JP5823172B2 - Electric actuator for flying objects - Google Patents

Description

  The present invention relates to a flying object mounting electric actuator that is mounted on a flying object and drives a swinging member that is swingably supported with respect to the main body side of the flying object.

  Conventionally, a flying body is equipped with an actuator that drives a swinging member that is swingably supported with respect to the main body side of the flying body. As such an actuator, Patent Document 1 discloses a flying object steering apparatus for steering a steering blade.

  The flying object steering apparatus disclosed in Patent Document 1 has an electric motor, and a screw for a ball screw is provided on a drive shaft (2) of the electric motor. The flying object steering apparatus transmits torque to the servo output shaft (23) via the ball screw (24) as the drive shaft (2) rotates. The servo output shaft (23) constitutes a swinging member supported so as to be swingable with respect to the main body side of the flying body. In the flying object steering apparatus disclosed in Patent Document 1, the ball screw (24) transmits torque to the servo output shaft (23) at a position away from the axis of the servo output shaft (23). The steering blade (102) is steered by the reciprocating rotation 23). Further, the flying object steering apparatus of Patent Document 1 is provided with bearings (4, 25, 26) for supporting the drive shaft (2) and the servo output shaft (23).

Japanese Utility Model Publication No. 1-74499 (page 5-8, Fig. 1-3)

  The actuator configured as a flying object steering device disclosed in Patent Document 1 includes a drive shaft (2) provided with an electric motor and a screw, in addition to a servo output shaft (23) as a swing member constituting a link mechanism. ), A ball screw (24), a plurality of bearings (4, 25, 26), and the like. For this reason, there are problems that many components are required and the structure is likely to be complicated. Therefore, in the flying body mounting electric actuator that is mounted on the flying body and drives the swing member, it is desired that the number of parts can be reduced and the structure can be simplified.

  The flying object steering apparatus disclosed in Patent Document 1 can ensure high output by amplifying the rotational torque of the electric motor by the ball screw (24) and the servo output shaft (23) as a link mechanism. However, the flying object steering apparatus of Patent Document 1 is configured to include the electric motor, the ball screw (24), and the servo output shaft (23) as a link mechanism as described above. There is a problem that it is easy. For this reason, when the flying body is small, it is difficult to mount. Therefore, it is desired to realize an electric actuator for mounting a flying object that can secure a high output and can be miniaturized, and can be mounted even with a small flying object.

  In view of the above circumstances, the present invention provides a flying object mounting electric actuator that can reduce the number of parts, simplify the structure, secure high output, and reduce the size. The purpose is to provide.

The flying body mounting electric actuator according to the first aspect of the present invention for achieving the above object is a flying body mounting electric motor that drives a swinging member supported so as to be swingable with respect to the main body side of the flying body. An actuator, comprising: a flat plate-like magnet provided as the swing member; and a stator installed around the magnet; and the body of the flying body comprises a cylindrical case portion, The magnet is installed in the case portion so that the longitudinal direction of the magnet extends along the axial direction of the case portion , and a pair of flat end surfaces that extend in the axial direction of the case portion and extend in parallel with each other. provided, of the pair of end faces, one end face constitutes a N pole, the other end face constitutes a S pole, the iron core of the stator, in said case portion, the longitudinal direction of the case of the core It characterized in that it is provided so as to extend along the axial direction.

According to the present invention, a plate-shaped magnet as a swing member, a stator having an iron heart, that is provided, it is possible to easily constitute the spacecraft mounting the electric actuator with less components. That is, in the flying body mounting electric actuator that is mounted on the flying body and drives the swing member, the number of parts can be reduced, and the structure can be simplified.

Further, according to the present invention, a plate-shaped magnet as a swing member, by a stator having an iron mind, it is possible to configure an electric actuator for flying body mounting, a large reduction in the size of the flying body mounting an electric actuator Can be achieved .

  Therefore, according to the present invention, it is possible to provide a flying object mounting electric actuator that can reduce the number of parts, simplify the structure, ensure high output, and reduce the size. it can.

Spacecraft mounting electric actuator according to a second invention is the spacecraft mounting the electric actuator of the first aspect of the invention, the magnet is characterized in that provided as permanent magnets.

  According to the present invention, since the magnet as the swing member is configured as a permanent magnet instead of an electromagnet, no coil is wound around the driven swing member. For this reason, since the mechanism itself which has a coil or wiring does not rock | fluctuate with respect to the main body side of a flying body, the risk that the disconnection of a coil or wiring will generate | occur | produce can be avoided.

