Abstract:
An improvement on the compact electromechanical mechanism of patent application Ser. No. 29/364,177 composed of a divergent flux path electromagnetic device includes dual magnetic flux paths from a radially poled permanent magnet along parallel and coaxially pole pieces so as the magnetic flux is diverted in a single direction by a pair of control coils wound coaxially on each magnet flux path about the center pole piece and adjacent to the radially poled permanent magnet. The control coils may be energized in a variety of ways to achieved desirable linear or bi-linear motion for various linear motion and linear reciprocating devices.

Description:
FIELD OF THE INVENTION 
       [0001]    The present invention relates to an improvement of patent application Ser. No. 29/364,177, in general, to an electromechanical mechanism composed of a dual magnetic flux path electromagnetic device wherein the magnetic flux from a radially poled permanent magnet with extended coaxial pole pieces is directionally induced to change paths by control coils placed about the center pole pieces in order to magnetically attract end plates for the purpose of producing mechanical force. Such electromechanical mechanism may take on a variety of configurations facilitating use of such components in a variety of applications including applications involving the production of linear and linear reciprocating motion. Several novel electromagnetic devices of actuator constructions, which operate by diverting the path of magnetic flux from a radial poled permanent magnet, are described, such actuator constructions having increased efficiency and more desirable characteristics to include compactness and increased efficiency as compared to prior art. 
       BACKGROUND OF THE INVENTION 
       [0002]    Magnetic force of attraction is commonly used in a variety of electromechanical mechanisms. In the field of such electromechanical mechanisms there is a continuous pursuit of increased efficiency, reduced complexity and compactness. Accordingly, the present invention provides an electromechanical mechanism requiring less input energy and reduced complexity through the inclusion of an electromagnetic device composed of a radially poled permanent magnet with extended coaxial pole pieces and coaxially wound control coils to form a more compact electromechanical mechanism. 
         [0003]    The prior art has provided electromechanical mechanisms using dual path permanent magnets (for example U.S. Pat. No. 6,246,561), but such a device typically is not compact, needs higher external energy to energize the control coils, produces lower magnetic forces for the same footprint compared to the present invention and have not seen much use in electromechanical mechanisms. 
       SUMMARY OF THE INVENTION 
       [0004]    It is an object of the present invention to provide an economical, pollution-free electromechanical mechanism which may be used for a wide variety of applications, requiring less input energy than prior art. 
         [0005]    It is another object of the invention to provide a lightweight electromechanical mechanism utilizing permanent magnets for producing high mechanical force with reduced input energy and small foot print. 
         [0006]    It is another object of the invention to provide an electromechanical mechanism utilizing permanent magnets in conjunction with other force mechanisms for producing mechanical force with reduced input energy over large linear and bi-linear distances with improved operating characteristics. 
         [0007]    These and other objects of the invention are attained by an electromechanical mechanism containing an electromagnetic device which, in one aspect, is a divergent flux path permanent magnet device, comprising a radially poled permanent magnet having concentric magnet pole faces, an inner pole piece positioned centered in the center of the radially poled permanent magnet, an outer perimeter pole piece positioned centered about the outer perimeter of the radial poled permanent magnet, control coils wound coaxially with the center pole piece, and circuit means, each magnet flux path follows a path from the radially poled permanent magnet through the center pole piece bi-directionally to the outer perimeter pole piece and back to the radially poled permanent magnet. The pair of control coils are positioned around the center pole piece on either side of the radially poled permanent magnet, the circuit means is connected to the pair of control coils, energized alternately in a timed sequential manner to produce linear or bi-linear magnetic force on magnetically attractive materials or end plates placed on one or both sides of the invention to form an electromechanical mechanism. Single directionality of the end plates are accomplished by energizing the pair of control coils in like current direction, diverting the permanent magnet-magnetic flux along a path to one side of the permanent magnet as defined by the direction of the control coils&#39; magnetic flux which couples to the magnetic flux of the permanent magnet; reversing the current directions in sequence produces the opposite effect. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0008]    For a better understanding of the present invention, reference maybe made to the accompanying drawings in which: 
