JPH04347036A - Rotary actuator with locking mechanism - Google Patents

Abstract

PURPOSE:To eliminate a driving source for a locking mechanism by letting an actuator be composed of two sets of epicyclic gears, two sets of ring gears, gears which are meshed with the epicyclic and ring gears, a linear motion conversion means for the rotation of the gears, a locking means, and of an output shaft rotation angle restricting means. CONSTITUTION:When a motor 2 is rotated with an output shaft 4 locked, a first jack screw 16 is moved to the left by means of a first gear 9, a first epicyclic gear 10, a first ring gear 12 and a second gear 14. This thereby allows a shaft 17 to be moved with pressure so that the shaft comes in contact with the output shaft 4. This also allows a second jack screw 20 to be rotated by means of an epicyclic gear 10, a carrier 10a, a third gear 15, a second epicyclic gear 11, and furthermore a ring gear 13 and a fourth gear 19, so that a second gear 21 is extracted out of the small hole 5 of the output shaft 4. The lock of the output shaft 4 is thereby released, the epicyclic gear 11 is revolved, and the revolution is continued until a stopper 23 abuts against a positioning plate 25. In this case, a first shaft 17 is put into the small hole 5 of the output shaft 4, so that the output shaft 4 is thereby locked.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotary actuator with a locking mechanism that is rotationally driven by a drive motor.

0002

[Prior Art] Fig. 7 is a sectional view of a rotary actuator with a locking mechanism, in which 1 is a casing, 2 is a drive motor, 3 is a reduction gear, 4 is an output shaft, 5 is a small hole, 6 is an air cylinder, and 6a 7 is a rod, 7 is an air supply device, and 8 is its control device. As shown in the figure, a drive motor 2 disposed inside a casing 1 connects an output shaft 4 to a
It is configured to rotate. The actuator is provided with a locking mechanism consisting of an air cylinder 6, its air supply device 7, and its control device 8 in order to hold the output shaft 4 in a stopped state when the actuator is not used. The rotary actuator is configured in this way.

Next, the operation will be described. When the actuator is not in use, the air cylinder 6 is operated, and its rod 6a is extended and inserted into the small hole 5 of the output shaft 4 to stop the output shaft 4 from rotating. When operating the actuator, an instruction is issued from the control device 8, the air supply direction of the air supply device 7 is switched, and the rod 6a of the air cylinder 6 is
When the rod 6a is contracted, the rod 6a is removed from the small hole 5 of the output shaft 4, and the locked state is released. Next, the drive motor 2 is driven to rotate the output shaft 4. When the output shaft 4 rotates by a predetermined angle, the drive motor 2 is first stopped, then the air supply direction of the air supply device 7 is switched to extend the rod 6a, and the rod 6a is inserted into the small hole 5 of the output shaft 4. The output shaft 4 is locked.

0004

The conventional rotary actuator with a locking mechanism is constructed and operates as described above, but the locking mechanism consisting of the air cylinder 6, the air supply device 7, and its control device 8 is attached to the casing 1. The problem is that the motor must be separately attached, and a drive source other than the drive motor is required.

The present invention has been made to solve the above-mentioned problems of conventional devices, and aims to provide a rotary actuator with a locking mechanism that does not require any other drive source to drive the locking mechanism. .

[0006]

[Means for Solving the Problems] In order to achieve the above object, a rotary actuator with a locking mechanism includes a drive motor, a first gear directly connected to the drive motor, and a first stage that meshes with the first gear. a planetary gear, a first ring gear whose internal teeth mesh with the first stage planetary gear, a second gear which meshes with the external teeth of the first ring gear, and a rotation of the second gear. a first converting device that converts the motion into a linear motion; a device that locks the output shaft in accordance with the linear motion of the first converting device; and a third gear that rotates in accordance with the revolution of the first planetary gear. a second planetary gear that meshes with the third gear; a second ring gear that meshes its internal teeth with the second planetary gear; and a fourth planetary gear that meshes with the external teeth of the second ring gear. a gear, a second conversion device that converts rotation of the fourth gear into linear motion, a device that locks an output shaft in accordance with the linear motion of the second conversion device, and the second planetary gear. The device is comprised of an output shaft that rotates as the output shaft revolves, a casing that houses the device except for the output shaft, a lid for the casing, and a device that restricts the rotation of the output shaft to a predetermined angle.