Spacecraft mounting electric actuator according to a third invention is the spacecraft mounting the electric actuator of the first or second aspect of the invention, the stator comprises a coil wound around the core, before Symbol coils, A plurality of the magnets are provided so as to face both the one end surface and the other end surface of the magnet.

According to the invention, by energizing a predetermined direction in respect to both coils is performed along a direction perpendicular to the direction of the magnetic flux in the direction of the magnet of the current flowing in each coil, each coil A force acting between the flowing current and the magnetic flux of the magnet is generated. Each coil is energized such that a force generated between the current flowing through each coil and the magnetic flux of the magnet is generated in the same direction. Therefore, according to the present invention, as compared with the case where the coil is placed with one face only of the end faces that put the magnet can further ensure high output. Further, the output can be easily increased by increasing the number of coils wound around the iron core of the stator.

A flying object mounting electric actuator according to a fourth aspect of the present invention is the flying object mounting electric actuator according to any one of the first to third aspects, wherein the stator includes a coil wound around the iron core, And a positioning mechanism having a positioning permanent magnet for positioning the position of the magnet in the swinging direction at a predetermined position in a state where no current is supplied to the magnet.

  According to this invention, the magnet positioning mechanism as the swing member is configured to include the positioning permanent magnet that positions the magnet at a predetermined position when the coil is not energized. For this reason, the magnet is reliably positioned at a predetermined position before the power supply of the flying body mounting electric actuator is turned on. As a result, even when the power supply of the flying body mounting electric actuator is configured to be turned on immediately after the launching of the flying object, the rocking member is reliably driven from the time of launching the flying object. It can be positioned in place for the start. In addition, a positioning mechanism that can be positioned at a predetermined position when no power is supplied can be realized with a simple configuration using a permanent magnet without using a movable mechanism.

Spacecraft mounting electric actuator according to a fifth invention, in any one of spacecraft mounting the electric actuator of the first invention to fourth invention, before Symbol magnets, swingably supported with respect to the casing section It is characterized in that the steering blade can be connected via the swing structure.

  According to the present invention, the steering blade is driven together with the magnet as the swing member. As a result, in the flying body-mounted electric actuator capable of driving the steering wing, the number of parts can be reduced, the structure can be simplified, high output can be secured, and the size can be reduced.

  ADVANTAGE OF THE INVENTION According to this invention, the number of parts can be reduced, the structure can be simplified, a high output can be ensured, and the flying body mounting electric actuator which can aim at size reduction can be provided.

1 is a cross-sectional view illustrating a flying object mounting electric actuator according to an embodiment of the present invention and a part of a flying object provided with the flying object mounting electric actuator. It is a figure which shows the cross section seen from the AA arrow line position in FIG. It is a figure which shows the cross section seen from the BB line arrow position in FIG. It is a figure which expands and shows a part of FIG. 1, and is a figure which shows one electric actuator and the vicinity of the electric actuator in a flying body. It is a figure which expands and shows a part of FIG. 2, Comprising: It is a figure which shows one electric actuator and the vicinity of the electric actuator in a flying body. It is a figure which shows the state seen from the C line arrow direction about the flying body mounting electric actuator shown in FIG.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. The present invention is not limited to the embodiments exemplified in the following embodiments, and is a flying device that drives a swinging member that is mounted on the flying body and supported so as to be swingable with respect to the main body side of the flying body. The present invention can be widely applied to body-mounted electric actuators.

  FIG. 1 shows a flying object mounting electric actuator 1 (hereinafter also simply referred to as “electric actuator 1”) according to an embodiment of the present invention and a part of a flying object 100 provided with the electric actuator 1. FIG. FIG. 2 is a diagram showing a cross section viewed from the position of the arrows AA in FIG. FIG. 3 is a view showing a cross section viewed from the position of the arrow BB in FIG.

  A flying body 100, a part of which is shown in FIGS. 1 to 3, is configured as a structure that is launched from a mother machine (not shown) and the like. The main body of the flying body 100 is configured to include a cylindrical case portion 101 in which a plurality of steering blades 102 are installed on the outside. The steering wing 102 is provided to control the flying direction of the flying body 100. Note that the steering blade 102 is illustrated by a two-dot chain line in FIG. 2 and is not illustrated in FIGS. 1 and 3.

