JP5121467B2 - Rotary actuator - Google Patents

Description

  The present invention relates to a rotary actuator that includes a housing and a rotor that is rotatably provided in the internal space of the housing, and that displaces the rotational position of the rotor by introducing pressure fluid into the internal space.

  Conventionally, a rotary actuator is known as a device that rotationally displaces various members between an initial position and a predetermined angular position. This rotary actuator includes a housing and a rotor rotatably provided in the internal space of the housing, and displaces the rotational position of the rotor by introducing pressure fluid into the internal space.

  For example, in the rotary actuator disclosed in Patent Document 1, a rotor having one vane (rotary blade) is rotatably provided in the inner space of the housing, and the inner space of the housing is divided into two pressure chambers by the vanes of the rotor. The rotor is divided, and the rotor is rotated clockwise by guiding the compressed air to one pressure chamber, and the rotor is rotated counterclockwise by guiding the compressed air to the other pressure chamber.

Japanese Utility Model Publication No. 6-40414

  However, according to the rotary actuator disclosed in Patent Document 1 described above, since there is one vane, a sufficient rotational torque cannot be obtained. In this rotary actuator, in order to obtain a sufficient rotational torque, the area of the vane must be increased, the pressure of the compressed air must be increased, or the amount of compressed air supplied must be increased. If is increased, the rotary actuator becomes larger. Further, when the pressure of the compressed air is increased or the supply amount of the compressed air is increased, the system configuration becomes expensive.

  The present invention has been made to solve such problems, and the object of the present invention is to provide a rotary actuator capable of obtaining sufficient rotational torque without increasing the size and with an inexpensive system configuration. Is to provide.

In order to achieve such an object, a rotary actuator according to the present invention includes an inner wall surface having a substantially annular cross section perpendicular to the axis, and a plurality of partition walls integrally formed projecting from the inner wall surface toward the shaft. Provided in a connecting portion between the rotor shaft and the valve shaft of the valve body, and a rotor connected to the valve shaft of the valve body. And a stroke adjusting mechanism that adjusts the rotation stroke of the rotor shaft to the rotation stroke of the valve shaft of the valve body, and the rotor is positioned one by one in each divided space partitioned by two adjacent partition walls. A rotary vane that divides the space into a first pressure chamber and a second pressure chamber is provided, and the housing is a first for guiding the pressure fluid to the first pressure chamber among the first and second pressure chambers of the divided space. Fluid pressure inlet and split A first fluid pressure introduction port for guiding a pressure fluid to the second pressure chamber among the first and second pressure chambers therebetween, and the pressure fluid flows from the first fluid pressure introduction port to the first pressure chamber. When guided, the rotor rotates in the first rotation direction, and with the rotation of the rotor, the pressure fluid in the second pressure chamber is discharged from the second fluid pressure inlet, and the second fluid pressure introduction When the pressure fluid is guided from the opening to the second pressure chamber, the rotor rotates in the second rotation direction opposite to the first rotation direction, and the first fluid pressure is accompanied with the rotation of the rotor. The pressure fluid in the first pressure chamber is discharged from the inlet, and either one of the first and second fluid pressure inlets is used as a fluid pressure inlet, and pressure is applied from the fluid pressure inlet to one pressure chamber. When the fluid is guided, it is attached in the direction opposite to the direction in which the rotor rotates. Characterized in that it comprises a return spring which imparts a force to the rotor.

In this invention, the pressure fluid is guided from the first fluid pressure inlet to the first pressure chamber of each divided space, and the pressure fluid is supplied to each rotor blade (vane) located in each divided space. Pressure is applied, and the rotor rotates in the direction of the applied pressure (first rotation direction). That is, the rotor rotates in the first rotation direction with the sum of the areas of the rotor blades as the pressure receiving area.

