WO2011102381A1 - Drive device - Google Patents

Abstract

Disclosed is a drive device which supports an object and changes the attitude of an object by rotating the object, wherein the drive device is configured to be small, light weight, simple and inexpensive. The drive device (1) is provided with a tilt mechanism including a bearing part (11b) for tilting which tiltably supports an object (M) about a horizontal rotary axis (A1), and a rotation mechanism including a bearing part (12b) for rotation which rotatably supports the tilt mechanism about a vertical rotary axis (A2). An impact actuator (11) applies an impact force to the tilt mechanism to vertically change a tilted angle (a rotation angle about the horizontal rotary axis (A1)) of the object. An impact actuator (12) applies an impact force in the circumferential direction of the rotation mechanism to change the rotation angle of the object (M) about the vertical rotary axis (A2). The impact actuators (11, 12) used can be either single direction type (one way drive) actuators or back and forth direction type (back and forth drive) actuators.

Description

Drive unit

The present invention relates to a drive device that changes the posture of an object by supporting and rotating the object.

Conventionally, in lighting devices such as spotlights and downlights, lens devices of stationary cameras, antenna devices such as radar, etc., the direction and posture of each device are changed. This is to optimize the illumination direction of each device, the imaging direction, the direction of detection / transmission / reception, the direction of view, etc. by remote control. For example, as an example of angle control for pan and tilt, a device driven using a motor is known (see, for example, Patent Document 1). By the way, as a drive source for moving an object, there is a drive device for moving an object by repeatedly applying an impact, that is, an impact based on an electromagnetic action, not an electric motor. Even small impacts can be repeatedly applied to move an object, and in the case of small impacts, there is also an advantage that highly accurate position control can be performed. As a method of impact generation, one using an electrostrictive element and one using an eddy current are known (see, for example, Patent Documents 2 and 3). The eddy current is a current that flows in a spiral manner in the metal plate when current flows through an electromagnetic coil disposed near the metal plate such as an aluminum plate, for example. When an impact current is supplied to the electromagnetic coil, the interaction between the magnetic field generated by the electromagnetic coil and the eddy current induced in the metal plate generates a repulsive force to repel the metal plate. An impact can be applied to the object through the metal plate by colliding the repelled metal plate with the object. There is known a device or the like in which such a driving device is applied to a micromanipulator, and the micromanipulator is inserted into an egg cell by the micromanipulator (see, for example, Patent Document 4).

JP, 2001-102185, A Japanese Patent Application Laid-Open No. 60-60582 Japanese Examined Patent Publication No. 5-80685 JP 2003-25261 A

However, the device as shown in the above-mentioned patent document 1 has a problem that the entire device becomes large and heavy when the motor is incorporated, and the posture of the object is changed by supporting and rotating the object. It is desirable to realize a compact and lightweight drive device that can Further, there is no known example in which the drive sources as shown in the above-mentioned Patent Documents 2 to 4 are used to change the orientation or attitude of the device.

The present invention solves the above-mentioned problems, and it is possible to change the posture of an object by supporting and rotating the object by a compact, simple and inexpensive configuration without making the device heavy. It aims at providing an apparatus.

In order to achieve the above object, the drive device according to the present invention includes an inclination mechanism for supporting the object in an inclinable manner, and an inclination mechanism in the drive device for changing the posture of the object by supporting and rotating the object. A rotating mechanism that rotatably supports an object to be included, an impact actuator for tilting that applies an impact force to the tilting mechanism to change the tilt angle of the object, and an impact force in the circumferential direction of the rotating mechanism to And an impact actuator for rotation that changes a rotation angle.

In this drive device, it is preferable that the tilt mechanism and the rotation mechanism be constituted by a gimbal mechanism having two degrees of freedom.

In this drive device, it is preferable that the inclination angle and the rotation angle are maintained by the frictional force in each bearing portion of the inclining mechanism and the rotating mechanism, and each bearing portion is provided with a pressing means for generating the frictional force.

In this drive device, the pressing means preferably generates a frictional force by a tightening torque of a screw.

In this drive device, it is preferable that the pressing means includes an elastic body to generate a frictional force by its biasing force.

In this drive device, the pressing means preferably includes an electromagnet, and the magnetic force preferably generates a frictional force.

In this drive device, the pressing means preferably comprises a permanent magnet and generates a frictional force by its magnetic force.

In this drive device, the pressing means preferably includes a permanent magnet and an electromagnet, and preferably generates a frictional force by these magnetic forces.

In this drive device, it is preferable that the tilting and rotating impact actuators be provided in parallel with each other.

In this drive device, it is preferable to be configured by a ball joint in which the object support portion of the tilt mechanism and the rotation mechanism is shared.

In this drive device, it is preferable that a control unit that controls the impact actuator be provided, and the control unit control the impact actuator so as to vibrate the object supported by the tilt mechanism and the rotation mechanism.

According to the drive device of the present invention, since rotation about two axes is performed using an impact actuator, there is no need to provide a large structure for mechanical rotational drive such as a gear or a motor. A compact, simple and inexpensive drive device can be realized without making it heavy. In addition, since the driving device using the impact actuator can use the frictional force for maintaining the posture, that is, maintaining the angle, it is possible to consume no power except during driving.

FIG. 1 is a perspective view of a drive device according to a first embodiment of the present invention. 2 (a) to 2 (c) are perspective views showing an example of use of the drive device. 3 (a1) to 3 (c1) are side views showing an operation example of the drive device, and FIGS. 3 (a2) to 3 (c2) are plan views corresponding to (a1) to (c1). 4 (a1) to 4 (c1) are side views showing another operation example of the drive device, and FIGS. 4 (a2) to 4 (c2) are plan views corresponding to (a1) to (c1). 5 (a) and 5 (b) are cross-sectional views for explaining the leftward operation of the impact actuator applied to the drive device, and FIGS. 5 (c) and 5 (d) are cross-sectional views for explaining the rightward operation of the same impact actuator. is there. FIG. 6 (a) is a perspective view of a modification of the drive device, and FIGS. 6 (b) and 6 (c) are cross-sectional views for explaining the leftward operation of the impact actuator applied to the modification. FIG. 7 (a) is a cross-sectional view of another impact actuator applied to the drive device, and FIG. 7 (b) is a schematic view for explaining the operation principle of the same impact actuator. 8 (a), (b) and (d) are cross-sectional views for explaining the operation of still another impact actuator applied to the drive device, and FIGS. 8 (c) and (e) are for operating the same impact actuator. It is a time change graph of the current supplied to the electromagnetic coil. 9 (a) and 9 (b) are cross-sectional views for explaining the operation of still another impact actuator applied to the drive device, and FIG. 9 (c) is a schematic view for explaining the operation principle of the same impact actuator. . FIG. 10 (a) is a plan sectional view of still another impact actuator applied to the drive device, FIG. 10 (b) is a sectional view taken along the line AA of FIG. 10 (a), and FIG. It is a BB sectional view taken on the line of (b). FIGS. 11 (a) to 11 (c) are side views of partial cross sections showing an operation example of the impact actuator. FIGS. 12 (a) and 12 (b) are time change graphs of the current supplied to the electromagnetic coil when operating the impact actuator. 13 (a) and 13 (c) are perspective views showing an operation example of the drive device according to the second embodiment. FIGS. 14 (a1) to 14 (c1) are side views showing an example of the rotational operation around the A2 axis of the drive device, and FIGS. 14 (a2) to 14 (c2) are views from the other side orthogonal to the same rotational operation. Side view. Fig.15 (a1)-(c1) is a side view which shows the example of the rotational motion of A1 axis of the drive device, and Fig.15 (a2)-(c2) see the other side which orthogonally crosses the rotational motion. Side view. Fig.16 (a) is sectional drawing which shows the example of the bearing part of the drive device which concerns on 1st and 2nd embodiment, (b) is sectional drawing which shows the other example of the bearing part. 17 (a) to 17 (c) are cross-sectional views showing still another example of the bearing portion. FIG. 18 is a perspective view of another modification of the drive device according to the first and second embodiments. FIG. 19 is a perspective view showing still another modification of the first embodiment. 20 (a1) and 20 (a2) are side views showing an operation example of the modification, and FIGS. 20 (b1) and 20 (b2) are plan views corresponding to (a1) and (a2). FIG. 21 is a perspective view showing still another modification of the first embodiment. FIG. 22 is a perspective view showing still another modification of the first embodiment. FIG. 23 is a perspective view showing still another modification of the second embodiment. Fig.24 (a) is a perspective view of the drive device based on 3rd Embodiment, FIG.24 (b) is a rear view of the drive device. FIG. 25 is a rear perspective view showing an example of the rotational operation of the drive device. FIG. 26 is a rear perspective view showing an example of the tilting operation of the drive device. FIG. 27 is a perspective view showing a modification of the drive device. FIG. 28 is a block diagram showing another modification of the drive device. FIG. 29 is a cross-sectional view of still another impact actuator applied to the drive device according to the first, second and third embodiments. FIGS. 30 (a) and 30 (b) are partially enlarged cross-sectional views of the same impact actuator. 31 (a) to 31 (d) are side views of partial cross sections showing how the impact actuator operates.

