Hybrid manipulator

Abstract

The present invention relates to a hybrid manipulator for performing a high-speed cycle blocking operation, the hybrid manipulator comprising: frame units arranged vertically and spaced apart from each other in both directions, and having a front through-hole and a rear through-hole that vertically pass through in the front-rear direction; a plunger unit disposed in front of the frame units and provided with a plunger that has a first through-hole passing through the center; a first coil unit that has a first coil having a second through-hole passing through the center, is disposed spaced apart below the plunger, and applies a magnetic force to the plunger unit in a direction corresponding to the current flowing through the first coil; and a second coil unit that has a second coil having a third through-hole passing through the center, is disposed spaced apart above the plunger and fixed below the front through-hole, and applies a magnetic force to the plunger unit in a direction corresponding to the current flowing through the second coil.

Description

Hybrid actuator

[0001] The present invention relates to a hybrid actuator, and more particularly, to a hybrid actuator configured with different coils so as to shorten the energization time when diagnosing a system fault.

[0002] The material described in this section merely provides background information for the present invention and does not constitute prior art.

[0003] When a power outage occurs on a distribution line, such as due to tree contact, a recloser installed in the system prevents the spread of the outage by interrupting the fault current. When a fault occurs, the recloser diagnoses and eliminates the fault by connecting and disconnecting (reclosing) the power source and load sides according to preset operational responsibilities.

[0004] However, when a fault occurs, the recloser first cuts off the power supply side and the load side and then re-energizes the power supply side and the load side to determine whether the fault has been resolved. This causes a problem in that the fault current flows into the system, damaging the devices that make up the system.

[0005] Therefore, in order to solve the problem caused by the reclosing operation of the existing recloser, the current flow time and magnitude for fault diagnosis after the initial blocking of the recloser when a fault occurs in the line must be minimized.

[0006] As a method for minimizing the current flow time and magnitude during fault diagnosis, a "pulse operation duty" has been proposed that diagnoses the fault status of the system based on a short-term pulse test of 3 to 8 ms, unlike the existing operation duty. In order to implement this pulse operation duty, the moving direction of the movable rod of the recloser actuator that connects or disconnects the power side and the load side (corresponding to the movable rod part of the present invention) must be able to quickly switch.

[0007] The present invention is intended to solve the above-described problems, and its purpose is to provide a hybrid actuator capable of minimizing the energization time between the power side and the load side for fault diagnosis.

[0008] The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below.

[0009] In order to solve the above-described problem, a hybrid actuator according to the present invention is a hybrid actuator that performs a high-speed cycle blocking operation, comprising: a frame portion that is vertically arranged spaced apart in both directions and vertically penetrated in the front-back direction to form a front through hole and a rear through hole; a plunger portion that is arranged in front of the frame portion and has a plunger in which a first through hole with a center through hole is formed; a first coil portion that is spaced apart below the plunger and applies a magnetic force in a direction corresponding to a current flowing in the first coil to the plunger portion; And a second coil having a third through-hole formed through the center, a second coil portion spaced apart above the plunger but fixedly disposed below the front through-hole, and applying a magnetic force in a direction corresponding to a current flowing in the second coil to the plunger portion, the second coil portion further including a first coil member in a disc shape formed around the third through-hole so as to accommodate the second coil, and a second coil member in a cylindrical shape that extends vertically to a predetermined length with a circumference shorter than the circumference of the first coil member, but from which the third through-hole extends simultaneously, the second coil is a spiral-shaped Thomson coil and is disposed on the first coil member, the second coil is a spiral-shaped solenoid coil and is disposed on the second coil member, and the Thomson coil and the solenoid coil are integral.

[0010] The above frame part may include an upper hole formed in the upper part for the plunger to be positioned through, a lower hole formed in the lower part for the first coil part to be positioned through, and frame plates positioned on both sides to construct the frame part.

[0011] The first coil portion may include a support case that supports the first coil, and the support case may include a mounting portion that penetrates the second through hole, is coupled to the first coil, and has a fourth through hole formed therein corresponding to the second through hole; a plurality of support members that are formed by bending in the direction of the first coil so as to contact the lower end of the frame portion and contact a portion of the upper surface and a portion of the lower surface of the first coil, respectively; and a contact member that is arranged between the plurality of support members in a shape corresponding to the plurality of support members and that contacts the plurality of support members, and the plurality of support members may be arranged in both directions, but may be arranged to face each other so as to face the center of the frame portion with respect to the vertical direction of the frame portion.

