Device for the controllable generation of a dynamic linear force

Abstract

The invention is based on the objective of creating a device for the controllable generation of dynamic linear forces, in particular for the tractive force control of wound materials or web materials, which enables precise control or regulation in a simple manner even in fast process sequences, thereby eliminating the disadvantages of the prior art and generating higher dynamic linear forces with minimal heat losses. 1. Device for the controllable generation of a dynamic linear force by means of an electromagnetically linearly driven actuating element (1) with an axis of movement (2), wherein at least one magnet arrangement (3) with several permanent magnets (4) and at least one electrical conductor (5) arranged between the permanent magnets (4) is provided, wherein the at least one electrical conductor (5) is connected to the linearly driven actuating element (1), wherein the permanent magnets (4) are arranged such that a magnetic field (7) is formed in an air gap (6) between the permanent magnets (4), and wherein the at least one electrical conductor (5) is arranged in the air gap (6) at right angles to the magnetic field (7) and is connected to the actuating element (1), wherein the linear mobility relative to the permanent magnets (4) is limited such that the at least one electrical conductor (5) does not leave the magnetic field (7).

Description

[0001] The invention relates to a device for the controllable generation of dynamic linear forces, for example for the traction force control of wound goods or web materials.

[0002] There is a need to provide higher forces in the processes of winding machines, production lines, and processing equipment for wound materials or web materials, such as wire in various cross-sections, yarn, paper of varying widths and / or thicknesses, or optical fibers, without sacrificing high speed and precision or maintaining tight tolerances. This increases the demands on the force requirements of so-called dancer systems.

[0003] In general, a dancer system is an arrangement which, with the help of a movable part, the so-called dancer, can exert a counterforce on the winding material or web material by contacting it with a defined force and can detect the position of the dancer and with it the position of the winding material or web material.

[0004] A device for the controllable generation of dynamic forces, particularly for tractive force control of railway materials, is known from DE 10 2006 007 202 B3. This device comprises an electrical conductor in an air gap between permanent magnets that generate a magnetic field. The conductor is arranged perpendicular to the magnetic field such that the magnetic field is not exited, and a force proportional to the electric current is generated when a current flows through it. Besides its dynamic and accurate properties, as well as the high forces desired, this prior art solution exhibits poor energy efficiency. A large portion of the coil formed by the conductors is located outside the magnetic field and is therefore unusable for generating the dynamic forces, resulting in high winding head losses. A further disadvantage of this solution is the limited achievable force.Higher forces would require a higher current, leading to a high current density and significant heat loss in the coil formed by the conductors. Active cooling would be necessary, making the device more complex or requiring the addition of moving masses for cooling.

[0005] Multi-strand linear motors are also known, which, due to their alternating pole design, exhibit a changing magnetic field along the direction of movement. Because the magnetic flux density varies across the operating range, a complex position-dependent current control is required to generate a highly precise and constant force. For position-independent current control, the use of a homogeneous magnetic air gap field across the operating range is therefore advantageous. Known designs of electrodynamic linear motors include common-pole or homopolar designs without commutation. In these designs, the coil or partial coil always remains in a magnetic field of constant polarity, thus eliminating the need for commutation. Various systems of moving-coil motors with rotationally symmetrical cylindrical coils are known for this purpose.Due to the design of moving-coil motors, the magnetic field in the air gap is inhomogeneous. In a long-coil system, the magnetic field acts across the entire air gap, regardless of the rotor position. Therefore, the inhomogeneous field does not have any position-related disadvantages for current control to generate a constant Lorentz force. However, the design of the long-coil system leads to additional copper losses outside the air gap and limits its width, so only comparatively low Lorentz forces can be achieved. In a short-coil system, on the other hand, an inhomogeneous field has a disadvantageous effect, as the magnetic field only acts in a portion of the air gap, making position-dependent current control necessary for a constant Lorentz force. In industrial applications, moving-coil motors are used particularly for high-frequency, short-stroke movements due to the low mass of the rotor.Due to their low power and short movement distances, they are therefore only of very limited use for generating the dancer's power for dancer systems, so an alternative drive system is required.

[0006] JP 2012-228008 A describes a linear actuator in which a coil is movable along alternating magnetic fields of opposing permanent magnets, thus traversing the changing magnetic fields. This causes the coil to leave the air gap between two opposing permanent magnets, resulting in position-dependent, inhomogeneous forces. Furthermore, ring magnets or closed polygonal magnets or magnet arrangements are used, leading to a very complex and expensive design. Additionally, the coil is many times taller in the axial direction than the permanent magnets are long. Therefore, this solution can also accommodate larger moving masses.

[0007] US patent 4,808,955 discloses a linear actuator in which magnet arrangements of varying heights are provided in the direction of movement of the actuator. Furthermore, the coils in the actuator have the same height as the length of the magnet arrangement associated with each coil. Consequently, during operation, the coils in the actuator leave the air gap and thus the magnetic field between the magnet arrangements. This results in position-dependent, inhomogeneous forces during the operation of the actuators.

[0008] US patent 2008 / 0204174 A1 discloses a linear actuator comprising two ring magnet arrangements arranged axially side by side and radially opposite each other, wherein two coils are movably arranged axially within the resulting air gap. However, this design is very complex and its manufacture is very complicated.