First Embodiment
Hereinafter, a drive device according to an embodiment of the present invention will be described with reference to the drawings. 1 to 4 show a drive device according to a first embodiment. As shown in FIG. 1, the drive device 1 includes an inclination mechanism having an inclination bearing 11 b for supporting a short cylindrical object M, and a rotation bearing 12 b for supporting the object M including the inclination mechanism. And impact actuators 11 and 12. The tilt bearing portion 11b tiltably supports the object M around the horizontal rotation axis A1 (for example, in the horizontal left-right direction). The bearing unit 12b for rotation rotatably supports the object M including the tilting mechanism around the vertical rotation axis A2. The impact actuator 11 applies an impact force to the tilt mechanism to change the tilt angle (rotation angle around the horizontal rotation axis A1) of the object from the vertical direction. The impact actuator 12 applies an impact force in the circumferential direction of the rotation mechanism to change the rotation angle of the object M around the vertical rotation axis A2. The horizontal rotation axis A1 and the vertical rotation axis A2 are orthogonal to each other on the central axis of the cylindrical object M. The impact actuators 11 and 12 are drive sources capable of moving the object M in the direction of applying an impact force (impact). Such impact actuators 11 and 12 include those that can be driven only in a single direction and those that can be driven in any direction of the reciprocating direction. As the impact actuators 11 and 12 of the drive device 1, either one of a unidirectional specification (one-side drive) or a reciprocating specification (reciprocal drive) can be used. The specific configuration of an impact actuator (hereinafter, may be simply referred to as an actuator with the impact omitted hereinafter) used for the drive device 1 will be described later with reference to an example (see FIGS. 5 to 12 and the like).

The tilt bearing 11b supports the object M at its cylindrical left and right outer wall portions. A plate-like arm 11 a extending upward is fixed to the cylindrical upper end face of the object M. The tilt actuator 11 is fixed to the arm 11a so that a rotational moment about the horizontal rotation axis A1 can be effectively applied to the object M. The cylindrical side wall and upper end face of the object M can also be included in the tilting mechanism. When these are included, the tilting mechanism comprises the arm 11a, the bearing portion 11b for tilting, and the cylindrical side wall and the upper end face of the object M.

The bearing unit 12b for rotation supports a temple-like suspension member 12a for suspending the object M from the left and right, for example, at the top of the suspension member 12a so as to hang from a ceiling. The left and right lower portions of the suspension member 12a support the tilt bearing 11b. The actuator 12 for rotation is fixed to the suspension member 12 a so that a rotational moment around the vertical rotation axis A2 can be effectively applied to the object M. The rotation mechanism comprises a suspending member 12a and a bearing 12b for rotation.

The object M is, for example, a lighting device (hereinafter also referred to as a lighting device M) which is housed inside the ceiling embedded recess frame 9 and which is hung from the ceiling to illuminate the lower side as shown in FIG. Therefore, the driving device 1 supports the lighting device as the object M and rotates the actuators 11 and 12 to operate them, thereby changing the posture as shown in FIGS. 2 (a), (b) and (c). Illumination direction can be changed. More specifically, as shown in FIGS. 3 (a1) to (c2), by operating the actuator 12, the object M can be rotated about the vertical rotation axis to rotate the illumination light. . Further, as shown in FIGS. 4 (a1) to 4 (c2), by operating the actuator 11, the lighting apparatus M can be rotated about the horizontal rotation axis to illuminate the area other than directly below. Further, by operating both of the actuators 11 and 12, the space under the lighting device M can be illuminated sequentially and completely.

According to the first embodiment, since rotation about two axes of the shaft to be tilted and the shaft to be rotated is performed using the actuator, a large structure for mechanical rotation drive such as a gear or a motor can be obtained. It is not necessary to provide, and it is possible to realize the drive device 1 of a compact, simple, inexpensive configuration. For the same reason, these configurations can be realized without adding weight to the device. In addition, since the driving device 1 using the actuator can use a frictional force, a ratchet mechanism or the like for maintaining the posture, that is, maintaining the angle, in this case, it is necessary not to consume power except during driving. it can.

(Eddy Current Impact Actuator Applied to First Embodiment)
FIG. 5 shows an example of an actuator applied to the drive device 1. As shown in FIG. 5A, the actuator includes left and right electromagnetic coils 31 separated from each other and coaxially disposed facing each other, an elastic body 30 disposed between the electromagnetic coils 31, and each electromagnetic And two conductors 32 disposed between the coil 31 and the elastic body 30. Each conductor 32 is configured to be movable along the axial direction of the electromagnetic coil 31 at least within the range in which the elastic body 30 expands and contracts. The two electromagnetic coils 31 are integrated by a shaft 31a disposed on their central axes, and are respectively accommodated in a coil frame 31b. The conductor 32 is, for example, a doughnut-shaped metal disc made of a good conductor such as aluminum, and the movement direction is restricted by the shaft 31a. The elastic body 30 extends so as to bring the conductor 32 close to the electromagnetic coil 31 when the actuator is not driven. The degree of proximity between the conductor 32 and the electromagnetic coil 31 may be a distance at which the eddy current necessary for driving can be generated in the conductor 32. The elastic body 30 can be configured by, for example, a coil spring or a plate spring, and can be configured using rubber or the like. The actuator is provided with a set including one electromagnetic coil 31 and one electric conductor 32 on both sides of the elastic body 30 along the shaft 31a so as to be in a symmetrical arrangement and a symmetrical configuration.

The operation of the actuator will be described. The actuator causes the object M to move in the direction of the shaft 31a (left and right direction in the drawing) by applying an impact to the object M. The electromagnetic coil 31 becomes a generation source of the impact by being supplied with power. The object M is moved to the left by the left set of movements and to the right by the right set of movements. Therefore, first, the operation of the left set will be described. As shown in FIG. 5A, the left conductor 32 is moved to the right by the repulsive force generated due to the eddy current generated in the conductor 32 when the left electromagnetic coil 31 is energized. Be done. Then, the elastic body 30 is compressed by the moving conductor 32, and then the conductor 32 is pushed back to the left by the extension force. At this point, the energization of the electromagnetic coil 31 is turned off. Therefore, as shown in FIG. 5B, the conductor 32 collides with the left electromagnetic coil 31, and the collision generates an impact toward the left. The object M is pushed to the left by the impact and moves to the left. The energization control to the electromagnetic coil 31 is controlled so that the current flows at a stroke so as to obtain the required eddy current and the repulsive force resulting therefrom, so that the collision between the conductor 32 and the electromagnetic coil 31 is not disturbed. Control may be performed to turn off the current. In addition, by repeating the energization under such control, it is possible to repetitively impact the object M to move the object M to the left in a pulsed manner. FIG.5 (c) (d) shows the case where the subject M is moved to the right by the operation of the right set. The operation can be considered to be symmetrical as in the case of FIGS. 5 (a) and 5 (b). For such movement of the object M in one direction due to an impact, a mechanism for preventing backtracking is required, and a mechanism for applying a frictional force, a ratchet mechanism, or the like is used as the mechanism.

