JP2010154690A - Actuator device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an actuator device that generates a large startup torque and suppresses a decline in efficiency. <P>SOLUTION: The actuator device includes a stator composed of one of a field 1 and an armature 2 disposed inside the field 1, and a rotor which is composed of the other of the same and rotates relative to the stator. The actuator device outputs a torque around a rotating shaft disposed on the rotor. The field 1 has permanent magnets 11 and 11 so formed that two different magnet poles face each other across the armature 2. The armature 2 has a core 21 having a pair of magnetic poles 21b and 21b formed on its both ends, the magnetic poles interacting with the permanent magnets 11 and 11 to generate a magnetic force, and a coil 22 which is coiled around the center of the core 21 to excite the magnetic poles 21b and 21b. A stopper is provided to regulate the rotation of the rotor within a range smaller than a range covering 90 degrees in both directions with respect to a position at which a maximum torque is generated. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an actuator device.

  In order to realize a reciprocating rotational motion of a limited angle, it is usual to employ a drive mechanism in which a general-purpose rotary motor and a speed reducer are combined, and such a drive mechanism has been conventionally provided. This drive mechanism is a mechanism that uses a small and inexpensive rotary motor without requiring high output torque for the rotary motor itself. By adjusting the number of reduction gear stages and the reduction ratio that constitute the reduction gear, etc. The output of the rotary motor can be amplified to a desired torque.

  However, in such a drive mechanism, mechanical loss due to the speed reducer (for example, gear meshing or bearing wear) greatly affects the efficiency of the drive mechanism. For example, the motor efficiency is 70% and the speed reducer efficiency is 60%. In the case of%, the efficiency as the drive mechanism is reduced to 42%.

Therefore, in order to suppress a decrease in efficiency, an actuator device having a structure without a reduction gear has been proposed (see, for example, Patent Document 1). The actuator device includes a rotor composed of a set of two permanent magnets magnetized on different magnetic poles and arranged to face each other, and a cylindrical yoke that forms a magnetic path between the two permanent magnets, It consists of a stator core and a stator consisting of windings wound around the stator core, and the rotor is rotated relative to the stator by the magnetic force acting between the stator and the rotor. A desired output torque can be obtained.
JP-A-9-163708 (paragraph [0007] -paragraph [0014] and FIGS. 1-7)

  In the actuator device shown in Patent Document 1 described above, since the structure does not have a speed reducer, it is possible to suppress a decrease in efficiency, but since the starting torque when energized from a non-energized state is small, For example, when the load torque is large, the rotor may not rotate normally.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide an actuator device that can generate a large starting torque and suppress a decrease in efficiency.

  The invention of claim 1 includes a stator composed of any one of a field part or an armature part arranged inside the field part, and a rotor composed of the other and rotating with respect to the stator, In the actuator device that outputs torque around the rotating shaft provided in the rotor, the field magnet portion includes a rotor that includes a permanent magnet and is provided with two different magnetic poles arranged side by side in the circumferential direction of the rotating shaft. It has a core with a pair of magnetic poles that act as a magnetic force between the rotor and both ends, and a coil that is wound around the center of the core to excite the pair of magnetic poles and generates maximum torque A stopper for restricting the rotation of the rotor is provided within a range smaller than 90 degrees in both directions across the position to be moved.

  The invention of claim 2 is characterized in that the stopper is made of an elastic material.

  According to a third aspect of the present invention, the rotor includes two permanent magnets, and includes a cylindrical yoke that is disposed outside the two permanent magnets and forms a magnetic path between the two permanent magnets. Is characterized in that a convex portion that protrudes inward in the radial direction so as to increase the thickness in the radial direction of the yoke is provided at a portion where each permanent magnet is not arranged.

  The invention of claim 4 is characterized in that each magnetic pole of the rotor is provided so that straight lines passing through the magnetic pole center of each magnetic pole and the rotation center of the rotor do not line up on a straight line.

  The invention of claim 5 is characterized in that the pair of magnetic pole portions are formed in different sizes.

  According to a sixth aspect of the present invention, there is provided a permanent magnet included in the rotor so that the magnetic poles are not disposed at a portion facing the winding of the armature portion in a state where the magnetic poles of the rotor are located at positions where the maximum torque is generated. It is characterized by being divided into a plurality of parts.

