JP2008125288A - Actuator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an actuator that can be swung in arbitrary direction and can be manufactured in small size. <P>SOLUTION: A movable part 5 is supported in a case 2, for free swinging, so that a central leg part 50a and outside leg parts 50b face each other at the end faces of outside leg parts 50b and the central leg part 40a of a fixed part 4. The central leg part 40a of the fixed part 4 is made from a permanent magnet, and four outside leg parts 50a of the fixed part 4 are wound with coils 61-64. The magnetic flux generated by the exciting current flowing the coils 61-64 makes the movable part 5 swing in specified direction, as the magnetic flux is so excited to flow in reverse direction each other at outside leg parts 40b on both sides of the fixed part 4. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an actuator that can be driven in multidimensional directions.

Conventionally, actuators that can be driven in multi-dimensional directions have been realized by combining actuators that can be driven in only one direction as disclosed in, for example, Patent Document 1.
JP 2003-88089 A (paragraph 0004)

  When an actuator that can be driven in a multidimensional direction as described above is configured by combining an actuator that can be driven in only one direction as disclosed in Patent Document 1, the shape of the actuator is large. There was a problem.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide an actuator that can swing a single movable portion in an arbitrary direction and can be manufactured in a small size.

  In order to achieve the above-mentioned object, in the invention according to the actuator of the first aspect, the fixed portion configured in a shape in which a plurality of E-shaped magnetic members intersect at a predetermined angle with the central leg portion as an axis And a movable part configured to have the same number of E-shaped magnetic members as the fixed part crossed at the predetermined angle with the central leg part as an axis, and the central leg part of the fixed part A coil portion wound around an outer leg portion of the magnetic member, and the movable portion is swingably supported so as to face the fixed portion at an end surface of each leg portion of the magnetic member. At least one of the movable parts has a permanent magnet in the central leg part, and the coil part has two outer leg parts located on both sides of the fixed part within the E-shaped magnetic flux generated by the excitation current. It is characterized in that excitation is performed so as to flow in opposite directions.

  According to the invention relating to the actuator of claim 1, there is no permanent magnet having a high magnetic resistance that contributes to the generated force in the magnetic path through which the magnetic flux generated when the exciting current flows through the coil portion. Therefore, an actuator that can be manufactured in a small size can be provided.

  The invention according to claim 2 is characterized in that, in the invention according to claim 1, the central leg portion of the fixed portion and the central leg portion of the movable portion are formed so as to have a coaxial cylindrical shape with each other when stable. And

  According to the invention relating to the actuator of the second aspect, since the opposing surface of the central leg portion is circular, the angle-torque characteristics can be made the same regardless of the direction of operation, and smooth in all directions. Can act.

  According to an invention relating to an actuator of a third aspect, in the invention of the first or second aspect, one of the surfaces projected in the opposite direction when the opposed surfaces of the central leg portion of the fixed portion and the central leg portion of the movable portion are stable. Is formed so as to include the other.

  According to the invention relating to the actuator of claim 3, the amount of magnetic flux at the opposed end surfaces of the central leg portion of the movable portion and the central leg portion of the fixed portion can be made substantially constant, and the angle-torque characteristic in the vicinity of the stable position. The change in torque can be reduced.

  According to an invention relating to an actuator according to a fourth aspect of the present invention, in the invention according to any one of the first to third aspects, the fixed portion and the movable portion have a spherical shape with the center of oscillation centered on the shape of the opposed end surfaces. It is characterized by that.

  According to the invention relating to the actuator of the fourth aspect, it is possible to reduce the gap change between the opposed end faces due to the swinging and to widen the movable range.

  The invention according to claim 5 is characterized in that, in the invention according to claim 4, the portion on the opposite end face side of the central leg portion of the fixed portion and the central leg portion of the movable portion is formed of a ferromagnetic material. .

  According to the invention relating to the actuator of the fifth aspect, the end surface of each central leg can be easily processed into a spherical surface.

  The invention according to a sixth aspect of the invention is characterized in that, in the invention according to any one of the first to third aspects, the portion on the opposite end face side of each central leg portion of the fixed portion and the movable portion is formed by a permanent magnet. To do.

  According to the invention relating to the actuator of the sixth aspect, the generated torque can be increased without the need for machining.

  The present invention contributes to the generated force in the magnetic path through which the magnetic flux generated when exciting current is passed through the coil part, but there is no permanent magnet with high magnetic resistance, so it can swing efficiently in any direction. And since it does not depend on the combination of several actuators, there exists an effect that the actuator which can be manufactured small can be provided.

  Embodiments of the present invention will be described below.

