JPH11285198A - Rotary actuator device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rotary actuator device, where assembly facility and high reliability in the miniaturization can be secured and the adjustment management in use can be easily executed. SOLUTION: Coils 20A and 20B are housed in needles 10A and 10B which are constituted of highly magnetically permeable materials. Slopes 13, inclined with respect to a plane orthogonal to a rotary axis Z with prescribed angles are formed for the needles. Slopes 35 are formed for pressing members 30A and 30B, by making them face the slopes 13 of the needles. The slopes 35 are formed of a conductive material 34. A force which turns obliquely upward is given to the pressing members through repulsion between a magnetic pole guided by the conductive materials 34 (inclined faces 35) and the magnetic pole of the inclined faces through changing given current to the coils. Thus, the pressing members are pressed against the needles by the axial direction component of the force, and needles are rotated around the axis by a circumferential direction component.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electromagnetic rotary actuator device suitable for application to micro machines and the like.

[0002]

2. Description of the Related Art Conventionally, small rotary actuator devices having a size of about several mm to several cm have been widely developed. FIG. 6 shows the configuration of a small electromagnetic rotary motor, which is a typical example.

As shown in FIG. 6, a conventional electromagnetic rotary motor has a permanent magnet 2 alternately magnetized along a circumferential direction.
03, and the rotor 202
02 is attached to the central shaft 203. Permanent magnet 203
Are set in the radial direction.

[0004] The outer circumference of the rotor 202 is provided with cores 204a and 205a and a coil 2 with a calculated gap therebetween.
The electromagnets 204 and 205 composed of 04b and 205b
Are arranged.

When a current is applied to the electromagnets 204 and 205, the rotor 202 rotates to an angle at which the magnetic field of the permanent magnet 203 and the magnetic fields of the electromagnets 204 and 205 are balanced by magnetic attraction and repulsion. Therefore, the electromagnet 204,
If the value and timing of the current applied to 205 are properly controlled, this rotor 202 will perform a continuous rotation operation.

[0006]

In recent years, there has been an increasing demand for further reducing the size of such a rotary actuator device. However, it is very difficult to meet this demand by simply reducing the size of a conventional typical electromagnetic rotary motor due to the following circumstances.

First, a permanent magnet type two-phase motor uses a circular permanent magnet that is magnetized by alternately changing the polarity in the circumferential direction. And it becomes extremely difficult to obtain a magnetized pair necessary for realizing the rotation operation. In addition, as components become more miniaturized, precision molding technology for components with relatively complex shapes such as electromagnet cores and precision winding technology for coils are required. It is not easy to do.

In the above-mentioned electromagnetic rotary motor, it is necessary to dispose the end face (portion serving as a magnetic pole) of the electromagnet in a region of a magnetic field like an open magnetic path of a permanent magnet serving as a rotor. If the number of divisions of the polarity is increased in order to realize a proper rotation, the range of the magnetic field by the permanent magnet is narrowed. When the size of the permanent magnet is reduced, the tendency becomes more remarkable. For this reason, it is necessary to make the gap between the electromagnet and the rotor (permanent magnet) extremely small and to strictly control the value of the gap, but this is extremely difficult in terms of manufacturing technology.

As described above, when miniaturizing the entire actuator device without changing the conventional configuration,
As not only the manufacturing accuracy of individual components but also the dramatic improvement in the assembly accuracy of the components will be required,
It is very difficult in practice to obtain a highly reliable rotary actuator by solving such a technical problem.

The present invention has been made in view of the above situation, and has as its object to reduce the number of component parts and to simplify the shape of each element part, so that it is easy to manufacture, and to make adjustment and control during use. To provide an electromagnetic rotary actuator device which is simple.

[0011]

In order to achieve the above-mentioned object, the present invention relates to a rotary actuator device, comprising: a rotary actuator device having a predetermined angle with respect to a plane perpendicular to a predetermined axis; A high magnetic permeability member having an inclined surface inclined along a direction, a coil forming a magnetic pole on the inclined surface of the high magnetic permeability member, and a high magnetic permeability member facing the inclined surface of the high magnetic permeability member. It has an inclined surface inclined along the inclined surface, at least the inclined surface includes a pressing member made of a conductive material, and a movable element that rotates around the axis line by receiving a force from the pressing member. It is characterized by.

Further, the present invention provides a high magnetic permeability member having a working surface oriented in the direction of a predetermined axis, a coil forming a magnetic pole on the working surface of the high magnetic permeability member, and a function of the high magnetic permeability member. A first pressing member made of a conductive material, and a plurality of the first pressing members are provided along a circumference centered on the axis; A second pressing member that is displaced by receiving a force from the pressing member, and guides each of the second pressing members so as to be displaced in a circumferential direction at a predetermined angle with respect to a plane orthogonal to the axis. And a movable member that rotates around the axis by receiving a force from the second pressing member.

