CN112688532B - Large-stroke electromagnetic driving device with balanced driving force and control method thereof - Google Patents

Abstract

The invention discloses a large-stroke electromagnetic driving device with balanced driving force and a control method thereof, wherein the device comprises a shell, a sheet-shaped coil, a conductive sliding contact plate, a moving magnet and a carbon brush; the sheet-shaped coils are sequentially clung to and encircle the outside of the shell, adjacent sheet-shaped coils are connected end to end and sequentially connected with the conductive sliding contact plates, the carbon brushes and the movable magnet can synchronously move along the axis direction in the shell, the two carbon brushes are in contact with the conductive sliding contact plates, a current loop is formed through the coils, the electromagnetic field generated by the electric coil and the geometric center of the magnetic field of the movable magnet always have dislocation in the same direction, the movable magnet is always subjected to electromagnetic pushing (or pulling) force in the same direction to move, and the moving direction of the movable magnet can be changed by changing the current direction.

Description

Large-stroke electromagnetic driving device with balanced driving force and control method thereof

Technical Field

The invention belongs to the technical field of electromagnetic driving, and particularly relates to a large-stroke electromagnetic driving device with balanced driving force and a control method thereof.

Background

With the development of industry and the application of ubiquitous automation technology, some power output devices which have simple structures, rapid actions and convenient control and can adapt to various environments play an increasingly important role; for example electromagnetic drive devices, etc., in particular push-pull electromagnetic drive devices. However, in the conventional push-pull electromagnetic driving device, a moving iron structure and a static iron structure of a closed magnetic circuit are generally adopted, the size of electromagnetic driving force is related to the gap of the magnetic circuit, the smaller the gap is, the larger the generated electromagnetic force is, and when the moving iron core and the static iron core are far away, the electromagnetic force is sharply reduced, so that the effective stroke of the moving iron core is greatly limited.

Although an open magnetic circuit system is adopted in the past, a closed magnetic circuit is not required to be formed by a magnetic conductive material, so that the problem of a magnetic circuit gap is avoided, and a larger-stroke electromagnetic driving device is realized. For example, the chinese patent application No. 201010175164.X discloses that an open magnetic circuit system is adopted by using an electrified air-core coil to exert electromagnetic force on a permanent magnet, so that a larger stroke can be generated, but the structure is more complex, a position detection sensor and accurate power supply control are required to be added, the relative position between the coil and a moving magnet is required to be detected or judged at any time in the moving process, then the coil and the electrifying direction which need to be electrified are determined according to a certain principle, and once the position detection sensor and the power supply control fail or are inaccurate in cooperation, the device cannot work normally, and the reliability is weaker.

Disclosure of Invention

The invention aims to provide a large-stroke electromagnetic driving device with balanced driving force and a control method thereof, which are used for solving one or more technical problems. The device can realize the maximum stroke without position detection and accurate power supply control, can increase the stroke by adding the coil, and has higher reliability; it is possible to provide a balanced electromagnetic force over a large stroke range.

In order to achieve the above purpose, the invention adopts the following technical scheme:

The invention relates to a driving force balanced large-stroke electromagnetic driving device, which comprises:

the device comprises a shell, wherein n conductive sliding contact plates are fixedly arranged on the inner wall of the shell along the axis direction, n sheet-shaped coils are fixedly arranged on the outer wall of the shell along the axis direction, and n is more than or equal to 2; the n conductive sliding contact plates are sequentially and correspondingly electrically connected with the n sheet-shaped coils; among the n sheet coils, adjacent sheet coils are electrically connected in an end-to-end manner;

a moving magnet slidably disposed in the housing only in the housing axis direction; carbon brushes are fixedly arranged at two ends of the moving magnet respectively and are respectively used for being electrically connected with two poles of a power supply; the two carbon brushes are insulated from each other, and are respectively contacted with different conductive sliding contact plates to realize electric connection;

wherein the housing is made of a magnetically non-conductive material; the conductive sliding contact plate and the carbon brush are made of nonmagnetic materials;

the winding direction of the sheet-shaped coils meets the condition that the current flow directions of all the sheet-shaped coils which are electrified in the same current loop are the same;

The geometric center of the sheet coil and the conductive sliding contact plate connected with the sheet coil has a preset dislocation distance in the axial direction of the shell; the dislocation distance satisfies: the moving magnet slides to any position, and the electromagnetic field generated by the electrified sheet coil and the geometric center of the magnetic field of the moving magnet are always misplaced in the same direction, so that the moving magnet is always subjected to electromagnetic pushing force or pulling force in the same direction to move.

