JP2014206220A - Magnetic spring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a magnetic spring device having a constant force region where a spring force is almost constant to displacement, capable of changing a magnitude of the spring force, and fundamentally not requiring electric power.SOLUTION: A magnetic body 1-1 is applied as a first yoke portion, a magnetic body 1-2 is applied as a second yoke portion, a magnetic body 1-3 is applied as a connection yoke portion, a permanent magnet (movable element) 2 is disposed between opposed faces of the yoke portions 1-1, 1-2, and the yoke portions 1-1, 1-2 are magnetically connected by the connection yoke portion 1-3. Thus an absolute value of the force Fz generated in the movable shaft direction (Z-axis direction) of the movable element 2 can be increased, and further a constant region (constant force region) of the force Fz can be enlarged. A facing distance d between the movable element 2 and the yoke portions 1-1, 1-2 is adjustable, and a magnitude of the force Fz can be changed according to the facing distance d while almost keeping the constant force region.

Description

  The present invention relates to a magnetic spring device that uses a magnetic attractive force as a magnetic spring force.

  In various applications such as automatic assembly of parts, pressing of electrodes, suction nozzles for small precision parts such as IC chips, probes for shape measuring instruments, polishing heads, machine tools, etc. There are many cases where a constant spring is necessary, and there is also a great need for easily adjusting the spring force as necessary. In mechanical springs, the spring length is increased to reduce the force change with respect to displacement, but the size increases and the spring force does not change unless the spring length is changed greatly. It becomes difficult to adjust.

  On the other hand, in Patent Document 1, FIG. 29 shows a configuration of the main part (FIG. 29A is an axial sectional view, and FIG. 29B is a view of FIG. 29A viewed from the X direction). A magnetic spring 300 as shown is shown. The magnetic spring 300 includes a movable shaft 302 that is movable in the axial direction by bearings 301, 301, a movable inner cylinder 303 that is fixed to the movable shaft 302, and a fixed shaft that is disposed coaxially with the movable shaft 303. The outer cylinder 304 is formed with a permanent magnet, and the outer cylinder 304 is formed with a magnetic material. A configuration in which the inner cylinder 303 is a magnetic body and the outer cylinder 304 is a permanent magnet is shown as another example.

  In the magnetic spring 300, a spring force is generated by the magnetic force between the inner cylinder 303 and the outer cylinder 304 that are attracted in the axial direction. Accordingly, as shown in FIG. 30, the relationship between the stroke of the movable shaft and the spring force shown in FIG. 9 of Patent Document 1 is transcribed, and the force constant region where the spring force is substantially constant with respect to the displacement ( Can have a low rate of change of force).

  Further, Patent Document 2 shows a spring constant variable magnetic spring device 400 whose configuration is shown in FIG. The variable spring constant type magnetic spring device 400 includes a mover 403 composed of a permanent magnet 401 and a ferromagnetic body 402, and stators 406 and 406 composed of a coil 404 and a ferromagnetic body 405. The magnetic attraction force generated by the magnetic spring generates a magnetic spring force, the amount of magnetic flux flowing from the mover 403 to the stator 406, the current flowing through the coil 404, or the size of the gap between the mover 403 and the stator 406 Alternatively, it includes a magnetic circuit that can adjust the spring force of the magnetic spring by adjusting the permanent magnet 401 by exchanging it with one having a different coercive force.

JP 2004-68906 A JP 2004-360747 A

  However, the magnetic spring described in Patent Document 1 has a problem that the spring force cannot be adjusted. Further, in the spring constant variable magnetic spring device described in Patent Document 2, when a coil current is used for adjusting the spring force, electric power is always required and heat is generated.

  In the spring constant variable magnetic spring device described in Patent Document 2, these problems are solved when the size of the gap between the mover and the stator or the replacement of the permanent magnet is solved. There are the following structural problems regarding performance.

  That is, as shown in the name of the device as “variable spring constant”, and as shown in FIG. 32 with the characteristics shown in FIG. There is a problem that there is basically no constant force region (region where the rate of change in force is small) where the spring force is almost constant with respect to displacement only in a region with a constant (region where the spring force changes (proportional)). is there.

  The present invention has been made in order to solve such a problem. The object of the present invention is to provide a constant force region (region where the rate of change in force is small) in which the spring force is substantially constant with respect to displacement. It is an object of the present invention to provide a magnetic spring device that can hold and change the magnitude of the spring force and basically does not require electric power. It is further preferable to provide a magnetic spring device in which the range of the constant force region (region where the rate of change in force is small) is widened.

  In order to achieve such an object, the present invention provides a magnetic spring device that uses a magnetic attraction force as a magnetic spring force, and includes a first yoke portion and a second yoke portion having opposing surfaces facing each other at a distance. And a connecting yoke portion that forms a magnetic path between the first yoke portion and the second yoke portion by magnetically connecting between the first yoke portion and the second yoke portion. Between the opposing surface of the opposing yoke portion and a direction substantially orthogonal to the opposing direction of the first yoke portion and the second yoke portion as a movable axis direction. A mover made of a permanent magnet having at least a pair of magnetic poles at positions facing each other across the shaft, and one of the pair of magnetic poles of the mover face each other with a distance from the first yoke portion, and the pair of magnetic poles of the mover The other of the first and second yoke parts face each other at a distance from the first yoke part. Characterized in that it comprises a distance adjusting means for enabling adjustment of the facing distance between the facing distance and the second yoke portion and the movable element between Doko.

  In this invention, the connecting yoke portion serves as a magnetic path between the first yoke portion and the second yoke portion of the opposing yoke portion, and the space between the first yoke portion and the second yoke portion of the opposing yoke portion is between Magnetically connected. Thereby, for example, if one of the magnetic poles of the mover is an N pole and the other magnetic pole of the mover is an S pole, the magnetic flux emitted from one of the magnetic poles of the mover enters the first yoke portion of the opposing yoke portion, The first yoke portion passes through the connecting yoke portion, enters the second yoke portion of the opposing yoke portion from the connecting yoke portion, and is returned to the other magnetic pole of the mover. As a result, in the present invention, the absolute value of the force generated in the movable axis direction with respect to the displacement of the mover in the movable axis direction is increased, and a constant region (force constant region) of the force generated in the movable shaft direction is further increased. Is enlarged. Further, since a permanent magnet is used, basically no electric power is required for generating a magnetic force.