  The electric actuator 1 shown in FIGS. 1 to 3 is provided as a driving device that is mounted on the flying body 100 and drives a swinging member that is swingably supported with respect to the main body side of the flying body 100. . And in the flying body 100 illustrated to FIG. 1 thru | or FIG. 3, the four electric actuators 1 are mounted. The four electric actuators 1 are installed side by side along the circumferential direction of the case portion 101 in the flying body 100. Each electric actuator 1 is installed such that its main part is installed inside the case part 101 and its longitudinal direction extends in parallel with the cylindrical axis direction of the case part 101.

  Since the four electric actuators 1 mounted on the flying body 100 are configured in the same manner, only one electric actuator 1 will be described in the following description. FIG. 4 is an enlarged view of a part of FIG. 1, and shows one electric actuator 1 and the vicinity of the electric actuator 1 in the flying body 100. As shown in FIGS. 1 to 4, the electric actuator 1 includes a magnet 11, a stator 12, a positioning mechanism 13, and the like.

  The magnet 11 constitutes a swinging member that is swingably supported with respect to the main body side of the flying body 100, and is provided as a plate-like permanent magnet whose outer shape is substantially rectangular. The magnet 11 is installed in the case portion 101 so that the longitudinal direction of the magnet 11 extends along the cylindrical axis direction of the case portion 101. Further, in the case portion 101, the magnet 11 has a width direction that is a direction perpendicular to the longitudinal direction and the thickness direction (plate thickness direction) of the magnet 11 in a direction parallel to a tangential direction with respect to the circumferential direction of the case portion 101. It is installed to extend along.

  The plate-shaped magnet 11 is provided with a pair of flat end surfaces (11a, 11b) extending in parallel with each other along a direction parallel to the cylindrical axis direction of the case portion 101, and the pair of end surfaces (11a, 11b). Among them, one end face 11a is magnetized so as to constitute an N pole, and the other end face 11b is magnetized so as to constitute an S pole. In FIG. 1, FIG. 3 and FIG. 4, one end face 11a constituting the N pole is arranged on the outer side in the radial direction of the cylindrical case portion 101, and the other end face 11b constituting the S pole is the case portion 101. The form arrange | positioned inside the radial direction is illustrated.

  The arrangement of the N pole and the S pole in the magnet 101 may not be as described above. For example, one end face 11 a constituting the N pole is disposed on the inner side in the radial direction of the cylindrical case part 101, and the other end face 11 b constituting the S pole is disposed on the outer side in the radial direction of the case part 101. May be implemented.

  Moreover, the magnet 11 is being fixed to the edge part of the attachment member 21 via the volt | bolt 23 which is a fastening member in one edge part in a longitudinal direction. The attachment member 21 is provided as a member having a plate-like portion whose outer shape is substantially rectangular, for example. And the attachment member 21 is installed so that the longitudinal direction may extend along the cylindrical-axis direction of the case part 101. As shown in FIG. The attachment member 21 is fixed to the magnet 11 via a bolt 23 at one end in the longitudinal direction, and is fixed to the shaft member 22 at the other end in the longitudinal direction.

  The shaft member 22 is provided as a columnar member, is installed so as to extend along the radial direction of the case portion 101, and is installed so as to be orthogonal to the mounting member 21. The shaft member 22 is rotatably supported on the main body of the flying body 100 via bearings (24a, 24b). In the present embodiment, the shaft member 22 is illustrated in which one end side is supported by the case portion 101 via the bearing 24a and the other end side is supported by the housing portion 102 inside the flying body 100 via the bearing 24b. (See FIG. 4).

  As described above, the magnet 11 is supported in a cantilever manner so as to be swingable with respect to the main body side of the flying body 101 via the mounting member 21 and the shaft member 22. Further, the steering wing 102 of the flying body 100 is fixed to the shaft member 22 (see FIG. 2). As a result, the steering blade 102 is connected to the magnet 11 via the attachment member 21 and the shaft member 22. Therefore, in the present embodiment, the magnet 11 is configured such that the steering blade 102 can be connected via the mounting member 21 and the shaft member 22, which is a swing structure that is swingably supported with respect to the case portion 101. .

  As shown in FIGS. 1 to 4, the stator 12 includes an iron core 25 installed around the magnet 11, coils 26 (26 a and 26 b) wound around the iron core 25, and the like. The iron core 25 is made of a magnetic material and is formed in a rectangular tube shape with a substantially rectangular outer shape in cross section. And the iron core 25 is installed so that the longitudinal direction extended in a rectangular tube shape may extend along the direction parallel to the cylindrical-axis direction of the case part 101. FIG. Moreover, the magnet 11 is installed inside the square cylindrical iron core 25 through a gap.