The invention is further improved in that the conductive sliding contact plate is embedded or attached on the inner wall of the shell and is arranged along the axial direction of the shell on one side of the inner wall of the shell; the conductive sliding contact plates are equidistantly arranged at preset intervals and are insulated from each other; the inner side surfaces of the n conductive sliding contact plates are provided with a slideway along the axial direction of the shell, and the slideway is used for sequentially contacting with the carbon brushes;

The conductive sliding contact plate directly penetrates through or penetrates through the outer wall of the shell through the protrusion on the outer side surface of the conductive sliding contact plate, and is used for achieving electric connection with the sheet-shaped coil.

A further development of the invention consists in that the thickness dimension of the sheet-like coil is equal to the distance between the center points of two adjacent conductive trolley plates.

The invention further improves that the moving magnet is a neodymium-iron-boron permanent magnet.

A further improvement of the present invention is that it further comprises: the two poles of the direct current power supply are respectively connected with the two carbon brushes through cables; the magnitude and the direction of the output current of the direct current power supply are adjustable.

The invention is further improved in that the cable is a spring cable; or the cable is wound by an elastic receiving rod.

A further improvement of the present invention is that it further comprises: the limiting block is used for limiting the maximum movement position of the moving magnet and ensuring that the carbon brush is always contacted with the conductive sliding contact plate; the limiting block is made of soft materials.

A further improvement of the present invention is that it further comprises: the output piece is fixedly arranged on the movable magnet.

The invention further improves that a sliding rod or a sliding groove is fixedly arranged in the shell, and the movable magnet can only be arranged on the sliding rod or the sliding groove in a sliding way along the axial direction of the shell.

The invention relates to a control method of a large-stroke electromagnetic driving device with balanced driving force, which comprises the following steps:

Sequentially numbering n sheet coils from a start end to a tail end along the axial direction of the shell as L1, L2, …, li, … and Ln, wherein i is more than or equal to 1 and less than or equal to n;

the two carbon brushes are respectively and electrically connected with two poles of a direct current power supply; the two carbon brushes are contacted with different conductive sliding contact plates, so that the flaky coils Li+1, li+2, and Li+k are electrified, wherein i is more than or equal to 1, i+k is more than or equal to 2 and less than or equal to n;

The energized sheet coils li+1, li+2, li+k together generate an electromagnetic field in the axial direction, the geometric center of which has a predetermined offset distance from the geometric center of the moving magnet in the axial direction of the housing; the moving magnet moves under the pushing force or pulling force of an electromagnetic field generated by the electrified sheet-shaped coil;

Wherein, in the moving process of the moving magnet, the two carbon brushes also move synchronously; in the process of moving the two carbon brushes, the conductive sliding contact plates contacted with the two carbon brushes synchronously change, so that the electric sheet-shaped coils synchronously change, and the geometric center of an electromagnetic field generated by the electric sheet-shaped coils synchronously changes;

changing the moving direction of the moving magnet by changing the energizing direction of the current; the output force or the movement speed of the moving magnet is adjusted by adjusting the current.

Compared with the prior art, the invention has the following beneficial effects:

The large-stroke electromagnetic driving device with balanced driving force can realize extremely large stroke without position detection and accurate power supply control, can increase the stroke by adding the coil, and can provide balanced electromagnetic force in a large stroke range; in the whole moving process of the moving magnet, the geometrical center of the electromagnetic field generated by the electric coil and the geometrical center of the moving magnet are basically unchanged in azimuth along the axial direction of the shell, the distance is basically unchanged, and under the condition that the electromagnetic field strength generated by the electric coil is basically unchanged, the electromagnetic driving force born by the moving magnet is basically balanced and moves continuously towards the preset direction; the invention has simple structure, ingenious design, easy control and low cost, can be applied to various environments, and has practical significance and good application prospect. Specifically:

(1) The stroke of the moving magnet is large, the stroke can be designed arbitrarily according to the requirement, and the stroke can be arbitrarily large as long as the number of the sheet coils is enough;

(2) In the whole motion process of the moving magnet, the provided electromagnetic driving force is basically balanced, and the scene of balanced requirement on output power can be met;

(3) In the moving process of the moving magnet, the obtained electric sheet coils are synchronously changed, namely, the same sheet coil is electrified only in a short time, so that the current can be increased without the problem of overlarge heating caused by long-time electrification of the coils, and further, larger electromagnetic driving force output can be obtained.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description of the embodiments or the drawings used in the description of the prior art will make a brief description; it will be apparent to those of ordinary skill in the art that the drawings in the following description are of some embodiments of the invention and that other drawings may be derived from them without undue effort.

