JP6289009B2 - Electromagnetic actuator - Google Patents

Description

  The present invention relates to an electromagnetic actuator.

  Conventionally, for example, an actuator that moves a coil or a magnet by using a Lorentz force acting on a coil by passing a current through a coil in a magnetic field typified by a VCM (voice coil motor) as shown in Patent Document 1 is generally used. Known.

JP 2007-248671 A

  In the case of providing an actuator capable of accurately stopping positions at three or more points, an external sensor such as a Hall element is required in the configuration described in the above prior art document. Since an external sensor is required, it is difficult to reduce the size of the entire actuator. Moreover, control becomes complicated by using a sensor.

  The present invention has been made in view of the above, and an object thereof is to provide an electromagnetic actuator that can be accurately positioned with a simple and small configuration.

In order to solve the above-described problems and achieve the object, the electromagnetic actuator according to the present invention includes:
A movable moving part having an element holding part and a first magnet mechanically coupled to the element holding part;
A first coil that is fixedly installed at a position covering the first magnet from the outer peripheral side of the first magnet ;
For the moving part in a direction in which the moving unit is moved is disposed in series, and a second magnet movable,
A second coil that is fixedly installed at a position covering the second magnet from the outer peripheral side of the second magnet ;
A first restraining member that regulates one end of the moving direction of the first magnet;
A second restraining member that regulates one end of the moving direction of the second magnet;
A third restraining member that regulates the other end of the second magnet in the moving direction;
At least one of the first magnet and the second magnet is in contact with any one of the three restraining members and restrains the moving portion at the three points .
When the moving part is restrained by the second restraining member or the third restraining member, the first magnet and the second magnet are magnetized so as to be coupled by a magnetic attraction force. .

  The present invention has an effect of providing an electromagnetic actuator that can be positioned accurately with a simple and small configuration.

It is a figure which shows the cross section of the electromagnetic actuator of 1st Embodiment. (A), (b), (c) is a figure explaining the stop position of the electromagnetic actuator which concerns on 1st Embodiment. (A), (b) is the state figure seen from the central-axis direction which shows the shape pattern of a magnet. (A), (b) is a figure which shows the drive principle of the electromagnetic actuator which concerns on 1st Embodiment. (A), (b), (c) is a figure which shows the cross section of the electromagnetic actuator which concerns on 2nd Embodiment. It is a figure which shows the cross section of the electromagnetic actuator of the modification of 2nd Embodiment. It is a figure which shows the cross section of the electromagnetic actuator of 3rd Embodiment. (A), (b) is a figure which shows the structure of the magnet of the electromagnetic actuator of 4th Embodiment and a modification, respectively. (A), (b), (c) is a figure which shows the cross section of the electromagnetic actuator of 5th Embodiment, respectively. (A), (b), (c) is a figure which shows the cross section of the electromagnetic actuator of 6th Embodiment, respectively. (A), (b) is a figure which shows the cross section in a different position state of the element holding part of the electromagnetic actuator of 7th Embodiment, respectively. (A), (b) is a figure which shows the cross section in the further different position state of the element holding part of the electromagnetic actuator of 7th Embodiment, respectively.

  The effect by the structure of the electromagnetic actuator of this embodiment is demonstrated. In addition, this invention is not limited by this embodiment. That is, in describing the embodiment, a lot of specific details are included for the purpose of illustration, but various variations and modifications may be added to these details without exceeding the scope of the present invention. Accordingly, the exemplary embodiments of the present invention described below are set forth without loss of generality or limitation to the claimed invention.

