CN102412695A - Voice coil actuator based on linear elastic double-membrane spring structure - Google Patents

Abstract

The invention relates to a voice coil actuator based on a novel linear elastic double-membrane spring structure, wherein a power source of the voice coil actuator adopts a cylindrical voice coil motor, a motor rotor of a voice coil is connected with a stator through a membrane spring, and the longitudinal rigidity of the membrane spring is kept constant through the special double-membrane spring structure design, so that the voice coil actuator has the advantage of linearized dynamic characteristics, and the aim of improving the control effect while simplifying the control algorithm is fulfilled. The invention has good application prospect in the application fields of precision motion control, vibration platforms, active damping systems and the like.

Description

Translated fromChinese

一种基于线弹性双膜簧结构的音圈作动器A Voice Coil Actuator Based on Linear Elastic Double Membrane Spring Structure

技术领域technical field

本发明涉及的是一种基于线弹性双模膜簧结构的音圈作动器，属于结构与机构技术领域。The invention relates to a voice coil actuator based on a linear elastic double-mode membrane spring structure, belonging to the technical field of structures and mechanisms.

背景技术Background technique

音圈电机是一种将电能转化为机械能的装置，并实现直线型及有限摆角的运动。利用来自永久磁钢的磁场与通电线圈导体产生的磁场中磁极间的相互作用产生有规律的运动的装置。由于音圈电机无需转动机构即可获得直线运动，所以没有传动机械磨损，而且还具有无滞后、高响应、高加速度、高速度、体积小、力特性好、控制方便等优点，市场上圆柱型音圈电机系列应用相当广泛。这种电机有很高的加速率，能够产生0.7N-1000N的强大动力，而其行程少于50mm。该款电机主要应用在医疗、半导体、航空、汽车等领域，包括阀门制动器，小型精密替换测量仪、振动平台以及主动式减振系统等众多方面。特别是在精密运动控制、振动平台以及主动减震系统等应用领域，为了消除运动间隙及摩擦的不利影响，往往通过膜簧来支撑音圈电机的动子与定子。由于膜簧自身结构的特点，其纵向刚度往往存在很大的非线性，这种非线性对精密运动控制以及振动控制是不利的。基于上述考虑，本发明通过特殊的设计，通过双膜簧预变形刚度互补的方式，使膜簧在一定的运动范围内刚度保持恒定，为音圈电机的运动控制带来方便，使音圈作动器的控制算法简化的同时，控制效果得到改善。A voice coil motor is a device that converts electrical energy into mechanical energy, and realizes linear and limited swing angle motion. A device that uses the interaction between the magnetic field from the permanent magnet steel and the magnetic poles in the magnetic field generated by the energized coil conductor to produce regular motion. Because the voice coil motor can obtain linear motion without a rotating mechanism, there is no transmission mechanical wear, and it also has the advantages of no hysteresis, high response, high acceleration, high speed, small size, good force characteristics, and convenient control. Voice coil motor series are widely used. This motor has a high acceleration rate and can generate a strong power of 0.7N-1000N, while its stroke is less than 50mm. This motor is mainly used in medical, semiconductor, aviation, automotive and other fields, including valve brakes, small precision replacement measuring instruments, vibration platforms and active vibration reduction systems, etc. Especially in the application fields of precision motion control, vibration platform and active damping system, in order to eliminate the adverse effects of motion gap and friction, the mover and stator of the voice coil motor are often supported by membrane springs. Due to the characteristics of the membrane spring's own structure, its longitudinal stiffness often has a large nonlinearity, which is unfavorable for precise motion control and vibration control. Based on the above considerations, the present invention makes the rigidity of the membrane spring constant within a certain range of motion through a special design and complementary pre-deformation stiffness of the double membrane spring, which brings convenience to the motion control of the voice coil motor and makes the voice coil work While the control algorithm of the actuator is simplified, the control effect is improved.