  In the present invention, the facing distance between the first yoke portion and the mover and the facing distance between the second yoke portion and the mover can be adjusted. The distance adjusting means that can adjust the facing distance between the first yoke portion and the mover and the facing distance between the second yoke portion and the mover can independently adjust each facing distance. It is also possible to use a mechanism that changes each facing distance symmetrically about the movable axis of the mover. Thereby, in the present invention, when the facing distance between the first yoke portion and the mover and the facing distance between the second yoke portion and the mover are adjusted, the force constant region is maintained substantially. The magnitude of the force can be changed according to the facing distance.

  According to the present invention, the first yoke portion and the second yoke portion of the opposing yoke portion are magnetically connected by the connecting yoke portion, and the connecting yoke portion is connected to the first yoke portion and the second yoke portion. Since the magnetic path between the first yoke portion and the mover and the distance between the second yoke portion and the mover can be adjusted. , It has a constant force region (region where the rate of change of force is small) where the spring force is almost constant with respect to the displacement, and the magnitude of the spring force can be changed, and basically no power is required. A magnetic spring device can be provided.

It is a figure which shows the structure of the principal part of the magnetic spring apparatus used as the foundation of this invention. It is a figure which shows a mode that the force Fz (magnetic spring force) of a Z-axis direction generate | occur | produces in this magnetic spring apparatus. It is a figure which shows the relationship between the position shift of the Z-axis direction of the magnetic body and permanent magnet in this magnetic spring apparatus, and the force Fz (magnetic spring force) of a Z-axis direction. It is a figure which shows the structure of the principal part of the magnetic spring apparatus which concerns on this invention. It is a figure which shows the relationship between the position shift of the Z-axis direction of the magnetic body and permanent magnet in this magnetic spring apparatus, and the force Fz (magnetic spring force) of a Z-axis direction. In this magnetic spring device, the displacement of the magnetic body and the permanent magnet in the Z-axis direction and the force in the Z-axis direction when the distance d between the surfaces of the pair of opposing magnetic bodies and the respective magnetic pole faces of the permanent magnet is changed. It is a figure which shows the relationship with Fz (magnetic spring force). It is a figure which shows the example which gave slight inclination to the surface of a pair of opposing magnetic body. It is a figure which shows the example which provided the hollow or protrusion in the surface of a pair of opposing magnetic body. When the surface of a pair of opposing magnetic bodies is slightly inclined, the Z-axis direction force Fz is generated even when the permanent magnet does not protrude in the Z-axis direction from between the opposing surfaces of the magnetic body. FIG. The relationship between the Z axis displacement and the force Fz (magnetic spring force) in the Z-axis direction between the magnetic body and the permanent magnet when the surfaces of the pair of opposing magnetic bodies are parallel and slightly inclined is used. It is a figure shown in comparison. It is a figure which shows the 1st example of the mechanism (distance adjustment means) which can adjust the facing distance d between a pair of opposing magnetic body and a permanent magnet. It is a figure which shows the 2nd example of the mechanism (distance adjustment means) which can adjust the facing distance d between a pair of opposing magnetic body and a permanent magnet. It is a figure which shows the 3rd example of the mechanism (distance adjustment means) which enables adjustment of the facing distance d between a pair of opposing magnetic body and a permanent magnet. It is a perspective view which shows the principal part of one Embodiment of the magnetic spring apparatus which concerns on this invention. It is a figure which shows the generation | occurrence | production state of the magnetic spring force when the external force is applied in the direction of pressing against the shaft in this magnetic spring device and when the external force is applied in the pulling direction. It is a figure which shows an example by providing a linear guide (bush) between the opposing surfaces of a 1st yoke part and a 2nd yoke part. It is a figure which shows the example which attached the start point stopper to the needle | mover, attached the end point stopper to the shaft, and restrict | limits the moving range of the needle | mover's movable axis direction (Z-axis direction). It is a figure which shows the example which integrated the opposing yoke part and the connection yoke part. It is a figure which shows the example which used the needle | mover as the cylindrical permanent magnet, and the example made into the prismatic permanent magnet. It is a figure which shows the example which made the opposing surface of a pair of yoke part arc-shaped according to the outer peripheral surface of a needle | mover, when a needle | mover is made into a column shape or cylindrical shape. It is a figure which shows the example which provided the connection yoke part not only in the one side of the end surface of an orthogonal direction with the movable axis | shaft of a pair of yoke part but in both sides. It is a figure which shows the example which provided the connection yoke part on both sides of the end surface of the movable axis direction of a pair of yoke part. It is a figure which shows the example which provided the connection yoke part only in the arbitrary ranges of the end surface one side orthogonal to the movable axis of a pair of yoke part. It is a figure which illustrates the mechanism (distance adjustment mechanism) which changes the distance d between a pair of yoke part and a needle | mover. It is a figure which shows another example (example using a link mechanism) of a distance adjustment mechanism. It is a figure which shows another example (example using the moving direction conversion mechanism) of the distance adjustment mechanism. It is a figure which shows another example (example using a cam mechanism) of a distance adjustment mechanism. It is a figure which shows another example (example using the rack and pinion mechanism) of a distance adjustment mechanism. It is a figure which shows the structure of the principal part of the magnetic spring shown by patent document 1. FIG. FIG. 10 is a diagram showing the relationship between the stroke of the movable shaft and the spring force shown in FIG. It is a figure which shows the structure of the principal part of the spring constant variable type magnetic spring apparatus shown by patent document 2. FIG. It is a figure which transcribe | transfers and shows the characteristic shown by FIG. 3 of patent document 2. FIG.