(First embodiment)
FIG. 1 is a cross-sectional view of a cylindrical electromagnetic actuator 100 according to the first embodiment.
The electromagnetic actuator 100 is fixed at a position that covers the first magnet 4a and the movable unit 101 having the element holding unit 5a and the first magnet 4a mechanically coupled to the element holding unit 5a. The first coil 1a to be installed and the moving part 101 are arranged in series with respect to the moving direction, and are fixedly installed at a position covering the movable second magnet 4b and the second magnet 4b. The second coil 1b, the first stop member 3a that restricts one end of the first magnet 4a in the moving direction, the second stop member 3b that restricts one end of the second magnet in the moving direction, The third magnet 4b has a third restraining member 3c that regulates the other end in the moving direction, and at least one of the first magnet 4a and the second magnet 4b has three restraining members 3a, 3b, 3c. 3 points depending on the state of contact with any one of the restraining members Restraining the movement portion 101 in location.

  In the present embodiment, the element holding portion 5a is held and fixed so as to surround the lens L. A cylindrical first magnet 4a is provided outside the element holding member 5a. The magnetization direction of the first magnet 4a is the radial direction.

  The fixing member 2 is installed so as to surround the cylindrical second magnet 4b. And the coil 1a and the coil 1b are fixed and arrange | positioned so that the 1st magnet 4a and the 2nd magnet 4b may be covered, respectively. With this configuration, movement of the moving unit 101 to the left side of the sheet is restricted when the first magnet 4a and the restraining member 3a come into contact with each other.

  The second magnet 4b is restricted from moving to the left in the drawing by the restraining member 3b. Further, the movement of the second magnet 4b on the right side of the drawing is restricted by the right end of the restraining member 3c. With this configuration, the moving body 101 having the lens L, the element holding portion 5a, and the first magnet 4a is 3 by the first stopping member 3a, the second stopping member 3b, and the third stopping member 3c. The position can be accurately stopped at the point. The operation of moving to each position will be described with reference to FIG.

  Next, the operation of the electromagnetic actuator 100 will be described with reference to FIGS. 2 (a), 2 (b), and 2 (c). 2A, 2 </ b> B, and 2 </ b> C respectively show the positions and operations of the three points where the moving unit 101 stops.

The first position of the moving unit 101 is a position where the first magnet 4a comes into contact with the first stop member 3a and stops.
The second position of the moving part 101 is a position where the first magnet 4a contacts the second magnet 4b and the second magnet 4b contacts the second stopping member 3b and stops.
The third position of the moving part 101 is a position where the first magnet 4a contacts the second magnet 4b and the second magnet 4b contacts the third stopping member 3c and stops.

  FIG. 2A is a cross-sectional view showing a state in which the moving unit 101 is stopped at the left position (first position) with respect to the paper surface. In FIG. 2A, a current is passed through the first coil 1a so that a force in the left direction of the page acts on the first magnet 4a. Thereby, the position of the first magnet 4a of the moving unit 101 is stopped by coming into contact with the first stopping member 3a. The current flowing through the first coil 1a will be described later as a driving principle.

  At this time, the second magnet 4b may be present at any position. In FIG. 2A, a current is passed through the second coil 1b so that a force acts on the second magnet 4b in the left direction of the drawing. The moving unit 101 stops the second magnet 4b by contacting the right end of the second stopping member 3b.

  FIG. 2B shows that the moving unit 101 is at a substantially central position (second position) between the state shown in FIG. 2A and the state shown in FIG. It shows a stopped state.

  First, an electric current is passed through the first coil 1a so that a force in the right direction on the paper acts on the first magnet 4a. In addition, an electric current is passed through the coil 1b so that a force in the left direction of the paper acts on the second magnet 4b. Thereby, the 2nd magnet 4b contact | abuts on the right end of the 2nd stop member 3b, and stops.

  And the right end of the 1st magnet 4a and the left end of the 2nd magnet 4b contact | abut. As a result, the moving unit 101 stops at the position where the first magnet 4a and the second magnet 4b are in contact with each other. In other words, the position of the moving part 101 is regulated by the right end of the second restraining member 3b via the first magnet 4a and the second magnet 4b. Here, the force acting on the second magnet 4b in the left direction is set larger than the force acting on the second magnet 4b in the right direction.