[0013]

Embodiments of the present invention will be described below with reference to the drawings.

[First Embodiment] First, a first embodiment will be described with reference to FIGS.

As shown in FIG. 1, the rotary actuator device according to the first embodiment has a cylindrical driving object 60.
Is rotated around a predetermined rotation axis Z, that is, around the central axis of the driving target 60. In addition, a ring shape (thin cylindrical shape) which is a component of the rotary actuator device
The mover 40 is fixed to the outer peripheral surface of the driven object 60 or is formed integrally with the driven object 60. Further, the driving target 60 is restrained by means (for example, a bearing) for supporting an appropriate radial load (radial load) and thrust load (axial load) (not shown), and is capable of rotating only around the rotation axis Z. It has become.

First, the overall configuration of the rotary actuator device will be described.

As shown in FIG. 1, the rotary actuator device comprises a pair of stators 10A and 10B made of a material having high magnetic permeability such as electromagnetic soft iron, and a ring-shaped coil 20A housed in each of the stators 10A and 10B. , 20B, pressing members 30A, 30B, elastic members 50A, 50B connecting stators 10A, 10B and pressing members 30A, 30B, respectively, and movable element 40, which rotates by receiving a force from pressing members 30A, 30B. And

[0018] Stator 10A and 10B, coil 20A
20B and the pressing members 30A and 30B are the same as the elastic members 50A and 50B, respectively.

The stators 10A and 10B, the coils 20A and 20B, and the pressing members 30A and 30B
And the elastic members 50A and 50B are respectively arranged at symmetric positions with respect to the movable element 40 provided at the center in the direction of the rotation axis Z.

That is, a first set of components (movable element 40A) is provided from stator 10A, coil 20A, pressing member 30A and elastic member 50A arranged on one side of movable element 40.
Is used to rotate the movable element 4 forward.
A set of the second component from the stator 10B, the coil 20B, the pressing member 30B, and the elastic member 50B disposed on the other side of 0 (used to reverse the mover 40)
Is configured.

Of the above components, the stators 10A and 10A
B, coils 20A and 20B, and pressing members 30A and 30
Each of B and the mover 40 has a cylindrical or ring-like (thin cylindrical) shape when viewed as a whole.

The driving object 60 includes the stators 10A and 10B.
Further, it extends in the direction of the rotation axis Z through the hollow portion (inner space defined by the inner peripheral surface) of the cylinder of the pressing members 30A and 30B. The outer peripheral surface of the driving object 60 and the stator 10
A space is provided between A, 10B and each inner peripheral surface of the pressing members 30A, 30B.

Center axes of stators 10A and 10B, coil 2
The central axes of 0A and 20B, the central axes of the pressing members 30A and 30B, the central axis of the mover 40, and the central axis of the driven object 60 all coincide with the rotation axis Z.

Next, each component described above will be described in detail. Pressing member 3 of stator (high magnetic permeability member) 10A
The surface 11 on the 0A side faces the direction of the rotation axis Z, and a pair of protrusions 12 are formed on the surface 11.

The projection 12 has an inclined surface 13. The inclined surface 13 forms a predetermined angle θ with respect to the surface 11 of the stator 10A (this surface 11 is parallel to a plane orthogonal to the rotation axis of the stator 10A), and is centered on the central axis of the stator 10A. It is inclined along the circumferential direction. In this specification, the term "inclined along the circumferential direction" includes a case substantially equivalent to "inclined along the tangential direction of the circumference".

The pair of projections 12 have the same shape as each other, and are located symmetrically with respect to the center axis of the stator 10A.

A coil accommodating groove 14 is formed in the stator 10A. The coil accommodating groove 14 is provided in the stator 10A.
Are formed over the entire circumference of the stator 10A with the center axis of the center as the center. The coil accommodating groove 14 is open toward the surface 11 of the stator 10A and the inclined surfaces 13, 13 of the projections 12, 12.

A ring-shaped coil 20A is housed inside the coil housing groove 14, and the coil 20A is
It is connected to a power supply control unit (not shown).

The stator 10A having the above structure is elastically connected to the pressing member 30A through an elastic member 50A having appropriate flexibility and being expandable and contractible in the direction of the rotation axis Z.

