Displacement and speed integrated sensor

Abstract

The invention discloses a displacement and speed integrated sensor which is novel and reasonable in structure, a linear displacement measuring part is based on the LVDT sensor principle, the linear displacement measuring part and a speed passive sensing part are rigidly connected to ensure the synchronism of movement, and based on the design, the displacement and speed of a measured object can be directly observed at the same time, and the measurement accuracy is improved. The method is mainly suitable for occasions with high requirements for linear servo control, and the fluctuation problem and the speed phase lag problem caused by differential speed calculation can be fundamentally eliminated. Displacement is measured by adopting an LVDT principle, speed is measured by adopting a passive induction principle, the whole sensor adopts a tandem structure, a speed measuring rod is formed by a radially magnetized annular permanent magnet and a magnetic conductive rod, main magnetic flux can be effectively restrained without providing an external excitation signal, magnetic leakage can be reduced, interference of the magnetic leakage to speed gain parameters can be reduced, and the measurement accuracy is improved. And the measurement accuracy of the sensor is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of sensors, and in particular to a displacement and velocity integrated sensor. Background Art

[0002] Displacement sensors are indispensable as feedback elements in motion servo control. Displacement-velocity multi-loop cascade control is widely used in closed-loop control to obtain better dynamic performance. Currently, the indirect method of displacement differentiation is mostly used to obtain the target speed, but the speed data after differentiation is affected by the noise of the displacement signal, which will produce great speed fluctuations and bring difficulties to precise servo control. Although speed signal filtering can suppress speed fluctuations to a certain extent, the installation structure of the filter device is complex, and the filtering process will cause additional speed phase lag, which may bring greater errors to the control and increase the inaccuracy of servo control.

[0003] Therefore, it is necessary to design a new type of integrated displacement and velocity sensor to overcome the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide a new type of integrated displacement and velocity sensor, which can directly observe the target velocity and avoid the accuracy error caused by displacement differential. At the same time, the overall structure of the sensor is simplified and the difficulty of installation and arrangement is reduced, which can solve the problems existing in the above-mentioned prior art.

[0005] To achieve the above-mentioned purpose, the present invention provides the following scheme: The present invention provides a displacement and velocity integrated sensor, comprising a measured object connecting rod, a linear displacement measuring part, a velocity passive sensing part and a magnetic conductive shell, wherein: the linear displacement measuring part is arranged in the magnetic conductive shell, the linear displacement measuring part comprises a first secondary coil, a primary coil, an iron core, a second secondary coil and a bobbin one, the bobbin one is fixed in the magnetic conductive shell, the primary coil is wound around the outside of the bobbin one, the first secondary coil and the second secondary coil are wound around the outside of the primary coil in a symmetrical manner; a bobbin through hole one is coaxially provided in the bobbin one, the iron core is slidably installed in the bobbin through hole one and is coaxial with the bobbin; the velocity passive sensing part is arranged in the magnetic conductive shell, the velocity passive sensing part comprises a first coil, a first permanent magnet, a magnetic conductive rod, a second coil, a second permanent magnet and a bobbin 2. The second bobbin is fixed in the magnetic shell, and the second bobbin through hole is coaxially opened in the second bobbin. The magnetic rod is slidably installed in the second bobbin through hole and is coaxial with the second bobbin. The first permanent magnet and the second permanent magnet are both annular permanent magnets. The first permanent magnet and the second permanent magnet are respectively mounted on the two ends of the magnetic rod, and the magnetization directions of the first permanent magnet and the second permanent magnet are opposite. The first coil and the second coil are symmetrically wound on the outside of the second bobbin, and the first coil corresponds to the first permanent magnet, and the second coil corresponds to the second permanent magnet. The measured object connecting rod is used to connect the measured object, and the measured object connecting rod movably passes through one end of the magnetic shell and is rigidly connected to one end of the iron core. The other end of the iron core is rigidly connected to the magnetic rod through a connecting piece, so that the magnetic rod moves synchronously with the iron core driven by the measured object connecting rod.

