JPH0130878Y2 - - Google Patents

Description

[Detailed description of the invention] The invention is a rotary actuator.
The present invention relates to a rotary actuator for obtaining a desired rotational motion.

Conventionally, rotary actuators have generally used motors, but motors generally have a somewhat fixed structure and shape, which limits their range of application, and rotational speed control and rotational braking are not always possible. It is not easy, and positioning and fixing of the rotor relative to the stator is relatively complicated.

In view of these circumstances, an object of the present invention is to provide a rotary actuator that utilizes a disc-shaped swash plate that has a plurality of magnetically acting parts made of magnetic material on its outer peripheral edge.

The present invention will be explained below with reference to illustrated embodiments.
FIG. 1 shows a rotary actuator showing an embodiment of the present invention. In the figure, 2 is an operating shaft, and this operating shaft 2 rotates by the structure shown below, and 1 is an operating shaft. A base body rotatably supports the shaft 2 via a bearing 1a and covers the entire body, 3 is a fixing member fixed to the operating shaft 2, and 5 is a disc-shaped swash plate as shown in FIG. The swash plate 5 is formed by punching out a relatively thin steel material or a magnetic material with spring characteristics, and has an inner hole 5b in the center and a plurality of cuts on the outer and inner edges. 5a is formed to have a uniform shape in the radial direction, and the outer circumferential disk part is inclined at a predetermined angle to one side with respect to the center when viewed from the direction perpendicular to the plate surface, and the whole is formed in a shade shape, and furthermore, A plurality of magnetically acting parts 5C1 to 5C6, six in the embodiment shown in this figure, are formed on the outer peripheral edge so as to protrude outward at equal intervals. Reference numeral 21 denotes a laminate in which a plurality of swash plates 5 thus formed are superimposed, 6 a pressing body of the swash plate laminate 21 coaxially and slidably provided on the operating shaft 2, and an elastic cylindrical bellows 6a. is coupled to the fixing member 3 to prevent separation beyond the electromagnetic attraction limit. 7 is fixed to the fixed member 3 or the pressing member 6, and is arranged around the operating shaft 2 so that the vicinity of the inner peripheral end of the inner hole 5b of the swash plate 5 can be crushed and released between the pressing member 6 and the fixed member 3. A cylindrical suction iron piece 7a and a coil 7b are arranged coaxially on the
The electromagnets 80 to 87 for controlling the tilt angle of the swash plate laminate 21 are separated from the outer peripheral edge of the swash plate 5 by a predetermined distance, and are formed on the outer peripheral edge of the swash plate 5. A plurality of swash plate rotation control electromagnets forming a stator, eight in the illustrated embodiment, are attached at equal intervals to the inner circumferential wall of the base 1, facing the parts 5C0 to 5C5, and 22 is a lead wire. 2
4, the coil 7b of the electromagnet 7 is excited and controlled to control the inclination angle of the swash plate 5, and the lead wires 230 to 2
This is a sequential excitation control circuit that sequentially controls the excitation of each coil of a plurality of electromagnets 80 to 87 via 37 to rotate the swash plate stack 21. As shown in FIG. 2, the swash plate rotation control electromagnets 80 to 87 and the magnetic action parts 5C0 to 5C5, which are arranged opposite to each other, are provided in eight pieces and six pieces, respectively. 5C5 is two fewer than electromagnets 80-87. In the state shown in the figure, the electromagnets 80 and 84 are connected to the magnetic action parts 5C0 and 5C, respectively.
Magnetic action parts 5C1 and 5C4 are located on the clockwise right side of the magnetic action parts 5C0 and 5C3, completely facing each other at the same position as C3, and the other parts are slightly shifted from each other. is the electromagnet 8 to the right of the electromagnets 80 and 84 in the clockwise direction.
It is located slightly clockwise to the right of 1.85.

