WO2012090820A1 - アクチュエータ - Google Patents

アクチュエータ Download PDF

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Publication number
WO2012090820A1
WO2012090820A1 PCT/JP2011/079644 JP2011079644W WO2012090820A1 WO 2012090820 A1 WO2012090820 A1 WO 2012090820A1 JP 2011079644 W JP2011079644 W JP 2011079644W WO 2012090820 A1 WO2012090820 A1 WO 2012090820A1
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WO
WIPO (PCT)
Prior art keywords
end side
bore
piston
hole
plunger
Prior art date
Application number
PCT/JP2011/079644
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
伸介 有吉
Original Assignee
株式会社ロブテックス
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社ロブテックス filed Critical 株式会社ロブテックス
Publication of WO2012090820A1 publication Critical patent/WO2012090820A1/ja

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
    • B23D29/00—Hand-held metal-shearing or metal-cutting devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/02—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member
    • F15B15/06—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member for mechanically converting rectilinear movement into non- rectilinear movement
    • F15B15/061—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member for mechanically converting rectilinear movement into non- rectilinear movement by unidirectional means

Definitions

  • the present invention relates to an actuator that converts rotational motion into linear motion. More specifically, the present invention relates to an actuator that converts a rotary motion driven by a motor into a linear reciprocating motion and outputs the same.
  • hydraulic cylinders have been provided as actuators for operating various devices.
  • the hydraulic cylinder has a cylindrical cylinder body having a first end and a second end opposite to the first end, and a rod-shaped rod having a first end and a second end opposite to the first end. And a piston rod including a large-diameter piston connected to the first end of the rod.
  • the piston of the piston rod and a part of the rod are concentrically housed in the cylinder body.
  • the hydraulic cylinder is supplied with hydraulic oil to the internal space on either the first end side or the second end side of the cylinder body with the piston as a boundary.
  • the piston is pushed in the axial direction by the action of the fluid pressure of the hydraulic oil supplied into the cylinder body.
  • the entire piston rod moves while generating an axial force in the axial direction.
  • a general hydraulic cylinder moves the piston rod to the second end side by supplying hydraulic oil to the internal space on the first end side of the cylinder body with the piston as a boundary, and the second end side of the cylinder body
  • the piston rod is moved to the first end side by supplying hydraulic oil to the inner space of the piston rod.
  • some hydraulic cylinders have a return spring that biases the piston in the internal space on either the first end side or the second end side of the cylinder body with the piston as a boundary. is there.
  • the hydraulic oil is supplied to the other internal space on the first end side or the second end side of the cylinder body, so that the piston rod is connected to the first end side or the second end of the cylinder body.
  • the piston rod moves to either the first end side or the second end side of the cylinder body by the biasing force of the return spring.
  • a hydraulic unit for supplying hydraulic oil to the hydraulic cylinder is separately installed at a position different from the hydraulic cylinder.
  • a hydraulic cylinder is mounted on a handy device to be carried (for example, a riveter for caulking a rivet or a hand-held tool such as a bar cutter for cutting a metal bar)
  • a hydraulic unit is integrally connected to a hydraulic cylinder (cylinder body) (see, for example, Patent Document 1).
  • the hydraulic unit includes a tank for storing hydraulic oil, a pump for sending hydraulic oil in the tank, a motor for operating the pump, and the like. For this reason, the space occupied by the hydraulic unit is large, and when the hydraulic cylinder is employed as an actuator for operating various devices, there is a problem that the entire device becomes large.
  • a hydraulic cylinder when a hydraulic cylinder is used in a handy device to be carried (for example, a riveter for caulking a rivet or a hand-held tool such as a bar cutter for cutting a metal bar), the hydraulic unit becomes larger. There is a problem that the weight is increased and the handling property is impaired.
  • an object of the present invention is to provide an actuator that can be reduced in size and weight while exhibiting performance equivalent to that of a hydraulic cylinder.
  • the actuator according to the present invention is A bore extending in one direction, in which a bore having a first end and a second end opposite to the first end is formed in one direction, and a pair of closing portions closing both ends of the bore of the cylinder portion
  • a cylinder body including A rod portion having a distal end and a proximal end opposite to the distal end, the rod portion being inserted in a liquid-tight manner into one of the closed portions, and concentric with the proximal end of the rod portion
  • a return spring housed in the cylinder body comprising a return spring that urges the piston portion to either the first end side or the second end side of the bore, When the hydraulic oil is supplied to either the first end side or the second end side of the bore with the piston portion as a boundary, the piston rod is either the first end side or the second end side of the bore.
  • the plunger hole A plurality of piston parts are provided at intervals in the circumferential direction,
  • the first channel and the second channel are A plurality are provided corresponding to each of the plurality of plunger holes,
  • the plunger and biasing member Built in each of the multiple plunger holes,
  • the check valve Each of the plurality of first flow paths and the plurality of second flow paths are internally provided,
  • the biasing member may be provided so as to always contact the eccentric shaft portion by biasing by the biasing member.
  • the actuator according to the present invention is A bore extending in one direction, in which a bore having a first end and a second end opposite to the first end is formed in one direction, and a pair of closing portions closing both ends of the bore of the cylinder portion
  • a cylinder body including A rod portion having a distal end and a proximal end opposite to the distal end, the rod portion being inserted in a liquid-tight manner into one of the closed portions, and concentric with the proximal end of the rod portion
  • a return spring housed in the cylinder body comprising a return spring that urges the piston portion to either the first end side or the second end side of the bore, When the hydraulic oil is supplied to either the first end side or the second end side of the bore with the piston portion as a boundary, the piston rod is either the first end side or the second end side of the bore.
