid drive apparatus shown in FIG. It is a schematic diagram which shows the flow of the magnetic flux of the solenoid drive device shown in FIG. It is a schematic diagram which shows an example of the nonlinear spring of this embodiment. It is a figure which shows an example of the application example of the solenoid drive device of this embodiment. The current of the solenoid drive device of this embodiment and the distribution state of virtual current are shown. The experimental result and calculation result of the driving force of the solenoid drive device of this embodiment are shown. The number of coil turns of the solenoid drive device of this embodiment and the estimated value of a constant drive force are shown. It is an example of the cross-sectional schematic diagram which extracted and showed a part of solenoid device of this embodiment. It is an example of the cross-sectional schematic diagram which extracted and showed a part of solenoid device of this embodiment. It is a schematic diagram which shows an example of the side wall of the 1st and 2nd housing | casing of this embodiment. It is a schematic diagram which shows an example of the side wall of the 1st and 2nd housing | casing of this embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In all the drawings, the same reference numerals are given to the same components, and the description will be omitted as appropriate.

<First Embodiment>
1 and 2 are schematic cross-sectional views of the solenoid drive device of the present embodiment. FIG. 1 shows a state where the solenoid drive device is contracted, and FIG. 2 shows a state where the solenoid drive device is extended. The expansion / contraction movement of the human muscle can be simulated by the expansion / contraction movement of the solenoid driving device.

  FIG. 3 is a schematic cross-sectional view showing only the parts A and B of the solenoid drive device of this embodiment shown in FIGS. 1 and 2 extracted and disassembled. FIG. 4 is a schematic cross-sectional view showing only the parts B and C of the solenoid drive device of the present embodiment shown in FIGS.

  As shown in FIG. 3, the solenoid drive device of this embodiment includes a first casing 10, a permanent magnet 11, a second casing 20, a solenoid 21, and an electrode 22. Moreover, you may have the nonlinear spring 12, the shock absorbing material 24, the coil case 23, and the fixing means 25. FIG. The parts A, C, and E shown in FIGS. 1 and 2 have the same configuration except that the part A has the fixing means 25. In addition, the components B, D, and F shown in FIGS. 1 and 2 are the same in other configurations except that the component F has the fixing means 25.

  First, the details of each of the above components will be described with reference to FIG.

The first housing 10 includes a cylindrical side wall 10a formed of a material having a relative magnetic permeability (μ _s = μ / μ ₀ , where μ ₀ is a vacuum magnetic permeability) of 600 or more (eg, ferrite such as MnZn). Have. In addition to the cylindrical shape, the cylindrical shape here includes a cylindrical shape whose cross section is a triangle, a square, other polygons, and other shapes. One end face (left end face in the figure) of the cylinder (side wall 10a) of the first casing 10 is open, and the other end face (right end face in the figure) is closed to form a bottom face 10b. The bottom surface 10b can be formed of a material having a relative permeability of 600 or more (eg, ferrite such as MnZn). In addition, it is preferable that there is no gap as much as possible between the side wall 10a and the bottom surface 10b.

  The permanent magnet 11 is located inside the first housing 10. The permanent magnet 11 is supported by the bottom surface 10 b and extends toward the opening of the first housing 10. The means for supporting the permanent magnet 11 on the bottom surface 10b is not particularly limited, and may be realized using, for example, an epoxy adhesive. The permanent magnet 11 may be a rare earth magnet such as an Nd (neodymium) magnet, but is required to be a non-conductive material.

  In recent years, the performance of electric motors has dramatically improved, and electric vehicles have come into practical use. The reason is that this rare earth ultra high magnetic flux density permanent magnet was used. In the conventional motor, an armature is formed by winding a coil around a high permeability core. However, the armature is heavy, and unnecessary interaction between the coils has been a problem. Utilizing ultra-high magnetic flux density permanent magnets eliminates the need to wind coils, reduces weight, eliminates unnecessary interactions, and dramatically improves motor performance. In this embodiment, such a rare earth ultrahigh magnetic flux density permanent magnet is employed.