[0009] Also known is DE 103 29 651 A1, which describes a laminated core with windings for a linear motor with alternating fields. However, the laminated core results in high mass, making it unsuitable for the exemplary application as a dancer motor. Furthermore, commutation is necessary, which can lead to detrimental position-dependent force variations.

[0010] Furthermore, dancer systems are known in the prior art which exert the force of the dancer using pneumatic cylinders and springs or by means of a complex assembly of levers, springs, pneumatic cylinders, fine pressure valves, reservoirs and sensors, but these do not provide the required high dynamics, precision and high forces.

[0011] The invention is based on the objective of creating a device for the controllable generation of dynamic linear forces, in particular for the tractive force control of wound materials or web materials, which enables precise control or regulation in a simple manner even in fast process sequences, thereby eliminating the disadvantages of the prior art and generating higher dynamic linear forces with minimal heat losses.

[0012] According to the invention, this problem is solved by a device according to claim 1.

[0013] In the specified application, the invention provides a device for the controllable generation of a dynamic linear force by means of an electromagnetically linearly driven actuating element with a linear axis of movement, wherein at least one magnet arrangement with several spaced-apart permanent magnets, advantageously as cuboid magnets, and at least one electrical conductor arranged between the permanent magnets is provided, wherein the at least one electrical conductor is connected to the linearly driven actuating element, for example via a support, a frame or a connecting bridge, wherein the permanent magnets are arranged such that a magnetic field is formed in an air gap between the permanent magnets, and wherein the at least one electrical conductor is arranged in the air gap perpendicular to the magnetic field as a homogeneous magnetic air gap field and is connected to the actuating element.The at least one electrical conductor and / or the actuating element is limited in its linear movement relative to the permanent magnets by a mechanical limiting device such that the at least one electrical conductor cannot leave the homogeneous magnetic air gap field between two opposing permanent magnets, advantageously cuboid magnets. Thus, with respect to the axial or linear direction of movement, the at least one electrical conductor is always located between the same permanent magnets in the region of uniform magnetic flux density in the air gap. When current flows through the at least one electrical conductor, a force proportional to the electric current is generated, with a force direction corresponding to the current direction.The at least one magnet arrangement comprises four permanent magnets, with two axially adjacent pairs of permanent magnets being present or arranged on each yoke, and with each pair of permanent magnets positioned opposite each other either in pairs or radially spaced apart. The radially opposite pairs of permanent magnets and the axially adjacent pairs of permanent magnets are arranged with opposite poles. The radially opposite pairs of permanent magnets and / or the space between the radially opposite pairs of permanent magnets each form the air gap in which the at least one electrical conductor is movably arranged.The at least one electrical conductor forms at least one current-carrying coil or air coil with one or more turns, wherein the magnetic fields present in the respective air gap and the respective current flow direction through the at least one electrical conductor are selected such that the forces generated point in the same direction. According to the invention, two, three, or more magnet arrangements are arranged as parallel or planar magnet arrangements parallel or at an angle to each other, or in a shape, around the axis of movement of the actuating element.The respective magnet arrangements are arranged parallel to the axis of movement of the actuating element, wherein the at least one electrical conductor is arranged through the air gaps between the paired opposing permanent magnets of the respective magnet arrangement around the axis of movement of the actuating element, wherein the at least one electrical conductor is guided through the respective air gaps formed by the paired opposing permanent magnets, and wherein the at least one electrical conductor, or in the case of two or more electrical conductors, each of the electrical conductors, does not leave the respective air gap and thus the magnetic field or air gap field in which the at least one electrical conductor or the respective electrical conductor is located.

[0014] The magnetic arrangement, through the four permanent magnets (advantageously using long cuboid magnets as a source), two magnetically conductive connections as a yoke and two air gaps, creates a closed magnetic circuit, whereby two oppositely directed homogeneous air gap fields are formed between the respective opposing permanent magnets.

[0015] Within each air gap field, a coil is positioned as an electrical conductor, oriented orthogonally to the homogeneous air gap field. Based on the Lorentz force, a constant current is generated through the electrical conductor / coil, resulting in a constant force, since the magnetic field within the air gap field remains constant and homogeneous. The invention is designed such that the coil's freedom of movement is limited to the homogeneous air gap field and cannot leave this area, for example, by means of a mechanical restraint. The use of long cuboid magnets and a coil with a low profile enables a correspondingly long stroke within the homogeneous magnetic air gap field without commutation.

[0016] The device according to the invention for the controllable generation of a dynamic linear force by means of an electromagnetically linearly driven actuator with a linear axis of motion can also be referred to as a drive system. With the device or drive system according to the invention, more precise and higher forces can be achieved with the longest possible stroke.

[0017] In general terms, the possible movement or stroke of the respective electrical conductor as a coil in the respective air gap and thus in the magnetic field or air gap field can be specified as the difference between the length of the permanent magnets and the height of the respective electrical conductor as a coil, such that the respective electrical conductor as a coil does not leave the respective air gap and thus the magnetic field.

[0018] Block magnets are advantageously used for the magnet arrangements because they are available in various lengths and cross-sections and can be used with minimal effort. Thus, block magnets can be used to create magnet arrangements for the respective devices according to the invention for the controllable generation of a dynamic linear force by means of an electromagnetically linearly driven actuating element with a linear axis of movement, wherein the block magnets of the magnet arrangements of each device according to the invention each have the same length.

