TWI404078B - And a position maintaining device having a magnetic restoring force - Google Patents

Abstract

This invention is a position maintaining device equipped with magnetic restoring functionality. The device comprises of a mobile platform, a coil component, a magnetic component, a gyroscope, and a controller. A pair of first mobile platform shafts are installed inside a support body which wraps around the mobile platform and allows the mobile platform shafts to move freely; moreover, the mobile platform is allowed to hang through the first mobile platform shafts. Based on the deviation signal generated by the gyroscope, the controller applies relatively current to the coil component. An interaction force is generated in between the magnetic fields of the coil component and the magnetic component allows the mobile platform to maintain a horizontal position in relative to a predetermined position. As a result, this design protects a carrying object or realizes anti-handshaking functionality in a camera.

Description

Position maintaining device with magnetic restoring force

The present invention relates to a position maintaining device, and more particularly to a position maintaining device having a magnetic restoring force.

In order to maintain the absolute accuracy of the inspection instruments and mechanical equipment, it is inevitable that in the process of transportation, handling and installation, it will encounter terrain obstacles such as rugged terrain or slopes. In order to ensure that the equipment will not be biased, it must be kept at a constant angle of gravity. The state can ensure the normal operation and longevity of the equipment.

In view of this, the Republic of China Patent No. 455565 "All-round angle correction lifting system and its structural device" uses array power cylinders to be staggered and pivotally mounted between the base and the carrying movable platform, and is stretched by each electric cylinder. The coordination of the quantities enables the load-bearing movable platform to be adjusted at a specific angle or level, and the gyroscope is used to monitor the topographical changes, and the power-cylinder is driven by the opening and closing brakes to adjust the carrying platform to the angle predetermined state according to the terrain or the road condition. It can ensure the normal operation and longevity of the equipment.

However, in the prior art, when the electric cylinder is to adjust the amount of expansion and contraction of each push rod, the force input by the electric cylinder must first overcome the frictional force of the push rod itself, resulting in a high overall power consumption. In addition, the control signal output by the driver needs to be mechanically switched between the power cylinder and the push rod, and the mechanical action of the push rod itself, which makes it difficult to adjust the load carrying platform in real time. Limited by the volume of the putter, this prior art is also difficult to apply in miniaturized load bearing platforms.

The purpose of the position maintaining device with magnetic restoring force provided by the invention is to dynamically compensate the swing of the external force by using the magnetic restoring force without mechanical conversion to maintain the horizontal state of the movable platform and the load bearing member thereof, thereby avoiding The prior art has problems such as high power consumption, insufficient immediateness, and excessive volume. At the same time, the same mechanism can also be used to achieve the camera's anti-shake function.

Based on the above object, the position maintaining device having magnetic restoring force of the present invention mainly comprises a movable platform, a coil component, a magnetic circuit component, a gyroscope and a controller. When the pair of rotating shafts of the movable platform are movably placed into the supporting body of the covering platform, the movable shaft can be suspended and moved radially by the pair of first rotating shafts. The controller applies a current to the coil component based on the deviation signal generated by the gyroscope, and the interaction between the magnetic force generated by the coil component and the magnetic field of the magnetic circuit component maintains the movable platform at a level related to the horizontal plane. The intended location.

The advantages and spirit of the present invention will be further understood from the following detailed description of the invention.

Please refer to the first A to the first C. The first A to the first C are schematic views of the first embodiment of the position maintaining device with magnetic restoring force according to the present invention. As shown in FIG. A, the position maintaining device 1 having magnetic restoring force of the present invention mainly comprises a movable platform 10, a set of first coil components 20, a set of first magnetic circuit components 30, a gyroscope 40 and a controller (not Depict). The movable platform 10 includes a carrier 101 for carrying articles, a pair of extension walls 103 extending from the carrier 101, and a pair of first rotating shafts 102 disposed on the carrier 101. A set of first coil components 20 (consisting of a magnetically permeable metal 202 and a coil 201) are disposed on the pair of extension walls 103. A set of first magnetic circuit components 30 are disposed relative to the set of first coil components 20. The gyroscope 40 is disposed on the movable platform 10. Based on the characteristics that the gyroscope 40 will swing with the movable platform 10, the gyroscope 40 can detect the direction and speed of the movable platform 10, and can be based on the first initial position of the platform 10 (ie, the movable platform 10 is not affected by the external force). At the position), a first deviation signal is generated. For example, when the movable platform 10 is on a flat surface and the movable platform 10 is only attracted by gravity, the platform 10 can be considered to be unaffected by external forces.