  Hereinafter, the present invention will be described in detail with reference to the drawings. First, the principle of the present invention will be described before the description of the embodiment of the magnetic spring device according to the present invention.

[Principle of the Invention]
FIG. 1 shows a configuration of a main part of a magnetic spring device as a basis of the present invention (FIG. 1A is a plan view and FIG. 1B is a front view). As shown in this figure, between the magnetic bodies 1-1 and 1-2 having a pair of opposing surfaces of length L in the direction of a certain axis (defined as the Z axis) (about the center), the Z axis A permanent magnet 2 having a length L in the direction and having a magnetic pole surface perpendicular to the Z-axis direction is disposed, and one magnetic pole surface of the permanent magnet 2 faces the surface of the magnetic body 1-1, and the magnetic body 1-2. When the other magnetic pole surface of the permanent magnet 2 faces the surface of the magnetic material 1-1, the surfaces of the magnetic bodies 1-1 and 1-2 having the length L and the permanent magnet 2 (magnetic pole surface) having the length L are in the Z-axis direction. , Only the magnetic attractive force Fx acts in the direction orthogonal to the Z axis, and no force is generated in the Z axis direction.

  However, when they deviate in the Z-axis direction, the magnetic attractive force Fx is inclined in the Z-axis direction near the ends of the surfaces of the magnetic bodies 1-1 and 1-2 on the side from which the permanent magnet 2 protrudes. A force Fz in the Z-axis direction is generated (see FIG. 2A). When the deviation in the Z-axis direction increases, the magnitude of the magnetic attractive force Fx tilted in the Z-axis direction decreases, but the ratio of the decomposition vector Fz in the Z-axis direction increases (FIG. 2B). reference). As a result, in the region from when the permanent magnet 2 starts to shift in the Z-axis direction from the surfaces of the magnetic bodies 1-1 and 1-2 and then comes out, the force in the Z-axis direction becomes substantially constant with respect to the displacement. A constant force region (region where the rate of change in force is small) appears (see FIG. 3).

  FIG. 4 shows the configuration of the main part of the magnetic spring device according to the present invention (FIG. 4 (a) is a plan view and FIG. 4 (b) is a front view). As shown in this figure, the inventor places the magnetic body 1-3 between the pair of opposing magnetic bodies 1-1 and 1-2 at a position where the direct influence from the permanent magnet 2 can be ignored. And the magnetic flux between the pair of magnetic bodies 1-1 and 1-2 flows, the absolute value of the force Fz generated in the Z-axis direction increases, and the constant region of the force Fz ( It was found that the (force constant region) can be enlarged (see FIG. 5). Further, when the distance (face-to-face distance) d between the surfaces of the pair of opposing magnetic bodies 1-1 and 1-2 and the respective magnetic pole surfaces of the permanent magnet 2 is changed in this state, the constant force region is substantially maintained. As it is, it was found that the magnitude of the force Fz can be changed according to the facing distance d (see FIG. 6).

  In the case of only a pair of opposing magnetic bodies 1-1 and 1-2, the magnetic flux flowing path in the space between the magnetic bodies 1-1 and 1-2 is in the Z-axis direction of the permanent magnet 2. The change in the magnetic attractive force Fx (that is, the change in the magnetic spring characteristics) also changes greatly depending on the position and the distance between the surfaces of the opposing magnetic bodies 1-1 and 1-2 and the magnetic pole surfaces of the permanent magnet 2. Whereas it was large, the flow of magnetic flux was concentrated and stabilized on the magnetic body 1-3 connecting the opposing magnetic bodies 1-1 and 1-2, so that the position of the permanent magnet 2 in the Z-axis direction, Regardless of the distance between the faces of the opposing magnetic bodies 1-1 and 1-2 and the magnetic pole faces of the permanent magnet 2, the faces of the magnetic bodies 1-1 and 1-2 and the permanent magnet with opposite characteristics of the magnetic spring This is because only the position state between the two magnetic pole faces is affected.

  In addition, the inventor gives a slight inclination to the surfaces of the pair of opposing magnetic bodies 1-1 and 1-2 (see the inclination angle θ shown in FIG. 7), or adds depressions or protrusions (shown in FIG. 8). A suitable gradient in the Z-axis direction (opposing magnetic body) in the magnetic resistance of the space between the surface of the pair of opposing magnetic bodies 1-1, 1-2 and the magnetic pole surface of the permanent magnet 2 1-1, 1-2, the Z-axis direction end of one of the Z-axis direction end portions has a large magnetic resistance and a gradient that decreases the other end). It has been found that the constant force region (region where the rate of change in force is small) can be further expanded with respect to the displacement of the permanent magnet 2.

  That is, when the surfaces of the pair of opposing magnetic bodies 1-1 and 1-2 and the magnetic pole surface of the permanent magnet 2 are parallel, as shown in FIG. 1, the permanent magnet 2 has a pair of opposing magnetic bodies 1- In a state where it does not protrude in the Z-axis direction from between the surfaces of 1 and 1-2, only the magnetic attractive force Fx acts in the direction orthogonal to the Z-axis, and no force Fz is generated in the Z-axis direction. However, by giving an appropriate gradient in the Z-axis direction to the magnetoresistance of the space between the surfaces of the pair of opposing magnetic bodies 1-1 and 1-2 and the magnetic pole surface of the permanent magnet 2, for example, as shown in FIG. As shown, the magnetic attraction force Fx is inclined in the Z-axis direction even when the permanent magnet 2 does not protrude in the Z-axis direction from between the surfaces of the pair of opposing magnetic bodies 1-1 and 1-2. Since the force Fz in the Z-axis direction is generated, the force characteristic with respect to the displacement is flattened (see FIG. 10). In this case, the maximum generated force is reduced by flattening, but the generated force is reduced by reducing the distance between the surfaces of the pair of opposing magnetic bodies 1-1 and 1-2 and the magnetic pole surface of the permanent magnet 2. Can be canceled.

