WO2018220397A1 - Actionneur à libération rapide - Google Patents

Actionneur à libération rapide Download PDF

Info

Publication number
WO2018220397A1
WO2018220397A1 PCT/GB2018/051507 GB2018051507W WO2018220397A1 WO 2018220397 A1 WO2018220397 A1 WO 2018220397A1 GB 2018051507 W GB2018051507 W GB 2018051507W WO 2018220397 A1 WO2018220397 A1 WO 2018220397A1
Authority
WO
WIPO (PCT)
Prior art keywords
coil
actuator
housing
plunger
actuator according
Prior art date
Application number
PCT/GB2018/051507
Other languages
English (en)
Inventor
Hugh-Peter Granville Kelly
Original Assignee
Elaut Nv
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Elaut Nv filed Critical Elaut Nv
Publication of WO2018220397A1 publication Critical patent/WO2018220397A1/fr

Links

Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/08—Electromagnets; Actuators including electromagnets with armatures
    • H01F7/16—Rectilinearly-movable armatures
    • H01F7/1607—Armatures entering the winding
    • H01F7/1615—Armatures or stationary parts of magnetic circuit having permanent magnet
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/066—Electromagnets with movable winding
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F9/00—Games not otherwise provided for
    • A63F9/30—Capturing games for grabbing or trapping objects, e.g. fishing games
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0246—Gripping heads and other end effectors servo-actuated actuated by an electromagnet
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/08—Electromagnets; Actuators including electromagnets with armatures
    • H01F7/10—Electromagnets; Actuators including electromagnets with armatures specially adapted for alternating current
    • H01F7/11—Electromagnets; Actuators including electromagnets with armatures specially adapted for alternating current reducing or eliminating the effects of eddy currents
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
    • H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F9/00—Games not otherwise provided for
    • A63F9/34—Games using magnetically moved or magnetically held pieces, not provided for in other subgroups of group A63F9/00
    • A63F2009/345—Electromagnetically
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/08—Electromagnets; Actuators including electromagnets with armatures
    • H01F7/081—Magnetic constructions
    • H01F2007/083—External yoke surrounding the coil bobbin, e.g. made of bent magnetic sheet