[0012] The first coil portion may include a plurality of magnetic portions arranged at a lower portion of the first coil portion and in contact with one side surface of the lower portion of the plurality of support members; and a plurality of non-magnetic portions arranged at a lower portion of the first coil portion and in contact with one side surface of the plurality of magnetic portions. The plurality of magnetic portions and the plurality of non-magnetic portions may be arranged on both sides, respectively, and may be arranged to face each other so as to face the center of the frame portion based on the vertical direction of the frame portion.

[0013] The second coil portion may include a movable shaft portion that extends vertically in the vertical direction of the frame portion through the rear through hole, the fourth through hole and the first through hole of the mounting portion sequentially to the front through hole; plunger magnetic blocks that are respectively arranged on both sides of the lower portion of the movable shaft portion and are coupled; and a guide plate that is arranged between the plunger magnetic blocks and the plunger magnetic blocks to couple the plunger magnetic blocks to each other; the movable shaft portion may include a movable shaft member that extends integrally to the lower portion and has a circumference longer than the circumference of the movable shaft portion to support the movable shaft portion; and the movable shaft member may include a plurality of first coupling pins that are coupled to a plurality of first coupling holes of the plunger magnetic block at the lower portion.

[0014] The above guide plate may include a plurality of second coupling pins coupled with a plurality of second coupling holes of the plunger magnetic block.

[0015] The above frame portion may further include a separation prevention plate disposed between the first coil and the plunger, and disposed on an upper portion of the mounting portion to prevent separation of the movable shaft portion, and the separation prevention plate may be disposed between a plurality of support members formed by bending in the direction of the first coil.

[0016] The control of at least one of the operations performing the high-speed cycle blocking operation can be selectively performed, and sequentially, (a) the current of the first coil part and the second coil part can be adjusted so that the plunger moves forward and backward, (b) the current of the first coil part can be adjusted so that the plunger moves forward, (c) the current of the second coil part can be adjusted so that the plunger moves backward, and (d) the current of the first coil part can be adjusted in the forward and reverse directions so that the plunger moves forward and backward.

[0017] In another embodiment, a hybrid actuator performing a high-speed cycle blocking operation comprises: a frame portion spaced apart in both directions and vertically penetrated in the front-back direction to form a front through hole and a rear through hole; a plunger portion having a plunger spaced apart from each other at the upper and lower portions of the frame portion and having a first through hole formed through the center; A coil unit is provided in front of the frame unit and has a second through-hole formed through the center thereof, and applies a magnetic force in a direction corresponding to a current flowing in the coil to the plunger unit, wherein the coil unit further includes a first coil member in the form of a disk spaced apart from each other at the upper and lower portions centered on the second through-hole so that the coil can be accommodated, and a second coil member that extends vertically to a predetermined length with a circumference shorter than the circumference of the first coil member and integrally connects the upper and lower portions of the first coil member, wherein the coil is a helical Thomson coil and is arranged on the first coil member, and the coil is a helical solenoid coil and is arranged on the second coil member.

[0018] In another embodiment, a hybrid actuator performing a high-speed cycle blocking operation comprises: a frame portion spaced apart in both directions and vertically penetrating in the front-back direction to form a front through hole and a rear through hole; a plunger portion having a plunger disposed in front of the frame portion and having a first through hole formed through the center thereof; a first coil portion having a first coil disposed above the plunger and having a second through hole formed through the center thereof; a second coil portion having a second coil disposed below the plunger and having a third through hole formed through the center thereof; The first coil part includes a first coil member in the shape of a disk formed around the second through hole to accommodate the first coil, and a second coil member in the shape of a cylinder that extends vertically to a predetermined length with a circumference shorter than the circumference of the first coil member, but through which the third through hole extends simultaneously, and the second coil part includes a third coil member in the shape of a disk formed around the second through hole to accommodate the second coil, and a fourth coil member in the shape of a cylinder that extends vertically downward to a predetermined length with a circumference shorter than the circumference of the third coil member, but through which the third through hole extends simultaneously, and the first and second coils are Thomson coils in the shape of a spiral and are arranged on the first and third coil members, and the first and second coils are solenoid coils in the shape of a spiral and are arranged on the second and fourth coil members. A deployed, hybrid manipulator.