[0019] The key parameters for designing the drive system as a dancer magnet are the required stroke and the dancer force. To achieve the largest possible stroke, magnets with a correspondingly long length are advantageous. The dancer force is determined by the Lorentz force, the magnitude of which, at constant magnetic flux density and magnetomotive force, is proportional to the length of the coil in the magnetic field. Since the magnetic flux density is limited by the properties of the permanent magnets and the magnetomotive force by thermal losses, the active coil length in the magnetic field must be adjusted accordingly to generate the required dancer force. The choice of magnet arrangement therefore depends on the required dancer force, as this determines the maximum coil length in the magnetic field and thus the achievable Lorentz force.

[0020] To create a universally applicable basis for calculation, it is expedient to reduce the drive model to a single magnet arrangement with cuboid magnets. The magnet arrangement is designed so that the system can be scaled and thus flexibly adapted to different requirements and forces. The derivation of suitable calculation formulas makes it possible to use this drive model as a basis for analyzing various geometries and dimensions. In this way, further variants with multiple magnet arrangements can be systematically derived without having to develop individual calculation formulas for each configuration.

[0021] The defining feature of the magnet arrangement is that it comprises two air gaps, each containing two directly opposing permanent magnets. The homogeneity and strength of the magnetic field depend significantly on the magnetic properties and dimensions of the permanent magnets, the geometry of the air gap, and the magnetic conductivity and shape of the yoke.

[0022] It is advantageous if, with respect to the axis of movement or parallel to the axis of movement of an electromagnetically linearly driven actuating element, the length of the permanent magnet as a cuboid magnet is greater or many times greater than the height of the electrical conductor or coil. Advantageously, a ratio of height of the electrical conductor or coil to length of the permanent magnet (as a cuboid magnet) of 1:2 to 1:100 is used, whereby ratios between 1:2 and 1:10, advantageously 1:2 to 1:10, 1:11 to 1:20, 1:21 to 1:30, 1:31 to 1:40, 1:41 to 1:50, 1:51 to 1:60, 1:61 to 1:70, 1:71 to 1:80, 1:81 to 1:90, 1:91 to 1:100 and other ratios not specifically named are expressly included.

[0023] Thus, the greatest possible stroke or freedom of movement is achieved with a position-independent constant force within a homogeneous magnetic field. Depending on the design and dimensioning of the device according to the invention, any ratio between the height of the electrical conductor or coil and the length of the cuboid magnet allows for different stroke sizes, each with a position-independent constant force within the homogeneous magnetic field.

[0024] Advantageously, the shape of the electrical conductor, whether a coil or air-core coil, follows the arrangement of the magnets. Accordingly, the coil is shaped, for example, as a triangle, a square, or any other polygon.

[0025] Advantageously, the arrangement of two, three, or more magnet assemblies increases the magnetically effective or active area, and thus the conductor length within the magnetic field, while simultaneously minimizing the area of ​​the respective coil that is not located within the magnetic field. For example, with the same number of turns and the same current, the device according to the invention, with the corresponding arrangement of magnet assemblies according to the invention, can achieve a greater force than a device according to the prior art, while minimizing heat losses.

[0026] The two, three or more magnet arrangements can be spaced apart and / or placed next to each other in the circumferential direction or conductor direction of the respective electrical conductor as a coil.

[0027] The primary moving components are essentially the electrical conductor (acting as a coil) and the actuator. This results in low-mass, and therefore low-inertia, movement of at least the actuator, for example, for a dancer. It enables the generation of low-inertia, low-damping, and directionally variable forces, which can be electronically controlled or regulated with high precision, sensitivity, and speed. For relatively high forces, the actuator can be constructed using a comparatively lightweight design with only a few, lightweight components or component arrangements.

[0028] By positioning the respective electrical conductor as a coil in relation to the axial or linear direction of movement within the area with the same magnetic flux density in the air gap between the permanent magnets, and by not leaving this area or reaching the edge area located in the axial or linear direction of movement, a constant force can be set regardless of the position or orientation of the actuating element.

[0029] The respective electrical conductor, in the form of a coil or air-core coil with one or more turns, is mechanically connected to the actuating element in the circumferential direction as a shaped coil with a cross-section adapted to the arrangement of the magnet assembly. Advantageously, the electrical conductor, in the form of a coil or air-core coil, is a rectangular shaped coil, since cuboid magnets are advantageously provided for the magnet assembly. The cuboid magnets are arranged or aligned parallel to each other and spaced apart for the respective magnet assembly to create a homogeneous air gap field. Within the air gap field, the conductor or coil is parallel to the surface of the opposing permanent magnets, so that the current flow direction through the conductor within the air gap field is orthogonal to the direction of the magnetic flux density.Thus, at least one electrical conductor, in the form of a coil or air-core coil with one or more turns, moves parallel to the axis of motion, and the actuating element moves on the same axis, all with low mass and therefore low inertia. This facilitates linear motion and compact designs with low inertia.

[0030] Furthermore, the energy efficiency of the device for the controllable generation of a dynamic linear force is increased. The respective electrical conductor, in the form of a coil or air-core coil with one or more turns, is located entirely within the respective magnetic field as an air gap field, regardless of the operating state.

