CN101630891B - Miniature linear motion actuator and driving mode thereof - Google Patents
Miniature linear motion actuator and driving mode thereof Download PDFInfo
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- CN101630891B CN101630891B CN2008100123383A CN200810012338A CN101630891B CN 101630891 B CN101630891 B CN 101630891B CN 2008100123383 A CN2008100123383 A CN 2008100123383A CN 200810012338 A CN200810012338 A CN 200810012338A CN 101630891 B CN101630891 B CN 101630891B
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Abstract
The invention relates to a miniature linear motion actuator and a driving mode thereof, and belongs to the technical field of linear motion actuators. The linear motion actuator comprises end caps, an inner iron core, outer magnetic yokes, a coil, a coil bracket and two steel magnets, wherein identical poles of both steel magnets are oppositely arranged on both ends of the inner iron core, while the outer ends of both steel magnets are respectively provided with the end caps; inside both end caps, the peripheries of the inner iron core and the steel magnets are provided with two symmetrical cambered magnetic yokes; both cambered magnetic yokes are approximately formed into a circular ring on the periphery of the inner iron core; a slideway is formed between both cambered magnetic yokes; air gaps are formed between the magnetic yokes and the inner iron core and between the magnetic yokes and the steel magnets; the coil is arranged between the inner iron core and the magnetic yokes and is fixed with the coil bracket; both ends of the coil bracket extends out of the magnetic yokes through the slideway; and the coil and the coil bracket can slide on the slideway between the magnetic yokes. The miniature linear motion actuator has the advantages that identical poles of both steel magnets are arranged oppositely, which ensures better magnetic circuit sealability and evener magnetic filed formed between the air gaps; moreover, the miniature linear motion actuator has simple structure and is suitable to be used as the actuator of a miniature mechanism.
Description
Technical field
The invention belongs to the techniques of linear motor field, particularly relate to a kind of miniature linear and type of drive thereof.
Background technology
Along with the continuous development of Robotics, microrobot is in production that constantly is applied to people and life.The type of drive of impact type is relatively to be fit to one of type of drive that is applied to by microrobot, and it requires driver to have the advantages that volume is little, power output big and straight line is exported.Traditional employing rotating mechanism changes straight-line mode into, and complex structure not only can not guarantee the requirement of volume, and reliability is low.Utilizing linear electric motors directly to drive is better solution, but existing linear electric motors are that versatility is relatively poor at the certain applications design mostly: or because structural limitations is unfavorable for microminiaturization, or microminiaturized back power output is difficult to reach requirement.And in impact type drives, adopt different mechanism, also can require driver to have different output characteristic.
Summary of the invention
At the technical problem of above-mentioned existence, the mechanism according to a kind of impact type drives the invention provides a kind of miniature linear and type of drive thereof, and this motor has very little volume under the condition that guarantees certain power output and output characteristic.
Electric machine structure of the present invention, comprise end cap, inner core, outside yoke, coil, coil brace and two magnet steel, two magnet steel homopolarities are opposite to the inner core two ends mutually, two magnet steel outer ends are separately installed with end cap, in two end cap, the periphery of magnet steel and inner core is equipped with the arc yoke of two symmetries, two camber yokes roughly become circular ring type in the inner core periphery, between two arc yokes, form slideway, form air gap between yoke and inner core and yoke and the magnet steel, end cap, magnet steel, outside yoke and inner core link together; Coil places between inner core and the yoke, is fixed with coil brace on the coil, and the coil brace two ends pass yoke by slideway, and coil and coil brace can slide on the slideway between yoke, and wherein inner core part and coiler part are respectively mover or stator.