Fig. 1 is a schematic structural diagram of a driving force balanced large-stroke electromagnetic driving device according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the magnetic field direction, the geometric center of the magnetic field, the force bearing direction and the moving direction of the moving magnet according to an embodiment of the present invention;

FIG. 3 is a schematic view of the magnetic field direction, the geometric center of the magnetic field, the force bearing direction and the moving direction of the moving magnet according to another embodiment of the present invention;

FIG. 4 is a schematic view of the magnetic field direction, the geometric center of the magnetic field, the force bearing direction and the moving direction of the moving magnet according to another embodiment of the present invention;

FIG. 5 is a schematic view of the magnetic field direction, the geometric center of the magnetic field, the force bearing direction and the moving direction of the moving magnet according to another embodiment of the present invention;

FIG. 6 is a schematic diagram of the magnetic field direction, the geometric center of the magnetic field, the force bearing direction and the moving direction of the moving magnet according to another embodiment of the present invention;

In the figure, 1, a shell; 2. a conductive sliding contact plate;

3. A sheet-like coil; 31. a coil 1; 32. a coil No. 2; 33. a coil No. 3; 34. a coil No. 4; 35. a coil No. 5; 36. a coil number 6; 37. a coil No. 7; 38. a coil 8;

4. a moving magnet; 41. a No. 1 moving magnet; 42. a No. 2 moving magnet; 43. a No. 3 moving magnet; 44. a No. 4 moving magnet;

5. a carbon brush; 6. a direct current power supply; 7. a cable; 8. a sliding sleeve; 9. a slide bar; 10. a limiting block; 11. and an output member.

Detailed Description

In order to make the purposes, technical effects and technical solutions of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention are clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it will be apparent that the described embodiments are some of the embodiments of the present invention. Other embodiments, which may be made by those of ordinary skill in the art based on the disclosed embodiments without undue burden, are within the scope of the present invention.

Referring to fig. 1, a driving force balanced large-stroke electromagnetic driving device according to an embodiment of the invention includes: the device comprises a shell, a conductive sliding contact plate, a sheet coil, a moving magnet, a carbon brush, a direct current power supply, a cable, a sliding sleeve, a sliding rod, a limiting block and an output piece.

The shell is made of a non-magnetic material, and a cavity structure is arranged inside the shell.

The number of the conductive sliding contact plates is n, n is more than or equal to 2, the conductive sliding contact plates are embedded or attached on the inner wall of the shell, and are orderly arranged along the axial direction of the shell on one side of the inner wall of the shell, and meanwhile, the conductive sliding contact plates directly penetrate through or penetrate through the outer wall of the shell through the protrusions on the outer side surface of the conductive sliding contact plates, so that the conductive sliding contact plates are electrically communicated with the outside of the shell; specifically, the conductive sliding contact plates are equidistantly arranged at certain intervals and are insulated from each other; the inner side surface of the conductive sliding contact plate is flat and smooth, and a smooth slideway along the axial direction of the shell is formed after the conductive sliding contact plate is orderly arranged.

The number of the sheet-shaped coils is equal to the number n of the conductive sliding contact plates, the sheet-shaped coils are sequentially clung to and encircle the outside of the shell, the adjacent sheet-shaped coils are connected end to end and sequentially connected with the conductive sliding contact plates, and the thickness of the sheet-shaped coils is equal to the distance between the center points of the two adjacent conductive sliding contact plates; the winding directions of the sheet-shaped coils meet the requirement that the current flow directions of all the electric sheet-shaped coils in the same current loop are the same, namely the directions of electromagnetic fields generated by all the electric sheet-shaped coils in the same current loop are the same.

The movable magnet is a permanent magnet with a through hole in the middle, the movable magnet is magnetized along the axial direction, and the sliding sleeve is arranged in the through hole of the movable magnet and integrally forms a whole with the movable magnet to synchronously move.

The carbon brushes are arranged at the corresponding positions at the two ends of the moving magnet, the two carbon brushes are insulated from each other, a certain distance exists between the two carbon brushes, and the two carbon brushes are ensured not to contact with the same conductive sliding contact plate at any time, and form an integral body with the moving magnet and synchronously move.

The sliding rod is used as a sliding rail and is arranged in the cavity of the shell, the axis of the sliding rod is collinear or parallel to the axis of the shell, and the movable magnet is sleeved on the sliding rod through a sliding sleeve; the cross section of the sliding rod is non-circular, and the shape of the cross section of the sliding sleeve corresponds to the cross section of the sliding rod, so that the sliding sleeve, the movable magnet and the carbon brush can only move freely along the axial direction of the shell and cannot rotate in the shell by taking the sliding rod as a sliding rail; or the cross section of the sliding rod is circular, the cross section of the sliding sleeve corresponds to the cross section of the sliding rod, a positioning rod is arranged on the sliding rod, a positioning groove is arranged at the corresponding position of the sliding sleeve, and the positioning rod is matched with the positioning groove, so that the sliding sleeve, the movable magnet and the carbon brush can only freely move along the axial direction of the shell and cannot rotate in the shell by taking the sliding rod as a sliding rail.

