JP2008211876A - Actuator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an actuator that makes it possible to sway one movable magnetic member in any direction, is efficient, and can be reduced in size. <P>SOLUTION: The movable magnetic member 4 has a movable magnetic pole portion opposed to the magnetic pole faces of the leg portions 51 of a fixed magnetic member 5 with a gap in-between. The movable magnetic member is provided in the movable magnetic pole portion with permanent magnetic bodies 41 magnetized in directions opposite the magnetic pole faces of the leg portions 51. The following two flux paths are thereby separated: a flux path (I) where magnetic flux produced by exciting the exciting coil portions 61 to 64 wound on the respective leg portions 51 flows through the fixed magnetic member 5 and the movable magnetic member 4; and a flux path (II) where magnetic flux produced by the permanent magnet bodies 51 flows through the movable magnetic member 4 and the fixed magnetic member 5. <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 only in 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 one movable-side magnetic member in an arbitrary direction, and that can be highly efficient and downsized. It is to provide.

  In order to achieve the above object, according to the first aspect of the present invention, a plurality of U-shaped magnetic bodies comprising both leg portions and a central portion bridging between one ends of the both leg portions are arranged at the center of the central portion. A fixed-side magnetic member configured in a shape intersecting at a predetermined angle with the axis as an axis, and energized so that the other ends of both leg portions have different magnetic poles by winding around each leg portion of the fixed-side magnetic member And a movable side magnetic member that is disposed above the other end of the leg portion and is supported so as to be swingable in all directions when viewed from above with an output shaft coaxial with the center. The movable-side magnetic member has a movable-side magnetic pole portion opposed to the magnetic pole surface of the leg portion via a gap, and is magnetized in the opposite direction to the magnetic pole surface of the leg portion by each movable-side magnetic pole portion. A magnetic flux generated by excitation of the excitation coil unit is provided with a permanent magnet body, and the fixed-side magnetic unit And a magnetic path flowing through the movable side magnetic member and a magnetic path in which a magnetic flux generated by the permanent magnet body flows through the movable side magnetic member and the fixed side magnetic member is separated. And

  According to the first aspect of the present invention, the direction of the magnetic field generated by the magnetic poles of the fixed-side magnetic member can be easily controlled, so that one movable-side magnetic member can be swung over a wide area with a simple configuration. The magnetic path generated by the permanent magnet body and the magnetic path generated by excitation of the excitation coil section are separated, and a permanent magnet body having a low magnetic permeability is generated by exciting the excitation coil section. Since it does not pass, high efficiency can be achieved and a strong driving force can be obtained.

  According to a second aspect of the present invention, in the first aspect of the invention, only a part of the magnetic pole surface of the permanent magnet body is the leg portion when the magnetic pole surface of the movable magnetic pole portion faces the magnetic pole surface of the leg portion. It faces the magnetic pole surface.

  According to invention of Claim 2, the magnetic path through which the magnetic flux by the excitation of an exciting coil part can be formed easily.

  According to a third aspect of the present invention, in the first or second aspect of the present invention, the permanent magnet body is formed in an annular shape and arranged on the movable magnetic member so as to extend over the movable magnetic pole portion facing the magnetic pole surface of the leg portion. It is characterized by being.

  According to the invention of claim 3, the permanent magnet body of each movable-side magnetic pole part can be configured with one permanent magnet body, and there is no influence of the displacement of the arrangement angle, and the creation of the permanent magnet body It is easy to incorporate and stable in characteristics, and has a magnetic flux compared to a permanent magnet body that requires a cut in a cross shape in which the arm pieces protrude radially from the center and the tip is placed on each movable magnetic pole. There is an effect that there is no loss.

  According to a fourth aspect of the present invention, in any one of the first to fourth aspects, the magnetic pole surface of the leg portion and the magnetic pole surface of the movable magnetic pole portion facing the magnetic pole surface are concentric concave spherical surfaces, It is formed by a convex spherical surface.

  According to the invention of claim 4, the gap between the magnetic pole of the fixed side magnetic member and the magnetic pole of the movable side magnetic member can be reduced. As a result, the magnetic efficiency can be increased and the efficiency of the actuator can be improved. it can.

  The present invention can easily control the direction of the magnetic field generated by the magnetic poles of the fixed-side magnetic member, so that one movable-side magnetic member can be swung over a wide area with a simple configuration, and the size can be reduced. In particular, a magnetic path generated by the permanent magnet body and a magnetic path generated by excitation of the excitation coil portion are separated, and a permanent magnet body having a low magnetic permeability is not allowed to pass the magnetic flux generated by excitation of the excitation coil portion. High efficiency can be achieved and a strong driving force can be obtained.