Described magnet steel diameter is more than or equal to the diameter of inner core.Magnet steel is the cylinder trench structure, when magnet steel diameter during greater than the diameter of inner core, symmetry has two grooves on described cell wall, and recess width is identical with the yoke chute width, and the groove location when magnet steel is installed is corresponding with the yoke slipway location, is coil brace end of travel position.Described motor external diameter is 6-10mm, and motor length is 10-18mm, and the electric mover movement travel is 2-4mm, magnet thickness is 1-4mm, and the magnet steel depth of groove is 0-1mm, and inner core length is 6-10mm, the inner core diameter is 3-6mm, and air gap thickness is 0.4-1mm.
The end cap of miniature linear of the present invention, magnet steel, outside yoke and the inner core formation slide block that links together, coil brace links to each other with external agency, and its type of drive comprises following motion stage:
Stage 1: slide block is positioned at the initial end of external equipment shell, connects motor power, and slide block is to terminal accelerated motion, and shell overcomes outside friction to initial end accelerated motion;
Stage 2: change the current of electric direction behind slide block movement one segment distance, slide block begins to do retarded motion, and this moment, shell was also done retarded motion because of change is subjected to force direction;
Stage 3: shell speed is reduced to zero earlier than ram speed, by the control current of electric, makes active force between slide block and the shell less than the frictional force of shell and environment, and it is static that housing keeps, and makes the speed of slide block be reduced to zero gradually;
Stage 4: by the control current of electric, the active force of control shell and slide block, the shell that makes the externally effect of frictional force keep inactive state down, slide block slowly moves to initial end, turns back to initial position with respect to shell up to slide block, the next circulation of beginning.
The present invention has following advantage:
1. the present invention is staggered relatively with two magnet steel homopolarities, and equivalence is the two-stage of magnet behind inner core and the outside yoke magnetization, and the closure of magnetic circuit is relatively good, forms more satisfactory magnetic field in air gap.
2. the magnet steel diameter can be more than or equal to core-diameter, when different-diameter unshakable in one's determination is installed, can obtain different output characteristic; The magnet steel diameter is during greater than core-diameter, and the formed side pole of magnet steel makes the main pole magnet steel reduce in the magnetic leakage at edge unshakable in one's determination, has increased air gap flux density.
3. coil and coil brace thereof part and inner core, magnet steel and yoke part can be respectively applied for the occasion that needs big inertia and little inertia respectively as stator.
4. electric machine structure of the present invention is simple, small and exquisite, novel, is easy to miniaturization, is suitable as the driver of microminiature mechanism.
5. adopt the structure of linear electric motors of the present invention, the transformation mechanism in the middle of then can saving, the reliability and the efficient of raising equipment.
Description of drawings
Fig. 1 is an assembling schematic diagram of the present invention.
Fig. 2 is a cross-sectional schematic of the present invention.
Fig. 3 is the A-A cutaway view of Fig. 2.
Fig. 4 is a magnet steel structural representation of the present invention.
Fig. 5 is the left view of Fig. 4.
Fig. 6 is a coil brace structural representation of the present invention.
Fig. 7 is the side-looking partial schematic sectional view of Fig. 6.
Fig. 8 is an end cover structure schematic diagram of the present invention.
Fig. 9 is Fig. 8 left view.
Figure 10 is a motor-driven process schematic diagram of the present invention.
Embodiment
Describe the present invention in detail below in conjunction with embodiment and accompanying drawing.
Embodiment 1: as Fig. 1--and shown in Figure 3, the present invention includes end cap 1, inner core 6, outside yoke 3, coil 5, coil brace 4 and two magnet steel 2, two magnet steel, 2 homopolarities are opposite to inner core 6 two ends mutually, two magnet steel, 2 outer ends are separately installed with end cap 1, in two end cap 1, the periphery of magnet steel 2 and inner core 6 is equipped with the arc yoke 3 of two symmetries, 3 formation slideways 11 of two arc yokes, two camber yokes 3 roughly become circular ring type in 6 peripheries unshakable in one's determination, form air gap between yoke 3 and inner core 6 and yoke 3 and the magnet steel 2, coil 5 places between inner core 6 and the yoke 2, be fixed with coil brace 4 on the coil 5, coil brace 4 passes yoke 3 by slideway 11, and coil brace 4 can slide on the slideway 11 of yoke 3.