Briefly, in the position maintaining device 1 of the present invention, when a pair of first rotating shafts 102 of the movable platform 10 are movably placed in the first supporting body 601 of the wrapping platform 10 (as shown in FIG. 2A), The movable platform 10 is rendered in a suspended state by the pair of first rotating shafts 102. At the same time, with the magnetic attraction between the first coil component 20 and the first magnetic circuit component 30, the movable platform 10 is maintained at the first initial position, so that the movable platform 10 is not affected by the gravity. The object that is carried by the movable platform 10 is realized by swinging at will, and smoothly keeping the movable platform 10 in a horizontal state. As shown in FIG. B, if the position maintaining device 1 is on the slope, the controller applies a current to the first coil component 20 based on the deviation signal generated by the gyroscope 40, and the first coil component 20 is utilized. The generated magnetic force, the interaction force generated between the magnetic fields of the first magnetic circuit component 30, adjusts the deflection state of the movable platform 10 under control, and maintains the movable platform 10 at a predetermined position related to the horizontal plane (usually The horizontal state), but not affected by gravity, allows the movable platform 10 to gradually assume the same horizontal state under the free swing, thereby protecting the objects carried by the movable platform 10.

In order to allow the movable platform 10 to swing freely under the influence of gravity, the two permanent magnets 301, 302 of the first magnetic circuit component 30 of the group are located opposite to the two sides of the magnetic conductive metal 202 of the first coil component 20. The position of the movable platform 10 is fixed by the magnetic attraction forces that are attracted and balanced by the permanent magnets 301 and 302 and the magnetic conductive metal 202. In this case, when the additional force applied to the movable platform 10 disappears, the movable platform 10 returns to the original position due to the magnetic attraction, so the magnetic attraction between the permanent magnets 301, 302 and the magnetic conductive metal 202 is again It can be called magnetic restoring force. In this case, as long as the equilibrium state between the permanent magnets 301, 302 and the magnetic conductive metal 202 is broken, the movable platform 10 can be moved toward the predetermined radial direction based on the movable platform 10 in a suspended state, so as to be smoothly and controlledly controlled. Achieve the horizontal state of the active platform 10 at all times. For example, if the position maintaining device 1 is on the slope as shown in FIG. B, it is necessary to move the movable platform 10 in the radial direction as the arrow direction A (ie, the inclination direction of the slope), and let the movable platform 10 is still in a horizontal state.

In order to adjust the deflection state of the movable platform 10 under control, the magnetic conductive metal 202 (for example, the yoke) of the first coil component 20 is surrounded by the coil 201, and the magnetic force generated by the coil 201 to which the predetermined current is applied is sufficient to resist permanent The magnetic attraction between the magnetic elements 301, 302 and the magnetically permeable metal 202 causes the movable platform 10 to move radially under the constraints of the pair of first rotating shafts 102 until the movable platform 10 is maintained at a predetermined position relative to the horizontal plane. For example, if the slope of the position maintaining device 1 is inclined, the gyroscope 40 will detect a relatively large first deviation signal, so that the controller applies a larger current to the coil 201, and allows the movable platform. 10 radial movement. Among them, when the permanent magnets 301 and 302 are assembled, the polarities of the permanent magnets 301 and 302 must be opposite, so that the permanent magnets 301 and 302 have the same output direction. Thus, after the 201 coil is energized, the current flowing in the coil 201 to the permanent magnets 301, 302 is directed upward and downward, respectively, causing the movable platform 10 to move radially.

Furthermore, based on the first initial position of the movable platform 10, the suspended radial movement range of the movable platform 10 is limited to the movable platform 10 and the wall surrounding the movable platform 10 (ie, the first support 601 shown in FIG. 2A) The gap between them. For example, based on the first initial position of the movable platform 10, the dangling radial movement range of the movable platform 10 is plus or minus 1-30 degrees, with positive and negative 1-15 degrees being optimal.

In order to reduce the current required by the coil 201 under the requirement that the coil 201 generates a sufficient output force, the magnetic permeability characteristic provided by the first closed magnetic path magnet 50 can be realized. As shown in FIG. C, the first closed magnetic path magnet 50 includes a U-shaped magnetic metal having two support walls, and one of the support walls can support the set of first magnetic circuit components 30 with respect to the group. The first coil component 20 is adjacent to the back surface of the set of first coil 20 components, and is formed between the set of first magnetic circuit components 30 and the set of first coil components 20 as shown in FIG. Close the magnetic circuit. Here, by the guidance of the first closed magnetic path magnet 50, the magnetic lines of force of the set of first magnetic circuit components 30 will almost pass through the set of first coil components 20, so that the set of first coil components 20 is relatively large. The output.