           [0009]      FIG. 1  is a perspective view of one embodiment of an electromagnetic device in accordance with the present invention based on a toroid shaped permanent magnet; 
           [0010]      FIG. 2  is a cross-sectional view of  FIG. 1  showing the two magnetic flux paths; 
           [0011]      FIG. 3  is a perspective view of a circuit to control one direction of the current in the control coils with the control coils wound to produce the same directionality of the current and magnetic flux direction as represented by the arrow; 
           [0012]      FIG. 4  is a perspective view of a circuit to control the direction of the current in the control coils opposite to  FIG. 3 ; 
           [0013]      FIG. 5  is a cross-sectional view of one embodiment of an electromagnetic device with free moving magnetically attractive end plates and energized control coils per  FIG. 3 , in which the two coupled magnetic fluxes from the permanent magnet (bold arrows) and control coils (light arrows) traverses a single path closed by a magnetically attractive end plate to produce a strong coupling force between the pole pieces and the end plate; 
           [0014]      FIG. 6  is a perspective view of one embodiment of the electromagnetic device in  FIG. 2  with non-energized control coils, in which, the majority of the permanent magnet&#39;s magnetic flux (light arrows) remains on the single closed path by the magnetically attractive end plate to maintain a slightly reduced coupling force from  FIG. 5  due to some leakage magnetic flux (dotted arrows) along the second open path toward the other magnetically attractive end plate as a result of the non-energized control coils not producing parallel magnetic flux to overcome the leakage magnetic flux of the permanent magnet; 
           [0015]      FIG. 7  is the embodiment of  FIG. 5  with the control coils oppositely energized per  FIG. 4 ; 
           [0016]      FIG. 8  is the embodiment of  FIG. 7  with the controls non-energized, in like to  FIG. 6 ; 
           [0017]      FIG. 9  is a cross-sectional view of one embodiment incorporating the present invention to close a valve; 
           [0018]      FIG. 10  is a cross-sectional view of the embodiment in  FIG. 9  activated in the opposite direction to open the valve; 
           [0019]      FIG. 11  is a cross-sectional view of one embodiment of a reciprocating pump incorporating the present invention to move pistons for fluid compression; 
           [0020]      FIG. 12  is a cross-sectional view of the reciprocating pump of  FIG. 11  activated in the opposite direction; 
           [0021]      FIG. 13  is a cross-sectional view of one embodiment of a simple electrical relay incorporating the present invention to de-activate an electrical circuit; 
           [0022]      FIG. 14  shows the simple electrical relay of  FIG. 13  activated in the opposite direction to activate an electrical circuit; 
           [0023]      FIG. 15  shows a cross-sectional view of one embodiment of a pulsed tube cooler incorporating the present invention to pulse a gas through the system; 
           [0024]      FIG. 16  shows the pulsed tube cooler of  FIG. 15  activated in the opposite direction. 
           [0025]      FIGS. 17-20  show a cross-sectional view of one embodiment of a simple actuator incorporating the present invention to illustrate multiple staging; 
           [0026]      FIG. 17  shows a cross-sectional view of the multiple stage actuator with activation or latching in one direction (right); 
           [0027]      FIG. 18  shows a cross-sectional view of the multiple stage actuator with individual components activated to produce motion in one direction (left); 
           [0028]      FIG. 19  shows a cross-sectional view of the multiple stage actuator with further individually components activation to produce continued motion in the same direction (left) as in  FIG. 18 ; 
           [0029]      FIG. 20  shows the multiple stage actuator of  FIG. 17  with activation or latching in the opposite direction (left) after multi-staging the components. 
