JP5292541B2 - Rotating linear motion combined action actuator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To obtain an electromagnetic actuator having a minimal diameter, which can be driven with a low voltage to perform rotation, direct drive, and compound movement of rotation such as spiral movement and direct drive with high precision. <P>SOLUTION: A structure comprises: a moving member 101 having a magnetic pole portion 102 where magnetic poles are formed to divide a cylindrical body in the shape of a matrix and an output shaft 103; a stator 106 consisting of a housing 104 and a cylindrical exciting coil portion 105 where exciting coils are arranged in a matrix by dividing the exciting coil portion into a larger number of segments than the segments in the magnetic pole portion; and a bearing portion 107 for supporting the moving member. Excitation pattern of the exciting coils constituting the exciting coil portion 105 is changed, so that the moving member 101 performs rotation, direct drive and compound movement thereof. <P>COPYRIGHT: (C)2009,JPO&amp;INPIT

Description

  The present invention relates to an electromagnetic actuator capable of causing a mover to perform rotation, linear motion, and combined operation of rotation and linear motion.

  In recent years, in the field of vascular endoscopic devices, development of actuators using an electromagnetic motor having an extremely small diameter of φ2 mm or less, an ultrasonic motor, or the like is progressing.

  As an actuator used in the living body of such a vascular endoscope device, it can be driven at a lower voltage from the viewpoint of safety, is smaller for insertion into a blood vessel, and performs more advanced operations. In addition, it is desired that a complicated operation, for example, a combined operation of rotation and linear motion such as rotation and linear motion and spiral motion can be performed with high accuracy by a single drive source.

  When comparing an ultra-small diameter electromagnetic motor of about φ2 mm applicable to a blood vessel endoscope device and an ultrasonic motor with a driving voltage, the ultrasonic motor needs to apply several 10 to 100 V with the driving voltage. The electromagnetic motor can be driven with a DC voltage as low as 3 V or less.

  On the other hand, as an actuator that can perform a spiral motion (rotational motion + linear motion) in addition to rotational motion and linear motion with an electromagnetic motor, there is one having the following structure (Patent Document 1).

  This is because the stator core is subjected to rotary winding and linear winding to form a stator, and N pole magnets are arranged on the surface of the cylindrical mover core in a circumferential and axial direction every other pole. Each N-pole magnet has a structure in which S-pole magnets are arranged every other pole in the circumferential direction and the axial direction at positions shifted by one pole in the circumferential direction and the axial direction.

  In this structure, three-phase alternating current is applied to the rotary winding to rotate the mover, or direct current is applied to the linear winding to move the mover straight, or three-phase alternating current and direct current are applied to both windings. To make a spiral movement.

According to the above prior art, an electromagnetic motor having good power factor, efficiency, and controllability has the effect of being able to perform rotation, linear motion, and spiral motion.
JP-A-2005-20885

  However, the actuator described in Patent Document 1 which is a prior art has an exciting coil (rotary winding) for applying an AC voltage and an exciting coil for applying a DC voltage for linear motion to rotate the mover. Since it is necessary to arrange the (linear winding) separately, it is extremely difficult to realize this with a size of about φ2 mm.

  In addition, it is possible to cause the mover to perform the fine and precise movement required for an vascular endoscopy device, as well as an excitation coil (rotary winding) that applies an AC voltage to rotate it and a DC to make a linear motion. It can be said that it is extremely difficult in a structure in which excitation coils (linear windings) for applying a voltage are separately arranged.

  On the other hand, although an ultrasonic motor can perform a fine and precise operation, it is difficult to drive at a high speed, and it is necessary to apply a driving voltage of several tens to 100 V in order to drive it. It is not preferable as a device to be used.

  In response to these problems, the present invention provides an electromagnetic actuator that can perform combined operation motions of rotation and linear motion such as rotation, linear motion, and spiral motion with low voltage drive and high accuracy while having a very small diameter. The purpose is to provide.

  The invention according to claim 1 of the present invention has a stator having a plurality of exciting coils and a magnetic pole portion in which different magnetic poles are alternately arranged, and is movable and also capable of linear movement in the axial direction. An electromagnetic actuator comprising a child and a bearing portion that supports the mover.

