WO2007026673A1 - マイクロアクチュエータ - Google Patents
マイクロアクチュエータ Download PDFInfo
- Publication number
- WO2007026673A1 WO2007026673A1 PCT/JP2006/316937 JP2006316937W WO2007026673A1 WO 2007026673 A1 WO2007026673 A1 WO 2007026673A1 JP 2006316937 W JP2006316937 W JP 2006316937W WO 2007026673 A1 WO2007026673 A1 WO 2007026673A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- spline shaft
- spline
- nut
- microactuator
- shaft
- Prior art date
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
Definitions
- the present invention relates to an actuator having a built-in driving means and capable of relatively moving a spline shaft and a spline nut in accordance with an input signal.
- the present invention is miniaturized to a diameter of about 10 mm and can be used for various industrial equipment.
- microactuators Related to microactuators.
- a linear actuator that converts an electrical input signal into a linear motion of a moving member and outputs it is roughly divided into a guide mechanism that linearly guides the moving member while applying an external force, and the moving member described above. And a drive mechanism for moving back and forth along the guide mechanism.
- Various drive mechanisms are known.
- a linear actuator configured to transmit a linear reciprocating motion of a piston to the moving member as it is, using a hydraulic cylinder or an air cylinder as a drive source.
- an actuator is known in which a motor is used as a drive source and a rotational motion of the motor is converted into a linear motion using a ball screw.
- a linear actuator configured to use a linear motor composed of a stator and a mover as a drive source and transmit the linear reciprocating motion of the linear motor to the moving member as it is.
- Japanese Patent Application Laid-Open No. 2003-278873 discloses a linear actuator having a relatively compact structure in which the drive mechanism is incorporated in a guide mechanism.
- This linear actuator accommodates a cylindrical screw having a hollow portion and a ball screw composed of a screw shaft and a ball nut in a housing, and rotatably supports the screw shaft in the hollow portion to which force is applied.
- a motor is fixed to one end of the cylindrical housing so that the motor can give arbitrary rotation to the screw shaft.
- the outer peripheral surface of the housing extends along the axial direction. While a spline groove is formed, a cylindrical moving member is fitted to the outside of the housing via the spline groove, and the cylindrical moving member is prevented from rotating relative to the housing.
- the housing is freely movable in the axial direction. Furthermore, a slit-like opening is formed in the housing along the axial direction, and a ball nut of the ball screw is coupled to the moving member through the opening.
- the actuator having such a configuration, when the motor is rotated to give an arbitrary rotation to the screw shaft housed in the hollow portion of the housing, the ball nut is moved into the hollow portion according to the forceful rotation of the screw shaft.
- the cylindrical moving member moves in the axial direction together with the ball nut on the outside of the sawing and woofer. Accordingly, the cylindrical moving member can be moved in an arbitrary direction along the axial direction of the housing in accordance with the rotation direction and rotation amount of the motor.
- Patent Document 1 JP 2003-278873 A
- the ball screw when the ball screw is housed in the housing in this way, the ball nut screwed to the screw shaft has an infinite circulation path for the ball, and therefore the diameter thereof is extremely reduced.
- the housing that houses the ball nut in the hollow portion must also have a large diameter.
- the motor for driving the screw shaft is fixed to one end in the longitudinal direction of the housing via a bracket, the difference between the stroke distance of the cylindrical moving member and the total length of the linear actuator must be increased. Even when the moving member required for the application has a short stroke distance, the total length of the linear actuator could not be reduced so much.
- both ends of the screw shaft need to be supported by bearings, and it is necessary to accommodate and fix the powerful bearing in the hollow portion of the housing, so that it is troublesome to assemble the screw shaft to the housing.
- the present invention has been made in view of such problems, and the object of the present invention is to transfer. It is possible to reduce the difference between the stroke distance and the total length of the moving member and to reduce the cross-sectional area perpendicular to the stroke direction as a whole and to make it compact, and it is possible to reduce the size to about 10 mm in diameter. It is to provide a microactuator.
