JP6091002B2 - Rotary actuator - Google Patents

Description

  The present invention relates to a rotary actuator that can generate various click feelings with simple control.

  As an input device for various electronic devices and in-vehicle electrical components, an operation feeling imparting type input device capable of generating both an operation feeling and a braking force by incorporating a motor and an electromagnetic brake is disclosed (for example, Patent Document 1). ).

  FIG. 20 is a schematic diagram showing an overall configuration of the operation feeling imparting type input device 200 of Patent Document 1. The operation feeling imparting type input device 200 includes a rotary operation unit 212, an encoder 218 that detects a rotation state, an armature rotor 222 that rotates together with the operation unit 212, an electromagnetic brake 224 that provides rotational resistance, and a self-supporting rotational force. And an electric motor 230 for providing

  The control unit 228 can drive the electromagnetic brake 224 and rotate the operation unit 212 independently by driving the electric motor 230 when the rotation resistance is applied.

  Furthermore, the operation feeling imparting type input device 200 can generate a self-supporting rotational force simultaneously with the electric motor 230 while generating rotational resistance with the electromagnetic brake 224. In this case, it is possible to give the operator a feeling as if the operation unit 212 may rotate autonomously while giving an appropriate resistance feeling to the user's operation.

  As a result, a variety of operations can be performed by using the electric motor 230 capable of generating a self-supporting rotational force while using the electromagnetic brake 224 mainly as a rotary actuator to suppress power consumption by covering the generation of rotational resistance. A feeling of touch can be realized.

JP 2010-2111270 A

  However, there has been a demand to provide an operational feeling (click feeling) that a switch operation has been performed by increasing the rotational resistance at a desired rotational angle during a rotational operation and reducing the rotational resistance a little when passing therethrough. When the electric motor 230 is used to generate a click feeling, in order to provide a rotation resistance that balances the operation by an external force at a desired rotation angle, complicated control, advanced angle detection resolution, and torque control resolution are required. It was necessary and difficult to realize. On the other hand, when the braking force is generated by the friction of the electromagnetic brake 224, it is difficult to generate a click feeling that needs to change the strength of the rotational resistance in the vicinity of a desired rotation angle.

  The present invention solves the above-described problems, and an object thereof is to provide a rotary actuator that can generate various click feelings with simple control.

The present invention provides an operation shaft that is rotatably supported, and a plurality of rotor protrusions that are supported so as to be integrally rotatable with the operation shaft and extend outward in the radial direction at equal pitch angles in the circumferential direction of the radially outer peripheral portion. A magnetic material rotor provided with poles, a magnetic material stator having a plurality of stator salient poles opposed to the rotor salient poles in a radial direction with a minute gap, and A coil that generates a magnetic attractive force on the stator salient pole to generate a force that attracts the rotor salient pole, an angle sensor that detects a relative angle between the stator and the rotor, and a detection result by the angle sensor; An energization control unit that controls energization of the coil, wherein the stator salient poles are arranged in four groups, and each group of the four groups is arranged. Inside, the stator salient poles generate magnetic attractive force at the same timing, and are arranged at the same pitch angle interval, and are arranged at a large interval by the half pitch of the equal pitch angle from the adjacent different groups. The energization control unit includes a first control mode for continuously generating a magnetic attraction force on the stator salient poles of two groups facing each other through the rotor among the four groups, and the rotor A second control mode for intermittently generating a magnetic attractive force on the stator salient poles for each of two groups facing each other via the first, and when the operating shaft is rotated by an external force, the first control mode control mode or changing the rotational resistance of the operating shaft by said second control mode, the second control mode, clicking pitch resulting click feeling to the operating shaft Characterized in that but a pitch of half of the equal pitch angle.

According to this, in the first control mode, a click feeling is generated for each pitch angle of the rotor salient poles, and in the second control mode, a click feeling is generated for each half pitch that is half the equal pitch angle. Therefore, since the click pitch can be switched between the salient pole pitch and the half pitch of the rotor by switching between the first control mode and the second control mode with a simple configuration, various click feelings can be provided.

In the rotary actuator of the present invention, by controlling the current amount of energization of the coil by the power supply controller, and controls the intensity of the feeling of click.

  According to this configuration, a variety of click feelings can be generated by controlling the strength as well as the pitch of the rotational resistance according to the amount of current supplied to the coil.

  In the rotary actuator of the present invention, the equal pitch angle is preferably 36 degrees. According to this configuration, a click feeling can be generated even when the operation shaft is rotated 360 degrees or more.

  In the rotary actuator of the present invention, the equal pitch angle may be 20 degrees. According to this configuration, it is possible to generate a click feeling with a finer pitch even if the operation shaft is rotated 360 degrees or more.

  According to the present invention, since the click pitch can be switched between the salient pole pitch and the half pitch of the rotor by switching between the first control mode and the second control mode, a variety of click feelings can be provided. Therefore, it is possible to provide a rotary actuator that can generate various click feelings with simple control.