  FIG. 2C shows a state in which the moving unit 101 is stopped at the right position with respect to the paper surface. The first coil 1a current is supplied to the first magnet 4a so that a force in the right direction on the page acts. Further, an electric current is passed through the second coil 1b so that a force in the right direction of the paper acts on the second magnet 4b. Thereby, the 2nd magnet 4b contact | abuts to the 3rd stop member 3c, and stops. Further, the first magnet 4a abuts on the second magnet 4b and its position is restricted and stopped. Thereby, the position of the moving part 101 is regulated by the third stop member 3c via the first magnet 4a and the second magnet 4b.

  As described above, the operation of the first magnet 4a corresponds to the operation of the moving unit 101 having the lens L. For this reason, the moving body 101 having the lens L can be accurately restrained by the first restraining member 3a, the second restraining member 3b, and the third restraining member 3c.

  Since the position of the moving part is restricted only by the restraining member, no external sensor is required. Therefore, an electromagnetic actuator that can be accurately positioned with a small configuration can be provided. Further, complicated control means such as feedback control using a sensor is not required. For this reason, control can be simplified.

  Further, by providing the same configuration as the second magnet 4b, the second coil 1b, and the third restraining member 3c on the left side of the first magnet 4a, it is possible to restrain the position of four points in the same manner. It becomes. Details will be described as a seventh embodiment.

  Here, the element held by the element holding unit 5a is, for example, the lens L that is an optical element. However, other optical elements such as a prism, a filter, a CCD, and a wavelength plate can obtain the same effect. .

  Further, for example, by attaching another optical element to the second magnet 4b, it is possible to operate (move) the other optical element together with the moving unit 101, that is, the corresponding optical element of the first magnet 4a. It is. At that time, the other optical elements, that is, the corresponding second magnets 4b are stopped at the positions shown in FIGS. 2 (a), (b), and (c).

  Next, the magnet pattern of the electromagnetic actuator 100 of this embodiment will be described. FIGS. 3A and 3B show a configuration of the first magnet 4a as viewed from the front.

  FIG. 3A shows a cylindrical first magnet 4a. FIG. 3B shows an example in which four roof tile magnets 4a1, 4a2, 4a3, 4a4 are arranged. As shown in FIGS. 2A and 2B, when the number of magnets is one, either of the configurations in the case of a pattern in which a plurality of magnets are arranged may be used. Further, although a tile-shaped magnet is shown in FIG. 3B, a flat-plate magnet may be used as a matter of course.

  In the case of a pattern in which a plurality of magnets are arranged as shown in FIG. 3B, the second magnets 4a1, 4a2, 4a3, 4a4 require the holding member 5a as shown in FIG. In contrast, in the case of a single magnet 4a as shown in FIG. 3A, the holding member 5a is not necessarily required.

Next, the principle of driving the electromagnetic actuator will be described with reference to FIGS. 4A and 4B are cross-sectional views of the side surface of the electromagnetic actuator.
FIG. 4A shows a pattern in which the magnet 4a is magnetized in the radial direction. FIG. 4B shows a pattern in which the magnet is magnetized in the axial direction.

In both patterns, the magnetic flux Fb from the magnet 4a (indicated by a dotted line in the figure) and the force acting on the first coil 1a by Fleming's left-hand rule from the direction of the current flowing in the first coil 1a are indicated by an arrow Fa. ing. Due to the reaction, the first magnet 4a exerts a force in the direction opposite to the force acting on the coil 1a. The direction of the force acting on the first magnet 1a is indicated by an arrow Fc.
A yoke 10 that is a magnetic material is provided outside the electromagnetic actuator. The configuration in which the yoke is provided will be described in detail in the third embodiment below.

  In the case of the configuration of FIG. 4A, the first magnet 4a is moved by passing a current through the first coil 1a, and in the case of FIG. 4B, a current is passed through the two coils 1a1 and 1a2. It is a possible configuration.

  In the case of the configuration shown in FIG. 4B, by using two coils 1a1 and 1a2 with respect to the magnet 4a from the viewpoint of the path of the magnetic flux Fb (shown by a dotted line), a driving force of about twice is efficiently obtained. I can do it.

