JP5488131B2 - Electromagnetic actuator - Google Patents

Description

  The present invention relates to an electromagnetic actuator that can be driven with multiple degrees of freedom.

  Patent Document 1 discloses a three-degree-of-freedom spherical electromagnetic actuator that can be driven in all directions on a spherical surface and is expected to be applied to drive a shoulder joint and eyeball of a robot.

  The electromagnetic actuator includes a mover and a stator that generates rotational torque about the mover about three axes (x-axis, y-axis, and z-axis). The mover includes four magnetic bodies divided along a circumferential direction parallel to the xy plane, and four permanent magnets inserted between these magnetic bodies at 90 ° intervals. The stator is disposed on the outer peripheral side of the mover via a predetermined air gap, and is divided into upper and lower parts along the z-axis direction. Each stator is formed of a magnetic material of the same material having six magnetic poles. By controlling the polarity of each magnetic pole, the movable element is rotated 360 ° around the z axis, the x axis and the y axis. Can be rotated over a predetermined angular range (see, for example, paragraph [0017] of the specification of Patent Document 1).

JP 2009-130957 A

  In the electromagnetic actuator described in Patent Document 1, for example, a specific structure for outputting the power of a mover serving as an inner member to the outside and a structure for supporting an output shaft of the mover are not described. For example, when an output shaft in the z-axis direction is provided on the mover, a structure in which a bearing is provided at one end of the output shaft can be considered as a structure for supporting the output shaft. However, when a bearing is provided at one end of the output shaft, it is necessary to provide a structure or mechanism for supporting the bearing, for example, outside the stator. This increases the overall size of the electromagnetic actuator.

  Such a problem similarly occurs when the mover described in Patent Document 1 is a stator and the stator is a mover. In other words, it is necessary to devise a structure for supporting the stator serving as the inner member.

  Further, when the inner member is a mover and a bearing is provided at one end of the output shaft of the mover, power can be output only from the other end side opposite to one end of the output shaft. The application range of this electromagnetic actuator is limited.

  In view of the circumstances as described above, the object of the present invention is to achieve a structure that supports the inner member regardless of whether the inner member is a mover or a stator while achieving downsizing, Another object of the present invention is to provide an electromagnetic actuator capable of realizing a structure in which the power of the mover is output from both sides in the rotation axis direction to the outside when the inner member is a mover.

In order to achieve the above object, an electromagnetic actuator according to an aspect of the present invention includes an inner member, an outer member, a spherical bearing, and a support member.
The inner member coaxially connects the first and second cores so as to form a space between the first core, the second core, and the first core and the second core. And a connecting shaft.
The outer member is disposed on the outer peripheral side of the inner member, and generates a first electromagnetic torque centered on the shaft and a second electromagnetic torque centered on a shaft in a direction different from the shaft. Thus, it can rotate relative to the inner member.
The spherical bearing is provided in the space of the inner member, and rotatably supports the shaft.
The support member is connected to the outer member through the space of the inner member, and supports the spherical bearing from a direction different from the direction along the axis.

  When the outer member generates the first electromagnetic torque, power by rotation of the inner member or the outer member with the shaft as the rotation center is obtained. Further, when the outer member generates the second electromagnetic torque, power by rotation of the inner member or the outer member with the axis in the direction different from the axis as the rotation center is obtained.

  In the present invention, a spherical bearing that supports the shaft is provided in the space formed between the first and second cores, and the spherical bearing is supported through the space by the support member provided on the outer member. The That is, a spherical bearing that supports the shaft is provided inside the inner member, and the spherical bearing is supported by the support member from a direction different from the axial direction. Therefore, the inner member can be supported while achieving a reduction in size as compared with the case where a bearing is provided at one end of the shaft, and an electromagnetic actuator that is thin in the axial direction can be realized.

  Further, since spherical bearings are provided at portions other than both ends of the shaft, when the inner member is a mover, the power can be output from both ends, and a wide range of applications of electromagnetic actuators are possible.

  The support member may have a plate-like portion arranged in a plane perpendicular to the output shaft. Thereby, it is possible to reduce the thickness of the electromagnetic actuator in the axial direction of the output shaft.