A surface 31 of one side (stator 10A side) of the pressing member 30A having a substantially ring shape is provided with a pair of protrusions 32 facing the protrusions 12 of the stator 10A.
Are formed. Each projection 32 has an angle θ with respect to a surface 31 located on a plane orthogonal to the central axis of the pressing member 30.
(This θ is equal to the inclination angle θ of the inclined surface 12 of the stator 10A).

That is, each inclined surface 33 of each projection 32 is
The stator 10A is inclined with an inclination angle along the corresponding inclination of the inclined surface 13 and faces each inclined surface 13 of the stator 10A.

A conductive layer 34 made of a conductive material such as copper is provided on the surface of each inclined surface 33, and the surface of the conductive layer 34 forms the inclined surface 35 of the pressing member 30. Therefore, the inclined surface 35 also corresponds to the corresponding inclined surface 13 of the stator 10A.
Of the stator 10
A is opposed to each inclined surface 13 of FIG.

In FIG. 1, the number of the inclined surfaces 13 of the stator 10A and the number of the inclined surfaces 35 of the corresponding pressing members 30A are two. However, the present invention is not limited to this. A surface may be provided. In this case, it is preferable that the inclined surfaces (projections) are arranged at equal intervals along the circumferential direction around the rotation axis Z.

The portion of the pressing member 30A other than the conductive layer 34 is formed of a material having a lower specific gravity than the conductive layer 34, for example, a resin material. That is, the pressing member 30A
Is composed of a base made of a resin material or the like, and a conductive layer 34 provided on the base. In this case,
The conductive layer 34 is formed by a technique such as sputtering or plating,
Alternatively, it is formed by a method such as attaching a metal foil film.

The other side of the pressing member 30A (the mover 40
The side 36 is located on a plane orthogonal to the center axis of the pressing member 30A, and is a surface 41 on one side of the movable member 40 having a substantially ring shape.
Facing. The surface 36 of the pressing member 30A has the same shape as the surface 41 of the opposing mover 40,
And the surface 41 are parallel.

As described above, the stator 10B, the coil 20B, the pressing member 30B and the elastic member 50B
Since they are the same as the stator 10A, the coil 20A, the pressing member 30A, and the elastic member 50A, detailed description thereof will be omitted.

Next, the operation mechanism of the rotary actuator device of the present embodiment having the above-described configuration will be described with reference to FIGS.
This will be described below. In the following description, a case where the mover 40 and the driven object 60 are rotated in the direction of the arrow R (see FIGS. 1 and 2) will be described.

First, when both the coils 20A and 20B are not energized, the inclined surfaces 13 of the stators 10A and 10B and the inclined surfaces 35 of the pressing members 30A and 30B (the conductive layer 3).
4) is an elastic member 5 as shown in FIG.
Due to zero elasticity, they are in contact with each other. Further, the stator 40 and the pressing members 30A and 30B are in a separated state.

Here, a current having a steep rise and a slow fall as shown in FIG. 3 is applied to one coil 20A by an energization control unit (not shown).

When a current is applied to the coil 20A, a magnetic field oriented in the normal direction of the inclined surface 13 (the main magnetic flux direction is oriented in the normal direction of the inclined surface 13) near the inclined surface 13 of the stator 10A. Magnetic field), and a magnetic pole is formed on the inclined surface 13. The magnetic pole and the strength of the magnetic field formed are
It becomes approximately proportional to the current applied to the coil 20A.

Here, as shown in FIG.
Of the magnetic field formed near the inclined surface 13 of the stator 10A, the change rate (temporal change rate) of the current applied to the stator 10A is also abrupt. It becomes something.

On the surface of the conductive layer 34 of the pressing member 30A opposed to the inclined surface 13 of the stator 10A, that is, on the inclined surface 35, an induced current having a magnitude corresponding to the above-mentioned magnetic field change rate flows. Magnetic poles with a strength corresponding to
Are indicated by Ne).

In this case, when the current applied to the coil 20A rises, the magnetic pole induced on the inclined surface 35 of the pressing member 30A has the same polarity as the magnetic pole formed on the inclined surface 13 of the stator 10A. Therefore, a repulsive force F is generated between the inclined surface of the stator 10A and the inclined surface 35 of the pressing member 30A.

The repulsive force F includes an axial component Fz oriented in the direction of the rotation axis Z and a circumferential component centered on the rotation axis Z (also referred to as a tangential component. (Referred to as circumferential component). Therefore, the pressing member 30A is given a rotational torque about the rotation axis Z while being pressed against the mover 40 (see FIG. 2B).

Since a sufficient frictional force is generated between the pressing member 30A and the mover 40 due to the axial component Fz of the repulsive force F, the mover 40 is moved in the circumferential direction of the repulsive force F received from the pressing member 30A. Rotated by component FR. Therefore, the rotary motion of the columnar driving object 60 attached to the mover 40 is realized.