The magnetic pole portion of the mover is a thin film magnet, and magnetic poles that are finely magnetized to have different polarities in the rotation direction and the axial direction of the mover are arranged in a matrix with the adjacent magnetic poles different from each other. .

The exciting coil of the stator is a cylindrical pattern coil in which coil patterns are arranged in a matrix so that the following formula is established with respect to a matrix of magnetic poles formed in the magnetic pole portion.

  In the arrangement of the excitation coils, the excitation coil constituting the matrix is set to a range of a plurality of adjacent coils excited by only the same magnetic pole, and the excitation pattern is changed for each region. It is configured to perform a combined motion of rotation and linear motion such as rotation, linear motion, and spiral motion.

According to a second aspect of the present invention, in the electromagnetic actuator according to the first aspect, the bearing portion that supports the mover is arranged over the entire inner peripheral portion of the stator, and the entire inner peripheral surface of the bearing portion. The mover is supported.

According to a third aspect of the present invention, in the electromagnetic actuator according to the first or second aspect , a magnetic material is arranged in a hollow portion of at least a part of the exciting coils constituting the matrix.

前記励磁コイルの配置において、マトリックスを構成する励磁コイルを、同一の磁極のみで励磁した隣接する複数のコイルの範囲を１つの領域として、領域毎に励磁パターンを変化させることにより、前記可動子を回転、直動及び螺旋運動等の回転と直動の複合動作運動するように構成したものである。
According to a fourth aspect of the present invention, there is provided a stator having a plurality of exciting coils, a magnetic pole portion in which different magnetic poles are alternately arranged, a movable element that is rotatable and movable in the axial direction, and the movable element. In the electromagnetic actuator having a bearing portion for supporting a child, the magnetic pole portion of the mover is arranged in a matrix in a state in which portions having recesses and portions not having recesses are arranged alternately. A permanent magnet with the same magnetic pole is disposed in the same direction with respect to the concave-shaped component surface, and a magnetic pole different in polarity from the permanent magnet is induced in the portion having no concave portion. Therefore, in the matrix arrangement, the magnetic poles having different polarities in the rotation direction and the axial direction of the mover are different from each other in the adjacent magnetic poles, and the exciting coil of the stator is the magnetic pole portion. Formed into That against the matrix of the pole, such that the following formula is valid, a cylindrical pattern coil disposed in a matrix form of coil patterns,

In the arrangement of the excitation coils, the excitation coil constituting the matrix is set to a range of a plurality of adjacent coils excited by only the same magnetic pole, and the excitation pattern is changed for each region. It is configured to perform a combined motion of rotation and linear motion such as rotation, linear motion, and spiral motion.

According to a fifth aspect of the present invention, in the electromagnetic actuator according to the fourth aspect , the bearing portion that supports the mover is disposed over the entire inner peripheral portion of the stator, and the entire inner peripheral surface of the bearing portion is arranged. The mover is supported.

According to a sixth aspect of the present invention, in the electromagnetic actuator according to the fourth or fifth aspect , a magnetic material is disposed in at least a part of the hollow portions of the exciting coils of the individual exciting coils constituting the matrix.

According to one aspect of the present invention, a compact electromagnetic actuator capable of performing a combined motion of rotation and linear motion such as rotation, linear motion, and spiral motion with high accuracy with low voltage drive is realized. be able to.

Furthermore , according to one aspect of the present invention, by using a pattern coil as the excitation coil, more precise operation is possible by making the excitation coils arranged in a matrix into a multi-segment, and the stator is further updated. The miniaturization becomes possible.

Furthermore , according to one aspect of the present invention, it is possible to hold the mover even when the excitation coil is not energized by disposing a magnetic body in at least a part of the hollow portion of the excitation coil. .

Furthermore , according to one aspect of the present invention, the arrangement of the magnetic poles in the magnetic pole portion of the mover is performed by fine magnetization of the thin film magnet, so that the magnetic pole portion of the mover can be further multipolarized and the mover can be further increased. Miniaturization is possible.

Furthermore , according to one aspect of the present invention, the magnetic pole portion of the mover is arranged in a matrix in a state in which portions having recesses and portions not having recesses are alternately arranged.