  As described above, according to the present invention, it is possible to realize a structure that supports the inner member while achieving a reduction in the size of the electromagnetic actuator, and when the inner member is a mover, the power of the mover is transmitted to the rotating shaft. It is possible to realize a structure that outputs to the outside from both sides of the direction.

FIG. 1 is a plan view showing an electromagnetic actuator according to an embodiment of the present invention. 2 is a cross-sectional view taken along the line AA in FIG. 1 (the same applies to the BB line or the CC line). 3A to 3C are diagrams for explaining the operation principle of the electromagnetic actuator according to the present embodiment. FIG. 4 is a diagram illustrating a state in which the mover 1 is tilted by the operation illustrated in FIG. 3A or 3B, for example. FIG. 5 is a cross-sectional view showing an electromagnetic actuator according to a reference example.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[Configuration of electromagnetic actuator]
FIG. 1 is a plan view showing an electromagnetic actuator according to an embodiment of the present invention. 2 is a cross-sectional view taken along the line AA in FIG. 1 (the same applies to the BB line or the CC line). FIG. 1 illustrates the electromagnetic actuator 100 in an xyz space having an x axis, a y axis, and a z axis that are orthogonal to each other. An electromagnetic actuator 100 according to an embodiment of the present invention is configured as a kind of a spherical actuator that can rotationally drive a mover about each of an x-axis, a y-axis, and a z-axis.

  The electromagnetic actuator 100 includes a mover 1 as an inner member and a stator 2 as an outer member. The mover 1 includes four permanent magnetic bodies 11 that are divided along the circumferential direction in the xy plane, and four permanent magnets inserted at equal pitches (90 ° intervals) between two adjacent magnetic bodies 11. And a magnet 12 (for example, Br = 1.4T). That is, the mover 1 has two magnetic pole pairs in the circumferential direction. The permanent magnet 12 is magnetized in the direction of the arrow d shown in FIG.

  The stator 2 includes a cylindrical frame 21 that forms a wall on the outer peripheral side, and a plurality of electromagnets 3 that are provided on the frame 21 and drive the mover 1. These electromagnets 3 include a core 32 and a coil 31 wound around the core 32. Six electromagnets 3 are provided in each of the upper and lower stages. The plurality of upper electromagnets 3 and the plurality of lower electromagnets 3 are arranged so as to be symmetrical in the z-axis direction.

  The cores 32 are attached to the inner peripheral surface side of the frame 21 at equal pitches (60 ° intervals as viewed in the z-axis direction) so as to protrude toward the mover 1. The tip surface of the magnetic pole 321 that is the end portion of the core 32 faces the outer peripheral surface of the mover 1.

  The mover 1 includes a first mover core 13, a second mover core 14, and an output shaft 15 that coaxially connects the first mover core 13 and the second mover core 14. . The output shaft 15 connects the first mover core 13 and the second mover core 14 so as to form a space D between them.

  The first mover core 13 and the second mover core 14 have the same configuration, and are provided between the four divided magnetic bodies 11 and the magnetic bodies 11 as described above. Each has four permanent magnets 12. The magnetic body 11 of the first mover core 13 and the magnetic body 11 of the second mover core 14 are respectively disposed at the same angular position when viewed in the z-axis direction. Further, the permanent magnet 12 of the first mover core 13 and the permanent magnet 12 of the second mover core 14 are respectively arranged at the same angular position when viewed in the z-axis direction.

  The side surfaces of the first mover core 13 and the second mover core 14 are part of a spherical surface, and the first mover core 13 and the core 32 of the core 32 correspond to these spherical surfaces. The surfaces facing the second mover core 14 are also spherical surfaces.

  A spherical body 16 is provided at the center of the output shaft 15 in the z-axis direction. The spherical body 16 is supported by the spherical bearing 4, and thereby the movable element 1 is supported rotatably about the spherical body 16. The spherical bearing 4 is held by a bearing holder 5, and the bearing holder 5 is attached to the outer peripheral portion of the spherical bearing 4.