  • a rotating shaft inserted in a liquid-tight state into the other closing part of the pair of closing parts,
  • the bore is composed of round holes,
  • the bore is filled with hydraulic oil,
  • the piston part A piston body continuously provided on the rod portion, and an outer circumferential circular piston body concentric with the rotation center of the rotation shaft;
  • An outer ring portion having an inner peripheral surface defining an inner hole, and an annular outer ring portion surrounding the outer periphery of the piston body,
  • the inner ring of the outer ring part is composed of an eccentric hole whose center is set at a position deviated from the rotation center of the rotating shaft,
  • the outer ring is It is configured to be movable in one direction together with the piston body and is provided to be rotatable concentrically with the rotation center of the rotation shaft,
  • the piston body At least one plunger hole opened toward the inner peripheral surface of the outer ring portion;
  • a first channel opened toward the other side of the first end
  • the actuator according to the present invention is A bore extending in one direction, in which a bore having a first end in one direction and a second end opposite to the bore is formed, and a pair of closing portions closing both ends of the bore of the cylinder portion
  • a cylinder body including a pair of closed portions each having an inner surface facing each other and an outer surface opposite to the inner surface;
  • a rod portion having a distal end and a proximal end opposite to the distal end, the rod portion being inserted in a liquid-tight manner into one of the closed portions, and concentric with the proximal end of the rod portion
  • a return spring housed in the cylinder body comprising a return spring that urges the piston portion to either the first end side or the second end side of the bore, When the hydraulic oil is supplied to either the first end side or the second end side of the bore with the piston portion as a boundary, the piston rod is either the first end side or the second
  • a rotating shaft projecting from the outer surface of the other closing portion of the pair of closing portions, the rotating shaft being concentric with the center of the bore;
  • a guide bar extending toward the one closing portion on the inner surface of the other closing portion,
  • the bore is composed of round holes,
  • the bore is filled with hydraulic oil,
  • the piston part A piston body continuously provided on the rod portion, and an outer circumferential circular piston body concentric with the rotation center of the rotation shaft;
  • An outer ring portion having an inner peripheral surface defining an inner hole, and an annular outer ring portion surrounding the outer periphery of the piston body,
  • the inner ring of the outer ring part is composed of an eccentric hole whose center is set at a position deviated from the rotation center of the rotating shaft,
  • the outer ring is It is configured to be movable in one direction together with the piston body and is provided to be rotatable concentrically with the rotation center of the rotation shaft,
  • the piston body At least
  • the plunger hole A plurality of piston bodies are provided at intervals in the circumferential direction,
  • the first channel and the second channel are A plurality are provided corresponding to each of the plurality of plunger holes,
  • the plunger and biasing member Built in each of the multiple plunger holes,
  • the check valve Each of the plurality of first flow paths and the plurality of second flow paths are internally provided,
  • Each of the multiple plungers It can be arranged so as to be always in contact with the inner peripheral surface of the outer ring portion by urging by the urging member.
  • a communication passage penetrating in one direction is formed in the piston part, A valve mechanism built in the communication path, further comprising a valve mechanism including a shaft-like valve inserted in the communication path so as to be movable toward the center of the hole;
  • the shaft valve In a state of being located on the other side of the first end side or the second end side of the bore, the communication path is blocked, and one end portion on the other side of the first end side or the second end side of the bore is It is configured to protrude from the piston part toward the closing part on the other side of the first end side or the second end side of the bore, In a state where the piston portion is located at a limit position or a predetermined position set on the other end side of the first end side or the second end side of the bore, the one end portion of the shaft-like valve is located on the first end side or the second end of the bore.
  • the shaft-shaped valve moves to either the first end side or the second end side of the bore by interfering with the blocking portion on the other side
  • FIG. 1 is an overall perspective view of the actuator according to the first embodiment of the present invention.
  • FIG. 2 is a longitudinal sectional view of the actuator according to the first embodiment.
  • FIG. 3 is a sectional view of the actuator according to the first embodiment and is a sectional view taken along the line II of FIG.
  • FIG. 4 is a partial cross-sectional view of the actuator (piston portion) of the first embodiment and includes a valve mechanism.
  • FIG. 5 is an overall perspective view of the actuator according to the second embodiment of the present invention.
  • FIG. 6 is a longitudinal sectional view of the actuator according to the second embodiment.
  • FIG. 7 is a cross-sectional view of the actuator according to the second embodiment, and is a cross-sectional view taken along the line II-II in FIG. FIG.
  • FIG. 8 is a partial cross-sectional view of the actuator (piston portion) of the second embodiment and includes a valve mechanism.
  • FIG. 9 is a partially enlarged sectional view of an actuator (valve mechanism) according to another embodiment of the present invention.
  • FIG. 10 is a longitudinal sectional view of an actuator according to another embodiment of the present invention.
  • the actuator includes a cylinder body 2 having an outer appearance having a first end surface and a second end surface opposite to the first end surface, and a piston rod 3 protruding from the first end surface of the cylinder body 2. And a rotating shaft 4 protruding from the second end surface of the cylinder body 2.
  • the actuator 1 includes a bore 20 extending in one direction as shown in FIG. 2, and the bore 20 having a first end and a second end opposite to the first end in one direction.
  • Rod portion having a cylinder body 2 including a formed cylinder portion 21 and a pair of closing portions 22 and 23 closing both ends of the bore 20 of the cylinder portion 21, and a distal end and a proximal end opposite to the distal end.
  • 30 is a rod part 30 inserted in a liquid-tight state into one of the pair of closing parts 22, 23, and a piston part 31 concentrically connected to the proximal end of the rod part 30.
  • a piston rod 31 including a piston portion 31 housed in the bore 20, a rotating shaft 4 inserted in a liquid-tight state into the other closing portion 23 of the pair of closing portions 22 and 23, and a cylinder body 2 is a return spring 5 built in Te, the piston unit 31 first end side of the bore 20: and a return spring 5 which urges the (one direction on one side the other of the closure part 23 side).
  • the inside of the bore 20 of the cylinder body 2 is filled with hydraulic oil (not shown). That is, the hydraulic oil is filled in both the first end side and the second end side (one area in one direction and the other area in one direction) of the bore 20 with the piston portion 31 of the cylinder body 2 as a boundary. Has been.
  • the cylinder body 2 has a bore 20 formed in a round hole shape. More specifically, the cylinder part 21 is formed in a true cylindrical shape. Thereby, the bore 20 is configured by an inner hole of the cylinder portion 21.
  • Each of the pair of closing portions 22 and 23 is a fitting portion 220 or 230 having a first end and a second end opposite to the first end, and is a circle fitted into the opening end portion of the cylinder portion 21. Plate-like fitting portions 220 and 230 and flange portions 221 and 231 provided continuously at the first ends of the fitting portions 220 and 230 are provided.
  • Ring grooves 222 and 232 are formed on the outer circumferences of the fitting portions 220 and 230 of the closing portions 22 and 23.
  • An annular sealing material (O-ring in this embodiment) S is fitted in the annular grooves 222 and 232.
  • the closing portions 22 and 23 are fitted into the opening end portion of the cylinder portion 21.
  • the flange portions 221 and 231 are fixed to the end surface of the cylinder portion 21 (screwed in this embodiment) in a state where the insertion portions 220 and 230 are inserted into the opening end portions of the cylinder portion 21. Thereby, both ends of the bore 20 of the cylinder portion 21 are sealed by the closing portions 22 and 23.
  • a rod insertion hole 223 concentric with the hole center of the bore 20 is formed in one of the pair of closing portions 22 and 23 (in the present embodiment, the closing portion 22 on the second end side of the bore 20). Is provided.
  • An annular groove 224 is formed on the inner peripheral surface that defines the rod insertion hole 223.
  • An annular sealing material (O-ring in this embodiment) S is fitted in the groove 224.
  • the other closing portion 23 (the closing portion 23 on the first end side of the bore 20 in this embodiment) of the pair of closing portions 22 and 23 is concentric with the hole center of the bore 20.
