Voice coil motor device capable of executing linear motion and swinging motion

Abstract

The invention provides a voice coil motor device capable of executing linear motion and swing motion, which comprises a stator, a rotor and a rotating mechanism, and is characterized in that an upper arc-shaped permanent magnet and a lower arc-shaped permanent magnet in the stator are respectively bonded with an upper magnet yoke and a lower magnet yoke by using an adhesive to form a closed magnetic circuit; when the coil at the head of the V-shaped moving frame in the rotor is electrified by alternating current, the V-shaped moving frame swings under the action of the arc-shaped spring. When alternating current is supplied to a coil in a T-shaped sliding block in the rotor, the coil does linear motion under the action of a spiral compression spring. When alternating current is supplied to the coil at the head of the V-shaped moving frame in the rotor and the coil in the T-shaped sliding block at the same time, the rotor swings and linearly moves at the same time under the action of the arc-shaped spring and the spiral compression spring. Meanwhile, a servo motor in the rotating mechanism adjusts the rotating angle of a voice coil motor, and work at different positions is achieved.

Description

Technical Field

[0001] The invention relates to a voice coil motor device capable of performing linear motion and swinging motion, belonging to the field of motors. Background Art

[0002] The operating principle of a voice coil motor is as follows: a rotor coil is placed in an air gap magnetic field. When current is passed through the coil, the magnetic field generates an electromagnetic force, which propels the rotor to begin moving. Changing the magnitude and direction of the current can alter the speed and direction of the rotor's movement. A swing voice coil motor is an actuator that converts the principle of a linear voice coil motor into rotary motion. Voice coil motors offer advantages such as simple structure, high precision, fast response, long life, low vibration, and low noise. Therefore, voice coil motors are widely used in ultra-precision systems such as optical scanning and positioning systems. They also play a vital role in ultrasonic instruments and vibrating screening equipment in the medical field.

[0003] Existing voice coil motors can only perform a single linear motion or swinging motion, and cannot meet the requirements of complex motion scenarios. The swinging voice coil motor directly drives the load to perform a swinging motion through electromagnetic force, but the swinging voice coil motor structure has certain limitations on the swinging angle and is not suitable for 360° continuous swinging. The output force of the linear voice coil motor is limited by the magnetic field strength and coil current, and it is difficult to meet the large thrust requirements. The motion stroke is short, and a long stroke will cause the thrust to decrease. At the same time, permanent magnets made of sintered NdFeB material are expensive, and the cost of making a single linear voice coil motor or a swinging voice coil motor increases. Therefore, it is very important to develop a voice coil motor device that can perform linear motion and swinging motion. Summary of the Invention

[0004] A voice coil motor device capable of performing linear motion and swinging motion comprises a stator, a mover and a rotating mechanism.

[0005] Furthermore, the stator includes an upper arc-shaped permanent magnet, a lower arc-shaped permanent magnet, an upper magnetic yoke, a lower magnetic yoke, and a middle magnetic yoke. The upper arc-shaped permanent magnet and the lower arc-shaped permanent magnet are respectively bonded to the upper magnetic yoke and the lower magnetic yoke to form a closed magnetic circuit.

[0006] Furthermore, the middle magnetic yoke is a hollow arc-shaped structure, the upper magnetic yoke and the lower magnetic yoke are respectively located above and below the middle magnetic yoke, and the upper magnetic yoke and the lower magnetic yoke are equal in size.

[0007] Furthermore, the upper arc-shaped permanent magnet and the lower arc-shaped permanent magnet are magnetized in parallel, with opposite magnetization directions, and the upper arc-shaped permanent magnet and the lower arc-shaped permanent magnet are equal in size.

[0008] Furthermore, the mover includes a V-shaped motion frame, a linear motion mechanism, an arc spring, and a helical compression spring.

[0009] Furthermore, the V-shaped motion frame is composed of a head and a tail. Four linear guide rails are installed inside the head of the V-shaped motion frame. The head of the V-shaped motion frame is bilaterally symmetrical.

[0010] Furthermore, a pair of triangular plates are symmetrically distributed behind the rectangular support plate at the tail of the V-shaped motion frame to play a supporting and connecting role.

[0011] Furthermore, the head of the V-shaped sports frame is hollowed out to reduce weight.

[0012] Furthermore, the linear motion mechanism is composed of a T-shaped slider, a baffle and a baffle at the tail of the linear guide rail, and the linear motion mechanism is symmetrical in the vertical direction and the left direction.