发明内容Contents of the invention

本发明的目的是在于提供一种基于新型线弹性双膜簧结构的音圈作动器，其动力源采用圆柱形音圈电机，音圈的电机动子与定子通过膜簧连接，通过特殊的双膜簧结构设计，使得膜簧的纵向刚度保持恒定，使得本发明的音圈作动器具有动力特性线性化的优点，达到控制算法简化的同时，控制效果得到改善的目的。The purpose of the present invention is to provide a voice coil actuator based on a novel linear elastic double-membrane spring structure. The power source is a cylindrical voice coil motor. The double-membrane spring structure design keeps the longitudinal stiffness of the membrane spring constant, so that the voice coil actuator of the present invention has the advantage of linearized dynamic characteristics, and achieves the purpose of simplifying the control algorithm and improving the control effect.

本发明是一种基于新型线弹性双膜簧结构的音圈作动器，其具体结构包括：外筒、底盘、动子顶盖、限位块、膜簧垫圈、盖板、支杆及音圈电机的定子和动子(如图2所示)。其中底盘固定在音圈电机定子的底部，用于固定支撑音圈电机定子；外筒与底盘固连，同时与音圈电机定子外壁同轴配合，以保证外筒与音圈电机定子的同轴度；动子顶盖一端与音圈电机动子固连，另一端与膜簧的内圈固连；膜簧的内圈通过内限位块与动子顶盖压紧，外圈则利用膜簧垫圈及盖板压紧在外筒上。盖板与外筒固连，并且其中间有一圆孔，此圆孔只能在内限位块和外限位块之间运动，从而限制了音圈电机动子与音圈电机定子的相对运动幅度，起到了保护音圈电机及膜簧的作用；外限位块一端与内限位块固连，另一端与支杆固连；支杆可以用来连接其他物体，用于作动器力的输出。The present invention is a voice coil actuator based on a novel linear elastic double-membrane spring structure. The stator and mover of the circle motor (as shown in Figure 2). The chassis is fixed at the bottom of the stator of the voice coil motor, which is used to fix and support the stator of the voice coil motor; the outer cylinder is fixedly connected with the chassis, and at the same time cooperates coaxially with the outer wall of the stator of the voice coil motor to ensure the coaxiality of the outer cylinder and the stator of the voice coil motor One end of the mover top cover is fixedly connected with the voice coil motor mover, and the other end is fixedly connected with the inner ring of the diaphragm spring; the inner ring of the diaphragm spring is pressed tightly with the mover top cover through the inner limit block, and the outer ring is pressed by the diaphragm The spring washer and the cover plate are pressed tightly on the outer cylinder. The cover plate is fixedly connected to the outer cylinder, and there is a round hole in the middle, which can only move between the inner limit block and the outer limit block, thus limiting the relative movement between the voice coil motor mover and the voice coil motor stator Amplitude, which plays the role of protecting the voice coil motor and membrane spring; one end of the outer limit block is fixedly connected with the inner limit block, and the other end is fixedly connected with the support rod; the support rod can be used to connect other objects for actuator force Output.

其中所述的膜簧采用双膜簧结构(如图4所示)，是本发明的重要创新点。两个膜簧的内圈紧挨在一起，而外圈通过膜簧垫圈隔开，这样两个膜簧在纵向上分别有相反方向的预变形。两个膜簧在其内圈相对于外圈运动时，其刚度互相补充，以保持整体刚度不变，从而达到其弹力线性化的目的。The membrane spring described therein adopts a double membrane spring structure (as shown in FIG. 4 ), which is an important innovation point of the present invention. The inner rings of the two membrane springs are close together, while the outer rings are separated by a membrane spring washer, so that the two membrane springs have pre-deformations in opposite directions in the longitudinal direction. When the inner ring of the two membrane springs moves relative to the outer ring, their stiffnesses complement each other to keep the overall stiffness constant, so as to achieve the purpose of linearizing their elastic force.

本发明的优点在于：外筒与音圈电机定子直接配合，保证了音圈电机动子与音圈电机定子的同轴度；限制了音圈电机动子与音圈电机定子的相对运动幅度，起到了保护音圈电机及膜簧的作用；通过特殊的双膜簧结构设计，使得膜簧的纵向刚度保持恒定，音圈作动器具有动力特性线性化的优点，使得控制算法简化的同时，控制效果得到改善。以上特点使本发明在精密运动控制、振动平台以及主动减震系统等应用领域有很好的应用前景。The advantages of the present invention are: the outer cylinder is directly matched with the stator of the voice coil motor, which ensures the coaxiality of the mover of the voice coil motor and the stator of the voice coil motor; limits the relative motion range of the mover of the voice coil motor and the stator of the voice coil motor, It plays the role of protecting the voice coil motor and membrane spring; through the special double membrane spring structure design, the longitudinal stiffness of the membrane spring remains constant, and the voice coil actuator has the advantage of linear dynamic characteristics, which simplifies the control algorithm and at the same time, The control effect is improved. The above characteristics make the present invention have a good application prospect in application fields such as precision motion control, vibration platform and active damping system.