  A support plate 6 is attached to the bearing holder 5. The support plate 6 functions as a support member that supports the spherical bearing 4 from a direction different from the z-axis direction along the output shaft 15. Specifically, the support plate 6 supports the spherical bearing 4 from the side. The support plate 6 has a plate shape, and in the present embodiment, has a disk shape. A hole 6a is formed in the center of the support plate 6, and the spherical bearing 4 is disposed in the hole 6a. The bearing holder 5 is provided so as to sandwich the support plate 6 in the z-axis direction. The edge 6 b on the outer peripheral side of the support plate 6 is attached to the frame 21, so that the support plate 6 is connected to the frame 21 and fixed. That is, the support plate 6 is connected to the frame 21 of the stator 2 through the space D. The material of the support plate 6 is a non-magnetic material, such as stainless steel, aluminum, or resin.

  In FIG. 2, two bearing holders 5 are divided in the z-axis direction, but slits that do not penetrate the bearing holder 5 are provided in the circumferential direction of the outer peripheral surface of one bearing holder 5. The bearing holder 5 may be supported by the support plate 6 by fitting an end portion (an edge portion on the inner peripheral side of the support plate 6) that forms the hole 6a of the support plate 6 into the slit.

  An annular groove 13 a is formed around the z axis on the surface of the first mover core 13 that faces the second mover core 14. Similarly, an annular groove 14 a is formed around the z-axis on the surface of the second mover core 14 that faces the first mover core 13. As will be described later, when the mover 1 rotates (tilts) around the x or y axis, the bearing holder 5 is fitted into the grooves 13a and 14a. Thereby, the mover 1 does not tilt at a predetermined tilt angle or more, and the tilt operation of the mover 1 is restricted.

  The current supplied to each coil 31 can be controlled independently, whereby the amount of excitation in each of the 12 magnetic poles 321 can also be controlled independently.

[Operation principle of electromagnetic actuator]
Hereinafter, the operation principle of the electromagnetic actuator 100 will be described.

  First, the principle of operation for rotational movement around the x-axis will be described. FIG. 3A shows a cross section perpendicular to the x-axis shown in FIG. 1, that is, a cross section taken along line AA. Here, there are four magnetic poles 321 in the cross section along the line AA. Further, the magnetic body 11 facing these four magnetic poles 321 exhibits S-pole magnetism depending on the magnetization direction of the permanent magnet 12.

  Now, when the coil 31 is excited so that the magnetic pole shown in FIG. 3A appears, the mover 1 can obtain torque (that is, electromagnetic torque) in the direction of the arrow in the figure. Further, when the current of the coil 31 is reversed, the mover 1 obtains torque in the direction opposite to that in FIG. The amount of torque in the rotation around the x axis can be controlled by adjusting the amount of current to the coil 31 wound around the core 32 existing in the cross section along the line AA.

  Next, the rotational movement around the y axis will be described with reference to FIG. FIG. 3B shows a cross section obtained by rotating the AA line cross section by 60 ° around the z axis, that is, a BB line cross section or a CC line cross section. Here, also in the cross section taken along the line BB and the line CC, there are four magnetic poles 321 in the cross section. Further, the magnetic body 11 facing the four magnetic poles 321 exhibits N-pole magnetism depending on the magnetization direction of the permanent magnet 12.

  Note that the y-axis is a line located between the BB line and the CC line in FIG. 1, but the magnetic pole 321 in the BB line section and the magnetic pole 321 in the CC line section are Since the respective polarities are controlled so as to have the same polarity, the principle of operation can be explained with one figure shown in FIG.

  Now, when the coil 31 is excited so that the magnetic pole shown in FIG. 3B appears, the mover 1 can obtain torque in the direction of the arrow in the figure. Further, when the current of the coil 31 is reversed, the mover 1 obtains torque in the direction opposite to that in FIG. That is, if the same magnitude of torque is applied by the same action in both the BB line cross section and the CC line cross section, the resultant force acting on the mover becomes a rotational torque around the y axis. The amount of torque in the rotation around the y-axis can be controlled by adjusting the amount of current to the coil 31 wound around the core 32 existing in the cross section taken along the line BB or the line CC.