       
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
       [0030]    Referring now to the drawings,  FIGS. 1-2  are provided to facilitate an understanding of various aspects or features of the technology utilized in the present invention. It is understood that multiple shapes and sizes are attainable using different shape and size radial poled permanent magnets  3  as toroid, square, rectangle or other geometric shapes with design suited for the present invention. The radially poled permanent magnet  3  may be solid or segmented and composed of any desirable permanent magnet material giving the desirable magnetic field and force characteristics needed for a given application. Multiple shapes and sizes of the permanent magnet are attainable using different shape and size permanent magnets as toroid, square, rectangle or other geometric shapes that can be either one piece or composed of multiple pieces in a solid of segmented form. Regardless of the shape and size permanent magnet, the radial poling direction of the permanent magnet can be either: north outward—south inward or south outward—north inward from a defined center of the permanent magnet. 
         [0031]      FIG. 1-2  depicts the preferred form of the invention as used throughout this specification, the permanent magnet  3  has a flat toroid shape and is poled radially with north inward of the toroid, allowing for an electromechanical device  10  that is cylindrical in shape to produce a more compact and functional design over the prior art of U.S. Pat. No. 6,246,561, which:
       (a) Through the center circular bore pole face and about the perimeter of the outer circular pole face of the toroid permanent magnet  3  are placed parallel pole pieces  1  and  2  extending away from the toroid permanent magnet  3  in a bi-directional coaxial form.   (b) The pole pieces  1  and  2 , regardless of the shape or size, the preferably formed of soft iron, steel or some other magnetic material, with the preferred material being one which provides low reluctance, exhibits low hysterisis, and has a high magnetic flux density capability; likewise could be of laminate type construction; and   (c) Around the center pole piece  1 , on at least one side and adjacent to the toroid permanent magnet  3  is placed control coil  4  or  5 ; in the preferred form as shown throughout this specification except in  FIGS. 17-20 , both control coils  4  and  5  are used and wound in like direction as to form a single solenoid design about the center pole piece.       
 
         [0035]    In  FIG. 2 , the permanent magnet  3  is poled north inward—south outward with the south to north direction given by the direction of the dark arrow. As shown, the magnetic flux follows a radial path through the toroid permanent magnet  3 , bi-directionally (light arrows) through the tubular pole piece  2 , outward (dash arrows) into the surroundings bending back into each end of the center rod shaped pole piece  1 , returning (light arrows) to the inner bore of the permanent magnet  3 . As used throughout this specification it is understood that leakage magnetic flux from the various components is disregarded for simplicity, but may need to be understood in various designs using the present invention. 
         [0036]      FIGS. 3-4  are provided to give perspective views of a circuit to control the current in the control coils  4  and  5  of the compact electromagnetic device  10  in  FIG. 1-2 . As shown in  FIG. 3 , the power supply represented by the battery symbol with positive (+) pole and negative (−) pole will drive the current in the control coils in opposite direction to  FIG. 4 . In  FIGS. 3-4 , the control coils  4  and  5  are energized with the same electrical power with opposite current direction as represented by the bold arrows. In the preferred form of the technology:
       (a) the control coil pairs  4   o  and  5 , as pairs, form unit solenoids with the magnetic field produce in each pair being of the same magnitude and direction; and with   (b) all control coils placed in the device with windings in the same direction.       
 
         [0039]      FIGS. 5-8  are provided to facilitate an understanding of the magnetic force feature of the compact electromechanical mechanism  20  composed of the electromagnetic device  10  of  FIG. 1-2  with the addition of magnetically attractive end plates  6   a  and  6   b  connected by the member  7  and a surrounding housing unit  8  firmly connected to the electromagnetic device  10 . 