  The invention of claim 7 is characterized in that the iron core includes a recess formed over the entire circumference in the center of the iron core, and the winding is wound in the recess.

  The invention according to claim 8 is characterized in that the armature portion constitutes a stator and the field portion constitutes a rotor.

  According to the first aspect of the present invention, the starting torque can be increased by setting the rotation range of the rotor within a range smaller than 90 degrees in both directions across the position where the maximum torque is generated. Even when the load torque is large, the rotor can be reliably rotated, and as a result, a high-performance actuator device can be provided. Further, since the structure does not have a reduction gear, there is no mechanical loss due to the reduction gear, and a highly efficient actuator device can be realized. Furthermore, by arranging the armature part that requires winding space inside the field part, the diameter of the field part becomes large, and in the case of the outer rotor type that rotates the field part, a large rotational torque Can be generated. Further, when one winding is wound around the iron core, there is an effect that the winding work and the assembling work are facilitated.

  In the non-excited state, a cogging torque that presses the field portion against the stopper is generated, so that the starting torque is reduced by this cogging torque. According to the invention of claim 2, the stopper is formed of an elastic material. As a result, the cogging torque is reduced by the reaction force from the stopper, and as a result, a decrease in the starting torque can be suppressed. In addition, by forming the stopper with an elastic material, it is possible to reduce the impact noise to the stopper and reduce the impact at the time of the collision, thereby extending the mechanical life. Further, since the output torque can be reduced as compared with the case where the cogging torque is applied, a low output drive circuit can be used, and as a result, the cost can be reduced.

  According to the invention of claim 3, by providing a convex portion at a portion where the permanent magnet is not disposed, the cross-sectional area of the magnetic path is increased in the convex portion, and as a result, the magnetic flux density is reduced and the magnetic saturation is reduced. Therefore, the magnetic efficiency is improved and a highly efficient actuator device can be realized. Moreover, since each permanent magnet is arrange | positioned in the recessed part formed between a convex part, there exists an effect that positioning of the permanent magnet at the time of an assembly becomes easy.

  According to the invention of claim 4, the torque characteristic can be designed according to the required characteristic by utilizing the characteristic that the rotational angle position where the generated torque peaks according to the magnetic pole position of the field part, As a result, it is not necessary to excite the armature part excessively to compensate for local torque shortage, and it is possible to reduce the energization loss and increase the efficiency. Also, for example, in the case of an outer rotor type that rotates the outer field part, if the permanent magnets constituting the field part are two parts, by using a weight to match the center of gravity of the field part to the center of rotation, The field part can be rotated without being affected by the eccentricity, and if the permanent magnet is a single part, the magnetic poles are formed in consideration of the magnetization orientation, so that the weight is unnecessary. is there.

  According to the invention of claim 5, by forming the pair of magnetic pole portions in different sizes, the rotational angle position where the generated torque peaks can be changed as in the case of claim 4, and as a result, the armature portion Therefore, it is not necessary to compensate for local torque shortage, and it is possible to reduce energization loss and increase efficiency. In the case of the outer rotor type, the effect is that the weight is not required even if the permanent magnets constituting the field part are two parts without the field part being the rotor being affected by the eccentricity. There is.

  According to the sixth aspect of the present invention, the generated torque characteristics associated with the rotation can be designed as desired, so that excessive excitation of the armature portion becomes unnecessary, and as a result, it is possible to achieve high efficiency by reducing energization loss. Further, since the volume of the permanent magnet can be reduced and the weight can be reduced, the moment of inertia can be reduced, and as a result, the operation delay at the start can be improved.

  According to the invention of claim 7, by winding the winding in the recess, the winding does not protrude outward from the end face of the iron core, so the armature portion can be reduced in size, As a result, a small actuator device can be realized. In addition, by providing the recess, the coil bobbin-less is possible, and the winding length can be shortened, so that the copper loss can be reduced.

  For example, in the case of the inner rotor type that rotates the inner armature portion, since a contact is required, loss due to sliding contact occurs, and there is a concern about long-term reliability. According to the above, since the outer field portion side is rotated, the loss does not occur, and there is an effect that a highly efficient actuator device can be realized.