  In the example shown in FIG. 4, the facing distance d between the magnetic body (first yoke part) 1-1 and the permanent magnet (mover) 2 and the magnetic body (second yoke part) 1-2 are shown. The facing distance d between the magnetic body 1-1 and 1-2 and the permanent magnet (movable element) 2 is more magnetic than the facing distance d between the magnetic bodies 1-1 and 1-2 and the permanent magnet (movable element) 2. The facing distance e between the body (connection yoke part) 1-3 and the permanent magnet (mover) 2 is increased. As a result, the pair of opposing magnetic bodies 1-1 and 1-2 are magnetically coupled by the magnetic body 1-3 at a position that is far enough to ignore the direct influence from the permanent magnet 2. .

  FIG. 4 does not show a mechanism (distance adjusting means) that can adjust the facing distance d between the magnetic bodies 1-1, 1-2 and the permanent magnet 2, but for example, FIG. 12, By adopting a mechanism as shown in FIG. 13, the facing distance d between the magnetic bodies 1-1 and 1-2 and the permanent magnet 2 can be adjusted.

  For example, in the example shown in FIG. 11 (first example), a pedestal 21 made of a nonmagnetic material having a passage hole 21a for the permanent magnet 2 is provided at the center, and the outer surfaces of the magnetic bodies 1-1 and 1-2 are not provided. L-shaped mounting members 22-1 and 22-2 made of magnetic material are fixed, and the L-shaped mounting members 22-1 and 22-2 are fixed to the base 21 with bolts 23-1 and 23-2. Thus, the magnetic bodies 1-1 and 1-2 are arranged to face both sides of the permanent magnet 2. Long holes 22-1a and 22-2a are formed in the L-shaped attachment members 22-1 and 22-2, and bolts screwed into the base 21 through the long holes 22-1a and 22-2a. 23-1 and 23-2 are loosened and the positions of the L-shaped mounting members 22-1 and 22-2 are adjusted so that the surfaces of the magnetic bodies 1-1 and 1-2 and the permanent magnet 2 face each other. The distance d can be adjusted.

  In the example shown in FIG. 12 (second example), a pedestal 21 made of a non-magnetic material having a passage hole 21a for the permanent magnet 2 is provided in the central portion, and the lower ends of the magnetic bodies 1-1 and 1-2 are provided outward. The bent attachment portions 1-1a and 1-2a are integrally formed, and the attachment portions 1-1a and 1-2a are fixed to the pedestal 21 with bolts 23-1 and 23-2. −1 and 1-2 are arranged to face both sides of the permanent magnet 2. Slots 1-1b, 1-2b are formed in the mounting portions 1-1a, 1-2a, and bolts 23-1, screwed into the base 21 through the slots 1-1b, 1-2b, The facing distance d between the magnetic bodies 1-1 and 1-2 and the permanent magnet 2 can be adjusted by loosening 23-2 and adjusting the positions of the mounting portions 1-1a and 1-2a. .

  In the example shown in FIG. 13 (third example), the width of the magnetic body 1-3 is widened, and the mounting portion is bent outward on the end surfaces of the magnetic bodies 1-1 and 1-2 on the magnetic body 1-3 side. 1-1c and 1-2c are integrally formed, and the mounting portions 1-1c and 1-2c are fixed to the magnetic body 1-3 with bolts 23-1 and 23-2, thereby allowing the magnetic body 1-1 to be fixed. , 1-2 are arranged to face both sides of the permanent magnet 2. Slots 1-1d, 1-2d are formed in the mounting portions 1-1c, 1-2c, and bolts 23 screwed into the magnetic body 1-3 through the slots 1-1d, 1-2d. The facing distance d between the magnetic bodies 1-1 and 1-2 and the permanent magnet 2 is adjusted by loosening the -1 and 23-2 and adjusting the positions of the mounting portions 1-1c and 1-2c. be able to.

  Thus, the mechanism (distance adjusting means) that can adjust the facing distance d between the magnetic bodies 1-1, 1-2 and the permanent magnet 2 can be manufactured by the yoke itself or by a separate member. However, it is preferable to avoid a structure in which a hole or a stress is applied to the magnetic path portion of the yoke through which the magnetic flux flows.

  In FIG. 4, the space between the opposing surfaces of the magnetic bodies 1-1 and 1-2 is a space, but the space between the opposing surfaces of the magnetic bodies 1-1 and 1-2 is not limited to the space. For example, the space other than the moving space of the permanent magnet 2 may be made of a non-magnetic material.

Embodiment
FIG. 14 is a perspective view showing a main part of an embodiment of the magnetic spring device according to the present invention. This magnetic spring device 100 is based on the configuration shown in FIG. 4 and has magnetic bodies 1-1, 1-2 having a pair of opposing surfaces having a length L in the Z-axis direction, and magnetic bodies 1-1, 1. -2 (about the center), and a magnetic body 1-3 that magnetically connects the magnetic bodies 1-1 and 1-2. The permanent magnet 2 has a length L in the Z-axis direction and has a magnetic pole surface in the direction orthogonal to the Z-axis direction, like the magnetic bodies 1-1 and 1-2.

  In this magnetic spring device 100, the magnetic body 1-1 corresponds to the first yoke portion in the present invention, the magnetic body 1-2 corresponds to the second yoke portion, and the magnetic body 1-3 is connected. The permanent magnet 2 corresponds to a yoke and corresponds to a mover. Hereinafter, the magnetic body 1-1 is referred to as a first yoke portion, the magnetic body 1-2 is referred to as a second yoke portion, the magnetic body 1-3 is referred to as a connecting yoke portion, and the permanent magnet 2 is referred to as a mover. In addition, the 1st yoke part 1-1 and the 2nd yoke part 1-2 may be only called a yoke part.