End cap 1 of the present invention, magnet steel 2, outside yoke 3 and inner core 6 link together, and coil brace 4 and coil 5 are fixed together, and these two parts can exchange respectively as stator and mover.As stator, inner core 6, magnet steel 2 and yoke 3 are during as mover with coil 5 and coil brace 4 thereof in the present invention, and the quality major part of motor concentrates on the mover, because mover has the bigger power of being used to, is suitable for the micro mechanism that utilizes impact type to drive.Otherwise as mover, inner core 6, magnet steel 2 and yoke 3 are during as stator with coil 5 and coil brace 4 thereof, and mover inertia is little, is suitable for the general occasion that requires to have very fast response speed.When leading to the electric current of certain frequency in the coil 5, between electric mover and stator, will produce a power that changes with the sense of current during work, so mover will advance reciprocal motion with the frequency identical with power supply, the driving load.
As Fig. 6, shown in Figure 7, be the structural representation of this routine coil brace 4.Coil brace 4 is for having the circular ring type structure of two external parts 9, and it can drive coil 5 and slide along inner core 6 in slideway 11.Be connected with outside other device by two external parts 9, play the effect of fixing or outputting power, and can play ventilation simultaneously, dispel the heat and reduce air-damped effect.
As Fig. 4, shown in Figure 5, this routine magnet steel 2 is the cylinder trench structure, symmetry has two grooves 8 on described cell wall 7, groove 8 width are identical with yoke 3 chute widths, and groove 8 positions when magnet steel 2 is installed are corresponding with yoke 3 slipway locations, and the groove 8 of both sides is coil brace 4 end of travel positions.Magnet steel 2 diameters are greater than the diameter of inner core 6, its further groove 8 matches with inner core 6, as main pole, and cell wall 7 parts of projection are as side pole, reduced leakage field with the main pole magnet steel of equal-diameter part unshakable in one's determination, and main pole and side pole magnetic potential mutual superposition, further increased magnetic flux density, make coil 5 can with side pole 9 to contacting, it is close bigger to have produced two ends magnetic in stroke range, the close more uniform magnetic field of intermediate magnetic, so power output also is that mid portion is more steady in that two ends are bigger.
As Fig. 8, shown in Figure 9, be this routine end cap 1 structural representation.End cap 1 structure matches with magnet steel 2 and yoke 3 connection structures, makes motor form one.
The external diameter of motor is 10mm in this example, and overall length is 18mm, and the movement travel of mover is 4mm, magnet thickness 4mm, and the magnet steel depth of groove is 1mm, and inner core length is 10mm, and the inner core diameter is 6mm, and air gap thickness is 1mm.
Operation principle of the present invention is: utilize magnet steel 2 in the magnetic field of air gap 10 generations perpendicular to inner core 6 surfaces.Sense of current is perpendicular in the direction in this magnetic field and the coil 5.When being connected with direct current in the coil 5, coil 5 will be subjected to a power vertically, and inner core 6 and yoke 3 etc. partly is subjected to reaction force, produce relative motion, and coil 5 will slide towards a utmost point on the surface of inner core 6.When changing sense of current, coil 5 stressed oppositely, then change the direction of motion.By external circuit Control current direction is forward and reverse motion of may command motor, can realize the oscillating movement of motor, can also be by the size of control applied voltage and frequency and the amplitude that frequency is controlled vibration.When using, change the power output that voltage then can change motor as drive motors.