  • a rotation shaft insertion hole 233 is provided.
  • the rotating shaft insertion hole 233 is formed of a stepped hole set to have a larger diameter toward the outer side.
  • the rotation shaft insertion hole 233 includes the innermost shaft insertion hole 233a, the outermost bearing fitting hole 233b, and the seal fit between the shaft insertion hole 233a and the bearing fitting hole 233b. It is comprised with the hole 233c.
  • An annular seal member S1 is fitted into the seal fitting hole 233c, and an annular bearing B is fitted into the bearing fitting hole 233b.
  • the piston portion 31 of the piston rod 3 is housed in the bore 20 so as not to rotate around the axis.
  • a non-through shaft insertion hole 300 opened on the other closing portion 23 side is formed concentrically with the rotation center of the rotation shaft 4.
  • the piston rod 3 has a first end (one end) and a second end (the other end) opposite to the first end, and a cylinder whose first end is closed.
  • the inner hole of the rod part 30 and the inner hole of the piston part 31 continue, and the round-hole-shaped shaft insertion hole 300 is formed.
  • the outer diameter of the rod portion 30 is set to be approximately equal to the hole diameter of the rod insertion hole 223.
  • the outer diameter of the piston part 31 is set substantially equal to the hole diameter of the bore 20 of the cylinder part 21.
  • the piston portion 31 is concentric with the bore 20 and is provided in the bore 20.
  • an endless annular groove is formed on the entire outer periphery of the piston portion 31.
  • An O-ring is fitted in the groove.
  • the piston portion 31 is provided with a plunger hole (plunger internal hole) 301 that opens toward the shaft insertion hole 300.
  • Plural plunger holes 301 are provided at intervals in the circumferential direction.
  • the plunger hole 301 includes a plunger 302 that can move in the center direction of the plunger hole 301 and a biasing member (plunger biasing means) 303 that biases the plunger 302 toward the shaft insertion hole 300.
  • Plural plunger holes 301 are provided at intervals in the circumferential direction.
  • the plunger hole 301 includes a plunger 302 that can move in the center direction of the plunger hole 301 and a biasing member (plunger biasing means) 303 that biases the plunger 302 toward the shaft insertion hole 300. Has been.
  • the piston portion 31 is a first flow path 304 that opens toward the second end side of the bore 20 (the other side in one direction: the one closing portion 22 side), and is a first flow that communicates with the plunger hole 301.
  • a second flow path 305 that opens toward the passage 304 and the first end side of the bore 20 (one side in one direction: the other closed portion 23 side), and communicates with the plunger hole 301. And are provided.
  • Each of the first channel 304 and the second channel 305 is provided with check valves 306 and 307.
  • the check valves 306 and 307 allow the hydraulic oil to flow from the second end side of the bore 20 toward the first end side of the bore 20, while the second end of the bore 20 from the first end side of the bore 20. Blocks hydraulic fluid from flowing toward the end.
  • the piston portion 31 is provided with a plurality of through-holes penetrating in the radial direction around the shaft insertion hole 300. And the plug P is inserted by the opening part of the outer side of a through-hole. Thereby, a plurality of plunger holes 301 in a non-penetrating state are formed around the shaft insertion hole 300.
  • five plunger holes 301 are provided.
  • the five plunger holes 301 are arranged at regular intervals (every 60 °) except for one place. Therefore, in the piston portion 31 according to the present embodiment, one place between the plunger holes 301 is set to a 120 ° interval, and the other interval is set to 60 °.
  • a pin-shaped plunger 302 and a coil spring 303 as an urging member are concentrically housed.
  • the plunger 302 and the biasing member (coil spring) 303 are inserted into the through hole, and the plug P is fitted into the through hole.
  • the plunger 302 and the urging member (coil spring) 303 are in the plunger hole 301.
  • the plug P has a sealing material (O-ring) S (not numbered) fitted in an annular groove (not numbered) formed on the outer periphery. Thereby, the space between the inner peripheral surface of the through hole and the plug P is liquid-tight.
  • the urging member (coil spring) 303 is interposed between the plug P and the base end of the plunger 302. Thereby, the urging member (coil spring) 303 urges the plunger 302 toward the shaft insertion hole 300 (center of the piston portion 31).
  • the outer diameter of the plunger 302 is set to the same diameter as that of the plunger hole 301.
  • the plunger 302 is movable in its own axial direction in a state where the outer peripheral surface is in sliding contact with the inner peripheral surface of the plunger hole 301.
  • the tip of the plunger 302 is formed in a rounded hemisphere.
  • the urging member 303 urges the plunger 302 toward the shaft insertion hole 300. Thereby, the urging member 303 always brings the tip of the plunger 302 into contact with the outer periphery of the eccentric shaft portion 40 described later.
  • the bending allowance of the urging member 303 is set so that the tip end portion of the plunger 302 protrudes from the plunger hole 301 into the shaft insertion hole 300 and the whole plunger 302 is pushed into the plunger hole 301.
  • the first flow path 304 and the second flow path 305 are provided for each plunger 302 (plunger hole 301). Therefore, the check valves 306 and 307 are provided in the first flow path 304 and the second flow path 305, respectively.
  • Each of the first flow path 304 and the second flow path 305 communicates with a region where the urging member 303 of the plunger hole 301 is housed.
  • the first flow path 304 is formed to extend in one direction (the same direction as the bore 20).
  • the first flow path 304 includes a large-diameter hole 304a formed at an intermediate position, and small-diameter holes 304b and 304b formed on both sides of the large-diameter hole 304a.
  • the first flow path 304 has a stepped hole provided in the piston portion 31 and an inner hole of a cylindrical plug (not numbered) fitted in the opening of the stepped hole. It is formed by being continuous.
  • a spherical valve (hereinafter referred to as a ball valve) 308 having a larger diameter than the hole diameter of the small diameter hole 304b is disposed in the large diameter hole 304a of the first flow path 304.
  • a coil spring 309 that urges the ball valve 308 toward the second end side of the bore 20 is provided.
  • the check valve 306 of the first flow path 304 is formed.
  • the check valve 306 is biased by the coil spring 309 so that the ball valve 308 is pressed against an annular step formed at the boundary between the small diameter hole 304b and the large diameter hole 304a on the second end side of the bore 20.
  • the ball valve 308 closes the small diameter hole 304b.
  • the second channel 305 is formed to extend in one direction (the same direction as the bore 20).
  • the second flow path 305 includes a large-diameter hole 305a formed at an intermediate position, and small-diameter holes 305b and 305b formed on both sides of the large-diameter hole 305a.
  • the second flow path 305 includes a stepped hole formed in the piston portion 31 and an inner hole of a cylindrical plug (not numbered) fitted in the opening of the stepped hole. And is formed by continuation.