[0013] Furthermore, the T-shaped slider is composed of two rectangular blocks on the left and right, wherein a T-shaped straight groove is processed in the middle part of the left rectangular block, and a rectangular hole is processed in the middle part above the right rectangular block.

[0014] Furthermore, the arc spring is connected to the outer side surface of the V-shaped motion frame and the inner side surface of the middle magnetic yoke.

[0015] Furthermore, the helical compression spring is connected to the rectangular support plate at the tail of the V-shaped motion frame and the baffle at the tail of the linear guide rail.

[0016] Furthermore, after alternating current is supplied to the coil at the head of the V-shaped moving frame, the V-shaped moving frame performs a swinging motion under the action of the arc spring.

[0017] Furthermore, after an alternating current is passed through the coil in the T-shaped slider, the linear motion mechanism composed of the T-shaped slider performs linear motion under the action of the helical compression spring.

[0018] Furthermore, when alternating current is simultaneously supplied to the coil of the V-shaped motion frame head and the coil of the T-shaped slider, the V-shaped motion frame and the linear motion mechanism composed of the T-shaped slider move simultaneously, and can simultaneously perform swinging and linear motion under the action of the spring.

[0019] Furthermore, the rotating mechanism includes a rectangular plate, a disc, a supporting cylinder, a bearing, a connecting flange, and a servo motor. The lower magnetic yoke is mounted above the rectangular plate, which is connected to the disc via screws. The supporting cylinder and the inner ring of the bearing are connected via an interference fit and then installed within the disc. The outer ring of the bearing and the disc rotate via rolling balls. When the servo motor rotates, the motor output shaft drives the connecting flange and disc, enabling operation in different positions.

[0020] Technical effects and advantages of the present invention: Compared with the prior art, the voice coil motor device capable of performing linear motion and oscillation proposed by the present invention has the following advantages: 1. Linear motion and swinging motion share the same magnetic field. It is only necessary to change the power supply of two different coils to achieve linear motion or swinging motion. The decoupling control is convenient, which greatly improves the accuracy of linear motion and swinging motion during motor operation. When the motor needs to perform linear motion and swing at the same time, it is only necessary to supply current to the two coils at the same time, which has high reliability. 2. The entire motor structure is simple and compact, easy to process, and suitable for precision motion occasions. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of the stator structure provided for the invention;

[0022] Figure 2 A schematic diagram of the middle magnetic yoke structure provided for the invention;

[0023] Figure 3 A diagram of the magnetic field lines of the permanent magnet provided for the invention;

[0024] Figure 4 A schematic diagram of the V-shaped sports frame structure is provided for the invention;

[0025] Figure 5 Schematic diagram of the coil structure for driving the oscillating motion;

[0026] Figure 6 Schematic diagram of the coil structure for driving linear motion;

[0027] Figure 7 A schematic diagram of the hollowed-out head of the V-shaped sports frame provided for the invention;

[0028] Figure 8 Provide a complete schematic diagram of the swing motion structure for the invention;

[0029] Figure 9 Provide a complete schematic diagram of the linear guide structure for the invention;

[0030] Figure 10 A schematic diagram of the T-shaped slider structure provided for the invention;

[0031] Figure 11 A schematic diagram of the linear motion mechanism provided for the invention;

[0032] Figure 12 Schematic diagram of the complete swing motion and linear motion structure provided for the invention;

[0033] Figure 13 An assembly diagram of the voice coil motor provided for the invention;

[0034] Figure 14 A schematic diagram of the rotating mechanism provided for the invention;

[0035] In the figure, 1. upper magnetic yoke; 2. lower magnetic yoke; 3. middle magnetic yoke; 4. upper arc-shaped permanent magnet; 5. lower arc-shaped permanent magnet; 6. V-shaped motion frame; 7. arc spring; 8. helical compression spring; 9. coil; 10. coil; 11. T-shaped slider; 61. head; 62. tail; 13. linear guide; 14. baffle; 15. rectangular support plate; 16. linear guide tail baffle; 17. disc; 18. supporting cylinder; 19. bearing; 20. connecting flange; 21. servo motor; 22. rectangular plate; 23. base; 24. linear motion mechanism; 25. square hole 1; 26. square hole 2 DETAILED DESCRIPTION

[0036] The present invention is described in detail below with reference to the accompanying drawings:

[0037] A voice coil motor device capable of linear and oscillating motion comprises a stator, a mover, and a rotating mechanism. The stator includes an upper magnetic yoke 1, a lower magnetic yoke 2, a middle magnetic yoke 3, an upper arc-shaped permanent magnet 4, and a lower arc-shaped permanent magnet 5. The mover comprises a V-shaped motion frame 6, an arc spring 7, a helical compression spring 8, and a linear motion mechanism 24. The rotating mechanism includes a disk 17, a support cylinder 18, a bearing 19, a connecting flange 20, a servo motor 21, and a rectangular plate 22. The motion mode, thrust, and torque output of the voice coil motor are determined by the direction and magnitude of the current in the coil.

