JPH078125B2 - Oscillating actuator - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a flat oscillating actuator that rotates within a predetermined angle range and has little torque fluctuation.

[0002]

2. Description of the Related Art Heretofore, as swing-type actuators with small torque fluctuation, there have been a movable coil-wheel actuator shown in FIGS. 3 and 4, and a movable magnet-type actuator shown in FIGS. The outline of them will be described below.

First, a movable coil actuator will be described with reference to FIGS. 3 and 4. A fixed yoke 23 formed integrally with the back yoke 22 is pivotally supported on the rotary shaft 20 via a bearing 21. The substrate 26 is fitted and fixed to the rotary shaft 20, and is rotatable in the arrow direction together with the rotary shaft 20. The coil 24 is disposed on one side surface of the substrate 26, and the permanent magnet 25 is fixed inside the fixed yoke 23 so as to face the coil 24. Reference numeral 27 is a lead wire. When the lead wire 27 is energized, an electromagnetic force is generated between the coil 24 and the coil 24 in the magnetic field generated by the magnetic flux φ generated by the permanent magnet 25 shown in FIG. Rotate with. This activates the movable wheel actuator.

Next, referring to FIGS. 5 and 6, a rotary yoke 34 is rotatably supported by a fixed shaft 30 for explaining the movable magnet actuator via a bearing 31. The back yoke 33 is fitted and fixed to the fixed shaft 30,
The coil substrate 35 is fixed to one side of the back yoke 33. A coil 36 is mounted on the upper surface of the coil substrate 35, and the rotating yoke 34 is placed so as to face the coil 36.
A permanent magnet 37 is arranged on the inner surface of the. Reference numeral 38 is a coil lead wire, and 32 is a fixed shaft retainer. By energizing the lead wire 38, the coil 3 is generated in the magnetic field generated by the magnetic flux φ generated by the permanent magnet 37 as shown in FIG.
An electromagnetic force is generated between the movable magnet-type actuator and the movable magnet-type actuator 6 by rotating the rotating yoke 34, the permanent magnet 37, and the like in a predetermined direction within a magnetic field.

[0005]

The above-mentioned conventional actuator has the following problems. First, in the movable coil-type swing actuator shown in FIGS. 3 and 4, when trying to obtain a high output torque, the size becomes large, and the movable portion and the electromagnetic force generating portion are not arranged in axial symmetry. The load may change depending on the posture, and the output torque may change due to the change or loss of the bearing load due to the torsional force.Therefore, it is difficult to have a flat shape with high output torque, and the coil lead wire is not attached to the movable part. Since it is attached, there are drawbacks such as adversely affecting the life of the actuator and causing mechanical loss. Next, in the case of the movable magnet type actuator shown in FIG. 5 and FIG.
Since it also interlinks with the back yoke at the same time as the coil conductor, iron loss such as eddy current loss and hysteresis loss occurs due to the movement of magnetic flux in the back yoke, and these losses are accompanied by residual magnetism and minute permeance of the magnetic path. Changes to cause cogging torque, which impairs smooth rotation. If the permanent magnet is made strong to increase the torque, a high thrust load is applied to the bearing, which may cause loss and damage to related members. Since the fixed yoke and the back yoke are formed as separate bodies, there is a problem that the leakage magnetic flux φl to the outside is large as shown in FIG. The present invention has been made to solve these problems.

[0006]

The present invention has been made to solve the above problems, and discloses a flat oscillating actuator described below by using the reference numerals attached to the drawings of the embodiments. . A substrate (4) is provided in a space of a yoke composed of a back yoke (8) rotatably supported on a fixed shaft (1) and a rotating yoke (3), and the substrate (4) is provided on the circumference of the substrate (4). A plurality of coils (5) are arranged at appropriate positions on the back yoke (8) side, and the coils (5) are fixed shafts (1).
The substrate (4) and the fixed shaft (1) are fixed so as to be located in a plane orthogonal to the direction, and the rotating yoke (3) is arranged so as to face the substrate (4) provided with the coil (5). ) A swing type actuator having a permanent magnet (6) disposed on its inner surface, wherein the permanent magnet (6) is provided on the back yoke (8) side of the substrate (4) and the permanent magnet (6) is provided on the substrate. It is also possible to provide the coil (5) inside the rotary yoke (3) so as to face (4), and the light source (16) is provided outside one end of the cavity (18) formed at the center of the fixed shaft (1). ) Is provided on the outer side of the other end with a mirror mount (15) fixed to the rotary yoke (3), and light (17) from the light source (16) is provided on the mirror mount (15). Light that is reflected to 14) and that can be emitted to the outside through the hole (h) of the mirror fixture (15). Together constituting the oscillating actuator comprising a substrate (4) on or turning yoke (3)
This is an oscillating actuator in which a lead wire (13) of a coil (5) provided inside is pulled out from a central cavity (18) of a fixed shaft.