The embodiment of the invention discloses a control method of a large-stroke electromagnetic driving device with balanced driving force, which comprises the following steps:

firstly, sequentially numbering n sheet coils from a start end A to an end B along the axial direction of the shell as L1, L2, …, li, … and Ln, sequentially numbering n conductive sliding contact plates from the same direction as P1, P2, …, pi, … and Pn, wherein certain dislocation distances exist between the geometric centers of the sheet coils Li and the conductive sliding contact plates Pi along the axial direction of the shell, and i is more than or equal to 1 and less than or equal to n;

The specific steps and principles for controlling the motion of the moving magnet are as follows:

(1) Connecting two carbon brushes with two poles of the power supply respectively, and supplying direct current, wherein after the carbon brushes are contacted with the conductive sliding contact plate, the flaky coils Li+1, li+2, li+k are electrified, i is more than or equal to 1, i+k is more than or equal to 2 and n is less than or equal to n;

(2) The electric sheet coils Li+1, li+2, li+k jointly generate an electromagnetic field along the axial direction, the geometric center of the electromagnetic field and the geometric center of the movable magnet have a certain dislocation distance along the axial direction of the shell, and the movable magnet can move under the pushing (or pulling) force of the electromagnetic field generated by the electric sheet coils;

(3) In the moving process of the moving magnet, the two carbon brushes move synchronously, and in the moving process of the two carbon brushes, the conductive sliding contact plate contacted with the two carbon brushes also synchronously changes, so that the electric sheet coil also synchronously changes, and the geometric center of an electromagnetic field generated by the electric sheet coil also synchronously changes; namely, in the whole moving process of the moving magnet, the geometric center of the electromagnetic field generated by the electric sheet coil and the geometric center of the moving magnet are kept unchanged in the direction along the axis of the shell, the distance is basically unchanged, and under the condition that the strength of the electromagnetic field generated by the electric sheet coil is basically unchanged, the electromagnetic driving force received by the moving magnet is basically balanced and moves continuously in the preset direction;

(4) According to the relative positions of the geometric center of the electromagnetic field generated by the obtained electric coil and the geometric center of the moving magnet and the direction of the movement of the moving magnet to be controlled, the energizing direction of the sheet-shaped coil is judged, and the movement of the moving magnet to the preset direction can be controlled;

(5) The moving direction of the moving magnet can be changed by changing the energizing direction of the current, and the magnitude of the electromagnetic pushing (or pulling) force can be adjusted by adjusting the magnitude of the current (or the magnitude of the voltage), so that the output force or the moving speed of the moving magnet can be adjusted.

In the embodiment of the present invention, the geometric centers of the sheet coil Li and the conductive sliding contact plate Pi have a certain offset distance in the axial direction of the housing, and the offset distance is required to satisfy that no matter where the moving magnet moves, the geometric center of the electromagnetic field generated by the current electric coil and the geometric center of the moving magnet are kept unchanged in the direction along the axial direction of the housing, and the distance is not too close or too far, so that the electromagnetic pushing (or pulling) force generated by the current electric coil is ensured to be enough to drive the moving magnet to continue to move at any time, and more preferably, the electromagnetic pushing (or pulling) force applied by the moving magnet is maximized.

In the embodiment of the invention, the direct current power supply can control the current direction and can adjust the magnitude of the output current (or the magnitude of the output voltage).

In the embodiment of the invention, the cable is a spring cable or is wound by the elastic storage rod, one end of the cable is connected with the carbon brush, and when the carbon brush moves to a distance along with the moving magnet and the cable needs to be elongated, the spring cable is stretched or pulled out from the elastic storage rod because the tensile force is larger than the storage elastic force; when the carbon brush follower magnet is displaced to the proximal end, the elongated wire is retracted due to the receiving spring force.

In the embodiment of the invention, limiting blocks are also arranged at two ends of the shell, and the limiting blocks are made of soft materials; the device has the advantages that the device is used for limiting the movement position of the moving magnet, ensuring that the moving magnet cannot separate from the shell, ensuring that two carbon brushes are always contacted with the conductive sliding contact plate, ensuring that a current loop is formed through the sheet-shaped coil, and buffering the moving magnet to avoid damaging the moving magnet due to movement impact force.

In the embodiment of the invention, the width of the carbon brush along the axial direction of the shell is larger than the interval between the two adjacent conductive sliding contact plates, so that the carbon brush can be ensured to be always contacted with one or the two adjacent conductive sliding contact plates, and the situation that the carbon brush cannot be contacted with any one conductive sliding contact plate due to moving to the middle of the two adjacent conductive sliding contact plates is avoided.

In the embodiment of the invention, the plane where the carbon brush contacts with the conductive sliding contact plate always contacts with a smooth slideway formed on the inner side surface of the conductive sliding contact plate and slides smoothly along the slideway in the process that the carbon brush moves along the axial direction of the shell.

