JPS619178A - Actuator utilizing permanent magnet - Google Patents

Abstract

PURPOSE:To generate a large rotary force at a rotor by mounting a plurality of permanent magnets on the outer periphery of the rotor, similarly mounting a plurality of permanent magnets on the stationary case side, and moving it toward and from the rotor. CONSTITUTION:An actuator is formed of a stationary case 3 made of a regular hexagonal cylindrical casing 3A and a cover member 3B, and a rotor 1 integrated fixedly with a rotational shaft 1A. Permanent magnets 2 are mounted at an equal interval in the circumferential direction on the peripheray of the rotor, permanent magnets 4 are also provided at an equal interval in the inner peripheral direction of the case 3, formed in the same polarity as the magnets 2, secured to the ends of cylinder rods 5A of single acting pneumatic cylinder 5 on the outer surface of the casing 3A to move to approach and separate the magnets 4. Thus, the opposed space distance to the magnets 2 is gradually sequentially varied in the circumferential direction to generate a large rotary force at the rotor 1 by large repelling force.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention mainly relates to an actuator used as a power source for movable parts such as arms and wings of industrial robots.

<Prior art and problems to be solved by the invention> There are 48 types of actuators known as actuators used for the above-mentioned purposes, including electric, hydraulic, pneumatic, and mechanical types. Each has the following characteristics.

DC? -Electric actuators, such as motors and stepping motors, have excellent controllability, such as frequent and high-speed starting and stopping, and precise speed and position control. It has the disadvantages of small size, high energy consumption, and high running costs.

The hydraulic type has a large output/weight ratio and output/size ratio, and has good controllability, but has drawbacks in terms of maintainability and running costs. The pneumatic type has a relatively large output/size ratio and low running costs, but because the medium is a compressible fluid, it is limited to simple ON-OFF operation, and it is difficult to stop in intermediate positions, making it difficult to control. There is a problem with this. In addition, although mechanical systems consisting of a combination of gears, reducers, and links 41 and rack and pinions are capable of high-speed and highly reliable sequential operation, they have the disadvantage of extremely low output/weight ratios and output/size ratios. there were.

In view of the above circumstances, it is an object of the present invention to provide an actuator using a permanent magnet that is smaller in size, has higher output, is lighter in weight, and has excellent controllability.

<Means for solving the problems> In order to achieve the above object, the present invention
An actuator that uses permanent magnets has a plurality of permanent magnets installed on the outer periphery of the rotor at equal intervals in the circumferential direction, and a plurality of permanent magnets installed at equal intervals in the circumferential direction on the fixed case side. are provided with the same polarity facing the permanent magnets and are movable near and far along the rotation radius direction of the rotor, and these permanent magnets are sequentially moved toward the rotor side along the rotation circumferential direction. The present invention is characterized by a structure in which a mechanism for moving the permanent magnet toward and away from the rotor is provided, a rotation amount detector is attached to a shaft interlocking with the rotor, and a braking mechanism for the rotor is provided. It has the following.

<Operation> When using the permanent magnet p-actuator of the present invention having such a characteristic configuration, the permanent magnet (4) on the fixed case (3) side - the mechanism (6) is fully valved and moves in the rotation radial direction. By gradually changing the spatial distance from the permanent magnet (2) on the rotor f1) side in the circumferential direction of rotation, the same polarity is set to 1! 'Production: Sum of 111M The pull is proportional to the distance 6 D Because it is possible to generate a large rotational force (torque) on the rotor +lj+ with a strong repulsive force and a remarkable magnetic attraction force generated in the circumferential direction of rotation. be.

The amount of rotation of this rotor (1) is detected by the detector (6).
When the amount of rotation detected by
1) By performing sequence operations such as full deceleration and stopping or teaching play/quick control, or by performing program control, effective use of the magnetic pole distance-repulsive force characteristic described above can be used to improve, for example, the robot's The speed and position of movable parts such as arms and nodes can be controlled with extremely high precision and speed.

<Example> Embodiments of the present invention will be described in detail below based on the drawings.

Figures 1 and 4! ; In Figure 2, (3) is a cylindrical casing (3A) configured in a substantially regular hexagonal shape when viewed in the direction of the rotation axis, and a lid member (3B) fixed to both ends of the cylindrical casing (3A);
(3B), and (1) is the above-mentioned 1
It is a rotor that is fixedly integrated with the rotating shaft (1A) which is supported through the cylindrical casing (bearing t & in the part corresponding to the 370 shaft core) of the fixed case (3) and (8) t so that it can only rotate freely. Permanent magnets (2) are fixedly attached to a local portion of the rotor (1) at equal intervals in the circumferential direction, that is, at two locations facing each other in the diametrical direction. (4
) are three permanent magnets arranged at equal intervals in the circumferential direction on the inner surface of the cylindrical casing (3A) of the fixed case (3), and the permanent magnet (
2) is fixed to the tip of each cylinder cylinder (5A) of three single acting air cylinders (6) arranged and fixed at equal intervals on the outer surface of the cylindrical casing (3A). , so that each air cylinder (5) moves the permanent magnet (4) sequentially along the circumferential direction of the rotor +
There are 4 mechanisms for moving the permanent magnets (20) closer to each other and further away from each other on the 1) side. (8) is a pulse encoder which is an example of a rotation amount detector attached to one end of the rotation axis αN. (7) is a braking mechanism, such as an electromagnetic brake, attached to the rotating shaft (IA) portion between the fixed case (3) and the pulse encoder (6).