  In the magnetic spring device 100, the first yoke part 1-1 and the second yoke part 1-2 are opposed to each other with a distance therebetween, and constitute a counter yoke part 1-4. Further, the connecting yoke portion 1-3 magnetically connects the first yoke portion 1-1 and the second yoke portion 1-2 so that the first yoke portion 1-1 and the second yoke portion 1-2 are connected to each other. It becomes a magnetic path between the yoke portions 1-2. The opposing yoke portion 1-4 and the connecting yoke portion 1-3 constitute the stator 1.

  In this magnetic spring device 100, the mover 2 has a cylindrical shape, and the shaft 3 is connected to both ends thereof. The shaft 3 is a non-magnetic material. In the following, an integrated body composed of the movable element 2 and the shaft 3 is referred to as a movable body and is denoted by reference numeral 4. The movable body 4 is provided so as to be movable in the Z-axis direction. That is, the movable body 4 has the Z-axis direction as the movable axis direction.

  The movable axis direction of the movable body 4 (movable axis direction of the movable element 2) is a direction orthogonal to the opposing direction of the first yoke part 1-1 and the second yoke part 1-2. Further, the movable axis direction of the movable body 4 (the movable axis direction of the movable element 2) is regulated by inserting both ends of the shaft 3 into the linear guides (bush) 5-1 and 5-2. The linear guides (bush) 5-1 and 5-2 are provided in the linear guide holders 6A1 and 6A2 attached to both ends of the base plate 6B with their positions fixed.

  In this magnetic spring device 100, the facing distance d between the first yoke part 1-1 and the mover 2 is equal to the facing distance d between the second yoke part 1-1 and the mover 2. The facing distance e between the connecting yoke portion 1-3 and the mover 2 is made larger than the facing distance d between the yoke portions 1-1 and 1-2 and the mover 2. As a result, the pair of opposing yoke portions 1-1 and 1-2 are magnetically coupled by the coupling yoke portion 1-3 at a position separated so that the direct influence from the mover 2 can be ignored. Yes.

  The state shown in FIG. 14 shows a state in which the mover 2 is located at the center position (origin position) of the movement range in the movable axis direction (Z-axis direction). At the origin position of the mover 2, the mover 2 is positioned between the opposed surfaces of the opposed yoke portion 1-4, and all of one magnetic pole surface (N pole in this example) is the first yoke portion 1-1. The other magnetic pole face (in this example, the S pole) faces the surface of the second yoke portion 1-2 with a distance. In other words, the surfaces of the yoke portions 1-1 and 1-2 having a length L (surfaces of magnetic bodies) and the mover 2 having a length L (the magnetic pole surfaces of permanent magnets) overlap each other in the Z-axis direction. In this case, as described with reference to FIG. 1, only the magnetic attractive force Fx acts in the direction orthogonal to the Z axis, and no force is generated in the Z axis direction.

  In this state, the pair of opposing yoke portions 1-1 and 1-2 are magnetically coupled by the coupling yoke portion 1-3, and the magnetic flux between the pair of yoke portions 1-1 and 1-2 is increased. Flowing. That is, the magnetic flux emitted from the N pole of the mover 2 enters the first yoke portion 1-1 of the opposing yoke portion 1-4, and is connected from the first yoke portion 1-1 through the connecting yoke portion 1-3. The yoke portion 1-3 enters the second yoke portion 1-2 of the counter yoke portion 1-4 and is returned to the S pole of the mover 2.

  From this state, for example, as shown in FIG. 15 (a), when an external force is applied in the pressing direction to the shaft 3, the side from which the mover 2 pops out as described with reference to FIG. 2 (a). Near the ends of the surfaces of the yoke portions 1-1 and 1-2, the magnetic attractive force Fx is inclined in the Z-axis direction, and a force Fz in the Z-axis direction is generated as a decomposition vector thereof.

  When the deviation in the Z-axis direction increases, as described with reference to FIG. 2B, the magnitude of the magnetic attractive force Fx tilted in the Z-axis direction decreases. The ratio of the vector Fz increases.

  As a result, as a result, the force in the Z-axis direction becomes substantially constant with respect to the displacement in the region from when the mover 2 starts to shift in the Z-axis direction from the surfaces of the yoke parts 1-1 and 1-2. A constant force region (region where the rate of change of force is small) appears.

  In this case, in the present embodiment, the yoke portions 1-1 and 1-2 are magnetically connected by the connecting yoke portion 1-3, and the magnetic flux flows through the connecting yoke portion 1-3. As described in the principle of the invention, the absolute value of the force Fz generated in the Z-axis direction is increased, and the constant region (constant force region) of the force Fz is further expanded (see FIG. 5).

  Further, when a distance adjusting mechanism as will be described later is provided to change the distance d between the surfaces of the pair of opposing yoke portions 1-1 and 1-2 and the respective magnetic pole surfaces of the mover 2, that is, the yoke portion. When the facing distance d between 1-1 and 1-2 and the mover 2 is changed, the magnitude of the force Fz can be changed according to the facing distance d while maintaining a constant force region. (See FIG. 6).

  As shown in FIG. 15B, even when an external force is applied to the shaft 3 in the pulling direction, the direction of the magnetic spring force is reversed, and a constant force region is obtained in the same manner as described above. Further, by changing the facing distance d between the yoke portions 1-1 and 1-2 and the movable element 2, the magnitude of the force Fz is changed according to the facing distance d while maintaining the constant force region. Can be changed.

  In the magnetic spring device 100 shown in FIG. 14, the movable shaft direction of the mover 2 is restricted by inserting both ends of the shaft 3 into linear guides (bush) 5-1 and 5-2. As shown in FIG. 16, a linear guide (bush) 7 is provided between the opposing surfaces of the first yoke part 1-1 and the second yoke part 1-2 in a state where the position is fixed. You may make it regulate the movable-axis direction of the needle | mover 2 with the guide (bush) 7. FIG.