  FIG. 5 is an enlarged view of a part of FIG. 2, and shows one electric actuator 1 and the vicinity of the electric actuator 1 in the flying body 100. In FIG. 5, a part of the magnetic flux line 27 from the one end face 11 a constituting the N pole in the magnet 11 to the other end face 11 b constituting the S pole is schematically shown by a two-dot chain line. As shown in FIG. 5, the iron core 25 constitutes a magnetic circuit through which the magnetic flux of the magnet 11 passes by installing the magnet 11 inside.

  A plurality of coils 26 (26a, 26b) are provided, and are arranged so as to face both one end face 11a constituting the N pole and the other end face 11b constituting the S pole in the magnet 11, respectively. In the square cylindrical iron core 25, a side wall 25 a is provided as a wall portion facing the one end surface 11 a of the magnet 11 on the radially outer side of the case portion 101 with respect to the magnet 11. A side wall 25b is provided as a wall portion facing the other end surface 11b of the magnet 11 on the radially inner side of the case portion 101. One coil 26a is wound around the side wall 25a, and the other coil 26a is wound around the side wall 25b.

  The electric wire wound around the side wall 25a in one coil 26a is wound so as to repeatedly extend along the longitudinal direction along the wall surface of the side wall 25a extending in the longitudinal direction of the iron core 25. That is, the electric wire of the coil 26a extends along the wall surface of the side wall 25a facing the one end surface 11a of the magnet 11, and then traverses the longitudinal end of the side wall 25a. And this electric wire is further extended along the wall surface (wall surface arrange | positioned in the radial direction outer side of the case part 101 in the side wall 25a) on the opposite side to the side facing the one end surface 11a of the magnet 11 in the side wall 25a, and then The end of the side wall 25a crosses the end opposite to the end in the longitudinal direction. Thus, the electric wire of the coil 26a is wound around the side wall 25a along the longitudinal direction of the side wall 25a. And the coil 26a is comprised by winding of the electric wire which circulates in this way repeatedly.

  The electric wire wound around the side wall 25b in the other coil 26b is repeatedly wound along the wall surface of the side wall 25b extending in the longitudinal direction of the iron core 25 so as to extend along the longitudinal direction. That is, the electric wire of the coil 26b extends along the wall surface of the side wall 25b facing the other end surface 11b of the magnet 11, and then traverses the longitudinal end of the side wall 25b. And this electric wire is further extended along the wall surface (wall surface arrange | positioned in the radial direction inside of the case part 101 in the side wall 25b) on the opposite side to the side which opposes the other end surface 11b of the magnet 11 in the side wall 25b. The end of the side wall 25b crosses the end opposite to the end in the longitudinal direction. Thus, the electric wire of the coil 26b is wound around the side wall 25b along the longitudinal direction of the side wall 25b. And the coil 26b is comprised by repeating the winding process of the electric wire which circulates in this way.

  Since the magnet 11, the iron core 25, and the coil 26 (26a, 26b) are installed as described above, the magnetic flux line 27 from the N pole of the magnet 11 to the S pole first configures the N pole of the magnet 11. One end surface 11a extends in a direction substantially perpendicular to the end surface 11a, and passes through an electric wire extending along a wall surface on the side facing the magnet 11 at the side wall 25a of the coil 26a. And the magnetic flux line 27 passes along the cross section perpendicular | vertical to the longitudinal direction of the iron core 25 through the inner side of the side wall 25a, passes through the wall part which bridge | crosslinks the side wall 25a and the side wall 25b, and also the inner side of the side wall 25b is iron core 25. It passes along a cross section perpendicular to the longitudinal direction. Thereafter, the magnetic flux line 27 extends in a direction substantially perpendicular to the end surface 11b toward the other end surface 11b constituting the S pole of the magnet 11, and the wall surface on the side facing the magnet 11 at the side wall 25b of the coil 26b. Pass through the wire extending along the line.

  As described above, the magnetic flux of the magnet 11 extends outward substantially perpendicularly from the one end surface 11a, and further passes through an electric wire disposed between the side wall 25a and the magnet 11 in the coil 26a. And the magnetic flux of the magnet 11 passes the inner side of the iron core 25 after that, passes the electric wire arrange | positioned between the side wall 25b in the coil 26b, and the magnet 11, and is substantially perpendicular | vertical toward the other end surface 11b. It extends to. For this reason, when the coil 26 (26a, 26b) is energized, the current flowing in the portion of the wire of the coil 26 (26a, 26b) disposed between the iron core 25 and the magnet 11 and the magnetic flux of the magnet 11 A force acting between the two is generated.