(Embodiment 1)
The actuator 1 of this embodiment is accommodated in the case 2 as shown in FIGS. 1 (a) and 1 (b), and the shaft 3 as the output shaft is projected from one surface of the case 2 to the outside. 3, a fixed part 4, a movable part 5, a coil part 6 (61 to 64) and the like.

  As shown in FIG. 1 (c), for example, the fixing portion 4 has two E-shaped magnetic members having a common central leg portion 40a and a predetermined angle (90 in the embodiment) with the central leg portion 40a as an axis. And is fixedly arranged on the bottom of the case 2.

  Specifically, the fixed portion 4 is composed of a ferromagnetic body in which outer leg portions 40b are erected integrally at each end of the cross-shaped base portion 40c, and a permanent magnet that is magnetized in the z-axis direction at the center portion of the base portion 40c. The central leg portion 40a is fixedly erected, and the outer leg portions 40b are wound with coil portions 61 to 64 through which an exciting current can flow independently.

  The movable part 5 has the same number of the fixed parts 4 as the fixed part 4 and a magnetic member made of a ferromagnetic material having an E-shaped cross-section with the central leg part 50a in common. °).

  Specifically, the movable portion 5 is made of a ferromagnetic material in which an outer leg 50b is integrally projected at each end of the cross-shaped base 50c, and a central leg 50a is integrally projected at the center of the base 50c. Thus, one end of the shaft 3 is fixed at the center of the surface (upper surface in the figure) opposite to the projecting direction of the central leg 50a.

  The shaft 3 is protruded out of the case 2 through a hole 2 a provided in the center of the lid portion of the case 2, and the support member 7 inserted into the intermediate portion of the shaft 3 is inserted into the hole 2 a of the case 2. The movable portion 4 is swingably supported in the case 2 by being attached so as to be rotatable in the entire circumferential direction in a top view.

  The operation of the actuator 1 of the present embodiment configured as described above will be described with reference to FIGS. 2A to 2C, which are A-A ′ cross-sectional views of FIG.

  First, in the non-excited state where no exciting current is passed through the coil portions 61 and 62 (and 63 and 64), as shown in FIG. 2A, the magnetic flux of the permanent magnet constituting the central leg portion 40a of the fixed portion 4 is the center. Upper end of leg 40a (N pole) → middle leg 50a of movable part 5 → base 50c → outer side legs 50b, 50b → outer side legs 40b, 40b on both sides of fixed part 4 → base 40c → center It flows in the magnetic path (loop shown by a solid line) at the lower end (S pole) of the portion 40a, and balance is achieved on both sides. As a result, the movable portion 5 has a thrust of 0 at the center, and the end surface (lower end surface in the drawing) of the central leg portion 50a of the movable portion 5 is on the end surface (upper end surface in the drawing) of the central leg portion 40a of the fixed portion 4. It stabilizes in a state where the end surface (lower end surface in the drawing) of the leg portion 50b faces the end surface (upper end surface in the drawing) of each outer leg portion 40b of the fixed portion 4 respectively.

  Next, as shown in FIG. 2B, for example, the outer leg 40b is arranged in such a direction that the end face (magnetic pole) of the left outer leg 40b is N pole and the end face (magnetic pole) of the right outer leg 50b is S pole. When the exciting current is passed through the coil portions 61 and 62 wound around 40b, the magnetic flux generated by the excitation of the coil portion 6 is changed to the left outer leg portion 40b of the fixed portion 4 → the left outer leg portion of the movable portion 5. 50b → base portion 50c → right outer leg portion 50b → right outer leg portion 40b of the fixed portion 4 → base portion 40c → left outer leg portion 40b through the magnetic path (a loop indicated by a broken line) and the above-described balance is lost. A rightward thrust is generated on the movable part 5 as indicated by an arrow a, and the movable part 5 swings around the shaft 7.

  When an exciting current is passed through the coil portions 61 and 62 on both sides in the direction opposite to that shown in FIG. 2B, the end face (magnetic pole) of the right outer leg portion 40b becomes N poles as shown in FIG. The end surface (magnetic pole) of the left outer leg portion 50b becomes the S pole, and the magnetic flux generated by the excitation of the coil portions 61 and 62 causes the right outer leg portion 40b of the fixed portion 4 → the right outer leg portion 50b of the movable portion 5 → The balance is lost by flowing in the magnetic path (loop shown by a broken line) of the base 50c → the left outer leg 50b → the left outer leg 40b → the base 40c → the right outer leg 40b of the fixed portion 4 and the movable part is lost. As shown by an arrow b in FIG. 5, a leftward thrust is generated, and the movable part 5 swings around the shaft 7.

  In the actuator 1 of the present embodiment, the magnetic flux generated by passing an exciting current through the coil portions 61 and 62 located on both sides of the central leg portion 40a in the E-shaped cross section is a permanent magnet having a low magnetic permeability and a high magnetic resistance. Since it does not pass through the central leg portion 40a, the movable portion 5 can be efficiently swung in the left and right directions.