  • the large diameter hole 305b of the second flow path 305 includes a spherical valve (hereinafter referred to as a ball valve) 310 having a diameter larger than the diameter of the small diameter hole 305b, A coil spring 311 that urges the ball valve 310 toward the second end side of the bore 20 is housed.
  • the check valve 307 of the second flow path 305 is formed.
  • the check valve 307 is biased by the coil spring 311 so that the ball valve 310 presses against an annular step formed at the boundary between the small diameter hole 305b and the large diameter hole 305a on the second end side of the bore 20.
  • the ball valve 310 closes the small diameter hole 305b.
  • the check valve 307 of the second flow path 305 causes the ball valve 310 to be attached to the coil spring 311 by the fluid pressure of the hydraulic oil when the hydraulic oil tries to flow into the second flow path 305 from the plunger hole 301.
  • the bore 20 is pushed toward the first end side against the force.
  • the hydraulic oil can flow from the second end side of the bore 20 to the first end side of the bore 20.
  • the ball valve 310 is pressed against the step portion by the urging force of the coil spring 311. Thereby, the ball valve 310 closes the small diameter hole 305b. Therefore, the hydraulic oil is prevented from flowing into the plunger hole 301 from the first end side of the bore 20.
  • the actuator 1 is a guide bar 6 extending in one direction (axial center direction of the piston rod 3), and a position where the plunger 302 (plunger hole 301) in the piston portion 31 is bent.
  • the guide bar 6 inserted in is provided.
  • the piston portion 31 moves in one direction (axial direction) along the guide bar 6.
  • Both ends of the guide bar 6 are connected to a pair of closing portions 22 and 23.
  • the guide bar 6 is inserted between plungers 302 (plunger holes 301) arranged at intervals in the circumferential direction of the piston portion 31.
  • two guide bars 6 are provided.
  • the two guide bars 6 and 6 are disposed at symmetrical positions with respect to the shaft insertion hole 300.
  • the rotary shaft 4 has a first end (one end) and a second end (the other end) opposite to the first end as shown in FIG.
  • the rotating shaft 4 is inserted into a rotating shaft insertion hole 233 formed in the other closing portion 23.
  • the first end side of the rotating shaft 4 is located in the cylinder portion 21 (bore 20), and the second end side of the rotating shaft 4 is located outside the cylinder portion 21.
  • the first end side of the rotation shaft 4 is inserted into the shaft insertion hole 300.
  • An eccentric shaft portion 40 that is eccentric with respect to the rotation center of the rotation shaft 4 is provided in a range corresponding to at least the movement range of the piston portion 31 of the rotation shaft 4.
  • the rotating shaft 4 is a shaft main body 41 having a first end and a second end opposite to the first end, and is supported by the bearing B.
  • the shaft body portion 41 has an eccentric shaft portion 40 having a first end and a second end opposite to the first end, the first end being continuous with the first end of the shaft body portion 41,
  • An eccentric shaft portion 40 that is eccentric with respect to the shaft center of the main body portion 41, and a tip shaft portion 42 that is continuous with the second end of the eccentric shaft portion 40, the tip shaft portion 42 being concentric with the shaft body portion 41 ing.
  • the shaft main body 41 is a seal portion 41a to which a seal member S1 fitted to the other closing portion 23 is fitted, and a shaft support portion 41b that is continuous to the seal portion 41a.
  • the shaft support 41b includes an input portion 41c that is continuous with the shaft support 41b and is directly or indirectly connected to the output shaft of the motor.
  • the seal part 41a, the shaft support part 41b, and the input part 41c are formed concentrically.
  • the input portion 41 c is formed so as to protrude outward from the other closing portion 23 in a state where the shaft main body portion 41 is inserted through the rotation shaft insertion hole 233.
  • the eccentric shaft portion 40 is set to have a smaller diameter than the diameter of the shaft insertion hole 300 formed in the piston rod 3.
  • the eccentric shaft portion 40 according to the present embodiment is eccentric in a substantially parallel state with respect to the rotation center of the rotating shaft 4 (the shaft center of the shaft main body portion 41 supported by the bearing B).
  • the outermost outer peripheral surface in the eccentric direction moves (rotates) along the inner peripheral surface of the shaft insertion hole 300 when the entire rotation shaft 4 is rotated.
  • the eccentric shaft portion 40 is set to a length equal to or longer than the moving distance in the axial direction of the piston portion 31 (plunger 302) and is inserted into the shaft insertion hole 300 of the piston rod 3.
  • the tip shaft portion 42 is set to have a diameter substantially the same as the diameter of the shaft insertion hole 300 of the piston rod 3.
  • the distal end shaft portion 42 is configured such that the outer peripheral surface is in sliding contact with the inner peripheral surface of the shaft insertion hole 300 when the rotary shaft 4 is rotated.
  • a step is formed at the boundary portion between the distal end shaft portion 42 and the eccentric shaft portion 40.
  • An oil draining hole 420 penetrating in one direction (axial direction) is provided in the step (surface facing the shaft main body) portion of the tip shaft portion 42.
  • the return spring 5 is composed of a compression coil spring.
  • the return spring 5 is interposed between the one closing portion 22 and the piston portion 31.
  • the return spring 5 is fitted on the guide bar 6.
  • the return spring 5 biases the piston portion 31.
  • the return spring 5 is set to a length capable of pushing the piston portion 31 to a position where the piston portion 31 contacts the other closing portion 23 (a limit position on the first end side of the bore 20).
  • the actuator 1 includes a communication path 320 that communicates the first end side of the bore 20 and the second end side of the bore 20 with the piston portion 31 as a boundary, as shown in FIGS.
  • a valve mechanism 7 for switching between blocking and opening of the passage 320 is further provided.
  • the valve mechanism 7 includes a shaft-like valve 70 inserted in the communication path 320 so as to be movable in the axial direction.
  • the shaft-like valve 70 blocks the communication passage 320 while being positioned on the second end side of the bore 20, and one end portion on the second end side of the bore 20 is directed from the piston portion 31 toward the one closing portion 22. It is comprised so that it may protrude.
  • the communication path 320 is formed so as to penetrate the piston part 31 in one direction.
  • the communication path 320 has a large-diameter hole portion 320a provided at an intermediate position in one direction and a pair of medium-diameter hole portions provided concentrically with the large-diameter hole portion 320a and provided on both sides of the large-diameter hole portion 320a.
  • the communication path 320 according to the present embodiment is formed by a continuous through hole that penetrates the piston portion 31 and an inner hole of a cylindrical plug that is fitted to both end openings of the through hole. .
  • the shaft-like valve 70 is extended to both ends of the large-diameter shaft portion 70a so as to be concentric with the large-diameter shaft portion 70a, which is housed in the large-diameter hole portion 320a.