The ratio between the axial component Fz and the tangential component FR of the repulsive force F is determined depending on the inclination angle θ of the inclined surface 13 (35). What is necessary is just to determine suitably according to the balance of the frictional force between the member 30A and the mover 40, and the rotational torque of the mover 40.

The above is the operation when the current applied to the coil 20A sharply rises.

On the other hand, when the current of the coil 20A gradually decreases, the surface of the conductive layer 34 is provided with an inductive magnetic pole having a polarity opposite to that of the magnetic pole formed on the inclined surface 13 of the stator 10A (see Se in FIG. 3). Is formed, and the stator 10A is formed.
A weak magnetic attraction force is generated between the inclined surface 13 of FIG.

The pressing member 30A includes an elastic member 50.
The elastic restoring force of A acts.

By the magnetic attraction force and the elastic restoring force, the pressing member 30A returns to the initial position (the state shown in FIG. 2A) in contact with the stator 10A. In this case,
Since the magnetic attraction force is small, the restoring force of the elastic member 50A is dominant as the force by which the pressing member 30A returns to the original position due to the restoring force of the elastic member 50A.

As described above, by repeatedly applying the pattern current shown in FIG. 3 to the coil 20A, the mover 40 can be continuously rotated.

When it is desired to rotate the mover 40 in the direction opposite to the direction of arrow R in FIG. 1, a current having the same pattern as described above may be applied to the coil 20B. Then, the mover 40 rotates in the direction opposite to the direction described above.

As described above, according to this embodiment, the stators 10A and 10B, the pressing members 30A and 30B,
Since the mover 40 and the elastic members 50A and 50B have relatively simple shapes, molding and processing can be performed relatively easily even if the size is reduced. In addition, since the diameters of the coils 20A and 20B can be increased (in this embodiment, the sizes are slightly smaller than the diameters of the stators 10A and 10B), the coil winding process can be easily performed. it can. Further, there is no need to strictly manage the gap between the permanent magnet and the electromagnet unlike the conventional ordinary electromagnetic motor.

That is, according to the present embodiment, since the rotating mechanism can be configured with a simpler shape and a smaller number of components compared to the conventional one, the assembling easiness and the high reliability can be ensured when the size is reduced. In addition to the above, it is possible to provide a rotary actuator device in which the adjustment and management during use is easy for the same reason.

In the above embodiment, the pressing member 3 is formed by coating a conductive material on a lightweight resin base material.
0A and 30B, which are several mm in diameter.
Assuming application to a microactuator device of about 10 to 10 mm, pressing members 30A and 30B which are movable components
This is for reducing the mass of the.

Therefore, if the size of the actuator device to be applied is large to some extent and a sufficient magnetic repulsion can be generated between the stator and the pressing member, the entire projection 32 or the pressing members 30A, 30B are provided. The whole may be formed of a metal material (conductive material).

[Second Embodiment] Next, a second embodiment will be described with reference to FIGS. The second embodiment also rotates the driving target 60 around the rotation axis Z, as in the first embodiment. And also in the second embodiment, the driving object 60 and the mover 40
Are the same as in the first embodiment.

First, the overall configuration of the rotary actuator device according to the present embodiment will be described. The rotary actuator device includes stators 110A and 110B made of a high magnetic permeability material such as electromagnetic soft iron, and ring-shaped coils 120A and 120 provided on the stators 110A and 110B, respectively.
B, the first pressing members 130A and 130B, and the stator 1
10A, 110B and first pressing members 130A, 130B
And elastic members 140A and 140B for elastically connecting the second pressing members 150A and 140B, respectively, and a plurality of second pressing members 150A and 1 displaced by receiving a force from the first pressing members 130A and 130B.
50B, guide members 160A and 160B for guiding the second pressing members 150A and 150B, and the second pressing member 15
There are provided elastic members 170A and 170B for elastically connecting and holding 0A and 150B to guide members 160A and 160B, and a movable element 40 which rotates by receiving a force from second pressing members 150A and 150B.

[0059] Stators 110A and 110B, coil 1
20A and 120B, conductive member pressing members 130A and 130B, elastic members 140A and 140B, second
Pressing members 150A and 150B, guide member 160A
And 160B, the elastic members 170A and 170B
Each is the same.