  Permanent magnets having the same magnetic pole are arranged in the same direction with respect to the concave configuration surface in the portion having the concave portion, and a magnetic pole different in polarity from the permanent magnet is induced in the portion having no concave portion.

  By doing so, the magnetic pole width is determined by the geometric shape of the portion having the concave portion and the portion not having the concave portion as compared with the case where the permanent magnet is magnetized by changing the direction of the adjacent magnetic pole, The variation in the magnetic pole width can be reduced, and the effect becomes more remarkable as the magnetic pole width becomes smaller.

  In addition, because of the structure of the mover, the magnet is single pole pair magnetized, so the structure of the magnetized yoke is simplified and sufficient coil space can be secured, so even a thin film magnet with a large demagnetizing factor is saturated. Magnetization is possible. That is, it is possible to improve the generated magnetic flux density of the magnetic pole and to suppress the variation in the generated magnetic flux density for each magnetic pole.

  Furthermore, the number of permanent magnets to be used can be reduced as compared with the case where the permanent magnets are arranged in a matrix by changing the direction of adjacent magnetic poles to form a similar magnetic pole portion.

Furthermore , according to one aspect of the present invention, the bearing portion supporting the mover is arranged over the entire inner peripheral portion of the stator, and the movable member is supported by the entire inner peripheral surface of the bearing portion. The movable range in the axial length direction of the mover is not limited by the bearing portion.

  Hereinafter, a rotary / linear motion combined operation actuator according to the best mode of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected about the same component in each embodiment.

Embodiment 1
FIG. 1 is a structural diagram of an electromagnetic actuator capable of rotation, linear motion, and combined operation of rotation and linear motion according to Embodiment 1 of the present invention.

  A stator 106 constituted by a cylindrical housing 104 and an exciting coil portion 105 composed of a plurality of coils arranged on the inner peripheral portion of the housing 104, and a cylindrical magnetic pole portion 102 in which permanent magnets of different magnetic poles are alternately arranged. And the output shaft 103, and a bearing portion 107 that supports the mover 101.

  The cylindrical magnetic pole portion 102 has permanent magnets with different magnetic poles in the circumferential direction, that is, a state in which four N poles and S poles are alternately arranged, and permanent magnets adjacent to each other also in the axial direction. Six rows are arranged so as to have different polarities. That is, in the magnetic pole part 102 of the mover 101, magnetic poles are arranged in a 4 × 6 matrix in a cylindrical outer peripheral part.

The exciting coil unit 105 provided in the stator 106 has a coil in a range corresponding to the matrix of magnetic poles in the range of 4 × 4 rows with respect to the matrix of 4 × 6 rows of magnetic poles formed in the magnetic pole portion 102. Is arranged.

  At this time, for one of the magnetic poles arranged in a matrix in the magnetic pole portion 102, that is, one matrix of magnetic poles, three coils in the circumferential direction and two in the axial length direction are arranged in total. ing. That is, coils are arranged in a 12 × 8 matrix in the exciting coil section 105 provided on the inner peripheral portion of the cylindrical housing 104.

  FIGS. 2 and 3 are diagrams showing the positional relationship between the magnetic pole of the magnetic pole part 102 in the rotational direction and the coil of the exciting coil part 105 and the operating principle in the first embodiment of the present invention.

  FIG. 2A shows the positional relationship between the magnetic pole and the coil, and FIG. 2B is a development view in which a matrix in which the magnetic pole is formed on the cylindrical outer peripheral portion of the cylindrical magnetic pole portion 102 is developed. 2 (c) shows a developed view of the cylindrical inner peripheral side of the matrix formed by the coil in the cylindrical exciting coil unit 105. FIG. That is, the corresponding matrixes in the developed views of FIGS. 2B and 2C are mirror images.

  As shown in FIG. 2, the coils constituting the exciting coil unit 105 are excited to the same magnetic pole in a range of 3 × 2 rows (circumferential direction × axial length direction) corresponding to one matrix of magnetic poles, In addition, the range of 3 × 2 rows adjacent to each other in the circumferential direction and the axial length direction is excited with different polarity.

  The region of the coil excited by the same magnetic pole corresponding to one matrix of the magnetic poles moves one after another in the circumferential direction without changing the size of the range, so that The mover rotates due to the suction and repulsive force generated between them.