Further, in the present invention, the pressure fluid is guided from the second fluid pressure inlet to the second pressure chamber of each divided space, and pressure is applied to each rotor blade (vane) located in each divided space. The pressure of the fluid is applied, and the rotor rotates in the direction of the applied pressure (direction opposite to the first rotation direction (second rotation direction)). That is, the rotor rotates in the second rotation direction with the total area of the rotor blades as the pressure receiving area.

In the present invention, the first fluid pressure inlet and the second fluid pressure inlet may be provided for all the divided spaces, or only for the predetermined divided spaces. Also good.
In the present invention, if the number of fluid pressure inlets through which pressure fluid is actually introduced is selected, the rotational torque can be varied stepwise.
Further, in the present invention, the rotor is continuously positioned by adjusting the pressure value of the pressure fluid introduced from the first fluid pressure inlet and the pressure value of the pressure fluid introduced from the second fluid pressure inlet. It is also possible to fix with.

In the present invention, the rotary actuator has one of the first and second fluid pressure inlets as a fluid pressure inlet, and when the pressure fluid is led from the fluid pressure inlet to one of the pressure chambers, A return spring is provided that applies a biasing force to the rotor in a direction opposite to the direction of rotation.

In the present invention, for example, if the first fluid pressure inlet is a fluid pressure inlet, when the pressure fluid led from the fluid pressure inlet to one of the pressure chambers disappears, the rotor is moved by the biasing force of the return spring. 2 rotates in the direction of rotation 2 and returns to the initial rotational position. In the present invention, by providing such a return spring, the need for a fluid pressure supply source for returning the rotational position of the rotor to the initial rotational position is eliminated, and the fluid pressure supply source can be completed with one system. Is possible.

  In the present invention, when the return spring is provided, the first rotation direction may be clockwise or counterclockwise. When the first rotation direction is clockwise, when the pressure fluid guided from the fluid pressure introduction port to the one pressure chamber disappears, the rotor rotates counterclockwise by the biasing force of the return spring. When the first rotation direction is counterclockwise, when the pressure fluid guided from the fluid pressure inlet to the one pressure chamber disappears, the rotor rotates clockwise by the biasing force of the return spring.

In the present invention, the fluid in the other pressure chamber compressed by the pressure fluid guided to the one pressure chamber is discharged. In the present invention, when the fluid pressure discharge port is not provided for the other pressure chamber, the fluid in the other pressure chamber is compressed by the pressure fluid guided to the one pressure chamber, and the rotational speed of the rotor decreases. The range of rotation is narrowed. In the present invention, by providing a fluid pressure discharge port for the other pressure chamber, the fluid in the other pressure chamber compressed by the pressure fluid guided to the one pressure chamber is discharged, and the rotational speed of the rotor is increased. The rotor can be rotated over a wide range.

In the present invention, the rotor shaft is connected to the valve shaft of the valve body, and the rotation stroke of the rotor shaft is connected to the connection between the rotor shaft and the valve shaft of the valve body. to be provided a stroke adjusting mechanism for adjusting the stroke. In the present invention, the rotational torque can be increased, but the rotational range (rotational stroke) of the rotor shaft is narrowed. Therefore, the connection between the valve shaft of the shaft and the valve body of the rotor, so as to provide a stroke adjusting mechanism for adjusting the rotational stroke of the shaft of the rotor to the rotation stroke of the valve shaft of the valve body, the axis of the rotor the rotation range to be able to correspond to the rotation range of the valve stem of the valve body.

  In this case, as a stroke adjusting mechanism, an outer ring gear connected to the shaft of the rotor, a planetary gear meshing with the outer ring gear, a planet carrier that supports the planet gear, and a planet gear that is supported by the planet carrier. It is conceivable to use a planetary gear mechanism composed of a sun gear engaged with the valve shaft and connected to the valve shaft of the valve body. When a planetary gear mechanism is used as the stroke adjusting mechanism, the rotor shaft and the valve shaft of the valve body can be made coaxial, and a structure that does not take up space in the direction perpendicular to the shaft can be achieved.