[0006] In some embodiments, the connecting member is a magnetic isolation connecting rod.

[0007] In some embodiments, the magnetic isolation connecting rod is a straight rod, a spiral rod or a bent rod.

[0008] In some implementations, a coil separation ring 1 is disposed between the first secondary coil and the second secondary coil; and a coil separation ring 2 is disposed between the first coil and the second coil.

[0009] In some implementations, the first reel and the second reel are coaxially arranged, and the measured object connecting rod, the iron core, and the magnetic rod are coaxially arranged.

[0010] In some implementations, the bobbin one and the bobbin two are provided separately.

[0011] In some embodiments, the first bobbin and the second bobbin are integrally formed into one bobbin.

[0012] In some implementations, the first secondary coil, the second secondary coil, the first coil, and the second coil are sequentially arranged along the axial direction of the bobbin.

[0013] In some implementations, a coil separation ring three is provided between the second secondary coil and the first coil.

[0014] In some embodiments, the magnetic conductive shell includes a magnetic conductive shell with openings at both ends, and the bobbin one and the bobbin two are both disposed in the magnetic conductive shell and are coaxially arranged with the magnetic conductive shell; the two ends of the magnetic conductive shell are respectively configured with a first end cover and a second end cover.

[0015] Compared with the prior art, the present invention has achieved the following technical effects: the displacement and velocity integrated sensor proposed by the present invention has a novel and reasonable structure, the linear displacement measurement part is based on the LVDT sensor principle, the linear displacement measurement part and the velocity passive sensing part are rigidly connected to ensure the synchronization of movement, based on this design, the displacement and velocity of the object under test can be directly observed at the same time, and it is mainly suitable for occasions with high requirements for linear servo control, and can fundamentally eliminate the fluctuation problem and velocity phase lag problem caused by differential velocity calculation. The displacement is measured using the LVDT principle, and the velocity is measured using the passive induction principle. The sensor adopts a series structure as a whole, and uses a radially magnetized annular permanent magnet and a magnetic rod to form a velocity measurement rod. It does not need to provide an external excitation signal and can effectively constrain the main magnetic flux, which can reduce leakage magnetic flux and reduce its interference with the velocity gain parameter, thereby increasing the measurement accuracy of the sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 The figure is a schematic diagram of the overall structure of the integrated displacement and velocity sensor disclosed in an embodiment of the present invention.

[0018] Figure 2 This is a lead diagram of the linear displacement measurement part disclosed in an embodiment of the present invention.

[0019] Figure 3 This is a lead diagram of the passive induction measurement part disclosed in an embodiment of the present invention.

[0020] Figure 4 This is a partial magnetic circuit diagram of the passive induction measurement disclosed in an embodiment of the present invention.

[0021] In the figure, the reference numerals are: 100, displacement and velocity integrated sensor; 1, measured object connecting rod; 2, first end cover; 3, magnetic shell; 4, first secondary coil; 5, primary coil; 6, iron core; 7, second secondary coil; 8, bobbin; 9, magnetic isolation connecting rod; 10, first coil; 11, first permanent magnet; 12, magnetic rod; 13, second coil; 14, second permanent magnet; 15, second end cover; 16, coil separation ring one; 17, coil separation ring two; 18, coil separation ring three. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] The purpose of the present invention is to provide a new type of displacement and velocity integrated sensor, which can directly observe the target velocity and avoid the accuracy error caused by displacement differential. At the same time, the overall structure of the sensor is simplified and the difficulty of installation and layout is reduced.