[0031] Advantageously, systems can be operated exclusively electronically. The equipment can be arranged according to demand or as needed, and thus decentrally. Each device can be individually programmed and controlled.

[0032] Regardless of the movement or position, the defined force generated by the device according to the invention, when the device according to the invention is used as an electromagnetic dancer, leads to the desired functionality, so that the resulting tensile force of the web material or the winding material is significantly more constant in contrast to conventional methods.

[0033] Furthermore, a whole range of machines can be covered with just one device type in the form of the device according to the invention or its axial scaling or coupling, since the force can be adjusted by simple settings on the device or by remote programming. The force can thus also be easily adjusted for ongoing processes.

[0034] The permanent magnets, arranged in pairs, are connected by a yoke, either as a first or second yoke, made of a magnetic material with high permeability, such as iron. Alternatively, the yoke can be made of a solid iron alloy, preferably with a high iron content. A laminated core for the yoke is unnecessary, as the invention does not generate any eddy current losses. The permanent magnets, arranged in pairs, are spaced apart on the respective yoke by an air gap, but can also be spaced apart by a non-magnetic material, such as plastic, or by magnetic insulation.

[0035] Two opposing yokes, each containing two adjacent permanent magnets in pairs, form a magnet arrangement, such that two permanent magnets are arranged opposite each other in pairs with an air gap. These two yokes with their adjacent permanent magnets are parallel to each other or spaced at the same height with an air gap.

[0036] The two yokes, each containing a pair of adjacent permanent magnets, are separated from each other by a non-magnetic material or magnetic insulation, thus enabling them to be aligned and mechanically connected or fixed. The opposing pairs of permanent magnets and adjacent pairs of permanent magnets generate a closed magnetic field across the air gap. Within this magnetic field, the electrical conductor acts as a coil for axial or linear movement, and the conductor never leaves the air gap during its movement.

[0037] It is also possible or intended that, with respect to the circumference or course of the at least one electrical conductor or the conductor length of the coil, two or more magnet arrangements are aligned or parallel to each other. For example, instead of one wide magnet arrangement, two or more narrow magnet arrangements can be arranged or provided, whereby the air gap formed in which the at least one electrical conductor is located or arranged can be aligned. The narrow magnet arrangements can also be arranged in a polygon. Accordingly, the number of magnet arrangements used can be increased.

[0038] For use as an electromagnetic dancer, the position of the actuating element, and thus the position of the electrical conductor or coil in the magnetic field, is determined by at least one sensor or sensor arrangement. Preferably, the position is determined without contact. Position determination also enables position-dependent current control. This allows for electromagnetic force compensation.

[0039] Advantageous embodiments of the invention are described in the dependent claims.

[0040] By dividing the at least one electrical conductor into two electrical conductors, with each conductor passing through the respective air gaps formed by the pair of opposing permanent magnets, and each conductor being individually controllable or connected in series or parallel, the generated force can be adjusted or scaled by appropriate distribution, control, and regulation of the current flow. Furthermore, the response behavior can be adjusted.

[0041] By arranging the two, three, or more magnet arrays evenly or unevenly around the actuator's axis of movement, losses due to the small magnetically ineffective area can be further reduced. Force generation is also more uniform. The actuator moves with less stress. At the same time, the parallelism of the magnet arrays to the actuator's axis of movement is ensured.

[0042] If the magnet arrangements are evenly distributed around the axis of movement of the actuating element, the actuating element is arranged centrally or centrically with respect to the magnet arrangements.

[0043] Alternatively, the two, three, or more magnet arrangements can be unevenly distributed around the axis of movement of the actuator if required by the design. Accordingly, the actuator is not positioned centrally or centrically with respect to the magnet arrangements.

[0044] By combining, cascading, or expanding two or more electromagnetically linearly driven actuators, each with two or more magnet arrangements containing multiple permanent magnets and at least one electrical conductor (acting as a coil) arranged between the permanent magnets, different force levels can be generated, combined, or scaled. For example, standard configurations can be combined or cascaded to create any desired force level or force combination. Parallel and / or serial combinations or cascades are thus possible.

[0045] Advantageously, two or more electromagnetically linearly driven actuating elements, each with two or more magnet arrangements, can be combined axially or linearly, cascaded, or expanded, so that any required forces can be provided with regard to an exemplary use for or as an electromagnetic dancer.

[0046] It is advantageous for the actuator to be guided, or at least ideally, to be guided. Depending on the application or requirements, such guidance can be implemented in a variety of ways. For example, but this is not an exhaustive list, the actuator can be guided directly along its length. Alternatively, the actuator can be guided indirectly via or along the connection between the actuator and at least one electrical conductor.

[0047] The magnetic arrangements can be fixed, attached, or connected to each other in a variety of ways, either directly or indirectly, around the actuator. For example, but not limited to, the magnetic arrangements can be fixed, attached, or connected to a suitable base plate and / or cover plate or a suitable surrounding frame made of non-magnetic material, such as aluminum. The magnetic arrangements can also be directly connected to each other.

[0048] Advantageously, the guidance of the actuating element and the fixing, fastening, or connection of the magnetic arrangements can be linked or interconnected.