As described above, this actuator is an actuator capable of reciprocating movement that can move the object M in any of the left and right directions. By using this actuator, the drive device 1 can rotate in either forward or reverse rotational directions about each of the rotation axes of the rotation axes A1 and A2 in FIG. 1. In addition, such an actuator can be realized in a small size, light weight and inexpensiveness, and the drive device 1 can be realized in a small size, light weight and inexpensiveness. In addition, in order for such an actuator to move the object M unilaterally in the direction of the impact by repeatedly applying an impact to the object M, the object M needs to have an appropriate resistance. There is. For example, it is assumed that the object M receives resistance due to frictional force when moving. When the object M is moved to the left, the impact of the movement of the conductor 32 to the right and the collision with the elastic body 30 does not exceed the maximum static friction force. In addition, the impact of the movement of the conductor 32 to the left and the collision with the electromagnetic coil 31 is made to exceed the maximum static friction force. The actuator can move the object M that satisfies such conditions. The elastic body 30 acts as a damper that cushions the impact by being compressed over time.

(One-side drive impact actuator applied to the first embodiment)
FIG. 6 (a) shows a modification of the drive device 1 shown in FIG. 1, and FIGS. 6 (b) and 6 (c) show an actuator applied to the modification. As shown in FIG. 6 (a), this driving device 1 uses two actuators arranged as two actuators 11 and 12 so as to generate rotational moments in opposite directions to each other. It is. The arrangement need not be arranged to face each other as shown, but may be distributed. Such an actuator is configured by arranging the electromagnetic coil 31, the conductor 32, the elastic body 30, and the stopper 30a in this order as shown in FIGS. The electromagnetic coil 31 and the stopper 30a are integrated. This actuator has the same configuration as that of the actuator shown in FIG. 5 except for the combination of one (right side) electromagnetic coil 31 and conductor 32, and the operation is also the same. Since the single-sided drive actuator can be configured smaller than the double-sided drive (reciprocal drive) actuator, it has the flexibility to be distributed in a narrow space in the drive device 1.

(Permanent Magnet Type Impact Actuator Applied to First Embodiment)
FIG. 7 shows still another actuator applied to the drive unit 1. This actuator is, as shown in FIG. 7A, in the actuator shown in FIG. 5 described above, in which two electric conductors 32 are replaced by two permanent magnets 33 arranged correspondingly. . The replaced permanent magnet 33 is repelled and moved by the repulsive force of the interaction between the coil current flowing by the energization of the electromagnetic coil 31 and the magnetic field of the permanent magnet 33. The permanent magnet 33 is in the shape of a donut disk like the conductor 32, and is magnetized in the radial direction from the center side toward the outer peripheral side. In the case of this example, although the center side is the south pole and the outer circumference side is the north pole, it can be reverse polarity. Such a permanent magnet 33 receives repulsive force or attractive force (not shown) depending on the direction of the current flowing through the electromagnetic coil 31, as shown in FIG. 7 (b). In FIG. 7 (b), magnetic lines of force are schematically shown by directed arrow curves.

The operation of the above-described actuator will be described, for example, for the combination of the left electromagnetic coil 31 and the permanent magnet 33. When the actuator applies an electric current to the electromagnetic coil 31 so as to apply a repulsive force to the permanent magnet 33 and then turns the electric current off, the permanent magnet 33 is received by the elastic body 30 on the right side and then repelled by the elastic body 30 It collides with the original electromagnetic coil 31. That is, instead of the repulsive force generated due to the eddy current in FIG. 5 described above, the actuator uses the repulsive force due to the interaction between the coil current flowing by energization of the electromagnetic coil 31 and the magnetic field of the permanent magnet 33. And operates similarly to the actuator shown in FIG. Therefore, one conductor 32 and one permanent magnet 33 may be provided as a compromise between the configuration shown in FIG. 5 and the configuration shown in FIG. 7. In such a compromise configuration, the left and right motions and configurations are not necessarily symmetrical to each other. On the contrary, it is possible to optimize the cost and the operating characteristics by making the characteristics of the reciprocation operation different by utilizing the non-symmetry.

Further, in the actuator of FIG. 7A, the elastic force of the elastic body 30 can be substituted by the magnetic repulsive force of the left and right permanent magnets 33 so that the elastic body 30 can be removed ( Not shown). In this case, when the two permanent magnets 33 approach each other, the impact of the collision is mitigated by the damping effect due to the mutual magnetic repulsion. In the case where the two permanent magnets 33 move away from each other, the moving speeds of the permanent magnets 33 in relative movement can continue to accelerate until they collide with the electromagnetic coil 31 by exerting a magnetic force on each other. In consideration of this, the interval between the left and right sets is appropriately set. As described above, the actuator using the repulsive force between the permanent magnet 33 and the electromagnetic coil 31 can generate a larger impact and cause a larger movement than in the case of the eddy current. Also, there is no heat generation due to Joule heat in the case of eddy current, and it is possible to operate stably with energy efficiency.

(Single-coil impact actuator applied to the first embodiment)
FIG. 8 shows still another actuator applied to the drive unit 1. As shown in FIG. 8A, this actuator includes an electromagnetic coil 31, a permanent magnet 33, a stopper 34, and a control device (not shown) for controlling the time of the current supplied to the electromagnetic coil 31. There is. The permanent magnet 33 moves relative to the electromagnetic coil 31 by an electromagnetic action generated by energization of the electromagnetic coil 31. The stopper 34 is integrated with the electromagnetic coil 31 so as to limit the range of relative movement of the permanent magnet 33 to form an impacted body. In this actuator, impact is generated when the permanent magnet 33 collides with the collided body (that is, any one of the electromagnetic coil 31 and the stopper 34) by energization of the electromagnetic coil 31. The term collided body is only used as a name indicating the opponent (permanent relative movement) with which the permanent magnet 33 collides, and has no other meaning. The electromagnetic coil 31 is housed in a coil frame and integrated with the stopper 34 by a shaft 31a disposed on the central axis of the coil frame. The permanent magnet 33 has a donut disk shape and is magnetized in the radial direction from the center side toward the outer peripheral side. In the case of this example, although the center side is the south pole and the outer circumference side is the north pole, it can be reverse polarity. Such a permanent magnet 33 receives repulsion or attraction depending on the direction of the current flowing through the electromagnetic coil 31 (see FIG. 7B described above).

The operation of the above-described actuator will be described with reference to FIGS. 8 (a), (b) and (c) for the case of moving the movable body M to the left. The permanent magnet 33 is reciprocated by attractive force (J <0, time t3) and repulsive force (J> 0, time t5) by the electromagnetic coil 31 by time controlling the coil current J supplied to the electromagnetic coil 31, and the attractive force The permanent magnet 33 is caused to collide with the electromagnetic coil 31. That is, the permanent magnet 33 moves leftward from the position between the electromagnetic coil 31 and the stopper 34 as shown in FIG. 8A by the attraction force at time t3 in FIG. It collides with the electromagnetic coil 31 as shown in. After that, the permanent magnet 33 returns to the position shown in FIG. 8A by the repulsive force at time t5 in FIG. 8C. The operation of the permanent magnet 33 (operations at times t3 and t5) is repeated, and the movable body M moves in a pulse manner to the left. FIG. 8C shows an example in which the operation is started by the repulsive force at time t2 from the state (initial state) where the permanent magnet 33 is on the side of the electromagnetic coil 31 as shown in FIG. 8B. Further, times t1 and t4 are drive adjustment times.