(Second Embodiment)
Next, the electromagnetic actuator 200 of the second embodiment will be described with reference to FIGS. 5 (a), (b), and (c). In the following description of the embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and redundant description is omitted.

  In the present embodiment, when the moving part 201 is restrained by the right end portion of the first fixing member 2a serving as the second restraining member or the third restraining member 3c, the first magnet 4a and the first magnet 4a The second magnet 4b is preferably magnetized so as to be coupled by the magnetic attraction force indicated by the arrow Ff.

  Thereby, when the first magnet 4a and the second magnet 4b need to move in the same direction, the first magnet 4a and the second magnet 4b are connected by the magnetic attraction force Ff. The magnets 4a can be moved together. As a result, there is an effect that power saving and simplification of control can be achieved.

  The moving unit 201 moves in a direction along the central axis AX. In the present embodiment, the distance LM1 from the central axis AX to the first magnet 4a is preferably smaller than the distance LM2 from the central axis AX to the second magnet 4b. That is, the diameter of the first magnet 4a is configured to be smaller than the diameter of the second magnet 4b. Thereby, when the 1st magnet 4a and the 2nd magnet 4b approach, it can be set as the structure which works a magnetic attraction force mutually.

  Thereby, there exists an effect that space can be saved by making the 1st magnet 4a small by the part of the stop member of the 2nd magnet 4b.

In addition, the distance LC1 from the central axis AX to which the moving unit 201 moves to the first coil 1a is preferably smaller than the distance LC2 from the central axis AX to the second coil 1b. That is, the coil diameter of the first coil 1a is smaller than that of the second coil 1b.
As a result, since the distance between the first coil 1a and the first magnet 4a is reduced, the driving force is improved.

  Next, the electromagnetic actuator 200 of the second embodiment will be described in more detail. FIG. 5A shows a state in which the moving unit 201 is stopped on the left side of the page. First, an electric current is passed through the first coil 1a so that a force in the left direction of the paper acts on the first magnet 4a. Thereby, the 1st magnet 4a contact | abuts to the 1st stop member 3a, and stops position.

  About the electric current sent through the 1st coil 1a, it is the same as the drive principle mentioned above using FIG. Here, the second magnet 4b may be present at any position. In FIG. 2A, an electric current is passed through the second coil 1b so that a force acts on the second magnet 4b in the left direction of the drawing. Then, the second magnet 4b is stopped by coming into contact with the right end of the first fixing member 2a that functions as the second stopping member.

  The leftward force acting on the first magnet 4a is larger than the magnetic attractive force acting when the first magnet 4a and the second magnet 4b are close to each other.

  FIG. 5B shows that the moving unit 101 is at a substantially central position (second position) between the state shown in FIG. 5A and the state shown in FIG. It shows a stopped state.

  An electric current is passed through the first coil 1a so that a force in the right direction on the paper acts on the first magnet 4a. A force in the left direction of the drawing acts on the second magnet 4b simultaneously with or after the distance between the first magnet 4a and the second magnet 4b is brought close to the contact distance by the second magnet 4b and the magnetic attractive force. In this way, a current is passed through the second coil 1b.

  As a result, the first magnet 4a abuts against the second magnet 4b that abuts against the right end of the first fixing member 2a that performs the function of the second restraining member to restrain the position.

  As a result, the position of the first magnet 4a is regulated by the right end of the first fixing member 2a that functions as the second stopping member via the second magnet 4b.

  A magnetic attractive force acts on the first magnet 4a and the second magnet 4b. Therefore, after the first magnet 4a and the second magnet 4b are brought close to each other, there is no need to generate a force acting in the right direction with respect to the first magnet 4a by the first coil 1a.

  Further, as described above, it is desirable that the diameter of the first coil 1a be smaller than the diameter of the second coil 1b. Thereby, the distance of the 1st coil 1a and the 1st magnet 4a can be made small. As a result, the electromagnetic force applied to the first magnet 4a can be increased.