  The above force is applied to both the direction of the current flowing in the portion of the coil 26 (26a, 26b) arranged between the iron core 25 and the magnet 11 and the direction of the magnetic flux of the magnet 11. It acts along the orthogonal direction. Therefore, when the coil 26 (26a, 26b) is energized, the magnet 11 as a swinging member that is swingably installed on the main body side of the flying body 100 via the mounting member 21 and the shaft member 22 is provided. 5 is driven so as to swing along the direction indicated by arrow D or arrow E in FIG.

  The action direction of the force that is generated between the current flowing through the coil 26a and the magnetic flux of the magnet 11 to drive the magnet 11 will be described with reference to the drawing of FIG. The direction of the current flowing through the portion of the electric wire of the coil 26a disposed between the iron core 25 and the magnet 11 is a direction perpendicular to the drawing of FIG. 5 and from the near side to the far side (the length of the magnet 11). It is assumed that the flow has flowed in a direction parallel to the direction from the front end side of the magnet 11 that protrudes in a cantilevered manner to a direction that is parallel to the direction of attachment to the attachment member 21. In this case, since the electric wire of the coil 26a is fixed to the iron core 25, a force opposite to the force generated according to Fleming's left-hand rule with respect to the electric wire is perpendicular to the one end surface 11a of the magnet 11. Acts on extending magnetic flux. As a result, the magnet 11 swings in the direction of the arrow D. The position of the magnet 11 that has swung in the direction of arrow D in FIG. 5 is illustrated as a magnet 11D indicated by a two-dot chain line in FIG.

  Further, as described above, when the coil 26a is energized so that a current flows from the front side to the back side in a direction perpendicular to the drawing of FIG. The coil 26b is energized so that the acting direction of the force generated between the magnetic flux and the magnet 11 is the direction of the arrow D. Of the electric wire of the coil 26a, the direction of the magnetic flux of the magnet 11 passing through the portion arranged between the iron core 25 and the magnet 11, and the portion of the electric wire of the coil 26b arranged between the iron core 25 and the magnet 11. The direction of the magnetic flux of the magnet 11 passing through substantially coincides. Therefore, in this case, the coil 26b is energized so that a current flows in the direction perpendicular to the drawing of FIG. 5 from the near side to the far side.

  On the other hand, the direction of the current flowing in the portion of the electric wire of the coil 26a disposed between the iron core 25 and the magnet 11 is a direction perpendicular to the drawing of FIG. In the direction parallel to the direction toward the front end side protruding in a cantilevered manner from the side of the magnet 11 attached to the attachment member 21. In this case, since the electric wire of the coil 26a is fixed to the iron core 25, a force opposite to the force generated according to Fleming's left-hand rule with respect to the electric wire is perpendicular to the one end surface 11a of the magnet 11. Acts on extending magnetic flux. As a result, the magnet 11 swings in the direction of arrow E. The position of the magnet 11 that has swung in the direction of arrow E in FIG. 5 is illustrated as a magnet 11E indicated by a two-dot chain line in FIG.

  Further, as described above, when the coil 26a is energized so that a current flows in the direction perpendicular to the drawing in FIG. 5 from the back side toward the near side, the current flowing in the coil 26b and the magnet 11 are supplied. The coil 26b is energized so that the direction of action of the force generated between the magnetic flux and the magnet 11 is the direction of arrow E. Of the electric wire of the coil 26a, the direction of the magnetic flux of the magnet 11 passing through the portion arranged between the iron core 25 and the magnet 11, and the portion of the electric wire of the coil 26b arranged between the iron core 25 and the magnet 11. The direction of the magnetic flux of the magnet 11 passing through substantially coincides. Therefore, in this case, the coil 26b is energized so that a current flows in the direction perpendicular to the drawing of FIG. 5 from the back side toward the near side.

  The coil 26 (26a, 26b) is supplied with power from a battery mounted on the flying body 100. Illustration of this battery is omitted in FIGS. 1 to 5.

  FIG. 6 is a view showing the electric actuator 1 shown in FIG. 4 as viewed from the direction of the arrow C. The positioning mechanism 13 shown in FIGS. 1, 3, 4, and 6 includes a pair of positioning permanent magnets (28, 29), a support portion 30, and the like.