[0024] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] Example 1: Figure 1 As shown, this embodiment provides a displacement and velocity integrated sensor 100, which includes a measured object connecting rod 1, a linear displacement measuring part, a velocity passive sensing part and a magnetic conductive shell, wherein the linear displacement measuring part and the velocity passive sensing part are both arranged in the magnetic conductive shell and arranged in sequence along the length direction of the magnetic conductive shell, wherein: the linear displacement measuring part includes a first secondary coil 4, a primary coil 5, an iron core 6, a second secondary coil 7 and a bobbin 8, the linear displacement measuring part adopts a two-section laminated structure, the first secondary coil 4 and the second secondary coil 7 are symmetrically wound around the outside of the primary coil 5, the primary coil 5 is wound around the outside of the first end of the bobbin 8, the iron core 6 is installed in the inner hole of the bobbin 8 and is coaxial with the bobbin 8, the measured object connecting rod 1 passes through one end cover of the magnetic conductive shell and is connected to the iron core 6 as a whole to form a displacement measuring rod; as shown Figure 2 As shown, the primary coil 5 of the linear displacement measurement part includes two leads and is driven by an external input excitation signal U i The first secondary coil 4 and the second secondary coil 7 are connected in series in reverse order and then output the measurement signal U through two leads. oOverall, the working principle of the linear displacement measurement part is basically the same as that of the conventional LVDT (full name Linear Variable Displacement Transducer, which is the abbreviation of linear variable differential transformer, a mature linear displacement sensor), and will not be repeated here.

[0026] The speed passive sensing part includes a magnetic isolation connecting rod 9, a first coil 10, a first permanent magnet 11, a magnetic conductive rod 12, a second coil 13 and a second permanent magnet 14. Figure 1 and Figure 4 As shown, the magnetic isolation connecting rod 9, the first permanent magnet 11, the second permanent magnet 14 and the magnetic conductive rod 12 are connected as a whole to form a speed measuring rod and installed in the inner hole of the bobbin 8, wherein the magnetic isolation connecting rod 9 is rigidly connected and coaxial with the iron core 6, the magnetic conductive rod 12 is coaxially connected with the magnetic isolation connecting rod 9, the first permanent magnet 11 is arranged on the magnetic conductive rod 12 and is located at the end of the magnetic conductive rod 12 close to the magnetic isolation connecting rod 9, the second permanent magnet 14 is arranged on the magnetic conductive rod 12 and is located at the end of the magnetic conductive rod 12 away from the magnetic isolation connecting rod 9. The first coil 10 and the second coil 13 are symmetrically wound around the outside of the second end of the bobbin 8, and the second end of the bobbin 8 is fixed to the other end cover of the magnetic conductive housing. Figure 3 As shown, the speed passive sensing part has only two measuring coils (i.e., the first coil 10 and the second coil 13), and no excitation coil is required. The first coil 10 and the second coil 13 are connected in series in reverse order and then output the speed signal E through two leads. o , after reverse series connection, differential output can be obtained to improve speed gain. The basic principle of the speed passive induction part is induced electromotive force. According to Faraday's law of electromagnetic induction, it can be known that the induced electromotive force e=BLV, where: B is the magnetic induction intensity tangent to the coil, and the magnetic field is provided by the first permanent magnet 11 and the second permanent magnet 14, L is the length of the coil in the magnetic field, and V is the speed of the moving object. When the product of the magnetic induction intensity B and the coil length L in the magnetic field remains unchanged, the induced electromotive force e is proportional to the moving speed V of the moving object. Therefore, the key to speed measurement is how to keep the product of the magnetic induction intensity B and the coil length L in the magnetic field as a constant. The product of BL is the gain coefficient of the speed passive induction part to the speed.

[0027] In some embodiments, the magnetic conductive housing comprises a columnar magnetic conductive housing 3 with openings at both ends, and the first end cap 2 and the second end cap 15 are respectively installed at the openings at both ends of the magnetic conductive housing 3. Figure 1 As shown, the connecting rod 1 of the object to be measured passes through the first end cover 2 and is connected to the iron core 6 as a whole, and the second end of the bobbin 8 is fixedly connected to the second end cover 15. The first end cover 2 and the second end cover 15 are preferably plug-connected or threadedly connected to the magnetic shell 3, and the bobbin 8 can be fixed to the second end cover 15 by a connection method including but not limited to bonding.