[0049] Advantageously, the mechanical limiting device can be connected to or in conjunction with the guidance of the actuating element and / or with the fixing, fastening or connection of the magnetic arrangements.

[0050] Equally advantageous is the mechanical limiting device also serving as the guide for the actuating element, and conversely, the guide for the actuating element can include the mechanical limiting device.

[0051] Advantageously, the mechanical limiting device can be designed such that a limit to the movement of the respective electrical conductor (as a coil) is set, determined, or defined with respect to the axial or linear direction of movement of both the conductor and the actuating element, ensuring that the conductor remains within the area of ​​uniform magnetic flux density in the air gap between the permanent magnets. In other words, the electrical conductor does not leave the air gap of the associated permanent magnets and thus does not leave the magnetic field of the air gap.

[0052] Several embodiments of the invention are shown in the drawings and are described in more detail below. They show: Fig. 1a to 1c a device for the controllable generation of a dynamic linear force by means of an electromagnetically linearly driven actuating element with a linear axis of movement in different views and as a sectional view, wherein four magnet arrangements each with four permanent magnets and two electrical conductors arranged between the permanent magnets as coils, wherein the four magnet arrangements are arranged as or to a square, Fig. 2a to 2c a device for the controllable generation of a dynamic linear force by means of an electromagnetically linearly driven actuating element with an axis of movement in different views and as a sectional view, wherein three magnet arrangements each with four permanent magnets and two electrical conductors arranged between the permanent magnets as coils, wherein the three magnet arrangements are arranged as or in a triangle, Fig. 3a to 3c a device for the controllable generation of a dynamic linear force by means of an electromagnetically linearly driven actuating element with an axis of movement in different views and as a sectional view, wherein eight magnet arrangements each with four permanent magnets and two electrical conductors arranged between the permanent magnets as coils, wherein the eight magnet arrangements are arranged as or to an octagon, Fig. 4 a schematic representation of a magnet arrangement and Fig. 5 a linearly cascaded or combined arrangement of two devices for the controllable generation of a dynamic linear force by combined electromagnetically linearly driven actuating elements with an axis of movement in different views, wherein each has four magnet arrangements with four permanent magnets and each has two electrical conductors arranged between the permanent magnets as form coils in use as an electromagnetic dancer for linear movements, wherein the devices each have four magnet arrangements arranged as or to a square.

[0053] The Fig. Figures 1a to 1c show a device according to the invention for the controllable generation of a dynamic linear force 9 by means of an electromagnetically linearly driven actuating element 1 with a linear axis of movement 2 in different views and as a sectional view, wherein in the specific embodiment four magnet arrangements 3, which as in Fig. Figure 4 shows a device with several spaced-apart permanent magnets 4 and two electrical conductors 5 arranged between the permanent magnets 4, the two electrical conductors 5 being connected to the linearly actuated actuator 1 via connecting bridges 11. The permanent magnets 4 are arranged such that a magnetic field 7 is formed in an air gap 6 between each of the permanent magnets 4. The two electrical conductors 5 are located in the air gap 6 at right angles to the magnetic field 7 and are connected to the actuator 1. The actuator 1 is limited in its linear movement relative to the permanent magnets 4 by a mechanical limiting device 8 such that the two electrical conductors 5 do not leave the magnetic field 7. When current flows, a force 9 proportional to the electric current is generated by each electrical conductor 5, acting as a coil 5.The four magnet arrangements 3 show, as in . Fig. Figure 4 shows four permanent magnets 4, with two permanent magnets 4 arranged in pairs opposite each other and adjacent pairs of permanent magnets 4. The adjacent pairs of permanent magnets 4 are arranged side by side on a yoke 10, so that two permanent magnets 4 are opposite each other in pairs, between which one of the electrical conductors 5 is movably arranged. The pairs of permanent magnets 4 opposite each other and the adjacent pairs of permanent magnets 4 are arranged with opposite polarity to each other. The pairs of permanent magnets 4 arranged opposite each other form the air gap 6 in which the two electrical conductors 5 are movably arranged, the two electrical conductors 5 not leaving the respective air gap 6 of the pairs of permanent magnets 4 in which the respective electrical conductors 5 are located.The two electrical conductors 5 form at least one current-carrying coil 5. The magnetic fields 7 present in the air gaps 6 and the respective current flow direction through the two electrical conductors 5 are selected such that the forces 9 generated point in the same direction. In the specific embodiment, four magnet arrangements 3 are spaced apart from each other as parallel, planar, or curved magnet arrangements 3 and arranged at angles around the axis of movement 2 of the actuating element 1. Thus, the magnet arrangements 3 around the axis of movement 2 of the actuating element 1 form an angular basic shape. Each magnet arrangement 3 is arranged parallel to the axis of movement 2 of the actuating element 1. The two electrical conductors 5 are arranged evenly distributed around the axis of movement 2 of the actuating element 1 through the air gaps 6 between the permanent magnets 4.In this specific embodiment, approximately two-thirds of the length of the two electrical conductors 5 are located within the magnetic fields 7 present in the air gaps 6 or in the air gap fields between the permanent magnets 4 of the four magnet arrangements 3, and thus are effective for the controllable generation of a dynamic linear force 9 without leaving the air gap 6. Approximately one-third of the length of the two electrical conductors 5 are located outside the four magnet arrangements 3 in the area between them and thus are not effective for the controllable generation of a dynamic linear force 9. With respect to the axis of movement 2 or the electromagnetically linearly driven actuating element 1 parallel to the axis of movement, the length L of the permanent magnet 4, being a cuboid magnet, is many times greater than the height H of the electrical conductor or the coil. Thus, the ratio of the height H of the electrical conductor 5 or the length L of the permanent magnet 4 is...the coil 5 to the length L of the permanent magnet 4 as cuboid magnet 4 1:5.5.