  The support portion 30 is fixed to the housing portion 103 in the main body of the flying body 100 at the end opposite to the side that supports the shaft member 22 via the bearing 24b. The support portion 30 is provided as a member that supports the pair of positioning permanent magnets (28, 29) in a region in the vicinity of the end portion on the tip end side of the magnet 11 that is swingably supported and protrudes in a cantilever manner. It has been. Moreover, the support part 30 is provided as a square cylinder-shaped member, and is installed so that the edge part by the side of the front end of the magnet 11 may protrude in the inner side.

  The pair of positioning permanent magnets (28, 29) is a magnet unit that positions the position of the magnet 11 in the swinging direction at a predetermined position when the coil 26 (26a, 26b) of the stator 12 is not energized. Is provided. As illustrated in FIG. 6, each of the positioning permanent magnet 28 and the positioning permanent magnet 29 is provided as a magnet having a shape extending in a columnar shape in a cross section in which an outer shape is defined by an arc portion and a straight portion. Each positioning permanent magnet (28, 29) is arranged on the inner surface of the support portion 30 so as to face the end portion on the front end side of the magnet 11 with a gap inside the square cylindrical support portion 30. It is fixed to.

  Further, the positioning permanent magnet 28 and the positioning permanent magnet 29 have a width direction of the magnet 11 and a width direction of the stator 12 (a direction perpendicular to the longitudinal direction of the stator 12 and the direction in which the side walls (25a, 25b) are arranged). In a state of being aligned along a parallel direction, the support portion 30 is disposed so as to face the end portion on the tip side of the magnet 11 at the aforementioned arc portion. Further, the positioning permanent magnet 28 and the positioning permanent magnet 29 are formed in the same shape. The positioning permanent magnet 28 and the positioning permanent magnet 29 pass through the center position in the width direction of the stator 12 and are symmetrical about the virtual plane perpendicular to the side walls (25a, 25b). Is installed.

  Further, the side surface 28a of the arc portion, which is the portion facing the one end surface 11a of the magnet 11 in the positioning permanent magnet 28, is magnetized so as to form an N pole. Similarly, in the positioning permanent magnet 29, the side surface 29a of the arc portion, which is the portion facing the one end surface 11a of the magnet 11, is magnetized so as to form an N pole. For this reason, the side surfaces (28a, 29a) of the positioning permanent magnets (28, 29) and the one end surface 11a of the magnet 11 that are arranged to face each other are configured to have the same polarity. Thereby, a repulsive force is generated between the side surfaces (28a, 29a) of the positioning permanent magnets (28, 29) and one end surface 11a of the magnet 11.

  Then, the side surfaces (28a, 29a) of the positioning permanent magnets (28, 29) are arranged symmetrically around the above-described virtual plane passing through the center of the stator 12 in the width direction, and the width direction of the magnet 11 It is arranged wider than the dimensions. For this reason, when the coil 26 (26a, 26b) is not energized, between the positioning permanent magnet (28, 29) fixed to the support portion 30 and the magnet 11 swingable in the width direction. The magnet 11 is positioned so as to be positioned at a predetermined position due to the repulsive force generated by the above. That is, the magnet 11 is positioned so that the center position in the width direction of the magnet 11 is positioned on the above-described virtual plane passing through the center in the width direction of the stator 12. The shaft member 22 is positioned on an imaginary plane perpendicular to the side walls (25a, 25b) through the center position in the width direction of the stator 12 so that the above positioning can be performed smoothly, and a magnet. 11 is also located on a virtual plane that passes through the center position in the width direction and is perpendicular to the end faces (11a, 11b).

  In the electric actuator 1 described above, the magnet 11 is not driven before the flying object 100 is launched and the power is not turned on, and the positioning permanent magnets (28, 29) of the positioning mechanism 13 It is positioned at a predetermined position. When the flying object 100 is launched from this state, the power is turned on, and the direction of the steering blade 102 with respect to the case portion 101 is controlled based on a steering command from a controller (not shown). At this time, as described above, the magnet 11 is driven by energizing the coil 26 (26a, 26b). As the magnet 11 and the mounting member 21 swing, the angular position of the shaft member 22 in the rotational direction is controlled, and the orientation of the steering blade 102 with respect to the case portion 101 is controlled.