[0038] like Figure 1 The stator includes an upper magnetic yoke 1, a lower magnetic yoke 2, a middle magnetic yoke 3, an upper arc-shaped permanent magnet 4, and a lower arc-shaped permanent magnet 5. The upper arc-shaped permanent magnet 4 and the lower arc-shaped permanent magnet 5 are respectively bonded to the upper magnetic yoke 1 and the lower magnetic yoke 2 with adhesive, and the space formed is the swing range of the V-shaped motion frame.

[0039] like Figure 2 The middle magnetic yoke 3 is cut at the middle position, and the size of the space formed by the cutting is the range of motion for the forward and backward linear motion.

[0040] like Figure 3 The diagram above shows the magnetic field distribution. The upper and lower arc-shaped permanent magnets 4 and 5 are made of sintered neodymium iron boron material, such as N48H. The upper, lower, and middle yokes 1, 2, and 3 are made of materials with excellent magnetic conductivity, such as electrical pure iron DT4C. After processing, they are nickel-plated to prevent rust. Both the upper and lower arc-shaped permanent magnets 4 and 5 are magnetized in parallel. The magnetization direction of the upper arc-shaped permanent magnet 4 points vertically downward toward the middle arc-shaped yoke 3, while the magnetization direction of the lower arc-shaped permanent magnet 5 points vertically upward toward the middle arc-shaped yoke 3. The arc-shaped permanent magnets have a uniform magnetic field strength distribution and a smooth magnetic circuit.

[0041] like Figure 4The V-shaped motion frame 6 consists of a head portion 61 and a tail portion 62. The side of the head portion 61 of the V-shaped motion frame 6 is machined to form four square holes 1 (25) to facilitate the continuous and rapid swinging of the V-shaped motion frame 6. Six square holes 2 (26) are machined above the head portion 61 of the V-shaped motion frame 6 to accommodate the coil 9. Four linear guides 13 are symmetrically mounted on the inner side of the head portion 61 of the V-shaped motion frame 6. These linear guides 13 are symmetrically distributed above and below the square holes 25 machined on the side of the head portion 61 of the V-shaped motion frame 6. Both the square holes 1 (25) and the square holes 2 (26) are symmetrical.

[0042] like Figure 4 A pair of triangular plates are symmetrically distributed behind the rectangular support plate 15 of the tail portion 62 of the V-shaped motion frame 6 to play a supporting and connecting role.

[0043] like Figure 5 and Figure 6 The coil is evenly wound with enameled wire, which is then dipped in varnish and fastened after winding to ensure that the outer surface of the coil is smooth and flat.

[0044] like Figure 7 The square hole 25 of the head 61 of the V-shaped motion frame 6 is hollowed out at the upper and lower positions to reduce weight and ensure stable and reliable movement. The V-shaped motion frame 6 is made of non-metallic materials such as polyetherimide, which does not generate induced eddy currents during operation, thereby improving the movement stability of the motor.

[0045] like Figure 8 The above-mentioned motion mode is a leftward swinging motion. The coil 9 is wound in the hole above the V-shaped motion frame 6. When a counterclockwise current is passed through the coil 9, the direction of the current in the coil 9 above the middle magnetic yoke 3 points inward of the paper. According to the Lorentz force principle F=BIL, the magnetic flux lines enter the palm vertically downward, the four fingers point in the direction of the current, the energized wire is subjected to the Ampere force, the direction of the force is perpendicular to the swing radius, and the effect changes from force to leftward torque. The direction of the current in the coil 9 below the middle arc-shaped magnetic yoke 3 points outward of the paper. According to the Lorentz force principle F=BIL, the magnetic flux lines enter the palm vertically upward, the four fingers point in the direction of the current, the energized wire is subjected to the Ampere force, the direction of the force is perpendicular to the swing radius, and the effect changes from force to leftward torque, thereby driving the V-shaped motion frame 6 to swing to the left.