  As shown in FIG. 3, the direction of the thrust generated in the movable part 5 in the top view is (1) when the direction is right, and (2) when the direction is 45 ° to the right (2). When the direction is 90 ° with respect to the direction (3), when the direction is 135 ° with respect to the right direction, it is (4), and in the opposite direction, (-1), (-2 ), (-3), and (-4), the direction of the thrust generated in the movable part 5 and the direction of the excitation current of each of the coil parts 61 to 64 (the magnetic poles at the upper end of the outer leg part 40b wound with each of them) ) Has a relationship as shown in Table 1, and by setting the combination of the coil portions to be excited and the direction of the excitation current, the movable portion 5 can be set to (1) to (4) or (-1) to (- It can be arbitrarily swung in the direction of 4).

(Embodiment 2)
In the first embodiment described above, the central leg 40a of the fixed portion 4 and the central leg 50a of the movable portion 5 are both formed in a square prism shape having a square cross section perpendicular to the axial direction. As shown in FIG. 4, each central leg 40a, 50a has a circular column shape in cross section, and when stable (no excitation), the central leg 40a of the fixed part 4 and the central leg 50b of the movable part 5 are stable. Are characterized in that they have a cylindrical shape coaxial with each other. Since other configurations and operations such as the magnetization direction (z-axis direction) of the central leg portion 40a made of a permanent magnet are the same as those in the first embodiment, the description thereof is omitted, and the same components are denoted by the same reference numerals.

  4 shows a state in which the fixed portion 4 and the movable portion 5 of the actuator 1 of the present embodiment are taken out from the case. As in the first embodiment, the fixed portion 4 and the movable portion 5 are accommodated in the case. The

  Thus, in the actuator 1 of the present embodiment, since the opposing end surfaces of the central leg portions 40a and 50a are circular, the angle-torque characteristics can be made the same regardless of which direction the movable portion 5 swings. The movable part 5 can be smoothly swung in all directions.

(Embodiment 3)
In the first and second embodiments, the areas of the opposing end surfaces of the central leg portions 40a and 50a are the same area. However, in this embodiment, one area is smaller than the other area, and the central leg portion of the fixed portion 4 is used. When the end surface of 40a and the end surface of the central leg portion 50a of the movable portion 5 face each other in a stable state, the difference is that one projected surface is formed so as to include the other projection surface, and FIG. In the case of a), an example in which the area of the end surface of the central leg portion 40a of the fixed portion 4 is smaller than the area of the end surface of the central leg portion 50a of the movable portion 5 is reversed. An example in which the area of the end surface of the central leg portion 40a is larger than the area of the end surface of the central leg portion 50a of the movable portion 5 is shown. Although the illustrated example corresponds to the columnar central leg portions 40a and 50a, the configuration of this embodiment can be applied even in the case of a prismatic shape as in the first embodiment.

  Since other configurations are the same as those of the second embodiment (or the first embodiment), illustration and description thereof are omitted.

  Thus, the actuator 1 of the present embodiment can make the amount of magnetic flux at the opposed end surfaces of the central leg 50a of the movable portion 5 and the central leg 40a of the fixed portion 4 substantially constant, and the angle in the vicinity of the stable position. -The torque change in the torque characteristics can be reduced.

(Embodiment 4)
In the present embodiment, as shown in FIG. 6, the shape of the upper end surface of the outer leg portion 40b of the fixed portion 4 is a convex spherical surface centered on the oscillation center, and the movable portion 5 facing the outer cab 40b. It is characterized in that the shape of the lower end surface of each outer leg 50b is a concave spherical surface centered on the above-mentioned swing center, and the gap between the opposing surfaces is minute.

  The central leg portion 40a of the fixed portion 4 includes a lower portion 400a erected integrally from the center of the base portion 40c, a permanent magnet portion M fixedly disposed on the upper surface of the lower portion 400a, and an upper end surface of the permanent magnet M. The end face 401a is formed with a rectangular end face 401a that is overlapped and fixed, and a magnetic pole that faces the lower end face of the central leg 50a of the movable part 5 is formed by the end face 401a.

  On the other hand, the movable part 5 is formed of an outer leg 50b that protrudes from the lower surface of each end of the base 50c by a ferromagnetic material that has a lower surface processed into a convex spherical surface and is fixed to the lower surface of each end of the base 50c. The central leg 50a is also formed of a ferromagnetic material that is separate from the base 50c.

  Since other configurations are the same as those of the first embodiment, the same components are denoted by the same reference numerals and description thereof is omitted.