  In addition, when the first magnet 4a and the second magnet 4b approach and attract each other, the first magnet 4a and the second magnet 4a are adjusted in order to adjust the magnetic attraction force acting on the first magnet 4a and the second magnet 4b. A nonmagnetic member may be provided so that a certain distance is maintained between the magnets 4b.

  FIG. 5C shows a state where the moving body 201 is stopped at the right position on the paper surface. By passing an electric current through the second coil 1b so that a force in the right direction on the paper acts on the second magnet 4b, the second magnet 4b that comes into contact with the third stopping member 3c and stops is further The first magnet 4a comes into contact with and stops position.

  As a result, the position of the first magnet 4a is regulated by the third restraining member 3c via the second magnet 4b. At this time, the first magnet 4a and the second magnet 4b are moved together by the mutual magnetic attraction force. For this reason, it is not necessary to generate a force acting in the right direction with respect to the first magnet 4a by the first coil 1a.

(Modification of the second embodiment)
Next, an electromagnetic actuator 250 according to a modification of the second embodiment will be described with reference to FIG.
The first magnet 4a of the present modification has a polarity direction different from that of the first magnet 4a shown in FIG. This is another configuration example in which a magnetic attractive force is applied between the first magnet 4a and the second magnet 4b. Other operations and position restraint are the same as those shown in FIGS. 5A, 5B, and 5C, and a duplicate description is omitted.

(Third embodiment)
Next, an electromagnetic actuator 300 according to a third embodiment will be described with reference to FIG.
In the present embodiment, a yoke 302 that is a magnetic body is provided so as to cover the first coil 1a and the second coil 1b. That is, with respect to the configuration of the electromagnetic actuator 200 of the second embodiment described above, a yoke 302 is additionally arranged outside the first coil 1a and the second coil 1b.

  A magnetic attractive force acts on the yoke 302, the first magnet 4a, and the second magnet 4b. For this reason, the position of the moving body 301 can be maintained without supplying current to the first coil 1a and the second coil 1b. In addition, the yoke 302 increases the force acting on the first magnet 4a and the second magnet 4b by energizing the coil in order to suppress leakage magnetic flux. Accordingly, the driving force is improved and the stability of the operation is improved.

(Fourth embodiment)
Next, an electromagnetic actuator 400 according to the fourth embodiment and a modification 450 thereof will be described.
FIGS. 8A and 8B are cross-sectional views of the first magnet 4a1, 4a2, 4a3, or the second magnet, respectively. In the present embodiment and its modification, the first magnet and the second magnet are configured such that the magnetic force is biased with respect to the direction of the yoke 302 that is a magnetic body. Examples that are configured so that the magnetic force is biased include magnetization, shape, or arrangement.

  With this configuration, since the magnetic force acting on the magnet and the magnetic body is biased, a strong holding force acts on the magnet of the moving body. That is, the magnetic attractive force between the yoke 302 (magnetic body), the first magnet 4a1, etc., and the second magnet is increased. Thereby, even if it does not supply an electric current to the 1st coil 1a, the force which maintains the restraint of the 1st magnet 4a and the 2nd magnet 4b becomes strong, and position stability increases.

(Fifth embodiment)
Next, the electromagnetic actuator 500 of 5th Embodiment is demonstrated.
In this embodiment, as shown in FIGS. 9A, 9B, and 9C, the first magnet 4a and the second magnet 4b are arranged outside the first magnet 4a and the second magnet 4b. On the other hand, a first repulsive magnet 502a and a second repelling magnet 502b, which are magnets having a polarity in which magnetic forces F1 and F2 that repel each other, are arranged.

Due to the repulsive force with the repelling magnets 502a and 502b, a force always acts in the direction in which the first magnet 4a and the second magnet 4b are separated from the repelling magnets 502a and 502b. For this reason, it becomes possible to hold | maintain a position, without supplying an electric current to the 1st coil 1a and the 2nd coil 1b.
Furthermore, since the repulsive forces F1 and F2 are always working, even if the first magnet 4a or the second magnet 4b moves slightly, it can be returned to a predetermined position by the repulsive force.