[0054] Another embodiment, as in the Fig. Figures 2a to 2c, shown in different views and as a sectional view, comprise a device according to the invention for the controllable generation of a dynamic linear force 9 by means of an electromagnetically linearly driven actuating element 1 with a linear axis of movement 2, wherein, in contrast to Fig. 1a to 1c three spaced-apart magnet arrangements 3, which as in Fig. Figure 4 shows a device with several permanent magnets 4 and two electrical conductors 5 arranged between the permanent magnets 4, the two electrical conductors 5 being connected to the linearly actuated actuator 1 via connecting bridges 11. For a further description of the common features of the device according to the invention for the controllable generation of a dynamic linear force 9 by an electromagnetically linearly actuated actuator 1 with a linear axis of movement 2, the descriptions of the following may also be found. Fig. 1a to 1c are referred to.

[0055] In this specific embodiment, three magnet arrangements 3 are arranged as parallel, planar, or curved magnet arrangements 3, spaced apart from each other and at angles around the axis of movement 2 of the actuating element 1. Thus, the magnet arrangements 3 form a rectangular basic shape around the axis of movement 2 of the actuating element 1. Each magnet arrangement 3 is also arranged parallel to the axis of movement 2 of the actuating element 1. The two electrical conductors 5 are also evenly distributed around the axis of movement 2 of the actuating element 1 through the air gaps 6 between the permanent magnets 4.In this specific embodiment, approximately seven-tenths of the length of the two electrical conductors 5 are located within the air gap 6 or in the magnetic fields 7 present in the air gap 6 between the permanent magnets 4 of the three magnet arrangements 3 and are thus effective for the controllable generation of a dynamic linear force 9 without leaving the air gap 6. Approximately three-tenths of the length of the two electrical conductors 5 are located outside the magnet arrangements 3 and are therefore not effective for the controllable generation of a dynamic linear force 9.

[0056] In an exemplary embodiment of a device according to the invention for the controllable generation of a dynamic linear force 9 by means of an electromagnetically linearly driven actuating element 1 with a linear axis of movement 2, as described in the Fig. Figures 3a to 3c, shown in different views and as a section view, differ from... Fig. 1a to 2c eight spaced-apart magnet arrangements 3, which thus form a square basic shape and, as in Fig. Figure 4 shows several permanent magnets 4 and two electrical conductors 5 arranged between the permanent magnets 4. The two electrical conductors 5 are connected to the linearly actuated actuator 1 via connecting bridges 11. For a further description of the common features of the device according to the invention for the controllable generation of a dynamic linear force 9 by an electromagnetically linearly actuated actuator 1 with a linear axis of movement 2, the descriptions relating to the Fig. 1a to 1c are referred to.

[0057] In the specific embodiment, as it appears in the Fig. As shown in Figures 3a to 3c in different views and as a sectional representation, approximately two-thirds of the length of the two electrical conductors 5 are located in the area of ​​the air gap 6 or in the magnetic fields 7 present in the air gap 6 between the permanent magnets 4 of the eight magnet arrangements 3 and are thus effective for the controllable generation of a dynamic linear force 9. Approximately one-third of the length of the two electrical conductors 5 are located outside the magnet arrangements 3 and are therefore not effective for the controllable generation of a dynamic linear force 9.

[0058] As in the Fig. As shown in Figures 1a to 3c and 7, the electrical conductors 5 are mechanically coupled to a movable, non-magnetic actuating element 1, which comprises, for example, plastic, carbon fibers, precious metal, or a non-magnetic material, via a connecting bridge 13. The actuating element 1, for example, a piston rod 14, is, as shown in the Fig. Figures 1a to 3c and 7 show the electrical conductors 5, which are uniformly surrounded by the magnet arrangement 3 or magnet arrangements 3, or guided axially through the arranged magnet arrangement 3 or magnet arrangements 3. A mechanical limiting device 8, which can be implemented, for example, by increasing the piston rod diameter or with pins, limits the degree of freedom of axial movement of the actuating element 1, for example, as the piston rod 14, such that the electrical conductors 5 can only be located in the highly magnetic field 7 as an air gap field. The limiting device 8 thus ensures that the electrical conductors 5 are each located in only one magnetic field 7 as an air gap field and cannot leave this area.

[0059] In Fig. Figure 4 shows a schematic representation of a magnet arrangement 3. The magnet arrangement 3 comprises four permanent magnets 4, each characterized by a high magnetic flux density. The designation N stands for north pole and S for south pole. Two adjacent pairs of the permanent magnets 4 are connected to a magnetic material forming a yoke 10, which preferably comprises iron. The adjacent pairs of permanent magnets 4 are spaced apart from each other on the respective yoke 10. However, they can also be spaced apart by a non-magnetic material (not shown), such as plastic.