  Hereinafter, the present invention will be described with reference to an embodiment shown in FIG.

  The actuator 1 of the present embodiment is housed in a case 2 as shown in FIG. 1A, and a shaft 3 that is an output shaft protrudes from one surface of the case 2 to the outside. The side magnetic member 4, the fixed side magnetic member 5, and exciting coil portions 61 to 64 are configured.

  As shown in FIG. 1 (b), the fixed-side magnetic member 5 includes two sets of U-shaped magnetic bodies composed of both side leg portions and a center portion bridging between the ends of the both side leg portions. Consists of a shape that intersects at an angle of 90 ° with the center as an axis, and forms a cross-shaped base 50 and each end of the base 50 projecting upward at the same height in the figure with the tip surface facing the magnetic pole surface Exciting coil portions 61 to 64 are wound around each leg portion 51 so that an exciting current can flow separately.

  The magnetic pole surface of each leg 51 is formed into a spherical surface that forms a part of a common concave spherical surface. The magnetization direction of the magnetic body 4 is the vertical direction. For example, the lower surface side is an N-pole magnetic pole surface.

  As shown in FIG. 1B, the movable-side magnetic member 4 includes a magnetic body 40 including a cross-shaped base portion 40a and a protruding portion 40b integrally formed on the lower surface of the base portion 40a, and a lower surface portion of the protruding portion 40b. The permanent magnet body 41 is bonded to the formed downward stepped portion 40c, and the magnetic body 42 is bonded to the lower surface of the permanent magnet body 41. The protrusion 41 and the downward outer peripheral surface of the magnetic body 43 are continuously extended. The surface is a convex spherical surface, and this convex spherical surface is the magnetic pole surface of the movable-side magnetic pole portion.

  The outer lower end of the permanent magnet body 41 faces the outer side from a very small gap g between the outer end of the magnetic body 42 and the lower end of the protrusion 40b of the magnetic body 40. One end of the shaft 3 is connected and fixed to the center of the upper surface of the base portion 40a of the magnetic body 40.

  Thus, above the fixed side magnetic member 5 arranged and fixed on the bottom surface of the case 2, the movable side magnetism is such that the central axis of the base 50 of the fixed side magnetic member 5 and the central axis of the movable side magnetic member 4 coincide. A movable side magnetic member is formed by arranging a member 4 and coupling coil springs 8 having one end coupled to four outer peripheral surfaces at intervals of 90 ° when viewed from the center of the movable side magnetic member 4 to the corresponding four inner surfaces of the case 2. 4 is supported by the case 2 while swinging in all directions when viewed from above, and the tip portion of the shaft 3 is projected to the outside through a bearing portion 7 penetrating in the center of the lid portion 2a of the case 2.

  Here, the concave spherical surface constituting the magnetic pole surface of each leg 51 of the fixed-side magnetic member 5 is separated from the downward convex spherical surface of the movable-side magnetic member 4 through a slight gap when the movable-side magnetic member 4 swings. In this case, a part of the permanent magnet body 42 of the movable-side magnetic member 4, that is, the outer end thereof is opposed to the magnetic pole surface of the leg portion 51, and the outer side from the opposed portion is outside. The convex spherical surface of the protrusion 40b of the magnetic body 40 is opposed to the part.

  Although not shown, a coil terminal (not shown) for flowing an exciting current through the exciting coil portions 61 to 64 is led out from the case 2 to the outside.

  In addition, in the cross-sectional view of FIG. 1A, illustration of the leg portion 51 around which the exciting coil portion 64 is wound is omitted.

  Next, the operation of this embodiment will be described.

  First, as shown in FIG. 1A, the polarity of the magnetic pole surface of each leg portion 51 is different from that of the exciting coil portions 61 and 63 of the opposing leg portions 51 and 51 of the fixed-side magnetic member 5, for example, on the left side in the figure. When excitation is performed by applying a current so that the magnetic pole of the leg 51 is N-pole and the right-side magnetic pole is S-pole, the magnetic flux generated by this excitation flows in the magnetic path (I) shown in the figure. That is, the left leg 51 → the protruding portion 40b of the magnetic body 40 of the movable member 4 facing the opposite side → the base 40a → the protruding portion 40b of the magnetic body 40 of the movable member 4 facing the right leg 51 → the right side of the protruding portion 40b. It flows in the magnetic path of the leg 51 → the central part 50 → the left leg 50.