  The energization to the first coil 1a and the second coil 1b with respect to the operation to each position is the same as that in the first embodiment, and is omitted, and the action of the force at each stopped position will be described below. To do.

  FIG. 9A shows a state in which the moving body 501 is stopped at the left position on the paper surface. A magnetic repulsive force acts between the first magnet 4a and the repulsive magnet 502a. As a result, the first magnet 4a exerts a force F1 in the left direction of the drawing, and comes into contact with and restrains the first restraining member 3a.

  FIG. 9B shows a state in which the moving body 501 is stopped at a substantially central position. A magnetic repulsive force acts between the first magnet 4a and the repulsive magnet 502a. As a result, a force F1 acts on the first magnet 4a in the right direction of the drawing. The first magnet 4a abuts against the second magnet 4b and stops.

A magnetic repulsive force acts between the second magnet 4b and the repulsive magnet 502b. As a result, a force F2 acts on the second magnet 4b in the left direction of the drawing. The second magnet 4b comes into contact with and restrains the second restraining member 3b. Thereby, the position of the first magnet 4a is stopped by the right end of the second stopping member 3b via the second magnet 4b.
At this time, the magnetic repulsive force acting on the second magnet 4b and the repulsive magnet 502b is made larger than the magnetic repulsive force acting on the first magnet 4a and the repulsive magnet 502a.

FIG. 9C shows a state in which the moving body 501 is stopped at the right position on the paper surface.
A magnetic repulsive force acts between the first magnet 4a and the repulsive magnet 502a. As a result, a force F1 acts on the first magnet 4a in the right direction of the drawing. The first magnet 4a abuts against the second magnet 4b and stops.

  The second magnet 4b exerts a force F2 in the right direction of the drawing due to the magnetic repulsive force acting between the second magnet 4b and the repulsive magnet 502b. And the 2nd magnet 4b contact | abuts to the 3rd stop member 3c, and stops. Thereby, the position of the first magnet 4a is stopped by the third stopping member 3c via the second magnet 4b.

  By the above operation, a force that always maintains the position is exerted by the repulsive magnet 502a and the repelling magnet 502b even when no current is passed through the first coil 1a and the second coil 1b. Further, even if the first magnet 4a and the second magnet 4b move slightly, the force returned by the repulsive force with the repelling magnet 502a and the repelling magnet 502b works. For this reason, position stability improves. In the figure, the repulsive magnets 502a and 502b are arranged outside the first coil 1a and the second coil 1b, but the same applies even if they are arranged in the same row as the first coil 1a and the second coil 1b. Get the effect.

(Sixth embodiment)
Next, an electromagnetic actuator 600 according to the sixth embodiment will be described with reference to FIG.
This embodiment is based on the configuration of the second embodiment described above. In addition to the configuration of the second embodiment, the first magnet 4a further includes an attracting magnet 602a having a polarity in which a magnetic force acts in a direction in which the first magnet 4a abuts on the first restraining member 3a, and the outside of the second magnet 4b. A repulsive magnet 602b is disposed.

Thereby, in this embodiment, force acts in the direction in which the 2nd magnet 4b always leaves | separates from the repulsion magnet 602b by the repulsion force with the repulsion magnet 602b. For this reason, it is possible to hold the position of the second magnet 4b without applying current to the second coil 1b.
Further, when the first magnet 4a and the second magnet 4b move while being attracted, the position is held by the repulsive magnet 602b. When the first magnet 4a stops away from the second magnet 4b, the position is held by the attracting magnet 602a.
Furthermore, since the attractive force or the repulsive force is always working, even if the first magnet 4a or the second magnet 4b moves slightly, it can be returned to a predetermined position by the repulsive force.

  Furthermore, the explanation will be continued specifically. An attracting magnet 602a is disposed outside the first magnet 4a, and a repelling magnet 602b is disposed outside the second magnet 4b.