  Embodiments of an actuator device according to the present invention will be described below with reference to the drawings. The actuator device according to the present invention is used as a driving device such as an electric lock. In the conventional motor, it is necessary to estimate the temperature rise of the winding assuming continuous operation for a long time and set the wire diameter etc., but the actuator device described below completes the operation in a short time of several seconds or less Therefore, the copper loss due to energization is small and the calorific value is small. Therefore, a winding having a small wire diameter can be used, and the proportion of the winding in the entire apparatus is smaller than that of a conventional motor, resulting in a reduction in size.

(Embodiment 1)
FIG. 1 shows an actuator device according to a first embodiment, which includes a field part 1 and an armature part 2 arranged inside the field part 1. In the present embodiment, a case of a so-called outer rotor type in which the field part 1 arranged on the outer side is rotated with respect to the armature part 2 arranged on the inner side will be described. That is, in the present embodiment, the armature part 2 constitutes a stator, and the field part 1 constitutes a rotor.

  The field magnet section 1 includes two arc-shaped permanent magnets 11 magnetized in the radial direction of the rotation axis (axis in a direction perpendicular to the paper surface in FIG. 1B), and these permanent magnets 11, 11. And a cylindrical yoke 12 that forms a magnetic path between the permanent magnets 11 and 11. In addition, said permanent magnets 11 and 11 are arrange | positioned so that the armature part 2 may be faced, and each permanent magnet 11 becomes a form where a different magnetic pole opposes mutually. Here, as the magnetization direction of the permanent magnet 11, for example, so-called radial magnetization that is magnetized in the radial direction of the rotating shaft as shown in FIG. 3A, or parallel direction (as shown in FIG. There is so-called parallel magnetization that is magnetized in the horizontal direction. In the following description, the case where the radially magnetized permanent magnet 11 is used will be described, but the parallel magnetized permanent magnet 11 may be used.

  Further, the yoke 12 is directed radially inward so as to increase the thickness in the radial direction of the yoke 12 at a portion where the permanent magnets 11 and 11 are not disposed (up and down positions in FIG. 1B). Protruding convex portions 12a and 12a are respectively provided. Accordingly, the permanent magnets 11 and 11 are fixed to two sets of concave portions formed between the convex portions 12a and 12a, respectively, and the positioning of the permanent magnets 11 and 11 during assembly is easy. There is an advantage of becoming. Here, in this embodiment, the rotor is constituted by the two permanent magnets 11 and 11 and the yoke 12 described above.

  On the other hand, the armature portion 2 has a pair of magnetic pole portions 21b and 21b for applying a magnetic force between the above-described permanent magnets (rotors) 11 and 11 at both end portions (upper and lower end portions in FIG. 1B). A formed cylindrical iron core 21 and a winding 22 wound around the central portion of the iron core 21 to excite the magnetic pole portions 21b and 21b are provided. In the present embodiment, as shown in FIG. 2A, a recess 21a is provided in the center of the iron core 21 over the entire circumference, and the above-described winding 22 is wound in the recess 21a. It is supposed to be turned. Therefore, in a state where the winding 22 is wound around the iron core 21, the winding 22 does not protrude outward from the end face of the iron core 21 as shown in FIG. As a result, a small actuator device can be realized. Further, by providing the recess 21a, the coil bobbin can be eliminated, and the winding length can be shortened, so that the copper loss can be reduced. In the present embodiment, the winding 22 is composed of one coil, and by switching the direction of the current flowing through the winding 22, the excitation direction to each magnetic pole portion 21b is reversed. Further, the actuator device of the present embodiment includes a drive circuit (not shown) that supplies an excitation current to the winding 22, and a rectangular wave voltage output from the drive circuit is applied to the winding 22. As a result, an exciting current flows through the winding 22, and as a result, both magnetic pole portions 21 b and 21 b of the iron core 21 are magnetized, and the field portion 1 rotates forward or backward by the action of each permanent magnet 11 of the field portion 1. It is supposed to be.

  In this embodiment, the permanent magnets 11 and 11 described above are arranged at symmetrical positions around the rotation axis, and the magnetic pole portions 21b and 21b are both formed to have the same size. That is, each permanent magnet 11 is arranged so that each straight line passing through the magnetic pole center of each permanent magnet 11 and the rotation center of the rotor (field portion 1) is aligned.

