JP2003172410A - Rotary actuator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To assemble a plurality of rotary actuators in a case having a conically tubular shape by using planetary reduction gears as a reduction means. <P>SOLUTION: This rotary actuator is constituted in such a way that a motor 13 and an output shaft 21 are assembled in a cylindrical holding body 2 in the case 1 having the conically tubular shape through planetary reduction gears 9, 20, and miniaturization is achieved so as to mount the case 1 having the conically tubular shape in a mounting hole of the device. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotary actuator, and in particular, a plurality of rotary actuator parts are arranged in a case having a conical tubular shape as a whole and a tubular holding body provided at an axial center position. The present invention relates to a new improvement for obtaining a miniaturized multiple shaft output type in which the output shaft of each rotary actuator portion is projected to the outside from the outer surface of the case.

[0002]

2. Description of the Related Art Conventionally, as a compound type rotary actuator having a plurality of output shafts of this type, a multi-stage gear type reduction mechanism has been generally adopted for each motor.

[0003]

Since the conventional rotary actuator is constructed as described above, there are the following problems. That is, since a multi-stage gear type speed reducer is provided in each motor for driving the output shafts such as four shafts, it is extremely difficult to reduce the size and weight of the entire shape. Further, it has been extremely difficult to configure the entire case as a conical cylinder so as to be provided in an apparatus such as an aircraft.

The present invention has been made in order to solve the above problems, and in particular, it has a conical tubular shape as a whole and a cylindrical holding body provided at an axial center position. An object of the present invention is to provide a rotary actuator in which a plurality of rotary actuator parts are arranged and an output shaft of each rotary actuator part is protruded from an outer surface of a case to obtain a miniaturized multi-axis output type. And

[0005]

A rotary actuator according to the present invention comprises a case whose overall shape is a conical cylinder, and a cylindrical holder provided at the axial center of the case.
A plurality of motors are provided at the outer peripheral position of the tubular holder, and the axial direction of the rotating shaft is located along the radial direction of the tubular holder, and the motor is provided adjacent to the motor on the tubular holder. A planetary speed reducer driven by a rotary shaft, an output shaft connected to the planetary speed reducer and arranged so as to project outward from the outer surface of the case, and a rotation angle of the output shaft provided on the tubular holder are A rotation angle detector for detecting,
And each output shaft is decelerated with respect to the rotation shaft, and is arranged so as to project from the outer surface of the case. It has a through hole formed along the axial direction, and the outer shape of the cylindrical holder is formed so as to be inclined along the inner surface of the case. The motor planetary reducer provided on the rotating shaft is arranged between the shaft and the planetary reducer.

[0006]

BEST MODE FOR CARRYING OUT THE INVENTION Preferred embodiments of a rotary actuator according to the present invention will be described below with reference to the drawings. The reference numeral 1 in FIGS. 1 and 2 is a hollow case whose overall shape is a conical cylinder shape, and is provided at the axial center position of the case 1 along the axial direction of the case 1. A through hole 3 is formed by the cylindrical holder 2 as an inner case.

The outer surface 4 of the cylindrical holding body 2 is arranged so as to be inclined along the inclined inner surface 1a of the case 1 and to be fitted into the inner surface 1a of the case 1. First and second bearings 5 and 6 are provided at positions different from each other along the axial direction A around the cylindrical holder 2, and the first and second bearings 5 and 6 are the case. When 1 is viewed along one axial direction A, it is 4 at 90 degree intervals along the circumferential direction.
One piece is provided (note that only two pieces are shown in FIGS. 1 and 2 because it is a sectional view).

A rotary shaft 8 having a rotor 7 is rotatably provided on the first bearing 5, and a drive gear 10 is provided on the rotary shaft 8 through a well-known motor planetary reducer 9. ing. Therefore, between the rotary shaft 8 and the drive gear 10, the rotation is transmitted via the motor planetary speed reducer 9 at a predetermined speed reduction ratio. The planetary speed reducer 9 for the motor may be unnecessary if a planetary speed reducer 20 described later is used.

At the outer peripheral position of the rotor 7, a stator 11 held by the cylindrical holder 2 is provided. By applying a drive signal to the stator winding 12 of the stator 11, the rotor 7 and the rotor 7 rotate. The shaft 8 can be driven to rotate at a predetermined rotation speed, and the stator 11, the rotor 7, and the rotating shaft 8 can be used to drive the motor 1 such as a DC servo motor.
Make up three.