附图说明Description of drawings

图1：音圈电机总体外观图；Figure 1: The overall appearance of the voice coil motor;

图2：音圈电机总体结构图；Figure 2: The overall structure of the voice coil motor;

图3：双模结构外观图；Figure 3: Appearance of dual-mode structure;

图4：双膜簧结构剖视图；Figure 4: Cross-sectional view of the double-membrane spring structure;

图5：单膜簧与双膜簧刚度变化对比。Figure 5: Comparison of stiffness changes between single-membrane springs and double-membrane springs.

图中的具体标号如下：The specific labels in the figure are as follows:

1、外筒      2、底盘      3、音圈电机定子  4、音圈电机动子1. Outer cylinder 2.Chassis 3. Voice coil motor stator 4. Voice coil motor mover

5、动子顶盖  6、内限位块  7、膜簧垫圈      8、盖板5. Movertop cover 6.Inner limit block 7. Membrane spring washer 8. Cover plate

9、外限位块  10、支杆     11、膜簧9. Outer limit block 10.Strut 11. Membrane spring

具体实施方案specific implementation plan

下面结合附图和实施方案对本发明的技术方案进一步说明。The technical solution of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

本发明旨在提供一种基于新型线弹性双膜簧结构的音圈作动器，其具体结构如图2所示，其中底盘2固定在音圈电机定子3的底部，用于固定支撑音圈电机定子3；外筒1与底盘2固连，同时与音圈电机定子3外壁同轴配合，以保证外筒1与音圈电机定子3的同轴度；动子顶盖5一端与音圈电机动子4固连，另一端与膜簧11的内圈固连；膜簧11的内圈通过内限位块6与动子顶盖5压紧，外圈则利用膜簧垫圈7及盖板8压紧在外筒1上。盖板8与外筒1固连，并且其中间有一圆孔，此圆孔只能在内限位块6和外限位块9之间运动，从而限制了音圈电机动子4与音圈电机定子3的相对运动幅度，起到了保护音圈电机及膜簧11的作用；外限位块9一端与内限位块6固连，另一端与支杆10固连；支杆10可以用来连接其他物体，用于作动器力的输出。The present invention aims to provide a voice coil actuator based on a novel linear elastic double-membrane spring structure, the specific structure of which is shown in Figure 2, wherein the chassis 2 is fixed on the bottom of the voicecoil motor stator 3 for fixedly supporting the voice coil Themotor stator 3; theouter cylinder 1 is fixedly connected with the chassis 2, and at the same time cooperates coaxially with the outer wall of the voicecoil motor stator 3 to ensure the coaxiality between theouter cylinder 1 and the voicecoil motor stator 3; one end of the mover top cover 5 is connected to the voice coil The motor mover 4 is fixedly connected, and the other end is fixedly connected with the inner ring of thediaphragm spring 11; the inner ring of thediaphragm spring 11 is pressed tightly with the mover top cover 5 through theinner limit block 6, and the outer ring is pressed by thediaphragm spring washer 7 and the cover The plate 8 is pressed against theouter cylinder 1 . The cover plate 8 is fixedly connected with theouter cylinder 1, and there is a round hole in the middle, which can only move between theinner limit block 6 and the outer limit block 9, thereby limiting the movement between the voice coil motor mover 4 and the voice coil. The relative movement range of themotor stator 3 plays the role of protecting the voice coil motor and themembrane spring 11; one end of the outer limit block 9 is fixedly connected with theinner limit block 6, and the other end is fixedly connected with the strut 10; the strut 10 can be used To connect other objects for the output of actuator force.