- Another object of the present invention is to provide a microactuator that can be easily assembled with a small number of parts.
- a linear actuator includes a spline shaft having a hollow portion and formed in a cylindrical shape and having a slit opening along an axial direction.
- a spline nut that fits into the spline shaft and guides the spline shaft in the axial direction, a pair of end caps fixed to the openings at both ends of the spline shaft, and both ends of the spline shaft in the hollow portion of the spline shaft by the end caps
- Forsa and force are also composed.
- Both ends of the magnet rod are fitted into the end caps, and the end caps are fixed to the openings at both ends of the spline shaft, so that the strong magnet rod is supported in the hollow portion of the spline shaft.
- the forcer incorporates a coil member, and when an electric signal is applied to the coil member, the forcer is propelled in the axial direction in the hollow portion of the spline shaft in a state of loosely fitting to the magnet rod.
- the spline nut coupled to the forcer via the slit opening of the spline shaft is propelled in the axial direction outside the spline shaft.
- the magnet rod is supported in the hollow portion of the spline shaft by closing both ends of the spline shaft with a pair of end caps, and serves as a guide mechanism. Since the linear motor as the drive mechanism is completely accommodated inside the spline shaft, the difference between the stroke length of the moving member, that is, the spline nut and the total length of the actuator can be reduced. In addition, since a so-called rod-type linear motor that loosely fits the forcer around the magnet rod is used, sufficient thrust can be obtained even if the forcer is reduced in size, and the spline that accommodates the powerful forcer in the hollow portion. It becomes possible to set the diameter of the shaft small. As a result, According to Ming, it is possible to obtain a linear actuator that is extremely miniaturized, that is, a microactuator.
- the magnet rod constituting the linear motor is fixed to the spline shaft by the pair of end caps, while the assembly is simplified by simply connecting the forcer to the spline nut. Since it is completed, it is possible to assemble easily with a small number of component parts, and to that extent, it is possible to produce at low cost.
- FIG. 1 is an overall perspective view showing a first embodiment of a microactuator of the present invention.
- FIG. 2 is a perspective view of the microactuator shown in FIG. 1 cut out vertically along the longitudinal direction.
- FIG. 3 is a perspective view of the microactuator shown in FIG. 1 cut out laterally along the longitudinal direction.
- FIG. 4 is a perspective view in which the microactuator shown in FIG. 1 is cut out perpendicular to the longitudinal direction at the center of the spline nut.
- FIG. 5 is an overall perspective view showing a second embodiment of the microactuator of the present invention.
- FIG. 6 is an overall perspective view of the microactuator shown in FIG. 5 observed from the back side.
- FIG. 7 is an overall perspective view showing a third embodiment of the microactuator of the present invention. Explanation of symbols
- FIG. 1 to 4 show a first embodiment of a microactuator of the present invention
- FIG. 1 is an overall perspective view
- FIG. 2 is a perspective view cut vertically along the longitudinal direction
- FIG. 3 is a perspective view cut out horizontally along the longitudinal direction
- FIG. 4 is a perspective view cut out perpendicular to the longitudinal direction at the center of a spline nut described later.
- the microactuator includes a spline shaft 1 having a hollow portion 10 and formed in a substantially cylindrical shape, and the spline via a large number of balls.
- a spline nut 2 fitted to the outside of the shaft 1, and the spline nut 2 is connected to the spline shaft 1 shaft using the thrust generated by the linear motor 3 accommodated in the hollow portion 10 of the spline shaft 1. It is configured to be able to reciprocate in the direction.
- the spline shaft 1 has a hollow portion 10 and is formed in a cylindrical shape, and two ball rolling grooves 11 are formed on the outer peripheral surface thereof with a phase difference of 180 °.
- the spline shaft 1 is provided with a pair of slit openings 12 and 13 along the axial direction at positions shifted by 90 ° from the ball rolling groove 11. These slit openings 12 and 13 are opposed to each other with the hollow portion 10 interposed therebetween, and communicate with the inside and outside of the spline shaft 1.