It is an external view which shows the rotary actuator of 1st Embodiment of this invention, (a) is a top view, (b) is a front view. It is the model longitudinal cross-sectional view cut | disconnected by the II-II line | wire of Fig.1 (a). It is the model cross-sectional view cut | disconnected by the III-III line | wire of FIG.1 (b). It is a schematic diagram which shows the structure of the rotary actuator of 1st Embodiment. It is a schematic diagram which shows the group structure of the stator salient pole of 1st Embodiment. It is a schematic diagram which shows arrangement | positioning of the stator salient pole of 1st Embodiment. It is a schematic diagram of the state which the stator salient pole which is generating the magnetic attraction force is adjoining and facing the rotor salient pole. It is a schematic diagram of the state which the rotor rotated slightly from the state of FIG. It is a schematic diagram of the state which the stator salient pole which is generating the magnetic attraction force does not adjoin to the rotor salient pole. FIG. 8 is a schematic diagram in which a magnetic attractive force is generated in a state where another stator salient pole different from FIG. 7 is in close proximity to and opposed to the rotor salient pole. It is the graph which showed typically the rotation torque of the operation axis of a 1st embodiment. It is the graph which showed typically the rotation torque of the operation axis of a 1st embodiment. It is the graph which showed typically the rotation torque of the operation axis of a 1st embodiment. It is the graph which showed typically the rotation torque of the operation axis of a 1st embodiment. It is a model longitudinal cross-sectional view which shows the rotary actuator of 2nd Embodiment of this invention. It is a model cross-sectional view which shows the rotary actuator of 2nd Embodiment. It is a schematic diagram which shows the group structure of the stator salient pole of 2nd Embodiment. It is the graph which showed typically the rotational torque of the operating shaft of 2nd Embodiment. It is the graph which showed typically the rotational torque of the operating shaft of 2nd Embodiment. It is the schematic which shows the whole structure of the conventional operation feeling provision type | mold input apparatus.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. For easy understanding, the dimensions of the drawings are appropriately changed.

[First Embodiment]
1A and 1B are external views showing a rotary actuator 1 according to a first embodiment of the present invention. FIG. 1A is a plan view and FIG. 1B is a front view. FIG. 2 is a schematic longitudinal sectional view taken along line II-II in FIG. FIG. 3 is a schematic cross-sectional view taken along the line III-III in FIG. FIG. 4 is a schematic diagram illustrating a configuration of the rotary actuator 1 according to the first embodiment. FIG. 5 is a schematic diagram showing a group configuration of the stator salient poles 21. FIG. 6 is a schematic diagram showing the arrangement of the stator salient poles 21.

  As shown in FIGS. 1 to 5, the rotary actuator 1 includes a rotor 10 that is supported so as to rotate integrally with the operation shaft 15, a stator 20 around which a coil 25 is wound, an angle sensor 40, and an energization control unit 50. And having.

  The rotary actuator in the narrow sense refers to a mechanism for generating a self-supporting rotational force and a rotational resistance, and does not include the angle sensor 40 and the energization control unit 50 of the present embodiment. The rotary actuator 1 of the present embodiment is characterized by an operation combined with energization control (click feeling with changed rotation resistance), and thus includes an angle sensor 40 and an energization control unit 50. However, the angle sensor 40 and the energization control unit 50 do not have to be integrated. For example, the energization control unit 50 may be incorporated in another electronic device.

  The operation shaft 15 is attached to the upper case 5a and the lower case 5b via the rotation introducing member 7. The operation shaft 15 is rotatably supported by the rotation introducing member 7.

  The rotor 10 is made of iron and has an insertion hole into which the operation shaft 15 can be inserted and fixed. The rotor 10 is supported so as to be integrally rotatable with the operation shaft 15 with the operation shaft 15 being inserted around the rotation shaft 10a. As shown in FIG. 3, a plurality of rotor salient poles 11 extending outward in the radial direction are provided on the radially outer peripheral portion 10 b of the rotor 10. As shown in FIG. 5, each rotor salient pole 11 is disposed at an equal pitch angle (pitch angle θ1) in the circumferential direction of the radially outer peripheral portion 10b.

  The stator 20 is made of iron, and as shown in FIG. 3, a plurality of stator salient poles 21 are arranged to face the radially outer peripheral portion 10 b of the rotor 10 with a gap in the radial direction. As the rotor 10 rotates, the stator salient poles 21 are close to the rotor salient poles 11 arranged at an equal pitch angle (pitch angle θ1) with a minute gap in the radial direction, as shown in FIG. opposite.

  The stator 20 has a shape in which a plurality of stator salient poles 21 are connected to the core portion 23 and protrude inward. A coil 25 is wound around each core portion 23. 1 to 6, the wiring portion connected to the coil 25 is omitted.