The case of moving the movable body M to the right will be described with reference to FIGS. 8 (a), (d) and (e). The permanent magnet 33 is reciprocated by the repulsive force (J> 0, time t4) and the attractive force (J <0, time t5) by the electromagnetic coil 31 by time controlling the coil current J supplied to the electromagnetic coil 31 and the repulsive force The permanent magnet 33 is caused to collide with the stopper 34. That is, the permanent magnet 33 moves to the right from the position between the electromagnetic coil 31 and the stopper 34 as shown in FIG. 8A by the repulsive force at time t4 in FIG. And collide with the stopper 34 as shown in FIG. After that, the permanent magnet 33 returns to the position shown in FIG. 8 (a) by the attractive force at time t5 in FIG. 8 (e). The operation of the permanent magnet 33 (operations at time t4 and time t5) is repeated, and the movable body M moves in a pulsed manner to the right. Here, the operation of the permanent magnet 33 at time t1 and time t2 in FIG. 8E will be described. At time t1, it is assumed that the permanent magnet 33 is in the initial state. In the initial state, the coil current J is zero, and the permanent magnet 33 is not at an intermediate position between the electromagnetic coil 31 and the stopper 34 (the state of FIG. 8A), and the permanent magnet 33 is shown in FIG. In the electromagnetic coil 31 side. The permanent magnet 33 is at its left end in its initial state. In the first collision in which the permanent magnet 33 moves to the right from the initial state at the left end and collides with the stopper 34, the coil current J gradually increases and then the coil current J having a constant value flows, as shown at time t2. . The coil current J is gradually increased at the beginning of time t2 in order to suppress the movement of the moving object M to the left due to the reaction caused by the rapid separation.

The object M is moved to the left by the permanent magnet 33 colliding with the electromagnetic coil 31 to the left, and is moved to the right by colliding the permanent magnet 33 against the stopper 34 to the right. Therefore, when moving the object M to the left, it is necessary to exert the magnetic force from the electromagnetic coil 31 on the permanent magnet 33 so that the permanent magnet 33 does not collide with the stopper 34. Conversely, when moving the object M to the right, it is necessary to exert the magnetic force from the electromagnetic coil 31 on the permanent magnet 33 so that the permanent magnet 33 does not collide with the electromagnetic coil 31. The control device that controls the coil current J generates a collision in one direction of relative movement of the electromagnetic coil 31 and the permanent magnet 33, avoids the collision in the direction opposite to that one direction, and reverses the direction of relative movement. The control device time-controls the coil current J applied to the electromagnetic coil 31 so as to repeatedly generate an impact only in one direction. Such an actuator can generate an impact due to a collision in any direction of the relative movement of the electromagnetic coil 31 and the permanent magnet 33, so that the reciprocating movement of the object M can be realized. Further, since the actuator is formed by combining the permanent magnet 33 and the stopper 34 with one electromagnetic coil 31, the configuration is small and simple. By using this actuator, the drive device 1 can be realized in a small size, light weight and low cost as compared with the case of using a motor, a driving force transmission device or the like.

(Impact actuator of moving coil type applied to the first embodiment)
FIG. 9 shows still another actuator applied to the drive unit 1. In this actuator, as shown in FIG. 9A, in the actuator shown in FIG. 8A described above, the electromagnetic coil 31 and the permanent magnet 33 are mutually replaced, and the stopper 34 is replaced with a separate permanent magnet 33. It is configured. That is, the actuator comprises two disk-like permanent magnets 33 coaxially arranged apart from each other and fixed to both ends of the shaft 31a, and an electromagnetic coil 31 made movable along the shaft 31a. Have. Further, this actuator is provided with a control device (not shown) which controls the time of the current supplied to the electromagnetic coil 31. The electromagnetic coil 31 is housed in a coil frame, and is inserted through a shaft 31a on the central axis. The two permanent magnets 33 are integrated by the shaft 31a to form an object to be collided (in this case, a partner with which the electromagnetic coil 31 collides). The electromagnetic coil 31 moves relative to the two permanent magnets 33 by the electromagnetic action generated by energization of the electromagnetic coil 31. The range of relative movement is limited by the impacted body (by permanent magnets 33 at both ends). The two permanent magnets 33 have a donut disk shape and are magnetized in the radial direction from the center side toward the outer peripheral side. In the case of this example, although the center side is the south pole and the outer circumference side is the north pole, it can be reverse polarity.

The operation of the actuator will be described for the case of moving the object M to the left as shown in FIG. 9 (b). The electromagnetic coil 31 sandwiched between the permanent magnets 33 as described above receives a repulsive force from one permanent magnet 33 and an attractive force from the other permanent magnet 33 as shown in FIG. Receive Therefore, depending on the direction of the current flowing through the electromagnetic coil 31, the electromagnetic coil 31 can select the moving direction either to the left or to the right. Therefore, by controlling the coil current of the electromagnetic coil 31 with time by the control device, as shown in FIG. 9B, the electromagnetic coil 31 is caused to collide with the permanent magnet 33 on the left side, and the object M is turned to the left. It can be moved. Similarly, the electromagnetic coil 31 can be made to collide with the right permanent magnet 33 to move the object M to the right. The controller generates a collision in one direction of relative movement of the electromagnetic coil 31 and the permanent magnet 33, avoids the collision in the direction opposite to the one direction, and reverses the direction of the relative movement. The control device time-controls the current supplied to the electromagnetic coil 31 so as to repeatedly generate an impact only in one direction. By repeating such control, the object M can be moved pulsewise to the right or to the left.

(Voice coil type impact actuator applied to the first embodiment)
10, 11 and 12 show still another actuator applied to the drive device 1. FIG. As shown in FIGS. 10 (a), (b) and (c), this actuator comprises a rectangular flat permanent magnet 33 and two permanent magnets 33 respectively disposed on opposite inner surfaces of a rectangular magnetic circuit 35. It comprises an electromagnetic coil 31 disposed movably between the two, and a control device (not shown). The electromagnetic coil 31 and the two permanent magnets 33 are combined with each other to form a voice coil structure. A magnetic circuit provided inside the magnetic circuit 35 is inserted through the electromagnetic coil 31 (the insertion direction is taken as the X-axis direction), and the magnetic circuit portion serves as an opposing magnetic pole of each permanent magnet 33. The upper part of the electromagnetic coil 31 is rotatably supported by a rotary bearing 31 c. Further, a hammer 34 a is provided below the electromagnetic coil 31 as a part of the electromagnetic coil 31. Stoppers 34 are provided at both ends of the outer periphery of the magnetic circuit 35 in the X-axis direction at positions where the hammers 34 a can collide. The permanent magnet 33 and the stopper 34 are integrated to form an object to be collided.