These stators 110A and 110B,
The coils 120A and 120B and the first pressing member 13
0A and 130B and elastic members 140A and 140
B, the second pressing members 150A and 150B, the guide members 160A and 160B, and the elastic members 170A and 170B are symmetrically positioned with respect to the movable member 40 provided at the center with respect to the rotation axis Z direction. Are located in

That is, the stator 110 A, the coil 120 A, and the first pressing member 13
0A, the elastic member 140A, the second pressing member 150A, the guide member 160A, and the elastic member 170A constitute a first set of components (used to rotate the mover 40 forward). Stator 110B, coil 120B, first pressing member 130B arranged on the side,
The elastic member 140B, the second pressing member 150B, the guide member 160B, and the elastic member 170B constitute a second set of components (used to reverse the mover 40).

Of the above components, the stators 110A, 1
10B, coils 120A and 120B, first pressing members 130A and 130B, and guide members 160A and 160B.
Have a cylindrical shape or a ring shape (thin cylindrical shape).

The object 60 to be driven includes the stators 110A and 110A.
0B, the first pressing members 130A, 130B and the guide members 160A, 160B extend in the rotation axis Z direction through hollow portions (inner spaces defined by inner peripheral surfaces) of the cylinders. The outer peripheral surface of the driving target 60 is fixed to the stators 110A and 11A.
0B, the first pressing members 130A, 130B and the inner peripheral surfaces of the guide members 160A, 160B are provided with an interval.

The center axes of the stators 110A and 110B, the center axes of the coils 120A and 120B, the first pressing member 130
A, 130B, a center axis of the guide members 160A, 160B, a center axis of the mover 40, and a center axis of the driven object 60 all coincide with the rotation axis Z. For simplification of the drawing, the driving object 60 is shown by a virtual line (two-dot chain line) in FIG. 4, and the driving object 60 is omitted in FIGS. 5 and 6. .

Next, each component described above will be described in detail. The stator 110A has a surface 111 facing the direction of the rotation axis Z. This surface 111 is a coil 120
A surface on which a magnetic pole is formed by A, and is also referred to as an “operation surface” in this specification.

Further, a coil housing groove 114 is formed in the stator 110A. This coil housing groove 114 is
It is formed over the entire circumference of the stator 110A with the center axis of the stator 110A as the center. Coil accommodation groove 114
Is opened toward the surface 111 of the stator 110A facing the first pressing member 130A.

A ring-shaped coil 120A is accommodated in the coil accommodating groove 114.
A is connected to a power supply control unit (not shown).

The stator 110A and the first pressing member 130A
Are elastically connected to each other at equal intervals along the outer peripheral surfaces of the stator 110A and the first pressing member 130A.
Is stretchable in the direction of the rotation axis Z.

The first pressing member 130A is formed on a base 131 made of a material having a low specific gravity such as a resin having a ring (thin cylindrical) shape and a surface of the base 131 facing the stator 110A. And a conductive layer (conductive member) 132 made of a conductive material such as copper. Note that, similarly to the pressing member 30A shown in the first embodiment, the entire first pressing member 130A may be made of a conductive material.

A substantially ring-shaped guide member 160A provided between the first pressing member 130A and the mover 40 is fixed by a support member (not shown) to the stator 110A or the stationary component of the rotary actuator device. The rotary actuator device is immovably fixed to a device in which the rotary actuator device is incorporated.

As shown in FIG. 5, the guide member 160A has a number corresponding to the number of the second pressing members 150A provided at equal intervals along the circumferential direction around the rotation axis Z. A guide slit (guide groove) 162 is formed.

Each slit 162 is inclined along the circumferential direction and penetrates the guide member 160A. Also,
As shown in FIG. 5B, each slit 162 has a truncated pyramid shape in which the bottom and top surfaces are rectangular. The cross-sectional area of the slit 162 gradually increases as going from the first pressing member 130A side to the mover 40 side.

In particular, as shown in FIG.
A wall surface 163 (first guide wall 163) for partitioning 62;
Both 164 (second guide wall 164) are inclined at the same angles in the circumferential direction with angles α and β, respectively, with respect to a plane perpendicular to the rotation axis Z. First guide wall 16
3 and the rotation axis Z make an angle α between the second guide wall 16
4 and the rotation axis Z are smaller than the angle β.

Each of the slits 162 accommodates a single pressing member (pressing piece) 150A having a substantially parallelogram cross section (see FIGS. 4 and 6).

The conductive member 1 of each second pressing member 150A
The end on the 30A side is elastically connected to and supported by the guide member 160 via a pair of elastic members 170A. When no external force is applied to the second pressing member 150A, the elastic member 170A connects the second pressing member 150A to the guide member 1.
The first guide wall 163 of 60A is held substantially along the first guide wall 163.