  As shown in FIGS. 3 and 5, the stator salient poles 21 are arranged in four groups A1, A2, B1, and B2 with respect to the equal pitch angle (pitch angle θ1) of the rotor salient poles 11. In FIG. 3, the symbols in the groups A2, B1, and B2 are omitted. In the rotary actuator 1 of the present embodiment, the stator salient poles 21 are arranged at intervals of the pitch angle θ1 in each of the groups A1, A2, B1, and B2, and are larger than the adjacent different groups by a half pitch of the pitch angle θ1. It is the structure arrange | positioned by a space | interval (angle (theta) 2). The arrangement of the stator salient poles 21 in the stator 20 is such that the angle θ2 shown in FIG. 6 is 1.5 times the pitch angle θ1. 5 and 6, the pitch angle θ1 is 36 degrees and the angle θ2 is 54 degrees.

  As shown in FIG. 5, since the rotor salient poles 11 are arranged at an equal pitch angle (pitch angle θ1) in the circumferential direction, the stator salient poles 21 and the rotor salient poles 11 of the groups A1 and A2 are close to each other. At this timing, the rotor salient poles 11 do not face the stator salient poles 21 of the groups B1 and B2. Further, at the timing when the stator salient poles 21 of the groups B1 and B2 and the rotor salient poles 11 are close to each other, the rotor salient poles 11 are not opposed to the stator salient poles 21 of the groups A1 and A2.

  The angle sensor 40 is a rotational position sensor for detecting the relative angle between the stator 20 and the rotor 10. The magnet 41 attached to the operating shaft 15 that rotates integrally with the rotor 10 around the rotating shaft 10a rotates with the rotation of the rotor 10, so that the output change of the magnetic sensor 42 attached to the lower case 5b can be obtained. It is configured. In the present embodiment, the angle sensor 40 is a magnetic type, but is not limited thereto, and may be an optical type, for example.

  The energization control unit 50 determines the detection result by the angle sensor 40 and selectively controls the energization of the coil 25. The energization control unit 50 is divided into groups A1, A2, B1, and B2 of the stator salient poles 21, and energizes the coil 25. The selectively energized coil 25 generates a magnetic attractive force on the stator salient pole 21 to generate a force that attracts the rotor salient pole 11. The energization control unit 50 outputs an operation signal corresponding to the relative angle detected by the angle sensor 40. The operation signal output from the energization control unit 50 according to the rotation angle of the operation unit 60 is used, for example, to control the display screen of the electronic device. Further, it is used as a control signal for operating a power switch or a changeover switch of the electronic device.

  When the operation unit 60 shown in FIG. 4 is rotated, the rotor 10 rotates through the operation shaft 15 about the rotation shaft 10a. Since the rotary actuator 1 generates a magnetic attractive force between the stator 20 and the rotor 10 by energization control described later, the rotary actuator 1 is provided with a rotational resistance of the operation shaft 15 so as to prevent the rotation operation of the operation unit 60 and is necessary for the rotation operation. It is possible to provide an operational feeling with a change in torque. For example, when the angle sensor 40 detects that the operation unit 60 has been rotated and has reached a predetermined relative angle, the energization control unit 50 performs energization control for energizing the coil 25 and outputs an operation signal. Is done. Thereby, the operation feeling is fed back to the operator who has operated the operation unit 60 at a predetermined rotation angle, and control of the electronic device or the like is executed by an operation signal corresponding to the rotation angle.

  As an operational feeling, a required rotational torque is large up to a certain position, and the torque decreases when reaching that position. The click feeling is such an operation feeling, and in this embodiment, a change in rotational torque is created by a magnetic attraction force.

  If the current supplied to the coil 25 is increased by the energization controller 50, the magnetic attractive force between the stator 20 and the rotor 10 can be increased. Thereby, it can adjust to the magnitude | size of the magnetic attraction force suitable for operation feeling.

  Next, the control mode of the energization control unit 50 and the operation by the energization control in the rotary actuator 1 of the present embodiment will be described with reference to FIGS.

  FIG. 7 is a schematic view showing a state where the stator salient poles 21 of the groups A1 and A2 that generate the magnetic attractive force are close to and opposed to the rotor salient pole 11 of the rotor 10. FIG. FIG. 8 is a schematic view of the rotor 10 slightly rotated from the state of FIG. FIG. 9 is a schematic view showing a state where the stator salient poles 21 of the groups A1 and A2 generating the magnetic attractive force are not in close proximity to the rotor salient pole 11. FIG. 10 is a schematic diagram in which a magnetic attractive force is generated in a state where the stator salient poles 21 of the groups B1 and B2 are close to and opposed to the rotor salient poles 11 of the rotor 10. FIG. FIG. 11 is a graph schematically showing the rotational resistance of the operation shaft 15.

  In the first control mode, a magnetic attractive force is continuously generated in the stator salient poles 21 of two groups facing each other through the rotor 10 among the groups A1, A2, B1, and B2. In FIG. 7, since the magnetic attractive force is generated in the stator salient poles 21 of the groups A1 and A2, the magnetic attractive force is generated when the stator salient poles 21 and the rotor salient poles 11 of the groups A1 and A2 face each other. Is the maximum. In the state of FIG. 7, the rotor 10 is not rotated.