  The shape and size of the permanent magnet 11 are not particularly limited as long as the permanent magnet 11 can be inserted into the internal space of a solenoid 21 wound in a spiral shape, which will be described later, and may be, for example, a cylinder, a square pole, or the like. .

  The second casing 20 has a cylindrical side wall 20a formed of a material having a relative permeability of 600 or more (eg, ferrite such as MnZn). In addition to the cylindrical shape, the cylindrical shape here includes a cylindrical shape whose cross section is a triangle, a square, other polygons, and other shapes. One end face (right end face in the figure) of the cylinder (side wall 20a) of the second casing 20 is open, and the other end face (left end face in the figure) is closed to form a bottom face 20b. The bottom surface 20b can be formed of a material having a relative permeability of 600 or more (eg, ferrite such as MnZn). In addition, it is preferable that there is no gap as much as possible between the side wall 20a and the bottom surface 20b.

  The solenoid 21 is located inside the second housing 20. The solenoid 21 has a configuration in which a conducting wire is wound in a spiral shape. In addition to the copper wire, the conductor constituting the solenoid 21 may employ a copper aluminum clad wire in order to reduce the weight of the solenoid driving device. In the solenoid 21 of the present embodiment, the winding density of the conducting wire is not uniform. Details thereof and operational effects obtained in this way will be described later.

  The electrode 22 connects a solenoid 21 and a power source (not shown), and allows a desired current to flow through the solenoid 21. The configuration of the electrode 22 of the present embodiment is not particularly limited, and can be realized according to the conventional technique. That is, the electrodes 22 insulated from the first casing 10 and the second casing 20 are arranged so as to be connected to each other between plus and minus, and the terminals of the solenoids 21 are connected to each other. The form is not particularly limited.

  Here, as shown in FIGS. 1 and 2, the second casing 20 has a permanent magnet 11 in an internal space formed by a conductive wire of the solenoid 21 wound in a spiral shape so that the permanent magnet 11 is included in the solenoid 22. Is inserted into the first housing 10 so as to be inserted. That is, in the solenoid drive device of the present embodiment, the solenoid 21 and the permanent magnet 11 are covered with the first casing 10 and the second casing 20 made of a material having a relative permeability of 600 or more. The first casing 10 and the second casing 20 serve to absorb the magnetic flux generated by the solenoid 21 and the permanent magnet 11 as a magnetic path.

  FIG. 5 schematically shows the flow of magnetic flux in a state where a current is passed through the solenoid 22 by dotted arrows. In addition, in the said figure, in order to improve the visibility of the dotted-line arrow which shows the flow of magnetic flux, hatching is not attached | subjected to each component. The first casing 10 (10a, 10b) and the second casing 20 (20a, 20b) have no gap (or almost no gap) so as not to leak the magnetic flux generated by the permanent magnet 11 and the solenoid 21 to the outside. ) Form a magnetic path. The magnetic flux generated from the permanent magnet 11 and the solenoid 21 creates two types of flows: a loop that is closed by the first casing 10 and the second casing 20 and a loop that is largely formed by the entire casing. The driving force is larger for a large loop in the entire housing.

  When a current flows through the solenoid 22, the second housing 20 enters and exits the first housing 10 with at least a part of the second housing 20 being accommodated in the first housing 10 due to the magnetic flux of the flow shown in FIG. 5. Do (piston motion). Since the second casing 20 is at least partially located in the first casing 10 during the piston movement, the solenoid 21 and the permanent magnet 11 are also connected to the first casing 10 and the second casing during such a period. The state covered with the housing 20 can be maintained. According to the solenoid driving apparatus of this embodiment, the magnetic field distortion force generated by the magnetic fields of the solenoid 21 and the permanent magnet 11 can be used as driving force without waste.