- the outer diameter of the spline shaft 1 was about 7 mm and the inner diameter was about 5 mm.
- the spline nut 2 is formed in a substantially cylindrical shape whose inner diameter is slightly larger than that of the spline shaft 1, and a large number of balls 4 rolling in the ball rolling grooves 11 of the spline shaft 1. Fits to the outside of the spline shaft 1 via The spline nut 2 includes a nut body 20 and a pair of end plates 21 fixed to both end surfaces of the nut body 20 in the axial direction.
- a load rolling groove 22 opposite to the ball rolling groove 11 of the spline shaft 1 is formed on the inner peripheral surface of the nut body 20, and the ball 4 is connected to the ball rolling groove 11 and the load. Rolling Rolling with a load between groove 22
- a ball return passage 23 is formed in the nut body 20 in parallel with the load rolling groove 22, and these ball return passages 23 are present at a position overlapping the load rolling groove 22 in the radial direction.
- the end plate 21 is formed with a direction changing path 24 for moving the ball 3 between the load rolling groove 22 of the nut body 20 and the ball return path 23, and the pair of end plates 21 are connected to the nut.
- the ball 4 circulates in the infinite circuit 25 while applying a load between the nut body 20 and the spline shaft 1.
- the spline nut 2 can be continuously moved along the spline shaft 1.
- the spline nut 2 is provided with a screw hole at the position on the back side of FIG. 1, and the spline nut 2 can be fixed to other mechanical devices by screwing a fixing screw into the screw hole. Is possible. Therefore, this microactuator is used in such a manner that the spline nut 2 is fixed and the spline shaft 1 supported by the powerful spline nut 2 is advanced and retracted in the axial direction. In the actual trial production, a ball of 0.4 mm diameter was used as the ball 4.
- a magnet rod 30 as a stator of the linear motor 3 is accommodated in the hollow portion 10 of the spline shaft 1.
- the powerful magnet rod 30 is composed of alternating N poles and S poles of permanent magnets along the axial direction, and can be manufactured by packing a number of permanent magnets inside a steel pipe, or molded. It is also possible to form a magnetic pole by later magnetizing the round bar.
- a pair of end caps 5 are fitted in openings at both axial ends of the spline shaft 1, and the hollow portion 10 of the spline shaft 1 is closed from the axial direction.
- a holding hole 50 for fitting the end of the magnet rod 30 is formed at the center of each end cap.
- a forcer 31 constituting the linear motor 3 is loosely fitted around the magnet rod 30 with a slight gap.
- the forcer is formed of aluminum having excellent thermal conductivity, and has a hollow portion through which the magnet rod penetrates.
- An excitation coil (not shown) as a stator is provided on the inner peripheral surface of the hollow portion. It is stored.
- the exciting coil has a coil group consisting of three coils of U, V and W phases.
- the excitation coil of the out-of-phase is ring-shaped and faces the outer peripheral surface of the magnet rod 30 with a slight gap.
- the arrangement pitch of the excitation coils of each phase is set shorter than the arrangement pitch of the permanent magnets in the magnet rod.
- Magnet rod 30 is directed from S pole to N pole.
- a magnetic flux is formed, and a magnetic pole sensor (not shown) for detecting the magnetic flux density is built in the coil member. Therefore, the positional relationship of each magnetic pole (N pole and S pole) of the magnet rod with respect to the excitation coil is also grasped by the detection signal force output from this magnetic pole sensor.
- the controller that controls the energization of the excitation coil receives the detection signal of the magnetic pole sensor.
- a part of the forcer 31 is inserted into one slit opening 12 of the spline shaft 1 and is connected to the spline nut 2 by a fixing screw 32.
- the forcer 31 is propelled in the axial direction of the magnet rod 30
- the spline nut 2 is propelled in the axial direction of the spline shaft 1.