[0019] In this way, the present invention has the effect of being able to switch the current state of the power supply side and the load side at a very fast speed.

[0020] That is, the present invention can minimize the fault current flowing into the line by performing fault diagnosis with a relatively small fault current and energization time compared to the existing reclosing fault diagnosis method.

[0021] The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

[0022] FIG. 1 is a drawing showing a hybrid manipulator according to an embodiment of the present invention.

[0023] Fig. 2 is a drawing showing the front of a hybrid manipulator according to an embodiment of the present invention.

[0024] FIG. 3 is a drawing showing the frame portion, the plunger portion, the first coil portion, and the second coil portion of a hybrid actuator according to an embodiment of the present invention.

[0025] Fig. 4 is a drawing showing a frame portion of a hybrid manipulator according to an embodiment of the present invention.

[0026] Fig. 5 is a drawing showing the disassembled state of the first coil portion of the hybrid actuator according to an embodiment of the present invention.

[0027] Fig. 6 is a drawing showing a plunger portion of a hybrid actuator according to an embodiment of the present invention.

[0028] Fig. 7 is a drawing showing the exploded state of the plunger portion of the hybrid actuator according to an embodiment of the present invention.

[0029] FIG. 8a and FIG. 8b are drawings showing the operating state of a hybrid manipulator according to an embodiment of the present invention.

[0030] FIGS. 9 and 10 are drawings showing a hybrid manipulator according to another embodiment of the present invention.

[0031] FIG. 11 and FIG. 12 are drawings showing a hybrid manipulator according to another embodiment of the present invention.

[0032] The present invention can be modified in various ways and has various embodiments, and specific embodiments are illustrated in the drawings and described in detail.

[0033] However, this is not intended to limit the present invention to a specific embodiment, and it should be understood that all modifications, equivalents, and alternatives included within the spirit and technical scope of the present invention are included. Similar reference numerals have been used to designate similar components throughout the description of each drawing.

[0034] When a component is referred to as being "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but that there may be other components intervening. Conversely, when a component is referred to as being "directly connected" or "connected" to another component, it should be understood that there are no other components intervening.

[0035] The terminology used in this application is only used to describe specific embodiments and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, it should be understood that the terms "comprise" or "have" indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but do not exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0036] Hereinafter, embodiments of the present invention will be described with reference to the attached drawings. Like reference numerals in each drawing represent like elements. In describing the present invention, detailed descriptions of related, known functions or components are omitted to avoid obscuring the gist of the present invention.

[0037]

[0038] FIG. 1 is a drawing showing a hybrid manipulator according to an embodiment of the present invention, FIG. 2 is a drawing showing a front view of a hybrid manipulator according to an embodiment of the present invention, FIG. 3 is a drawing showing a frame part, a plunger part, a first coil part, and a second coil part of a hybrid manipulator according to an embodiment of the present invention, respectively, FIG. 4 is a drawing showing a frame part of a hybrid manipulator according to an embodiment of the present invention, FIG. 5 is a drawing showing an exploded state of a first coil part of a hybrid manipulator according to an embodiment of the present invention, FIG. 6 is a drawing showing a plunger part of a hybrid manipulator according to an embodiment of the present invention, FIG. 7 is a drawing showing an exploded state of a plunger part of a hybrid manipulator according to an embodiment of the present invention, and FIGS. 8A and 8B are drawings showing an operating state of a hybrid manipulator according to an embodiment of the present invention.

[0039]

[0040] Referring to FIGS. 1 to 8ab, the hybrid actuator (10) of the present invention is a hybrid actuator that performs a high-speed cycle blocking operation, and includes a frame portion (100), a plunger portion (200), a first coil portion (300), a second coil portion (400), and a control portion (not shown).

[0041] The frame portion (100) is vertically arranged with a two-way separation and penetrates vertically in the front-back direction to form a front penetration hole (101) and a rear penetration hole. At this time, the vertical reference of the frame portion (100) is based on Fig. 1.

[0042] The frame part (100) is arranged between the first coil (310) and the plunger (210), and may further include a separation prevention plate (120) arranged on the upper side of the mounting part (321) to prevent the movable shaft part (220) from being separated.