Therefore, the plurality of second pressing members 150A
Are arranged along the circumferential direction about the rotation axis Z, and each second pressing member 150A is inclined along the circumferential direction at an angle α with respect to the rotation axis Z. It will be arranged in a state.

Note that, as in the first embodiment, the stator 11
0B, coil 120B, first pressing member 130B, elastic member 140B, second pressing member 150B, guide member 16
0B and the elastic member 170B are the same as the stator 110A, the coil 120A, the pressing member 130A, the elastic member 140A, the second pressing member 150A, the guide member 160A, and the elastic member 170A, respectively. Detailed description is omitted.

Next, the operation mechanism of the rotary actuator device according to the present embodiment having the above configuration will be described.

First, when both coils 120A and 120B are not energized, stators 110A and 110B
0B and the first pressing member 130A
The surfaces 131 and 131 of the members 130B and 130B facing the stators 110A and 110B are in contact with each other due to the elasticity of the elastic member 140A (see FIG. 4). Further, both ends of the pressing pieces 140A and 140B are
0 and the first pressing members 130A, 1A.
It is also separated from 30B.

Here, one of the coils 120A is controlled by an energization control unit (not shown) in the same manner as in the first embodiment.
A current having a sharp rise and a slow fall as shown in FIG. 3 is applied.

When a current is applied to the coil 120A, a magnetic field oriented in the direction normal to the surface 111 is formed near the surface (working surface) 111 of the stator 110A, and a magnetic pole is formed on the surface 111. . The formed magnetic poles and the strength of the magnetic field are substantially proportional to the current applied to the coil 120A.

Here, as shown in FIG.
Since the rise of the current applied to A is steep, the rate of change (temporal rate of change) of the intensity of the magnetic field formed in the vicinity of surface 111 of stator 10A is also sharp, corresponding to the rate of change of the applied current. It becomes something.

Here, on the surface (working surface) 133 of the conductive member 132 of the first pressing member 130A facing the inclined surface 111 of the stator 110A, an induced current flows in response to the above-described magnetic field change, and an induced magnetic pole is formed. Is formed.

In this case, when the applied current rises, the magnetic pole induced on the surface 133 of the conductive member 132 provided on the first pressing member 130A facing the stator 110A is fixed to the surface 111 of the stator 110A. Has the same polarity as the magnetic pole formed at Therefore, a repulsive force F is generated between the stator 110A and the first pressing member 130A. As a result, the first pressing member 130A overcomes the elasticity of the elastic member 150 and moves in the direction of the rotation axis Z so as to move away from the stator 110A and toward the second pressing member 150A.
(See the arrow in FIG. 6A.) As shown in FIG.
When the pressing member 130A contacts the second pressing member 150A, the second pressing member 150A receives a force in the direction of the mover 40 from the surface 134 of the first pressing member 130A on the second pressing member 150A side.

Further, the first pressing member 130A is the movable element 4
The second pressing member 150A is pushed toward zero (see FIG. 6B).

Here, when no external force is applied to the second pressing member 150A, the first guide wall 16A
3A (refer to FIG. 6A), it advances toward the mover 40 along the first guide wall 163, and finally comes into contact with the mover 40 (see FIG. 6A). FIG. 6 (b)).

Further, when the first pressing member 130A pushes the second pressing member 150A, the second pressing member 150A
Applies a pressing force Fp to the mover 40 in a direction along the first guide wall 163.

The pressing force Fp is divided into an axial component Fz directed in the direction of the rotation axis Z and a circumferential component FR directed in the circumferential direction about the rotation axis Z (FIG. 6B).
reference).

In this case, a sufficient frictional force is generated between the second pressing member 150A and the mover 40 due to the axial component Fz of the pressing force Fp. It rotates by receiving a rotational torque by a circumferential component FR of the pressing force Fp. Therefore, the rotary motion of the columnar driving target 60 attached to the mover 40 is realized.

Further, when the first pressing member 130A presses the second pressing member 150A, the slit 162 is
Since the shape closer to 0 is formed in an expanded shape, the second
Of the elastic member 17 in the slit 162
It is rotationally displaced in the slit 162 around the 0A side.
That is, the second pressing member 150A is displaced so as to gradually fall with respect to the rotation axis Z, and the second pressing member 150A
When A comes into contact with the second guide wall 164, the movement of the second pressing member 150A stops (see FIG. 6C).

Next, when the current applied to the coil 120A is gently lowered, an inductive magnetic pole weaker than that at the time of starting the current is formed on the surface 133 of the conductive member 132 of the first pressing member 130A. You. In this case, the conductive member 1
The induction magnetic pole formed on the surface 133 of the stator 32
The polarity is opposite to that of the magnetic pole formed on the surface 111 of 0A. Therefore, a magnetic attraction force is generated between the stator 110A and the first pressing member 130A.