  Although not shown, a stopper may be provided that defines an upper limit at which the second casing 20 is exposed from the first casing 10 during the piston movement. The configuration is not particularly limited.

  As shown in FIG. 1, the cushioning material 24 is configured to come into contact with the distal end portion of the permanent magnet 11 in a state where the second casing 20 is completely accommodated in the first casing 10. The cushioning material 24 can be made of, for example, a sponge so as not to damage the permanent magnet 11. According to such a buffer material 24, it is possible to prevent the permanent magnet 11 from adsorbing to the bottom surface 20 b of the second housing 20. Moreover, according to the buffer material 24, the impact by intense attractive force is made by making a clearance gap between the adjacent permanent magnets 11 (example: between the permanent magnet 11 of the component B of FIG. 1 and the permanent magnet 11 of the component D). Can be relieved.

  The coil case 23 is configured to cover the solenoid 21. The coil case 23 can be made of, for example, a thin and hard resin (for example, polyethylene terephthalate or polyethylene). According to such a coil case 23, the solenoid 21 can be protected and friction with the permanent magnet 11 can be reduced.

  As shown in FIG. 1, the nonlinear spring 12 is in contact with the tip of the solenoid 21 through, for example, a coil case 23 in a state where the second casing 20 is completely accommodated in the first casing 10. Composed. In the figure, the nonlinear spring 12 is schematically shown. The nonlinear spring 12 can be, for example, a spiral spring whose thickness is changed by a steel material or the like, or a disk-shaped steel plate.

  Here, an example of the nonlinear spring 12 will be described with reference to FIG. A nonlinear spring 12 shown in FIG. 6 is a plate-like body made of a material such as a steel material, and a hole through which the permanent magnet 11 can pass is located at the center, and a plurality of cuts extending from the hole are provided. Is provided. And the spring is comprised by curving the front-end | tip (center hole side) of the some part divided by the notch | incision in a predetermined direction. In this embodiment, a non-linear spring may be formed by overlapping similar non-linear springs 12a and 12b having different shapes. Note that the number of plate-like bodies to be superimposed is a matter of design.

  According to such a non-linear spring 12, forces (forces between the permanent magnets) other than the interaction between the permanent magnet 11 and the magnetic field of the solenoid 21 can be sufficiently removed. This unnecessary force is generated more intensely as the solenoid driving device contracts (the distance between the permanent magnets becomes smaller), and becomes a non-linear force with respect to the stroke l. The nonlinear spring 12 can remove the force. Further, the nonlinear spring 12 stores contraction energy in a state where the second casing 20 is housed in the first casing 10. Then, the contraction energy assists an operation in which a part of the second casing 20 comes out of the first casing 10 (an operation in which the solenoid driving device extends).

  The fixing means 25 is used for fixing the solenoid driving device of the present embodiment to a desired location. For example, the fixing means 25 may be a hanging strap. According to such a fixing means, for example, the solenoid driving device of the present embodiment can be connected to a predetermined part of the skeleton to be driven, and the movement of the limb can be realized by the force of the piston movement. FIG. 7A shows a state in which the solenoid driving device of the present embodiment is attached to the upper arm skeleton structure of the human body, and shows a state in which the solenoid driving device is extended, and FIG. 7B shows a state in which the solenoid driving device is similarly attached. In this case, the solenoid driving device is contracted. In the figure, one solenoid driving device is mounted, but a plurality of solenoid driving devices can be mounted.

  Next, the non-uniformly wound conducting wire of the solenoid 21 will be described in detail. In this embodiment, the winding density of the solenoid 21 is adjusted so as to generate a specific function attractive force with respect to the current flowing through the solenoid 21 with respect to the expansion / contraction position 1 of the solenoid driving device. For example, it can be a constant function type for l that always provides a constant driving force for a constant current, and a constant driving force type solenoid driving device is realized.