  At this time, as shown in FIG. 7, the pair of stator salient poles 21 of the group A <b> 1 are continuously energized to the coil 25 with currents that are opposite to each other. Thereby, the generated magnetic flux forms a closed circuit, and the magnetic field leaking to the outside is minimized. Further, the loss in the magnetic attractive force between the stator salient pole 21 and the rotor salient pole 11 is reduced. In addition, since the symmetrical magnetic attraction force is generated in the group A1 and the group A2, the rotor 10 is not eccentric.

  When an external force for rotating the rotor 10 is applied to the operation shaft 15 from the state shown in FIG. 7, the magnetic attractive force between the stator salient pole 21 and the rotor salient pole 11 becomes the rotational resistance of the operation shaft 15 to be rotated. . For example, as shown in FIG. 8, when the stator salient pole 21 and the rotor salient pole 11 are to be rotated from a position where they are close to each other, a rotational force (rotation) is caused to return to the original position (FIG. 7) by the magnetic attractive force. Resistance). If the torque of the rotational force is greater than the torque of the external force, the operation shaft 15 cannot be rotated. When a larger external force is applied, the rotor 10 rotates and passes through an angle at which the stator salient poles 21 and the rotor salient poles 11 of the groups A1 and A2 do not face each other as shown in FIG.

  In FIG. 9, the magnetic attractive force from the two stator salient poles 21 acts on one rotor salient pole 11, and the rotational force at this moment is zero. When slightly rotated in either direction from this state, a rotational force is generated in a direction in which the stator salient poles 21 and the rotor salient poles 11 of the groups A1 and A2 face each other. That is, since a rotational force in the same direction as the direction of the external force to be rotated is generated, an operational feeling is drawn in which the stator salient pole 21 and the rotor salient pole 11 are drawn close to each other.

  Accordingly, when the pitch angle θ1 is rotated from the position shown in FIG. 7, the pitch angle is changed from a state where the rotational torque (rotational resistance) is large (FIG. 8) to a state where the direction of the rotational torque is reversed (FIG. 9). An operational feeling that is suddenly drawn into the position of θ1 occurs. As a result, a click feeling equal to the pitch angle θ1 is generated on the operation shaft 15 that is rotated by the operator. If the rotation operation is continued in the same direction, a click feeling is generated for each pitch angle θ1. Furthermore, the strength of the click feeling can be controlled by the amount of current continuously energized in the coil 25.

  In the second control mode, a magnetic attractive force is generated intermittently on the stator salient poles 21 for each of two groups facing each other via the rotor 10. That is, when the energization is switched from the energized groups A1 and A2 to the groups B1 and B2 in FIG. 9, the magnetic flux generated in the stator salient poles 21 of the groups B1 and B2 generates a magnetic attractive force as shown in FIG. Let In FIG. 10, since the magnetic attractive force is generated in the stator salient poles 21 of the groups B1 and B2, the magnetic attractive force is generated at the timing when the stator salient poles 21 and the rotor salient poles 11 of the groups B1 and B2 face each other. Is the maximum.

  In this way, the magnetic attraction force similar to that described with reference to FIGS. 8 and 9 can be obtained by switching the energization of the groups B1 and B2. At this time, the click feeling generated by the energization of the groups B1 and B2 is shifted from the click feeling generated by the energization of the groups A1 and A2 by a half pitch of the pitch angle θ1. For this reason, the click pitch of intermittent energization for switching energization between the groups A1, A2 and the groups B1, B2 is half the half pitch (θ1 / 2) with respect to the click pitch due to continuous energization of the groups A1, A2.

  Further, in the state shown in FIG. 8, when switching energization from the energized groups A1 and A2 to the groups B1 and B2, energization of the groups B1 and B2 is started, and the stator salient poles 21 of the groups B1 and B2 are rotors. A rotational force is generated in the direction in which the salient poles 11 face each other. For this reason, the click pitch is a half pitch (θ1 / 2) having an equal pitch angle (pitch angle θ1), and an operation feeling that is suddenly drawn every half pitch (θ1 / 2) is generated. In this way, the operation feeling can be changed by changing the timing of switching energization.

  FIGS. 11 to 14 are graphs schematically showing the rotational torque of the operation shaft 15 in the rotary actuator 1 of the present embodiment.

  11 to 14, the horizontal axis is a relative angle based on the position where the stator salient pole 21 and the rotor salient pole 11 of the group A1 are close to each other as a reference (0 degree), the vertical axis of the upper graph is the amount of current, The vertical axis of the graph is the magnitude of the rotational torque. The plus (+) on the vertical axis represents the rotational torque (self-supporting rotational force) that assists the rotational operation of the operating shaft 15, and the negative (−) on the vertical axis represents the rotational torque in the rotational direction that hinders the rotational operation of the operating shaft 15. (Rotational resistance).