其中所述的膜簧采用双膜簧结构如图4所示，是本发明的重要创新点。两个膜簧的内圈紧挨在一起，而外圈通过膜簧垫圈7隔开，这样两个膜簧11在纵向上分别有相反方向的预变形。两个膜簧11在其内圈相对于外圈运动时，其刚度互相补充，以保持整体刚度不变，从而达到其弹力线性化的目的。The membrane spring described therein adopts a double-membrane spring structure as shown in FIG. 4 , which is an important innovation point of the present invention. The inner rings of the two membrane springs are close together, while the outer rings are separated by the membrane spring washer 7, so that the twomembrane springs 11 respectively have pre-deformation in opposite directions in the longitudinal direction. When the inner rings of the two membrane springs 11 move relative to the outer rings, their stiffnesses complement each other so as to keep the overall stiffness constant, thereby achieving the purpose of linearizing their elastic force.

参阅图5，以图4中膜簧垫圈7的底部中心为原点，单个膜簧内圈位移从0到6mm变化时的刚度曲线和双膜簧结构内圈位移从0到6mm变化是的刚度曲线如图5所示，可以明显看出单膜簧的刚度从2500N/m左右上升到4700N/m左右，而双膜簧结构的刚度保持在3700N/m附件，基本保持不变。Referring to Fig. 5, taking the center of the bottom of the diaphragm spring washer 7 in Fig. 4 as the origin, the stiffness curve when the displacement of the inner ring of a single diaphragm spring changes from 0 to 6 mm and the stiffness curve when the displacement of the inner ring of the double diaphragm spring structure changes from 0 to 6 mm As shown in Figure 5, it can be clearly seen that the stiffness of the single-membrane spring rises from about 2500N/m to about 4700N/m, while the stiffness of the double-membrane spring remains around 3700N/m, which remains basically unchanged.

Claims (4)

1. voice coil loudspeaker voice coil actuator based on the two film spring structures of novel linear elasticity, it is characterized in that: its power source adopts cylindrical voice coil motor, and the chassis is fixed on the bottom of voice coil motor stator, is used for fixing to support the voice coil motor stator; Urceolus and chassis are connected, simultaneously with voice coil motor stator outer wall coaxial cooperation, to guarantee the axiality of urceolus and voice coil motor stator; Mover top cover one end and voice coil motor mover are connected, and the inner ring of the other end and film spring is connected; The inner ring of film spring compresses through inner limited block and mover top cover, and the outer ring then utilizes film spring packing ring and cover plate to be pressed on the urceolus.Cover plate and urceolus are connected, and a circular hole is arranged wherein, this circular hole can only inner limited block and outside move between the guide vane end stop, thereby limited the relative motion amplitude of voice coil motor mover and voice coil motor stator, played the effect of protection voice coil motor and film spring; Outer guide vane end stop one end and inner limited block are connected, and the other end and pole are connected; Pole can be used for connecting other objects, is used for the output of actuator power.The inner ring of two film springs is together adjacent, and the outer ring separates through film spring packing ring, and such two film springs have rightabout predeformation in the vertical respectively.When two film springs enclosed within it and move with respect to the outer ring, its rigidity complemented each other, and keeping integral rigidity constant, thereby reached the linearizing purpose of its elastic force.

2. a kind of voice coil loudspeaker voice coil actuator based on the two film spring structures of novel linear elasticity according to claim 1, it is characterized in that: urceolus and chassis are connected, simultaneously with voice coil motor stator outer wall coaxial cooperation, to guarantee the axiality of urceolus and voice coil motor stator.

3. a kind of voice coil loudspeaker voice coil actuator according to claim 1 based on the two film spring structures of novel linear elasticity; It is characterized in that: cover plate and urceolus are connected; And a circular hole is arranged wherein; This circular hole can only inner limited block and outside move between the guide vane end stop, thereby limited the relative motion amplitude of voice coil motor mover and voice coil motor stator, played the effect of protection voice coil motor and film spring.

4. a kind of voice coil loudspeaker voice coil actuator according to claim 1 based on the two film spring structures of novel linear elasticity; It is characterized in that: the inner ring of two film springs is together adjacent; And the outer ring separates through film spring packing ring, and such two film springs have rightabout predeformation in the vertical respectively.When two film springs enclosed within it and move with respect to the outer ring, its rigidity complemented each other, and keeping integral rigidity constant, thereby reached the linearizing purpose of its elastic force.

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