  Next, the operation of the actuator device according to the present embodiment will be described with reference to FIGS. In the following description, the left permanent magnet 11 in FIG. 4A is magnetized so that the inner side is the N pole and the outer side is the S pole, and the inner side is the S pole and the outer side in the right permanent magnet 11. Is assumed to be magnetized so as to have an N pole (the arrow in the figure indicates the magnetization direction). In addition, the point x (rotation angle 0 degree) and the point y (rotation angle 180 degree) in FIG. 5 are positions rotated so that each permanent magnet 11 and each magnetic pole part 21b of the field part 1 face each other ( 5 is a position at which the starting torque is minimum, and the z point (rotation angle 90 degrees) in FIG. 5 is the x point or the x point so that each permanent magnet 11 and the winding 22 face each other. This is a position rotated 90 degrees from the y point, and is a position where the starting torque is maximized.

  First, when a forward current is passed through the winding 22 from the state shown in FIG. 4A (point a in FIG. 5), an upward magnetic field is generated according to the right-handed screw law, and the upper magnetic pole portion in FIG. 21b is magnetized to the N pole, and the lower magnetic pole portion 21b is magnetized to the S pole. Then, a starting torque Tb in the counterclockwise direction (direction A in FIG. 4A) is generated in the field portion 1 (point b in FIG. 5), and the field portion 1 is moved relative to the armature portion 2. Rotates counterclockwise. At this time, it is assumed that the load torque when the field magnet portion 1 rotates is smaller than the starting torque Tb. And when it rotates to the position of FIG.4 (b), rotation of the field part (rotor) 1 is controlled by the stopper (not shown) provided in this position (c point in FIG. 5), and this state When the excitation to the iron core 21 is stopped, the field portion 1 stops at this position (point d in FIG. 5).

  Next, when a current in the reverse direction is passed through the winding 22 from the state shown in FIG. 4C (point d in FIG. 5), a downward magnetic field is generated according to the right-handed screw law, and the upper magnetic pole in the figure. The portion 21b is magnetized to the S pole, and the lower magnetic pole portion 21b is magnetized to the N pole. Then, a clockwise starting torque Te is generated in the field part 1 (direction B in FIG. 4C) (point e in FIG. 5), and the field part 1 is turned clockwise with respect to the armature part 2. Rotate around. Then, when rotating to the position of FIG. 4D, the rotation of the field portion 1 is regulated by a stopper (not shown) provided at this position (point f in FIG. 5), and in this state to the iron core 21 Is stopped at this position (point a in FIG. 5). In the present embodiment, as described above, the permanent magnets 11 are arranged at the target positions around the rotation axis, and the magnetic pole portions 21b of the iron core 21 are formed to have the same size. = Te. Here, in this embodiment, for example, a projection (not shown) provided on the yoke 12 of the field part 1 and a pair of projection receivers (not shown) provided on the device side in which the actuator device is accommodated. ) And the stopper is configured, and by providing each protrusion receiver within the angle described above (within a range smaller than 90 degrees in both directions from the position where the maximum torque is generated), the field portion 1 is rotated within the angle. It can be freely rotated.

  Thus, in the actuator device of this embodiment, the rotation range of the field portion (rotor) 1 is rotated 90 degrees from the z point (the x or y point, which is the magnetic equilibrium point) that generates the maximum torque. ) Is set within a range smaller than 90 degrees in both directions, so that the rotation starting torque (torques Tb and Te in this embodiment) can be increased. Therefore, even when the load torque is large, the field portion (rotor) 1 can be reliably rotated, and as a result, a high-performance actuator device can be provided. Further, since the structure does not have a reduction gear, there is no mechanical loss due to the reduction gear, and a highly efficient actuator device can be realized. In the case of an outer rotor type in which the armature portion 2 that requires a winding space is arranged inside the field portion 1 to increase the diameter of the field portion 1 and rotate the field portion 1. A large rotational torque can be generated. Moreover, when the winding 22 wound around the iron core 21 is one winding as in this embodiment, there is an advantage that the winding work and the assembly work are facilitated. Furthermore, in the case of the inner rotor type that rotates the armature portion 2 arranged on the inner side, since a contact is necessary, loss due to sliding contact occurs, and long-term reliability is a concern. In the case of the outer rotor type as in the embodiment, since the outer field portion 1 side is rotated, the above loss does not occur and a highly efficient actuator device can be realized.