- a reduction scale 33 is disposed in the other slit opening 13 of the spline shaft 1 in parallel with the axial direction of the spline shaft 1.
- the linear scale 33 is configured as a magnet scale, and N poles and S poles are alternately arranged at a predetermined pitch on a metal wire having a circular cross section. This linear scale is fixed in the slit opening 13 using a pedestal 34.
- a reading head 35 for detecting the magnetic pole of the linear scale 33 is inserted into the slit opening 13 and the outer force of the spline shaft 1 is inserted. It is fixed to the spline nut 2 through 36. As a result, when the spline nut 2 moves along the spline shaft 1, the read head 35 outputs a nors signal corresponding to the change of the magnetic pole while moving along the linear scale 33, and monitors the strong nors signal. This makes it possible to detect the amount of movement of the spline nut 2 relative to the spline shaft 1.
- the linear scale 33 does not need to be configured as a magnet scale. For example, a ladder-like pattern is drawn and can be read by an optical method.
- the spline shaft 1 is hollow.
- the linear motor 3 as a drive mechanism can be completely built in the unit 10, and a very compact actuator can be obtained while integrating the drive mechanism and the guide mechanism.
- the magnet rod 30 constituting the linear motor 3 is supported at both ends by a pair of end caps 5! /, So the stroke length of the spline nut 2 and the spline shaft 1 It was possible to make the overall length in the axial direction of the actuator very short. It was also found that it is extremely easy to assemble with a small number of parts and can be produced at low cost.
- the actual manufactured prototype had a total length of 35 mm, the maximum diameter of the spline nut 2 including the bracket 36 was 12.2 mm, and the stroke length of the spline nut 2 was 17 mm.
- the maximum moving speed of spline nut 2 was 762 (mmZs).
- the pair of slit openings 12 and 13 are formed with respect to the spline shaft 1, but by examining the arrangement position of the linear scale 33, It is also possible to make one slit opening formed in the spline shaft 1, thereby making it possible to further reduce the production cost.
- FIG. 5 and FIG. 6 show a second embodiment of the microactuator of the present invention, and an example in which only one slit opening 14 is formed on the spline shaft 1 as described above. It is shown. 5 is an overall perspective view, and FIG. 6 is an overall perspective view with the viewpoint on the opposite side of FIG.
- a slit opening 14 along the axial direction is provided at one force point on the outer peripheral surface of the spline shaft 1, and the spline nut 2 passes through the slit opening 14 to form the linear motor 3.
- a flat surface 60 is formed on the outer peripheral surface of the spline shaft at a position that is 180 ° out of phase with the slit opening, and a tape-like shape is formed on the flat surface 60.
- the linear scale 61 is pasted.
- the linear scale 61 is configured as a magnet scale as in the first embodiment.
- a reading head (not shown) is fixed to the spline nut 2 at a position opposite to the linear scale 61. When the spline nut 2 moves along the spline shaft 1, the reading head is moved to the linear scale 6. It is configured to output a pulse signal corresponding to the change of the magnetic pole while moving along 1. ing.
- FIG. 7 shows a third embodiment of the microactuator of the present invention.
- a set of three-phase excitation coils is formed on the forcer 37 loosely fitted to the magnet rod 30. Multiple sets were installed. For this reason, the forcer 37 is formed longer in the axial direction of the magnet rod 30 than the forcer 31 of the second embodiment.
- a pair of spline nuts 2 are fitted to the spline shaft 1 at intervals in the axial direction, and each spline nut 2 is connected to the forcer 37. Connected to both ends in the longitudinal direction.
- the pair of spline nuts 2 are connected to each other via a forcer 37, and when the linear motor 3 is driven, the spline shaft 1 holding the magnet rod 30 does not fluctuate so that the distance between the spline nuts 2 does not fluctuate. It will move relative to Nut 2.
- the spline nut can be splined with respect to the spline nut by arbitrarily selecting the number of coil groups to be mounted on the forcer.