In the embodiment of the invention, the movable magnet takes the sliding rod as a sliding rail, and the other way can be changed, namely, two sliding grooves are formed in the inner wall of the shell, and the two sliding rods are arranged on the movable magnet and can slide in the corresponding sliding grooves, so that the movable magnet can only move freely along the axial direction of the shell and cannot rotate in the shell.

In the embodiment of the invention, the output piece can be arranged at both ends of the moving magnet or only arranged at one end of the moving magnet, and the motion form or force of the moving magnet can be output through the output piece.

The shell, the conductive sliding contact plate, the carbon brush, the cable, the sliding sleeve, the sliding rod, the limiting block and the output piece are all made of nonmagnetic materials. The sliding rod and the sliding groove are made of nonmagnetic materials.

The device provided by the embodiment of the invention has the advantages that:

(1) The stroke of the moving magnet is large, the stroke can be designed arbitrarily according to the requirement, and the stroke can be arbitrarily large as long as the number of the sheet coils is enough;

(2) In the whole motion process of the moving magnet, the provided electromagnetic driving force is basically balanced, and the scene of balanced requirement on output power can be met;

(3) In the moving process of the moving magnet, the obtained electric sheet coils are synchronously changed, namely, the same sheet coil is electrified only in a short time, so that the current can be properly increased without overlarge heating caused by long-time electrification of the coils, and larger electromagnetic driving force output can be obtained;

(4) The invention has simple structure, ingenious design, easy control and low cost, and can be applied to various environments.

Example 1

In an embodiment of the present invention, as shown in fig. 1, a large-stroke electromagnetic driving device with balanced driving force, which is composed of 1 moving magnet, includes: the shell 1 with a cavity structure is arranged inside, a plurality of conductive sliding contact plates 2 are embedded on the inner wall of the shell 1 and are orderly arranged on one side of the inner wall of the shell 1 along the axial direction of the shell 1, meanwhile, the conductive sliding contact plates 2 penetrate through the outer wall of the shell 1, so that the conductive sliding contact plates 2 are electrically communicated with the outside of the shell 1, and the conductive sliding contact plates 2 are equidistantly arranged at certain intervals and are insulated from each other; the inner side surface of the conductive sliding contact plate 2 is flat and smooth, and a smooth slideway along the axial direction of the shell 1 is formed after the conductive sliding contact plate is orderly arranged.

The plurality of sheet coils 3 are sequentially clung to and encircle the outside of the shell 1, the adjacent sheet coils 3 are connected end to end and sequentially connected with the conductive sliding contact plates 2, and the thickness of the sheet coils 3 is equal to the distance between the center points of the two adjacent conductive sliding contact plates 2; the winding direction of the sheet-shaped coils 3 satisfies that the current flow directions of all the sheet-shaped coils 3 which are electrified in the same current loop are the same, namely that the directions of electromagnetic fields generated by all the sheet-shaped coils 3 which are electrified in the same current loop are the same.

The moving magnet 4 is a neodymium iron boron permanent magnet with a through hole in the middle, the moving magnet 4 is magnetized along the axial direction, and the sliding sleeve 8 is arranged in the through hole of the moving magnet 4 and integrally moves synchronously with the moving magnet 4; two carbon brushes 5 are installed in the corresponding positions at two ends of the moving magnet 4, the two carbon brushes 5 are insulated from each other and have a certain distance, so that the two carbon brushes 5 can not contact with the same conductive sliding contact plate 2 at any time, and the carbon brushes 5 and the moving magnet 4 form a whole and synchronously move.

The sliding rod 9 is used as a sliding rail and is arranged in the cavity of the shell 1, the axis of the sliding rod 9 is collinear or parallel to the axis of the shell 1, and the moving magnet 4 is sleeved on the sliding rod 9 through the sliding sleeve 8; the cross section of the sliding rod 9 is non-circular, and the cross section of the sliding sleeve 8 corresponds to the cross section of the sliding rod 9, so that the sliding sleeve 8, the moving magnet 4 and the carbon brush 5 can only freely move along the axial direction of the shell 1 by taking the sliding rod 9 as a sliding rail and cannot rotate in the shell 1.

The direct current power supply 6 can control the current direction and adjust the magnitude of the output current (or the magnitude of the output voltage); the cable 7 is a spring cable, one end of the cable is connected with the carbon brush 5, one end of the cable is connected with the direct current power supply 6, and the cable 7 is long enough not to limit the movement of the carbon brush 5.

The limiting blocks 10 are further arranged at two ends of the shell 1 and used for limiting the movement positions of the moving magnets 4, so that the moving magnets 4 are prevented from being separated from the shell 1, the carbon brushes 5 are always contacted with the conductive sliding contact plates 2, the limiting blocks 10 are made of soft materials, the moving magnets 4 can be buffered, and the moving magnets 4 are prevented from being damaged due to movement impact force.