[0046] like Figure 8The above is a rightward movement mode of swinging motion. When a clockwise current is passed through the coil 9, the direction of the current in the coil 9 above the middle arc-shaped magnetic yoke 3 points outward from the paper. According to the Lorentz force principle F=BIL, the magnetic flux lines enter the palm vertically downward, the four fingers point in the direction of the current, the current-carrying wire is subjected to the Ampere force, the direction of the force is perpendicular to the swing radius, and the effect changes from force to rightward torque. The direction of the current in the coil 9 below the middle magnetic yoke 3 points inward from the paper. According to the Lorentz force principle F=BIL, the magnetic flux lines enter the palm vertically downward, the four fingers point in the direction of the current, the current-carrying wire is subjected to the Ampere force, the direction of the force is perpendicular to the swing radius, and the effect changes from force to rightward torque, and the V-shaped motion frame 6 swings to the right.

[0047] like Figure 8 The arc springs 7 are connected to the outer side of the V-shaped moving frame 6 and the inner side of the middle magnetic yoke 3 to provide a spring force when the V-shaped moving frame 6 moves, and the two arc springs 7 are symmetrically distributed.

[0048] like Figure 9 The upper and lower surfaces of the linear guide rail 13 are cut to form rectangular straight grooves to facilitate the forward and backward movement of the T-shaped slider 11.

[0049] like Figure 10 The T-shaped slider 11 is composed of two rectangular blocks on the left and right. A T-shaped straight groove is processed in the middle of the left rectangular block of the T-shaped slider 11 to facilitate the installation of the linear guide rail, and a rectangular hole is processed in the middle position above the right rectangular block for winding the coil 10.

[0050] like Figure 11 The linear motion mechanism is composed of four T-shaped sliders 11, which are symmetrical in vertical and horizontal directions. The coil 10 is wound around the rectangular hole inside the T-shaped slider 11 and is connected with the baffle 14 and the tail baffle 16 of the linear guide rail to play a fixed support role.

[0051] like Figure 12 The above is a forward motion mode of linear motion. The coil 10 is wound inside the T-shaped slider 11. When a clockwise current is passed through the coil 10, the current direction in the coil 10 located above the middle magnetic yoke 3 is horizontal to the right. According to the Lorentz force principle F=BIL, the magnetic flux lines enter the palm vertically downward, the four fingers point in the direction of the current, the energized wire is subjected to the Ampere force, and the direction of the force is perpendicular to the paper surface inward. The current direction in the coil 10 located below the middle arc-shaped magnetic yoke 3 is horizontal to the left. According to the Lorentz force principle F=BIL, the magnetic flux lines enter the palm vertically upward, the four fingers point in the direction of the current, the energized wire is subjected to the Ampere force, and the direction of the force is perpendicular to the paper surface inward. The vertical coil 10 only plays the role of closing the wire, thereby driving the T-shaped slider 11 to move forward in a linear motion.

[0052] like Figure 12 The backward movement mode described is a linear motion. The coil 10 is wound inside the T-shaped slider 11. When a counterclockwise current is passed through the coil 10, the current direction in the coil 10 located above the middle magnetic yoke 3 is horizontal to the left. According to the Lorentz force principle F=BIL, the magnetic flux lines enter the palm vertically downward, the four fingers point in the direction of the current, the energized wire is subjected to the Ampere force, and the direction of the force is perpendicular to the paper and outward. The current direction in the coil 10 located below the middle arc-shaped magnetic yoke 3 is horizontal to the right. According to the Lorentz force principle F=BIL, the magnetic flux lines enter the palm vertically upward, the four fingers point in the direction of the current, the energized wire is subjected to the Ampere force, and the direction of the force is perpendicular to the paper and outward. The vertical coil 10 only plays the role of closing the wire, so that the winding can drive the T-shaped slider 11 to move backward in a straight line.

[0053] like Figure 12 The helical compression spring 7 is connected to the rectangular support plate 15 of the tail 62 of the V-shaped motion frame 6 and the tail baffle 16 of the linear guide rail, providing a spring force when the T-shaped slider 11 moves linearly, and the four helical compression springs 7 are symmetrically distributed up and down and left and right.