According to the present invention, the annular inner wall surface surrounding the inner space of the housing is provided with a plurality of partition walls formed integrally protruding toward the center of the inner space, and the rotor is partitioned by the partition wall. One rotating blade is provided in each divided space of the inner space to be divided into a first pressure chamber and a second pressure chamber, and the housing is further provided with first and second divided spaces. A first fluid pressure inlet for introducing a pressure fluid to the first pressure chamber of the pressure chambers, and a second for guiding the pressure fluid to the second pressure chamber of the first and second pressure chambers of the divided space. Since the fluid pressure inlet is provided , the pressure fluid is guided to the first pressure chamber of each divided space, and the pressure fluid pressure is applied to each rotor blade located in each divided space. In this way, the pressure receiving area is increased and the rotor blade area is increased. Without, also or as high pressure of the pressure fluid, without or increase the supply amount of the pressure fluid, it is possible to increase the rotation torque. Thereby, sufficient rotational torque can be obtained with an inexpensive system configuration without increasing the size.

Hereinafter, the present invention will be described in detail with reference to the drawings.
[ Reference example ]
FIG. 1 is a diagram showing a main part of a reference example before a description of an embodiment of a system using a rotary actuator according to the present invention. In the figure, reference numeral 100 denotes a rotary actuator, which includes a housing 1 and a rotor 2 rotatably provided in an internal space 1a of the housing 1 as main components.

  201 and 202 are first and second compressed air supply units that supply the first and second compressed air AR1 and AR2, and 300 is a compressed air AR1 from the first and second compressed air supply units 201 and 202. It is a control apparatus which controls supply operation | movement of AR2. The rotary actuator 100 operates by receiving the compressed air AR1 from the first compressed air supply unit 201 and the compressed air AR2 from the second compressed air supply unit 202.

  In the rotary actuator 100, the housing 1 has a cylindrical shape, and a space surrounded by the annular inner wall surface 1b is an internal space 1a. The annular inner wall surface 1b is provided with partition walls 1c (1c1 to 1c4) formed so as to project integrally toward the center of the inner space 1a at an angular interval of 90 °.

The rotor 2 has a drive shaft 2c located at the center of the internal space 1a, and each divided space (fan-shaped space) 1d (1d1 to 1d1) of the internal space 1a partitioned by the partition wall 1c on the circumferential surface of the rotor body 2a. 1d4) and vanes (rotary blades) 2b (2b1 to 2b4) that are located one by one and partition the divided space 1d into a first pressure chamber R1 and a second pressure chamber R2. The tip of each vane 2b extends to the inner wall surface 1b of the housing 1.

  In the housing 1, the tip of each partition wall 1c extends to the circumferential surface of the rotor body 2a, and the partition walls 1c on both sides forming the partition space 1d are formed on the inner wall surface 1b of the housing 1 facing each partition space 1d. In the vicinity of, stoppers ST1 and ST2 are integrally provided so as to protrude.

  In the housing 1, the compressed air AR1 from the first compressed air supply unit 201 is partitioned by the vane 2b between the stopper ST1 and the partition wall 1c adjacent to the stopper ST1 for each divided space 1d. A first compressed air introduction port H1 leading to the first pressure chamber R1 is provided, and a compressed air AR2 from the second compressed air supply unit 202 is provided between the stopper ST2 and the partition wall 1c adjacent to the stopper ST2. Is provided with a second compressed air inlet H2 that leads to the second pressure chamber R2 partitioned by the vane 2b.

  In this rotary actuator 100, the sliding surface between the rotor body 2a and each partition wall 1c, the sliding surface between the inner wall surface 1b and the vane 2b, the upper and lower surfaces of each divided space 1d, and the like are sealed. Thus, there is no air inflow between the divided sections.