[0007]

When a current is applied to the plurality of coils 5, electromagnetic force is generated between the currents of the plurality of coils 5 in the air gap magnetic field generated by the magnetic flux φ generated by the permanent magnets 6 facing each other in the radial conductor portions a and b. Occurs, the rotating portion including the rotating yoke 3 and the back yoke 8 rotates in a predetermined manner. When the direction of the inflow current is reversed, the rotation direction is reversed.

[0008]

Embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a sectional view showing an embodiment of the present invention, and FIG.
FIG. 2 is a sectional view taken along the line B ′ in FIG.
It is sectional drawing seen along the line. Through a bearing 7 provided on the outer periphery of the fixed shaft 1 attached to the fixed shaft base 2, a yoke portion having a substantially U-shaped cross section composed of a back yoke 8 and a rotating yoke 3 is rotatably attached to the fixed shaft 1. Support. The board 4 fixedly connected to the fixed shaft 1 by the board fixing screw 10 is housed in the space of the yoke portion. The fastening screw 12 also serves to attach the mirror attachment 15 to be described later to the rotating yoke 3.
The coil 5 is arranged on the upper back yoke 8 side of the substrate 4,
Further, a permanent magnet 6 is attached to the inner surface of the rotating yoke 3 facing the substrate 4 and the coil 5 of the rotating yoke 3. Code 13
Is a lead wire of the coil 5 and is drawn out from the central hollow portion 18 of the fixed shaft base 2. Reference numeral 9 is a fixed shaft retainer. The coils 5 arranged on the substrate 4 are a plurality of coils appropriately arranged and fixed on the circumference of the substrate 4, and are connected to the fixed shaft so as to be located in a plane orthogonal to the fixed axis 1 direction. It adheres to the substrate 4. The different poles of the permanent magnets 6 having a plurality of poles arranged in the rotating yoke 3 face the radial conductor portions a and b of the plurality of coils 5, respectively, and the plurality of coils 5 generate an electromagnetic force. Are connected to each other in the same direction, and are located in the gap of the yoke portion formed by the back yoke 8 and the rotating yoke 3. In this way, the rotary yoke 3 having the permanent magnets 6 having a plurality of poles fixed therein and the back yoke 8 having the coil 5 are fitted and integrated, and are rotatably mounted on the fixed shaft via the bearing 7. It is pivotally supported by 1.
In the above configuration, since a plurality of electromagnetic force generating parts including a plurality of coils 5 and permanent magnets 6 having a plurality of poles are provided in the same plane orthogonal to the fixed shaft 1, it is possible to generate high torque with a flat central axis. Can be Multiple permanent magnets 6
In order to connect the rotary yoke 3 and the back yoke 8 to each other, the two members 3, 6 are fixed to the back yoke fixing screw 11
Since the permanent magnets 6 can be fastened together to maintain an air gap of a predetermined size, the attraction force of the permanent magnet 6 to the back yoke 8 does not directly reach the bearing 7, and the leakage magnetic flux is prevented from leaking to the outside. . In the swing actuator according to the present invention, since the magnetic flux φ generated by the permanent magnet 6 passes through the magnetic path as shown in the figure in which the rotating yoke 3 and the back yoke 8 made of a magnetic conductive material are integrated, the magnetic flux φ rotates with the magnetic flux φ. Since the relative speed of the yoke 3 and the back yoke 8 is zero, iron loss such as eddy current loss and hysteresis loss does not occur, and permeance does not change, so there is no cogging torque and electromagnetic force proportional to the current It rotates smoothly. As described above, in the embodiment, the flat yokes of the permanent magnets 6 having a plurality of poles and the plane gaps of the coils 5 are utilized to fasten and integrate the rotating yoke 3 and the back yoke 8 with the back yoke fixing screw 11. ing. Similarly, the fastening screw 12 is used to fix the mirror attachment 15 or the like that rotates together with the yoke. In this embodiment, the back yoke 8 side and the coil 5 group on the circumference of the substrate 4 are arranged, and the permanent magnet 6 is arranged on the rotating yoke 3 side so as to face the substrate 4 on which the coil 5 group is provided. However, the positions of the coil 5 and the permanent magnet 6 are exchanged, and the permanent magnet 6 is provided on the back yoke 8 side on the substrate 4, and the turning yoke is arranged so as to face the substrate 4 on which the permanent magnet 6 is provided. It is also possible to provide the coil 5 inside 3. Further, a light source 16 is attached to the outside of one end of a cavity 18 formed in the center of the fixed shaft 1, and a mirror attachment 15 screwed to the rotating yoke 3 is attached to the outside of the other end thereof.
May be provided in the mirror attachment 15 so that the light 17 from the light source is reflected by the oscillating mirror 14 and is emitted to the outside through the hole h of the mirror attachment 15.