[0060] Parallel to and / or opposite the adjacent pairs of permanent magnets 4 on the first yoke 10, adjacent pairs of permanent magnets 4 on the second yoke 10 are arranged at the same height, but spaced apart and separated by an air gap 6. Thus, two permanent magnets 4 are arranged opposite each other in pairs. The magnetic field or air gap field is present in the air gap 6 between the pairs of permanent magnets 4 arranged opposite each other and parallel to one another.

[0061] Similarly, the permanent magnets 4 are connected to a magnetic material as the second yoke 10 and arranged at a distance from each other on the second yoke 10. However, they can also be spaced apart by a non-magnetic material (not shown), which, for example, comprises plastic.

[0062] Via the yoke 10 as first yoke 10 and the yoke 10 as second yoke 10 and the air gap 6, the respective permanent magnets 4 generate a closed magnetic field 7 as an air gap field as symbolized in the form of directed field lines 13.

[0063] In the air gap 6 between the pair of permanently magnets 4 arranged opposite each other, a nearly homogeneous magnetic field 7 exists as an air gap field. Within the magnetic field 7, or air gap field, and thus within the air gap 6, are two electrical conductors 5, for example made of aluminum or copper, which are arranged parallel to the surface of the opposing permanent magnets 4 within the air gap field, so that the direction of current flow through the electrical conductor 5 within the air gap field is orthogonal to the direction of the magnetic flux density. The movement of the electrical conductor 5 is limited in such a way that it does not leave the respective air gap 6 between the pair of permanently magnets 4 arranged opposite each other.

[0064] With respect to the axis of motion or parallel to the axis of motion 2 of the electromagnetically linearly driven actuating element 1, the length L of the permanent magnet 4 as a cuboid magnet is many times greater than the height H of the electrical conductor or coil. Thus, the ratio of the height H of the electrical conductor 5 or coil 5 to the length L of the permanent magnet 4 as a cuboid magnet 4 is 1:6.

[0065] The electrical connection (not shown) to or between the electrical conductors 5 is located outside the magnetic field, so that the electrical conductors 5 together with the electrical connection (not shown) can form a coil 5. To generate a force 9, a current flows through the coil 5, such that the current flowing through the electrical conductor 5 in the magnetic field 7 exerts a Lorentz force in the same direction with respect to the actuating element 1. To generate the highest possible force, the electrical conductors 5 are preferably arranged perpendicular to the magnetic field.

[0066] The direction of current flow in the electrical conductors 5 is in Fig. 4 is symbolized by a dot and a cross. The electrical conductors 5 can, depending on the application, consist of a single conductor 5 or of several individual conductors 5 formed into a coil 5 with multiple turns. The individual conductors 5 for the coils 5 can be made of enameled wire or enamel-coated wire.

[0067] In this specific example, due to the prevailing magnetic flux direction and the current direction of the electrical conductors 5, indicated by the dot and cross, a force 9 is exerted in the direction of the arrow. A defined current results in a defined force 9, which can be applied continuously and linearly across the entire operating range. Due to the proportionality between the generated Lorentz force and the underlying current flow, the magnitude of the force 9 can also be controlled or regulated via the current intensity, whereby the direction of the force 9 can also be reversed by reversing the current direction.

[0068] The current can be easily regulated and controlled using conventional electrical engineering methods. For example, linear or switched-mode current controllers can be used. Due to its compact design, the electronics required for current control can be mounted directly on the arrangement according to the invention, thus enabling decentralized control.

[0069] By manufacturing the moving parts with low weight, for example by using an air coil 5 or a shaped coil 5 with a piston rod 14 as an actuating element 1 made of carbon fibers, the generated continuously linear force 9 can act with extremely low inertia and can therefore be used for highly dynamic processes.

[0070] As it is in Fig. As shown in Figure 5, two or more electromagnetically linearly driven actuating elements 1 of a device according to the invention for the controllable generation of a dynamic linear force, each with four magnet arrangements 3 with several permanent magnets 4 and the two electrical conductors 5 arranged between the permanent magnets 4 as a coil 5, can be combined, cascaded, or extended. According to the illustration in Figure 5, the actuators can be combined, cascaded, or extended. Fig. Figure 5, in different views, shows two devices according to the invention for the controllable generation of a dynamic linear force by means of a connected common electromagnetically linearly driven actuating element 1 with a movement axis 2, wherein each has four magnet arrangements 3, each with four permanent magnets 4 and each with two electrical conductors 5 arranged between the permanent magnets 4, as shown in the Fig.The cascaded combination is shown in Figures 1a to 1c and explained in their descriptions. A dancer roller 12 is arranged on the connected, common, electromagnetically linearly driven actuator 1, which acts as a common piston rod 14. This dancer roller can move up and down or back and forth with a correspondingly high force. With this cascaded combination, higher, continuously linear forces 9 can be generated with low inertia and small moving masses for highly dynamic processes. A cascaded or combined arrangement can therefore be used to further increase the maximum achievable force 9.

[0071] For example, the actuating element 1 is guided in the device by means of guide rods [not shown]. Furthermore, the magnet assemblies 3 are arranged on a base plate [not shown] and are additionally fixed by a surrounding frame [not shown]. The guide rods [not shown] are also arranged on the base plate [not shown]. Accordingly, the guidance of the actuating element and the fixing, fastening, or connection of the magnet assemblies are interconnected. The guide rods [not shown] engage in corresponding bearings in the connecting bridges 11 or are guided through them.