The magnetic field generated by the permanent magnet 33 is set to be in the horizontal direction orthogonal to the X-axis direction. Therefore, when the electromagnetic coil 31 disposed in the magnetic field is energized, the electromagnetic coil 31 moves in the positive direction (right arrow direction) of the X axis or the opposite negative direction according to the direction of the coil current. Receive the force to Therefore, as shown in FIG. 11A, when the electromagnetic coil 31 receives a leftward force, the electromagnetic coil 31 performs a pendulum motion to the left, and the hammer 34a collides with the stopper 34 on the left side. The object M placed on the left is moved in the left direction. The unidirectional movement of the object M, in other words, the prevention of retrogression of the object M, is performed by the frictional force between the object M and the surface S. In order to repeatedly perform such an operation, the actuator time-controls the current supplied to the electromagnetic coil 31 so that the time change shown in FIG. 12A is obtained. The coil current J in this figure is in the form of a function in which the time-varying sine function is shifted in the positive direction of the coil current J. The electromagnetic coil 31 swings to the left and collides to the left on the positive side of the coil current J, as shown in FIG. 11A, and on the negative side of the coil current J, as shown in FIG. As a result, the neutral point is returned to, and thereafter, the movement to the left and the collision are repeated according to the time change of the coil current J. When the object M is moved to the right, the coil current J is changed with time shown in FIG. 12 (b), and the electromagnetic coil 31 repeats the state shown in FIG. 11 (b) (c).

The actuators described above with reference to FIGS. 8 to 12 can be more generally expressed as follows. That is, the actuator is a device for moving the object by giving an impact to the object, and the permanent magnet moves relative to the electromagnetic coil 31 by the electromagnetic coil 31 and the electromagnetic action generated by the energization of the electromagnetic coil 31. 33 and a stopper 34. The stopper 34 is integrated with either the electromagnetic coil 31 or the permanent magnet 33 so as to limit the range of the relative movement, and constitutes an object to be collided. In such an actuator, when the electromagnetic coil 31 is energized, the impact is generated when the collided body collides with either the electromagnetic coil 31 or the permanent magnet 33 not integrated with the collided body. It is. In this expression, the case in which the permanent magnet 33 and the stopper 34 form a collision target is the actuator shown in FIG. The actuator of FIG. 9 is a case where a second permanent magnet 33 is provided as the stopper 34 and the two permanent magnets 33 form a collision target. Further, the case of forming a collision target body by the permanent magnet 33 and the two stoppers 34 is the actuator shown in FIGS. The effect by the actuator by such a general expression is expressed as follows. Since the impact due to the collision can be generated in any direction of the relative movement of the electromagnetic coil 31 and the permanent magnet 33, the reciprocation of the object M can be realized. Further, since the actuator is formed by combining the permanent magnet 33 and the stopper 34 with one electromagnetic coil 31, the configuration is small and simple. By using this actuator, the drive device 1 can be realized in a small size, light weight and low cost as compared with the case of using a motor, a driving force transmission device or the like.

(Other Impact Actuators Applied to First Embodiment)
The actuator shown above generates an impact magnetically using the electromagnetic coil 31. An actuator using a piezoelectric element can also be applied to the drive device 1 as another actuator. For example, a piezoelectric element and a weight connected to the piezoelectric element are provided, and by applying a time-controlled voltage to the piezoelectric element, the piezoelectric element is rapidly stretched or contracted to move the weight, and the weight is targeted The actuator can be configured to collide with the object M.

Second Embodiment
13, 14 and 15 show a drive apparatus according to the second embodiment. The driving device 2 according to the present embodiment is the driving device 1 according to the first embodiment, in which the tilt mechanism and the rotation mechanism are configured by the gimbal mechanism having two degrees of freedom, and the gimbal mechanism rotationally moves the object M It is possible to change its posture. As shown in FIGS. 13 (a) and 13 (b), the drive device 2 has an annular ring 20 that freely rotates around the A1 axis, and a bearing portion 21a that supports the annular ring 20 from the fixed side rotatably about the A1 axis. And bearings 22a about the A2 axis, and impact actuators 21 and 22. The bearing portion 22a rotatably supports the object M with respect to the annular ring 20 around the A2 axis orthogonal to the A1 axis. The impact actuator 21 generates a rotational moment about the A1 axis with respect to the annular ring 20. The impact actuator 22 generates a rotational moment about the A2 axis with respect to the object M. The gimbal structure is configured to include an annular ring 20 and bearing portions 21a and 22a. As the actuators 21 and 22, any of the actuators described in the first embodiment described above can be used. Further, in order to exert the function of the drive device 2, bearing adjustment is performed so that an appropriate frictional force is generated in each of the bearing portions 21 a and 22 a. In addition, you may provide a ratchet mechanism etc. so that rotation in each bearing part 21a, 22a is attained only to one direction irrespective of frictional force. In this case, in the case of reverse rotation, the direction in which the ratchet operates may be reversed. By setting a position (long position of the arm) at which a larger rotational moment can be generated as the arrangement position of the actuators 21 and 22, the actuators 21 and 22 with smaller impact force can be used. As shown in FIGS. 14 and 15, when the object M is a lighting device and the mounting position thereof is a recess of a wall or ceiling of a building, the object M (lighting device) is a recess wall of the wall or ceiling Are fixed by the bearing 21a. FIGS. 14 (a1) to (c2) show the state of rotational drive around the A2 axis, and FIGS. 15 (a1) to (c2) show states of rotational drive around the A1 axis. The lighting apparatus can control the tilt of the pan and tilt by operating the actuators 21 and 22. According to the second embodiment, the drive that can control the tilt angle, rotation angle, etc. of the object M supported by the gimbal mechanism with a small and simple configuration without using a motor, a drive force transmission device, etc. The device 2 can be realized. The driving device 2 can perform posture control such as panning and tilting with a thin and simple configuration by application of the gimbal mechanism.

(Modification of First and Second Embodiments)
16 and 17 show a modification of the first and second embodiments. The modification shown here relates to maintenance of the inclination angle and rotation angle in the drive devices 1 and 2 shown in the first and second embodiments, that is, maintenance of the posture of the object M. The maintenance of the posture is maintained by, for example, the frictional force in the bearing portions 11b and 12b (see FIG. 1) and the bearing portions 21a and 22a (see FIG. 13) of the tilting mechanism and the rotating mechanism. The magnitude of the frictional force is adjusted by pressure contact means for applying pressure between the sliding surfaces sliding in surface contact with each other at each bearing. The pressure contact means is configured using a screw, an elastic body, a permanent magnet, an electromagnet or the like.

As shown in FIG. 16A, a relatively simple bearing portion generates a frictional force by tightening torque of a screw and adjusts its size. The bearing portion includes a first member 41 having a bearing hole, a second member 42 having a through internal thread, a bolt 43 rotatably connecting these members, and a locking nut 44. . In this bearing portion and, for example, the bearing portion 11b in the drive device 1 of FIG. 1, the lower end portion of the suspension member 12a corresponds to the first member 41, and the outer wall of the object M corresponds to the second member 42. The frictional force is generated, for example, on the contact surface S with the second member 42 and the contact surface S with the head jaw portion of the bolt 43, which rotate relative to each other relative to the first member 41. The magnitude of the frictional force is adjusted by the tightening torque of a bolt 43 screwed to the through female screw of the second member 42. According to such a bearing portion, the friction force can be adjusted with a simple configuration, and the movement angle per impact force by the impact actuator can be easily reduced by increasing or decreasing the friction force. You can make it bigger.

The bearing portion shown in FIG. 16 (b) further includes an elastic body 45 in the bearing portion of FIG. 16 (a) described above. The elastic body 45 is a helical spring, and is disposed under the head jaw portion of the bolt 43, and presses the first member 41 against the second member 42 through the washer 46. The elastic body 45 is not limited to a helical spring, and may be a leaf spring, rubber or the like, as long as it generates a frictional force by its biasing force. According to such a bearing portion, the adjustment of the frictional force becomes easier, and the frictional force can be stabilized.