  Here, in a state where the field portion 1 is at point a or d in FIG. 5 (non-excited state), strictly speaking, the torque is not zero, and the permanent magnet 11 and the armature portion 2 of the field portion 1 The so-called cogging torque (see the solid line K in FIG. 5) is generated by the action of the iron core 21, and this cogging torque acts so as to go to the magnetic stable position (for example, point x or point y in FIG. 5). Here, FIG. 6 shows torque characteristics during forward rotation when the movable range is 90 degrees, and solid lines L, M, and N in the figure flow currents of 3200AT, 2500AT, and 2000AT, respectively, into the winding 22. Torque characteristics in the case, and the solid line O in the figure indicates the cogging torque. According to this figure, at the time of starting, the cogging torque acts toward the magnetic stable point (0 degree position in the figure), that is, in the direction opposite to the starting torque (in the direction of arrow P in FIG. 6). Reduces torque. Therefore, in order to suppress a decrease in starting torque, it is required to reduce the cogging torque. Therefore, in this embodiment, the stopper is made of an elastic material, and the cogging torque is reduced by the reaction force from the stopper, so that a decrease in the starting torque can be suppressed. In addition, by forming the stopper with an elastic material, it is possible to reduce the impact noise to the stopper and reduce the impact at the time of the collision, thereby extending the mechanical life. Further, since the output torque can be reduced as compared with the case where the cogging torque acts, a low output drive circuit can be used, and as a result, the cost can be reduced.

  Here, FIG. 7 shows the main magnetic path in the state shown in FIG. 4B (ie, the state excited in the forward direction). At this time, the magnetic fields of the field part 1 and the armature part 2 are By strengthening each other, the maximum amount of magnetic flux is generated in the path indicated by the broken line C. At the same time, in the yoke 12, the magnetic flux density at the portion between the permanent magnets 11 and 11 is maximized and may cause magnetic saturation. However, in this embodiment, this portion protrudes radially inward. Since the portion 12a is provided, the cross-sectional area of the magnetic path is increased, and as a result, the magnetic flux density is reduced and the magnetic saturation is reduced. Therefore, the magnetic efficiency is improved and a highly efficient actuator device can be realized. An arrow in the permanent magnet 11 indicates the magnetization direction of each permanent magnet 11. Here, the yoke 12 may have no convex portion 12a as shown in FIG. 8, but in consideration of the magnetic saturation as described above, the convex portion 12a is provided as shown in FIG. Is preferred.

  Next, FIG. 10 shows another example of the actuator device of the present embodiment. In this example, the actuator device shown in FIG. 1 in that each permanent magnet 11 is divided into two permanent magnets 11a and 11b, respectively. Is different. The other points are the same as those of the actuator device shown in FIG. 1, and the same components are denoted by the same reference numerals and the description thereof is omitted.

  In this example, in a state where the field magnet portion 1 is rotated so that each permanent magnet 11 faces the winding 22 (that is, a state where the field magnet portion 1 is rotated to a position where the maximum torque is generated), each permanent magnet 11 faces the winding 22. Each of the permanent magnets 11 is divided into permanent magnets 11a and 11b so that no magnetic pole is arranged at the site. In addition, the arrow in a figure has shown the magnetization direction of each permanent magnet 11a, 11b.

  Thus, according to this example, by dividing each permanent magnet 11, the volume of the permanent magnet 11 can be reduced and the weight can be reduced, so that the moment of inertia can be reduced, and as a result, the operation delay at the time of starting is improved. be able to. Moreover, since the generated torque characteristics accompanying rotation can be designed as desired according to the arrangement positions of the permanent magnets 11a and 11b as will be described later, excessive excitation of the armature portion 2 is not necessary, and as a result, current loss is reduced. It can be reduced to increase efficiency.

  In addition, although this embodiment demonstrated the case where each permanent magnet 11 was divided | segmented into two, the division | segmentation number is not limited to this embodiment, In the state rotated to the position which produces | generates a maximum torque, If the magnetic pole is not disposed at a portion facing the winding 22, the winding 22 may be divided into three or more.

  Moreover, in this embodiment, the recess 21a is provided in the center part of the iron core 21 over the perimeter, and in this case, there is a possibility that magnetic saturation is caused by the volume of the iron core 21 being reduced. As shown in the figure, by configuring the winding 22 to be wound around the surface of the iron core 21 via a coil bobbin (not shown), magnetic saturation can be prevented.