  In addition, as shown in FIG. 17, the start point stopper 8-1 is attached to the mover 2 and the end point stopper 8-2 is attached to the shaft 3, so that the movement range of the mover 2 in the movable axis direction may be limited. . In this example, the movement of the mover 2 in the downward direction is restricted by the contact of the end point stopper 8-2 attached to the shaft 3 with the linear guide (bush) 7, and the movement of the mover 2 in the upward direction is restricted. The start point stopper 8-1 attached to the mover 2 is regulated by contact with the linear guide (bush) 7. In this example, both the start point stopper 8-1 and the end point stopper 8-2 are provided, but only one of them may be provided.

  Further, in the magnetic spring device 100 shown in FIG. 14, the opposing yoke portion 1-4 and the connecting yoke portion 1-3 are separated, but the opposing yoke portion 1-4 and the connecting yoke portion 1-3 are integrated. It may be allowed. That is, in the magnetic spring device 100 shown in FIG. 14, the connecting yoke portion 1-3 is brought into contact with the yoke portions 1-1 and 1-2 of the opposing yoke portion 1-4, and the connecting yoke portion 1-3 is connected to the opposing yoke portion. Although it is magnetically attracted to 1-4, the opposing yoke portion 1-4 and the connecting yoke portion 1-3 may be integrated.

  FIG. 18 shows an example in which the opposing yoke portion 1-4 and the connecting yoke portion 1-3 are integrated. In this example, as shown in FIGS. 18 (a) and 18 (b), the connecting yoke portion 1-3 is deformed by an arc-shaped or square-shaped external force, for example, a mechanism ( The distance d between the yoke portions 1-1 and 1-2 and the mover 2 can be adjusted by attaching the distance adjusting means.

  In the magnetic spring device 100 shown in FIG. 14, the mover 2 is a columnar permanent magnet, but it may be a cylindrical permanent magnet as shown in FIG. As shown, a prismatic permanent magnet may be used. Further, when the mover 2 has a columnar shape or a cylindrical shape, as shown in FIG. May be.

  In the magnetic spring device 100 shown in FIG. 14, the opposing surfaces of the yoke portions 1-1 and 1-2 of the opposing yoke portion 1-4 are parallel to the movable axis direction of the mover 2, but are shown in FIG. As described above, the opposing surfaces of the yoke portions 1-1 and 1-2 may be inclined with respect to the movable axis direction of the mover 2. In this case, the inclination directions of the yoke portions 1-1 and 1-2 are symmetrical with respect to the movable shaft, and the inclination angle θ is also the same. Moreover, as shown in FIG. 8, you may make it provide the several hollow or protrusion 1a symmetrically in the opposing surface of the yoke parts 1-1 and 1-2. In this case, the density of the plurality of depressions or projections 1a is gradually changed along the movable axis direction on the opposing surfaces of the yoke portions 1-1 and 1-2.

  The space between the surfaces of the pair of opposing yoke portions 1-1 and 1-2 and the magnetic pole surface of the mover 2 by providing the inclination angle θ and providing the plurality of depressions or protrusions 1a in this manner. The magnetic resistance is an appropriate gradient in the direction of the movable axis (Z-axis) (the gradient in which the magnetoresistance is large at one of the Z-axis direction ends of the surfaces of the opposing yoke portions 1-1 and 1-2, and the other is small) ), And a constant force region (a region where the rate of change in force is small) can be further expanded with respect to the displacement of the mover 2 toward the end of the space having the larger magnetic resistance.

  In FIG. 7, the larger the space between the surfaces of the yoke portions 1-1 and 1-2, the larger the magnetic resistance of the space. In FIG. 8, when a plurality of depressions or projections 1a are depressions, the higher the density of the depressions on the surfaces of the yoke portions 1-1 and 1-2, the larger the magnetic resistance of the space, and the plurality of depressions or projections 1a. Is a projection, the higher the density of projections on the surfaces of the yoke portions 1-1 and 1-2, the smaller the magnetic resistance of the space.

  In the magnetic spring device 100 shown in FIG. 14, the connecting yoke portion 1-3 is provided only on one side of the end surface in the direction orthogonal to the movable shafts of the yoke portions 1-1 and 1-2. You may make it provide in the both sides of the end surface of the orthogonal direction with the movable shaft of 1 and 1-2. That is, as shown in FIG. 21, the first connecting yoke portion 1-31 is disposed on one of the end surfaces in the direction orthogonal to the movable shafts of the yoke portions 1-1 and 1-2, and the yoke portions 1-1 and 1-2 are disposed. You may make it provide the 2nd connection yoke part 1-32 in the other of the end surface of a orthogonal direction with a movable shaft. In this case, similarly to the facing distance e between the first connecting yoke portion 1-31 and the mover 2, the facing distance e between the second connecting yoke portion 1-32 and the mover 2 is also the yoke. It is made larger than the facing distance d between the parts 1-1 and 1-2 and the mover 2.

  In the magnetic spring device 100 shown in FIG. 14, the connecting yoke portion 1-3 is provided on the end surface (one side) orthogonal to the movable shafts of the yoke portions 1-1 and 1-2. You may make it provide in the end surface (the both sides) of the movable axis direction of 1-1, 1-2. For example, as shown in FIG. 22, the first connecting yoke portion 1-33 is provided on one of the end surfaces in the movable axis direction of the yoke portions 1-1 and 1-2, and the movable shaft of the yoke portions 1-1 and 1-2. A second connecting yoke portion 1-34 is provided on the other end surface in the direction. In this case, the facing distance e between the connecting yoke portions 1-33, 1-34 and the mover 2 is similar to the facing distance e between the connecting yoke portion 1-3 and the mover 2 shown in FIG. Also, it is made larger than the facing distance d between the yoke parts 1-1, 1-2 and the mover 2.