Definitions

  • the following invention relates to electromagnetic actuators and in particular to electromagnetic actuators as disclosed in my granted patent, EP1,305,807 Bl & foreign equivalents.
  • Such an actuator comprises an annular field coil and a composite plunger for relative travel threrethrough, the composite plunger comprising two permanent magnets axially in line but spaced one from the other and with like poles facing, wherein the coil experiences a thrust in use, when energised, relative to the plunger by interaction of the magnetic field produced by energization of the coil with the magnetic fields produced by the permanent magnets, and wherein at the centre of a stroke, the thrust is produced by interaction of the magnetic field of the coil with the magnetic fields of both permanent magnets, wherein the length of the annular field coil, the corresponding spacing of the permanent magnets and the said stroke are selected such that at each end of the stroke the thrust is produced by interaction of the magnetic field of the coil with the magnetic field of the permanent magnet closest to said coil such that said thrust is substantially constant over the pre-selected stroke regardless of displacement.
  • the tongues of the grippers, or claw, operated thereby exercise the same gripping force regardless of where the object being selected is being gripped.
  • This is a significant advantage for certain applications, for example in the pick & place of delicate electronic components, or the vertically grabbing of toys (eg teddy bears) in amusement arcade machines commonly known as cranes.
  • the amperes fed to the coil of the actuator can be adjusted precisely to pick up, or almost pick up, the desired object regardless of where the claws happen to be grabbing, and thus to enable the owner of the machine to govern the effective payout to the person using the machine.
  • the coil holding portion of such a permanent actuator is fabricated from aluminium, or other form of non-ferromagnetic metallic material. This provides a durable housing for the coil, as well as an effective means of providing a "heat-sink” to dissipate heat arising within the coil during operation.
  • an electromagnetic actuator comprising an annular field coil housed in a housing and a composite plunger for relative travel threrethrough, the composite plunger comprising two permanent magnets axially in line but spaced one from the other and with like poles facing, wherein the coil experiences a thrust in use, when energised, relative to the plunger by interaction of the magnetic field produced by energization of the coil with the magnetic fields produced by the permanent magnets, and wherein at the centre of a stroke, the thrust is produced by interaction of the magnetic field of the coil with the magnetic fields of both permanent magnets, characterised by means to prevent or substantially limit the circulation of eddy currents within the housing of the actuator during motion of the plunger.
  • the present invention ensures a fast open and close motion. This is because without the means to prevent or substantially limit the circulation of eddy currents within the housing of the actuator during motion of the plunger, eddy currents arise and circulate within the short-circuit coil path provided by the housing itself. These eddy currents exercise a parasitical braking effect on the motion of the plunger. This impairs the aforesaid snappy motion often desired and required of this type of actuator. By limiting the eddy currents, the braking force on the plunger is substantially eliminated.
  • the means to prevent the circulation of eddy current comprises one or more slits situated within the housing of the permanent actuator.
  • the slits render impossible the ready circulation of eddy currents around the body of the housing.
  • the one or more slits are formed longitudinally along all, or substantially all, of the body of the permanent actuator. At least one, preferably two, or even more preferably, three slits are provided. In this case, circulation of eddy currents is substantially eliminated.
  • the plunger of the actuator can thus move with a snappy action, unimpeded by any eddy current braking action as before.
  • the housing of permanent actuator is typically used for the placing and positioning of internal bearings for guiding the plunger concentrically therein, and/or for holding the coil (e.g. a bobbin upon which the coil has been wound) and which also services as guidance and bearing means for the plunger.
  • the coil e.g. a bobbin upon which the coil has been wound
  • the housing of the actuator is formed of a plurality of longitudinal segments, each formed along their lengths, with interleaving and/or interlocking lips.
  • Insulation means are provided to prevent electrical connection from one segment to its neighbour.
  • the insulation means can be provided by the anodising of the segments. Anodising provides a simple and effective means of providing insulation while at the same time a visually appealing finish.
  • the aforesaid interlocking means are profiled in such manner as to prevent, once interlocked with one another, the oozing out externally of resin during the manufacturing process.
  • Figure 1 shows a typical use of a permanent actuator used to operate gripping arms, with the top figure showing a cross section taken through the longitudinal axis of the actuator and the bottom figure showing a cross section along the longitudinal axis of the whole assembly.
  • FIG. 2 shows in detail the housing thereof according to the invention
  • a permanent actuator of the invention is shown at 10.
  • a housing 11 contains a coil 12 and bearings 13.
  • a plunger 14, contains permanent magnets 15 & 16 with like poles facing.
  • the arrangement of the magnets and the sizing and shaping of the coil winding 12, is such as to produce a substantially even force over the full stroke, as disclosed in my granted patent no EP1,305,807 Bl.
  • a central spacer which may be fabricated from a non-ferromagnetic material, or partly comprise some ferromagnetic material, depending upon the desired characteristics may be provided between adjacent magnets.
  • the plunger 14 may be completed with a final non-ferromagnetic collar.
  • the collar may be furnished with a central screw thread for connection to mechanisms.
  • the travelling annular field coil 12 is mounted for slidable movement along the plunger 14. It is guided therealong by bearings 13, preferably at each end, these bearings 13 being contained within the housing 11 which may be in the form of a thin walled tube.
  • the coil 12 is also housed within the housing 11.
  • the housing 11 is made of a non-magnetic material.
  • the housing circumferentially surrounds the plunger 14.
  • the action of the actuator is as follows.
  • current of the appropriate polarity is fed to the coil 12, the lines of force produced thereby interact with the field pattern emanating from the plunger 14.
  • the lines of force produced by the magnets 15,16 are forced to radiate outwards by virtue of the fact that their poles are in repulsion.
  • the coil 12 experiences a force, in accordance with Fleming's rule.
  • the coil is permitted to move over a pre-selected length -stroke-.
  • the force rendered is largely independent of displacement for the following reasons. When the coil is in its top position, it experiences at its centre, powerful fields emanating from the north pole of the magnet.
  • the effective field from the first magnet cutting the turns is weakened, but is doubled overall because of the effect of the bottom magnet.
  • the full field of the bottom magnet cuts the turns, as did the top magnet.
  • end collars may each be fabricated in part or wholly from ferromagnetic material, and similarly the central spacer. The effect of this is to extend and augment the field linkage with the coil 12, and thereby increase the performance of the actuator.
  • the end collars and central spacer may be made of tubing, of reasonable wall thickness, without significantly reducing the thrust obtained.
  • a penalty of this arrangement is that the force versus displacement profile may not be as consistent as when non-ferromagnetic components are used, but nevertheless remains within acceptable boundaries for most applications requiring a constant thrust.
  • no bobbin is used. Instead the wires of the coil 12 are held in place by resin, optionally with annular bearings 13 on either side of the coil 12. I.e. the coil 12 is effectively not on a bobbin. In practice this may be achieved by winding the coil 12 out of self-bonding wire which holds it together -once cooked- without any bobbin means.
  • the plunger operates arms 17 & 18 such as to grasp with its claws an object 19 upon energisation of the coil 12.
  • the actuator 10 is held by the housing 11 from above. In the case of vertical operation, upon cessation of current supplied to the coils, the plunger falls under gravity, as shown by the arrow, so releasing the object gripped by the claws.
  • the housing 11 of the invention however is provided with (longitudinal) slits, as shown at 20 & 21 & 22. These prevent the ready circulation of eddy currents around the housing 11 and thereby allow freer motion of the plunger 14. This is a desirable characteristic, especially for fast motion grippers as may be used in "pick and place” assembly, or even in amusement arcade “cranes” when the visual impact of a snappy motion upon picking up and then (undoubtedly) releasing a teddy bear, is desirable.
  • the segments of the actuator housing are shown in plan view in greater detail at 23 & 24 & 25.
  • each segment 23, 24, 25 are designed such as to interlock with their neighbours.
  • modern die technology makes possible such accurate profiling that upon assembly, a virtually “solid” housing is created.
  • the interlocking portions, as shown at 26, are effective to prevent the egress of resin or other glues, injected into the housing 11 during manufacture for holding and locating the coil contained therein.
  • the segments may be pre-anodised, this effect providing a thorough means of insulation one segment from the other and so making impossible free circumferential circulation of eddy currents. Some very minor circulation can occur within each segment, but this is insignificant compared to the braking effects caused by circumferential circulation. It is common practice to use resin or other glueing means to hold the coil within the housing.
  • the aforesaid interlocking means are profiled in such manner as to prevent, once interlocked with one another, the oozing out externally of resin during the manufacturing process.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)
  • Electromagnets (AREA)