  Specifically, for example, with respect to Mb-1 (N pole) in the development view of the matrix formed by the magnetic poles in the magnetic pole part 102 in FIG. 2B, the exciting coil part 105 in FIG. The area corresponding to the developed view of the matrix formed by the coils in FIG. 6 is the six exciting coils excited at the S pole of [Ca-1, 2, 3, Cb-1, 2, 3]. It is the range comprised by.

  This excitation coil group is in the state of FIG. 3C-2 [Ca-2, 3, 4, Cb-2, 3, 4] → state of FIG. 2C-3 [Ca-3, 4, 5 , Cb-3, 4, 5] → move without changing the size of the state [Ca-4, 5, 6, Cb-4, 5, 6] in FIG. Accordingly, Mb-1 (N pole) also changes its position as shown in FIGS. 3A-2, 3 and 4, and similarly corresponds to one matrix of magnetic poles in the range of adjacent regions at the same time. By changing the position of the range of the region, the mover rotates.

  4 and 5 are diagrams showing the positional relationship between the magnetic pole of the magnetic pole portion 102 in the linear motion direction and the coil of the exciting coil portion 105 and the operation principle in the first embodiment of the present invention.

  FIG. 4A shows the positional relationship between the magnetic pole and the coil, and FIG. 4B is a development view in which a matrix in which the magnetic pole is formed on the cylindrical outer peripheral portion of the cylindrical magnetic pole portion 102 is developed. 4 (c) is a development view in which the cylindrical inner peripheral side of the matrix formed by the coil in the cylindrical exciting coil unit 105 is developed. That is, the corresponding matrices in the developed views of FIGS. 4B and 4C are mirror images.

  As shown in FIG. 4, the coils constituting the exciting coil unit 105 are excited to the same magnetic pole in a range of 3 × 2 rows (circumferential direction × axial length direction) corresponding to one matrix of magnetic poles, and The 3 × 2 column ranges adjacent to each other in the circumferential direction and the axial length direction are excited with different polarities.

  The region of the coil excited by the same magnetic pole corresponding to one matrix of the magnetic poles moves in the axial length direction one after another without changing the size of the range except at both ends of the exciting coil unit 105, The mover moves linearly by the attractive and repulsive forces generated between the corresponding magnetic pole portions 102 and the magnetic poles.

  Specifically, for example, with respect to Me-1 (S pole) in the development of the matrix formed by the magnetic poles in the magnetic pole portion 102 in FIG. 4B, the exciting coil portion 105 in FIG. The range of the corresponding region in the development diagram of the matrix that the coil is composed of is 6 exciting coils excited at the N pole of [Cg-1, 2, 3, Ch-1, 2, 3] It is the range comprised by.

  This excitation coil group is in the state of FIG. 5C-2 [Cf-1, 2, 3, Cg-1, 2, 3] → state of FIG. 5C-3 [Ce-1, 2, 3 , Cf-1, 2, 3] → The state [Cd-1,2,3, Ce-1,2,3] in FIG. 5C-4 and the area is moved without changing the size of the area. Thus, Me-1 (S pole) also changes its position as shown in FIGS. 5 (a) -2, 3, and 4, and similarly corresponds to one matrix of magnetic poles in the range of adjacent regions at the same time. By changing the position of the area range, the mover moves linearly.

  Further, in the development of the matrix formed by the coils, the excitation coil group is rotated by moving the region corresponding to one matrix of the matrix formed by the magnetic poles in the magnetic pole portion 102 to rotate the mover. Can be combined with linear motion.

  Specifically, for example, in the exciting coil unit 105 of FIG. 4C-1, the range of the six exciting coil areas excited to the N pole [Cg-1, 2, 3, Ch-1, 2, 3] to [Cf-2, 3, 4, Cg-2, 3, 4] → [Ce-3, 4, 5, Cf-3, 4, 5] → [Cd-4, 5, 6, By moving the region to Ce-4, 5, 6] without changing the size of the range of the region, the movable element can be combined with rotation and linear motion.