  FIG. 11A shows a case where the groups A1 and A2 are continuously energized with the current amount I1 in the first control mode. For example, when an attempt is made to rotate the stator salient pole 21 of the group A1 and the rotor salient pole 11 close to each other, for example, in a clockwise direction, rotational torque (rotational resistance) in the rotational direction that hinders the rotational operation of the operating shaft 15 increases. After having a negative peak value, the rotational torque decreases to zero at a rotational angle of half pitch (θ1 / 2). If further clockwise rotation is attempted, the rotational torque (self-supporting rotational force) in the same direction as the rotational direction increases, and after having a peak value, the rotational angle of the pitch angle θ1 is the same as the initial state.

  FIG. 11B shows a case where the amount of current I2 is increased and the current amount I1 of FIG. 11A is compared with the rotational torque by a dotted line. As can be seen from FIG. 11 (b), when the amount of current to be energized is increased, the rotational torque is increased. Therefore, the operational feeling can be changed by adjusting the amount of current. Further, the control is not limited to the control with the current amount made constant, and for example, the control can be made to gradually increase the current amount when the rotation operation is continued. In this way, it becomes possible to make the operation feel heavier with respect to the rotation operation.

  FIG. 12 shows a case where the groups B1 and B2 are energized continuously in the first control mode. FIG. 12A is the same as FIG. 11A, but shows a case where groups B1 and B2 are energized continuously without energizing groups A1 and A2. Since the angle at which the stator salient poles 21 and the rotor salient poles 11 of the groups B1 and B2 do not face each other is set as a reference (0 degree), for example, when a clockwise rotation operation is attempted, the rotation direction of the rotation operation of the operation shaft 15 The rotational torque (self-supporting rotational force) in the same direction increases, and an operation feeling shifted by half pitch (θ1 / 2) with respect to FIG. That is, even if the rotation operation is performed from the same reference position, the rotational torque is different between when the groups A1 and A2 are energized continuously (FIG. 11) and when the groups B1 and B2 are energized continuously (FIG. 12). The rotation angle that increases is different. Similarly, FIG. 12B shows a case where the amount of current is increased.

  FIGS. 13 to 14 show cases where intermittent energization is performed in the second control mode, in which the switching timing between energization of the groups A1 and A2 and energization of the groups B1 and B2 is changed. As shown in FIG. 13, the repetition pitch of the rotational torque is a half pitch (θ1 / 2), which is finer than in the case of FIGS. In addition, it is possible to generate a rotational torque whose direction of rotation is suddenly reversed at the timing when the energization is switched. Further, as shown in FIGS. 14 (a) and 14 (b), an operation that repeats rotational torque (self-supporting rotational force) in the same direction as the rotational direction and rotational torque (rotational resistance) in the direction opposite to the rotational direction. You can feel it. Various click feelings can be generated by changing the rotation torque of the operation shaft 15 as in the case of FIGS.

  As shown in FIGS. 5 and 6, when the pitch angle θ1 is 36 degrees and the angle θ2 is 54 degrees, when the rotor 10 is rotated 360 degrees, the original (0 degree) state is restored. Since the rotor 10 does not require a component that hinders rotation such as wiring, the operation shaft 15 can be rotated 360 degrees or more. In this way, a click feeling can be generated even if the operation shaft 15 is rotated 360 degrees or more.

  Note that the rotor 10 and the stator 20 may be made of a magnetic material that can generate a magnetic attractive force by the magnetic flux described above.

  Hereinafter, the effect by having set it as this embodiment is demonstrated.

  In the rotary actuator 1 of the present embodiment, the stator salient poles 21 are arranged in four groups A1, A2, B1, and B2. At this time, in each of the groups A1, A2, B1, and B2, the stator salient poles 21 generate the magnetic attractive force at the same timing, and are arranged at intervals of the pitch angle θ1, and the pitch angle is different from the adjacent different groups. In this configuration, the half pitch of θ1 is arranged at a large interval. Then, the energization control unit 50 performs a first control mode in which a magnetic attraction force is continuously generated on the stator salient poles 21 of two groups facing each other via the rotor 10 among the groups A1, A2, B1, and B2. Have. Further, a second control mode is provided in which the magnetic salient force is intermittently generated on the stator salient pole 21 for every two groups facing each other via the rotor 10. Thereby, when the operating shaft 15 is rotated by an external force, the rotational resistance of the operating shaft 15 is changed in the first control mode or the second control mode.

  According to this, since the click pitch can be switched between the salient pole pitch and the half pitch of the rotor 10 by switching between the first control mode and the second control mode with a simple configuration, various click feelings can be provided.

  Further, in the rotary actuator 1 of the present embodiment, the degree of click feeling can be controlled by controlling the amount of current supplied to the coil 25 by the current supply control unit 50. By controlling the strength and the strength of the rotational resistance according to the amount of current applied to the coil 25, more various click feelings can be generated.