  As a result, a force acts on the first magnet 4a and the second magnet 4b as indicated by arrows F1 and F2 in the drawing. The magnetic attraction force acting between the first magnet 4a and the second magnet 4b is indicated by a double arrow Ff.

  In the present embodiment, the energization of the first coil 1a and the second coil 1b with respect to the operation of each position of the moving unit 601 is the same as that described in the first embodiment, and is omitted. The function of the force at each restrained position will be described below.

FIG. 10A shows a state where the moving body 601 is stopped at the left position on the paper surface.
A magnetic attractive force acts on the first magnet 4a with the attractive magnet 602a. For this reason, the first magnet 4a exerts a force in the left direction of the drawing, and comes into contact with and restrains the first restraining member 3a. As a result, the moving body 601 stops at the position on the left side of the page.

FIG. 10B shows a state in which the moving body 601 is stopped at a substantially central position on the paper surface.
The first magnet 4a is moved to the right in the drawing. Further, the second magnet 4b is also moved to exert a magnetic attraction force Ff having such a magnitude that the first magnet 4a and the second magnet 4b move together.

  The second magnet 4b exerts a force in the left direction of the paper due to the magnetic repulsive force acting between the repulsive magnet 602b. The second magnet 4b abuts against the right end of the first fixing member 2a and stops. Thereby, the position of the first magnet 4a is stopped by the right end of the first fixing member 2a via the second magnet 4b.

  At this time, the magnetic repulsive force acting on the second magnet 4b and the repulsive magnet 602b is made larger than the magnetic repulsive force acting on the first magnet 4a and the attracting magnet 602a.

FIG. 10C shows a state in which the moving body 601 is stopped at the right position on the paper surface.
The first magnet 4a and the second magnet 4b have a magnetic attraction force Ff that is large enough to move as a unit. The second magnet 4b exerts a force in the right direction of the page due to the magnetic repulsive force acting between the repulsive magnet 602b. The second magnet 4b abuts against the third restraining member 3c and restrains it. Thereby, the position of the first magnet 4a of the moving part 601 is stopped by the third stopping member 3c via the second magnet 4b.

  By the above-described operation, a force that always holds the position is exerted by the attracting magnet 602a and the repulsive magnet 602b even when no current is passed through the first coil 1a and the second coil 1b. Further, even if the first magnet 4a and the second magnet 4b move slightly, the force returned by the repulsive force between the attracting magnet 602a and the repelling magnet 602b works. For this reason, the positional stability of the 1st magnet 4a and the 2nd magnet 4b improves. In the figure, the attracting magnet 602a and the repelling magnet 602b are arranged outside the first coil 1a and the second coil 1b, but the same effect can be obtained even if they are arranged in the same row as the coils.

(Seventh embodiment)
Next, an electromagnetic actuator 700 according to a seventh embodiment will be described with reference to FIG. In the present embodiment, the moving unit 701 has four positions, that is, a left end, a right end, and two points between both ends (referred to as “left center position” and “right center position” as appropriate) in total. Can be accurately stopped by position.

  In the present embodiment, basically, the third coil 1c, the third magnet 4c, the fourth restraining member 30a, the third holding member (on the left side) are further provided on the left side of the configuration of the first embodiment described above. The element holding part) 5c is added.

FIG. 11A shows a state in which the moving body 701 exists at the left end with respect to the paper surface.
FIG. 11B shows a state in which the moving body 701 exists at the center position on the left side with respect to the paper surface.
FIG. 12A shows a state in which the moving body 701 exists at the center position on the right side with respect to the paper surface.
FIG. 12B shows a state in which the moving body 701 exists at the right end with respect to the paper surface.

  In the present embodiment, for example, the left end 3b ′ and the right end 3b ″ of the second stop member 3b function as a stop portion. When the moving body 701 stops at the left end, the fourth stop member 30a The first magnet 4a is in contact with the contacted third magnet 4c.