[0007]

[Operation] In the rotary actuator with a locking mechanism configured as described above, the output shaft is normally locked by, for example, a second locking device. To operate the actuator, if you drive the motor, the rotation of the motor will rotate the second gear via the first gear, the first stage planetary gear, and the first ring gear; The conversion device converts the motion into a linear motion, and the linear motion causes the second gear and the first ring gear to stop, and the revolution of the first planetary gear causes the motor torque to move to the third gear, the second planetary gear, and the first ring gear. The signal is transmitted to the fourth gear via the second ring gear and rotates it. The rotation of the fourth gear is converted into linear motion by the second conversion device, and the second locking device functions in accordance with the linear motion, and the output shaft is unlocked. Next, when the output shaft rotates by a predetermined angle, the output shaft rotation angle regulating device functions to stop the output shaft, and the first locking device functions to lock the output shaft. The output shaft can be easily locked and unlocked simply by driving the motor, and the entire set of devices other than the output shaft, including the drive motor and locking mechanism, is housed in the casing, making the device compact.

[0008]

Embodiment FIG. 1 is a sectional view of a rotary actuator with a locking mechanism showing an embodiment of the present invention. In the figure, 1 to 8 are the same or equivalent parts as in the conventional device, 9 is a first gear, and 10 is a first 10a is its carrier, 11 is the second planetary gear
11a is the carrier, 13 is the first ring gear, 14 is the second gear, 15 is the third gear, 16
is the first jack screw, 16a is its end surface, 17
is the first shaft, 18 is the spring, 19 is the fourth gear, 2
0 is a second jack screw, 21 is a second shaft, 22 is a spring, 23 is a stopper, 24 and 25 are positioning plates, and 26 is a lid.

In the figure, the first
The gear 9 meshes with the first stage planetary gear 10, the first stage planetary gear 10 meshes with the internal gear of the first ring gear 12, and the teeth provided on the outside of the first ring gear 12 mesh with the second stage planetary gear 10.
meshes with the gear 14 of. Further, a third gear 15 is pivotally attached to the carrier 10a of the first planetary gear, and the second planetary gear meshing with the third gear 15 is connected to the second ring gear 1.
The external teeth of the second ring gear 13 mesh with the internal teeth of the second ring gear 13, and the external teeth of the second ring gear 13 mesh with the internal teeth of the
It meshes with the gear 19 of. Further, the first and second jack screws 16, 20 have a shaft 17 in their center hole,
21 is inserted, and the shafts 17, 21 are connected to the springs 18, 22.
The main bodies of the first and second jack screws 16 and 20 are pressed toward the output shaft 4 through the gears 14 and 1, respectively.
It is screwed into the center of 9. The above mechanism, except for the output shaft, is housed in the casing 1, and a lid 26 is attached to the casing 1. The rotary actuator with a locking mechanism according to the present invention is configured as described above.

Next, the operation will be explained. FIG. 1 shows a state in which the output shaft 4 is locked and stopped. When the drive motor 2 is rotated counterclockwise when viewed from the output shaft direction of the drive motor from this state, the first gear 9, the first stage planetary gear 10, the first ring gear 12, and the second gear 14 are rotated as follows.
As shown in FIG. 2, the first jack screw 16 rotates and is screwed into the second gear 14, moves toward the output shaft 4, and stops when its end surface 16a abuts the lid 26. As the first jack screw 16 moves in the direction of the output shaft 4, the shaft 17 also moves in the direction of the output shaft 4, brings its tip 17a into contact with the output shaft 4, and stops. shaft 17
If the amount of movement is set larger than the amount of movement of the jack screw 16, the difference will be absorbed by the spring 18 as shown in FIG. When the end surface 16a of the first jack screw 16 comes into contact with the lid 26 and stops moving, the second jack screw 16
The gear 14 and the first ring gear 12 stop rotating, and the rotational torque is transmitted from the first stage planetary gear 10 to the second stage planetary gear 11 via the carrier 10a and the third gear 15. Since the output shaft 4 is locked, the second stage planetary gear 11, second ring gear 13, or fourth gear 19 rotates as shown in FIG. 4 when viewed from the output shaft. As a result, the second jack screw 20 rotates the second shaft 21 away from the output shaft 4, and stops with its end surface 20a in contact with the casing 1,
The second shaft 21 is removed from the small hole 5 of the output shaft 4, and the output shaft 4 is unlocked as shown in FIG. Second
When the jack screw 20 stops, the fourth gear 1
9. The second ring gear 13 stops rotating, so the second ring gear 13 stops rotating.
The stage planetary gears 11 revolve and rotate as shown in FIG. 6 when viewed from the output shaft 4, and the output shaft 4 starts rotating. When the output shaft 4 rotates by a predetermined angle, the stopper 23 attached to the output shaft 4 comes into contact with the positioning plate 25, and the output shaft 4 stops rotating. At this time, the small hole 5 of the output shaft is located at the tip of the first shaft 17, so the first shaft 17
is inserted into the small hole 5 by the spring 18, and the output shaft 4 is locked.