  In the rotary actuator 1 of the present embodiment, the equal pitch angle (pitch angle θ1) is 36 degrees. According to this configuration, even when the operation shaft 15 is rotated 360 degrees or more, a click feeling can be generated stably.

[Second Embodiment]
FIG. 15 is a schematic longitudinal sectional view showing the rotary actuator 2 of the second embodiment. FIG. 16 is a schematic cross-sectional view showing the rotary actuator 2 of the second embodiment. FIG. 17 is a schematic diagram illustrating a group configuration of the stator salient poles 22 of the second embodiment. The appearance and constituent materials of the rotary actuator 2 of the second embodiment are the same as those of the rotary actuator 1 of the first embodiment, and the same reference numerals as those of the first embodiment are used except for the stator salient pole 22 and the rotor salient pole 12. .

  As in the first embodiment, the rotary actuator 2 includes the rotor 10 supported so as to be integrally rotatable with the operation shaft 15 around the rotation shaft 10a, the stator 20 around which the coil 25 is wound, the angle sensor 40, And an energization control unit 50.

  The rotary actuator in the narrow sense refers to a mechanism for generating a self-supporting rotational force and a rotational resistance, and does not include the angle sensor 40 and the energization control unit 50 of the present embodiment. The rotary actuator 2 according to the present embodiment is characterized by an operation combined with energization control (click feeling with changed rotation resistance), and thus includes the angle sensor 40 and the energization control unit 50. However, the angle sensor 40 and the energization control unit 50 do not have to be integrated. For example, the energization control unit 50 may be incorporated in another electronic device.

  The operation shaft 15 is attached to the upper case 5a and the lower case 5b via the rotation introducing member 7. The operation shaft 15 is rotatably supported by the rotation introducing member 7.

  The rotor 10 has an insertion hole in which the operation shaft 15 can be inserted and fixed. The rotor 10 is supported so as to be integrally rotatable with the operation shaft 15 with the operation shaft 15 being inserted around the rotation shaft 10a. As shown in FIG. 16, a plurality of rotor salient poles 12 extending outward in the radial direction are provided on the radially outer peripheral portion 10 b of the rotor 10. As shown in FIG. 17, the rotor salient poles 12 are arranged at an equal pitch angle (pitch angle θ3) in the circumferential direction of the radially outer peripheral portion 10b.

  As shown in FIG. 16, the rotary actuator 2 of the present embodiment is arranged so that the stator salient poles 22 of the stator 20 face the radially outer peripheral portion 10 b of the rotor 10 with a gap in the radial direction. The stator 20 has a shape in which the stator salient poles 22 connected so as to be branched from the plurality of core portions 23 by two each protrude inward. A coil 25 is wound around each core portion 23. In FIG. 15 to FIG. 17, the wiring portion connected to the coil 25 is omitted.

  As shown in FIG. 17, the rotor salient poles 12 arranged at an equal pitch angle (pitch angle θ <b> 3) are close to the stator salient poles 22 with a small gap in the radial direction as the rotor 10 rotates. opposite. The stator salient poles 21 are divided into four groups A1, A2, B1, and B2 with respect to the equal pitch angle (pitch angle θ3) of the rotor salient poles 12. In FIG. 17, the symbols in the groups A2, B1, and B2 are omitted. In the rotary actuator 1 of the present embodiment, the stator salient poles 22 are arranged at intervals of the pitch angle θ3 in each of the groups A1, A2, B1, and B2, and are larger than the adjacent different groups by a half pitch of the pitch angle θ3. It is the structure arrange | positioned by a space | interval (angle (theta) 4). As for the arrangement of the stator salient poles 22 in the stator 20, the angle θ4 is 1.5 times the pitch angle θ3. In FIG. 17, the pitch angle θ3 is 20 degrees and the angle θ4 is 30 degrees.

  As shown in FIG. 17, since the rotor salient poles 12 are arranged at equal pitch angles (pitch angle θ3) in the circumferential direction, the stator salient poles 22 and the rotor salient poles 12 of the groups A1 and A2 are close to each other. At this timing, the rotor salient poles 12 do not face the stator salient poles 22 of the groups B1 and B2. Further, at the timing when the stator salient poles 22 and the rotor salient poles 12 of the groups B1 and B2 are close to each other, the rotor salient poles 12 are not opposed to the stator salient poles 22 of the groups A1 and A2.

  The angle sensor 40 is a rotational position sensor for detecting the relative angle between the stator 20 and the rotor 10. The magnet 41 attached to the operating shaft 15 that rotates integrally with the rotor 10 rotates with the rotation of the rotor 10 so as to obtain an output change of the magnetic sensor 42 attached to the lower case 5b. In the present embodiment, the angle sensor 40 is a magnetic type, but is not limited thereto, and may be an optical type, for example.