[0028] In some embodiments, the first permanent magnet 11 and the second permanent magnet 14 are preferably radially magnetized annular permanent magnets (also called "radial permanent magnets"). The first permanent magnet 11 and the second permanent magnet 14 are respectively connected to the magnetic rod 12 through their respective center holes, and the first permanent magnet 11 and the second permanent magnet 14 are symmetrically fixed at both ends of the magnetic rod 12 (the first permanent magnet 11, the second permanent magnet 14 and the magnetic rod 12 are rigidly connected). The annular permanent magnet has a small axial length, and an approximately constant BL can be obtained, such as Figure 4 FIG. 1 is a magnetic circuit diagram of a speed passive induction measurement part. The first permanent magnet 11 and the second permanent magnet 14 are both radially magnetized permanent magnets, but their magnetization directions are opposite. Figure 4 The direction of the permanent magnet is marked with an arrow. The magnetic circuit starts from the N pole of the outer cylindrical surface of the first permanent magnet 11. The magnetic field passes through the bobbin 8 and the first coil 10, enters the magnetic shell 3, and passes through the second coil 13 and the bobbin 8 in the opposite direction under the conduction of the magnetic shell 3, enters the S pole of the outer cylindrical surface of the second permanent magnet 14, passes through, and then passes through the N pole of the inner cylindrical surface of the second permanent magnet 14, enters the magnetic rod 12 and conducts to the S pole of the inner cylindrical surface of the first permanent magnet 11, and finally returns to the N pole of the outer cylindrical surface of the first permanent magnet 11. It can be seen from this that after the object to be measured is connected to the object to be measured by the connecting rod 1, when the first permanent magnet 11 and the second permanent magnet 14 are driven left and right (this left and right direction is Figure 1 When the first permanent magnet 11 and the second permanent magnet 14 move in the horizontal direction (which is parallel to the axial direction of the bobbin 8 and the magnetic shell 3), the magnetic field will inevitably cut the coil to generate an induced electromotive force. The coil cut by the permanent magnet magnetic field is mainly concentrated in the permanent magnet projection area. When the axial size of the coil is much larger than the axial length of the permanent magnet, the BL product can be guaranteed to be approximately unchanged. For this reason, the first permanent magnet 11 and the second permanent magnet 14 have relatively small axial sizes and are always respectively inside the first coil 10 and the second coil 13 during the entire movement process. The first permanent magnet 11 and the second permanent magnet 14 have opposite magnetization directions and are connected by the magnetic rod 12, which can effectively constrain the main magnetic flux, reduce leakage magnetic flux and the interference of leakage magnetic flux on the BL product, and help improve linearity.

[0029] It should be noted that the ratio of the axial length of the annular permanent magnet (i.e., the first permanent magnet 11 and the second permanent magnet 14) to the corresponding coil is related to the measuring range. At the maximum displacement range, the distance between the outer end face of the annular permanent magnet and the end face on the same side of the corresponding coil should be greater than twice the axial length of the annular permanent magnet. That is, in the speed passive sensing part, the sum of the axial lengths of the first coil 10 and the second coil 13 (i.e., the distance between the outer end faces of the first coil 10 and the second coil 13) should not be less than four times the sum of the axial length of the annular permanent magnet, the displacement range and the distance between the outer end faces of the two annular permanent magnets.

[0030] In some implementations, the coils of the linear displacement measurement part and the speed passive sensing part are wound on the same bobbin 8, which can ensure coaxiality and facilitate subsequent installation.

[0031] In some embodiments, Figure 1 As shown, the section of the bobbin 8 where the linear displacement measuring part is installed is provided with a coil separation ring 16, and the coil separation ring 16 is located between the first secondary coil 4 and the second secondary coil 7. The coil separation ring 16 has a magnetic isolation function and is used to symmetrically separate the first secondary coil 4 and the second secondary coil 7 to avoid mutual interference between the first secondary coil 4 and the second secondary coil 7.