         [0040]    In  FIG. 5-8 , the magnetic force generated by the compact electromagnetic device  10  is shown to act on magnetically attractive end plates  6   a  and  6   b , solidly connected by an attachment  7  free to move in a bore cut through the center pole piece of the compact electromagnetic device  10 , which:
       (a) The end plates  6   a  and  6   b , regardless of the shape or size, the preferably formed of soft iron, steel or some other magnetic material, with the preferred material being one which provides low reluctance, exhibits low hysterisis, and has a high magnetic flux density capability; likewise could be of laminate type construction;   (b) The attachment  7 , regardless of the shape or size, the preferred formed of aluminum, brass, non-magnetic stainless steel or some other non-magnetic material, with the preferred material being one which provides no attractive magnetic force and strength as required for the intended use;   (c) The preferred mating surfaces of the end plates  6   a  and  6   b , and the end faces of the pole pieces of the compact electromagnetic device  10  are parallel to optimize the attractive magnetic force between them; and   (d) Sequentially alternating and timed activation of the circuits of  FIGS. 3-4  produces a sequentially alternating and timed reversal of the magnetic flux in the pole pieces of the compact electromagnetic device  10 , alternating the magnetic attraction on the end plates  6   a  and  6   b  from one side to the other.       
 
         [0045]    In  FIGS. 5-8 , the sequentially alternating and timed activation of the control coils of the compact electromagnetic device  10  by the circuits of  FIGS. 3-4  provides for energy savings as the length of activation need only provide release and acceleration of the end plates at which time the electrical power (batteries) to the circuit of  FIGS. 3-4  can be removed. As example, in applications were an electromechanical mechanism requires a solenoid to remain in one direction as with a valve ( FIGS. 9-10 ) or relay ( FIGS. 13-14 ) needed to remain open or closed, the total energy E in watt-hours is given by the equation 
         [0000]    
       
      
       E=∫Pdt=IV·t  
      
     
         [0000]    where P=IV is the power in watts, I is the current in amps, V is the voltage in volts, and t is the time in hours the device is under power. For I=5 amps, V=20 volts and t=(2 min/60 min) hours 0.033 hours for a total energy of E˜3.33 watt-hours. For the present invention to achieve the same results, it must first be activated in one direction and then the other which gives the total energy by equation 
         [0000]        E=∫Pdt=IV· 2 t   PI    
         [0000]    where t PI  is the activation time of the device in either direction. For the present invention the activation time to achieve the proper acceleration would be in the milli-seconds or say t PI ˜(0.001 sec/60 sec) min=0.0000166 min or t PI ˜0.000000277 hours to give the total energy, required to move the attractive plate in first one direction and then the other with the same power P requirement, asE˜0.0000554 watt-hours, roughly five orders of magnitude smaller representing a signification energy savings. 
         [0046]    In  FIG. 5  the permanent magnet is poled per  FIG. 2  with direction given by the arrows and the control coils are under electrical power per  FIG. 3  or  FIG. 4 . As shown, the bi-direction of the permanent magnet flux of  FIG. 2  is diverted (bold arrows) in the direction of the control coils magnetic flux (light arrows) which results in a force related to the coupling of the magnetic flux from the control coils and permanent magnet of the compact electromagnetic device  10 , which tends to hold the end plate  6   b  in position adjacent to the end faces of pole pieces on the corresponding side of the compact electromagnetic device  10 . 
         [0047]      FIG. 6  shows the compact electromagnetic mechanism  20  of  FIG. 5  with the control coils of the compact electromagnetic device  10  non-energized or not under any electrical power. As shown, the attractive plate  6   b  remains against the adjacent end faces of pole pieces of the compact electromagnetic device  10  due to the higher magnetic flux (light arrows) closing the magnetic path or circuit through the end plate  6   b . The dotted arrows represent the lower magnetic flux allowed to relax, bi-directionally per  FIG. 2  due to the removal of the current in the control coils of the compact electromagnetic device  10 . 
         [0048]      FIGS. 7-8  show the opposite effect of energizing the control coils of the compact electromagnetic device  10  in  FIG. 7  per  FIG. 4  or  FIG. 3  dependent on the winding direction of the control coils and then non-energizing the control coils of the compact electromagnetic device  10  in  FIG. 8 . 
         [0049]      FIGS. 9-20  are given to show various generalized applications of the present invention where the detailed operation of such devices are found elsewhere. In  FIGS. 9-20 , each of the applications only represents one of many variations that can be developed using the present invention. It is understood that many version of such devices and other devices incorporating the present invention can be produced. 