[Operation example 1: 2-position operation]
Next, a two-position operation will be described as an operation example 1 of the rotary actuator 100 in this system. In this two-position operation, the control device 300 has a function of selecting between the first operation mode and the second operation mode, and in the first operation mode, compression from the compressed air supply unit 201 to the rotary actuator 100 is performed. The supply operation of the air AR1 is turned on, and the supply operation of the compressed air AR2 from the second compressed air supply unit 202 to the rotary actuator 100 is turned off. In the second operation mode, the supply operation of the compressed air AR2 from the second compressed air supply unit 202 to the rotary actuator 100 is turned on, and the compressed air AR2 from the first compressed air supply unit 201 to the rotary actuator 100 is turned on. Is turned off.

[First operation mode]
When the control device 300 selects the first operation mode, the compressed air AR1 from the first compressed air supply unit 201 is supplied to the rotary actuator 100, and the supplied compressed air AR1 is provided in the housing 1. From the compressed air inlet H1 to the first pressure chamber R1 of each divided space 1d.

  As a result, the pressure of the compressed air AR1 is applied to each of the vanes 2b of the rotor 2 located in each divided space 1d, and the rotor 2 rotates in the direction of this applied pressure (counterclockwise).

  In this case, the air in the second pressure chamber R2 of each divided space 1d is compressed by the rotation of the rotor 2, but the air in the second pressure chamber R2 is discharged from the second compressed air introduction port H2. Therefore, a quick rotation operation of the rotor 2 can be obtained.

  Then, when the vane 2b comes into contact with the stopper ST2 due to the counterclockwise rotation of the rotor 2, the rotation of the rotor 2 is stopped with this position as the first operation mode position (predetermined rotation position).

[Second operation mode]
When the control device 300 selects the second operation mode, the compressed air AR2 from the second compressed air supply unit 202 is supplied to the rotary actuator 100, and the supplied compressed air AR2 is provided in the housing 1 in the second mode. From the compressed air inlet H2 to the second pressure chamber R2 of each divided space 1d.

  Thereby, the pressure of the compressed air AR2 is applied to each of the vanes 2b of the rotor 2 located in each divided space 1d, and the rotor 2 rotates in the direction of the applied pressure (clockwise).

  In this case, the air in the first pressure chamber R1 of each divided space 1d is compressed by the rotation of the rotor 2, but the air in the first pressure chamber R1 is discharged from the first compressed air introduction port H1. Therefore, a quick rotation operation of the rotor 2 can be obtained.

  Then, when the vane 2b comes into contact with the stopper ST1 due to the clockwise rotation of the rotor 2, the rotation of the rotor 2 is stopped with this position as the second operation mode position (initial rotation position).

[Operation example 2: Continuous position operation]
Next, continuous position operation will be described as operation example 2 of the rotary actuator 100 in this system. In this continuous position operation, the control device 300 adjusts the rotational position of the rotor 2 to an arbitrary rotational position within the rotatable range θmin to θmax when the rotatable range of the rotor 2 of the rotary actuator 100 is θmin to θmax. Rotation position adjustment function.

  For example, if the desired rotational position within the rotatable range θmin to θmax of the rotor 2 is θsp, the control device 300 outputs from the first compressed air supply unit 201 so that the rotational position of the rotor 2 becomes θsp. The pressure value of the compressed air AR1 and the pressure value of the compressed air AR2 from the second compressed air supply unit 202 are adjusted.

  The compressed air AR1 whose pressure value has been adjusted is guided from the first compressed air introduction port H1 to the first pressure chamber R1 of each divided space 1d, and the compressed air AR2 whose pressure value has been adjusted is the first air in the housing 1. The second compressed air introduction port H2 leads to the second pressure chamber R2 of each divided space 1d.