Based on the power saving considerations, although the set of first magnetic circuit components 30 may be disposed on the pair of extension walls 103, and the set of first coil components 20 are disposed oppositely, only the set of first magnetic circuit components 30 The relatively heavy weight relatively increases the force required to swing the movable platform 10, resulting in the need to input a larger current to the set of first coil components 20, thus placing the lighter weighted set of first coil components 20 in the pair of extensions. Wall 103 is the preferred choice.

Since the environment in which the position maintaining device 1 is located is likely to have a multi-directional deflection, it is not unidirectionally skewed as shown in the first B-picture. To this end, the position maintaining device having the magnetic restoring force of the present invention can also be provided with multiple adjustment mechanisms similar to those previously described, that is, at least the movable platform 10 can obtain radial movement adjustment in both directions.

Please refer to the second A to the second B, and the second to second B are schematic views of the second embodiment of the position maintaining device with magnetic restoring force according to the present invention. The position maintaining device 2 of the present invention further includes a movable cover 60 surrounding the position maintaining device 1, a set of second coil members 70, and a set of second magnetic path members 80.

The movable cover 60 is a hollow body composed of a plurality of first support bodies 601 and surrounds the movable platform 10 or the position maintaining device 1. The hollow body formed by the plurality of first support bodies 601 is generally a rectangular cube having a rectangular shape, that is, the movable cover 60 is generally a rectangular rectangle of four sides, but the first support body 601 constituting the movable cover 60 is not limited to four. Can be at least four sides or more. On such a four-sided or polygonal cubic rectangle, a fixing hole is provided on the inner side of one of the two opposite first supporting bodies 601 so that the pair of first rotating shafts 102 of the platform 10 are movably inserted while the other two are opposite A pair of second rotating shafts 602 are disposed on the outer side of the first support body 601. In other words, the pair of first rotating shafts 102 are "not" disposed in the plurality of first supporting bodies 601, and the pair of second rotating shafts 602 are disposed on the first supporting body 601 such that the movable platform 10 and the movable cover 60 have a suspended diameter The direction of movement is different, thereby providing radial movement in both directions. Under the four-sided cubic rectangle, the two directions are perpendicular to each other, but the two directions are not necessarily limited to be perpendicular to each other, and may be under a cubic rectangle above the pentagon, and the two directions have an angle of more than 90 degrees with each other. If the pair of second rotating shafts 602 are movably inserted into the second supporting body 901 (as shown in the third figure), the pair of second rotating shafts 602 are used to cause the movable cover 60 to assume a floating state. The position at which the movable cover 60 is not affected by the external force is defined as the second initial position of the movable cover 60.

Similarly, a set of second coil components 70 are disposed on the first support body 601 having the pair of second rotating shafts 602, but a set of second coil components 70 are disposed below the pair of second rotating shafts 602. A set of second coil components 70 is comprised of a magnetically permeable metal 702 and a coil 701. A set of second magnetic circuit components 80 are disposed relative to the set of second coil components 70. The two permanent magnets 801, 802 of the set of second magnetic circuit components 80 are located opposite to each other on the magnetically conductive metal 702 of the set of second coil components 70. A coil 701 is surrounded around the magnetic conductive metal 702 in the second coil component 70 of the group. Based on the second initial position of the movable cover 60, the range of the suspended radial movement of the movable cover 60 is limited by the movable cover 60 and the gap between the wall surfaces surrounding the movable cover 60. It should be noted that the working principle of the movable cover 60 and the movable platform 10 are substantially the same, and therefore will not be described again.

Based on the above components and their actuation principles, the gyroscope 40 disposed on the movable platform 10 can additionally generate a second deviation signal based on the second initial position of the movable cover 60. In this manner, the controller applies a current to the set of first coil components 20 and the second coil component 70 based on the first deviation signal generated by the gyro 60 and the second deviation signal, and uses the interaction force to make the activity The cover 60 (especially the movable platform 10 that is offset with the movable cover 60) is maintained at a predetermined position relative to the horizontal plane.

With the above-mentioned operation principle, after a slight modification and adjustment, the position maintaining device with magnetic restoring force of the present invention can also be used to realize the camera anti-shake function.

4A to 4B are schematic views showing a third embodiment of the position maintaining device having magnetic restoring force according to the present invention. As shown in FIG. 4A, the position maintaining device 3 having magnetic restoring force of the present invention mainly comprises a movable platform 10, a set of first coil components 20, a set of first magnetic circuit components 30, a gyroscope 40 and a controller (not Depict). The movable platform 10 includes a carrier 101, a pair of extension walls 103, and a pair of first rotating shafts 102. A set of first coil components 20 is comprised of a magnetically permeable metal 202 and a coil 201.