  • a pair of small-diameter shaft portions 70b and 70b inserted into the medium-diameter hole portion 320b and the small-diameter hole portion 320c are provided.
  • the length of the large-diameter shaft portion 70a in the axial center direction is set to be shorter than the length of the large-diameter hole portion 320a in the hole center direction.
  • the large diameter shaft portion 70a is slidable in the axial direction within the large diameter hole portion 320a.
  • the large-diameter shaft portion 70a is positioned on the second end side of the bore 20, and the one end surface of the large-diameter shaft portion 70a includes the medium-diameter hole portion 320b and the large-diameter hole portion 320a.
  • the communication path 320 is blocked by being in close contact with the step formed at the boundary.
  • Each of the pair of small diameter shaft portions 70b, 70b has a first end portion and a second end portion opposite to the first end portion and connected to the large diameter shaft portion 70a.
  • the length in the axial direction of one small diameter shaft portion 70b on at least the second end side of the bore 20 is such that the large diameter shaft portion 70a is on one end side of the large diameter hole portion 320a.
  • the first end portion (tip portion) is set so as to protrude outward from the piston portion 31 when it is on the second end side of the bore 20.
  • one small-diameter shaft portion 70b is long in the axial direction so that the first end portion (tip portion) protrudes outward from the piston portion 31 in a state where the large-diameter shaft portion 70a blocks the communication path 320.
  • the length of the other small-diameter shaft portion 70b in the axial direction is such that the first end portion (tip) of the bore 20 in the piston portion 31 is in a state where the large-diameter shaft portion 70a blocks the communication path 320.
  • the large diameter shaft portion 70a opens the communication path 320 (the large diameter shaft portion 70a is formed on the large diameter hole portion 320a).
  • the first end portion (tip portion) is set so as to protrude outward from the piston portion 31 on the other end side (when it is on the first end side of the bore 20).
  • the shaft-like valve 70 (the tip surface of the other small-diameter shaft portion 70 b) is pushed to the second end side of the bore 20 by the fluid pressure when hydraulic oil is supplied to the first end side of the bore 20. It is supposed to be. Thereby, the large-diameter shaft portion 70a blocks the communication path 320. Then, when the piston portion 31 reaches the limit position on the second end side of the bore 20, the valve mechanism 7 is configured such that one small diameter shaft portion 70 b comes into contact with the one closing portion 22, so Is pushed to the first end side of the bore 20. Thereby, the end surface of the large-diameter shaft portion 70a is separated from the step formed at the boundary between the medium-diameter hole portion 320b and the large-diameter hole portion 320a, and the communication path 320 is opened.
  • the valve mechanism 7 is configured so that when the piston portion 31 moves to the first end side of the bore 20 with the communication path 320 opened, the hydraulic oil that exists on the first end side of the bore 20. This resistance can prevent the shaft-like valve 70 from being pushed back to the second end side of the bore 20.
  • the valve mechanism 7 includes a valve urging member (valve urging means) 71 that urges the shaft-like valve 70 toward the first end side of the bore 20.
  • the valve urging member 71 is constituted by a coil spring.
  • the valve urging member 71 is housed inside the medium-diameter hole portion 320b in a state of being fitted on the small-diameter shaft portion 70b on the second end side of the bore 20.
  • the valve urging member 71 is opposite to the step formed at the boundary between the small diameter hole portion 320c and the medium diameter hole portion 320b and the step formed between the large diameter shaft portion 70a and the small diameter shaft portion 70b. Arranged to exert force.
  • the actuator 1 according to the present embodiment is as described above. Next, the operation of the actuator 1 having the above configuration will be described.
  • each of the plurality of plungers 302 is pushed toward the shaft insertion hole 300 by the urging of the urging member 303.
  • the tip of each plunger 302 is always in contact with the outer periphery of the eccentric shaft portion 40.
  • the eccentric shaft portion 40 having a smaller diameter than the shaft insertion hole 300 is eccentric with respect to the rotation center of the rotation shaft 4 (hole center of the shaft insertion hole 300).
  • at least any one plunger 302 is pushed into the plunger hole 301 by the eccentric shaft portion 40 (see FIG. 3).
  • the drive of the motor is transmitted to the rotating shaft 4.
  • the rotating shaft 4 rotates.
  • the piston rod 3 is maintained in a state where it is prevented from rotating by the guide bar 6 (non-rotating state).
  • the eccentric shaft portion 40 rotates around the rotation shaft 4 of the rotation shaft 4.
  • the eccentric shaft part 40 presses each of the plurality of plungers 302 arranged around the shaft insertion hole 300 in order and pushes them into the plunger hole 301.
  • the plunger 302 released from being pressed by the eccentric shaft portion 40 protrudes toward the shaft insertion hole 300 (eccentric shaft portion 40) by the biasing member 303.
  • each of the plurality of plungers 302 reciprocates within the plunger hole 301 at different timings. Accordingly, the volume of the space of the plunger hole 301 (the region where the plunger 302 does not exist) changes in volume. As a result, the hydraulic oil on the second end side of the bore 20 with the piston portion 31 as a boundary flows into the plunger hole 301 and is pushed out to the first end side of the bore 20 with the piston portion 31 as a boundary.
  • the first end side of the bore 20 is filled with the hydraulic oil.
  • the shaft insertion hole 300 has the same diameter over the entire length, the hydraulic oil that has flowed into the first end side of the bore 20 also enters the shaft insertion hole 300. Accordingly, hydraulic oil flows from the oil drain hole 420 provided on the step of the tip shaft portion 42 to the back side of the tip shaft portion 42.
  • the actuator 1 includes a valve mechanism 7. Therefore, when the piston rod 3 reaches the limit position on the second end side of the bore 20, the valve mechanism 7 opens the communication path 320, so that the hydraulic oil in the region on the first end side of the bore 20 is present. Flows into the region on the second end side of the bore 20. Thereby, the pressure in the area
  • the oil drain hole 420 in the axial direction is formed in the distal end shaft portion 42. Therefore, when the piston portion 31 moves to the first end side of the bore 20, the hydraulic oil in the shaft insertion hole 300 is pushed out to the region on the first end side of the bore 20 through the oil draining hole 420. Then, the air is sent out from the communication path 320 to the area on the second end side of the bore 20.
  • the actuator 1 configured as described above moves the piston rod 3 by applying the fluid pressure of the hydraulic oil to the piston portion 31 in the cylinder body 2 (in the bore 20). Thereby, the actuator 1 can exhibit the performance equivalent to a hydraulic cylinder.
  • the actuator 1 includes a configuration in which the hydraulic oil flows only in the cylinder body 2 and the hydraulic oil flows in the cylinder body 2. Thereby, the actuator 1 is reduced in size and weight.