In addition, (3) in the figure is a copper corner ring provided at both ends of the permanent magnet (2) on the rotor (1) side and the permanent magnet (4) on the stationary case (3) side. This reduces the influence of the pulsed magnetic force, and the rotor +1> absorbs a part of the energy and converts it into rotational energy.

Next, to briefly explain the operating principle of the nine actuators configured as described above, FIG. air is distributed to one air cylinder (i) to move the corresponding permanent magnets 14) in a direction approaching the rotor fl), and the space between the permanent magnets (4), (2) is Distance is the third
When it changes to the minimum (0°1311) as shown in figure (b), magnetic pressure is generated between the rotor (1) and the fixed case (3).
The rotor (1) rotates in the direction of the arrow where the magnetic force is low. This rotation moves the permanent magnet (2) on the rotor (1) side to the position of the next adjacent air cylinder (6) in the circumferential direction (inside the field).
When the above-mentioned 1 (not shown) valve mechanism is automatically switched and the former air cylinder (5) contracts, the latter air cylinder (5) expands and this latter cylinder +
The permanent magnet (4) corresponding to the rotor (1) moves in the direction approaching the rotor (11) as shown in FIG.
Magnetic pressure is generated between 1) and the fixed case (3), and the rotor (rotor mouth) continues to pull rice and rotate. By repeating this, continuous rotation of the rotor can be obtained.

Such an actuator (4), in combination with a reduction gear (not shown), can be used, for example, as shown in FIG. In this case, as shown in FIG. ) through arm U
Fee F-pack the value of the current operating amount to the control unit 1cI,
The control unit for this value (when it matches the value input and set in advance to C1, sends an operation command signal to the brake (7) to control the operation of the arm IBI, peripheral equipment (2)) and work equipment A) They are asked to perform work that spans between First, another example will be listed.

0) As the mechanism (5), the air cylinder shown in the above embodiment is most suitable, but it may also be a hydraulic cylinder or a combination of a small electric motor and a cam.

[1] Although an electromagnetic brake is most suitable as the braking mechanism (2), it is preferable to use a mechanism (2) such as the air cylinder to drive and move the permanent magnet (4) in the rotational radial direction to prevent the permanent magnet (4) from rotating against the rotor. +1) The approaching movement timing is set slightly earlier than the approaching movement timing during normal rotation, and reverse rotational force is applied to rotor +1>, thereby rotor (1) t-
It may be possible to brake the actuator, and in this case, a special braking mechanism is not required and the entire actuator can be made lighter and smaller.

<Effects of the Invention> As is clear from the detailed description above, the present invention has the following advantages: (1) By effectively utilizing the repulsion characteristics of permanent magnets, both the output/weight ratio and the output/size ratio can be significantly improved. This may greatly contribute to the miniaturization of industrial robots as a whole, such as direct integration into joints, as well as the development of more sophisticated and intelligent robots.

(2) Rotation amount detector (6) and braking mechanism (7)
With this equipment, precise and diverse speed and position control can be performed on a par with conventional various power sources, resulting in superior controllability.

[Brief explanation of drawings]

Figure 1 is a longitudinal front view, Figure 2 is F! Longitudinal side view, Figure 3 (
A), (B), and (C) are schematic longitudinal sectional front views showing the operating principle, FIG. 4 is a front view of the robot in use, and FIG. 45 is a system configuration diagram of the industrial robot. (1)...Rotor, m, +4)...Permanent magnet, (3)...Fixed case, [61...
River (4) moving mechanism, (6)...rotation amount detector, (7)...braking mechanism.

Claims (1)

[Claims] [1] A plurality of permanent magnets (2) are attached to the outer periphery of the rotor (1) at equal intervals in the circumferential direction, and a plurality of permanent magnets (2) are attached to the fixed case (3) side at equal intervals in the circumferential direction. A plurality of permanent magnets (4) are spaced apart from each other at intervals equal to These permanent magnets (4) are sequentially attached to the rotor (1) along the circumferential direction of rotation.
) side permanent magnet (2) is provided with a mechanism (5) for moving it closer to and away from it, and a rotation amount detector (6) is attached to the shaft (1A) linked to the rotor (1). An actuator using a permanent magnet, further comprising a braking mechanism (7) for the rotor (1). [2] The actuator using a permanent magnet according to claim 1, wherein the braking mechanism (7) is directly connected to the rotor shaft (1A).