- the thrust for stroke of the shaft can be adjusted arbitrarily, and the powerful actuator can be used for various purposes.
- the required thrust and sp It is only necessary to select the axial length of the spline shaft and forcer according to the stroke length of the line shaft. No change is required in the basic structure of the spline nut, so it can be used for various applications at low cost. It becomes possible. That is, the microactuator of the present invention is
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020087004781A KR101248357B1 (ko) | 2005-08-31 | 2006-08-29 | 마이크로 액츄에이터 |
DE112006002312T DE112006002312T5 (de) | 2005-08-31 | 2006-08-29 | Mikrostellglied |
US12/065,370 US8097986B2 (en) | 2005-08-31 | 2006-08-29 | Micro actuator |
CN2006800318709A CN101283501B (zh) | 2005-08-31 | 2006-08-29 | 微型促动器 |
JP2007533243A JP4860623B2 (ja) | 2005-08-31 | 2006-08-29 | マイクロアクチュエータ |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005-250607 | 2005-08-31 | ||
JP2005250607 | 2005-08-31 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2007026673A1 true WO2007026673A1 (ja) | 2007-03-08 |
Family
ID=37808763
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2006/316937 WO2007026673A1 (ja) | 2005-08-31 | 2006-08-29 | マイクロアクチュエータ |
Country Status (6)
Country | Link |
---|---|
US (1) | US8097986B2 (ja) |
JP (1) | JP4860623B2 (ja) |
KR (1) | KR101248357B1 (ja) |
CN (1) | CN101283501B (ja) |
DE (1) | DE112006002312T5 (ja) |
WO (1) | WO2007026673A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009008247A1 (ja) * | 2007-07-09 | 2009-01-15 | Thk Co., Ltd. | リニアアクチュエータユニット |
JP2009065724A (ja) * | 2007-09-04 | 2009-03-26 | Thk Co Ltd | リニアモータアクチュエータ |
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US20100133924A1 (en) * | 2008-11-21 | 2010-06-03 | Neff Edward August | Compact linear actuator and method of making same |
US9731418B2 (en) | 2008-01-25 | 2017-08-15 | Systems Machine Automation Components Corporation | Methods and apparatus for closed loop force control in a linear actuator |
US9780634B2 (en) | 2010-09-23 | 2017-10-03 | Systems Machine Automation Components Corporation | Low cost multi-coil linear actuator configured to accommodate a variable number of coils |
CN102324800A (zh) * | 2011-04-12 | 2012-01-18 | 深圳市再丰达实业有限公司 | 集约式旋转伸缩装置 |
US9605952B2 (en) | 2012-03-08 | 2017-03-28 | Quality Manufacturing Inc. | Touch sensitive robotic gripper |
US9205567B2 (en) | 2012-03-08 | 2015-12-08 | Quality Manufacturing Inc. | Touch sensitive robotic gripper |
DE112013003169T5 (de) | 2012-06-25 | 2015-03-26 | Mark Cato | Preiswerter linearer Stellantrieb mit reduziertem Durchmesser |
WO2014004588A1 (en) | 2012-06-25 | 2014-01-03 | Neff Edward A | Robotic finger |
CN104981969B (zh) * | 2013-02-20 | 2016-12-07 | 三菱电机株式会社 | 可动件及具备该可动件的线性电动机 |
KR101397119B1 (ko) * | 2013-10-07 | 2014-05-20 | 김병찬 | 정밀 전동 실린더 |
US10807248B2 (en) | 2014-01-31 | 2020-10-20 | Systems, Machines, Automation Components Corporation | Direct drive brushless motor for robotic finger |
US9871435B2 (en) | 2014-01-31 | 2018-01-16 | Systems, Machines, Automation Components Corporation | Direct drive motor for robotic finger |
