JPH08294261A - Rotary actuator - Google Patents

Abstract

PURPOSE: To get desired rotation range with a simple control constitution. CONSTITUTION: In a rotary actuator, a magnet retaining member MH equipped with a permanent magnet PM and a conductor retaining member CH equipped with a conductive member CE are provided capably of relative rotation around a specified rotary axis. And, the permanent magnet PM and the conductive member CE are arranged so that they may generate motive force in the direction of relative rotation between the magnet retaining member MH and the conductor retaining member CH, and that the direction of energization of the conductive member CE to generate motive force in the direction of relative rotation may turn the same direction within the same cross section in the view of the direction of a specified rotation axis, and this is equipped with a magnetic substance MR which forms a magnetic path crossing the conductive member CE as well as the permanent magnet PM.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotary actuator.

[0002]

2. Description of the Related Art A rotary actuator is used as a power source for supplying rotary driving force to various movable mechanisms. As this type of rotary actuator, one having a structure in which a rotational driving force is generated by interaction between a current flowing through a conductive member and a magnetic field of a permanent magnet is considered. As this type, as shown in FIG. 11 which is a sectional view of a cylindrical shaft core, which is also a rotary shaft core, as shown in FIG. Side surface and the surface on the outer side of the cylinder are S poles or N poles,
In addition, a plurality of adjacent permanent magnets 100 are arranged in the circumferential direction such that the magnetic field directions of the permanent magnets 100 are different from each other.
There is a rotary actuator having a configuration in which a conductive member 102 having a cylinder height direction (a direction perpendicular to the paper surface in FIG. 11) as an energization direction with respect to 0 is arranged.

Here, the energization directions of the conductive members 102 are alternated in correspondence with the polarities of the permanent magnets 100 so that a plurality of pairs of the permanent magnets 100 and the conductive members 102 generate a propulsive force in the same direction. There is. So, for example,
When the conductive member 102 side is fixed and the permanent magnet 100 side is rotated, the permanent magnet 100 can rotate only within the range in which the corresponding conductive member 102 exists, and in order to further rotate beyond the range, the permanent magnet 100 can be rotated. It is necessary to detect the rotational position on the 100 side and switch the conducting direction of the conductive member 102 according to the rotational position.

[0004]

Therefore, in the above conventional structure, the rotation range of the rotary actuator is limited,
Further, there is an inconvenience that complicated control is required to release the limitation of the rotation range. The present invention has been made in view of the above circumstances, and a first object thereof is to provide a rotary actuator that can obtain a desired rotation range with a simple control configuration. A second object is to achieve the first object while simplifying the device configuration. The third purpose is to improve the driving force efficiently while
Is to achieve the purpose of. A fourth object is to achieve the first, second or third object while further improving the function of the device.

[0005]

A first characteristic configuration of a rotary actuator according to the present invention is characterized in that a magnet holding member having a permanent magnet and a conductor holding member having a conductive member are provided around a specific rotation axis. Relatively rotatable, the permanent magnet and the conductive member generate a propulsion force in a relative rotation direction between the magnet holding member and the conductor holding member, and generate a propulsion force in the relative rotation direction. A magnetic body is arranged so that the energization direction of the conductive member faces the same direction in the same cross section as viewed in the direction of the specific rotation axis, and a magnetic body that forms a magnetic path intersecting with the conductive member together with the permanent magnet is provided. In point. Second
In the characteristic configuration according to the first characteristic configuration, the conductive member is formed in a cylindrical shape, and the current-carrying direction is arranged so as to face the same direction in the same cross section when viewed from the specific rotation axis direction. The permanent magnet is formed into a cylindrical shape, and
It is located at the inner side or the outer side of the conductive member.

A third characteristic configuration is the same as the second characteristic configuration, wherein a plurality of the permanent magnets are arranged side by side in the direction of the specific rotation axis such that the magnetic fields of adjacent permanent magnets are directed in opposite directions. The conductive member is formed in such a manner that the flow directions of the electric currents are alternated corresponding to the plurality of permanent magnets. The fourth characteristic configuration is the first,
In the second or third characteristic configuration, the magnet holding member and the conductor holding member are linearly movable relative to each other along a surface facing each other, and cooperate with the permanent magnet to hold the magnet holding member. The conductor holding member is provided with an auxiliary conductive member so that a propulsive force is generated in a direction in which the member and the conductor holding member move linearly relative to each other.