Embodiment 2
In the first embodiment, in order to facilitate understanding of the driving principle, the magnetic pole portion 102 shown in FIG. 1 is arranged in a matrix of 4 × 6 magnetic poles, and the exciting coil portion 105 is arranged in a matrix of 12 × 8 rows. However, a structure obtained by further subdividing the coil matrix constituting the exciting coil unit 105 can be applied to an extremely small diameter actuator having an outer diameter of 2 mm or less. A mode of application to this extremely small diameter actuator will be described as a second embodiment.

  FIG. 6 is a structural diagram of an electromagnetic actuator capable of rotation, linear motion, and combined operation of rotation and linear motion according to Embodiment 2 of the present invention.

  The basic driving principle and structure are the same as those in the first embodiment, but the actuator has an outer diameter of 2 mm and a total length of 14 mm including the output shafts 103 at both ends.

  The excitation coil portion 105 disposed on the inner peripheral portion of the extremely small diameter housing 104 is a pattern coil having a substantially spiral shape and a matrix of 40 × 48 rows (circumferential direction × axial length direction) formed in layers.

  The magnetic pole portion 102 is finely magnetized with a pitch width of about 300 μm in the circumferential direction so that the direction of the magnetic poles is in the radial direction, whereby 4 × A matrix of 6 rows (circumferential direction x axial length direction) is formed.

  At this time, the area formed by the coils of the exciting coil unit 105 corresponding to one matrix of magnetic poles is 10 × 8 rows.

  The actuator according to the second embodiment is of a size that can be used in a blood vessel of a living body as a blood vessel endoscope device, and more precisely movable by subdividing the coil matrix that constitutes the excitation coil unit 105. The child can move.

  Further, in the combined operation of rotation and linear motion, a spiral motion that forms a vortex in the output shaft 103, or an extremely complicated motion in which the movement amount in the rotation direction and the movement amount in the linear motion direction are irregularly changed is performed. be able to.

Embodiment 3
FIG. 7 illustrates a state in which the magnetic body 108 is arranged in the hollow portion 109 of the coil constituting the exciting coil portion 105 according to the third embodiment of the present invention.

  By providing the magnetic body 108, the mover 101 can be held even when the exciting coil unit 105 is not energized.

  The magnetic body 108 disposed in the hollow portion of the coil may be disposed in the hollow portions of all the coils constituting the exciting coil portion 105 or may be disposed only in the hollow portions of some coils. .

Embodiment 4
FIG. 8 shows that the portions having the concave portions 110 and the portions not having the concave portions 110 of the magnetic pole portion 102 made of the magnetic material of the mover 101 are arranged in a matrix state alternately arranged according to the fourth embodiment of the present invention. In the portion having the recess 110, the N pole side of the permanent magnet 102a appears on the outer peripheral surface of the mover 101 so as to appear on the constituent surface of the recess shape, and in the portion not having the recess 110, the S pole The state in which the magnetic poles are induced is illustrated.

  By adjusting the distances x and y of the magnetic gap and the distances between the magnetic poles and the excitation coil unit 105 shown in the enlarged view in FIG. 8, between the N pole of the permanent magnet and the coil of the excitation coil unit 105 corresponding thereto. The generated thrust and the thrust generated between the S pole induced in the portion not having the recess 110 and the corresponding coil of the exciting coil unit 105 can be set to the same value.

  The permanent magnet 102a is arranged in the concave portion so that the S pole side of the permanent magnet 102a appears on the outer peripheral surface of the mover 101 in the portion having the concave portion 110, and is disposed on the concave configuration surface. An N-pole magnetic pole may be induced in a portion not having 110.

Embodiment 5
FIG. 9 shows a bearing portion 107 that supports the mover 101 according to the fifth embodiment of the present invention arranged over the entire inner peripheral portion of the exciting coil portion 105 that constitutes the stator 106, and the entire inner peripheral surface of the bearing portion 107. The structure state which supports the needle | mover 101 is shown in figure.

  With this structure, the movable range of the movable element 101 in the axial length direction is not limited by the bearing portion 107.

Embodiment 6
FIG. 10 illustrates the structure of an electromagnetic actuator according to the sixth embodiment of the present invention.

  In the sixth embodiment, the movable portion having the concave portion 110 according to the fourth embodiment is different from the structure in which the bearing portion 107 of the fifth embodiment is arranged over the entire inner peripheral portion of the exciting coil portion 105 constituting the stator 106. The child 101 is used.

