JPH0115925Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a rotary actuator whose swing rotation angle can be finely adjusted from the outside.

[Conventional technology]

In a rotary actuator, it is necessary to accurately set the swing rotation angle of the rotor shaft. In particular, in various robots incorporating rotary actuators, a slight deviation in the swing rotation angle often manifests as a large deviation in the end acting part, so it is necessary to have an adjustment mechanism for this. This is desirable. Furthermore, even if there is no deviation in the swing rotation angle, deviations may occur in the end acting part due to errors in the design and assembly of other components connected to the rotary actuator. Even in such a case, it is possible to eliminate the deviation by adjusting the swing rotation angle of the rotary actuator.
As such an adjustment mechanism, for example,
There is a proposal for No. 26497.

[The problem that the idea aims to solve]

However, in the case of that invention, the adjustment mechanism is an adjustable cam-type clasp that uses a rotating cam, which takes time and effort to manufacture, and requires a large number of clasps to correspond to each other. However, there is a problem in that it is not always easy to rotate them to the same rotational position and to match the contact portion of the cam with the rotor blade.

SUMMARY OF THE INVENTION An object of the present invention is to provide a rotary actuator with a simple structure and a mechanism that allows fine adjustment of the swing rotation angle of the rotor shaft easily and reliably from the outside.

[Means to solve the problem]

In this invention, an adjustment tool with a tapered surface at the tip is inserted through the cylinder so that it can move forward and backward along the side of the stopper, and a part of the side of the driving pin used to fix the vane between the flanges is exposed. let me,
The above problem was solved by bringing the tapered surface of the adjuster into contact with the exposed portion.

[Effect]

At the rotating end of the vane, the side surface of the driving pin and the tapered surface of the adjuster come into line contact. Therefore, when the adjustment tool is screwed inward, the driving pin is pushed by the tapered surface, thereby narrowing the rotatable angle of the vane.On the other hand, when the adjustment tool is screwed back, the vane can be rotated. The angle expands. In this way, by moving the adjusting tool back and forth from the outside, it is possible to finely adjust the rotation angle of the vane.

〔Example〕

The present invention can be applied to various rotary actuators regardless of their type. The drawing shows one example in which the present invention is applied to a rotary actuator of the most basic type among sealless types that does not use a sealing material for an oil seal. In the figure, 1 is a cylinder, into which a rotor shaft 3 with a flange 2 disposed oppositely is fitted. 4 is a vane fixed between the flanges 2. 5 is rotor shaft 3
A stopper for setting the swing rotation angle of
It is held in place by a core metal 6 inserted through the cylinder 1. 7 is an oil port for supplying hydraulic pressure to the gap between the vane 4 and the stopper 5;
A stopper 5 is also provided on the opposite side (not shown). Numerals 8 and 9 are driving pins for fixing the vane 4 between the flanges 2. Reference numeral 10 denotes an adjusting tool having a tapered surface 11 formed at its tip, which is inserted through the cylinder 1 and along the side surface of the stopper 5.
The adjuster 10 is usually of a screw type so that it can be moved forward and backward in small increments. The adjustment tool 10 is interposed between the stopper 5 and the vane 4, and the contact between the tip tapered surface 11 and the vane 4 is a line contact.
For this purpose, the part of the vane 4 that abuts the adjustment tool 10 is cut out, and a part of the driving pin 9 is exposed at the cut part 12. By doing so, the exposed portion and the tapered surface 11 come into line contact. Note that the adjuster 10 may be provided on both sides of the stopper 5.

In the above configuration, when oil pressure is supplied from the oil port 7 in the illustrated state, oil enters between the stopper 5 and the vane 4. At that time, since the stopper 5 cannot be moved, the vane 4 is pushed, and the rotor shaft 3, which is integrated with the vane 4, begins to rotate (counterclockwise in the drawing). At this time, the oil filled between the opposite side of the vane 4 and the stopper 4 is forced out through an oil port (not shown). Then, the driving pin 9 comes into contact with the tapered surface 11 of the adjusting tool 10, and the rotor shaft 3 stops rotating. The swing rotation angle is adjusted by moving the adjuster 10 forward and backward. That is, when the adjusting tool 10 is screwed forward, the driving pin 9 is pushed back along the tapered surface 11 in the opposite direction to the rotation direction, so that the rotor shaft 3
The rotatable angle of is decreased. Conversely, if it is screwed back, the angle will increase. Then,
When oil is supplied from an oil port (not shown), the rotor shaft 3 begins to rotate clockwise in the figure, and the oil filled between the opposite side of the vane 4 and the stopper 5 flows into the oil port 7. The rotor shaft 3 rotates until the vane 4 comes into contact with the stopper 5. Thereafter, the above operation is repeated to output a swing type rotational force at a predetermined angle.

[Effect of idea]

Since the present invention is as described above, it has an extremely simple structure and can easily and reliably adjust the swing rotation angle of the rotor shaft from the outside. It is very useful for correcting errors in the end working parts of incorporated equipment.

[Brief explanation of the drawing]

The drawing is a longitudinal sectional view showing the configuration of an embodiment of the present invention. Explanation of symbols, 1... Cylinder, 2... Flange, 3... Rotor shaft, 4... Vane, 5
... Stopper, 6 ... Core metal, 7 ... Oil port, 8, 9 ... Drive pin, 10 ... Adjustment tool, 11
... Tapered surface, 12 ... Resection part.

Claims (1)

[Scope of utility model registration request] An adjustment tool with a tapered surface at the tip is inserted through the cylinder so that it can move forward and backward along the side of the stopper, and a part of the side of the driving pin used to fix the vane between the flanges is exposed. A rotary actuator characterized in that the tapered surface of the adjustment tool is brought into contact with the part.