In order to operate the device configured as described above as a rotary actuator, first, the excitation coil 7b of the slope control electromagnet 7 is excited by the sequential excitation control circuit 22 via the lead wire 24, and its attractive magnetic force is The pressing member 6 is attracted to the swash plate laminate 21 and the swash plate laminate 21 is held between the fixing member 3 and the pressing member 6. As a result, the angle of inclination of the swash plate stack 21 decreases as shown by the dotted line, and the swash plate stack 21 becomes almost upright, with the outer peripheral end of the swash plate stack 21 being connected to the electromagnet 8.
The gaps between the magnetic action parts 5C0 to 5C5, which have been moved to positions facing the electromagnets 80 to 87 and formed on their outer peripheral edges, and the opposing parts of the electromagnets 80 to 87 are as shown in the figure.
It becomes smaller from e ₀ to e ₁ . At this time, the diameter of the inner hole 5b of the swash plate laminate 21 is also reduced, and the inner circumferential surface of the inner hole 5b and the outer circumferential surface of the relevant portion of the actuating shaft 2 abut against each other, and the fixing member 3 and the pressing member 6 Combined with the pinching force of the swash plate stack 21 due to this, the swash plate stack 21 and the operating shaft 2 are integrally coupled. The swash plate laminated body 21 and the operating shaft 2 may be connected in the rotational direction by a spline connection such as a key-to-key groove. After controlling the swash plate stack 21 in this way, the sequential excitation control circuit 22 further controls the lead wires 230 to 23.
7, an excitation signal is sent to the excitation coils from phase to phase to sequentially excite and control the swash plate rotation control electromagnets 80 to 87, respectively. ~5C5 are sequentially magnetically attracted and controlled to rotate the swash plate stack 21. That is, in detail, in the initial state, the electromagnet 8 is connected via the lead wires 230 and 234.
The coils 0 and 84 are energized, thereby attracting the magnetically acting portions 5C0 and 5C3 of the swash plate stack 21, and the swash plate stack 21 is stopped without rotating at the illustrated position.

In this state, first, the excitation of the coils of electromagnets 80 and 84 is stopped, and when the coils of electromagnets 81 and 85 are excited via the lead wires 231 and 235 by the I-phase excitation signal, the electromagnets 81,
The magnetically acting parts 5C1 and 5C4 of the swash plate laminate 21 which were adjacent to the clockwise right side of the electromagnet 85 are
1.85, and rotate counterclockwise to a position where both are completely opposed to each other. At this time, the magnetic action parts 5C2 and 5 provided on the right side of the magnetic action parts 5C1 and 5C4 in the clockwise direction
C5 rotates to a position adjacent to the right side of the electromagnets 82, 86 in the clockwise direction, and then phase excitation signals are supplied to the coils of the electromagnets 82, 86 via the lead wires 232, 236. Then, in the same manner as described above, the magnetically acting parts 5C2 and 5C5 are attracted by the attractive magnetic force of the electromagnets 82 and 86, and are rotated counterclockwise to a position where they completely face each other. Similarly, the phase excitation signal is transferred to the electromagnet 8.
The excitation signals from the above phases are sequentially supplied to the coils of electromagnets 80 to 87, and the excitation signals of the phases are supplied to the coils of electromagnets 80 and 84. By supplying and excitation, the swash plate laminate 21
can be rotated. In this embodiment, the angle that can be rotated by one excitation signal is 15 degrees. Furthermore, in the embodiment described above, by changing the order in which the excitation signals are supplied, the rotation direction of the swash plate stack can also be rotated in the opposite clockwise direction. The rotation of the swash plate stack 21 generated in this manner is transmitted to the actuating shaft 2 via the clamping fixing member 3 and the pressing body 6, and can be taken out to the outside. Further, when the swash plate stacked body 21 is in an almost completely flat, non-inclined upright state due to the pre-design, the outer peripheral end surfaces of the magnetic action parts 5C0 to 5C5 are aligned with the electromagnets 80 to 5C5.
87, and when the excitation to the excitation coil 7b is increased to a predetermined value by the control circuit 22, the pair of magnetic action parts will be connected to the opposite pair of magnetic action parts. It collides with an electromagnet to brake or hold the rotation. Further, by adjusting the gap between the magnetic action section and the electromagnet, it is possible to adjust and change the rotational torque, rotational efficiency, etc.

A rotary actuator according to another embodiment of the present invention shown in FIG. 3 uses a motor 61 instead of the actuator shown in FIGS. 1 and 2 to control the operation of the pressing body 6 using the electromagnet 7. The other configurations are the same as those in FIGS. 1 and 2, and the same components are given the same reference numerals and their explanations will be omitted.