[0043] This detachment prevention plate (120) can be placed between a plurality of support members (322) that are formed by bending in the direction of the first coil (310).

[0044] Additionally, the detachment prevention plate (120) may have a through-axis hole (121) formed in the center so that the movable shaft part (220) can pass through it.

[0045] And the frame part (100) may have an upper hole (111) formed in the upper part so that a part of the plunger (210) may be positioned through it, and a lower hole (112) formed in the lower part so that a part of the first coil (310) of the first coil part (300) and a part of the mounting part (321) on which the first coil (310) is positioned may be positioned through it, and may include frame plates (110) spaced apart from each other in both directions to construct the frame of the frame part (100).

[0046] This frame plate (110) is coupled to a plurality of non-magnetic parts (340) to be described later at the lower end where a lower hole (112) is formed, thereby fixing the positions of the plurality of non-magnetic parts (340), and a cover plate (130) that protects the plurality of non-magnetic parts (340) can be coupled.

[0047] At this time, the cover plate (130) is positioned on the outside of the frame plate (110) and can be combined with a plurality of non-magnetic parts (340) via bolts. At this time, the plurality of non-magnetic parts (340) can have one or more bolt holes formed so that they can be fastened with bolts.

[0048] The plunger portion (200) has a plunger (210) having a first through-hole (211) formed through the center, and the plunger is positioned at the front of the frame portion (100), i.e., at the upper hole (111). In addition, the plunger (210) may be formed to protrude in the direction of the front through-hole (101) by a predetermined length with a circumference shorter than the circumference of the plunger (210) at the center where the first through-hole (211) is formed. A nut may be fastened to the upper end of the plunger (210) protruding by a predetermined length. This nut may prevent the movable shaft portion (220) described later from rotating in the first through-hole (211).

[0049] Next, the plunger portion (200) may include a movable shaft portion (220), a plunger magnetic block (230), and a guide plate (240).

[0050] Here, the movable shaft portion (220) can be vertically extended in the vertical direction of the frame portion (100) through the rear through hole, the fourth through hole (321a) and the first through hole (211) of the mounting portion (321) sequentially to the front through hole (101).

[0051] And the movable shaft portion (220) may include a movable shaft member (221) that extends integrally to the lower portion, but is formed with a circumference longer than the circumference of the movable shaft portion (220), and supports the movable shaft portion (220). That is, the movable shaft member (221) is formed with a circumference longer than the circumference of the movable shaft portion (220), so that a part of the movable shaft portion (220) can be inserted.

[0052] And the movable shaft member (221) may include a plurality of first coupling pins (221a) that are coupled with a plurality of first coupling holes (231) of the plunger magnetic block (230) at the bottom.

[0053] At this time, the plunger magnetic blocks (230) can be placed on both sides of the lower portion of the movable shaft (220) and combined.

[0054] And the guide plate (240) is placed between the plunger magnetic block (230) and the plunger magnetic block (230), so that the plunger magnetic block (230) and the plunger magnetic block (230) can be coupled. And the guide plate (240) can include a plurality of second coupling pins (241) that are coupled with a plurality of second coupling holes (232) of the plunger magnetic block (230).

[0055] Moreover, the plunger magnetic block (230) is formed in a 'mo' shape, so that the 'ㅁ'-shaped portion is inserted into the rear through hole in the direction of the plurality of magnetic parts (330) and the plurality of non-magnetic parts (340), and can come into contact with the plurality of magnetic parts (330) and the plurality of non-magnetic parts (340).

[0056] The first coil portion (300) is formed with a second through hole (311) extending through the center of the first coil (310) and is spaced apart from the plunger (210) and applies a magnetic force in a direction corresponding to the current flowing in the first coil (310) to the plunger portion (200). In addition, the first coil portion (300) may include a support case (320) that supports the first coil (310).

[0057] At this time, the first coil (310) may be a solenoid coil.

[0058] Next, the support case (320) may include a mounting portion (321), a plurality of supporting members (322), and a bonding member (323). The mounting portion (321) may be formed through a second through hole (311) to be coupled with the first coil (310), and a fourth through hole (321a) corresponding to the second through hole (311) may be formed. In addition, if the mounting portion (321) is described as having an 'I' shape, the vertical central portion may be formed in a tubular shape, and the fourth through hole (321a) may be formed inside the tubular shape, and the first coil (310) may be mounted on the horizontal portion that is horizontal upwards and downwards.