Embodiment 2: as Fig. 1--and shown in Figure 3, the present invention includes end cap 1, inner core 6, outside yoke 3, coil 5, coil brace 4 and two magnet steel 2, two magnet steel, 2 homopolarities are opposite to inner core 6 two ends mutually, two magnet steel, 2 outer ends are separately installed with end cap 1, in two end cap 1, the periphery of magnet steel 2 and inner core 6 is equipped with the arc yoke 3 of two symmetries, 3 formation slideways 11 of two arc yokes, two camber yokes 3 roughly become circular ring type in 6 peripheries unshakable in one's determination, form air gap between yoke 3 and inner core 6 and yoke 3 and the magnet steel 2, end cap 1, magnet steel 2, outside yoke 3 and inner core 6 link together; Coil 5 places between inner core 6 and the yoke 2, is fixed with coil brace 4 on the coil 5, and coil brace 4 passes yoke 3 by slideway 11, and coil brace 4 can slide on the slideway 11 of yoke 3.
The diameter that magnet steel 2 diameters equal unshakable in one's determination 6 in this example, this routine magnet steel 2 be a cylindrical structure, this moment, the magnetic field of motor internal distributed more evenly in whole stroke, so also became more readily available power output more stably.Be applicable to that the general power output that requires has the occasion of smooth performance.Other design of part of this example is all identical with embodiment 1.The parameter of electric machine is as follows: the motor external diameter is 6mm, and overall length is 10mm, and the movement travel of mover is 2mm, and magnet thickness is 1mm, and inner core length is 6mm, and the inner core diameter is 3mm, and air gap thickness is 0.4mm.
Embodiment 3: this routine electric machine structure is identical with embodiment 1, magnet steel 2 diameters are greater than the diameter of iron core 6, the parameter of electric machine is as follows: the motor external diameter is 8mm, overall length is 14mm, and the movement travel of mover is 3mm, and magnet thickness is 2.5mm, the magnet steel depth of groove is 0.5mm, inner core length is 8mm, and the inner core diameter is 5mm, air gap thickness 0.7mm.
Adopt miniature linear drive machines people of the present invention, as shown in figure 10, the end cap 1 of wherein said motor, magnet steel 2, outside yoke 3 and inner core 6 link together and constitute slide block 12, and the type of drive of this motor comprises following motion stage:
Stage 1: slide block 12 is positioned at the initial end of robot shells 13, connects motor power, and 13 on slide block 12 and shell produce active force, and slide block 12 is to terminal accelerated motion, and shell 13 is subjected to reaction force, to initial end accelerated motion;
Change the current of electric direction behind stage 2. slide blocks, 12 motions one segment distance, thereby change the direction of motor internal force, make slide block 12 begin to do retarded motion, this moment, shell 13 was also done retarded motion because of change is subjected to force direction;
Claims (5)
1. miniature linear, comprise end cap, inner core, outside yoke, coil, coil brace and two magnet steel, two magnet steel outer ends are separately installed with end cap, in two end cap, the periphery of magnet steel and inner core is equipped with the arc yoke of two symmetries, two camber yokes roughly become circular ring type in the inner core periphery, between two arc yokes, form slideway, coil places between inner core and the yoke, be fixed with coil brace on the coil, the coil brace two ends pass yoke by slideway, and coil and coil brace can slide on the slideway between yoke, and wherein inner core part and coiler part are respectively mover or stator; It is characterized in that: two magnet steel homopolarities are opposite to the inner core two ends mutually, form air gap between yoke and inner core and yoke and the magnet steel, and end cap, magnet steel, outside yoke and inner core link together.
2. miniature linear as claimed in claim 1 is characterized in that: described magnet steel diameter is more than or equal to the diameter of inner core.
3. miniature linear as claimed in claim 1, it is characterized in that: when magnet steel diameter during greater than the diameter of inner core, described magnet steel is the cylinder trench structure, symmetry has two grooves on described magnet steel cell wall, recess width is identical with the yoke chute width, and the groove location when magnet steel is installed is corresponding with the yoke slipway location, is coil brace end of travel position.