[0009]

According to the oscillating actuator of the present invention, a plurality of coils 5 are appropriately arranged in a plane orthogonal to the fixed shaft 1, and a rotating yoke 3 having a plurality of coil substrates 4 and a plurality of permanent magnets 6 fixed thereto is fixed. Since the rotating portion including the back yoke 8 and the back yoke 8 is rotatably supported by the fixed shaft 1 via the bearing 7,
The central axis can be made flat, and the torque can be increased by using the plurality of coils 5 and the plurality of permanent magnets 6. The magnetic flux φ generated by the permanent magnet (6) forms a closed magnetic circuit having an air gap inside which is made of a magnetic conductive material, has no iron loss, has no external leakage of magnetic flux, and has a permeance even when rotating. Since there is no fluctuation, there is no fear of generation of cogging torque. Only the electromagnetic force due to the current flowing in the plurality of coils (5) and the magnetic flux of the air gap serves as the turning torque, and even a slight change in the current can be dealt with by the smooth change in torque, enabling precise control. Even if a strong permanent magnet (6) is used to increase the turning torque, the permanent magnet (6) having a plurality of poles and the back yoke (8) are fitted and fastened together to form a single unit. ) Does not apply an unreasonable load due to the suction force, which is useful for durable life and smooth rotation. Further, since the lead wire (13) for supplying power to the coil (5) is drawn out into the cavity (18), it does not rotate like the plurality of coils 5, so that there is no mechanical loss and durability of life is improved. Be useful. By providing the back yoke fixing screw 11 and the fastening screw 12 in the gap where the plurality of coils 5 and the permanent magnets 6 having a plurality of poles are arranged, the space can be effectively used. The fixed shaft base 2 is provided, and the fixed shaft 1 is fitted and arranged.
By providing, it can be used for passing through the lead wire 13 or can be used as an optical path for optical transmission of laser light or the like. Since the related members are configured symmetrically with respect to the fixed shaft 1, there are features such that an eccentric load does not occur depending on the posture, and there is no fear of undue stress.

[Brief description of drawings]

FIG. 1 is a diagram of an embodiment of an oscillating actuator of the present invention.
A sectional view taken along the line BB ′ of FIG.

FIG. 2 is a cross-sectional view taken along the line AA ′ of FIG.

FIG. 3 is a view of a movable wheel type swing actuator of a conventional example.
A sectional view taken along the line EE ′ of FIG.

4 is a cross-sectional view taken along the line CC ′ of FIG.

FIG. 5 is a view of a movable magnet type swing actuator of a conventional example.
FIG. 6 is a sectional view taken along line FF ′ of FIG.

6 is a cross-sectional view taken along the line DD ′ of FIG.

[Explanation of symbols]

 1 Fixed Axis 2 Fixed Axis Base 3 Rotating Yoke 4 Substrate 5 Coil 6 Permanent Magnet 7 Bearing 8 Back Yoke 9 Fixed Axis Presser 10 Substrate Fixing Screw 11 Back Yoke Fixing Screw 12 Fastening Screw 13 Lead Wire 14 Mirror 15 Mirror Fixture 16 Light Source 17 light 18 cavity h hole

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Iwao Sugisaki 110-1 Shinkushita Nitta, Iruma City, Saitama Prefecture Copal Electronics Co., Ltd. Inside the Iruma Plant (56) References: 62-29772 (JP, U)

Claims (4)

[Claims] 1. A substrate is provided in a gap of a yoke composed of a back yoke rotatably supported by a fixed shaft and a rotating yoke, and a plurality of substrates are provided at appropriate positions on the back yoke side on the circumference of the substrate. Inner side surface of the rotating yoke so that the substrate and the fixed shaft are fixed so that the coil is located in a plane orthogonal to the fixed axis direction, and the coil is faced to the substrate provided with the coil. An oscillating actuator that has a permanent magnet on its inside. 2. The swing actuator according to claim 1, wherein a permanent magnet is provided on the back yoke side of the substrate, and a coil is provided inside the rotary yoke so as to face the substrate provided with the permanent magnet. 3. The light source according to claim 1, wherein a light source is provided outside one end of a hollow portion formed at the center of the fixed shaft, and a mirror attachment fixed to a rotating yoke is provided outside the other end. An oscillating actuator having an optical path, which is characterized in that the light is reflected by a mirror provided in a mirror fixture and passes through a hole of the mirror fixture to irradiate the outside. 4. The oscillating actuator according to claim 1, 2 or 3, wherein a lead wire of a coil provided on the substrate or inside the rotary yoke is pulled out from a central hollow portion of a fixed shaft.