  Here, when the pressure value of the compressed air AR1 is higher than the pressure value of the compressed air AR2, a force corresponding to the pressure difference is applied to each of the vanes 2b located in each divided space 1d, and the rotor 2 is rotated counterclockwise. Rotate. When the pressure value of the compressed air AR2 is higher than the pressure value of the compressed air AR1, a force corresponding to the pressure difference is applied to each of the vanes 2b located in each divided space 1d, and the rotor 2 rotates clockwise. Then, the rotation of the rotor 2 stops at a position where the pressure in the first pressure chamber R1 and the pressure in the second pressure chamber R2 are balanced.

As can be seen from the operation examples 1 and 2, in this reference example , the sum of the areas of the vanes 2b of the rotor 2 is the pressure receiving area, so that the compressed air AR1 and AR2 does not increase without increasing the area of the vanes 2b. Thus, the rotational torque of the rotary actuator 100 can be increased without increasing the pressure of the air pressure or increasing the supply amount of the compressed air AR1, AR2. As a result, an increase in the size of the rotary actuator 100 can be avoided, and a sufficient rotational torque can be obtained with an inexpensive system configuration.

[ Embodiment 1 ]
In the reference example described above, the compressed air supply system includes two systems, a first compressed air supply source 201 and a second compressed air supply source 202. On the other hand, in the first embodiment , as shown in the schematic configuration of FIG. 2, the return spring 3 is provided in the rotary actuator 100, thereby providing a single compressed air supply system.

  In this example, a torsion coil spring is provided as the return spring 3 to apply a clockwise biasing force to the rotor 2. Further, only the first compressed air supply source 201 is provided, and the control device 300 controls the supply / cutoff of the compressed air AR1 from the first compressed air supply source 201 to the rotary actuator 100.

In the first embodiment , the compressed air AR1 from the first compressed air supply source 201 is supplied to the rotary actuator 100, and the supplied compressed air AR1 is divided from the compressed air introduction port H1 provided in the housing 1. It is guided to the first pressure chamber R1 in the space 1d.

  Thereby, the pressure of the compressed air AR1 is applied to each of the vanes 2b of the rotor 2 located in each divided space 1d, and the urging force of the return spring 2 in the clockwise direction is applied in the direction of the applied pressure (counterclockwise). The rotor 2 rotates against this.

In this case, the air in the second pressure chamber R2 of each divided space 1d is compressed by the rotation of the rotor 2, but the air in the second pressure chamber R2 is discharged from the compressed air inlet H2. The rotor 2 can be rotated quickly. In the first embodiment , the compressed air introduction port H2 is referred to as a compressed air discharge port.

  The supply of the compressed air AR1 from the first compressed air supply source 201 to the rotary actuator 100 is cut off, and the compressed air AR1 led from the compressed air inlet H1 to the first pressure chamber R1 of each divided space 1d disappears. Then, the rotor 2 rotates in the clockwise direction by the urging force of the return spring 3.

  As a result, the rotor 2 is returned to the initial rotational position, and the two-position operation similar to the above-described operation example 1 is obtained only by the supply / cutoff control of the compressed air AR1. Moreover, the continuous position operation | movement similar to the operation example 2 mentioned above is obtained only by adjustment of the pressure value of compressed air AR1.

  In the example shown in FIG. 2, the urging force in the clockwise direction is applied to the rotor 2 by the return spring 3, but the urging force in the counterclockwise direction is applied to the rotor 2 by the return spring 3. May be. In this case, as schematically shown in FIG. 3, only the second compressed air supply source 202 is provided, and the compressed air AR2 from the second compressed air supply source 202 is supplied from the compressed air inlet H2 of the housing 1. It guide | induces to 2nd pressure chamber R2 of each division | segmentation space 1d. In this case, the compressed air inlet H1 serves as a compressed air discharge port.

[ Embodiment 2 ]
In the first embodiment described above, the partition walls 1c (1c1 to 1c4) are provided on the inner wall surface 1b of the housing 1 at an angular interval of 90 °. However, the partition walls 1c are not necessarily provided at an interval of 90 °. For example, as shown in FIG. 4, partition walls 1c (1c1 to 1c8) may be provided on the inner wall surface 1b of the housing 1 at an angular interval of 45 °.