The bearing portion shown in FIG. 17A includes a first member 41 having a bearing hole, a second member 42 having a through female screw, a threaded pin 47 for rotatably connecting these members, and an electromagnet 48. And have. The electromagnet 48 is inserted into the threaded pin 47 and fixed to the second member 42 so as to be disposed between the first member 41 and the second member 42. The electromagnet 48 has a magnetic circuit 48a (yoke), and when energized, the magnetic circuit 48a attracts the first member 41 by the magnetic force, and the contact surface of the first member 41 and the magnetic circuit 48a by the magnetic force. Frictional force is generated on S. Therefore, the first member 41 needs to be made of a magnetic material. According to such a bearing portion, since the frictional force can be significantly changed by the on / off of the electromagnet 48 and the like, the impact force is small and low power by dynamically reducing the frictional force at the time of posture change. You can even make it work.

The bearing portion shown in FIG. 17B corresponds to one in which the electromagnet 48 is replaced with a permanent magnet 49 in the bearing portion of FIG. 17A described above. The permanent magnet 49 is fixed to the second member 42 and generates a frictional force on the contact surface S with the first member 41. The permanent magnet 49 may be provided with a yoke. According to such a bearing portion, it is possible to stably maintain the frictional force with high reliability as long as the magnet has an attractive force without occurrence of a decrease in the frictional force due to loosening of the screw or the like when using the torque of the screw. Can.

The bearing shown in FIG. 17 (c) corresponds to a combination of the bearings shown in FIGS. 17 (a) and 17 (b) described above. That is, the inner diameter of the electromagnet 48 is increased, and the permanent magnet 49 is housed in the inner diameter portion. In addition, this arrangement or configuration is not limited to this, and the permanent magnet 49 may be provided on the outer periphery of the electromagnet 48 or may be separately provided at a position different from the electromagnet 48. According to such a bearing portion, since the advantage that the permanent magnet 49 can generate the frictional force stably and the advantage of the controllability of the frictional force by the electromagnet 48 are provided, the drive devices 1 and 2 which are easy to use can be provided. realizable. For example, at the time of attitude control by operating the electromagnet 48 to weaken the adsorption force of the permanent magnet 49 and reduce the frictional force at the time of attitude control with respect to the bearing portion maintained by the adsorption force of the permanent magnet 49 only. Input power to the impact actuator can be reduced. In addition, even a small-sized low-power impact actuator can be applied. In addition, although said FIG. 16, FIG. 17 showed about the frictional force in the contact surface S of planes, the contact surface of not only a plane but a curved surface, for example, the outer peripheral surface of the pin for bearings is made into the contact surface S. A frictional force may be generated on the surface.

(Other Modifications of First and Second Embodiments)
FIG. 18 shows another modification of the first and second embodiments. In the example of FIG. 18, the lighting device M supported by the driving device 10 is housed inside the ceiling recessed recess frame 9. In the drive device 10 according to the modification shown here, in the drive devices 1 and 2 in the first or second embodiment, the remote control device 5, the sensor 50 for receiving an infrared signal from the remote control device 5, and control And a unit 51. The control unit 51 controls the impact actuators (e.g., 11, 12 in the drive device 1 and 21, 22 in the drive device 2) based on the signal from the sensor 50. The sensor 50 is provided in the vicinity of the main body of the drive device 10. The remote control device 5 has four operation buttons 5a operated to change the tilt angle and the rotation angle in the forward and reverse directions, respectively, and an infrared transmission unit 5b that wirelessly transmits an instruction by the operation of the operation button 5a to the sensor 50. And have. According to this modification, the operator holds the remote control device 5 and goes close to the drive device 10, and adjusts the angle of the lighting device M supported by the drive device 10 in a desired direction from a remote position can do. Instead of infrared communication, radio communication may be used.

(Still another modification of the first embodiment)
19 and 20 show still another modification of the first embodiment. In this modification, the tilt actuator 11 and the rotation actuator 12 in the drive device 1 of the first embodiment shown in FIG. It is. That is, as shown in FIG. 19, the drive device 61 of this modification is provided with actuators 23 and 24 of two reciprocation direction specifications (reciprocation drive) on a wide arm 11a provided on the cylindrical upper end face of the object M. It arranges collectively. Here, for the sake of explanation, an axis A3 which constitutes a right-handed coordinate system together with each of the rotation axes A1 and A2 is added, and the axes A1, A2 and A3 are referred to as appropriate. The two actuators 23, 24 are equivalent to each other, and their operating directions (impact generating direction) are aligned in the direction of the axis A3 in a plane not including the rotation axis A1, and the two sides of the rotation axis A2 are mutually It is arranged in symmetrical position. The actuators 23 and 24 arranged in this way operate in opposite directions to rotate the object M around the rotation axis A2, as shown in FIGS. 20 (a1) and 20 (b1), and are shown in FIGS. As shown in b2), the objects M move in the same direction to tilt the object M around the rotation axis A1. The actuators 23 and 24 have no distinction between rotation and tilting, and both are used in cooperation with each other for both rotation and tilting. According to the drive device 61 of this modification, since it is possible to use the couple of two actuators when rotating the object M and to use the resultant of two actuators when tilting it, one actuator The power can be increased compared to the case of single axis control. Further, according to the drive device 61, a simple and compact angle control mechanism can be realized only by attaching two actuators of the same performance. The actuators 23 and 24 may at least satisfy the condition of a configuration and arrangement capable of generating a couple of forces around the axis A2 and capable of generating a resultant of rotation around the axis A1. Therefore, as long as this condition is satisfied, the actuators 23 and 24 may not be equal to each other, may not be disposed at symmetrical positions on both sides of the rotation axis A2, and the number thereof is not two, three The above may be sufficient. These actuators 23 and 24 are provided to the object M so as to exert an impact force directly on the object M without the intervention of the bearing portion 11 b or the like.

(Still another modification of the first embodiment)
21 and 22 show still another modification of the first embodiment. The drive device 61 shown in FIG. 21 has four actuators with unidirectional specifications (one-side drive) each of the actuators 23 and 24 with two reciprocating direction specifications (reciprocal drive) in the modification shown in FIG. 19 and FIG. It is replaced with 23, 24 and others are the same. It can be said that this drive device 61 is a modification of the drive device 1 shown in FIG. 6A described above. Moreover, the drive device 61 shown in FIG. 22 is configured to support the object M by the suspension member 12a in the modification shown in FIG. 19 and FIG. 20 described above in a cantilever support configuration, and further targets the arrangement position of the arm 11a. It is changed to the cylindrical side surface position of the object M. The positions of the actuators 23 and 24 are changed by changing the position of the arm 11a, and the operation thereof is also changed. That is, the actuators 23, 24 align their operating directions (impact generating direction) in the direction of the axis A3 in a plane not including the rotation axis A2, and are arranged on both sides of the rotation axis A1. In the drive device 61 having such a configuration, the actuators 23 and 24 operate in opposite directions to incline the object M around the rotation axis A1, and operate in the same direction to move the object M around the rotation axis A2. It will be rotated. According to the modification shown in FIGS. 21 and 22, the same effect as that of the drive device 61 of the modification shown in FIG. 19 is exerted.

(Still another modification of the second embodiment)
FIG. 23 shows still another modification of the second embodiment. This modification is a modification in which the two actuators 21 and 22 in the drive device 1 of the second embodiment shown in FIG. 13 are disposed in parallel with each other, and the others are similar. That is, as shown in FIG. 23, the drive device 62 of this modified example arranges actuators 23 and 24 of two reciprocation direction specifications (reciprocation drive) collectively on the upper surface of the object M in parallel. The actuators 23, 24 align their operating directions (impact generating direction) in the direction of the axis A3 in a plane not including the rotation axis A1, and are disposed on both sides of the rotation axis A2. The actuators 23, 24 arranged in this manner operate in opposite directions to rotate the object M around the rotation axis A2, and operate in the same direction to rotate the object M around the rotation axis A1. Both actuators 23 and 24 cooperate with each other to be used for rotation about each axis A1 and A2. According to the drive device 62 of this modification, when the object M is rotated about each of the axes A1 and A2, the couple or combined force of the two actuators can be used, so that one axis control can be performed by one actuator. You can power up compared to the case.

