JP4608531B2 - Electromagnetic actuator - Google Patents

Description

  The present invention relates to an electromagnetic actuator, and more particularly to an electromagnetic actuator capable of realizing low power and high output by mechanical kinetic energy of an electromagnet and elastic energy of elastic means.

  Actuators are devices that convert various types of energy, such as electricity, hydraulic pressure, and compressed air, into mechanical kinetic energy, and have been developed in various forms and structures and are widely used in various fields of industrial sites. As an example of an actuator, an electromagnetic actuator converts electromagnetic energy into mechanical kinetic energy. The electromagnetic actuator is also called a solenoid actuator (Solenoid Actuator).

The electromagnetic actuator of Patent Document 1 is mounted so that the rod moves inside the housing. A central cylinder (Central Cylinder) and first and second end cylinders (End Cylinder) are mounted on the outer surface of the rod. A main excitation coil, a first excitation coil, and a second excitation coil are mounted on the outer sides of the central cylinder and the first and second end cylinders, respectively. The main excitation coil and the first and second excitation coils are separated from each other by a washer. If current is applied to the main excitation coil and the first and second excitation coils under the control of the controller, the central cylinder, the first and second end cylinders are magnetized and have polarity. The rod is actuated by the mutual magnetic action due to the polarity of the central cylinder, first and second end cylinders.
US Pat. No. 7,227,440

  However, the electromagnetic actuator of Patent Document 1 described above is composed of a number of parts such as a central cylinder, first and second end cylinders, main excitation coils, first and second excitation coils, washers, and springs. There is a problem that not only the performance decreases, but also the production cost increases. In addition, a large amount of electric power is required to drive the main exciting coil, the first and second exciting coils, and the heat generation amount is large.

  The present invention was made to solve the various problems of the prior art as described above, and the object of the present invention is to provide an interlocking structure of an electromagnet that converts electromagnetic energy into mechanical kinetic energy and elastic means. An object of the present invention is to provide an electromagnetic actuator capable of realizing low power and high output.

  Another object of the present invention is to provide an electromagnetic actuator that can be easily reduced in size and improved in controllability.

  Still another object of the present invention is to provide an electromagnetic actuator that can improve productivity and reduce production costs with a simple structure.

  In order to achieve such an object, the present invention is characterized in that a housing having one end; a first housing which is mounted on the inner side of the housing and whose tip is immersed in the housing along the longitudinal direction of the housing; A core moving between a position and a second position projecting from the housing; wound around the outside of the core in a cylindrical shape, wherein the core is moved from the first position to the second position by applying an electric current. A coil that forms a magnetic field capable of moving the actuator; return means mounted on the inside of the housing and returning the core from the second position to the first position; one end of the housing and the core; Elastic means having elastic energy which is mounted between and fixedly penetrates the core so as to interlock with the core and elastically deforms when the core is immersed. ; In an electromagnetic actuator including.

  Another feature of the present invention is that the housing has one end; and is mounted on the inner side of the housing, and protrudes from the housing at a first position where the tip is immersed in the housing along the longitudinal direction of the housing. A core made of a permanent magnet, and is fixed to the inner surface of the housing, is wound in a cylindrical shape on the outer side of the core, and is applied to the first position by applying an electric current. A coil that forms a magnetic field capable of moving the core between the second position; and is mounted between one end of the housing and the core, and the core is fixed so as to interlock with the core And an elastic means that penetrates and elastically deforms when the core is immersed and has elastic energy.

  As described above, according to the electromagnetic actuator of the present invention, low-power, high-output driving can be realized by an interlocking structure of an electromagnet that converts electromagnetic energy into mechanical kinetic energy and elastic means, and it is simple. Therefore, the controllability of the core can be improved by increasing the resolution with respect to the kinetic force of the core. In addition, productivity is improved by a simple structure, and production costs are greatly reduced.

  Other objects, specific advantages, and novel features of the present invention will become more apparent from the following detailed description and preferred embodiments with reference to the accompanying drawings.