In addition to this, the first pressing member 130A
The stator 110 is also driven by the restoring force of the elastic member 140A.
Pulled back to A side.

The first pressing member 130A moves the stator 110 by the magnetic attraction force and the restoring force of the elastic member 140A.
Return to the original position where it touched A. It should be noted that as the fall of the current applied to the coil 120A becomes gentler, the contribution ratio of the magnetic attractive force that contributes to the restoration of the position of the first pressing member 130A becomes lower.

When the first pressing member 130A returns to the original position, the pressing piece 140A also returns to the original position by the restoring force of the elastic member 170A.

By repeatedly applying a current to the coil 120A with the above pattern, the mover 40 continues to rotate.

If the direction of rotation of the mover 40 is to be reversed, a current may be applied to the coil 120B in the same procedure as described above.

According to the second embodiment described above, the following effects can be obtained in addition to the effects of the first embodiment. That is, in the second embodiment, the shape of each component is simplified (for example, the pressing member 1).
50A (150B)), and the configuration can be simplified. In the second embodiment, the pressing member 150
A (150B), the guide member 160A (160B), and the elastic member 170A (170B) are changed in specification of the assembly, so that, for example, the pressing member 150A (150
By changing B) or increasing or decreasing the number of slits 162, the rotation speed and the load can be easily adjusted.

[0098]

As described above, according to the present invention,
The number of components of the rotary actuator device can be reduced,
Further, the shape of each component can be simplified. For this reason, it is possible to provide a rotary actuator device that can achieve easy assembling and high reliability in downsizing, and can easily perform adjustment management during use.

[Brief description of the drawings]

FIG. 1 shows a first embodiment of a rotary actuator device according to the present invention.
FIG. 2 is an exploded perspective view showing the embodiment.

FIG. 2 is a side view of the rotary actuator device according to the first embodiment as viewed from the outside in the radial direction, and is a diagram illustrating an operation mechanism of the rotary actuator device.

FIG. 3 is a diagram showing a pattern of a current applied to a coil.

FIG. 4 is a longitudinal sectional view (axial sectional view) showing a second embodiment of the rotary actuator according to the present invention.

FIGS. 5A and 5B are diagrams illustrating a second pressing member and a guide member in the second embodiment, wherein FIG. 5A is a plan view showing only the guide member, and FIG. The perspective view which expands and shows a part of guide member with which the member was attached.

FIG. 6 is a view showing a VI-VI cross section in FIG. 5 (b) and showing an operation mechanism of the rotary actuator device according to the second embodiment. FIG. 5 also shows the first pressing member, the second pressing member, and the mover located in the VI-VI section in FIG. 5B.

FIG. 7 is a diagram showing a conventional example of a rotary actuator.

[Explanation of symbols]

 Z Rotation axis (axial line) 10A, 10B High permeability member (stator) 13 Inclined surface 20A, 20B Coil 30A, 30B Pressing member 34 Conductive member 35 Inclined surface 40A, 40B Mover 110A, 110B High permeability material 111 High Working surface of magnetic permeability material 120A, 120B Coil 130A, 130B First pressing member 132 Conductive member 133 Working surface of first pressing member 140A, 140B Elastic member 150A, 150B Second pressing member 160A, 160B Guide member 170A , 170B elastic member

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[Procedure amendment]

[Submission date] March 5, 1999

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Claims

[Correction method] Change

[Correction contents]

[Claims]

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0011

[Correction method] Change

[Correction contents]

[0011]

In order to achieve the above-mentioned object, the present invention provides a tilting device which is inclined at a predetermined angle with respect to a plane perpendicular to a predetermined axis along a circumferential direction about the axis. A high magnetic permeability member, a coil forming a magnetic pole on the inclined surface of the high magnetic permeability member, and an inclined surface inclined along the inclined surface of the high magnetic permeability material facing the inclined surface of the high magnetic permeability member. At least this inclined surface is a pressing member made of a conductive material, based on a change in a magnetic pole formed on the inclined surface of the high magnetic permeability member and a change in a magnetic pole formed on the inclined surface of the high magnetic permeability member. A pressing member that is displaced in a circumferential direction and an axial direction by a circumferential direction and an axial component of a repulsive force acting between the magnetic pole induced on the inclined surface of the leverage pressing member,
Provided is a rotary actuator device including: a movable element that rotates around the axis by receiving a force from the pressing member in a state of being in contact with the pressing member displaced in the axial direction.