  • the actuator 1 includes an external cylindrical cylinder body 2 having a first end face and a second end face opposite to the first end face, and a piston rod protruding from the first end face of the cylinder body 2. 3 and a rotating shaft 4 protruding from the second end face of the cylinder body 2.
  • the actuator 1 includes a bore 20 extending in one direction as shown in FIG. 6, and the bore 20 having a first end and a second end opposite to the first end in one direction.
  • Rod portion having a cylinder body 2 including a formed cylinder portion 21 and a pair of closing portions 22 and 23 closing both ends of the bore 20 of the cylinder portion 21, and a distal end and a proximal end opposite to the distal end.
  • 30 is a rod part 30 inserted in a liquid-tight state into one of the pair of closing parts 22, 23, and a piston part 31 concentrically connected to the proximal end of the rod part 30.
  • a piston rod 31 including a piston portion 31 housed in the bore 20, a rotating shaft 4 inserted in a liquid-tight state into the other closing portion 23 of the pair of closing portions 22 and 23, and a cylinder body 2 is a return spring 5 built in Te, the piston unit 31 first end side of the bore 20: and a return spring 5 which urges the (one direction on one side the other of the closure part 23 side).
  • the inside of the bore 20 of the cylinder body 2 is filled with hydraulic oil (not shown). That is, also in this embodiment, the first end side and the second end side of the bore 20 with the piston portion 31 of the cylinder body 2 as a boundary (the region on the first end side of the bore 20 and the second end side of the bore 20). (Area) is filled with hydraulic oil.
  • the cylinder body 2 has a bore 20 formed in a round hole shape. More specifically, the cylinder part 21 is formed in a true cylindrical shape. Thereby, the bore 20 is configured by the inner hole of the cylinder body 2.
  • Each of the pair of closing portions 22 and 23 is a fitting portion 220 and 230 having a first end and a second end opposite to the first end, and is a disc fitted into the opening end portion of the cylinder portion 21. Shaped fitting portions 220 and 230, and flange portions 221 and 231 provided continuously at the first ends of the fitting portions 220 and 230.
  • Ring grooves 222 and 232 are formed on the outer circumferences of the fitting portions 220 and 230 of the closing portions 22 and 23.
  • An annular sealing material (O-ring in this embodiment) S is fitted in the annular grooves 222 and 232.
  • the closing portions 22 and 23 are fitted into the opening end portion of the cylinder portion 21.
  • the flange portions 221 and 231 are fixed to the end surface of the cylinder portion 21 (screwed in this embodiment) in a state where the insertion portions 220 and 230 are inserted into the opening end portions of the cylinder portion 21. Thereby, both ends of the bore 20 of the cylinder portion 21 are sealed by the closing portions 22 and 23.
  • a hole is provided concentrically with the hole center of the bore 20. More specifically, one closed portion 22 has a round hole-shaped rod insertion hole 223 concentric with the hole center of the bore 20, and a non-circular guide for concentric continuous with the rod insertion hole 223.
  • a hole 225 is formed.
  • the rod insertion hole 223 is disposed on the outer surface side of the blocking portion 22 and opens outward.
  • the guide hole 225 is disposed on the inner surface side of the blocking portion 22 (insertion portion 220) and opens toward the bore 20.
  • a pair of guide surfaces 226 and 226 facing each other across the hole center are formed on the inner peripheral surface that defines the guide hole 225.
  • the guide surfaces 226 and 226 are configured as flat surfaces.
  • the guide surfaces 226 and 226 are formed over the entire length of the guide hole 225 in the hole center direction.
  • An annular groove 224 is formed on the inner peripheral surface that defines the rod insertion hole 223 in one closing portion 22.
  • An annular seal material (O-ring in this embodiment) S is fitted in the groove 224.
  • the other closing portion 23 (the closing portion 23 on the first end side of the bore 20 in this embodiment) of the pair of closing portions 22 and 23 is concentric with the hole center of the bore 20.
  • a rotation shaft insertion hole 233 is provided.
  • the rotating shaft insertion hole 233 is formed of a stepped hole set to have a larger diameter toward the outer side. More specifically, the rotation shaft insertion hole 233 includes an innermost shaft insertion hole 233a, an outermost bearing fitting hole 233b, and a seal between the shaft insertion hole 233a and the bearing fitting hole 233b. It is comprised with the fitting hole 233c.
  • An annular seal member S1 is fitted into the seal fitting hole 233c.
  • An annular bearing B is fitted into the bearing fitting hole 233b.
  • the rod portion of the piston rod 3 in a state where the piston portion 31 of the piston rod 3 is disposed in the cylinder portion 21 so that the rod portion 30 and the piston portion 31 of the piston rod 3 are concentric with the rotation center of the rotating shaft 4. 30 is inserted through one of the closed portions 22.
  • the piston rod 3 includes an axial rod portion 30 and a piston portion 31 concentrically connected to the rod portion 30.
  • the rod portion 30 is a rod main body 30a having a first end and a second end opposite to the first end, and the rod main body 30a and the rod main body 30a are concentric with the rod main body 30a. It is comprised by the shaft part 30b for non-rotation of a non-circular cross section provided in a row by the 1st end of 30a.
  • the outer diameter of the rod main body 30a is set to be approximately equal to the hole diameter of the rod insertion hole 223 formed in one of the closed portions 22.
  • a pair of flat surface portions 350, 350 extending in the axial direction are formed on the rotation shaft portion 30b with the axis of the rotation shaft portion 30b interposed therebetween.
  • the rotation shaft portion 30 b is inserted into a guide hole 225 formed in the one closing portion 22. That is, the rotation shaft portion 30b is for guiding so that the flat portions 350 and 350 are in sliding contact with the pair of guide surfaces 226 and 226 on the inner peripheral surface that defines the guide hole 225. It is inserted into the hole 225. Then, in the state where the piston portion 31 is located at the limit position on the first end side of the bore 20, the length of the rotation shaft portion 30b is such that a part on the rod body 30a side is located in the guide hole 225. Is set.
  • the outer diameter of the piston portion 31 is set substantially equal to the hole diameter of the bore 20.
  • the piston portion 31 is housed in the bore 20 so as to be concentric with the bore 20.
  • the piston part 31 according to the present embodiment is a piston body 31 a provided continuously to the rod part 30, and has an outer circumferential circular piston body 31 a concentric with the rotating shaft 4;
  • the piston body 31a is provided with a plunger hole (plunger internal hole) 301 that opens toward the inner peripheral surface (outside) of the outer ring portion 31b.
  • the plunger hole 301 includes a plunger 302 that can move in the center direction of the plunger hole 301, a biasing member (plunger biasing means) 303 that biases the plunger 302 toward the outer ring portion 31 b (radially outward), Is decorated.
  • the piston main body 31 a has a first flow path 304 that opens toward the second end side of the bore 20 (the other side in one direction: the one closed portion 22 side), and is in communication with the plunger hole 301.