As seen in this embodiment, the actuator according to the present invention includes planetary gears 10, 11, ring gears 12, 13, and gears 14, 19 connected to a drive motor.
The first and second jack screws 16, 20 are moved by a gear train consisting of
The shafts 17 and 21 built into the output shaft 4 are inserted into or removed from the small hole 5 of the output shaft 4. Therefore, there is no need to use a drive source other than the drive motor for the locking mechanism. Furthermore, since all devices other than the output shaft, including the locking mechanism, are housed in the casing 1, the structure of the actuator is also simplified. In this embodiment, a jack screw is used to convert the rotation of the second gear into linear motion, but the invention is not limited to this, and other devices such as a rack and pinion may also be used. good.

0012

Effects of the Invention In the present invention, an actuator with a locking mechanism is constructed of a drive motor, a planetary gear, a ring gear meshing with the planetary gear, a device for converting rotation into linear motion, etc. This has resulted in the excellent effect that no other drive source is required, and the actuator including the locking mechanism can be made compact.

[Brief explanation of drawings]

FIG. 1 is a sectional view of an actuator with a locking mechanism showing an embodiment of the present invention.

FIG. 2 is a configuration diagram showing the rotational direction of the gear train as seen from the output shaft.

FIG. 3 is a sectional view showing the operation of the actuator with a locking mechanism.

FIG. 4 is a configuration diagram showing the rotation direction of the gear train as seen from the output shaft.

FIG. 5 is a sectional view showing the operation of the actuator with a locking mechanism.

FIG. 6 is a configuration diagram showing the rotation direction of the gear train as seen from the output shaft.

FIG. 7 is a sectional view of a conventional actuator with a locking mechanism.

[Explanation of symbols]

１　……Casing 2……Drive motor 9.……First gear 10……1st stage planetary gear 10a...Carrier 11... Second stage planetary gear 11a...Carrier 13...Second ring gear 14...Second gear 15……Third gear 16……First jack screw 17……First shaft 18... Spring 19...Fourth gear 20……Second jack screw 21...Second shaft 22 Spring 23……Stopper 24……Positioning plate 25……Positioning plate 26……Lid

Claims (1)

[Claims] 1. A drive motor, a first gear directly connected to the drive motor, a first stage planetary gear that meshes with the first gear, and internal teeth of the first gear that mesh with the first stage planetary gear. First thing to do
a ring gear, a second gear that meshes with the external teeth of the first ring gear, a first conversion means that converts the rotation of the second gear into linear motion, and an output shaft according to the linear motion. a third gear that rotates in accordance with the revolution of the first planetary gear, a second planetary gear that meshes with the third gear, and the second planetary gear. a second ring gear that meshes with the internal teeth of the second ring gear, a fourth gear that meshes with the external teeth of the second ring gear, and a second conversion means that converts rotation of the fourth gear into linear motion; a second locking means that locks the output shaft according to the linear motion; an output shaft that rotates due to the revolution of the second planetary gear; a casing that houses the mechanism other than the output shaft; and a lid thereof; A rotary actuator with a locking mechanism, comprising means for regulating rotation of the output shaft to a predetermined angle.