  Hereinafter, preferred embodiments of an electromagnetic actuator according to the present invention will be described in detail with reference to the accompanying drawings.

  First, referring to FIGS. 1 to 3, the electromagnetic actuator of the present invention includes a housing 10 that constitutes an external appearance (exterior). The housing 10 includes a main body 12, a first cover 14, and a second cover 16. The cross section of the main body 12 is formed in a hexagonal shape having a hollow space 12a, and one end and the other end are open. Although the cross section of the main body 12 is shown and described as a hexagonal shape, this is merely an example, and can be formed in various shapes such as a polygon, an ellipse, and a circle. The user's skin, such as a hand or a finger, is close to one end of the housing 10. The first and second covers 14 and 16 are attached to both ends of the main body 12 so as to close the space 12a. A hole 14 a is formed in the first cover 14. The main body 12 and the first and second covers 14 and 16 of the housing 10 are made of a magnetic material such as steel.

  1 to 4, an electromagnet 20 that converts electromagnetic energy into mechanical kinetic energy is mounted inside the housing 10. The electromagnet 20 includes a core 22 and a coil 24. The core 22 is mounted inside the housing 10 so as to move along the longitudinal direction of the housing 10. The core 22 moves between a first position P1 where the tip is immersed inside the housing 10 and a second position P2 protruding outside the housing 10 through the hole 14a of the first cover 14. The cross section of the core 22 can be formed in various shapes such as a circle and a polygon. The core 22 is preferably made of a magnetic material, but can be made of a non-magnetic material if necessary.

  An elongated operating pin 22 a is coupled to the tip of the core 22. The distal end of the operating pin 22a protrudes from one end of the housing 10 through the hole 14a of the first cover 14 at the second position P2, and is immersed in the housing 10 through the hole 14a of the first cover 14 at the first position P1. Although the operation pin 22a is shown and described as being configured to be separated from the core 22, the operation pin 22a may be configured integrally with the tip of the core 22. A first flange 22b is formed on the outer surface near one end of the core 22, and a second flange 22c is formed on the other end.

  The coil 24 is wound around the outer side of the core 22 between the first and second flanges 22b and 22c in a cylindrical shape, and forms a magnetic field by a current flowing through the coil 24 when a voltage is applied. The coil 24 is connected to a connector 26 mounted on the outer surface of the main body 12. The connector 26 is a control means for controlling a current applied to the coil 24, and is connected to a controller 28, a microprocessor, a computer and the like.

  The electromagnetic actuator of the present invention includes return means 30 for returning the core 22 of the electromagnet 20 from the second position P2 to the first position P1. The return means 30 includes a magnet 32 that provides a magnetic force so that the core 22 of the electromagnet 20 returns from the second position P2 to the first position P1, that is, the initial position. The magnet 32 is attached to one surface of the second cover 16 so as to align with the core 22. The magnet 32 is configured to generate a repulsive force with respect to the polarity of the core 22 due to the formation of a magnetic field.

  As shown in FIGS. 2 to 4, the electromagnetic actuator of the present invention includes a linear motion guide 40 that guides the motion of the core 22 to a linear motion. The linear motion guide 40 is mounted inside the housing 10 and has a guide hole 42 through which one end of the core 22 passes. The cross section of the linear motion guide 40 is formed in a hexagon corresponding to the cross section of the housing 10 in order to prevent rotation inside the housing 10. The return means 30 of the electromagnet 20 can be constituted by a return spring mounted between the second flange 22b of the core 22 and the linear motion guide 40.