  As described above, according to the present embodiment, the driven swinging member is supported in a cantilevered manner so as to be swingable with respect to the main body side of the flying body 100 and the pair of end surfaces (11a, 11b). Are provided as plate-like magnets 11 each having a north pole and a south pole. Then, the iron core 25 of the stator 12 is installed around the magnet 11, and the coils 26 (26 a, 26 b) of the stator 12 are installed to face the end faces (11 a, 11 b) of the N pole and S pole in the magnet 11. For this reason, the iron core 25 has a function of constituting a magnetic circuit that guides the magnetic flux generated by the magnet 11 from the N pole to the S pole. When the coil 26 (26a, 26b) is energized, the direction of the current flowing in the portion of the wire of the coil 26 (26a, 26b) disposed between the iron core 25 and the magnet 11 and the magnet 11 Along the direction perpendicular to the direction of the magnetic flux, the coil 26 (26a, 26b) acts between the current flowing in the portion of the electric wire of the coil 26 (26a, 26b) disposed between the iron core 25 and the magnet 11 and the magnetic flux of the magnet 11. Force will be generated. As a result, the magnet 11 as the swing member is driven to swing.

  In addition, according to the present embodiment, the plate-like magnet 11 as the swing member and the stator 12 having the iron core 25 and the coil 26 (26a, 26b) wound around the iron core 25 are provided, so that fewer components are provided. Thus, the flying body mounting electric actuator 1 can be configured easily. That is, in the flying object mounting electric actuator 1 that is mounted on the flying object 100 and drives the swing member, the number of parts can be reduced, and the structure can be simplified.

  Further, according to the present embodiment, the flying body-mounted electric actuator 1 is constituted by the plate-like magnet 11 as the swing member and the stator 12 having the iron core 25 and the coils 26 (26a, 26b) wound around the iron core 25. Therefore, the flying body mounting electric actuator 1 can be greatly reduced in size. Furthermore, according to the present embodiment, since the coils 26 (26a, 26b) are wound around the iron core 25 and integrated in the stator 12, the coil 26 (26a) can be easily set by setting the heat capacity of the iron core 25 large. , 26b), the heat capacity of the stator 12 can be set large. Therefore, a large current can flow through the coil 26 (26a, 26b), and a large force can be generated as a force acting between the current flowing through the coil 26 (26a, 26b) and the magnetic flux of the magnet 11. . Thereby, high output can be secured in the small flying object mounting electric actuator 1 that can be mounted even in the small flying object 100.

  Therefore, according to the present embodiment, there is provided a flying body mounting electric actuator 1 that can reduce the number of parts, simplify the structure, ensure high output, and reduce the size. be able to.

  In addition, according to the present embodiment, the magnet 11 as the swing member is configured as a permanent magnet instead of an electromagnet, so that a coil is not wound around the driven swing member. For this reason, since the mechanism itself which has a coil or wiring does not rock | fluctuate with respect to the main body side of the flying body 100, the risk that the disconnection of a coil or wiring will generate | occur | produce can be avoided.

  Further, according to the present embodiment, the coils 26 (26a, 26b) of the stator 12 are installed to face both the end faces (11a, 11b) of the N pole and the S pole in the magnet 11. For this reason, by energizing both coils (26a, 26b) in a predetermined direction, the direction of the current flowing through each coil (26a, 26b) and the direction of the magnetic flux of the magnet 11 are orthogonal. A force acting between the current flowing through each coil (26a, 26b) and the magnetic flux of the magnet 11 is generated along the direction. As described above, the coils (26a, 26b) are energized so that the force generated between the current flowing through the coils (26a, 26b) and the magnetic flux of the magnet 11 is generated in the same direction. Is called. Therefore, according to the present embodiment, as compared with the case where the coil is installed facing only one of the end faces (11a, 11b) of the N pole and the S pole in the magnet 11, a higher output can be secured. Can do. Moreover, the output can be easily increased by increasing the number of coils wound around the iron core 25 of the stator 12.

  Further, according to the present embodiment, the positioning mechanism 13 for the magnet 11 as the swinging member has the positioning permanent magnet (28, 29) for positioning the magnet 11 at a predetermined position when the coil 26 (26a, 26b) is not energized. It is prepared for. For this reason, in the state before the power supply of the flying body mounting electric actuator 1 is turned on, the magnet 11 is reliably positioned at a predetermined position. Accordingly, even when the power supply of the flying object mounting electric actuator 1 is configured to be turned on immediately after the flying object 100 is launched, the electric actuator 1 is reliably swung from the time when the flying object 100 is launched. The member (magnet 11) can be positioned at a predetermined position for starting driving. Further, the positioning mechanism 13 that can be positioned at a predetermined position when no power is supplied can be realized with a simple configuration using a permanent magnet without using a movable mechanism.