  Thus, in the actuator 1 of the present embodiment, since the opposed end surfaces of the fixed portion 4 and the movable portion 5 are spherical surfaces centered on the oscillation center, there is little change in the gap between the opposed end surfaces during oscillation, and the movable portion 5 is movable. The range can be widened. In addition, since the portion forming each spherical surface is a ferromagnetic material, the spherical surface can be easily processed.

(Embodiment 5)
In the present embodiment, the configuration in which the opposite end surfaces of the outer leg portions 40b and 50b are formed in a spherical shape is the same as that in the fourth embodiment. However, in the fourth embodiment, the central leg portion 40a of the fixed portion 4 is placed below the ferromagnetic body. Whereas the permanent magnet M is stacked on the portion 400a and the end face portion 401a made of a ferromagnetic material is further stacked on the permanent magnet M, in the present embodiment, as shown in FIG. The end surfaces (magnetic poles) of the permanent magnet M are directly opposed to the end surfaces of the central leg 50b of the movable portion 5, and the central leg portions 40a and 50a are formed in a columnar shape. This is different from the fourth embodiment.

  Since other configurations are the same as those in the second embodiment (or the first embodiment), the same components are denoted by the same reference numerals and description thereof is omitted.

  Thus, in the actuator 1 of the present embodiment, since the opposed end surfaces of the fixed portion 4 and the movable portion 5 are spherical surfaces having the center of oscillation as in the fourth embodiment, the gap between the opposed end surfaces during oscillation is not large. There is little change, the movable range can be widened, and the generated torque can be increased.

  In each embodiment, the outer leg 40b constituting each magnetic pole of the fixed part 4 is integrally connected by a cross-shaped base 40c so that a magnetic path can be formed. Excitation is performed so as to have the same polarity, and one of the outer leg portions 40b and 40b located at a position of 90 ° with respect to the outer leg portions 40b and 40b is excited to a polarity different from the above-described excitation polarity. Other than the above, multi-dimensional driving can be performed, and the content of Table 1 is not limited.

1A and 1B show a first embodiment, (a) is an overall perspective view, (b) is a side sectional view, and (c) is a perspective view of a fixed portion and a movable portion with a case removed. (A)-(c) is operation | movement explanatory drawing of Embodiment 1. FIG. FIG. 10 is an explanatory diagram of a swinging direction of a movable part according to the second embodiment when viewed from the upper surface direction. FIG. 6 is a perspective view of a fixed part and a movable part in a state where the third embodiment is removed and a case is removed. Embodiment 4 is shown, (a) is a perspective view of an example of the central leg of the movable part and the central leg of the fixed part, (b) is a perspective view of an example of the central leg of the movable part and the central leg of the fixed part. FIG. FIG. 10 is a perspective view of a fixed part and a movable part in a state in which the case is removed, showing Embodiment 5. FIG. 9 is a perspective view of a fixed part and a movable part in a state where the sixth embodiment is removed and a case is removed.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Actuator 2 Case 3 Shaft 4 Fixed part 40a Central leg part 40b Outer leg part 40c Base part 5 Movable part 50a Central leg part 50b Outer leg part 50c Base part 61-64 Coil part 7 Support member

Claims (6)

A plurality of E-shaped magnetic members are fixed to each other at a predetermined angle with the central leg as an axis, and the same number of E-shaped magnetic members as the fixed portions are connected to the central leg. A movable part configured in a shape intersecting at a predetermined angle with a part as an axis, and a coil part wound around an outer leg part different from a central leg part of the fixed part, the movable part comprising: The fixed portion is supported so as to be swingable so as to face the end surface of each leg portion of the magnetic member, and at least one of the fixed portion or the movable portion has a permanent magnet in the central leg portion, The coil portion excites the magnetic flux generated by the excitation current so that the magnetic flux generated by the exciting current flows in opposite directions to the two outer leg portions located on both sides of the fixed portion within the E-shaped cross section. The actuator according to claim 1, wherein the central leg portion of the fixed portion and the central leg portion of the movable portion are formed to have a coaxial cylindrical shape when stable. The opposing end surface of the center leg part of the said fixed part and the center leg part of the said movable part was formed so that one of the surfaces projected in the opposing direction at the time of stability may include the other. The actuator described. The actuator according to any one of claims 1 to 3, wherein the fixed portion and the movable portion are formed such that the shape of each of the end faces facing each other is a spherical surface centered on a swing center. The actuator according to claim 4, wherein a portion of the center leg portion of the fixed portion and the center leg portion of the movable portion on the opposite end face side is formed of a ferromagnetic material. The actuator according to any one of claims 1 to 3, wherein each of the fixed leg and the movable leg is formed with a permanent magnet at a portion on the opposite end face side of each central leg.

Images