[0054] like Figure 13 When alternating current is supplied to the coils 9 and 10 at the same time, the V-shaped motion frame 6 and the T-shaped slider 11 move simultaneously under the action of the magnetic field, and can perform swinging motion and linear motion at the same time.

[0055] like Figure 14 The rotating mechanism comprises a disc 17, a support cylinder 18, a bearing 19, a connecting flange 20, and a servo motor 21. The lower magnetic yoke 2 is mounted above a rectangular plate 22, which is screwed to the disc 17. The support cylinder 18 and the inner ring of the bearing 19 are connected together through an interference fit and then installed within the disc 17. The outer ring of the bearing 19 and the disc 17 rotate via rolling balls. When the servo motor 21 rotates, the motor output shaft drives the connecting flange 20 and the disc 17, enabling operation at different positions.

[0056] The contents described in the embodiments of the specification are merely an enumeration of the implementation forms of the inventive concept. The scope of protection of the present invention should not be regarded as limited to the specific forms described in the embodiments. The scope of protection of the present invention also extends to equivalent technical means that can be thought of by those skilled in the art based on the inventive concept.

Claims

1. A voice coil motor device capable of performing linear motion and swinging motion, characterized in that: The device comprises a stator, a mover, and a rotating mechanism. The stator includes an upper arc-shaped permanent magnet, a lower arc-shaped permanent magnet, an upper magnetic yoke, a lower magnetic yoke, and a middle magnetic yoke. The upper and lower arc-shaped permanent magnets are bonded to the upper and lower magnetic yokes, respectively, to form a closed magnetic circuit. The upper and lower magnetic yokes are located above and below the middle magnetic yoke, respectively. The mover comprises a V-shaped motion frame, a linear motion mechanism, an arc spring, and a helical compression spring. The rotating mechanism comprises a rectangular plate, a circular disk, a supporting cylinder, a bearing, a connecting flange, and a servo motor. When AC current is applied to the head coil of the V-shaped motion frame in the mover, it swings under the action of the arc spring. When AC current is applied to the coil of the T-shaped slider in the mover, it moves linearly under the action of the helical compression spring. When AC current is applied to both the head coil of the V-shaped motion frame and the coil of the T-shaped slider in the mover, the arc spring and the helical compression spring simultaneously swing and move linearly.

2. The upper arc-shaped permanent magnet and the lower arc-shaped permanent magnet according to claim 1 are characterized in that the upper arc-shaped permanent magnet and the lower arc-shaped permanent magnet have the same structure, are magnetized in parallel and in opposite directions.

3. The middle magnetic yoke according to claim 1 is characterized in that the middle magnetic yoke is a hollow arc-shaped structure.

4. The upper magnetic yoke and the lower magnetic yoke according to claim 1 are characterized in that the upper magnetic yoke and the lower magnetic yoke have the same structure.

5. The V-shaped motion frame according to claim 1 is characterized in that the V-shaped motion frame consists of a head and a tail, wherein four linear guide rails are installed on the inner side of the head of the V-shaped motion frame and the head of the V-shaped motion frame is hollowed out, and the tail consists of a rectangular support plate, a pair of triangular plates and a connecting rod.

6. The linear motion mechanism according to claim 1 is characterized in that it is composed of a T-shaped slider, a baffle, and a tail baffle of the linear guide rail, and the linear motion mechanism is symmetrical in vertical and horizontal directions.

7. The T-shaped slider according to claim 6 is characterized in that the T-shaped slider is composed of two rectangular blocks on the left and right, wherein: A T-shaped straight groove is machined in the middle of the left rectangular block, and a rectangular hole is machined in the middle of the upper part of the right rectangular block.

8. The coil according to claim 1 is characterized in that the coil is wound around the head of the V-shaped motion frame and inside the T-shaped slider respectively.

9. The arc spring and helical compression spring according to claim 1 are characterized in that the arc spring is connected to the outer side of the V-shaped motion frame and the inner side of the middle magnetic yoke, and the arc springs are symmetrically distributed. The helical compression spring is connected to the rectangular support plate at the rear of the V-shaped motion frame and the rear baffle of the linear guide.

10. The rotary mechanism according to claim 1 is characterized by: a lower magnetic yoke mounted above a rectangular plate, which is connected to the disc via screws. The supporting cylinder and the inner ring of the bearing are connected via an interference fit and then installed within the disc. The outer ring of the bearing and the disc rotate via rolling balls. When the servo motor rotates, the motor output shaft drives the connecting flange and the disc to rotate, enabling operation in different positions.

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