  Further, according to the present embodiment, the steering blade 102 is driven together with the magnet 11 as the swing member. Thereby, in the flying body mounting electric actuator 1 capable of driving the steering blade 102, the number of parts can be reduced, the structure can be simplified, high output can be secured, and the size can be reduced. .

  The embodiments of the present invention have been described above. However, the present invention is not limited to the above-described embodiments, and various modifications can be made as long as they are described in the claims. For example, the following modifications may be made.

(1) In the above-described embodiment, an example in which the steering blade is driven by driving a swing member made of a magnet is described, but this need not be the case. For example, a mode in which various sensors mounted on the flying object are driven by driving a swinging member made of a magnet may be implemented.

(2) In the above-described embodiment, an example in which a plurality of stator coils are provided has been described as an example, but this need not be the case. An embodiment in which one stator coil is provided may be implemented. Further, the coil of the stator may be disposed so as to face at least one of the one end surface that becomes the N pole and the other end surface that becomes the S pole in the magnet as the swing member. For example, in the stator, the coil may be installed to face only one end face of the magnet, or the coil may be placed to face only the other end face of the magnet.

(3) In the above-described embodiment, an example in which the shape of the iron core of the stator is a square cylindrical shape has been described as an example. However, this need not be the case, and various modifications may be made.

(4) In the above-described embodiment, the magnet as the rocking member is connected to the shaft member via the mounting member and is supported so as to be rockable. However, this is not necessary. Good. For example, a magnet as a swing member may be directly attached to the shaft member.

(5) In the above-described embodiment, an example in which the magnet as the swing member is configured as a permanent magnet has been described as an example, but this need not be the case. A mode in which the magnet as the swing member is configured as an electromagnet may be implemented.

(6) In the above-described embodiment, an example in which a positioning mechanism having a positioning permanent magnet is provided has been described, but this need not be the case. A form provided with a positioning mechanism using a mechanism other than a magnet such as a spring member may be implemented. Further, when a positioning mechanism having a positioning permanent magnet is provided, a positioning permanent magnet having an arrangement configuration and shape configuration different from those of the above-described embodiment may be used. Further, the positioning of the magnet as the swing member may be performed by causing the positioning permanent magnet to generate an attractive force instead of a repulsive force with the magnet as the swing member.

  INDUSTRIAL APPLICABILITY The present invention can be widely applied as a flying object mounting electric actuator that drives a swinging member that is mounted on a flying body and supported so as to be swingable with respect to the main body side of the flying body. It is.

1 Electric actuator for flying object 11 Magnet (oscillating member)
11a One end surface 11b The other end surface 12 Stator 25 Iron core 26, 26a, 26b Coil 100 Flying object

Claims (5)

An electric actuator for mounting a flying body that drives a swinging member supported so as to be swingable with respect to the main body side of the flying body,
A plate-like magnet provided as the swing member;
A stator installed around the magnet;
With
The flying body includes a cylindrical case portion,
In the case portion, the magnet is installed such that the longitudinal direction of the magnet extends along the axial direction of the case portion , and a pair of flat end surfaces that extend in the axial direction of the case portion and extend parallel to each other. Of the pair of end faces, one end face constitutes the N pole, the other end face constitutes the S pole,
An electric actuator for mounting a flying body, wherein the iron core of the stator is installed in the case portion so that a longitudinal direction of the iron core extends along an axial direction of the case portion. An electric actuator for mounting a flying object according to claim 1,
The magnet is characterized in that provided as permanent magnets, spacecraft mounting the electric actuator. An electric actuator for mounting a flying object according to claim 1 or claim 2,
The stator includes a coil wound around the iron core,
Before Symbol coil provided in plural, characterized in that it is provided so that each faces the both the one end face and the other end surface of the said magnet, spacecraft mounting the electric actuator. The flying body mounting electric actuator according to any one of claims 1 to 3,
The stator includes a coil wound around the iron core,
A flying object mounting feature, further comprising a positioning mechanism having a positioning permanent magnet for positioning the magnet in a swinging direction at a predetermined position in a state where the coil is not energized. Electric actuator. An electric actuator for mounting a flying object according to any one of claims 1 to 4 ,
Before Symbol magnet is characterized in that control surfaces via a swinging structure which is swingably supported can be coupled to the casing portion, spacecraft mounting the electric actuator.

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