  On the other hand, the magnetic flux of each permanent magnet body 41 of the movable magnetic member 4 flows in the magnetic path (II) shown in the figure. That is, it flows in the magnetic path of the permanent magnet body 41 → the magnetic body 42 → the opposing leg portion 51 → the protruding portion 40 b of the magnetic body 40 → the permanent magnet body 41.

  As a result, the magnetic flux generated by the excitation of the exciting coil sections 61 and 63 flows through a magnetic path that does not pass through the permanent magnet body 41 having a low magnetic permeability, thereby achieving high efficiency.

  Here, the frequency of the power supply voltage applied in order to flow the excitation current through the exciting coil portions 61 and 63 of the X-direction side legs 51 and 51 and the Y-direction exciting coil portions 62 and 64 shown in FIG. By controlling the ratio and the phase difference, the movable-side magnetic member 4 can be swung by applying a thrust in an arbitrary direction against the spring force of the coil spring 8, and as a result, the driven body can be swung through the shaft 3. Can be driven in various ways.

  FIG. 2 shows an example of a locus obtained by combining the above-described frequency ratio and phase difference.

  By the way, the movable-side magnetic member 4 shown in FIGS. 1A and 1B uses a magnetic body 40 having a cross-shaped base 40a. However, as shown in FIGS. A magnetic body 40 'formed of an annular protrusion 40b' integrally formed on the lower surface of the base 40a 'and the disk-shaped base 40a', and an annular downward stepped portion formed on the lower surface of the annular protrusion 40b. You may comprise by the annular | circular shaped permanent magnet body 41 'adhere | attached on 40c', and the cyclic | annular magnetic body 42 'adhere | attached on the lower surface of this permanent magnet body 41'. In this case, since the annular permanent magnet body 41 ′ is used, there is no need to consider the displacement of the arrangement angle, and the magnetic pole facing the leg portion 51 can be formed with one permanent magnet body. The number of magnet bodies can be reduced, and assembling is easy, and the creation of permanent magnet bodies is also easy, and a notch is provided like a permanent magnet body formed in a cross shape so that the tip is arranged on the movable magnetic pole part side. Compared to the case, the loss of magnetic flux is small, the characteristics are stable, and the performance of the actuator 1 can be improved.

(A) is front sectional drawing of the state put in the case of embodiment, (b) is an expansion perspective view of an actuator site | part. It is explanatory drawing of the operation example of embodiment. (A) is a perspective view of the fixed side magnetic member and movable side magnetic member which show another example of a movable side magnetic member, (b) is sectional drawing same as the above.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Actuator 2 Case 3 Shaft 4 Movable side magnetic member 40 Magnetic body 40a Base part 40b Projection part 40c Step part 41 Permanent magnet body 42 Magnetic body 5 Fixed side magnetic member 50 Base part 51 61-64 Excitation coil part 7 Bearing part 8 Coil Spring

Claims (4)

A fixed configuration in which a plurality of U-shaped magnetic bodies composed of both leg portions and a central portion bridging between the ends of both leg portions are crossed at a predetermined angle with the center of the central portion as an axis. A side magnetic member;
An exciting coil portion that is wound around each leg portion of the fixed-side magnetic member and is excited so that the other end of each side leg portion has a different magnetic pole,
A movable-side magnetic member disposed above the other end of the leg and supported so as to be swingable in all directions when viewed from above with an output shaft coaxial with the center;
The movable-side magnetic member has a movable-side magnetic pole portion opposed to the magnetic pole surface of the leg portion through a gap, and is permanently magnetized in a direction opposite to the magnetic pole surface of the leg portion by each movable-side magnetic pole portion. With a magnet body,
A magnetic path in which magnetic flux generated by excitation of the excitation coil portion flows through the fixed-side magnetic member and the movable-side magnetic member, and magnetic flux generated by the permanent magnet body includes the movable-side magnetic member and the fixed-side magnetic member, An actuator characterized by being separated from a magnetic path that flows through the. 2. The magnetic pole surface of the permanent magnet body is only partially opposed to the magnetic pole surface of the leg portion when the magnetic pole surface of the movable magnetic pole portion faces the magnetic pole surface of the leg portion. The actuator described. 3. The actuator according to claim 1, wherein the permanent magnet body is formed in an annular shape and disposed on the movable side magnetic member so as to extend over the movable side magnetic pole portion facing the magnetic pole surface of the leg portion. The magnetic pole surface of the said leg part and the magnetic pole surface of the said movable side magnetic pole part are formed with the concentric concave spherical surface and the convex spherical surface, The any one of Claim 1 thru | or 4 characterized by the above-mentioned. Actuator.

Images