       Additional Force Mechanism 
       [0050]    The present invention can be enhanced for greater linear motion with electrical efficiency through the adaptation of other force mechanisms that do not require electrical power. Additional force mechanisms are demonstrate in  FIGS. 11-14 , where the input fluid pressure aid in compressing the output fluid, and in  FIGS. 17-20 , where springs are use to aid in the motion of the actuator, noting other non-electrical force mechanisms and methods can be used to enhance efficiency. 
       Flow Valve 
       [0051]      FIGS. 9-10  show a simple flow valve incorporating the compact electromechanical mechanism  20  connected to a flow body  11 , appropriately designed to for gas or liquid flow and incorporating an in and out flow path as indicated by the (In and Out) arrows, a value stem  12 , a valve seat  13  with portion  13   a  connected to the valve stem  12  and portion  13   b  as part of the flow body  11  to create a firm seal when connected. The valve stem  12 , regardless of the shape, size or material composition, is connected to the end plates  6   b  of the compact electromagnetic mechanism  20 , passing through the housing  8 .  FIG. 9  shows the valve seat portion  13   a  closed against the valve seat portion  13   b  and  FIG. 10  shows the valve seat portion  13   a  open or lifted off the valve seat portion  13   b . As used in  FIGS. 9-10 , it is understood that:
       (a) The compact electromagnetic mechanism  20  is shown with the electrical power on to the respective control coils per  FIGS. 5 and 7 , respectively. If appropriately designed with the proper magnetic holding force, the power may be turned off to conserve electrical energy as noted by  FIGS. 6 and 8 , respectively.   (b) The circuits of  FIG. 3  or  FIG. 4  are used to open or close the valve seat portion  13   a  against the valve seat portion  13   b  and  FIG. 10  the reverse circuit of  FIG. 4  or  FIG. 3  to open or lift the valve seat portion  13   a  off the valve seat portion  13   b.      (c) The arrows represent flow or pressure.       
 
       Pump 
       [0055]      FIGS. 11-12  show a simple pump incorporating the compact electromechanical mechanism  20  to illustrate reciprocating motion. The compact electromechanical mechanism  20  through the housing  8  is connected to pump housings  14   a  and  14   b , appropriately designed to for gas or liquid flow and incorporating in and out flow paths  19  with input check valves  17   a ,  17   b ,  17   c  and  17   d  and output check valves  18   a ,  18   b ,  18   c  and  18   d , a connection members  15   a  and  15   b , and pistons  16   a  and  16   b . The connection members  15   a  and  15   b , regardless of the shape, size or material composition, is connected to the end plates  6   a  and  6   b  of the compact electromagnetic mechanism  20 , passing through the housing  8   a .  FIG. 11  shows the piston  16   a  moving to the left and  FIG. 12  shows the piston  16   b  moving to the right. As used in  FIGS. 9-10 , it is understood that:
       (a) The circuits of  FIG. 3  or  FIG. 4  are used to move the piston to the left or right.   (b) The compact electromagnetic mechanism  20  is shown with the electrical power on to the respective control coils per  FIGS. 5 and 7 , respectively.   (c) The arrows represent in and out flow.   (d) Flow through the input check valves  17   a ,  17   b ,  17   c  and  17   d , and output check valves  18   a ,  18   b ,  18   c  and  18   d  are indicated by bold arrows and restricted or non-flow is indicated by the dashed arrow.   (e) Regardless of directional motion of the end plates  6   a  and  6   b  of the compact electromechanical mechanism  20 , input and output flow is in the same direction with higher pressure due to the pumping action during operation.       