[0059] A plurality of support members (322) may be formed by bending in the direction of the first coil (310) so as to contact the lower end of the frame portion (100) and to contact a portion of the upper surface and a portion of the lower surface of the first coil (310), respectively. At this time, the bending shape of the plurality of support members (322) may be formed as a 'ㄷ'. In addition, the plurality of support members (322) may be arranged in both directions, but may be arranged to face each other so as to face each other toward the center of the frame portion (100) based on the vertical direction of the frame portion (100). That is, the plurality of support members (322) may be arranged to face each other in a '[]' shape. Referring to FIG. 6, the plurality of support members (322) may be formed as a '[]' shape in one direction as well.

[0060] The adhesion member (323) has a shape corresponding to a plurality of support members (322) and is placed between the plurality of support members (322) to allow the plurality of support members (322) to be adhered to each other.

[0061] In addition, the first coil portion (300) may include a plurality of magnetic portions (330) and a plurality of non-magnetic portions (340). The magnetic portions may be arranged at the lower portion of the first coil portion (300), but may be in contact with one side of the lower portion of the plurality of support members (322). In addition, the plurality of non-magnetic portions (340) may be arranged at the lower portion of the first coil portion (300), but may be in contact with one side of the plurality of magnetic portions (330).

[0062] Next, a plurality of magnetic parts (330) and a plurality of non-magnetic parts (340) are arranged on both sides, but may be arranged to face each other so as to face the center of the frame part (100) based on the vertical direction of the frame part (100).

[0063] And the plurality of non-magnetic parts (340) minimize the magnetic contact force with the plunger magnetic block (230) when the plunger part (200) moves downward.

[0064] Meanwhile, the plurality of magnetic parts (330) form a magnetic circuit for the plunger (210) and the magnetic block to make magnetic contact and maintain contact with the plurality of magnetic parts (330). Specifically, the plunger (210) is magnetized when current flows through the first coil (310) and the second coil (410) and receives a magnetic force from the plurality of magnetic parts (330) arranged adjacently, and the direction of this magnetic force corresponds to the current flowing through the first coil (310).

[0065] The second coil part (400) is spaced apart from the second coil (410) in which a third through hole (411) is formed through the center, and is positioned above the plunger (210), but is fixedly positioned below the front through hole (101), and applies a magnetic force in a direction corresponding to the current flowing in the second coil (410) to the plunger part (200).

[0066] And the second coil part (400) may further include a first coil member (420) in the shape of a disk formed around a third through-hole (411) so that the second coil (410) is accommodated, and a second coil member in the shape of a cylinder that extends vertically to a predetermined length with a circumference shorter than the circumference of the first coil member (420), but from which the third through-hole extends simultaneously. At this time, the second coil (410) may be a Thomson coil and may be arranged on the first coil member (420). In addition, the second coil (410) may be a spiral solenoid coil and may be arranged on the second coil member. The Thomson coil and the solenoid coil may be formed as an integral body.

[0067] In detail, the second coil portion (400) may be formed to protrude upwardly by a predetermined length with a circumference shorter than the circumference of the second coil (410) at the center where the third through hole (411) is formed. That is, it is formed to protrude at the center of the second coil (410). In addition, a magnetic material may be attached or formed along the inner circumference of the third through hole (411).

[0068] Moreover, the second coil part (400) can be closely attached to the lower part of the front through hole (101) and combined with the upper part of the frame plate (110).

[0069] And the movable shaft part (220) can protrude vertically through the third through hole (411).

[0070] The control unit (not shown) controls the current flowing in the first coil (310) and the second coil (410). In addition, the control unit can control the direction of the magnetic force received by the plunger unit (210, 230, 231) by adjusting the current flowing in the first coil (310) and the second coil (410).

[0071] Next, the control unit (a) adjusts the current of the first coil unit (300) and the second coil unit (400) so that the plunger units (210, 230, 231) move forward and backward. (b) adjusts the current of the first coil unit (300) so that the plunger units (230, 231) move forward. (c) adjusts the current of the second coil unit (400) so that the plunger (210) moves backward. (d) The current of the first coil unit (300) can be adjusted in the forward and reverse directions so that the plunger (210) moves forward and backward.