In FIG. 3, on the outer circumferential surface of the narrow diameter part 60a of the pressing body 60, which is coaxial with the operating shaft 2 and movable in the axial direction, and is stopped by a key and a keyway so as not to rotate around the shaft. A threaded portion is formed on the inner circumferential surface of a cylindrical member 62 that is fixed to the threaded portion at a predetermined position in the axial direction of the actuating shaft 2 and is rotatable around the shaft. The parts are screwed together. A large-diameter worm wheel 63 is integrally attached to one end of this cylindrical member 62, and a worm 64 formed on the rotating shaft of a motor 61 fixed to the operating shaft 2 is attached to the worm wheel 63. are meshing. Then, when this motor 61 rotates,
This rotation is caused by the worm wheel 63 via the worm 64.
and rotates the worm wheel 63. When the cylindrical member 62 rotates due to the rotation of the worm wheel 63, the cylindrical member 62 has a narrow diameter portion 60a in which a threaded portion formed on its outer circumferential surface is screwed into a threaded portion formed on its inner circumferential surface. The pressing body 60 is biased by the screw engagement and is moved in a direction approaching the fixing member 3 from a place where its rotation is locked by a key or the like, and the inclined stacked body 21 is moved between the fixing member 3 and the pressing body 60. Hold it between the two. When the swash plate laminate 21 is compressed and crushed from both sides, as explained in FIGS. 1 and 2,
For example, it stands up to the position shown by the dotted line, and its outer peripheral end is close to the electromagnets 80 to 87, and then rotates under the control of the output of the lead wire 24a of the sequential excitation control circuit 22. Further, if the motor 61 is rotated in the opposite direction, the pressing body 60 moves in a direction away from the fixed member 3. As a result, the swash plate laminate 21
The clamping between the fixing member 3 and the pressing body 60 is released, and the swash plate laminate 21 returns to its original state.

As explained above, according to the present invention, the inclination angle of the swash plate is appropriately controlled so that its outer peripheral end face closely faces and even abuts the electromagnet, and the electromagnet is sequentially excited by the sequential excitation control circuit. This allows the swash plate to rotate, making it relatively easy to control its rotational speed and brake its rotation.

In addition, in the above embodiment, the electromagnets 80 to 8
Although the number of magnetic action parts 5C0 to 5C5 of 7 and swash plate 5 is eight and six, respectively, and the number of magnetic action parts is two less than the number of electromagnets, nothing is limited to such a configuration. In addition, various configurations are possible, and various excitation control methods are also possible.

[Brief explanation of drawings]

FIG. 1 is a partial cross-sectional configuration diagram of a rotary actuator showing an embodiment of the present invention, FIG. 2 is a cross-sectional view taken along the - line of the actuator shown in FIG. 1, and FIG.
FIG. 3 is a partial cross-sectional configuration diagram of a rotary actuator showing another embodiment of the present invention. 2... Operating shaft, 3... Fixed member, 5... Swash plate,
5a...notch, 5b...inner hole, 5C0 to 5C5
... Magnetic action part, 6, 60 ... Pressing body, 7 ... Inclination control electromagnet, 80-87 ... Swash plate rotation control electromagnet (stator), 21 ... Swash plate laminate, 22
...Sequential excitation control circuit, 61...Motor.

Claims (1)

[Claims for Utility Model Registration] An annular disc-shaped member coaxially attached to the operating shaft, which has a plurality of radial notches on its inner and outer peripheral edges, and at least one swash plate having an outer peripheral edge inclined toward one side at a predetermined angle in the shape of a shade; and an inclination angle control means for changing the inclination angle of the swash plate to control connection and separation between the swash plate and the operating shaft. , a plurality of magnetic action parts made of a magnetic material formed so as to protrude outward at equal intervals on the outer peripheral edge of the swash plate; and a plurality of magnetic action parts arranged to face the magnetic action parts. a stator comprising an electromagnet; and a stator including a plurality of electromagnets, wherein the inclination angle of the swash plate is changed by energizing and controlling the inclination angle control means so that a magnetic acting portion provided on the outer peripheral edge of the swash plate is closely opposed to the electromagnet. A rotary actuator comprising: sequential excitation control means for controlling the excitation of an electromagnet and driving the magnetic action section by the magnetic action of the electromagnet to control rotation of the swash plate.