  Further, in the magnetic spring device 100 shown in FIG. 14, the connecting yoke portion 1-3 is provided on the entire surface on one end face side in the direction orthogonal to the movable shafts of the yoke portions 1-1 and 1-2. You may make it provide only in the arbitrary ranges of the end surface one side of the orthogonal direction with the movable shaft of -1,1-2. For example, as shown in FIG. 23, the connecting yoke portion 1-3 is provided only at the central portion on one end face side in the direction orthogonal to the movable shaft of the yoke portions 1-1 and 1-2. As described above, the size and shape of the connecting yoke portion 1-3 can be arbitrarily changed within a range in which a necessary amount of magnetic flux can flow.

  FIG. 24 illustrates a mechanism (distance adjustment mechanism) that changes the facing distance d between the yoke portions 1-1 and 1-2 and the mover 2. 24 (a) is a plan view, 19 (b) is a front view, and FIG. 24 (c) is a cross-sectional view taken along line AA in FIG. 24 (a). In the figure, 9 is a fixed part bearing, 10 is a screw part, 11 is a dial, and 12 is a slide mechanism.

  The screw portion 10 is composed of a first screw portion 10-1 whose screw thread is in the forward direction and a second screw portion 10-2 in which the screw thread is in the reverse direction, and the first screw portion 10-1 is the yoke. The second screw portion 10-2 passes through the yoke portion 1-1 and is screwed into the screw hole portion 1-1a. A space between the first screw portion 10-1 and the second screw portion 10-2 is pivotally supported by the fixed portion bearing 9, and between the first screw portion 10-1 and the second screw portion 10-2. A detent 10-3 is attached so that the position does not move in the horizontal direction in the figure.

  The slide mechanism 12 is provided on each of the yoke part 1-1 side and the yoke part 1-2 side, and includes a slide rail 12-1 and a slider 12-2. On the side of the yoke part 1-1, the slider 12-2 is fixed to the outer surface of the yoke part 1-1 and is guided by the slide rail 12-1 in the horizontal direction in the figure (in the direction orthogonal to the movable axis of the mover 2). . On the yoke section 1-2 side, the slider 12-2 is fixed to the outer surface of the yoke section 1-2, and is guided in the horizontal direction in the figure (direction perpendicular to the movable axis of the mover 2) by the slide rail 12-1. .

  In the distance adjusting mechanism 200 (200A), when the dial 11 is rotated, the screw portion 10 (10-1, 10-2) is rotated. Due to the rotation of the screw portion 10 (10-1, 10-2), the facing distance d between the yoke portion 1-1 and the mover 2 and the facing distance d between the yoke portion 1-2 and the mover 2 are achieved. Changes symmetrically about the movable axis of the mover 2.

  That is, when the dial 11 is rotated in the counterclockwise direction, the yoke portions 1-1 and 1-2 are guided to the slide rails 12-1 and 12-1 together with the sliders 12-2 and 12-2. It moves in the approaching direction, and the facing distance d to the mover 2 is reduced. When the dial 11 is rotated clockwise, the yoke portions 1-1 and 1-2 are guided by the slide rails 12-1 and 12-1 together with the sliders 12-2 and 12-2, and away from the mover 2. It moves and the facing distance d between the needle | mover 2 spreads.

  Another example of the distance adjusting mechanism is shown in FIGS. 25 is an example using a link mechanism, FIG. 26 is an example using a moving direction changing mechanism, FIG. 27 is an example using a cam mechanism, and FIG. 28 is an example using a rack and pinion mechanism. Also, a slide mechanism for guiding the yoke portions 1-1 and 1-2 in a direction orthogonal to the movable shaft of the mover 2 is omitted.

  In the distance adjustment mechanism 200 (200B) shown in FIG. 25, by rotating the dial 11, the bolt (screw part) 13 rotates, and the link mechanism 14 moves up and down while changing its width W, and this link mechanism. 14, the facing distance d between the yoke part 1-1 and the mover 2 and the facing distance d between the yoke part 1-2 and the mover 2 are centered on the movable axis of the mover 2 To change symmetrically.

  In the distance adjusting mechanism 200 (200C) shown in FIG. 26, by rotating the dial 11, the bolt (screw portion) 13 rotates, and the moving direction configured by the base 15-1 and the wedge-shaped member 15-2. The width W of the conversion mechanism 15 changes, whereby the facing distance d between the yoke part 1-1 and the mover 2 and the facing distance d between the yoke part 1-2 and the mover 2 are reduced. It changes symmetrically around the movable axis.

  In the distance adjusting mechanism 200 (200D) shown in FIG. 27, by rotating the shaft 16, the cam 17 rotates, and its width W (in the direction orthogonal to the movable shaft) changes. The facing distance d between 1 and the movable element 2 and the facing distance d between the yoke portion 1-2 and the movable element 2 change symmetrically about the movable axis of the movable element 2.

  In the distance adjustment mechanism 200 (200E) shown in FIG. 28, by rotating the shaft 16, the width W of the rack and pinion mechanism 18 composed of the pinion 18-1 and the racks 18-2 and 18-3 is changed. Thus, the facing distance d between the yoke part 1-1 and the movable element 2 and the facing distance d between the yoke part 1-2 and the movable element 2 are symmetrical about the movable axis of the movable element 2. Change.

  In the above-described embodiment of the present invention, an example in which the surfaces of the first yoke portion 1-1 and the second yoke portion 1-2 facing the magnetic pole of the mover 2 are relatively wide has been described. It suffices if there is an area that can generate a necessary magnetic attractive force (or a necessary magnetic flux can flow) between the magnetic poles of the child 2 and if this condition can be satisfied, even if it is narrow, It doesn't matter. For example, the mover 2 is disposed in the vicinity of a line connecting the end surfaces opposite to the connecting yoke portion 1-3 in the direction orthogonal to the movable axes of the yoke portions 1-1 and 1-2, or the yoke portion 1- Bend the end surface opposite to the connecting yoke portion 1-3 in the direction orthogonal to the movable shafts 1, 1-2 to the mover 2 side (perpendicular), and face the end surface to the magnetic pole surface of the mover 2. Also good.