[0072] At this time, in Fig. 8a, an insertion operation may be performed with the first coil portion (300), and an opening operation may be performed with the second coil portion (400). That is, the insertion operation may be performed by driving the first coil portion (300), and the opening operation may be performed by driving the second coil portion (400). In this case, opening may mean blocking.

[0073] Moreover, in Fig. 8a, adjusting the current direction of the first coil portion (300) so that the plunger magnetic block (230) applies a forward-acting magnetic force to the plunger portion (230, 231) is referred to as 'first coil forward ON', and adjusting the current direction of the first coil portion (300) so that the plunger magnetic block (210) applies a backward-acting magnetic force to the plunger (210) is referred to as 'second coil ON'.

[0074] However, this is only an example, and both input and release can be driven by the first coil part (300). Adjusting the current direction of the first coil part (300) so that the magnetism of the plunger part (200) applies a magnetic force acting backward to the plunger (210) is referred to as 'first coil reverse ON'.

[0075] That is, the first coil section (300) can be inserted and opened. At this time, the opening can be a 2-3 cycle blocking.

[0076]

[0077] FIGS. 9 and 10 are drawings showing a hybrid manipulator according to another embodiment of the present invention.

[0078] Referring to FIGS. 9 and 10, the configuration is the same as that of the embodiment, and a repeated description of the configuration is omitted.

[0079] A hybrid actuator according to another embodiment of the present invention is a hybrid actuator that performs a high-speed cycle blocking operation, and includes a frame portion (100'), a plunger portion (200'), a coil portion (400'), and a control portion (not shown).

[0080] The frame portion (100') is arranged to be spaced apart in both directions and is vertically penetrated in the front-back direction to form a front penetration hole (101') and a rear penetration hole (102').

[0081] The plunger portion (200') is disposed in front of the frame portion (100'), and is provided with a plunger (210') that is spaced apart from the upper and lower portions, and has a first through-hole formed through the center. In addition, the plunger (210') can be disposed at the upper and lower portions of the coil (410'), respectively, with the coil (410') as the center.

[0082] The coil portion (400') is arranged in front of the frame portion (100') and has a coil (410') having a second through hole formed through the center thereof, and applies a magnetic force in a direction corresponding to the current flowing in the coil (410') to the plunger portion (200').

[0083] And the coil part (400') may further include a first coil member (420') in the form of a disk spaced apart upper and lower parts centered on the second through hole so that the coil (410') can be accommodated, and a second coil member (430') that extends vertically to a predetermined length with a circumference shorter than the circumference of the first coil member (420') but is disposed between the first coil members (420') to integrally connect the first coil member (420') disposed at the upper part and the first coil member (420') disposed at the lower part. At this time, the second coil member (430') may be integrally connected from the first coil member (420'), but the center of the second coil member (430') may be separated so that the coil part (400') disposed at the upper part and the coil part (400') disposed at the lower part are respectively separated. Due to this, the coil portion (400') can be separated into an upper coil portion (400') and a lower coil portion (400').

[0084] And the coil (410') is a Thomson coil in a spiral shape and can be placed on the first coil member (420').

[0085] Additionally, the coil (410') is a spiral-shaped solenoid coil and can be placed on the second coil member (430').

[0086] Meanwhile, the coil portion (400') may be identical to the second coil portion (400) in the hybrid actuator according to the embodiment.

[0087] The control unit (not shown) includes a control unit that controls the current flowing in the coil (410'). The control unit (not shown) controls the current flowing in the coil (410'). In addition, the control unit can adjust the direction of the magnetic force received by the plunger (210') by adjusting the current flowing in the coil (410').

[0088]

[0089] FIG. 11 and FIG. 12 are drawings showing a hybrid manipulator according to another embodiment of the present invention.

[0090] Referring to Figures 11 and 12, the configuration is the same as that of the embodiment, and a repeated description of the configuration is omitted.

[0091] A hybrid actuator according to another embodiment of the present invention comprises a frame portion (100''), a plunger portion (200''), a coil portion (400''), and a control portion (not shown), in a hybrid actuator that performs a high-speed cycle blocking operation.

[0092] The frame portion (100'') is arranged to be spaced apart in both directions and is vertically penetrated in the front-back direction to form a front penetration hole (101'') and a rear penetration hole (102'').