[0007]

According to the first characteristic configuration of the present invention, the permanent magnet is
A magnetic path intersecting with the conductive member is formed together with the magnetic body, and a propulsive force is generated around the specific rotation axis by the interaction between the magnetic field generated by the permanent magnet and the current flowing through the conductive member. That is, in a simple expression, when the current is I, the magnetic flux density is B, and the generated force is F, a propulsive force is generated in the relationship of F = I × B (F, I, and B are vector amounts, respectively). The energization direction of the conductive member that generates the propulsive force is arranged so as to face the same direction in the same cross section as viewed in the specific rotation direction axis direction. That is, the propulsive force is generated in the same direction regardless of the relative rotation position of the conductor holding member and the magnet holding member. According to the second characteristic configuration of the present invention, the conductive member is formed in a cylindrical shape and is arranged such that the energization direction is directed in the same direction in the same cross section as viewed in the direction of the specific rotation axis, and the permanent magnet is Since it is formed in a cylindrical shape and arranged inside or outside the conductive member, the current flowing through the conductive member and the magnetic field generated by the permanent magnet interact without waste,
Generate propulsion efficiently.

According to the third characteristic configuration of the present invention, a plurality of permanent magnets are arranged side by side in the direction of the specific rotation axis with the magnetic fields of adjacent permanent magnets facing in opposite directions. However, it is formed so that the flow directions of the currents are alternated corresponding to each of the plurality of permanent magnets, and a magnetic field is efficiently formed between the permanent magnets arranged in the specific rotation axis direction. Therefore, a large propulsive force can be efficiently obtained with these permanent magnets and conductive members. According to the fourth characteristic configuration of the present invention, the conductor holding member and the magnet holding member generate a propulsive force around the specific rotation axis by the interaction between the magnetic field of the permanent magnet and the current flowing through the conductive member as described above. Moreover, the propulsive force can also be generated in the direction in which the permanent magnets and the current flowing through the auxiliary conductive member interact with each other to linearly move relative to each other. That is, it is possible to output the driving force for both the rotary drive and the linear drive.

[0009]

According to the first characteristic structure, since the propulsive force is generated in the same direction regardless of the relative rotational position of the conductor holding member and the magnet holding member, the propulsive force is not generated in the same direction. Therefore, a rotary actuator that does not necessarily require special control for achieving a desired rotation range can be provided with a simple control configuration. According to the second characteristic configuration, the electric current flowing through the conductive member and the magnetic field of the permanent magnet interact with each other without waste, and the propulsive force is efficiently generated. Therefore, while simplifying the apparatus configuration, the first characteristic configuration is achieved. The effect by can be produced. According to the third characteristic configuration, since a large propulsive force can be efficiently obtained by the interaction between the plurality of permanent magnets and the conductive member, the effect of the second characteristic configuration can be obtained while efficiently improving the propulsive force. Can be played. According to the fourth characteristic configuration, since both the driving force of the rotary drive and the linear drive force can be output, the effect of the first, second or third characteristic configuration can be obtained while further improving the function of the device. You can

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a rotary actuator to which the present invention is applied will be described with reference to the drawings. [First Embodiment] The rotary actuator 1 of the first embodiment.
1 is a side sectional view and FIG. 2 is a sectional view taken along the line AA in FIG. 1, a conductor including a magnet holding member MH having a permanent magnet PM and a coil CO being a conductive member CE. The holding member CH is provided so as to be relatively rotatable around the specific rotation axis α. The conductor holding member CH is a hollow circle that is fitted onto the cylindrical coil support cylinder 3, the coil CO wound around the coil support cylinder 3, and the coil support cylinder 3 around which the coil CO is wound. It consists of a columnar case OC. As shown in FIG. 3, the coil support cylinder 3 is formed with coil passage holes 3a in a circumferential direction at the central portion in the axial direction of the cylindrical axis in a line in the circumferential direction. A coil supporting groove 3b is formed at the position corresponding to the position of the coil passage hole 3a.

As shown in FIG. 4, the coil CO is wound using the coil passage hole 3a and the coil support groove 3b. That is, in FIG. 4, starting from point B, the coil passes through the outer peripheral side of the coil support cylinder 3, enters the coil passage hole 3a, and then makes a U-turn to the left side in FIG. 4 and passes through the inner surface side of the coil support cylinder 3. , Coil support groove 3b at the left end
Leading to. After being hooked in the coil support groove 3b, it makes a U-turn to the outer surface side of the coil support tube 3, passes through the outer surface side of the coil support tube 3, and enters the coil passage hole 3a again. Coil passage hole 3a
The coil CO that has entered the inside from goes to the right side in FIG. 4, passes through the inside of the coil support tube 3, and reaches the coil support groove 3b at the right end. After being hooked in the coil support groove 3b, it makes a U-turn to the outer surface side of the coil support tube 3, passes through the outer surface side of the coil support tube 3, and is adjacent to the coil passage holes 3a in the circumferential direction.
to go into.