  In the above-described embodiment of the present invention, the permanent magnet is preferably a rare earth magnet such as neodymium or samarium cobalt or a ferrite magnet, and the magnetic body has a high saturation magnetic flux density, a high magnetic permeability, a low coercive force, and a magnetic hysteresis. Soft magnetic material (for example, magnetic steel sheet, electromagnetic soft iron, permalloy, etc.) is preferable. The non-magnetic material is made of, for example, SUS316, aluminum, brass, resin, or the like, or any other material that can ignore the magnetic influence on the magnetic circuit.

  In the above-described embodiment of the present invention, the example in which the movable shaft, that is, the moving direction of the movable element 2 is vertical, has been described. However, the direction of the movable shaft is not limited and may be used horizontally or obliquely. When the movable shaft is used in a direction other than horizontal, the movable body 4 moves downward by the amount of gravity applied to the mass of the movable body 4 composed of the movable element 2 and the shaft 3, and the generated magnetic force is generated. The point that balances with the spring force is the origin position when there is no external force (strictly, the frictional force of the linear guide (bush) 7 is added to this).

[Extension of the embodiment]
The present invention has been described above with reference to the embodiment. However, the present invention is not limited to the above embodiment. Various changes that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the technical idea of the present invention.

  DESCRIPTION OF SYMBOLS 1 ... Stator, 1-1 ... Magnetic body (1st yoke part), 1-2 ... Magnetic body (2nd yoke part), 1-1a, 1-2a ... Mounting part, 1-1b, 1- 2b ... long hole, 1-1c, 1-2c ... mounting part, 1-1d, 1-2d ... long hole, 1-3 ... magnetic body (connection yoke part), 1-4 ... opposing yoke part, 2 ... permanent Magnet (movable element), 3 ... shaft, 4 ... movable body, 5-1, 5-2 ... linear guide (bush), 7 ... linear guide (bush), 8-1 ... start point stopper, 8-2 ... end point stopper 21 ... Pedestal, 21a ... Passing hole, 22-1, 22-2 ... Mounting member, 22-1a, 22-2a ... Long hole, 23-1, 23-2 ... Bolt, 100 ... Magnetic spring device, 200 ( 200A-200E) Distance adjusting mechanism.

Claims (14)

In a magnetic spring device using a magnetic attractive force as a magnetic spring force,
Magnetically connecting between the first yoke portion and the second yoke portion, which is composed of a first yoke portion and a second yoke portion having opposing surfaces facing each other at a distance, and the first yoke portion and the second yoke portion. A stator having a connecting yoke portion serving as a magnetic path between the first yoke portion and the second yoke portion;
A direction substantially perpendicular to the facing direction of the first yoke portion and the second yoke portion is provided as a movable shaft direction between the facing surfaces of the facing yoke portion, and faces each other with the movable shaft interposed therebetween. A mover made of a permanent magnet having at least a pair of magnetic poles at a position;
One of the pair of magnetic poles of the mover faces the first yoke part at a distance, the other of the pair of magnetic poles of the mover faces the second yoke part at a distance, and the first A magnetic spring device comprising: a distance adjusting means capable of adjusting a facing distance between one yoke portion and the mover and a facing distance between the second yoke portion and the mover. . The magnetic spring device according to claim 1,
The connecting yoke portion is
The magnetic spring device according to claim 1, wherein the magnetic spring device is magnetically attracted in contact with the first yoke portion and the second yoke portion. The magnetic spring device according to claim 1,
The connecting yoke portion is
A magnetic spring device, wherein the magnetic spring device is integrated with the opposing yoke portion and is deformable by an external force. In the magnetic spring device according to any one of claims 1 to 3,
The connecting yoke portion is
The facing distance between the movable element and the movable element is larger than the facing distance between the first yoke part and the movable element and the facing distance between the second yoke part and the movable element. A magnetic spring device. In the magnetic spring device according to any one of claims 1 to 4,
The mover is
A magnetic spring device characterized by being a cylindrical, cylindrical, or prismatic permanent magnet. In the magnetic spring device according to any one of claims 1 to 5,
The length of the movable element in the direction of the movable axis is
A magnetic spring device characterized in that it is approximately the same as the length of the opposing yoke portion in the movable axis direction. In the magnetic spring device according to any one of claims 1 to 6,
The first yoke portion and the second yoke portion are
When the mover has a columnar shape or a cylindrical shape, a facing surface of the mover has an arc shape in accordance with the outer peripheral surface of the mover. In the magnetic spring device according to any one of claims 1 to 6,
The first yoke portion and the second yoke portion are
The opposing surface is parallel to the movable axis of the mover. A magnetic spring device. In the magnetic spring device according to any one of claims 1 to 6,
The first yoke portion and the second yoke portion are
The opposing surface is inclined with respect to the movable axis of the mover, and the inclined direction is symmetric with respect to the movable axis. In the magnetic spring device according to any one of claims 1 to 6,
The first yoke portion and the second yoke portion are
A magnetic spring device comprising a plurality of depressions or a plurality of protrusions on the opposing surface. In the magnetic spring device according to any one of claims 1 to 10,
The distance adjusting means is
A mechanism for changing the facing distance between the first yoke portion and the mover and the facing distance between the second yoke portion and the mover symmetrically about the movable axis of the mover; A magnetic spring device characterized by that. In the magnetic spring device according to any one of claims 1 to 11,
The stator is
A magnetic spring device characterized by having a symmetrical structure in a direction orthogonal to the opposing surfaces of the first yoke portion and the second yoke portion, with the movable shaft of the mover as the center. The magnetic spring device according to any one of claims 1 to 12,
A moving range limiting means for limiting a moving range of the movable element in the movable axis direction;
The moving range limiting means includes
A magnetic spring device characterized by being one or both of a stopper attached to the movable element and a stopper attached to a shaft connected to the movable element. In the magnetic spring device according to any one of claims 1 to 13,
The connecting yoke portion is composed of a plurality of magnetic bodies.