Third Embodiment
24, 25 and 26 show a drive apparatus according to a third embodiment. The driving device 7 according to the third embodiment is, for example, used to change the posture (pan and tilt) of the mirror surface of the side mirror of the automobile left, right, up and down, as shown in FIGS. . An object M to be driven is a mirror, which is supported by the ball joint 70 on the side mirror main body 7a at one point on the back surface thereof. The horizontal axis A1 and the axis A2 orthogonal to the axis A1 are defined along the mirror surface, and form an orthogonal coordinate system with an axis A3 (not shown) passing through the ball joint 70. A pan actuator 71 and a tilt actuator 72 are provided on the back side of the object M and on the horizontal side and below the ball joint 70, respectively. As these actuators 71 and 72, any of the actuators described in the above first embodiment can be used. Each of the actuators 71 and 72 is an impact actuator of reciprocation direction specification (reciprocation drive), and their operation direction (impact force generation direction) is a direction (axis A3 direction) orthogonal to the A1-A2 plane. In the driving device 7 having such a configuration, the object supporting portions of the tilting mechanism and the rotating mechanism in the first embodiment and the second embodiment described above, that is, the bearing portions 12 b and 11 b and the bearing portions 21 a and 22 a , And a shared ball joint 70. As the ball joint 70, one configured by a plurality of pairs of pairs, one configured by a ball joint, or the like can be used. More generally, the ball joint 70 is a mechanism for holding the object M such that, for example, the rotational axis for panning and tilting passes through the approximate center of the rear side of the substantially flat object M. I hope there is.

As shown in FIG. 25, the drive device 7 can rotate the mirror, which is the object M, laterally (panning) as shown by the arrow a2, by operating the actuator 71. Further, as shown in FIG. 26, the drive device 7 can rotate the mirror which is the object M up and down (tilt operation) as shown by the arrow a1 by operating the actuator 72. The mirror surface is arbitrarily positioned about the two axes A1 and A2 and directed in any direction by performing these operations simultaneously or successively. According to the drive device 7 of the third embodiment, the pan and tilt of the mirror surface can be controlled with a simple mechanism, and a small and lightweight side mirror can be realized.

(Modification of the third embodiment)
FIG. 27 shows a modification of the third embodiment. This modification is a modification in which the two actuators 71 and 72 in the drive device 7 of the third embodiment shown in FIG. 24 and the like are arranged in parallel with each other, and the others are similar. That is, as shown in FIG. 27, the drive device 67 of this modification arranges the actuators 71 and 72 of two reciprocation direction specifications (reciprocation drive) in parallel to the left and right of the axis A2 and in the direction of the axis A1. It is The actuators 71 and 72 arranged in this way operate in opposite directions to rotate the object M (mirror) around the rotation axis A2, and operate in the same direction and rotate around the rotation axis A1. The actuators 71 and 72 are both used in cooperation with each other for rotation about the respective axes A1 and A2. The actuators 71 and 72 in the drive device 7 of the third embodiment described above are also arranged in parallel to each other. The difference between drive 7 and drive 67 is that drive 67 focuses on rotational drive with respect to axes A1 and A2, and drive 7 focuses on rotational drive with respect to an intermediate virtual axis between axes A1 and A2. It can be said. For example, in the drive device 7, assuming that the direction of alignment of the actuators 71 and 72 is a new axis A1 '(not shown) and the orthogonal axis thereof is a new A2' (not shown), the drive device 7 generates these new It can be said that the focus is on rotational drive with respect to the axes A1 ′ and A2 ′.

(Another modification of the third embodiment)
FIG. 28 shows another modification of the drive device according to the third embodiment. As shown in FIG. 28, the drive unit 8 of this modification includes a control unit 81 for controlling the actuators 71 and 72 in the drive unit 7 of the third embodiment, and the control unit 81 is the object M. The actuators 71 and 72 are controlled to vibrate the mirror. The control unit 81 includes an input unit 83 having a plurality of buttons for inputting control signals. Each button includes vertical movement buttons 8a and 8b for rotating (tilting) the mirror surface of the object M (mirror) up and down, and left and right movement buttons 8c and 8d for rotating the mirror surface to the left and right (pan movement) And a vibration mode button 8e for vibrating the mirror. When the user of driving device 7 presses each button, a control signal corresponding to each button is transmitted to control unit 81, and control unit 81 controls the power from power supply unit 82 based on the control signal. The actuator 71, 72 is then operated to operate. For example, when the vibration mode button 8 e is pressed, the control unit 81 causes the one or both of the actuators 71 and 72 to reciprocate (vibration mode operation) at a predetermined cycle, thereby the target M Vibrate the mirror. The vibration mode button 8 e is, for example, a toggle switch, and when pressed again, the vibration mode is stopped. The vibration mode is an operation mode in which the time average attitude of the object M does not change. According to the drive device 8 of this modification, for example, raindrops are repelled by the vibration of the mirror surface in the vibration mode, and the side mirror can be easily seen on a rainy day.

Also, this vibration mode can be similarly applied and realized in the above-described first and second embodiments, their modifications, or other applications. In addition, for example, vibration is generated on the light emitter or the cover so that water droplets adhering to the surface of the light emitter of the outdoor lighting device or the surface of the dustproof or rainproof cover disposed in the light path of the illumination light are dropped by vibration. An impact actuator can be provided as a driving source for driving the motor. These impact actuators may constitute a drive device for attitude control of the illumination device including the light emitter and the cover, and may be shared, or may be separately provided exclusively for vibration mode generation.

(Still another impact actuator applied to each embodiment)
29, 30, and 31 show a neutral point return type impact actuator 3. These actuators can be applied to the first to third embodiments described above and their modifications. As shown in FIG. 29, the actuator 3 is integrated with an electromagnetic coil 31, a stator 35a disposed at both ends thereof, and a shaft 31a reciprocating on the central axes of the electromagnetic coil 31 and the stator 35a. And a moving mass body 3a. The moving mass 3a moves relative to the electromagnetic coil 31 and the stator 35a. The moving mass 3a is disposed on the outside of both permanent magnets 33, an axial rod 31a, two permanent magnets 33 disposed on the inner diameter side of each stator 35a, an iron core 35b inserted between both permanent magnets 33, and A yoke 35c, two collision heads 37, and an impact weight 36 are provided. The collision head piece 37 is disposed in direct contact with one yoke 35c, and the other collision head piece 37 is disposed in the other yoke 35c with the collision head piece 37 interposed. The actuator 3 also includes an outer cylinder (shield case 38) incorporating the electromagnetic coil 31, the stator 35a, and the moving mass 3a, and a bearing plate 39 disposed at both ends of the shield case 38 for supporting the shaft rod 31a. Are further equipped. The electromagnetic coil 31 and the stator 35 a are fixed to the inner wall of the shield case 38. FIG. 29 shows a state in which the electromagnetic coil 31 is not energized. In this state, the moving mass 3a is located at the neutral point due to the attraction caused by the magnetic field generated by the permanent magnet 33, the iron core 35b, the yoke 35c, and the stator 35a.