The coil CO that has entered the coil passage hole 3a is
Proceed to the left side in FIG. After that, the coil CO is wound around the entire circumference of the coil support cylinder 3 in the same manner as described above.
In the portion where the coil CO passes through the inner surface side of the coil support cylinder 3, three lines are connected in parallel. By winding the coil CO in this manner, the coil CO
It is formed in a cylindrical shape, and is arranged such that the energization direction faces the same direction in the same cross section when viewed in the direction of the specific rotation axis α. The winding state of the coil CO is schematically shown in FIG. 5 (a). When the coil CO is expanded, wiring in which series connection and parallel connection are used together is shown in FIG. 5 (b). It becomes a method.

The magnet holding member MH is composed of a cylindrical magnet support cylinder 2 and two ring-shaped permanent magnets PM fitted onto the magnet support cylinder 2, and is rotatably supported by the case OC. There is. The permanent magnet PM has magnetic poles formed on the inner peripheral surface side and the outer peripheral surface side so that the directions of the magnetic fields of the two permanent magnets PM are opposite to each other. That is, when the outer peripheral surface side of the left permanent magnet PM in FIG. 1 has an N pole, the inner peripheral surface side of the right permanent magnet PM in FIG. 1 has an N pole. Further, the coil support cylinder 3 of the conductor holding member CH and the magnet support cylinder 2 of the magnet holding member MH are both formed of a magnetic material MR, and together with the permanent magnet PM, as shown by a chain line C in FIG. Then, a magnetic field intersecting the coil CO is formed.

As a method of winding the coil CO, other than the above, as shown in FIGS. 6 to 8, the coil support cylinder 3 is used.
As a configuration that can be divided into two at the central portion in the axial direction of the cylinder,
As shown in FIG. 6, each part is wound at both ends in the axial direction of the cylinder and using the coil support groove 3c. At this time, the portion passing through the inner surface side of the coil support cylinder 3 is parallel to the cylindrical axis, and the portion passing through the outer surface side of the coil support cylinder 3 is wound so as to be slightly inclined from the cylindrical axis direction. The coil CO is wound around the entire circumference of 3. After winding the above two parts as shown in FIG. 6,
As shown in FIG. 7, the two parts are bonded together, and further, as shown in FIG. 8, the coils CO wound around the two parts are wired so as to be in parallel, and the respective energization directions are opposite directions. To do so.

Hereinafter, the rotary actuator 1 having the above configuration will be described.
The operation of will be briefly described. When a direct current is applied to the coil CO, a driving force is generated around the specific rotation axis α due to the interaction between the magnetic field generated by the permanent magnet PM and the current flowing through the coil CO. That is, when the conductor holding member CH is fixed, the magnet holding member MH rotates about the specific rotation axis α, and the magnet holding member M at the position where the specific rotation axis α exists.
The rotational driving force can be taken out through the rod RA fixed to H.

[Second Embodiment] A rotary actuator 1 according to a second embodiment has a structure shown in the side sectional view of FIG. 9 and is capable of linear motion as well as rotary motion. The conductor holding member CH has the same structure as that of the first embodiment with respect to the coil support cylinder 3 and the coil CO wound around the coil support cylinder 3, and is an auxiliary conductive member CS in the circumferential direction as shown in FIG. The difference is that the auxiliary coil support cylinder 4 around which the auxiliary coil CA is wound is inserted. The auxiliary coils CA of the two auxiliary coil support cylinders 4 are wound in opposite directions. The structure of the magnet holding member MH is the permanent magnet P.
The structure is the same as that of the first embodiment except that the length of M in the axial direction of the cylinder is shortened.

The length of the permanent magnet PM is shortened as follows.
This is to secure a dimensional margin for relative movement of the conductor holding member CH and the magnet holding member MH in the cylindrical axis direction.
The operation of the rotary actuator 1 when the coil CO is energized is the same as that of the first embodiment, and therefore its explanation is omitted. When a direct current is applied to the auxiliary coil CA, when the conductor holding member CH is fixed, the magnet holding member MH and the conductor holding member CH mutually interact due to the interaction between the magnetic field of the permanent magnet PM and the current flowing through the auxiliary coil CA. It linearly moves in the axial direction of the cylinder along the facing surface. It is also possible to connect the coil CO and the auxiliary coil CA in series to perform a spiral motion.