  2 to 5, 6 </ b> A to 6 </ b> E, and 7 </ b> A to 7 </ b> F, the electromagnetic actuator of the present invention is mounted between one end of the housing 10 and the electromagnet 20. The elastic means 50 is provided. The elastic means 50 is elastically deformed to have elastic energy when the operating pin 22a is immersed inside the housing 10. The elastic means 50 is composed of one or more elastic plates 52. The elastic plate 52 can be made of synthetic rubber, plastic having elasticity, a spring plate, or the like. A hole 52a is formed at the center of the elastic plate 52, and a slot 52b is formed around the hole 52a so that the elastic plate 52 can be elastically deformed smoothly. The elastic plate 52 has an elastic deformation portion 52c around the second flange 22b by forming the slot 52b. The operating pin 22a passes through the hole 52a of the elastic plate 52 in a fixed manner. Therefore, the elastic plate 52 is interlocked with the operating pin 22a. In the description, the operation pin 22a is shown fixed to the hole 52a so as to interlock with the elastic plate 52. However, when the operation pin 22a is removed, the core 22 is fastened to the hole 52a of the elastic plate 52. You may fit.

  6 (A) to 6 (E) and FIGS. 7 (A) to 7 (D), the slot 52b of the elastic plate 52 is formed in a spiral shape so as to form an elastic deformation portion 52c around the hole 52a. Is illustrated. FIG. 7E illustrates an example in which the slot 52b of the elastic plate 52 is formed in a zigzag so as to form an elastic deformation portion 52c around the hole 52a. The elastic deformation portion 52c of the elastic plate 52 shown in FIG. 7F is formed in a rib shape extending radially around the hole 52a, and the slot 52b is formed in a hole shape between the elastic deformation portions 52c. The periphery of the hole 52a shown in FIGS. 6A to 6E is supported at one point by an elastic deformation portion 52c. The periphery of the hole 52a shown in FIGS. 7A to 7E is supported at two points by an elastic deformation portion 52c. The periphery of the hole 52a shown in FIG. 7F is supported at three points by an elastic deformation portion 52c.

  2 to 5, the elastic plate 52 may be laminated in a single layer or multiple layers. The plurality of elastic plates 52 are stacked at intervals. The attractive force of the magnet 32 is larger than the elastic force of the laminated elastic plate 52. Therefore, the core 22 overcomes the elastic force of the elastic plate 52 by the attractive force of the magnet 32 and smoothly returns from the second position P2 to the first position P1. When the periphery of the hole 52a shown in FIGS. 6A to 6E is supported at one point by the elastic deformation portion 52c, each of the plurality of elastic plates 52 has a radial shape around each hole 52a. Are laminated at equal intervals. By arranging the elastic deformation portions 52c of the elastic plate 52 radially at equal intervals, an accurate linear motion of the operating pin 22a is realized. Also in the case of the two-point or three-point support structure of the elastic deformation portion 52c, the plurality of elastic plates 52 are stacked so that the elastic deformation portions 52c are radially spaced at equal intervals.

  Still referring to FIGS. 2-5, a main spacer 60 is mounted to maintain the spacing between the elastic plates 52. The main spacer 60 is formed with a hole 60a through which the operating pin 22a passes. The main spacer 60 is formed in the shape of a ring that supports the outer edge of the elastic plate 52. The main spacer 60 can be constituted by a protruding portion that protrudes in an annular shape from the outer edge of one surface or both surfaces of the elastic plate 52 so as to allow elastic deformation of the elastic deformation portion 52c. As shown in FIG. 2, the cross sections of the elastic plate 52 and the main spacer 60 are each formed in a hexagonal shape that matches the cross section of the main body 12. The linear motion guide 40, the elastic plate 52, and the main spacer 60 may be fitted into the space 12a of the main body 12 or may be fixed by a fixing means such as an adhesive or an epoxy resin.

  The elastic plate 52 of the elastic means 50 is disposed between one end of the housing 10 and the linear motion guide 40. Among the elastic plates 52, a sub-spacer is mounted between the lowermost elastic plate 52 and the linear motion guide 40 in order to maintain a gap. The operating pin 22 a passes through the hole 62 a of the sub-spacer 62.

  The operation of the electromagnetic actuator according to the present invention having such a configuration will now be described.

  Referring to FIGS. 1, 2, and 8, if the current applied to the coil 24 of the electromagnet 20 is interrupted by the control of the controller 28, the core 22 made of a magnetic material, for example, steel, The attracting force is applied to the magnet 32, and the operating pin 22 a is immersed inside the housing 10 through the hole 14 a of the first cover 14. At the first position P1 where the core 22 is attached to the magnet 32, the elastic deformation portion 52c of the elastic plate 52 is elastically deformed and retains elastic energy.