The shaft 31a is concentric with the electromagnetic coil 31 and the stator 35a. Each component of the moving mass 3a is disposed concentrically with the shaft 31a and integrated with the shaft 31a. The iron core 35 b has a length equal to the length of the electromagnetic coil 31. In other words, the iron core 35b has a length that fits between the two stators 35a. Moreover, the iron core 35b has a shape provided with a collar part in the both ends of a cylinder, and the diameter of a center part is formed smaller than the diameter of both ends. As a result, a magnetic circuit is formed such that the magnetic resistance becomes low between the two end portions of the iron core 35b and the respective stators 35a adjacent thereto. Each stator 35a is a magnetic body. The permanent magnet 33 has a ring shape and is magnetized in the thickness direction (central axis direction). Also, the two permanent magnets 33 are disposed at both ends of the iron core 35b with the directions of the magnetic poles being opposite to each other. The thickness of the permanent magnet 33 is thinner than the thickness of the stator 35a, and the total thickness of the permanent magnet 33 and the yoke 35c is thicker than the thickness of the stator 35a.

In the neutral state shown in FIG. 29, the distances D between the two collision head pieces 37 and the bearing plates 39 opposed thereto are equal to each other. The bearing plate 39 is an impacted object collided by the collision head 37, and limits the moving range of the relative movement of the moving mass 3a integrated with the shaft 31a with respect to the electromagnetic coil 31 and the stator 35a. That is, the movable range of the movable mass 3a is twice the distance D (see FIG. 30). This distance D is within a distance within which the moving mass 3a can return to the neutral point by the mutual attraction of the permanent magnet 33 and the stator 35a from the position where the moving mass 3a collides with any of the collision head pieces 37. It is set to.

The operating principle of the actuator 3 will be described with reference to FIG. When a current is supplied to the electromagnetic coil 31 in a predetermined direction, a magnetic field is generated, for example, as schematically shown by magnetic lines of force B in FIG. The magnetic field of this electromagnetic coil 31 weakens the magnetic field by one of the two permanent magnets 33 and strengthens the magnetic field by the other. Therefore, the magnetic field generated by the electromagnetic coil 31 causes asymmetry in the magnetic force acting on the permanent magnet 33, the iron core 35b, and the yoke 35c, and the moving mass 3a moves as indicated by the outline arrow. When a current is supplied to the electromagnetic coil 31 in the direction opposite to the predetermined direction, as shown in FIG. 30 (b), the movable mass 3a moves in the direction opposite to the above. Further, in the state of FIGS. 30 (a) and 30 (b), when the coil current is turned off and the magnetic field due to the electromagnetic coil 31 is removed, the moving mass 3a receives the mutual attractive force of the permanent magnet 33 and the stator 35a. As shown, return to the neutral point. In this case, an appropriate current may be supplied to the electromagnetic coil 2 so as to accelerate the recovery.

The operation of the actuator 3 will be described with reference to FIG. As shown in FIG. 31A, for example, the drive device 1 is attached to a moving object M placed on a horizontal surface S. Specifically, for example, the shield case 38 is fixed to the moving object M. The moving direction is the left in the figure, the X direction, and the axial direction of the shaft rod 31 is the X direction. In the state of this figure, the electromagnetic coil 31 is not excited, the moving mass 3a is at the neutral point, and the left end of the moving object M is at the position x0. When a current is supplied to the electromagnetic coil 31, as shown in FIG. 31 (b), the moving mass 3a moves and collides with the bearing plate 39, and the impact moves the moving object M together with the actuator 3, and the tip thereof Leads to position x1. The magnitude of the impact depends on the magnitude of the current flowing through the electromagnetic coil 31 and the speed of its rise, and by passing a more rapid and larger current, a larger impact can be generated. When the current flowing to the electromagnetic coil 31 is stopped after the collision, the moving mass 3a inside the actuator 3 returns to the neutral point as shown in FIG. 31 (c). Since this return movement is performed slowly by the magnetic force of the permanent magnet 33, there is no reaction that exceeds the maximum static friction force between the movement object M and the friction surface S, and the reverse movement of the movement object M There is no. In other words, by setting the conditions such as the adjustment of the magnetic force of the permanent magnet 33 and the adjustment of the frictional force with the surface S, the movement of the object to be moved M is prevented from occurring when returning to the neutral point. Similarly, as shown in FIG. 31 (d), the tip of the moving object M is further moved to reach the position x2 by supplying a current to the electromagnetic coil 31 again. The actuator 3 can intermittently move the moving object M arranged to be pushed or pulled by the actuator 3 by repeating such an operation.

The present invention is not limited to the above-described configuration, and various modifications are possible. For example, when supporting the object M around the horizontal rotation axis, the rotational moment due to its own weight around the horizontal rotation axis is balanced so as to balance on both sides of the axis. This makes it possible to reduce the frictional force for maintaining the rotation angle, and allows the use of a smaller, low-power impact actuator. The driving devices 1, 2, 10 and the like are not limited to ceilings, and can be attached to any position other than a wall surface, and the posture can also be attached in any direction. In addition, drive devices that use impact actuators are targets (products) whose direction you want to adjust, such as the direction of illumination of spotlights, downlights, etc., the direction of camera lenses, adjustment of antenna angles, adjustment of side mirrors of cars, etc. It can apply. The impact actuator is small in power and easy to control, and the remote control can easily control the drive device, and thus the remote control can easily control the orientation of the object.

This application is based on Japanese Patent Application No. 2010-31841 and Japanese Patent Application No. 2010-182756, the contents of which are to be incorporated into the present invention as a result by referring to the specification and drawings of the above-mentioned patent application. It is a thing.

1, 2, 10 Drive 11, 12 Impact actuator (actuator)
21, 22 Impact actuator (actuator)
23, 24 Impact actuator (actuator)
3 Impact actuator (actuator)
43 bolt (screw, pressure contact means)
45 Elastic body (pressure contact means)
48 electromagnet (pressure contact means)
49 Permanent magnet (pressure contact means)
61, 62, 67 Drive 7, 8 Drive 70 Ball joint 71, 72 Impact actuator (actuator)
81 Control Unit M Object (Lighting device, side mirror)

Claims (11)

1. In the driving device which changes the posture of the object by supporting and rotating the object,
   A tilting mechanism for tiltably supporting the object;
   A rotation mechanism rotatably supporting an object including the tilt mechanism;
   An impact actuator for tilting that applies an impact force to the tilting mechanism to change the tilting angle of the object;
   And an impact actuator for rotation that applies an impact force in the circumferential direction of the rotation mechanism to change the rotation angle of the object.
2. The drive device according to claim 1, wherein the tilt mechanism and the rotation mechanism are configured by a gimbal mechanism having two degrees of freedom.
3. The angle of inclination and the angle of rotation are maintained by the frictional force in each bearing portion of the inclining mechanism and the rotating mechanism, and each bearing portion is provided with pressure contact means for generating the frictional force. The driving device according to claim 1 or 2.
4. The drive device according to claim 3, wherein the pressure contact means generates the frictional force by a tightening torque of a screw.
5. The drive device according to claim 3 or 4, wherein the pressure contact means includes an elastic body and generates the frictional force by its biasing force.
6. The drive device according to claim 3, wherein the pressure contact means includes an electromagnet, and the frictional force is generated by the magnetic force.
7. The drive device according to claim 3, wherein the pressure contact means comprises a permanent magnet and generates the frictional force by its magnetic force.
8. The drive device according to claim 3, wherein the pressure contact means includes a permanent magnet and an electromagnet, and the magnetic force generates the frictional force.
9. The drive device according to any one of claims 1 to 8, wherein the tilting and rotating impact actuators are disposed in parallel with each other.
10. The driving device according to any one of claims 1 to 9, characterized in that it is configured by a ball joint in which an object support portion of the tilting mechanism and the rotating mechanism is shared.
11. A control unit configured to control the impact actuator;
    The drive unit according to any one of claims 1 to 10, wherein the control unit controls the impact actuator to vibrate an object supported by the tilt mechanism and the rotation mechanism. .

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