When the position maintaining device 3 having the magnetic restoring force is applied to the camera, the object carried by the carrier 101 is the lens group 1000, and after the external light passes through the lens group 1000, it passes through the through hole 1030 below the lens group 1000. It is guided to the photosensitive element 1020 (as shown in FIG. 4B).

In order to provide the anti-shake function, when the lens group 1000 is in focus lock (for example, when the shutter is half-pressed), the movable platform 10 (or the lens group 1000 carried thereon) is positioned at the position relative to the horizontal plane to be designated as the first initial position. Therefore, when the user accidentally shakes the camera slightly, the first initial position (ie, the position relative to the horizontal plane) of the lens group 1000 before being vibrated can be restored or corrected to properly guide the light to the photosensitive element 1020 to maintain the image clarity. degree.

In order to provide a zooming effect, as shown in FIG. 4B, an upper support body 902 is further provided on the support structure formed by the outermost second support body 901, and a lens group 1010 is mounted on the upper support body 902. Thus, the external light 1040 will be sequentially guided to the photosensitive element 1020 after passing through the lens set 1010, 1000, the perforation 1030, as shown in the fifth A or fifth B. In this way, a zoom effect can be provided by providing an additional vertical displacement design for the lens sets 1010, 1000.

The fifth embodiment A to the fifth B show another embodiment of the third embodiment of the position maintaining device having the magnetic restoring force of the present invention. Whether the first initial position before the lens group 1000 is shaken as shown in FIG. 5A or the position after the lens group 1000 is shaken as shown in FIG. 5B can be provided by the gyroscope 40, and the gyro Meter 40 provides a deviation signal by the difference between these two locations. In other words, the controller can relatively apply current to the set of first coil components 20 based on the first deviation signal generated by the gyroscope 40, and utilize the magnetic force generated by the set of first coil components 20, the set of first magnetic circuits. The interaction between the magnetic fields of the component 30 causes the movable platform 10 (especially the lens set 1000) to maintain or return to a first initial position relative to the horizontal plane to achieve an anti-shake function.

The features and spirit of the present invention will be more apparent from the detailed description of the preferred embodiments. On the contrary, the intention is to cover various modifications and equivalents within the scope of the invention as claimed.

1, 2, 3, 5. . . Position maintaining device with magnetic restoring force

10. . . Activity platform

20. . . a set of first coil components

30. . . a set of first magnetic circuit components

40. . . Gyro

50. . . First closed magnetic path magnet

51. . . Second closed magnetic path magnet

60. . . Moving cover

70. . . a set of second coil components

80. . . a set of second magnetic circuit components

The first A to the first C are schematic views of the first embodiment of the position maintaining device having magnetic restoring force according to the present invention.

2A to 2B are schematic views showing a second embodiment of the position maintaining device having magnetic restoring force according to the present invention.

The third figure is a schematic view of the appearance of the position maintaining device having magnetic restoring force according to the present invention.

4A to 4B are schematic views showing a third embodiment of the position maintaining device having magnetic restoring force according to the present invention.

The fifth embodiment A to the fifth B show another embodiment of the third embodiment of the position maintaining device having the magnetic restoring force of the present invention.

1. . . Position maintaining device with magnetic restoring force

10. . . Activity platform

101. . . Carrier

102. . . a pair of first shafts

103. . . a pair of extension walls

20. . . a set of first coil components

201. . . Coil

202. . . Magnetic conductive metal

30. . . a set of first magnetic circuit components

301, 302. . . permanent magnet

40. . . Gyro

50. . . First closed magnetic path magnet

Claims (14)