Abstract

La présente invention concerne un actionneur à faible course comprenant une bobine de champ annulaire logée dans un logement et un plongeur composite destiné à un déplacement relatif à travers ce dernier, le plongeur composite comprenant deux aimants permanents axialement en ligne mais espacés l'un de l'autre et dotés de pôles de même polarité se faisant face, la bobine subissant une poussée lors de l'utilisation, quand elle est excitée, par rapport au plongeur, par interaction du champ magnétique produit par l'excitation de la bobine au moyen des champs magnétiques produits par les aimants permanents, et la poussée étant produite, au centre d'une course, par interaction du champ magnétique de la bobine avec les champs magnétiques des deux aimants permanents, la bobine selon l'invention étant caractérisée par des moyens destinés à empêcher ou à limiter sensiblement la circulation de courants de Foucault dans le logement de l'actionneur pendant le mouvement du plongeur.
PCT/GB2018/051507 2017-06-01 2018-06-01 Actionneur à libération rapide WO2018220397A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB1708753.7A GB2563050A (en) 2017-06-01 2017-06-01 Quick release actuator
GB1708753.7 2017-06-01

Publications (1)

Publication Number Publication Date
WO2018220397A1 true WO2018220397A1 (fr) 2018-12-06

Family

ID=59349850

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB2018/051507 WO2018220397A1 (fr) 2017-06-01 2018-06-01 Actionneur à libération rapide

Country Status (2)

Country Link
GB (1) GB2563050A (fr)
WO (1) WO2018220397A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110978041A (zh) * 2020-01-03 2020-04-10 广州大学 一种电磁铁驱动柔性微夹持装置
CN113319759A (zh) * 2021-05-27 2021-08-31 南昌工程学院 一种磁致伸缩弹片式微夹持装置