  In the structure according to the sixth embodiment, the bearing unit 107 does not limit the movable range of the mover 101 in the axial length direction. In addition, the bearing unit 107 includes only the portion where the mover 101 does not have the recess 110. The sliding area can be reduced by supporting. Further, the surface roughness of the portion not having the concave portion 110 can be reduced as compared with the permanent magnet.

  As a result, if the inner diameter and length of the bearing portion 107 are under the same conditions, the sliding loss and wear between the bearing portion 107 and the mover 101 are further reduced compared to the case where the mover 101 does not have a recess. Reduced.

  In the embodiment described above, an example in which the magnetic poles are arranged in a matrix of 4 × 6 rows in the magnetic pole portion 102 and the coils are arranged in a matrix of 12 × 8 rows in the exciting coil portion 105 as the first embodiment, and the magnetic pole portion 102 as the second embodiment. In this example, the magnetic poles are arranged in 4 × 6 rows and the exciting coil unit 105 is arranged in a matrix shape with 40 × 48 rows. However, the arrangement of the magnetic poles and the exciting coils is not limited to these combinations.

In the present invention, the matrix-like arrangement state of the magnetic poles and the exciting coils may satisfy the following conditions.
The magnetic poles of the mover are arranged in a matrix with the adjacent magnetic poles different from each other. The excitation coil of the stator is arranged in a matrix so that the following formula is satisfied.

  When driving, the coils are excited in a pattern for each region so that adjacent m × n regions have different polarities alternately.

  The rotation changes the excitation pattern so that the m × n region is moved in the rotation direction by 1 to m−1 matrix in the m direction. The magnetic pole of the magnet repels from the m × n region before the change and rotates so as to be attracted toward the m × n region after the change.

  Similarly to the rotation of the linear motion, the excitation pattern is changed so that the m × n region is moved in the linear motion direction by a matrix of 1 to n−1 in the n direction.

  In the rotation / linear motion combined operation, the m × n region is directed in the diagonal direction when the matrix of 1 to m−1 in the m direction and the matrix of 1 to n−1 in the n direction are expanded, that is, the coil matrix is expanded. By moving the excitation pattern at an arbitrary angle, the mover performs a combined motion.

  In the second embodiment, the electromagnetic actuator applicable to a vascular endoscope device used in a blood vessel of a living body has an outer diameter of 2 mm and a length of 14 mm. However, the electromagnetic actuator of the present invention is applied. What can be done is not limited to the field of vascular endoscopic devices and the like, and of course, the size as an electromagnetic actuator is not limited to an outer diameter of 2 mm and a length of 14 mm.

  It can be applied to any device that uses the rotation and linear motion of the mover and their combined motion, and the size can be realized in any size depending on the device to be applied and the stroke in the required linear motion direction. can do.

  In addition, the types and forms of bearings that support the excitation coil, magnetic poles, and mover applied to the electromagnetic actuator of the present invention are not particularly limited, and are appropriate according to the required size and performance of the actuator. Can be used.