4. miniature linear as claimed in claim 1, it is characterized in that: described motor external diameter is 6-10mm, motor length is 10-18mm, the electric mover movement travel is 2-4mm, magnet thickness is 1-4mm, and the magnet steel depth of groove is 0-1mm, and inner core length is 6-10mm, the inner core diameter is 3-6mm, and air gap thickness is 0.4-1mm.
5. the type of drive of miniature linear as claimed in claim 1, the end cap of described motor, magnet steel, outside yoke and the inner core formation slide block that links together, coil brace links to each other with external agency, it is characterized in that comprising following motion stage:
Stage 1: slide block is positioned at the initial end of external equipment shell, connects motor power, and slide block is to terminal accelerated motion, and shell overcomes outside friction to initial end accelerated motion;
Stage 2: change the current of electric direction behind slide block movement one segment distance, slide block begins to do retarded motion, and this moment, shell was also done retarded motion because of change is subjected to force direction;
Stage 3: shell speed is reduced to zero earlier than ram speed, by the control current of electric, makes active force between slide block and the shell less than the frictional force of shell and environment, and it is static that housing keeps, and makes the speed of slide block be reduced to zero gradually;
Stage 4: by the control current of electric, the active force of control shell and slide block makes the externally effect maintenance inactive state down of frictional force of shell, and slide block slowly moves to initial end, turn back to initial position up to slide block, the next circulation of beginning with respect to shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100123383A CN101630891B (en) | 2008-07-16 | 2008-07-16 | Miniature linear motion actuator and driving mode thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100123383A CN101630891B (en) | 2008-07-16 | 2008-07-16 | Miniature linear motion actuator and driving mode thereof |
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| Publication Number | Publication Date |
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| CN101630891A CN101630891A (en) | 2010-01-20 |
| CN101630891B true CN101630891B (en) | 2011-08-17 |
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| CN2008100123383A Expired - Fee Related CN101630891B (en) | 2008-07-16 | 2008-07-16 | Miniature linear motion actuator and driving mode thereof |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103457438B (en) * | 2013-09-09 | 2016-08-10 | 胡明建 | A kind of iron core magnetic keeps the method for designing of parallel step actuator |
| JP7116293B2 (en) * | 2017-11-17 | 2022-08-10 | ミツミ電機株式会社 | Vibration actuators and portable devices |
| CN116317234B (en) * | 2023-05-22 | 2023-07-21 | 秦皇岛达则机电设备有限公司 | Parabolic magnetic yoke stator structure and magnetic axis type linear motor |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN86204843U (en) * | 1986-07-08 | 1986-12-24 | 陕西师范大学 | Permanent magnet linear tube type d.c motor |
| CN87200807U (en) * | 1987-01-23 | 1987-11-04 | 陕西师范大学 | Linear direct-current motor with moving-iron and permanent-magnet tube |
| US6779982B2 (en) * | 2002-01-14 | 2004-08-24 | Lg Electronics Inc. | Apparatus for controlling driving of reciprocating compressor and method thereof |
| CN101051786A (en) * | 2006-04-06 | 2007-10-10 | 深圳市大族精密机电有限公司 | No-iron core moving-coil DC motor |
-
2008
- 2008-07-16 CN CN2008100123383A patent/CN101630891B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN86204843U (en) * | 1986-07-08 | 1986-12-24 | 陕西师范大学 | Permanent magnet linear tube type d.c motor |
| CN87200807U (en) * | 1987-01-23 | 1987-11-04 | 陕西师范大学 | Linear direct-current motor with moving-iron and permanent-magnet tube |
| US6779982B2 (en) * | 2002-01-14 | 2004-08-24 | Lg Electronics Inc. | Apparatus for controlling driving of reciprocating compressor and method thereof |
| CN101051786A (en) * | 2006-04-06 | 2007-10-10 | 深圳市大族精密机电有限公司 | No-iron core moving-coil DC motor |
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| CN101630891A (en) | 2010-01-20 |
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