  The energization control unit 50 determines the detection result by the angle sensor 40 and selectively controls the energization of the coil 25. The energization control unit 50 is divided into groups A1, A2, B1, and B2 of the stator salient poles 22, and energizes the coil 25. The selectively energized coil 25 generates a magnetic attractive force on the stator salient poles 22 to generate a force that attracts the rotor salient poles 12. The energization control unit 50 outputs an operation signal corresponding to the relative angle detected by the angle sensor 40. The operation signal output from the energization control unit 50 according to the rotation angle of the operation unit 60 is used, for example, to control the display screen of the electronic device. Further, it is used as a control signal for operating a power switch or a changeover switch of the electronic device.

  As with the first embodiment, the rotary actuator 2 according to the present embodiment can change the operation feeling according to the control mode of the energization control unit 50.

  In the first control mode, a magnetic attractive force is continuously generated in the stator salient poles 22 of the two groups facing each other through the rotor 10 among the groups A1, A2, B1, and B2. In the second control mode, a magnetic attractive force is generated intermittently on the stator salient poles 22 for each of two groups facing each other via the rotor 10.

  18 to 19 are graphs schematically showing the rotational torque of the operation shaft 15 in the rotary actuator 2 of the present embodiment.

  18 to 19, the horizontal axis is a relative angle based on the position where the stator salient pole 22 and the rotor salient pole 12 of the group A1 are close to each other as a reference (0 degree), the vertical axis of the upper graph is the current amount, and the lower axis The vertical axis of the graph is the magnitude of the rotational torque. The plus (+) on the vertical axis represents the rotational torque (self-supporting rotational force) that assists the rotational operation of the operating shaft 15, and the negative (−) on the vertical axis represents the rotational torque in the rotational direction that hinders the rotational operation of the operating shaft 15. (Rotational resistance).

  FIG. 18A shows a case where the groups A1 and A2 are continuously energized with the current amount I1 in the first control mode. For example, when an attempt is made to rotate the stator salient pole 22 of the group A1 and the rotor salient pole 12 close to each other, for example, in a clockwise direction, the rotational torque (rotational resistance) in the rotational direction that hinders the rotational operation of the operating shaft 15 increases. After having a negative peak value, the rotational torque decreases to zero at a rotational angle of half pitch (θ3 / 2). If the rotation is further clockwise, the rotational torque (self-supporting rotational force) in the same direction as the rotational direction increases, and after having a peak value, the rotational angle of the pitch angle θ3 is the same as the initial state. Similarly, in the first control mode, when the groups B1 and B2 are continuously energized with the current amount I1, the rotation angle shifted by a half pitch (θ3 / 2) with respect to FIG. ), The rotational torque changes.

  FIG. 18B shows a case where the amount of current I2 is increased and the current amount I1 of FIG. 18A is compared with the rotational torque by a dotted line. As can be seen from FIG. 18B, when the amount of current to be energized is increased, the rotational torque is increased. Therefore, the operational feeling can be changed by adjusting the amount of current. Further, the control is not limited to the control with the current amount made constant, and for example, the control can be made to gradually increase the current amount when the rotation operation is continued. In this way, it becomes possible to make the operation feel heavier with respect to the rotation operation.

  FIG. 19 shows an example in which the energization of the groups A1 and A2 and the energization of the groups B1 and B2 are intermittently energized in the second control mode. In FIG. 19A and FIG. 19B, the timing for switching energization is changed. As shown in FIG. 19, the repetitive pitch of the rotational torque is a half pitch (θ3 / 2), which is finer than in the case of FIG. In addition, it is possible to generate a rotational torque whose direction of rotation is suddenly reversed at the timing when the energization is switched. Furthermore, by changing the timing of switching the energization, it is possible to provide an operational feeling that is a repetition of rotational torque (self-supporting rotational force) in the same direction as the rotational direction or rotational torque (rotational resistance) in the direction opposite to the rotational direction. . As shown in FIG. 19, various click feelings can be generated by changing the rotation resistance of the operation shaft 15.

  18 to 19 are compared with FIGS. 11 to 14, it can be seen that the rotary actuator 2 of the present embodiment can generate a finer click feeling.

  As shown in FIG. 17, when the pitch angle θ3 is 20 degrees and the angle θ4 is 40 degrees, when the rotor 10 is rotated 360 degrees, the original (0 degree) state is restored. Since the rotor 10 does not require a component that hinders rotation such as wiring, the operation shaft 15 can be rotated 360 degrees or more. In this way, even when the operation shaft 15 is rotated 360 degrees or more, a click feeling can be generated stably.

  Hereinafter, the effect by having set it as this embodiment is demonstrated.

  In the rotary actuator 2 of the present embodiment, the stator salient poles 22 are arranged in four groups A1, A2, B1, and B2. At this time, in each of the groups A1, A2, B1, and B2, the stator salient poles 22 generate the magnetic attractive force at the same timing and are arranged at intervals of the pitch angle θ1. In this configuration, the half pitch of θ1 is arranged at a large interval. The energization control unit 50 performs a first control mode in which the magnetic salient force is continuously generated on the stator salient poles 22 of the two groups facing each other via the rotor 10 among the groups A1, A2, B1, and B2. Have. Further, a second control mode is provided in which the magnetic salient force is intermittently generated on the stator salient poles 22 for every two groups facing each other via the rotor 10. Thereby, when the operating shaft 15 is rotated by an external force, the rotational resistance of the operating shaft 15 is changed in the first control mode or the second control mode.