  FIG. 8 shows a spatial arrangement of the current 30 flowing through the solenoid 21, the virtual current 40 that the first casing 10 and the second casing 20 act on, and the virtual current 50 of the permanent magnet 11. The flows of the solid line current 60 and the broken line current 70 are in opposite directions. These currents are determined, and the driving force generated between the solenoid 21 and the permanent magnet 11 by the interaction between the currents is theoretically calculated.

F _I in FIG. 9 (a), between the permanent magnet 11 in the actually constructed the solenoid driving device (e.g. a permanent magnet of the component B 1, between the permanent magnets of the component D) experimental data to eliminate the attraction (Values plotted with dots on the graph) and theoretical values are shown. The data in FIG. 9A is a result when the permanent magnet 11 is slightly shorter than the length of the solenoid 21 (the length in the left-right direction in FIG. 3), and the data in FIG. This is the result when the length of the solenoid 21 is the same. In FIG. 9 (b), with respect to the force F _I by the current flowing through the solenoid 21, with short stroke l region, it can be seen that the attraction FΦ to the housing of the permanent magnet 11 becomes very strong. In the present embodiment, the attractive force FΦ can be removed by the nonlinear spring 12.

  Drawing 10 (a) shows the number of turns of a coil to expansion stroke position 1 of a solenoid drive device. In this example, the winding density of the conducting wire of the solenoid 21 is highest near both ends in the longitudinal direction, and decreases toward the center. 10B shows that in the case of this example, a constant driving force can be obtained for a constant current in a wide stroke range. Thus, when a functioned number of coil turns is used in accordance with the formation state of the driving device, a constant driving force can be obtained for a constant current regardless of the stroke position l. This is a very important environment for controlling the drive device. Here, the winding density state for the purpose of obtaining a constant driving force with respect to a constant current (in a state where a constant current is flowing) has been described. In accordance with the generation capability of the above, or in accordance with the function of the expansion and contraction motion required by the apparatus, the operation tendency of other driving force can be realized by adjusting the winding density of the coil.

  In the above, an example in which the plurality of first casings 10 and the second casings 20 are connected to form a bellows shape has been described. However, the number of the first casings 10 and the second casings 20 to be connected is designed. This is a matter of interest and is not limited to that shown in FIG. In addition, the solenoid driving device of the present embodiment may be configured by only one first casing 10 and second casing 20.

  In the solenoid drive device of the present embodiment, an attractive force and a repulsive force are generated depending on whether the control current direction is normal or reverse, and the two can be used as the driving force. However, as seen in the movement control function of many animals, this is made possible by controlling the balance of the attractive force that antagonizes the accurate positioning of the posture. For this reason, in this embodiment, it can also be comprised so that only the attractive force control in a positive direction current may be performed. In such a case, accurate motion control is facilitated, and quick and accurate braking is possible even when the inertial force of the mass is applied. Such control theory of antagonistic force is applicable to control of general mechanical devices. In the present embodiment, a solenoid drive device is realized that enables precise motion control of a device in which such inertial force is applied. This is indispensable as a drive unit for a pure humanoid robot.

  Although not shown, the solenoid device of the present embodiment may have a sensor that grasps the state of the stroke position l. For example, various modes are conceivable, such as a pin wound type that winds a resistance wire in accordance with the stroke position l and reads the resistance corresponding to the length, or reads a change in resistance on the contact surface of the electrode.

<Second Embodiment>
The solenoid drive device of the present embodiment is different from the first embodiment in the configuration of the first housing, the second housing, and the electrodes. Since other configurations are the same as those of the first embodiment, description thereof is omitted here. FIG. 11 is a schematic cross-sectional view showing an example of the solenoid of the present embodiment, and corresponds to FIG. 3 of the first embodiment.