[Other Embodiments] Other embodiments will be listed below. In the above embodiment, the conductive member CE is formed in a cylindrical shape, but the shape can be variously changed such as a rectangular tube shape. In the above embodiment, the conductive member CE is wound around the entire circumference of the cylindrical coil support cylinder 3, but it may be wound around a part of the circumference of the coil support cylinder 3. In the above embodiment, two permanent magnets PM are arranged side by side in the direction of the specific rotation axis α, but three or more permanent magnets PM may be arranged. Even when three or more are arranged side by side, they are arranged so that the magnetic fields of adjacent permanent magnets PM are directed in mutually opposite directions,
The conductive members CE may be arranged so that the flow directions of the currents are alternated corresponding to the respective permanent magnets PM so that the propulsive force is generated in the same direction. In the above-described embodiment, the magnet holding member MH is located inside the conductor holding member CH, but the magnet holding member MH is formed into a substantially cylindrical shape as a whole and is covered with the substantially columnar conductor holding member CH. Is also good. The rotary actuator of the above-described embodiment can supply rotary driving force to various movable mechanisms, but is suitable as a power source for various vehicles having a DC power source (battery or the like) such as an electric vehicle or an AGV.

It should be noted that although reference numerals are given in the claims for convenience of comparison with the drawings, the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a side sectional view according to a first embodiment of the present invention.

FIG. 2 is a sectional view according to the first embodiment of the present invention.

FIG. 3 is a perspective view of a main part according to the first embodiment of the present invention.

FIG. 4 is an explanatory diagram of a winding direction of the coil according to the first embodiment of the present invention.

FIG. 5 is an explanatory view of wiring of the coil according to the first embodiment of the present invention.

FIG. 6 is an explanatory diagram of a winding direction of the coil according to the first embodiment of the present invention.

FIG. 7 is a perspective view of a main part according to the first embodiment of the present invention.

FIG. 8 is an explanatory view of wiring of the coil according to the first embodiment of the present invention.

FIG. 9 is a side sectional view according to a second embodiment of the present invention.

FIG. 10 is an explanatory view of the winding direction of the auxiliary coil according to the second embodiment of the present invention.

FIG. 11 is an explanatory diagram of a conventional technique.

[Explanation of symbols]

 CE conductive member CH conductor holding member CS auxiliary conductive member MH magnet holding member MR magnetic body PM permanent magnet

Claims (4)

[Claims] 1. A magnet holding member (MH) including a permanent magnet (PM) and a conductor holding member (CH) including a conductive member (CE) are relatively rotatable about a specific rotation axis. The permanent magnet (PM) and the conductive member (CE) are provided, generate a propulsive force in the relative rotation direction of the magnet holding member (MH) and the conductor holding member (CH), and The conductive member (CE) is arranged so that the energization direction of the conductive member (CE) that generates a propulsive force in the moving direction faces the same direction in the same cross section as viewed in the direction of the specific rotation axis. A rotary actuator provided with a magnetic body (MR) that forms a magnetic path that intersects CE). 2. The conductive member (CE) is formed in a cylindrical shape, and is arranged such that the energization direction is the same direction in the same cross section in the direction of the specific rotation axis, and the permanent magnet ( The rotary actuator according to claim 1, wherein PM) is formed in a cylindrical shape and is arranged on an inner side or an outer side of the conductive member (CE). 3. A plurality of the permanent magnets (PM) are arranged side by side in a direction of the specific rotation axis such that magnetic fields of adjacent permanent magnets (PM) are oriented in directions opposite to each other. (CE) is the plurality of permanent magnets (P
The rotary actuator according to claim 2, wherein the rotary actuators are formed so that the flow directions of the electric currents are alternated corresponding to each of M). 4. The magnet holding member (MH) and the conductor holding member (CH) are linearly movable relative to each other along surfaces facing each other, and cooperate with the permanent magnet (PM). Then, the magnet holding member (M
The conductor holding member (CH) is provided with an auxiliary conductive member (CE) so that a propulsive force is generated in a direction in which the H) and the conductor holding member (CH) move linearly relative to each other. Alternatively, the rotary actuator according to item 3.