Thus, the driving principle of the moving body 701 in each position state can be easily achieved by combining the procedures described in the above embodiments.
As a result, the present embodiment is not limited to three points, and positioning of the moving body 701 at four points can be accurately achieved with a simple and small configuration.

  The present invention can take various modifications without departing from the spirit of the present invention.

  As described above, the present invention is suitable for an electromagnetic actuator that can be accurately positioned with a simple and small configuration.

100, 200, 250, 300, 400, 500, 600 Electromagnetic actuator 1a 1st coil 1b 2nd coil 1c 3rd coil 2 fixing member 2a 1st fixing member 2b 2nd fixing member 3a 1st stop Member 3b Second stop member 3c Third stop member 30a Fourth stop member 4a First magnet 4b Second magnet 4c Third magnet 5a First holding member (element holding portion)
5b Second holding member (element holding portion)
5c 3rd holding member (element holding part)
101, 201, 301, 401, 501, 601 and 701 Moving part 302 Yoke 502a First repulsive magnet 502b Second repulsive magnet 602a Adsorption magnet 602b Repulsive magnet AX Central axis LM1, LM2, LC1, LC2 Distance

Claims (9)

A movable moving part having an element holding part and a first magnet mechanically coupled to the element holding part;
A first coil that is fixedly installed at a position covering the first magnet from the outer peripheral side of the first magnet ;
The moving part is arranged in series for the moving part in the direction of movement, and a second magnet movable,
A second coil that is fixedly installed at a position covering the second magnet from the outer peripheral side of the second magnet ;
A first restraining member that regulates one end of the moving direction of the first magnet;
A second restraining member for regulating one end of the second magnet in the moving direction;
A third restraining member that regulates the other end of the second magnet in the moving direction;
At least one of the magnets of the first magnet and the second magnet, the contact with the one of the braking members of the three braking members, and restraining the movement portion at the position of the three-point ,
When the moving part is restrained by the second restraining member or the third restraining member, the first magnet and the second magnet are magnetized so as to be coupled by a magnetic attractive force. An electromagnetic actuator characterized by that.   The distance from the central axis to which the moving unit moves to the first magnet is the first axis from the central axis.
The electromagnetic actuator according to claim 1, wherein the electromagnetic actuator is smaller than a distance to the two magnets.   The distance from the central axis to which the moving unit moves to the first coil is the distance from the central axis to the first coil.
The electromagnetic actuator according to claim 1, wherein the electromagnetic actuator is smaller than a distance to the second coil.   The first position of the moving part is a position where the first magnet comes into contact with the first stop member and stops.
  The second position of the moving portion is stopped when the second magnet comes into contact with the second stopping member in a state where a magnetic force acts in a direction in which the first magnet and the second magnet are attracted to each other. Is a position to
  The third position of the moving portion is stopped when the second magnet comes into contact with the third stopping member in a state where a magnetic force acts in a direction in which the first magnet and the second magnet are attracted to each other. The electromagnetic actuator according to claim 1, wherein the electromagnetic actuator is a position to be operated.   The electromagnetic actuator according to claim 1, wherein at least one of the first coil and the second coil is a plurality of coils.   A magnetic body is installed so as to cover the first coil and the second coil.
The electromagnetic actuator according to claim 1, wherein the electromagnetic actuator is characterized in that:   The first magnet and the second magnet are configured such that the magnetic force is biased from the first magnet and the second magnet with respect to the direction of the magnetic body. Item 7. The electromagnetic actuator according to Item 6.   A first repulsion magnet, a second repulsion magnet, which is a magnet having a polarity in which a magnetic force repelling the first magnet and the second magnet acts on the outside of the first magnet and the second magnet; The electromagnetic actuator according to claim 1, wherein a repulsive magnet is disposed.   The first magnet has an attracting magnet having a polarity in which a magnetic force acts in a direction in which the first magnet comes into contact with the first restraining member, and a second repulsive magnet is disposed outside the second magnet. The electromagnetic actuator according to claim 1, wherein the electromagnetic actuator is characterized in that:

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