In a specific implementation, the width of the carbon brush 5 along the axial direction of the housing 1 is greater than the interval between two adjacent conductive sliding contact plates 2, so as to ensure that the carbon brush 5 can always contact one or two adjacent conductive sliding contact plates 2, and avoid that the carbon brush cannot contact any conductive sliding contact plate 2 due to moving to the middle of the two adjacent conductive sliding contact plates 2; the plane where the carbon brush 5 contacts with the conductive sliding contact plate 2 is always contacted with a smooth slideway formed on the inner side surface of the conductive sliding contact plate 2 in the process that the carbon brush 5 moves along the axial direction of the shell, and slides smoothly along the slideway.

The shell 1, the conductive sliding contact plate 2, the carbon brush 5, the cable 7, the sliding sleeve 8, the sliding rod 9, the limiting block 10 and the output piece 11 are all made of nonmagnetic materials.

Referring to fig. 2 to 4, the movement process in the embodiment of the present invention includes: firstly, sequentially numbering n sheet-shaped coils 3 from a start end A to an end B along the axial direction of the shell 1 as 31, 32, …, 3i, … and 3n, sequentially numbering n conductive sliding contact plates 2 as 21, 22, …, 2i, … and 2n along the same direction, wherein a certain dislocation distance exists between the geometric centers of the sheet-shaped coils 3i and the conductive sliding contact plates 2i along the axial direction of the shell 1 (the example is set as the center point distance of two adjacent conductive sliding contact plates 2), and i is equal to or more than 1 and equal to n; illustratively, coil No. 131, coil No.2 32, coil No. 3 33, coil No. 434, coil No. 5, coil No. 636, coil No. 7, coil No. 37, coil No. 8 38.

The specific steps and principles for controlling the motion of the moving magnet 4 are as follows:

the first stage: the moving magnet 4 is placed at the end A of the device of the embodiment, two carbon brushes 5 are respectively connected with two poles of a direct current power supply 6, and the carbon brushes 5 are contacted with a conductive sliding contact plate 2, so that a coil No. 2 32, a coil No. 3 33, a coil No. 4 34, a coil No. 5 35, a coil No. 6 36 and a coil No. 7 37 are electrified to form a current loop;

and a second stage: the electric sheet coils jointly generate an electromagnetic field along the axial direction, the geometric center of the electromagnetic field is in the direction of the B end of the geometric center of the movable magnet 4, a certain dislocation distance exists, at the moment, the movable magnet 4 moves towards the B end under the action of the tensile force of the electromagnetic field jointly generated by the electric sheet coils, and fig. 2 is a schematic diagram of the magnetic field direction, the geometric center of the magnetic field, the stress direction and the movement direction of the movable magnet in the stage;

and a third stage: the moving magnet 4 moves towards the end B under the action of electromagnetic force, the two carbon brushes 5 also synchronously move, and the conductive sliding contact plate 2 contacted with the carbon brushes 5 changes, so that the electric sheet coil 3 also changes, and as shown in fig. 3, the coils 33, 34, 35, 36 and 37 in the stage 3 are electrified to form a current loop; the electric sheet coils jointly generate an electromagnetic field along the axial direction, the geometric center of the electromagnetic field is in the direction of the B end of the geometric center of the movable magnet 4, a certain dislocation distance exists, at the moment, the movable magnet 4 can continuously move towards the B end under the action of the tensile force of the electromagnetic field jointly generated by the electric sheet coils, and fig. 3 is a schematic diagram of the magnetic field direction, the geometric center of the magnetic field, the stress direction and the moving direction of the movable magnet in the stage; continuing to know according to the above process, in the whole moving process of the moving magnet 4, the geometric center of the electromagnetic field generated by the electric coil 3 and the geometric center of the moving magnet 4 are kept unchanged in the direction along the axis of the shell 1, the distance is also kept unchanged basically, and under the condition that the strength of the electromagnetic field generated by the electric coil 3 is also kept unchanged basically, the electromagnetic driving force received by the moving magnet 4 is kept balanced basically, and the moving towards the end B is continued;

Fourth stage: when the moving magnet 4 moves to the end B of the device in the embodiment, the buffer and the limit are carried out by the limit block 10 at the end B, and the moving magnet 4 stays at the position at the end B;

Fifth stage: if the moving magnet 4 is to be controlled to move towards the initial end a of the device of the embodiment, the direction of the electromagnetic field of the electric sheet coil 3 is changed by changing the direction of the output current of the direct current power supply 6, so that the stress direction of the moving magnet 4 is changed to move towards the end a of the device of the embodiment, and fig. 4 is a schematic diagram of the magnetic field direction, the magnetic field center position, the stress direction and the moving direction of the moving magnet in the present stage;

in the above-described embodiment, the magnitude of the electromagnetic pushing (or pulling) force can be adjusted by adjusting the magnitude of the current (or the magnitude of the voltage) of the dc power supply 6, so as to adjust the magnitude of the output force or the movement speed of the moving magnet 4.