  In this case, on the peripheral surface of the rotor body 2a, one is located in each of the divided spaces 1d (1d1 to 1d8) of the internal space 1a partitioned by the partition wall 1c, and the divided spaces 1d are connected to the first pressure chamber R1 and the first pressure chamber R1. The vanes 2b (2b1 to 2b8) partitioned into two pressure chambers R2 are provided. In addition, stoppers ST1 and ST2 and first and second compressed air introduction ports H1 and H2 are provided for each divided space 1d.

  In the example shown in FIG. 4, the number of the divided spaces 1d and the vanes 2b is eight, and the number of the divided spaces 1d and the vanes 2b is increased. Thus, the rotational torque of the rotary actuator 100 can be further increased by increasing the number of the divided spaces 1d and the vanes 2b.

[ Embodiment 3 ]
When the number of the divided spaces 1d and the vanes 2b is increased as in the second embodiment, the rotatable range of the rotor 2 is decreased. When the rotatable range of the rotor 2 decreases, for example, as shown in FIG. 5, when the valve shaft 4a of the valve body 4 is moved by the drive shaft 2c of the rotor 2, there is a problem that the rotational range is insufficient. is there.

Therefore, in the third embodiment , as shown in FIG. 6, the rotation stroke (rotation range) of the drive shaft 2 c of the rotor 2 is connected to the connecting portion between the drive shaft 2 c of the rotor 2 and the valve shaft 4 a of the valve body 4. Is provided with a stroke adjustment mechanism 5 for adjusting the rotation stroke (rotation range) of the valve shaft 4 a of the valve body 4.

  For example, as shown in FIG. 7, the rotation stroke of the drive shaft 2 c of the rotor 2 can be reduced by attaching appropriately adjusted gears 5 a and 5 b to the drive shaft 2 c of the rotor 2 and the valve shaft 4 a of the valve body 4. The rotational stroke of the valve shaft 4a of the valve body 4 is matched.

  If a planetary gear mechanism is used as the stroke adjusting mechanism 5, the drive shaft 2c of the rotor 2 and the valve shaft 4a of the valve body 4 can be coaxial, and no space is taken in a direction perpendicular to the shaft. Can be structured.

  A planetary gear mechanism is a well-known mechanism that has a structure in which a plurality of planetary gears rotate and revolve around a sun gear. A large reduction ratio can be obtained with a small number of stages, and a large torque can be transmitted. It has the characteristics that the input shaft and the output shaft can be arranged on the same axis.

  One unit of the planetary gear mechanism has a planetary carrier 5- that picks up the revolving motion of the sun gear 5-1, the planetary gear 5-2, and the planetary gear 5-2 as shown in FIG. 3 and an outer ring gear 5-4.

  When this planetary gear mechanism is used as the stroke adjusting mechanism 5, the outer ring gear 5-4 is connected to the drive shaft 2c of the rotor 2, and the planetary gear 5-supported on the planet carrier 5-3 by the outer ring gear 5-4. 2 is engaged, the planetary gear 5-4 is engaged with the sun gear 5-1, and the valve shaft 4a of the valve body 4 is connected to the sun gear 5-1.

In the first to third embodiments described above, the first compressed air inlet H1 and the second compressed air inlet H2 may be provided only for the predetermined divided space 1d.
Moreover, in Embodiment 1-3 mentioned above, although demonstrated using the example which used compressed air as a pressure fluid, it cannot be overemphasized that a pressure fluid is not restricted to compressed air.

In the first to third embodiments described above, the number of compressed air inlets H1 and H2 through which compressed air is actually introduced may be selected. In this way, it is possible to change the rotational torque of the rotary actuator 100 stepwise by changing the number of vanes 2b to which the pressure of the compressed air AR1 or AR2 is applied, that is, changing the pressure receiving area.