  Referring to FIGS. 2 and 9, under the control of the controller 28, a current is applied to the coil 24 of the electromagnet 20 to form a magnetic field, and the core 22 has a polarity that receives the repulsive force of the magnet 32 by the formation of the magnetic field. Is magnetized. That is, when the magnet 32 generates the N-pole magnetic force, the core 22 is magnetized so as to have the N-pole.

  Due to the mutual magnetic action of the core 22 and the magnet 32, the core 22 moves from the first position P1 to the second position P2. The core 22 moves linearly along the guide hole 42 of the linear motion guide 40, and both the core 22 and the operating pin 22a move linearly. When the main body 12 of the housing 10 is made of steel, the main body 12 increases the mutual magnetic action between the core 22 and the magnet 32 while being magnetized by a magnetic field. On the other hand, if the current applied to the coil 24 of the electromagnet 20 is interrupted, the tip of the operating pin 22a is immersed through the hole 14a of the first cover 14, and the core 22 is moved from the second position P2 by the attractive force of the magnet 32. Return to the first position P1.

  Next, in conjunction with the linear motion of the actuation pin 22a, the elastic deformation portion 52c of the elastic plate 52 increases the motion force of the actuation pin 22a while being restored by elastic energy. As described above, the repulsive force between the core 22 and the magnet 32 and the elastic energy of the elastic plate 52 increase the kinetic force of the operating pin 22a, so that the electromagnet 20 can be driven with low power. Moreover, since the high output of the operation pin 22a is possible even by the low power drive of the electromagnet 20, the electromagnetic actuator of the present invention can be easily downsized.

  When the core 22 of the electromagnet 20 reaches the second position P2, the tip of the operating pin 22a protrudes through the hole 14a of the first cover 14, and mechanical elements, objects, etc. that come into contact with the protruding tip of the operating pin 22a are the operating pin 22a. Receive the exercise power. Depending on the interlocking of the electromagnet 20 and the elastic means 50, it is possible to improve the controllability of the operating pin 22a by increasing the resolution with respect to the motion force of the operating pin 22a. The controller 28 can control the operation of the core 22 by controlling the period and intensity of the current applied to the coil 24.

  On the other hand, when the core 22 of the electromagnet 20 is made of a non-magnetic material, the non-magnetic core 22 is magnetized and attracted to the magnet 32 by the attractive force of the magnet 32 when a current is applied to the coil 24. When the current applied to the coil 24 is interrupted, the non-magnetic core 22 moves away from the magnet 32 by the elastic energy of the elastic means 50 and moves from the first position P1 to the second position P2.

  As described above, the electromagnetic actuator according to the present invention is applied to various fields such as virtual reality, simulation, wearable computers, robotics, and medical use due to low power, high output, and miniaturization. The present invention can be applied to a wide range of fields such as haptic devices, micro electro mechanical systems (MEMS), ultra-precision positioning devices, and micro measurement devices.

  10 and 11 show a second embodiment of the electromagnetic actuator according to the present invention. Referring to FIGS. 10 and 11, the electromagnetic actuator of the second embodiment includes a housing 10, an electromagnet 120, a linear motion guide 40, elastic means 50, and a main spacer 60. The electromagnetic actuator housing 10, linear motion guide 40, elastic means 50 and main spacer 60 of the second embodiment are the same as the electromagnetic actuator housing 10, linear motion guide 40, elastic means 50 and main spacer 60 of the first embodiment. Since they are configured, the same reference numerals are given, and detailed descriptions thereof are omitted.