  Finally, the operation principle of rotation around the z-axis will be described with reference to FIG. FIG. 3C shows a cross-sectional view perpendicular to the z-axis. Now, the coil 31 is excited so that the magnetic poles shown in FIG. 3C appear, that is, the coil 31 is excited so that the electromagnets 180 degrees apart in the direction around the z-axis are in phase, and the mover 1 Can obtain torque in the direction of the arrow in the figure. If the same magnetic pole is generated for each of the two stators arranged along the z axis, no torque is generated on the axes other than the z axis. Further, when the current of the coil 31 is reversed, the mover 1 obtains torque in the opposite direction. The amount of torque in the rotation around the z axis can be controlled by adjusting the amount of current to the coil 31 wound around the core 32.

  FIG. 4 is a diagram illustrating a state in which the mover 1 is tilted by the operation illustrated in FIG. 3A or 3B, for example. Thus, when the mover 1 tilts, the bearing holder 5 is fitted into the grooves 13a and 14a, and the movement of the mover 1 is restricted.

  Here, since the support plate 6 is formed of a non-magnetic material, the mover 1 includes, for example, a magnetic flux generated by the electromagnet 3 arranged at the lower stage, and a first mover core 13 arranged at the upper stage of the mover 1. The magnetic flux interacts with each other to realize the tilting motion of the mover 1.

  As described above, in the present embodiment, the spherical bearing 4 that supports the output shaft 15 is provided in the space D formed between the first and second mover cores 13 and 14, and is provided in the stator 2. The spherical bearing 4 (and bearing holder 5) is supported by the support plate 6 through the space D. That is, since the spherical bearing 4 that supports the output shaft 15 is provided inside the mover 1, the mover 1 is supported while achieving a reduction in size as compared with the case where a bearing is provided at the end of the output shaft 15. In addition, the electromagnetic actuator 100 thinned in the z-axis direction can be realized.

  In addition, since the spherical bearing 4 is provided at, for example, the central portion of the output shaft 15, power can be output from both ends of the output shaft 15, and the electromagnetic actuator 100 can be widely applied. For example, the electromagnetic actuator 100 can be applied as a joint device for an arm of a transfer robot.

  Here, FIG. 5 is a cross-sectional view showing an electromagnetic actuator according to a reference example. The operation principle of the electromagnetic actuator 150 is the same as that of the electromagnetic actuator 100 according to the above embodiment. The electromagnetic actuator 150 includes a mover 101 and a stator 102. The stator 102 has an electromagnet 103, a frame 1021, and a base 1022 attached to the lower part of the frame 1021. The mover 101 has a main body 1013 and an output shaft 115 protruding upward.

  An internal space is provided at the center position of the main body 1013. A support shaft 119 protrudes from above the base 1022, the end of the support shaft 119 is disposed in the internal space, and a spherical body 116 is provided at the end of the support shaft 119. A spherical bearing 104 that supports the spherical body 116 is provided in the internal space.

  A conical hole 1013 a is provided around the support shaft 119 at the bottom of the main body 1013. As a result, the movable element 101 can tilt or swing around the support shaft 119.

  In the electromagnetic actuator 150 according to the reference example, since the support shaft 119 coaxial with the output shaft 115 is installed on the base 1022, the size of the electromagnetic actuator 150 is increased by the amount required for the base 1022. On the other hand, in the electromagnetic actuator 100 according to the above embodiment, since the support plate 6 is connected to the frame 21 of the stator 2 and the base 1022 is unnecessary, the electromagnetic actuator 100 can be reduced in size and thickness. it can.

  Since the support plate 6 is a plate-like body provided in a plane perpendicular to the output shaft 15, the electromagnetic actuator can be further reduced in thickness.

  Further, in the electromagnetic actuator 150 according to such a reference example, the output shaft 115 is provided only on the upper side of the main body 1013, so that power can be output only at one end side of the electromagnetic actuator 150. On the other hand, in the electromagnetic actuator 100 according to the above-described embodiment, power can be output from both sides of the electromagnetic actuator 100 in the z-axis direction.