A position maintaining device having a magnetic restoring force, the position maintaining device mainly comprising: a movable platform, comprising a carrier for carrying an object, a pair of extending walls extending from the carrier, and being disposed on the carrier a pair of first rotating shafts, if the pair of first rotating shafts are movably placed into a first supporting body, using the pair of first rotating shafts to make the movable platform appear suspended; a set of first coil components are disposed at a pair of first magnetic circuit components disposed relative to the set of first coil components; a gyroscope disposed on the movable platform, and Detecting the direction and speed of the active platform, and generating a first deviation signal based on a first initial position of the active platform; a controller, based on the first deviation signal generated by the gyroscope, relative to Applying current to the set of first coil components, and utilizing the magnetic force generated by the set of first coil components, the interaction between the magnetic fields of the set of first magnetic circuit components to control the activity level A first displacement relative to the initial position. The position maintaining device with magnetic restoring force as described in claim 1, wherein the position of the movable platform is defined as the position if the external force is not affected The first initial position of the movable platform, the controller uses the magnetic force generated by the set of first coil components, and the interaction force generated between the magnetic fields of the set of first magnetic circuit components to maintain the active platform in relation to The predetermined location of the water level. The position maintaining device with magnetic restoring force according to claim 1, wherein the object carried by the carrier is a lens group, and the movable platform is designated as the first initial position when the position relative to the horizontal plane is specified. The controller maintains the movable platform at the first initial position relative to the horizontal plane by utilizing the magnetic force generated by the set of first coil components and the interaction force generated between the magnetic fields of the set of first magnetic circuit components. The position maintaining device with magnetic restoring force according to claim 1, wherein a suspended radial movement range of the movable platform is limited between the movable platform and a wall surface of the first supporting body surrounding the movable platform. Void. The position maintaining device with magnetic restoring force as described in claim 1, wherein the movable platform has a suspended radial movement range of plus or minus 1 to 30 degrees. The position maintaining device with magnetic restoring force according to claim 1, wherein two of the first magnetic circuit components of the set of first magnetic circuit components are located opposite to each other of the magnetic conductive metal of the first coil component of the set. The magnetic attraction between the permanent magnet and the magnetically permeable metal allows the position of the movable platform to be fixed. Position-sustaining device with magnetic restoring force as described in claim 6 Wherein the magnetic coil around the first coil component of the group is surrounded by a coil, and the magnetic force generated by the coil to which the predetermined current is applied is sufficient to resist the magnetic attraction between the permanent magnet and the magnetically conductive metal, resulting in the movable platform being The movement of the first shaft is restricted by radial movement until the movable platform is maintained at a predetermined position associated with the horizontal plane. The position maintaining device according to claim 1, wherein the position maintaining device further comprises: a first closed magnetic path guiding magnet, and a U-shaped magnetic conductive metal comprising two supporting walls, One of the support walls can support the set of first magnetic circuit components relative to the set of first coil components, the other support wall adjacent the back of the set of first coil components, and the set of first magnetic circuit components and the set A closed magnetic circuit is formed between the first coil components. The position maintaining device as claimed in claim 1, wherein the position maintaining device further comprises: a movable cover body, a hollow body composed of a plurality of first support bodies and surrounding the movable platform a pair of second rotating shafts are disposed on the first supporting body, and if the pair of second rotating shafts are movably placed into a second supporting body, the movable rotating shell is suspended by the pair of second rotating shafts, and is not subjected to external force The position of the movable cover is defined as the second initial position of the movable cover, and the movable platform is different from the suspended radial movement direction of the movable cover; a set of second coil components are disposed to have the same The first to the second shaft a support body, and consisting of a magnetically permeable metal and a coil; a set of second magnetic circuit components disposed relative to the set of second coil components; wherein the gyroscope can be based on the second initial of the movable cover Positioning a second deviation signal; wherein the controller applies a current to the second coil component based on the second deviation signal generated by the gyroscope, and generates the second coil component by using the second coil component The magnetic force, the interaction between the magnetic fields of the set of second magnetic circuit components, maintains the movable cover at a predetermined position relative to the horizontal plane. The position maintaining device with magnetic restoring force according to claim 9, wherein the movable radial movement range of the movable cover is limited to the movable cover based on the second initial position of the movable cover, And a gap between the wall surfaces of the second support surrounding the movable cover. The position maintaining device with magnetic restoring force according to claim 10, wherein the movable cover has a suspended radial movement range of plus or minus 1 to 30 degrees based on the second initial position of the movable cover. A position maintaining device having a magnetic restoring force according to claim 11, wherein two of the second magnetic circuit members of the set of second magnetic circuit members are located opposite to each other of the magnetic conductive metal of the second coil member of the group. The magnetic attraction between the permanent magnet and the magnetically conductive metal attracts the movable cover to a fixed position. The position maintaining device with magnetic restoring force according to claim 12, wherein a magnetic coil is applied around the magnetic conductive metal of the second coil component, and a magnetic force generated by the coil to which the predetermined current is applied is sufficient to resist the permanent magnet and The magnetic attraction between the magnetically permeable metals causes the movable cover to move radially under the constraint of the pair of second rotating shafts until the movable cover is maintained at a predetermined position relative to the horizontal plane. The position maintaining device of claim 9, wherein the position maintaining device further comprises: a second closed magnetic path guiding magnet, and a U-shaped magnetic conductive metal comprising two supporting walls, One of the support walls can support the set of second magnetic circuit components relative to the set of second coil components, the other support wall adjacent the back of the set of second coil components, and the set of second magnetic circuit components and the set A closed magnetic circuit is formed between the second coil members.