[0093] The plunger portion (200'') is positioned in front of the frame portion (100'') and has a plunger (210'') having a through hole formed through the center.

[0094] The coil part (400'') is provided with a plurality of coils (410'') that are respectively arranged at the upper and lower portions with the plunger (210'') as the center, and each coil has a second through hole formed through the center. In addition, the coil part (400'') applies a magnetic force in a direction corresponding to the current flowing in the coil (410'') to the plunger part (200'').

[0095] And the coil part (400'') may include a first coil member (420'') in the shape of a disk formed around a second through-hole so that a coil (410'') can be accommodated, and a second coil member (430'') in the shape of a cylinder that extends vertically to a predetermined length with a circumference shorter than the circumference of the first coil member (420''), but through which the second through-hole extends simultaneously.

[0096] The coil member (400'') positioned on the upper portion of the plunger (200'') can extend vertically from the first coil member (420'') in the upper direction through the second coil member (430'').

[0097] The coil member (400'') positioned at the bottom of the plunger (200'') can extend vertically from the first coil member (420'') in the downward direction through the second coil member (430'').

[0098] Additionally, the coil (410'') is a helical Thomson coil and can be placed on the first coil member (420'') respectively placed on the upper and lower portions of the plunger (200'').

[0099] In addition, the coil (410'') is a spiral-shaped solenoid coil and can be placed on the second coil member (430'') located on the upper and lower sides of the plunger (200''), respectively.

[0100] Meanwhile, the coil portion (400'') may be identical to the second coil portion (400) in the hybrid actuator according to the embodiment.

[0101] The control unit (not shown) includes a control unit that controls the current flowing in two coils (410''). The control unit (not shown) controls the current flowing in the coils (410''). In addition, the control unit can control the direction of the magnetic force received by the plunger (210'') by controlling the current flowing in the coils (410'').

[0102]

[0103] The drawings and specifications disclose optimal embodiments. While specific terminology has been used herein, it is solely for the purpose of describing the present invention and is not intended to limit the scope of the invention as defined in the claims. Therefore, those skilled in the art will understand that various modifications and equivalent embodiments are possible. Accordingly, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims.

Claims

1. In a hybrid actuator performing a high-speed cycle blocking operation, A frame portion that is vertically arranged with a two-way gap and penetrates vertically in the front-back direction to form a front penetration hole and a rear penetration hole; A plunger portion having a plunger disposed in front of the frame portion and having a first through hole formed through the center thereof; A first coil having a second through hole formed through the center, a first coil portion spaced apart from the lower portion of the plunger and applying a magnetic force in a direction corresponding to the current flowing in the first coil to the plunger portion; and A second coil having a third through hole formed through the center, a second coil portion spaced apart from the upper portion of the plunger but fixedly positioned below the front through hole, and applying a magnetic force in a direction corresponding to the current flowing in the second coil to the plunger portion, The above second coil part, In order to accommodate the second coil, the first coil member is formed in a circular shape with the third through-hole as the center, and further includes a second coil member in a cylindrical shape that extends vertically to a predetermined length with a circumference shorter than the circumference of the first coil member, but through which the third through-hole extends simultaneously. The above second coil, A helical Thomson coil is placed on the first coil member, The above second coil, A spiral-shaped solenoid coil is placed on the second coil member. A hybrid actuator in which the above-mentioned Thomson coil and solenoid coil are integrated.

2. In paragraph 1, The above frame part, A hybrid manipulator comprising an upper hole formed in the upper part for a portion of the plunger to be positioned through, a lower hole formed in the lower part for a portion of the first coil part to be positioned through, and frame plates positioned on both sides to construct a frame.

3. In claim 2, The above first coil part, Including a support case that supports the first coil, The above support case is, A mounting portion that penetrates the second through hole, is coupled to the first coil, and has a fourth through hole formed corresponding to the second through hole; A plurality of support members that are bent in the direction of the first coil so as to contact the lower end of the frame portion and to contact a portion of the upper surface and a portion of the lower surface of the first coil, respectively; and It includes a contact member that is arranged between the plurality of support members and has a shape corresponding to the plurality of support members, and that contacts the plurality of support members. The above plurality of support members are, A hybrid manipulator, which is positioned in both directions, facing each other so as to face the center of the frame portion based on the vertical direction of the frame portion.