It is sectional drawing of the electromagnetic actuator which shows Embodiment 1 of this invention. (A) It is a figure showing the positional relationship of the magnetic pole of the needle | mover of an electromagnetic actuator rotation direction, and an exciting coil based on Embodiment 1 of this invention. (B) It is an expanded view of the matrix which the magnetic pole of the needle | mover which concerns on Embodiment 1 of this invention comprises. (C) It is an expanded view of the matrix which the exciting coil of the stator of the electromagnetic actuator based on Embodiment 1 of this invention comprises. (A) It is a figure showing the positional relationship of the magnetic pole of a needle | mover and exciting coil at the time of electromagnetic actuator rotation operation based on Embodiment 1 of this invention. (C) It is an expanded view of the matrix which the exciting coil of the stator at the time of electromagnetic actuator rotational operation which concerns on Embodiment 1 of this invention comprises. (A) It is a figure showing the positional relationship of the magnetic pole of the needle | mover and exciting coil at the time of the electromagnetic actuator linear motion based on Embodiment 1 of this invention. (B) It is an expanded view of the matrix which the magnetic pole of the needle | mover which concerns on Embodiment 1 of this invention comprises. (C) It is an expanded view of the matrix which the exciting coil of the stator of the electromagnetic actuator based on Embodiment 1 of this invention comprises. (A) It is a figure showing the positional relationship of the magnetic pole of the needle | mover and exciting coil at the time of the electromagnetic actuator linear motion based on Embodiment 1 of this invention. (C) It is an expanded view of the matrix which the exciting coil of the stator at the time of the electromagnetic actuator linear motion based on Embodiment 1 of this invention comprises. It is sectional drawing of the electromagnetic actuator which shows Embodiment 2 of this invention. It is sectional drawing of the electromagnetic actuator which shows Embodiment 3 of this invention. It is sectional drawing of the electromagnetic actuator which shows Embodiment 4 of this invention. It is sectional drawing of the electromagnetic actuator which shows Embodiment 5 of this invention. It is sectional drawing of the electromagnetic actuator which shows Embodiment 6 of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Rotation | straight-line direct acting combined action electromagnetic actuator 101 Movable element 102 Magnetic pole part 102a Permanent magnet 103 Output shaft 104 Housing 105 Excitation coil part 106 Stator 107 Bearing part 108 Magnetic body 109 Hollow part 110 Recessed part x, y Distance of magnetic gap

Claims (6)

A stator having a plurality of exciting coils, a magnetic pole portion in which different magnetic poles are alternately arranged, a movable portion that is rotatable and movable in the axial direction, and a bearing portion that supports the movable portion. In the electromagnetic actuator
The magnetic pole part of the mover is a thin-film magnet, and magnetic poles that are finely magnetized to have different polarities in the rotation direction and the axial direction of the mover are arranged in a matrix with the adjacent magnetic poles different from each other. ,
Exciting coils of the stator, with respect to the matrix of the magnetic pole formed in the magnetic pole portions, such that the following formula is valid, a cylindrical pattern coils the coil pattern is arranged in a matrix,

In the arrangement of the excitation coils, the excitation coil constituting the matrix is set to a range of a plurality of adjacent coils excited by only the same magnetic pole, and the excitation pattern is changed for each region. An electromagnetic actuator characterized by being configured to perform a combined operation motion of rotation and linear motion such as rotation, linear motion, and spiral motion. The electromagnetic actuator according to claim 1,
An electromagnetic actuator characterized in that a bearing portion that supports the mover is arranged over the entire inner peripheral portion of the stator, and the mover is supported by the entire inner peripheral surface of the bearing portion. 3. The electromagnetic actuator according to claim 1, wherein a magnetic material is arranged in at least a part of the hollow portion of each exciting coil constituting the matrix.
A stator having a plurality of exciting coils, a magnetic pole portion in which different magnetic poles are alternately arranged, a movable portion that is rotatable and movable in the axial direction, and a bearing portion that supports the movable portion. In the electromagnetic actuator
The magnetic pole portion of the mover is arranged in a matrix in a state in which portions having recesses and portions not having recesses are alternately arranged, and permanent magnets with the same magnetic poles in the portions having the recesses, It is arranged in the same direction with respect to the concave-shaped constituent surface, and a magnetic pole different from the permanent magnet is induced in a portion not having the concave portion, so that it is movable in the matrix-like arrangement. Magnetic poles with different polarities in the rotation direction and axial direction of the child are different from each other in the adjacent magnetic poles,
  The excitation coil of the stator is a cylindrical pattern coil in which a coil pattern is arranged in a matrix so that the following formula is established for a matrix of magnetic poles formed in the magnetic pole part:

In the arrangement of the excitation coils, the excitation coil constituting the matrix is set to a range of a plurality of adjacent coils excited by only the same magnetic pole, and the excitation pattern is changed for each region. An electromagnetic actuator characterized by being configured to perform a combined operation motion of rotation and linear motion such as rotation, linear motion, and spiral motion. The electromagnetic actuator according to claim 4, wherein
  An electromagnetic actuator characterized in that a bearing portion that supports the mover is arranged over the entire inner peripheral portion of the stator, and the mover is supported by the entire inner peripheral surface of the bearing portion. 6. The electromagnetic actuator according to claim 4, wherein a magnetic material is arranged in at least a part of the hollow portion of each exciting coil constituting the matrix.

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