  The core 122 of the electromagnet 120 of the electromagnetic actuator of the second embodiment is a permanent magnet. The tip of the core 122 is coupled to the hole 122b of the operating pin 122a, and the operating pin 122a is made of steel. The operation pin 122 a can be configured integrally with the tip of the core 122. In this case, the operating pin 122a can be manufactured with the same permanent magnet as the core 122. The coil 124 of the electromagnet 120 is fixed to the inside of the housing 10 and is wound in a cylindrical shape. The core 122 is accommodated inside the cylindrical coil 124 so as to move.

  In the electromagnetic actuator of the second embodiment having such a configuration, when a current is applied to the coil 124 of the electromagnet 120, a magnetic field is formed around the coil 124. The core 122 moves from the first position P <b> 1 to the second position P <b> 2 by the mutual magnetic force action due to the polarity of the magnetic field and the polarity of the core 122. The core 122 moves linearly along the guide hole 42 of the linear motion guide 40, and both the core 22 and the operating pin 22a move linearly. When the core 122 of the electromagnet 120 reaches the second position P2, the tip of the operating pin 122a protrudes through the hole 14a of the first cover 14, and the mechanical elements, objects, etc. that contact the tip of the protruding operating pin 122a are the operating pin 122a. Receive the exercise power.

  When the current applied to the coil 124 of the electromagnet 120 is interrupted, the magnetic field disappears. When the magnetic field disappears, an attractive force acts between the second cover 16 and the core 122 due to the magnetic force of the core 122, and the core 122 moves from the second position P2 to the first position P1 and is attracted to the second cover 16. It will be. In addition, the operation pin 122 a is immersed inside the housing 10 through the hole 14 a of the first cover 14. At the first position P1 where the core 122 is attached to the second cover 16, the elastic deformation portion 52c of the elastic plate 52 is elastically deformed and retains elastic energy.

  The above is a description of the preferred embodiments of the present invention, and the scope of the present invention is not limited to the above-described embodiments, and those skilled in the art within the technical idea and claims of the present invention are within the scope of the invention. Various changes, modifications, and substitutions are possible, and it should be understood that such embodiments fall within the scope of the present invention.

  The present invention can be applied to an electromagnetic actuator that realizes low power and high output by an interlocking structure of an electromagnet that converts electromagnetic energy into mechanical kinetic energy and elastic means.

It is a perspective view which shows the structure of 1st Example of the electromagnetic actuator by this invention. It is sectional drawing which isolate | separates and shows the structure of the electromagnetic actuator by this invention. In the electromagnetic actuator of this invention, it is a perspective view which shows the structure by which the actuator, the elastic means, the linear motion guide, the elastic means, and the main spacer are decomposed | disassembled. In the electromagnetic actuator of this invention, it is a perspective view which shows the structure by which the actuator, the touch pin, the elastic means, the linear motion guide, the elastic means, and the main spacer are assembled. In the electromagnetic actuator of this invention, it is sectional drawing which shows partially the structure of an elastic means and a main spacer. In the electromagnetic actuator of this invention, it is a top view which shows partially the structure of an elastic means. In the electromagnetic actuator of this invention, it is a top view which shows partially the structure of an elastic means. In the electromagnetic actuator of this invention, it is an operation | movement figure explaining the structure by which the touch pin is immersed inside the housing. In the electromagnetic actuator of this invention, it is an operation | movement figure explaining the structure which the touch pin protrudes from the housing. It is a perspective view which isolate | separates and shows the structure of 2nd Example of the electromagnetic actuator by this invention. It is sectional drawing which shows the structure of the electromagnetic actuator of 2nd Example by this invention.

Explanation of symbols

  10 housing, 12 body, 12a space, 14 first cover, 14a hole, 16 second cover, 20, 120 electromagnet, 22, 122 core, 22a, 122a operating pin, 22b first flange, 22c second flange, 26 connector 28 controller, 124 coil, 30 return means, 32 magnet, 40 linear motion guide, 42 guide hole, 50 elastic means, 52 elastic plate, 52a hole, 52b slot, 52c elastic deformation part, 60 main spacer, 60a hole, 62 Sub-spacer, 62a hole, P1 first position, P2 second position.