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019119125A1 (de) * 2019-07-15 2021-01-21 Festo Se & Co. Kg Greifvorrichtung

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2079068A (en) * 1980-05-19 1982-01-13 Kelly H P G Linear motor
DE3110867A1 (de) * 1981-03-20 1982-09-30 Eks Elektromagnetik Dr. Scheuerer Kg, 7143 Vaihingen Gleichstrommagnet
JPH04155904A (ja) * 1990-10-19 1992-05-28 Toyota Central Res & Dev Lab Inc 電磁アクチュエータ
JPH05332470A (ja) * 1992-06-01 1993-12-14 Kawasaki Heavy Ind Ltd 電磁弁
DE19704695A1 (de) * 1997-02-07 1998-08-20 Schuster Heinz Peter Elektromagnetischer Teleskopf-Linearantrieb
US6168135B1 (en) * 1998-05-15 2001-01-02 Siemens Automotive Corporation Slotted housing for fuel injector
EP1322389B1 (fr) * 2000-10-04 2004-12-22 ELAUT Naamloze Vennootschap Systeme de prehension a commande electromagnetique
EP1305807B1 (fr) * 2000-08-03 2009-10-21 Direct Thrust Designs Limited Actionneur lineaire electrique a course courte
US20120098356A1 (en) * 2010-10-21 2012-04-26 Seiko Epson Corporation Linear motor, back yoke for linear motor, and manufacturing method of back yoke

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US4363980A (en) * 1979-06-05 1982-12-14 Polaroid Corporation Linear motor
US5434549A (en) * 1992-07-20 1995-07-18 Tdk Corporation Moving magnet-type actuator
JPH10270243A (ja) * 1997-03-26 1998-10-09 Haruyuki Yamada 双安定自己保持無音ソレノイド
US5814907A (en) * 1997-05-05 1998-09-29 Moog Inc. Electromagnetic force motor with internal eddy current damping
JP4155101B2 (ja) * 2003-05-16 2008-09-24 松下電工株式会社 振動型リニアアクチュエータ及びそれを用いた電動歯ブラシ
US6870454B1 (en) * 2003-09-08 2005-03-22 Com Dev Ltd. Linear switch actuator
GB0500507D0 (en) * 2005-01-11 2005-02-16 Kelly H P G Improvements to tubular electrical generators

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2079068A (en) * 1980-05-19 1982-01-13 Kelly H P G Linear motor
DE3110867A1 (de) * 1981-03-20 1982-09-30 Eks Elektromagnetik Dr. Scheuerer Kg, 7143 Vaihingen Gleichstrommagnet
JPH04155904A (ja) * 1990-10-19 1992-05-28 Toyota Central Res & Dev Lab Inc 電磁アクチュエータ
JPH05332470A (ja) * 1992-06-01 1993-12-14 Kawasaki Heavy Ind Ltd 電磁弁
DE19704695A1 (de) * 1997-02-07 1998-08-20 Schuster Heinz Peter Elektromagnetischer Teleskopf-Linearantrieb
US6168135B1 (en) * 1998-05-15 2001-01-02 Siemens Automotive Corporation Slotted housing for fuel injector
EP1305807B1 (fr) * 2000-08-03 2009-10-21 Direct Thrust Designs Limited Actionneur lineaire electrique a course courte
EP1322389B1 (fr) * 2000-10-04 2004-12-22 ELAUT Naamloze Vennootschap Systeme de prehension a commande electromagnetique
US20120098356A1 (en) * 2010-10-21 2012-04-26 Seiko Epson Corporation Linear motor, back yoke for linear motor, and manufacturing method of back yoke

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110978041A (zh) * 2020-01-03 2020-04-10 广州大学 一种电磁铁驱动柔性微夹持装置
CN113319759A (zh) * 2021-05-27 2021-08-31 南昌工程学院 一种磁致伸缩弹片式微夹持装置
CN113319759B (zh) * 2021-05-27 2022-11-01 南昌工程学院 一种磁致伸缩弹片式微夹持装置

Also Published As

Publication number Publication date
GB201708753D0 (en) 2017-07-19
GB2563050A (en) 2018-12-05

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