[0032] In some embodiments, Figure 1 and Figure 4 As shown, the section of the bobbin 8 where the speed passive sensing part is installed is provided with a coil separation ring 17, and the coil separation ring 17 is located between the first coil 10 and the second coil 13. The coil separation ring 17 has a magnetic isolation function and is used to symmetrically separate the first coil 10 and the second coil 13 to avoid mutual interference between the first coil 10 and the second coil 13.

[0033] In some embodiments, Figure 1 As shown, a coil separation ring three 18 is provided on the section between the linear displacement measuring part and the speed passive sensing part on the bobbin 8. The coil separation ring three 18 is located between the second secondary coil 7 of the linear displacement measuring part and the first coil 10 of the speed passive sensing part. The coil separation ring three 18 has a magnetic isolation function to separate the second secondary coil 7 from the first coil 10. Together with the magnetic isolation connecting rod 9 located between the displacement measuring rod and the speed measuring rod, mutual interference between the linear displacement measuring part and the speed passive sensing part can be effectively prevented.

[0034] When in working state, the object to be measured connecting rod 1, the iron core 6, the magnetic isolation connecting rod 9 and the magnetic conductive rod 12 equipped with the first permanent magnet 11 and the second permanent magnet 14 are coaxially and rigidly connected to form a measuring rod assembly. The measuring rod assembly is finally connected to the object to be measured as a whole through the object to be measured connecting rod 1. The setting of the magnetic isolation connecting rod 9 can effectively avoid mutual interference between the two measuring parts.

[0035] In some embodiments, the rigid connection methods of adjacent components in the measured object connecting rod 1, the iron core 6, the magnetic isolation connecting rod 9 and the magnetic conductive rod 12 include but are not limited to common connection methods such as bonding, riveting, interference fit, and pipe clamp connection. The first permanent magnet 11 and the second permanent magnet 14 can be fixed to the magnetic conductive rod 12 by common connection methods including but not limited to steel clamp clamping, bonding fixation, screw fixation, etc.

[0036] In some implementations, the magnetic isolation connecting rod 9 is preferably made of non-ferromagnetic material.

[0037] Working principle: Initially, the iron core 6 is located at the center of the primary coil 5, and the secondary coil outputs positive and negative signals to indicate the displacement direction according to the displacement direction; at the same time, the first permanent magnet 11 and the second permanent magnet 14 are located at the center of the first coil 10 and the second coil 13 respectively. Figure 2 As shown, the primary coil 5 includes two leads for external input of the excitation signal U i The first secondary coil 4 and the second secondary coil 7 are connected in series in reverse order and then output the measurement signal U through two leads. o The first coil 10 and the second coil 13 are connected in series in reverse order and then output the speed signal E through two leads. o , after reverse series connection, differential output can be obtained to improve speed gain.

[0038] The object to be measured connecting rod 1, iron core 6, magnetic isolation connecting rod 9 and magnetic rod 12 equipped with first permanent magnet 11 and second permanent magnet 14 are coaxially and rigidly connected to form a measuring rod assembly, and the measuring rod assembly is finally connected to the object to be measured as a whole through the object to be measured connecting rod 1; the iron core 6 and the magnetic isolation connecting rod 9 are rigidly connected by the magnetic isolation connecting rod 9 made of non-ferromagnetic material, so that the displacement measurement and the speed measurement remain relatively independent, and at the same time, because the two are combined into one, the theoretical deviation problem caused by different measuring points is eliminated.

[0039] The basic principle of the speed passive induction part is the induced electromotive force, in order to keep the product of the magnetic induction intensity B and the coil length L in the magnetic field basically unchanged. This solution adopts an annular permanent magnet whose axial length is much smaller than the coil length to obtain an approximately constant BL. In addition, the first and second permanent magnets have small axial dimensions and are always inside the first and second coils during the entire movement process. The first and second permanent magnets are magnetized in opposite directions and are connected by a magnetic rod 12, which can effectively constrain the main magnetic flux, reduce leakage magnetic flux and the interference of leakage magnetic flux on the speed gain parameter.