Claims (9)

A housing having one end;
A core mounted on the inside of the housing and moving between a first position where the tip is immersed in the housing along a longitudinal direction of the housing and a second position protruding from the housing;
A coil that is wound around the outside of the core in a cylindrical shape and forms a magnetic field capable of moving the core from the first position to the second position by applying an electric current;
Return means mounted on the inside of the housing and returning the core from the second position to the first position;
Elastic means attached between one end of the housing and the core, the core fixedly penetrating so as to interlock with the core, and elastically deforming when the core is immersed and having elastic energy ;
For guiding the linear motion movement of the core, the linear motion guide and that is mounted inside the housing; only contains,
The return means is a magnet mounted close to the rear end of the core, and the polarity of the magnet is configured to generate a repulsive force with respect to the polarity of the core due to the magnetic field,
The linear motion guide has a guide hole into which the core is inserted and guided,
The elastic means is disposed between one end of the housing and the linear motion guide, and a sub-spacer through which the core passes to maintain a gap between the elastic means and the linear motion guide. Is installed,
The elastic means is an elastic plate, and the elastic plate has a hole through which the core is fixedly passed, and a slot is formed around the hole of the elastic plate for elastic deformation of the elastic plate. ,
A plurality of the elastic plates are laminated, and a main spacer is interposed between the plurality of elastic plates in order to maintain a space . The housing is
A body having a space in which the core, the coil, the magnet and the plurality of elastic plates are mounted;
A first cover attached to one end of the housing and formed with a hole through which the core can pass;
The electromagnetic actuator according to claim 1, further comprising: a second cover attached to the other end of the housing. Consists actuating pin is on the tip of the core, the operating pin, as can be infested with one end of said housing, characterized in that it fixedly through the hole of the plurality of resilient plates, according to claim 1 The electromagnetic actuator described in 1. Each of the plurality of elastic plates has an elastic deformation portion that is supported at one point around the hole by the formation of the slot, and each of the plurality of elastic plates has the elastic deformation portion around the hole. The electromagnetic actuator according to claim 1 , wherein the electromagnetic actuators are stacked so as to have equal intervals. A housing having one end;
It is mounted on the inside of the housing, and moves along a longitudinal direction of the housing between a first position where the tip is immersed in the housing and a second position protruding from the housing. And the core
A magnetic field fixed to the inner surface of the housing, wound in a cylindrical shape on the outer side of the core, and capable of moving the core between the first position and the second position by applying an electric current. A coil to be formed;
Elastic means mounted between one end of the housing and the core, the core fixedly penetrating so as to interlock with the core, and elastically deforming and elastic energy when the core is immersed; ;
For guiding the linear motion movement of the core, the linear motion guide and that is mounted inside the housing; only contains,
The linear motion guide has a guide hole into which the core is inserted and guided,
The elastic means is disposed between one end of the housing and the linear motion guide, and a sub-spacer through which the core passes is mounted between the elastic means and the linear motion guide in order to maintain a space. And
The elastic means comprises a plurality of elastic plates, and the elastic plate has a hole through which the core is fixedly passed, and a slot is formed around the hole of the elastic plate for elastic deformation of the elastic plate. An electromagnetic actuator. The housing is
A body having a space in which the core, the coil, and the plurality of elastic plates are mounted;
A first cover attached to one end of the housing and formed with a hole through which the core can pass;
The electromagnetic actuator according to claim 5 , further comprising: a second cover attached to the other end of the housing. The electromagnetic actuator according to claim 6 , wherein the second cover of the housing is made of steel so that the core made of the permanent magnet is attracted by attractive force when the magnetic field disappears. Consists actuating pin is on the tip of the core, the operating pin, as can be infested with one end of said housing, characterized in that it fixedly through the hole of the elastic plate, according to claim 5 Electromagnetic actuator. Each of the plurality of elastic plates has an elastic deformation portion supported around the hole by the formation of the slot, and each of the plurality of elastic plates has the elastic deformation portion around the hole, etc. The electromagnetic actuator according to claim 8 , wherein the electromagnetic actuator is laminated so as to have a gap.

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