  The first housing 13 has a cylindrical side wall 13a having a relative permeability of 600 or more and formed of a conductive material (eg, iron). In addition to the cylindrical shape, the cylindrical shape here includes a cylindrical shape whose cross section is a triangle, a square, other polygons, and other shapes. One end face (left end face in the figure) of the cylinder (side wall 13a) of the first casing 13 is opened, and the other end face (right end face in the figure) is closed to form a bottom face 13b. The bottom surface 13b can be formed of a non-conductive material (eg, ferrite such as MnZn) having a relative magnetic permeability of 600 or more. In addition, it is preferable that there is no gap as much as possible between the side wall 13a and the bottom surface 13b.

  The second casing 26 has a cylindrical side wall 26a having a relative magnetic permeability of 600 or more and formed of a conductive material (for example, iron). The side wall 26 a is electrically connected to the solenoid 21. The means for electrically connecting the side wall 26a and the solenoid 21 is not particularly limited. In addition to the cylindrical shape, the cylindrical shape here includes a cylindrical shape whose cross section is a triangle, a square, other polygons, and other shapes. One end face (right end face in the figure) of the cylinder (side wall 26a) of the second casing 26 is open, and the other end face (left end face in the figure) is closed to form a bottom face 26b. The bottom surface 26b can be formed of a non-conductive material (eg, ferrite such as MnZn) having a relative magnetic permeability of 600 or more. It should be noted that there is preferably no gap as much as possible between the side wall 26a and the bottom surface 26b.

  Here, as shown in FIG. 12, as in the first embodiment, the second casing 26 is configured so that the permanent magnet 11 is contained in the solenoid 22 (the conductive wire of the solenoid 21 wound in a spiral shape is provided). The permanent magnet 11 is housed in the first housing 13 so that the permanent magnet 11 is inserted into the created internal space. At this time, the second housing 26 is stored such that the outer surface of the side wall 26 a of the second housing 26 is in contact with the inner surface of the side wall 13 a of the first housing 13.

  In such an embodiment, the side wall 13a of the first housing 13 and the side wall 26a of the second housing 26 also function as electrodes that allow current to flow through the solenoid 22. For this reason, the number of parts can be reduced, and excellent effects such as weight reduction can be realized.

  Further, by forming the bottom surface 13b of the first housing 13 and the bottom surface 26b of the second housing 26 with a non-conductive magnetic material, the solenoid 22 and the permanent magnet 11 are emitted as in the first embodiment. The magnetic flux can be prevented from leaking to the outside, and the occurrence of overcurrent can be prevented against a sudden change in the current flowing through the solenoid 22.

  Here, FIG. 13 shows an example of the side wall 13a of the first housing 13 and the side wall 26a of the second housing 26 of the present embodiment. The side wall 13a of the first housing 13 and the side wall 26a of the second housing 26 shown in FIG. 13 correspond to those included in the parts B and C shown in FIG.

  As illustrated, the side wall 13a of the first housing 13 and the side wall 26a of the second housing 26 are separated into two by two slits extending from one end surface toward the other end surface. It may be.

The side wall 13a of the first housing 13 and the side wall 26a of the second housing 26 in FIG. 13 are both divided into two, and each share the role of a magnetic path and an electrode. These can be produced, for example, by deforming a general iron pipe. The iron in the case of pipe relative permeability mu _S is applied as a relatively high permeability member with approximately 600 to 700, the volume resistivity ρ be kept lower resistance 10~20 × ^{10 -8} Ω · m it can.

  Moreover, you may form a housing | casing junction part by processing the edge of this member. The housing joint is a structure for joining the parts B and C shown in FIG. 2 and joining the parts D and E together.

  FIG. 14 is a plan view of the side wall 13a of the first housing 13 and the side wall 26a of the second housing 26, and when folded into a cylindrical shape, one side of the side wall 13a in FIG. And the one side of the side wall 26a is comprised. Reference numeral 39 in FIG. 14 shows an example of the folding method, which is designed to form a connecting portion by overlapping portions folded into a hand shape by rotation. The coupling mechanism may be either a rotary type or a slide type, and any joint form that has already been announced. By connecting the joint, the parts B and C are connected.