[0040] It can be seen that the displacement and velocity integrated sensor 100 proposed in this scheme is essentially an integrated sensor that can directly observe the linear displacement and velocity parameters of the measured target. It is mainly suitable for occasions with high requirements for linear servo control, and can fundamentally eliminate the fluctuation problem and velocity phase lag problem caused by differential velocity calculation. The displacement is measured using the LVDT principle, and the velocity is measured using the passive induction principle. The sensor adopts a series structure as a whole, and uses radially magnetized annular permanent magnets and magnetic rods to form a speed measurement rod. It does not need to provide an external excitation signal and can effectively constrain the main magnetic flux, which can reduce leakage magnetic field and reduce its interference with the velocity gain parameters. The specific beneficial effects are as follows.

[0041] (I) The displacement and velocity integrated sensor designed in this scheme has a linear displacement measurement part based on the LVDT sensor principle. The linear displacement measurement part and the velocity passive sensing part are rigidly connected to ensure the synchronization of movement. At the same time, anti-interference components such as magnetic isolation connecting rods and separation rings are set to ensure that each coil part operates independently without interfering with each other. Based on the above structural design, the displacement and velocity of the object under test can be directly observed at the same time, avoiding the velocity fluctuation problem caused by differential calculation of conventional methods; in addition, the linear displacement measurement part and the velocity passive sensing part are rigidly connected, and no filter is required, which avoids the velocity phase lag problem that may be caused by filtering processing, effectively reduces the measurement error, and increases the measurement accuracy of the sensor.

[0042] (ii) The displacement and velocity integrated sensor designed in this scheme, the linear displacement measurement part and the velocity passive sensing part are based on non-contact measurement methods and have a nearly unlimited mechanical service life.

[0043] (III) The displacement and velocity integrated sensor designed in this scheme has a displacement and velocity measurement resolution that has nothing to do with its structure and is entirely dependent on the signal processing circuit.

[0044] (IV) The displacement and velocity integrated sensor designed in this scheme adopts the passive sensing principle for velocity measurement and does not require any external excitation signal, thus fundamentally eliminating the output nonlinearity caused by the instability of the excitation signal.

[0045] (V) The integrated displacement and velocity sensor designed in this solution only needs to form a measuring rod assembly, which is convenient for sensor installation and layout. Compared with the existing technology, it simplifies the sensor structure and solves the problem of complex installation structure of the existing sensor.

[0046] Embodiment 2: This embodiment provides a displacement and velocity integrated sensor 100 , which differs from Embodiment 1 only in that the bobbin 8 can be fixedly connected to the side wall of the magnetic shell 3 by bonding, fixing with a pipe clamp, etc., instead of being fixed to the second end cover 15 .

[0047] The working principle and technical effect of the integrated displacement and velocity sensor 100 of this embodiment are the same as those of the first embodiment, and will not be described in detail here.

[0048] Embodiment 3: This embodiment provides a displacement and velocity integrated sensor 100, which differs from Embodiment 1 only in that the bobbin 8 in Embodiment 1 is a single whole shaft, while this embodiment provides separate and coaxial bobbin one and bobbin two, which can be fixedly connected to the side wall of the magnetic shell 3 by bonding, fixing with a pipe clamp, etc., or can be fixed to the two end covers respectively.

[0049] During actual installation and application, the separately arranged reels 1 and 2 can be arranged at intervals or in close proximity and contact.

[0050] The working principle and technical effect of the integrated displacement and velocity sensor 100 of this embodiment are the same as those of the first embodiment, and will not be described in detail here.

[0051] Embodiment 4: This embodiment provides a displacement and velocity integrated sensor 100, which differs from embodiments 1 to 3 only in that, in embodiments 1 to 3, the measured object connecting rod 1, the iron core 6, the magnetic isolation connecting rod 9, and the magnetic rod 12 equipped with the first permanent magnet 11 and the second permanent magnet 14 are coaxially arranged, while in this embodiment, the magnetic isolation connecting rod 9 can be a U-shaped elbow, an S-shaped elbow or a threaded elbow, which can rigidly connect the iron core 6 and the magnetic rod 12, but the iron core 6 and the magnetic rod 12 are not coaxial, but only parallel. Under this design, the working process and technical effect in embodiment 1 can still be basically achieved.