(Embodiment 2)
A second embodiment of the actuator device according to the present invention will be described with reference to FIGS. In the first embodiment described above, the permanent magnets 11 are arranged at symmetrical positions around the rotation axis, and the magnetic pole portions 21b of the iron core 21 are formed in the same size. The magnets 11 are arranged at asymmetric positions, and the magnetic pole portions 21b are formed in different sizes. In addition, about another structure, it is the same as that of Embodiment 1, the same code | symbol is attached | subjected to the same component and description is abbreviate | omitted.

  FIG. 11A is an example of this embodiment, and each permanent magnet 11 is disposed at an asymmetric position about the rotation axis. That is, in this example, each permanent magnet 11 is arranged so that the straight lines D and E passing through the magnetic pole center of each permanent magnet 11 and the rotation center P do not line up in a straight line. In addition, the arrow in a figure has shown the magnetization direction of each permanent magnet 11. FIG.

  Here, FIG. 12 shows a specific arrangement example of the permanent magnets 11, and FIG. 13 shows torque characteristics corresponding to these. In FIG. 12A, θa = 45 degrees and θb = 30 degrees are set, and each permanent magnet 11 is eccentric upward. In FIG. 12B, θa = 45 degrees and θb = 60 degrees are set, and each permanent magnet 11 is eccentric downward.

  The broken line H in FIG. 13 is the torque characteristic when θa = θb = 45 degrees, that is, the permanent magnets 11 are arranged symmetrically, and the solid line I is the case of FIG. It is a torque characteristic in the case of 12 (b). From this graph, it can be seen that the output torque varies with the same mechanical angle (rotation angle) by decentering the permanent magnet 11, that is, decentering the magnetic pole.

  Thus, according to the present embodiment, the torque characteristic is adjusted to the required characteristic by using the characteristic that the rotational angle position where the generated torque becomes a peak according to the magnetic pole position of the field magnet portion 1 as described above. As a result, it is not necessary to excite the armature portion 2 excessively to compensate for local torque shortage, and it is possible to reduce energization loss and increase efficiency.

  Note that when the two-part permanent magnets 11 and 11 are eccentric as in the present embodiment, the center of gravity of the field portion 1 is shifted from the center of rotation. For example, a weight (not shown) is used. By making the center of gravity of the field portion 1 coincide with the center of rotation, the field portion 1 can be rotated without being affected by eccentricity. Moreover, when the permanent magnet 11 consists of one component as shown in FIG.11 (b), the said weight becomes unnecessary. In this case, as shown in FIG. 11B, a straight line F passing through the magnetic pole center of one magnetic pole and the rotation center P and a straight line G passing through the magnetic pole center of the other magnetic pole and the rotation center are aligned. What is necessary is just to magnetize each magnetic pole so that it may not line up. In addition, the arrow in a figure has shown the magnetization direction of each magnetic pole formed in the permanent magnet 11. FIG.

  Next, FIG. 14 shows another example of the actuator device of the present embodiment. In the above-described actuator device, the permanent magnet 11 constituting the field portion (rotor) 1 is eccentric, but this example Then, the magnetic pole portions 21b of the iron core 21 constituting the armature portion (stator) 2 are formed in different sizes, and the other configurations are the same. A description thereof will be omitted.

  In the example shown in FIG. 14, the upper magnetic pole portion 21b is smaller than the lower magnetic pole portion 21b. That is, the magnetic poles on the iron core 21 side are eccentric to one side by making the sizes of the upper and lower magnetic pole portions 21b different from each other.

  Thus, according to this example, by forming the pair of magnetic pole portions 21b and 21b in different sizes, the magnetic pole generated on the iron core 21 side can be decentered, and as a result, the generated torque peaks. Since the angular position can be changed, it is not necessary to excite the armature part 2 excessively to compensate for local torque shortage, and it is possible to reduce the energization loss and increase the efficiency. Further, when the iron core 21 constituting the stator is eccentric as in the present example, the field portion 1 that is a rotor is not affected by the eccentricity, and even when the permanent magnet 11 is composed of two parts, it is a weight. There is an advantage that is unnecessary.