  According to the configuration of the electromagnetic actuator 100, assembly is facilitated. The electromagnetic actuator 150 shown in FIG. 5 is assembled in the following procedure. For example, the main body 1013 of the mover 101 is a component divided into two parts in the horizontal direction (left-right direction in FIG. 5). In this case, first, the base 212 is connected and fixed to the frame 21 in which there are no upper electromagnets 103 and only the lower electromagnets 103 are attached. A support shaft 119 is installed on the base 1022, the spherical body 116 and the spherical bearing 104 are attached to the support shaft 119, and the spherical bearing 104 main body 1013 is attached to the spherical body 116 of the support shaft 119 from the left and right. . Thereafter, the upper electromagnets 103 are attached to the frame 21.

  On the other hand, the electromagnetic actuator 100 is assembled in the following procedure. The spherical body 16, the spherical bearing 4 and the support plate 6 are attached to the output shaft 15. Thereafter, the first and second mover cores 13 and 14 are attached to the output shaft 15. The frame 21 to which the lower electromagnets 3 are attached is connected to the support plate 6, and the upper electromagnets 3 are attached to the frame 21. That is, in the electromagnetic actuator 100, it is only necessary to assemble each component from the central portion on the z-axis and the xy-axis toward the outside. Therefore, each of the electromagnetic actuators 100 when assembling it is compared with the electromagnetic actuator 150 shown in FIG. The stability of the posture of the parts does not become a problem, and the accuracy of centering is increased.

[Other embodiments]
The embodiment according to the present invention is not limited to the embodiment described above, and other various embodiments are realized.

  The number and arrangement of the electromagnet 3, the magnetic body 11 of the mover 1, the permanent magnet 12, and the like are not limited to the above embodiment, and can be changed as appropriate.

  The shapes, sizes, and the like of the output shaft 15, the frame 21, the support plate 6, and the first and second mover cores 13 and 14 of the mover 1 can be changed as appropriate. For example, the support plate 6 may not be a plate shape, and may be, for example, a rod shape, a column shape, or other shapes. Alternatively, the grooves 13a and 14a of the first and second mover cores 13 and 14 may not be provided, and the surfaces of the first and second mover cores 13 and 14 facing each other may be flat.

  The movements of the first and second mover cores 13 and 14 may be regulated not by contacting the bearing holder 5 but by regulating the movement by contacting the support plate 6. Further, by providing a sensor at one end of the shaft 15, an actuator that detects the angle and speed of the mover with the sensor and positions the mover with higher accuracy may be configured.

  In the said embodiment, the inner member which is an inner member was a needle | mover, and the outer member which is a member of the outer peripheral side was used as the stator. However, the inner member may be a stator and the outer member may be a mover.

1 ... Mover (equivalent to inner member)
2 ... Stator (equivalent to outer member)
DESCRIPTION OF SYMBOLS 3 ... Electromagnet 4 ... Spherical bearing 5 ... Bearing holder 6 ... Support plate (equivalent to a support member)
DESCRIPTION OF SYMBOLS 11 ... Magnetic body 12 ... Permanent magnet 13 ... 1st needle | mover core (equivalent to a 1st core)
14 ... 2nd mover core (equivalent to 2nd core)
15 ... Output shaft (equivalent to shaft)
16 ... spherical body 21 ... frame 100 ... electromagnetic actuator

Claims (2)

A first core, a second core, and a shaft coaxially connecting the first and second cores so as to form a space between the first core and the second core. An inner member having,
The inner member is arranged on the outer peripheral side and generates a first electromagnetic torque centered on the shaft and a second electromagnetic torque centered on a shaft in a direction different from the shaft. An outer member rotatable relative to the member;
A spherical bearing provided in the space of the inner member and rotatably supporting the shaft;
An electromagnetic actuator comprising: a support member connected to the outer member through the space of the inner member and supporting the spherical bearing from a direction different from the direction along the axis. The electromagnetic actuator according to claim 1,
The said support member is an electromagnetic actuator which has a plate-shaped part arrange | positioned in the surface perpendicular | vertical to the said axis | shaft.

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