Is a drawing showing the essential components of the previous reference example entering the description of an embodiment of a system using a rotary actuator according to the present invention. Is a drawing showing the essential components of an embodiment of a system using a rotary actuator according to the present invention (implementation of Embodiment 1). It is a figure which shows the principal part of other embodiment ( Embodiment 2 ) of the system using the rotary actuator which concerns on this invention. It is sectional drawing which illustrates the outline of the rotary actuator which increased the division | segmentation space and the vane. It is a figure which shows the example which moves the valve shaft of a valve body with the drive shaft of a rotor. It is a figure which shows the example which provided the stroke adjustment mechanism in the connection part between the drive shaft of a rotor, and the valve shaft of a valve body. It is a figure explaining adjustment with the rotation stroke of the drive shaft of a rotor, and the rotation stroke of the valve shaft of a valve body. It is a figure which shows the schematic structure of a planetary gear mechanism.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Housing, 1a ... Internal space, 1b ... Inner wall surface, 1c (1c1-1c8) ... Partition wall, 1d (1d1-1d8) ... Divided space, ST1, ST2 ... Stopper, R1 ... First pressure chamber, R2 ... 2nd pressure chamber, H1 ... 1st compressed air inlet, H2 ... 2nd compressed air inlet, 2 ... Rotor, 2a ... Rotor drum, 2b (2b1-2b8) ... Vane (rotary blade), 2c ... Drive shaft, 3 ... return spring, 4 ... valve body, 4a ... valve shaft, 5 ... stroke adjusting mechanism, 5a, 5b ... gear, 5-1 ... sun gear, 5-2 ... planetary gear, 5-3 ... planetary carrier 5-4 ... Outer ring gear, 100 ... Rotary actuator, 201 ... First compressed air supply unit, 202 ... Second compressed air supply unit, 300 ... Control device, AR1, AR2 ... Compressed air.

Claims (2)

A housing having a substantially annular inner wall surface perpendicular to the axis and a plurality of integrally formed partition walls projecting from the inner wall surface toward the shaft;
A rotor provided rotatably around the axis of the housing , the shaft of which is connected to the valve shaft of the valve body;
A stroke adjusting mechanism that is provided at a connecting portion between the shaft of the rotor and the valve shaft of the valve body, and adjusts the rotation stroke of the shaft of the rotor to the rotation stroke of the valve shaft of the valve body;
The rotor is
One rotary blade is located in each divided space partitioned by two adjacent partition walls, and divides the divided space into a first pressure chamber and a second pressure chamber, and
The housing is
A first fluid pressure inlet for guiding the pressure fluid to a first pressure chamber of the first and second pressure chambers of the divided space;
A second fluid pressure inlet for guiding the pressure fluid to a second pressure chamber among the first and second pressure chambers of the divided space;
When the pressure fluid is guided from the first fluid pressure inlet to the first pressure chamber, the rotor rotates in the first rotation direction, and the second fluid accompanies the rotation of the rotor. The pressure fluid in the second pressure chamber is discharged from the pressure inlet,
When the pressure fluid is guided from the second fluid pressure inlet to the second pressure chamber, the rotor rotates in a second rotation direction opposite to the first rotation direction, and this With the rotation of the rotor, the pressure fluid in the first pressure chamber is discharged from the first fluid pressure inlet,
Furthermore,
One of the first and second fluid pressure inlets is used as a fluid pressure inlet, and the rotor rotates when the pressure fluid is guided from the fluid pressure inlet to the one pressure chamber. Comprises a return spring for applying a biasing force in the opposite direction to the rotor . The rotary actuator according to claim 1 ,
The stroke adjusting mechanism is
An outer ring gear coupled to the shaft of the rotor;
A planetary gear meshing with the outer ring gear;
A planet carrier that supports this planetary gear,
A rotary actuator characterized by being a planetary gear mechanism comprising a planetary gear that is pivotally supported by the planetary carrier and a sun gear that is connected to the valve shaft of the valve body .

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