 
       Electrical Relay 
       [0061]      FIGS. 13-14  show a simple electrical relay incorporating the compact electromechanical mechanism  20  to illustrate utility for remote operation of devices in similar manner. The compact electromechanical mechanism  20  is firmly connected through the housing  8  to a non-electrical conductive relay housing  20  containing input terminals  23   a  and  24   a  and output terminals  23   c  and  24   c . Connection terminals  23   b  and  24   b  are mounted on a non-electrically conductive plate  22  and connected to input terminals  23   a  and  24   a  through wires to allow movement of the plate  22  firmly connected to the connection members  21 . The connection members  21 , regardless of the shape, size or material composition is connected to the end plate  6   a  of the compact electromagnetic mechanism  20 , passing through the housings  8  and  30 .  FIG. 13  shows the relay open and  FIG. 14  shows the relay closed by the contact of the paired electrodes  26   a  and  26   b . As used in  FIGS. 13-14 , it is understood that:
       (a) The circuits of  FIG. 3  or  FIG. 4  are used to move the piston to the left or right.   (d) The compact electromagnetic mechanism  20  is shown with the electrical power on to the respective control coils per  FIGS. 5 and 7 , respectively. If appropriately designed with the proper magnetic holding force, the power may be turned off to conserve electrical energy as noted by  FIGS. 6 and 8 , respectively.       
 
       Pulse Tube Cryo-Cooler 
       [0064]      FIGS. 15 and 16  show a simple pulsed tube refrigerator (U.S. Pat. No. 3,237,421, U.S. Pat. No. 3,817,044, U.S. Pat. No. 5,295,355, U.S. Pat. No. 7,131,276) incorporating the compact electromechanical mechanism  20  to compress a gas through a regenerator  33 , cold head  35  and pulse tube  34  through check valves  31   a ,  31   b ,  31   c  and  31   d  in a proper order to allow flow through the refrigerator in a single direction, regardless of the direction of the electrical power applied to the compact electromechanical mechanism  20 , with the chambers on either side of the compression piston  28  acting as both a compressor and reservoir. The compressor section is composed of a housing  40  containing a connection member  27  firmly attached to the end plate  6   b  and compression piston  28  having o-ring seals  29 .  FIG. 15  shows the piston  16   a  moving to the right and  FIG. 16  shows the piston  16   b  moving to the left. As used in  FIGS. 15 and 16 , it is understood that: 
         [0065]    (b) The circuits of  FIG. 3  or  FIG. 4  are used to move the piston to the left or right. 
         [0066]    (e) The compact electromagnetic mechanism  20  is shown with the electrical power on to the respective control coils per  FIGS. 5 and 7 , respectively. If appropriately designed with the proper magnetic force, the power may be turned off between pulses to conserve electrical energy as noted by  FIGS. 6 and 8 , respectively. 
       Multi-Stage Actuator 
       [0067]      FIGS. 17-20  show a simple actuator incorporating the present invention to illustrate multiple staging of several compact electromagnetic devices  10  in a single unit and is composed of the compact electromagnetic devices  10   a  and  10   d  with single control coils and compact electromagnetic devices  10   b  and  10   c  with unit control coil pairs wound in like direction, an outer housing  8 , a three piece actuator shaft  36   a ,  36   b  and  36   c  with piece  36   c  firmly connect to piece  36   a  and with pieces  36   a  and  36   b  connected to the compact electromagnetic devices  10   b  and  10   c  by connection pieces  38   a  and  38   b , toroid magnetic flux path pieces  39   a  and  39   b , and force mechanisms or springs  37   a ,  37   b  and  37   c . The actuator shaft member  36   c  is an aid to keep the actuator shaft pieces  36   a  and  36   b  aligned. 
         [0068]      FIG. 17  shows the simple actuator with control coils in the compact electromagnetic devices  10   a  under no electrical power and in the compact electromagnetic devices  10   b ,  10   c , and  10   d  under electrical power using  FIG. 3  or  FIG. 4  dependent on direction of the coil windings to produce a single magnetic flux path defined by the arrows, where the bold arrows represent the magnetic flux of and from the permanent magnet, the light arrows represent the magnetic flux of the control coils and the dash arrows represent the magnetic flux path from the compact electromagnetic devices  10   b ,  10   c , and  10   d  emitted between the inner and outer pole pieces of the compact electromagnetic devices  10   b . As shown in  FIG. 17 ,
       (a) the magnetic circuit defined by the arrows through the compact electromagnetic devices  10   b ,  10   c , and  10   d  magnetically holds these devices along with the actuator shaft members  36   a ,  36   b  and  36   c  (through connection members  38   a  and  38   b ) together to one side of the actuator while compressing springs  37   b  and  37   c ; and   (b) the magnetic circuit defined by the arrows through the compact electromagnetic devices  10   a  and toroid magnetic flux path pieces  39   a  produces very little leakage magnetic flux (dotted arrow), which could interact with the magnetic flux from the compact electromagnetic device  10   b . Whereby, the compact electromagnetic devices  10   a  and  10   b  remain apart.       