US10429211B2 (en) | 2015-07-10 | 2019-10-01 | Systems, Machines, Automation Components Corporation | Apparatus and methods for linear actuator with piston assembly having an integrated controller and encoder |
US10718359B2 (en) | 2015-08-21 | 2020-07-21 | Quality Manufacturing Inc. | Devices and systems for producing rotational actuation |
WO2017053881A1 (en) | 2015-09-24 | 2017-03-30 | Systems, Machines, Automation Components Corporation | Magnetically-latched actuator |
US10675723B1 (en) | 2016-04-08 | 2020-06-09 | Systems, Machines, Automation Components Corporation | Methods and apparatus for inserting a threaded fastener using a linear rotary actuator |
US10865085B1 (en) | 2016-04-08 | 2020-12-15 | Systems, Machines, Automation Components Corporation | Methods and apparatus for applying a threaded cap using a linear rotary actuator |
US10205355B2 (en) | 2017-01-03 | 2019-02-12 | Systems, Machines, Automation Components Corporation | High-torque, low-current brushless motor |
CN109713872B (zh) * | 2019-01-08 | 2021-02-02 | 河北科技大学 | 大推力线性电机 |
US11193565B2 (en) * | 2019-05-09 | 2021-12-07 | Westcoast Cylinders Inc. | Anti-rotation system having replaceable keyway |
CN111786528B (zh) * | 2020-07-06 | 2021-09-21 | 湖南大学 | 一种直线旋转音圈电机 |
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JPH10323008A (ja) * | 1997-05-14 | 1998-12-04 | Minolta Co Ltd | シャフト型リニアモータ |
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2006
- 2006-08-29 JP JP2007533243A patent/JP4860623B2/ja active Active
- 2006-08-29 US US12/065,370 patent/US8097986B2/en active Active
- 2006-08-29 KR KR1020087004781A patent/KR101248357B1/ko active IP Right Grant
- 2006-08-29 WO PCT/JP2006/316937 patent/WO2007026673A1/ja active Application Filing
- 2006-08-29 CN CN2006800318709A patent/CN101283501B/zh active Active
- 2006-08-29 DE DE112006002312T patent/DE112006002312T5/de active Pending
Patent Citations (5)
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JPH03285554A (ja) * | 1990-03-30 | 1991-12-16 | Amada Co Ltd | リニアモータ |
JPH07170710A (ja) * | 1993-12-15 | 1995-07-04 | Sofutoronikusu Kk | リニアアクチュエータ |
JPH09182408A (ja) * | 1995-12-27 | 1997-07-11 | Hitachi Metals Ltd | リニアモータ |
JPH10272419A (ja) * | 1997-03-31 | 1998-10-13 | I M V Kk | 動電式振動発生機 |
JPH10323008A (ja) * | 1997-05-14 | 1998-12-04 | Minolta Co Ltd | シャフト型リニアモータ |
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Publication number | Priority date | Publication date | Assignee | Title |
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WO2009008247A1 (ja) * | 2007-07-09 | 2009-01-15 | Thk Co., Ltd. | リニアアクチュエータユニット |
DE112008001817T5 (de) | 2007-07-09 | 2010-06-10 | Thk Co., Ltd. | Linearbetätigereinheit |
US8106545B2 (en) | 2007-07-09 | 2012-01-31 | Thk Co., Ltd. | Linear actuator unit |
JP5334128B2 (ja) * | 2007-07-09 | 2013-11-06 | Thk株式会社 | リニアアクチュエータユニット |
JP2009065724A (ja) * | 2007-09-04 | 2009-03-26 | Thk Co Ltd | リニアモータアクチュエータ |
Also Published As
Publication number | Publication date |
---|---|
CN101283501A (zh) | 2008-10-08 |
KR101248357B1 (ko) | 2013-04-01 |
JP4860623B2 (ja) | 2012-01-25 |
DE112006002312T5 (de) | 2008-07-24 |
KR20080046643A (ko) | 2008-05-27 |
US20090152960A1 (en) | 2009-06-18 |
JPWO2007026673A1 (ja) | 2009-03-05 |
CN101283501B (zh) | 2010-08-11 |
US8097986B2 (en) | 2012-01-17 |
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