The second bearing 6 of the tubular holder 2 adjacent to the motor 13 is arranged along the radial direction B of the case 1 and the tubular holder 2 like the rotary shaft 8. An output shaft 21 located parallel to the rotary shaft 8 is rotatably provided, and an end portion 21a of the output shaft 21 penetrates through the opening 1b of the case 1 and is arranged to project to the outside.

A well-known planetary speed reducer 20 is provided on the output shaft 21.
Is connected to the drive gear 10, and the rotation of the drive gear 10 is decelerated at a predetermined reduction ratio via the planetary reducer 20 to output the output shaft 2
1 is configured to rotate. The output shaft 2
The number of rotations of 1 is reduced by using the planetary reducers 9 and 20 described above, but it is also possible to set only one of them.

A resolver rotor 30 is attached to the output shaft 21.
And a resolver stator 31 corresponding to the resolver rotor 30 is provided on the cylindrical holder 2, and the resolver rotor 30 and the resolver stator 31 constitute a rotation angle detector 32 including a known resolver. The rotation angle detector 32 controls the output shaft 21.
It is configured so that the rotation angle of can be detected.

Therefore, in the above configuration, the motor 13
The rotation of the rotating shaft 8 is reduced at a predetermined reduction ratio via the motor planetary speed reducer 9, the drive gear 10 and the planetary speed reducer 20 to rotate the output shaft 21 at a low speed and with a large torque. Therefore, a member (not shown) such as a flap connected to the output shaft 21 can be rotated. When the motor 13 and the output shaft 21 constitute the rotary actuator section 50 and four rotary actuator sections 50 are arranged in the circumferential direction of the case 1 at intervals of 90 degrees, four output shafts are provided. 21 can be freely rotated in a synchronous or asynchronous state. Further, when the case 1 is mounted in a tapered mounting hole of a device (not shown) such as an aircraft, it is possible to arrange it by penetrating necessary wirings and the like through the through hole 3. Incidentally, it is also possible to adopt a configuration other than the four axes shown.

[0014]

Since the rotary actuator according to the present invention is constructed as described above, the following effects can be obtained. That is, by using one or two planetary speed reducers in the transmission system from the rotary shaft of the motor to the output shaft, it is not necessary to use a conventional multi-step gear speed reducer, and the size can be significantly reduced compared to the conventional one. It can be accommodated in a case having a conical tubular shape as a whole. Further, since the case has a conical tubular shape, it can be mounted in a conical mounting hole or the like formed in the device, which can greatly contribute to downsizing of the device or the like.

[Brief description of drawings]

FIG. 1 is a sectional view of the overall configuration showing a rotary actuator according to the present invention.

FIG. 2 is an enlarged sectional view of a main part of FIG.

[Explanation of symbols]

1 case 2 tubular holder 1a inner surface 8 rotation axes A-axis direction B radial direction 13 motor 20 Planetary reducer 21 Output shaft 32 Rotation angle detector

Claims (4)

[Claims] 1. A case (1) having a conical tubular shape as a whole.
And a cylindrical holder provided at the axial center of the case (1)
(2) and a plurality of them are provided at the outer peripheral position of the cylindrical holding body (2), and the axial direction of the rotation shaft (8) is the radial direction of the cylindrical holding body (2).
A motor (13) located along (B), and a planetary speed reducer (20) provided on the cylindrical holder (2) adjacent to the motor (13) and driven by the rotating shaft (8). And the planetary reducer (2
The output shaft (21) connected to the (0) and protruding from the outer surface of the case (1) to the outside, and the rotation angle of the output shaft (21) provided on the tubular holder (2) are detected. Rotation angle detector (32) for, and each output shaft (21) is the rotation shaft
A rotary actuator that is decelerated with respect to (8) and is arranged so as to project from the outer surface of the case (1). 2. The through hole (3) formed along the axial direction (A) of the case (1) at the axial center position of the case (1). Rotary actuator. 3. The outer shape of the cylindrical holder (2) is formed so as to be inclined along the inner surface (1a) of the case (1). Rotary actuator. 4. A planetary speed reducer (9) for a motor provided on the rotary shaft (8) is disposed between the rotary shaft (8) and the planetary speed reducer (20). The rotary actuator according to any one of claims 1 to 3.