  According to this, since the click pitch can be switched between the salient pole pitch and the half pitch of the rotor 10 by switching between the first control mode and the second control mode with a simple configuration, various click feelings can be provided.

  Further, in the rotary actuator 2 of the present embodiment, the degree of click feeling can be controlled by controlling the amount of current applied to the coil 25 by the power supply control unit 50. By controlling the strength and the strength of the rotational resistance according to the amount of current applied to the coil 25, more various click feelings can be generated.

  In the rotary actuator 2 of the present embodiment, the equal pitch angle (pitch angle θ3) is 20 degrees. According to this configuration, even when the operation shaft 15 is rotated 360 degrees or more, a click feeling can be generated stably. Further, it is possible to generate a click feeling with a finer pitch as compared with the rotary actuator 1 of the first embodiment.

  As described above, the rotary actuator according to the embodiment of the present invention has been specifically described. However, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the invention. Is possible. For example, the present invention can be modified as follows, and these also belong to the technical scope of the present invention.

  (1) In the first embodiment and the second embodiment, the stator 20 may not be integrated but may be a combination of divided parts. For example, it is preferable to have an assembly structure in which the rotational force generating coil 25 can be easily wound.

  (2) In the first embodiment and the second embodiment, the equal pitch angle may be further reduced. For example, in the second embodiment, the number of branches of the stator salient poles 22 may be increased while the number of the core portions 23 and the coils 25 remains eight. Moreover, you may increase the core part 23 and the coil 25 by the integral multiple of eight pieces. By further reducing the equal pitch angle, it is possible to generate a click feeling with a finer pitch.

  (3) In 1st Embodiment and 2nd Embodiment, although it was set as the structure which has the angle sensor 40 and the electricity supply control part 50, the structure from which these were isolate | separated may be sufficient. For example, the function of the energization control unit 50 may be provided on the electronic device to be attached, or the angle sensor 40 may be attached on the operation unit 60 side. Even in this case, various click feelings can be generated by controlling the energization of the coil 25 by the energization control unit 50 in accordance with the relative angle detected by the angle sensor 40.

  (4) In the first embodiment and the second embodiment, the current flowing through the groups A1 and A2 and the current flowing through the groups B1 and B2 are set to the same current amount, but different current amounts are applied between the groups. You may control to. In this way, the operation feeling at different rotation angles can be a variety of click feelings instead of repeating the same click feeling.

DESCRIPTION OF SYMBOLS 1, 2 Rotary actuator 5a Upper case 5b Lower case 7 Rotation introduction member 10 Rotor 10b Radial direction outer peripheral part 11, 12 Rotor salient pole 15 Operation shaft 20 Stator 21, 22 Stator salient pole 23 Core part 25 Coil 40 Angle sensor 41 Magnet 42 Magnetic sensor 50 Energization control unit 60 Operation unit

Claims (4)

An operating shaft rotatably supported;
A rotor made of a magnetic material that is supported so as to be integrally rotatable with the operation shaft, and is provided with a plurality of rotor salient poles extending radially outward at an equal pitch angle in the circumferential direction of the radially outer peripheral portion;
A stator made of a magnetic material in which a plurality of stator salient poles that are opposed to the rotor salient poles with a small gap in the radial direction are disposed;
A coil that is selectively energized to generate a magnetic attractive force on the stator salient poles to generate a force that attracts the rotor salient poles;
An angle sensor for detecting a relative angle between the stator and the rotor;
In a rotary actuator having an energization control unit that determines the detection result by the angle sensor and performs energization control on the coil,
The stator salient poles are arranged in four groups, and in each of the four groups, the stator salient poles generate a magnetic attractive force at the same timing, and at equal pitch angle intervals. Arranged and adjacent different groups are arranged at a large interval by the half pitch of the equal pitch angle,
The energization control unit includes a first control mode for continuously generating a magnetic attractive force on the stator salient poles of two groups facing each other through the rotor among the four groups, and a mutual control via the rotor. A second control mode for intermittently generating a magnetic attractive force on the stator salient poles for every two groups facing each other,
When the operation shaft is rotated by an external force, the rotation resistance of the operation shaft is changed by the first control mode or the second control mode ,
The rotary actuator according to the second control mode, wherein a click pitch causing a click feeling on the operation axis is a half of the equal pitch angle . The rotary actuator according to claim 1, wherein the click feeling is controlled by controlling a current amount of energization to the coil by the energization control unit.   The rotary actuator according to claim 1, wherein the equal pitch angle is 36 degrees.   The rotary actuator according to claim 1, wherein the equal pitch angle is 20 degrees.

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