  • a second flow path 305 that opens toward the passage 304 and the first end side of the bore 20 (one side in one direction: the other closed portion 23 side), and communicates with the plunger hole 301.
  • Each of the first channel 304 and the second channel 305 is provided with check valves 306 and 307.
  • the check valves 306 and 307 allow the hydraulic oil to flow from the second end side of the bore 20 toward the first end side of the bore 20, while the second end of the bore 20 from the first end side of the bore 20. Blocks hydraulic fluid from flowing toward the end.
  • the piston main body 31a is provided with a plurality of non-penetrating plunger holes 301 that are opened on the outer peripheral surface at intervals in the circumferential direction. .
  • six plunger holes 301 are provided, and are arranged at equal intervals (every 60 °).
  • an external pin-shaped plunger 302 and a coil spring 303 as an urging member are concentrically housed.
  • the outer diameter of the plunger 302 is set to the same diameter as that of the plunger hole 301. Accordingly, the plunger 302 can move in the axial direction of the plunger 302 in a state where the outer peripheral surface of the plunger 302 is in sliding contact with the inner peripheral surface of the plunger hole 301.
  • the tip of the plunger 302 is formed in a rounded hemisphere.
  • the urging member 303 urges the plunger 302 toward the outside (outer ring portion 31b). Thereby, the urging member 303 always brings the tip of the plunger 302 into contact with the inner peripheral surface of the outer ring portion 31b. Further, the bending allowance of the urging member 303 is set so that the distal end portion of the plunger 302 protrudes outward from the plunger hole 301 and the entire plunger 302 is pushed into the plunger hole 301. .
  • the back side of the plunger hole 301 is a small diameter hole. Thereby, the step part formed with the change of the hole diameter of the plunger hole 301 supports the urging member 303.
  • the first flow path 304 and the second flow path 305 are provided for each plunger 302 (plunger hole 301). Therefore, the check valves 306 and 307 are provided in the first flow path 304 and the second flow path 305, respectively.
  • the first flow path 304 is formed to extend in one direction (the same direction as the bore 20).
  • the first flow path 304 includes a large-diameter hole portion 304a formed on the plunger hole 301 side, and a small-diameter hole portion 304b continuous with the large-diameter hole portion 304a on the second end side of the bore 20 (on the one closing portion 22 side). Is provided.
  • the first flow path 304 small diameter hole portion 304b
  • the large-diameter hole 304a of the first flow path 304 includes a spherical valve (hereinafter referred to as a ball valve) 308 having a diameter larger than that of the small-diameter hole 304b, and a ball valve 308. And a coil spring 309 that urges the bore 20 toward the second end side of the bore 20. Thereby, the check valve 306 of the first flow path 304 is formed. The check valve 306 is urged by the coil spring 309 so that the ball valve 308 is pressed against an annular step formed at the boundary between the small diameter hole 304b and the large diameter hole 304a on the second end side of the bore 20. As a result, the ball valve 308 closes the small diameter hole 304b.
  • a ball valve spherical valve
  • the second flow path 305 is formed to extend in one direction.
  • the second flow path 305 includes a large-diameter hole 305a formed at an intermediate position, and small-diameter holes 305b and 305b formed on both sides of the large-diameter hole 305a.
  • the second flow path 305 includes a stepped hole formed in the piston portion 31 and an inner hole of a cylindrical plug (not numbered) fitted in the opening of the stepped hole. And is formed by continuation.
  • the large-diameter hole 305a of the second flow path 305 includes a spherical valve (hereinafter referred to as a ball valve) 310 having a diameter larger than that of the small-diameter hole 305b.
  • a coil spring 311 that urges the ball valve 310 toward the second end side of the bore 20 is housed.
  • the check valve 307 of the second flow path 305 is formed.
  • the check valve 307 is biased by the coil spring 311, and the ball valve 310 is pressed against an annular step formed at the boundary between the small diameter hole 305 b and the large diameter hole 305 a on the second end side of the bore 20.
  • the ball valve 310 closes the small diameter hole 305b.
  • the check valve 307 of the second flow path 305 causes the ball valve 310 to be attached to the coil spring 311 by the fluid pressure of the hydraulic oil when the hydraulic oil tries to flow into the second flow path 305 from the plunger hole 301.
  • the bore 20 is pushed toward the first end side against the force.
  • the hydraulic oil can flow from the second end side of the bore 20 to the first end side of the bore 20.
  • the ball valve 310 is pressed against the step portion by the urging force of the coil spring 311. Thereby, the ball valve 310 closes the small diameter hole 305b. Therefore, the hydraulic oil is prevented from flowing into the plunger hole 301 from the first end side of the bore 20.
  • the small diameter hole 305b on the plunger hole 301 side of the second flow path 305 is formed to have the same diameter and concentricity as the large diameter hole 304a of the first flow path 304, and the plunger hole It communicates with a small-diameter hole on the back side of 301. Accordingly, the small diameter hole 305b of the second flow path 305 and the large diameter hole 304a of the first flow path 304 constitute a continuous hole. Therefore, the coil spring 309 of the check valve 306 of the first flow path 304 is interposed between the ball valve 308 of the check valve 306 of the first flow path 304 and the ball valve 310 of the check valve 307 of the second flow path 305. It is disguised.
  • the outer diameter of the outer ring portion 31b is set substantially equal to the hole diameter of the bore 20.
  • the outer ring portion 31b is configured to be movable in one direction together with the piston main body 31a.
  • the outer ring portion 31b is provided to be rotatable around the piston body 31a with the axis of the rotation shaft 4 as the center of rotation.
  • the outer ring portion 31b is provided to be rotatable around the center of the piston main body 31a (the rotation center of the rotation shaft 4).
  • wheel part 31b is comprised by the eccentric hole by which the center was set in the position shifted
  • the inner hole (eccentric hole) of the outer ring portion 31b according to the present embodiment is formed in a round hole shape.
  • the center line of the inner hole of the outer ring portion 31b is eccentric in a state of being substantially parallel to the rotation center of the rotation shaft 4 (the axis center of the shaft main body portion supported by the bearing B).
  • the outer ring portion 31b is provided with a pair of annular portions 330 and 330 at both ends in one direction.
  • the pair of annular portions 330 and 330 extend radially inward.
  • a piston main body 31 a is interposed between the pair of annular portions 330 and 330.
  • an endless annular groove is formed on the entire outer periphery of the piston portion 31 (outer ring portion 31b). Then, an O-ring is fitted into the groove. Thereby, in the actuator 1 according to the present embodiment, the movement of the piston portion 31 in one direction (the axial center direction of the piston rod 3) is allowed, and the outer peripheral surface of the piston portion 31 and the inner peripheral surface of the cylinder portion 21 are allowed to move. The space is liquid-tight.