[0052] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A displacement and velocity integrated sensor, characterized in that: It includes a connecting rod of a measured object, a linear displacement measuring part, a speed passive sensing part and a magnetic conductive shell, wherein: the linear displacement measuring part is arranged in the magnetic conductive shell, the linear displacement measuring part includes a first secondary coil, a primary coil, an iron core, a second secondary coil and a bobbin one, the bobbin one is fixed in the magnetic conductive shell, the primary coil is wound around the outside of the bobbin one, the first secondary coil and the second secondary coil are wound around the outside of the primary coil in a symmetrical manner; a bobbin through hole one is coaxially provided in the bobbin one, the iron core is slidably installed in the bobbin through hole one and is coaxial with the bobbin; the speed passive sensing part is arranged in the magnetic conductive shell, the speed passive sensing part includes a first coil, a first permanent magnet, a magnetic conductive rod, a second coil, a second permanent magnet and a bobbin two, the bobbin two is fixed in the magnetic conductive shell, A second bobbin through hole is coaxially provided in the second bobbin, and the magnetic rod is slidably installed in the second bobbin through hole and is coaxial with the second bobbin; the first permanent magnet and the second permanent magnet are both annular permanent magnets, and the first permanent magnet and the second permanent magnet are respectively mounted on both ends of the magnetic rod, and the magnetization directions of the first permanent magnet and the second permanent magnet are opposite; the first coil and the second coil are symmetrically wound on the outside of the second bobbin, and the first coil corresponds to the first permanent magnet, and the second coil corresponds to the second permanent magnet; the object to be measured connecting rod is used to connect the object to be measured, and the object to be measured connecting rod movably passes through one end of the magnetic conductive shell and is rigidly connected to one end of the iron core; the other end of the iron core is rigidly connected to the magnetic rod through a connecting piece, so that the magnetic rod moves synchronously with the iron core driven by the object to be measured connecting rod.

2. The integrated displacement and velocity sensor according to claim 1, characterized in that: The connecting piece is a magnetic isolation connecting rod.

3. The integrated displacement and velocity sensor according to claim 2, characterized in that: The magnetic isolation connecting rod is a straight rod, a spiral rod or a bent rod.

4. The integrated displacement and velocity sensor according to any one of claims 1 to 3, characterized in that: A coil separation ring 1 is arranged between the first secondary coil and the second secondary coil; a coil separation ring 2 is arranged between the first coil and the second coil.

5. The integrated displacement and velocity sensor according to any one of claims 1 to 3, characterized in that: The first and second bobbins are coaxially arranged, and the measured object connecting rod, the iron core and the magnetic rod are coaxially arranged.

6. The integrated displacement and velocity sensor according to claim 5, characterized in that: The bobbin 1 and the bobbin 2 are separately arranged.

7. The integrated displacement and velocity sensor according to claim 5, characterized in that: The first bobbin and the second bobbin are integrally formed into one bobbin.

8. The integrated displacement and velocity sensor according to claim 7, characterized in that: The first secondary coil, the second secondary coil, the first coil and the second coil are sequentially arranged along the axial direction of the bobbin.

9. The integrated displacement and velocity sensor according to claim 8, characterized in that: A coil separation ring three is arranged between the second secondary coil and the first coil.

10. The integrated displacement and velocity sensor according to claim 5, characterized in that: The magnetic conductive shell comprises a magnetic conductive shell with openings at both ends. The first bobbin and the second bobbin are both arranged in the magnetic conductive shell and are coaxially arranged with the magnetic conductive shell. The two ends of the magnetic conductive shell are respectively provided with a first end cover and a second end cover.

Images