4. In claim 3, The above first coil part, A plurality of magnetic parts arranged at the lower portion of the first coil portion and in contact with one side of the lower portion of the plurality of support members; and It is arranged at the lower part of the first coil portion, and includes a plurality of non-magnetic portions that come into contact with one side of the plurality of magnetic portions, The above plurality of magnetic parts and plurality of non-magnetic parts are, A hybrid manipulator, which is arranged on both sides, facing each other so as to face the center of the frame portion based on the vertical direction of the frame portion.

5. In claim 1, The above plunger part, A movable shaft portion that extends vertically in the vertical direction of the frame portion, passing through the rear through hole, sequentially through the fourth through hole and the first through hole of the mounting portion, to the front through hole; Plunger magnetic blocks arranged and coupled on both sides of the lower portion of the above movable shaft; and A guide plate is disposed between the plunger magnetic blocks and the plunger magnetic blocks to couple the plunger magnetic blocks, The above movable shaft part, It includes a movable shaft member that extends integrally to the lower part and has a circumference longer than the circumference of the movable shaft part, and supports the movable shaft part. The above movable shaft member is, A hybrid actuator comprising a plurality of first coupling pins coupled with a plurality of first coupling holes of the plunger magnetic block at the bottom.

6. In claim 5, The above guide plate, A hybrid actuator comprising a plurality of second coupling pins coupled with a plurality of second coupling holes of the plunger magnetic block.

7. In claim 5, The above frame part, It further includes a separation prevention plate disposed between the first coil and the plunger, and disposed on the upper side of the mounting portion to prevent separation of the movable shaft portion. The above anti-separation plate is, A hybrid actuator disposed between a plurality of support members formed by bending in the direction of the first coil.

8. In paragraph 1, Selectively performs control of any one of the operations performing the above high-speed cycle blocking operation, Sequentially, (a) Adjusting the current of the first coil portion and the second coil portion so that the plunger moves forward and backward, (b) Adjusting the current of the first coil section so that the plunger moves forward; (c) Adjusting the current of the second coil section so that the plunger moves backward; (d) A hybrid actuator that controls the current of the first coil section in the forward and reverse directions so that the plunger moves forward and backward.

9. In a hybrid actuator performing a high-speed cycle blocking operation, A frame portion which is arranged to be spaced apart in both directions and penetrated vertically in the front-back direction, thereby forming a front penetration hole and a rear penetration hole; A plunger portion having a plunger disposed in front of the frame portion, spaced apart from each other at the upper and lower portions, and having a first through hole formed through the center; A coil is provided in front of the frame portion and has a second through hole formed through the center thereof, and includes a coil portion that applies a magnetic force in a direction corresponding to the current flowing in the coil to the plunger portion. The above coil part, In order to accommodate the coil, the coil further comprises a first coil member in the form of a disk spaced apart upper and lower portions centered on the second through hole, and a second coil member vertically extending to a predetermined length with a circumference shorter than the circumference of the first coil member, and integrally connecting the upper and lower portions of the first coil member. The above coil, A helical Thomson coil is placed on the first coil member, The above coil, A hybrid actuator having a spiral-shaped solenoid coil, which is placed on the second coil member.

10. In a hybrid actuator performing a high-speed cycle blocking operation, A frame portion which is arranged to be spaced apart in both directions and penetrated vertically in the front-back direction, thereby forming a front penetration hole and a rear penetration hole; A plunger portion having a plunger disposed in front of the frame portion and having a first through hole formed through the center; and A coil part having coils arranged at the upper and lower portions, respectively, with the plunger as the center, and a second through-hole formed through the center, The above coil part, In order to accommodate the coil, a first coil member in the shape of a disk formed around the second through-hole, and a second coil member in the shape of a cylinder extending vertically to a predetermined length with a circumference shorter than the circumference of the first coil member, but through which the second through-hole extends simultaneously, are included. The coil portion disposed on the upper portion of the plunger is such that the second coil member extends vertically from the first coil member in an upward direction, The coil portion disposed at the bottom of the plunger is such that the second coil member extends vertically from the first coil member in a downward direction, The above coil, A helical Thomson coil is disposed on each of the first coil members disposed on the upper and lower portions of the plunger, respectively. The above coil, A hybrid actuator having a spiral-shaped solenoid coil, each of which is disposed on the second coil member located on the upper and lower portions of the plunger.

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