Example 2

In the large-stroke electromagnetic driving device with balanced driving force composed of 2 moving magnets according to the embodiment of the present invention, the difference between this embodiment and embodiment 1 is that the number of moving magnets is 2, and the other portions are the same as those of embodiment 1.

Referring to fig. 5, in the present embodiment, the magnetic poles of the number 1 moving magnet 41 and the number 2 moving magnet 42 are oppositely mounted on the sliding sleeve 8, and the control method and the moving process of the present embodiment are the same as those of the embodiment 1. Fig. 5 is a schematic diagram of the position, the direction, the geometric center, the stress direction and the movement direction of the moving magnet when the moving magnet 41 No. 1 is positioned at the end a of the device of the present embodiment and is ready to move toward the end B.

In this embodiment, compared with embodiment 1, a moving magnet is additionally added, so that the resultant force of electromagnetic pushing (or pulling) force applied to the moving magnet is increased, and a larger force or speed is output to the outside through the output member 11.

Example 3

In the large-stroke electromagnetic driving device with balanced driving force composed of 4 moving magnets according to the embodiment of the present invention, the difference between the present embodiment and embodiment 2 is that the moving magnets and carbon brushes are twice as large as those of embodiment 2, and the other portions are the same as those of embodiment 2. In this embodiment, the magnetic pole directions of the number 1 moving magnet 41 and the number 2 moving magnet 42 are opposite, the magnetic pole directions of the number 3 moving magnet 43 and the number 2 moving magnet 42 are the same, the magnetic pole directions of the number 4 moving magnet 44 and the number 3 moving magnet 43 are opposite, and the number 4 moving magnets are all mounted on the sliding sleeve 8, and the positions are fixed and move synchronously. The control method and the movement process of this embodiment are the same as those of embodiment 2, and fig. 6 is a schematic diagram of the position, the magnetic field direction, the geometric center of the magnetic field, the stress direction and the movement direction of the moving magnet when the moving magnet 41 No.1 is in the position of the moving magnet at the end a of the device of this embodiment to move toward the end B.

Compared with the embodiment 2, the embodiment additionally adds a group of moving magnets, so that the resultant force of electromagnetic pushing (or pulling) force applied to the moving magnets is doubled, and larger force is output to the outside through the output piece 11, thereby being suitable for application scenes needing large driving force output.

The number of moving magnets in the above embodiments is merely illustrative, and is not limited to the number of moving magnets, and the number of moving magnets may be changed as needed.

In summary, the invention discloses a large-stroke electromagnetic driving device with balanced driving force and a control method thereof. The sheet-shaped coils are sequentially clung to and encircle the outside of the shell, adjacent sheet-shaped coils are connected end to end and sequentially connected with the conductive sliding contact plates, the carbon brushes and the movable magnet can synchronously move along the axis direction in the shell, the two carbon brushes are in contact with the conductive sliding contact plates, a current loop is formed through the coils, the electromagnetic field generated by the electric coil and the geometric center of the magnetic field of the movable magnet always have dislocation in the same direction, the movable magnet is always subjected to electromagnetic pushing (or pulling) force in the same direction to move, and the moving direction of the movable magnet can be changed by changing the current direction. The electromagnetic driving device has the advantages of simple structure, ingenious design and easy control, can increase the stroke by adding the coil, solves the problems of short stroke, or large stroke realization by needing position detection and accurate and complex control of the traditional electromagnetic driving device, and has high implementation value.

The above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, one skilled in the art may make modifications and equivalents to the specific embodiments of the present invention, and any modifications and equivalents not departing from the spirit and scope of the present invention are within the scope of the claims of the present invention.

Claims (8)

1. A large-stroke electromagnetic driving device with balanced driving force, characterized by comprising:

the device comprises a shell (1), wherein n conductive sliding contact plates (2) are fixedly arranged on the inner wall of the shell (1) along the axis direction, and n sheet-shaped coils (3) are fixedly arranged on the outer wall of the shell (1) along the axis direction, wherein n is more than or equal to 2; the n conductive sliding contact plates (2) are sequentially and correspondingly electrically connected with the n sheet-shaped coils (3); among the n sheet coils (3), adjacent sheet coils (3) are electrically connected in an end-to-end manner;