[0072] Advantageously, the device according to the invention can be used or employed as an electromagnetic dancer for the controllable generation of a dynamic linear force 9 by means of an electromagnetically linearly driven actuating element 1, since high linear forces 9 can be achieved with low inertia for highly dynamic processes, resulting in a wide range of applications for winding or rewinding processes of a wide variety of wound materials or web materials, such as wire in different cross-sections, yarn, paper in different widths and / or thicknesses, or optical fibers. List of reference symbols 1 actuating element 2 axis of movement 3 Magnet arrangement 4 permanent magnets 5 conductors, coil, toroidal coil, form coil, air coil 6 air gap 7 magnetic field 8 Limiting device 9. Force, direction of force 10 yoke 11 Connecting bridge 12 Dancer role 13 Field line 14 Piston rod L Length of the permanent magnet H Height of the electrical conductor, height of the coil QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2006 007 202 B3

[0004] JP 2012-228008 A

[0006] US 4,808,955

[0007] US 2008 / 0204174 A1

[0008] DE 103 29 651 A1

[0009]

Claims

[1] Device for the controllable generation of a dynamic linear force by means of an electromagnetically linearly driven actuating element (1) with an axis of movement (2), wherein at least one magnet arrangement (3) with several permanent magnets (4) as cuboid magnets and at least one electrical conductor (5) arranged between the permanent magnets (4) is provided, wherein the at least one electrical conductor (5) is connected to the linearly driven actuating element (1), wherein the permanent magnets (4) are arranged such that a magnetic field (7) is formed in an air gap (6) between the permanent magnets (4) and wherein the at least one electrical conductor (5) is arranged at right angles to the magnetic field (7) in the air gap (6) and is connected to the actuating element (1), wherein the at least one electrical conductor (5) and / or the actuating element (1) is limited in its linear mobility relative to the permanent magnets (4) by a mechanical limiting device (8) such that the at least one electrical conductor (5) does not leave the magnetic field (7), so that when a current flows through the at least one electrical conductor (5) a force (9) proportional to the electric current is generated, wherein the at least one magnet arrangement (3) has four permanent magnets (4) each. wherein two mutually spaced adjacent pairs of permanent magnets (4) are present on each yoke 10, wherein two permanent magnets (4) are positioned opposite each other in pairs and, wherein the pairwise opposing permanent magnets (4) and the adjacent pairs of permanent magnets (4) are arranged with opposite polarity and the pairwise opposing permanent magnets (4) each form the air gap (6) in which the at least one electrical conductor (5) is movably arranged and the at least one electrical conductor (5) forms at least one current-carrying coil (5), wherein the magnetic fields (7) present in the respective air gap (6) and the respective current flow direction through the at least one electrical conductor (5) are selected such that the forces (9) generated in each case point in the same direction, characterized by , that two, three or more magnet arrangements (3) are arranged as parallel or planar magnet arrangements (3) at angles to each other and around the axis of movement (2) of the actuating element (1), wherein the respective magnet arrangement (3) is arranged parallel to the axis of movement (2) of the actuating element (1), wherein the at least one electrical conductor (5) is arranged through the air gaps (6) between the paired opposing permanent magnets (4) of the respective magnet arrangement (3) around the axis of movement (2) of the actuating element (1), wherein the at least one electrical conductor (5) is guided through the respective air gaps (6) formed by the paired opposing permanent magnets (4), and wherein the at least one electrical conductor (5) does not leave the respective air gap (6) and thus the magnetic field (7) in which the at least one electrical conductor (5) is located. [2] Device according to claim 1, characterized by, that the at least one electrical conductor (5) is divided into two electrical conductors (5) and each of the two electrical conductors (5) is guided through the respective air gaps (6) which are each formed by the pairwise opposite permanent magnets (4) and is each individually controllable or connected in series or in parallel. [3] Device according to one of the claims, characterized by that the two, three or more magnet arrangements (3) are arranged evenly or unevenly distributed around the axis of movement (2) of the actuating element (1). [4] Device according to one of the claims, characterized by that two or more electromagnetically linearly driven actuating elements (1) each with two or more magnet arrangements (3) with several permanent magnets (4) and at least one electrical conductor (5) arranged between the permanent magnets (4) can be combined, cascaded or extended. [5] Device according to one of the claims, characterized by that two or more electromagnetically linearly driven actuating elements (1) with two or more magnet arrangements (3) can be combined axially or linearly, cascaded or extended. [6] Device according to one of the claims, characterized by , that at least one actuating element (1) is guided directly or indirectly and / or that the magnetic arrangements (3) are fixed or fastened or connected to each other directly or indirectly. [7] Device according to one of the claims, characterized by , that with respect to the axis of motion (2) the length (L) of the permanent magnet (4) as a cuboid magnet is greater or several times greater than the height (H) of the electrical conductor (5) or the coil (5). [8] Use of the device for the controllable generation of a dynamic linear force (9) by an electromagnetically linearly driven actuating element (1) according to any one of claims 1 to 7 as an electromagnetic dancer.

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