 
         [0071]      FIG. 18  shows the simple actuator of  FIG. 17  with the control coils in the compact electromagnetic devices  10   a ,  10   c , and  10   d  under electrical power using  FIG. 3  or  FIG. 4  dependent on direction of the coil windings and the control coils in the compact electromagnetic devices  10   a  and  10   c  energized opposite to the compact electromagnetic device  10   d . As shown in  FIG. 18 ,
       (a) the magnetic flux (dash arrows) between the compact electromagnetic devices  10   c  and  10   d  are opposing, which forces the compact electromagnetic devices  10   c  and  10   d  apart aided by the force mechanism or spring  37   c  carrying the actuator shaft member  36   b  with it through the connection piece  38   b;      (b) the magnetic flux (dash arrows) between the compact electromagnetic devices  10   b  and  10   c  are not opposing, which allows the force mechanism or spring  37   b  to forces the compact electromagnetic devices  10   b  and  10   c  apart carrying the actuator shaft member  36   a  and  36   c  with it through the connection piece  38   a;      (c) the actuator shaft member  36   c , firmly attached to actuator shaft member  36   a , moves within actuator shaft member  36   b  to aid the alignment between the actuator shaft pieces  36   a  and  36   b;      (d) the magnetic flux (dash arrows) between the compact electromagnetic devices  10   a  and  10   b  are attractive, which forces the compact electromagnetic devices  10   c  and  10   d  toward each other;       
 
         [0076]      FIG. 19  shows the simple actuator of  FIG. 18  with the control coils in the compact electromagnetic device  10   ae  energized opposite from that of  FIG. 17  and compact electromagnetic device  10   d  non-energized. Whereby, the compact electromagnetic devices  10   a ,  10   b , and  10   c  are attractive and compact electromagnetic devices  10   c  and  10   d  slightly opposing aided by the force mechanism or spring  37   c.    
         [0077]      FIG. 20  shows the simple actuator of  FIG. 19  with control coils in the compact electromagnetic devices  10   a ,  10   b , and  10   c  under electrical power using  FIG. 3  or  FIG. 4  dependent on direction of the coil windings to produce a single magnetic flux path defined by the arrows, where the bold arrows represent the magnetic flux of and from the permanent magnet, the light arrows represent the magnetic flux of the control coils and the dash arrows represent the magnetic flux path from the compact electromagnetic device  10   c  emitted between the inner and outer pole pieces of the compact electromagnetic devices  10   c . As shown in  FIG. 20 ,
       (c) the magnetic circuit defined by the arrows through the compact electromagnetic devices  10   a ,  10   b , and  10   c  magnetically holds these devices along with the actuator shaft members  36   a ,  36   b  and  36   c  (through connection members  38   a  and  38   b ) together to one side of the actuator while compressing springs  37   a  and  37   b;      (d) the magnetic circuit defined by the arrows through the compact electromagnetic devices  10   d  and toroid magnetic flux path pieces  39   b  produces very little leakage magnetic flux, which could interact with the magnetic flux from the compact electromagnetic device  10   c . Whereby, the compact electromagnetic devices  10   c  and  10   d  remain apart; and   (e) during the motion process the actuator shaft member  36   c , firmly attached to actuator shaft member  36   a , moves within actuator shaft member  36   b  to aid the alignment between the actuator shaft pieces  36   a  and  36   b.