  When such a housing joint portion is provided, it is easy to connect and disassemble a plurality of parts. For example, FIG. 1 and FIG. 2 show examples in which the parts A to F are combined, but further, adjustment to easily combine other parts or remove some parts can be easily realized. Also, for example, a plurality of parts with different standards may be prepared, such as changing the winding density of the solenoid 21 or changing the standard of the permanent magnet 11, and these may be arbitrarily connected or disassembled. Thus, various standard solenoid drive devices can be easily realized.

  According to the present embodiment, in addition to the above-described operational effects, the same operational effects as those of the first embodiment can be realized.

DESCRIPTION OF SYMBOLS 10 1st housing | casing 10a Side wall 10b Bottom surface 11 Permanent magnet 12 Non-linear spring 12a Non-linear spring 12b Non-linear spring 13 1st housing | casing 13a Side wall 13b Bottom surface 20 2nd housing | casing 20a Side wall 20b Bottom surface 21 Solenoid 22 Electrode 23 Coil case 24 Buffer material 25 Fixing means 26 Second housing 26a Side wall 26b Bottom surface

Claims (8)

A first housing having a cylindrical side wall made of a material having a relative permeability of 600 or more, one end face being open and the other end face being closed to form a bottom face;
A permanent magnet located inside the first housing, supported by the bottom surface and extending toward the opening;
A second housing having a cylindrical side wall made of a material having a relative magnetic permeability of 600 or more, one end face being open and the other end face being closed to form a bottom face;
A solenoid located within the second housing and having a non-uniform winding density of the conductor;
An electrode connected to the solenoid;
Have
The second housing is housed in the first housing so that the permanent magnet is contained in the solenoid, and at least a part of the second housing is housed in the first housing. Solenoid drive that can enter and exit. In the solenoid drive device according to claim 1,
A solenoid driving device in which the winding density of the conducting wire of the solenoid is highest near both ends in the longitudinal direction and decreases toward the center. A first casing having a cylindrical side wall made of a conductive material having a relative magnetic permeability of 600 or more, one end face being open and the other end face being closed to form a bottom face;
A permanent magnet located inside the first housing, supported by the bottom surface and extending toward the opening;
A second housing having a cylindrical side wall made of a conductive material having a relative magnetic permeability of 600 or more, one end face being open, and the other end face being closed to form a bottom face;
A solenoid located inside the second housing and connected to the side wall of the second housing;
In the second casing, the outer surface of the side wall of the second casing is in contact with the inner surface of the side wall of the first casing so that the permanent magnet is included in the solenoid. As described above, the solenoid drive device is housed in the first housing and can enter and exit the first housing in a state where at least a part of the housing is housed in the first housing. In the solenoid drive device according to claim 3,
A solenoid driving device in which the bottom surfaces of the first casing and the second casing are formed of a non-conductive material having a relative magnetic permeability of 600 or more. In the solenoid drive device according to claim 3 or 4,
The solenoid driving device in which the side walls of the first casing and the second casing are separated into two by two slits extending from one end face of the cylindrical side wall toward the other end face. . In the solenoid drive device according to any one of claims 1 to 5,
A solenoid provided on the bottom surface of the second casing is provided with a cushioning material in contact with the tip of the permanent magnet in a state where the second casing is completely accommodated in the first casing. Drive device. In the solenoid drive device according to any one of claims 1 to 6,
Solenoid drive provided on the bottom surface of the first housing with a non-linear spring in contact with the tip of the solenoid in a state where the second housing is completely housed in the first housing apparatus. In the solenoid drive device according to claim 7,
The solenoid is covered with a coil case made of resin,
The non-linear spring is a solenoid driving device in contact with the solenoid through the coil case.