A moving magnet (4), wherein the moving magnet (4) is provided in the housing (1) so as to be slidable only in the axial direction of the housing (1); carbon brushes (5) are fixedly arranged at two ends of the moving magnet (4) respectively, and the two carbon brushes (5) are electrically connected with two poles of a power supply respectively; the two carbon brushes (5) are insulated from each other, and the two carbon brushes (5) are respectively contacted with different conductive sliding contact plates (2) to realize electric connection;

The winding directions of the n sheet coils (3) meet the requirement that the current flow directions of all the sheet coils (3) which are electrified in the same current loop are the same;

The geometric center of the sheet coil (3) and the conductive sliding contact plate (2) connected with the sheet coil has a preset dislocation distance in the axis direction of the shell (1); the dislocation distance satisfies: the moving magnet (4) slides to any position, and the electromagnetic field generated by the electrified sheet coil (3) and the geometric center of the magnetic field of the moving magnet (4) are always staggered in the same direction, so that the moving magnet (4) is always subjected to electromagnetic pushing force or pulling force in the same direction;

Wherein,

The conductive sliding contact plate (2) is embedded or attached to the inner wall of the shell (1) and is arranged along the axis direction of the shell (1) at one side of the inner wall of the shell (1); the conductive sliding contact plates (2) are equidistantly arranged at preset intervals and are insulated from each other; the inner side surfaces of the n conductive sliding contact plates (2) form a slideway along the axial direction of the shell (1) and are used for realizing sequential contact with the carbon brush (5); the conductive sliding contact plate (2) directly penetrates through the outer wall of the shell (1) or penetrates through the protrusion on the outer side surface of the conductive sliding contact plate, and is used for realizing electric connection with the sheet-shaped coil (3);

The thickness dimension of the sheet coil (3) is equal to the distance between the center points of two adjacent conductive sliding contact plates (2); the width of the carbon brush (5) along the axial direction of the shell (1) is larger than the interval between two adjacent conductive sliding contact plates (2).

2. The large-stroke electromagnetic driving device with balanced driving force according to claim 1, wherein the moving magnet (4) is a neodymium-iron-boron permanent magnet; the movable magnet (4) is magnetized along the axial direction; the number of the moving magnets (4) is 1 or more.

3. The large-stroke electromagnetic driving device with balanced driving force according to claim 1, further comprising:

The two poles of the direct current power supply (6) are respectively connected with the two carbon brushes (5) through cables; the output current of the direct current power supply (6) is adjustable in magnitude and direction.

4. A driving force balanced large stroke electromagnetic driving device according to claim 3, characterized in that the cable (7) is a spring cable;

or the cable (7) is wound by an elastic receiving rod.

5. The large-stroke electromagnetic driving device with balanced driving force according to claim 1, further comprising:

The limiting block (10) is used for limiting the maximum movement position of the movable magnet (4) so as to ensure that the carbon brush (5) is always contacted with the conductive sliding contact plate (2); the limiting block (10) is made of soft materials.

6. The large-stroke electromagnetic driving device with balanced driving force according to claim 1, further comprising:

and the output piece (11), wherein the output piece (11) is fixedly arranged on the movable magnet (4).

7. The large-stroke electromagnetic driving device with balanced driving force according to claim 1, wherein a sliding rod or a sliding groove is fixedly arranged in the shell (1), and the moving magnet (4) is arranged on the sliding rod or the sliding groove in a manner that the moving magnet can only slide along the axial direction of the shell (1); the axis of the sliding rod or the sliding groove is collinear or parallel with the axis of the shell (1).

8. A control method of the driving force balanced large stroke electromagnetic driving apparatus according to claim 1, characterized by comprising the steps of:

Sequentially numbering n sheet coils from a start end to a tail end along the axial direction of the shell as L1, L2, …, li, … and Ln, wherein i is more than or equal to 1 and less than or equal to n;

the two carbon brushes are respectively and electrically connected with two poles of a direct current power supply; the two carbon brushes are contacted with different conductive sliding contact plates, so that the flaky coils Li+1, li+2, and Li+k are electrified, wherein i is more than or equal to 1, i+k is more than or equal to 2 and less than or equal to n;

The energized sheet coils li+1, li+2, li+k together generate an electromagnetic field in the axial direction, the geometric center of which has a predetermined offset distance from the geometric center of the moving magnet in the axial direction of the housing; the moving magnet moves under the pushing force or pulling force of an electromagnetic field generated by the electrified sheet-shaped coil;

Wherein, in the moving process of the moving magnet, the two carbon brushes also move synchronously; in the process of moving the two carbon brushes, the conductive sliding contact plates contacted with the two carbon brushes synchronously change, so that the electric sheet-shaped coils synchronously change, and the geometric center of an electromagnetic field generated by the electric sheet-shaped coils synchronously changes;

changing the moving direction of the moving magnet by changing the energizing direction of the current; the output force or the movement speed of the moving magnet is adjusted by adjusting the current.