[Procedure amendment 3]

[Document name to be amended] Statement

[Correction target item name] 0012

[Correction method] Change

[Correction contents]

Further, the present invention provides a high magnetic permeability member having a working surface oriented in a direction of a predetermined axis, a coil forming a magnetic pole on the working surface of the high magnetic permeability member, and a function of the high magnetic permeability member. And a magnetic pole formed on the working surface of the high-permeability member, wherein the first pressing member is made of a conductive material and at least the working surface has a working surface provided opposite the surface. The first displacement member is displaced in the axial direction by the repulsive force acting between the magnetic pole formed on the working surface of the first pressing member and the magnetic pole based on the change in the magnetic pole formed on the working surface of the member.
A pressing member, a plurality of second pressing members provided along a circumference around the axis, and displaced by receiving a force from the first pressing member, and each of the second pressing members, A guide member that guides the member so as to be displaced in a circumferential direction at a predetermined angle with respect to a plane perpendicular to the axis, and a movable member that rotates around the axis by receiving a force from the second pressing member The present invention provides a rotary actuator device including ────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] June 17, 1999

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Claims

[Correction method] Change

[Correction contents]

[Claims]

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0011

[Correction method] Change

[Correction contents]

[0011]

In order to achieve the above-mentioned object, the present invention provides a tilting device which is inclined at a predetermined angle with respect to a plane perpendicular to a predetermined axis along a circumferential direction about the axis. A high magnetic permeability member having an inclined surface; a coil forming a magnetic pole on the inclined surface of the high magnetic permeability member; and a slope facing the inclined surface of the high magnetic permeability member along the inclined surface of the high magnetic permeability member. A pressing member having a base material having an inclined surface to be formed and a conductive layer made of a conductive material provided on the inclined surface of the base material, wherein the magnetic pole formed on the inclined surface of the high magnetic permeability member And the circumferential and axial components of the repulsive force acting between the magnetic pole induced on the surface of the conductive layer based on the change in the magnetic pole formed on the inclined surface of the high magnetic permeability member,
A pressing member that is displaced in the circumferential direction and the axial direction, and a mover that rotates around the axis by receiving a force from the pressing member in a state of contact with the pressing member that is displaced in the axial direction. In addition, the present invention provides a rotary actuator device in which the base is formed of a material having a lower specific gravity than a conductive material forming the conductive layer.

[Procedure amendment 3]

[Document name to be amended] Statement

[Correction target item name] 0012

[Correction method] Change

[Correction contents]

Further, the present invention provides a high magnetic permeability member having a working surface oriented in a direction of a predetermined axis, a coil forming a magnetic pole on the working surface of the high magnetic permeability member, and a function of the high magnetic permeability member. A first pressing member having a base material having a surface provided opposite to the surface, and a conductive layer made of a conductive material provided on the surface of the base material, Due to the repulsive force acting between the magnetic pole formed on the working surface of the member and the magnetic pole induced on the surface of the conductive layer based on the change of the magnetic pole formed on the working surface of the high magnetic permeability member, in the axial direction A first pressing member that is displaced, a plurality of second pressing members that are provided along a circumference around the axis, and that are displaced by receiving a force from the first pressing member; The pressing member is changed in a circumferential direction at a predetermined angle with respect to a plane orthogonal to the axis. And a guide member for guiding so that,
A mover that rotates about the axis under a force from the second pressing member, wherein the base material is formed of a material having a lower specific gravity than a conductive material forming the conductive layer. Rotary actuator device is provided.

Claims (2)

[Claims] A high-permeability member having an inclined surface inclined at a predetermined angle with respect to a plane orthogonal to a predetermined axis along a circumferential direction about the axis; and a high-permeability member. A coil having a magnetic pole formed on the inclined surface of the high magnetic permeability member, and an inclined surface inclined along the inclined surface of the high magnetic permeability member facing the inclined surface of the high magnetic permeability member, and at least this inclined surface is made of a conductive material. And a movable element that rotates around the axis line by receiving a force from the pressing member. 2. A high-permeability member having an operation surface oriented in a direction of a predetermined axis, a coil forming a magnetic pole on the operation surface of the high-permeability member, and opposing an operation surface of the high-permeability member. A first pressing member made of a conductive material at least, and a plurality of the operating surfaces are provided along a circumference around the axis, and A second pressing member that is displaced by receiving a force, and a guide member that guides each of the second pressing members so as to be displaced in a circumferential direction at a predetermined angle with respect to a plane orthogonal to the axis. And a mover that rotates about the axis by receiving a force from the second pressing member.