  In the first and second embodiments, the actuator device in which the armature portion 2 is a stator and the field portion 1 is a rotor has been described. Conversely, the armature portion 2 is a rotor. An actuator device in which the field unit 1 is a stator may be used. In the first and second embodiments, the winding 22 consisting of one winding is used, and the direction of the current flowing through the winding 22 is switched according to the excitation direction. For example, the winding 22 has two windings. It may be possible to switch the winding through which a current flows according to the excitation direction. Furthermore, the position of the stopper described above may be appropriately set according to the product specifications and the like as long as it is within a range smaller than 90 degrees in both directions across the position where the maximum torque is generated.

  In the first embodiment, the case where there are two permanent magnets 11 has been described. However, the permanent magnet 11 is composed of one component as shown in FIG. The magnetic poles may be magnetized so that the straight lines passing through are aligned on a straight line (that is, the magnetic poles are arranged at symmetrical positions).

The rotor and stator of the actuator apparatus of Embodiment 1 are shown, (a) is a cross-sectional perspective view, (b) is sectional drawing seen from the front. The iron core same as the above is shown, (a) is a perspective view before winding the winding, and (b) is a perspective view after winding the winding. (A) (b) is sectional drawing which shows the magnetization direction of a permanent magnet. (A)-(d) is explanatory drawing explaining operation | movement of a rotor same as the above. It is a graph explaining operation | movement of a rotor same as the above. It is a graph which shows the excitation torque and cogging torque which act on a rotor same as the above. It is explanatory drawing explaining the magnetic flux which generate | occur | produces in a rotor and a stator same as the above. It is sectional drawing seen from the front of the other rotor and stator same as the above. It is a cross-sectional perspective view of other rotor and stator same as the above. It is sectional drawing seen from the front of the further another rotor and stator same as the above. (A) is sectional drawing seen from the front of the rotor and stator of the actuator apparatus of Embodiment 2, (b) is sectional drawing seen from the front of the other permanent magnet used for the same as the above. (A) (b) is a specific example of arrangement | positioning of the permanent magnet which comprises the rotor same as the above. It is a relationship figure which shows the relationship between the rotation angle of a rotor same as the above, and output torque. It is sectional drawing seen from the front of the other rotor and stator same as the above.

Explanation of symbols

1 Field part (rotor)
2 Armature part (stator)
11 Permanent magnet 21 Iron core 21b Magnetic pole part 22 Winding

Claims (8)

  A stator comprising either a field part or an armature part disposed inside the field part, and a rotor comprising the other and rotating with respect to the stator, provided on the rotor In the actuator device that outputs torque around the rotating shaft, the field portion includes a rotor that includes a permanent magnet and is provided with two different magnetic poles arranged in the circumferential direction of the rotating shaft, and the armature portion includes the rotor A pair of magnetic poles that act as a magnetic force between them, and a winding that is wound around the center of the iron core to excite the pair of magnetic poles to generate maximum torque An actuator device comprising a stopper for restricting the rotation of the rotor within a range smaller than 90 degrees in both directions across the position to be moved.   The actuator device according to claim 1, wherein the stopper is made of an elastic material.   The rotor includes two permanent magnets, and includes a cylindrical yoke that is disposed outside the two permanent magnets to form a magnetic path between the two permanent magnets. The convex part which protrudes toward a radial inside so that the thickness in the radial direction of the said yoke may be thickened in the site | part in which a magnet is not arrange | positioned is provided. Actuator device.   4. The rotor according to claim 1, wherein each of the magnetic poles of the rotor is provided so that straight lines passing through the magnetic pole center of the magnetic pole and the rotation center of the rotor are not aligned on a straight line. The actuator device according to claim 1.   The actuator device according to any one of claims 1 to 4, wherein the pair of magnetic pole portions are formed in different sizes.   In a state where each magnetic pole of the rotor is located at a position where the maximum torque is generated, a plurality of the permanent magnets included in the rotor are provided so that the magnetic poles are not arranged at a portion facing the winding of the armature part. The actuator device according to claim 1, wherein the actuator device is divided and arranged.   The said iron core is provided with the recessed part formed over the perimeter in the center part of the said iron core, The said coil | winding is wound in the said recessed part, The any one of Claims 1-6 characterized by the above-mentioned. The actuator device according to item.   The actuator device according to claim 1, wherein the armature part constitutes the stator, and the field part constitutes the rotor.

Images