  • the rotary shaft 4 is inserted into a rotary shaft insertion hole 233 formed in the other closing portion 23.
  • One end side of the rotating shaft 4 is located in the cylinder part 21 (bore 20), and the other end side of the rotating shaft 4 is located outside.
  • the rotating shaft 4 according to the present embodiment includes a flange 43 disposed in the bore 20 and a guide bar 6 extending from the flange 43 toward the one closing portion 22.
  • the rotating shaft 4 includes a shaft main body portion 41 that is pivotally supported by the bearing B, and a flange 43 that is connected to one end of the shaft main body portion 41.
  • a flange 43 concentric with the shaft center 41 and a guide bar 6 extending from the outer peripheral portion of the flange 43 toward the one closed portion 22 are provided.
  • the shaft main body 41 includes a seal portion 41a to which a seal member S1 fitted to the other closing portion 23 is fitted, and a shaft support portion 41b that is provided continuously to the seal portion 41a.
  • the seal part 41a, the shaft support part 41b, and the input part 41c are formed concentrically.
  • the shaft main body 41 is formed such that the input portion 41 c protrudes outward from the other closing portion 23 in a state where the shaft main body 41 is inserted through the rotary shaft insertion hole 233.
  • the flange 43 is formed in a disc shape.
  • the flange 43 is disposed along the inner surface of the other closing portion 23.
  • the flange 43 is rotatable in the bore 20 with the hole center of the bore 20 as the center of rotation.
  • the guide bar 6 has a distal end and a proximal end opposite to the distal end and connected to the flange 43.
  • a pair of guide bars 6 are provided at intervals in the circumferential direction of the flange 43.
  • the pair of guide bars 6 are inserted through two locations of the outer ring portion 31b (see FIG. 7).
  • the cylinder body 2 is provided with an annular guide ring 44 for supporting the tip of the guide bar 6.
  • the guide ring 44 is disposed along the one closed portion 22 on the second end side of the bore 20. The outer periphery of the guide ring 44 is guided by the inner peripheral surface of the cylinder part 21.
  • the guide ring 44 is rotatable about the hole center of the bore 20 (the rotation center of the rotation shaft 4) as the rotation center.
  • the tip of the guide bar 6 is connected to the guide ring 44. That is, both ends of the guide bar 6 are supported by the flange 43 and the guide ring 44 of the rotating shaft 4. Thereby, generation
  • the return spring 5 is composed of a compression coil spring.
  • the return spring 5 is interposed between the one closing portion 22 and the piston portion 31.
  • the return spring 5 according to this embodiment is fitted on the guide bar 6.
  • the return spring 5 biases the piston portion 31.
  • the return spring 5 is set to a length capable of pushing the piston portion 31 to a position where the piston portion 31 contacts the other closing portion 23 (a limit position on the first end side of the bore 20).
  • the actuator 1 includes a communication passage 320 that communicates the first end side of the bore 20 and the second end side of the bore 20 with the piston portion 31 as a boundary, as shown in FIGS.
  • a valve mechanism 7 for switching between blocking and opening of the passage 320 is further provided.
  • the valve mechanism 7 includes a shaft-like valve 70 inserted in the communication path 320 so as to be movable in the axial direction.
  • the shaft-like valve 70 blocks the communication passage 320 while being positioned on the second end side of the bore 20, and one end portion on the second end side of the bore 20 is directed from the piston portion 31 toward the one closing portion 22. It is comprised so that it may protrude.
  • the communication path 320 is formed so as to penetrate the piston portion 31 (outer ring portion 31b) in one direction.
  • the communication path 320 is concentrically continuous with the large-diameter hole portion 320a provided in the middle of one direction and the large-diameter hole portion 320a, and one end side of the large-diameter hole portion 320a (the second end side of the bore 20).
  • the medium diameter hole 320b provided in the inner diameter hole, the small diameter hole 320c concentrically continuous with the medium diameter hole 320b, the concentric continuous with the large diameter hole 320a, and the other end side of the large diameter hole 320a (bore 20).
  • a small-diameter hole portion 320c provided on the first end side).
  • the shaft valve 70 includes a large diameter shaft portion 70a and a pair of small diameter shaft portions 70b and 70b extending from both ends of the large diameter shaft portion 70a.
  • the large diameter shaft portion 70a is internally provided in the large diameter hole portion 320a.
  • the length of the large-diameter shaft portion 70a in the axial center direction is set shorter than the length of the large-diameter hole portion 320a in the hole center direction.
  • the large diameter shaft portion 70a is slidable in the axial direction within the large diameter hole portion 320a.
  • the end surface of the large-diameter shaft portion 70a is formed between the medium-diameter hole portion 320b and the large-diameter hole portion 320a with the large-diameter shaft portion 70a positioned on the second end side of the bore 20.
  • the communication path 320 is blocked by being in close contact with the step formed at the boundary.
  • the pair of small diameter shaft portions 70b and 70b are provided concentrically with the large diameter shaft portion 70a.
  • the pair of small diameter shaft portions 70b and 70b are inserted through the small diameter hole portion 320c.
  • the length in the axial direction of at least one small diameter shaft portion 70b on the second end side of the bore 20 is such that the large diameter shaft portion 70a is on one end side of the large diameter hole portion 320a.
  • the tip portion is set so as to protrude outward from the piston portion 31 when it is on the second end side of the bore 20.
  • the length in the axial direction of one small-diameter shaft portion 70b is set so that the tip portion protrudes outward from the piston portion 31 in a state where the large-diameter shaft portion 70a blocks the communication path 320.
  • the length of the other small-diameter shaft portion 70b in the axial direction is such that the tip is directed to one side in one direction of the piston portion 31 with the large-diameter shaft portion 70a blocking the communication path 320 (the other obstruction)
  • the large diameter shaft portion 70a opens the communication path 320
  • the large diameter shaft portion 70a is the other end side of the large diameter hole portion 320a (the bore 20). It is set so as to protrude outward from the piston portion 31) when it is on the first end side).
  • the shaft-like valve 70 (the tip surface of the other small-diameter shaft portion 70 b) is pushed toward the second end side of the bore 20 by the fluid pressure when hydraulic oil is supplied to the first end side of the bore 20.
  • the large-diameter shaft portion 70a blocks the communication path 320.
  • the valve mechanism 7 is configured such that one small-diameter shaft portion 70 b comes into contact with the one closing portion 22 so that the entire shaft-shaped valve 70 is disposed.
  • the valve mechanism 7 When the piston mechanism 31 is moved to the first end side of the bore 20 with the communication path 320 opened, the valve mechanism 7 is driven by the resistance of the hydraulic oil existing on the first end side of the bore 20. Can be prevented from being pushed back to the second end side of the bore 20. That is, the valve mechanism 7 includes a valve urging member (valve urging means) 71 that urges the shaft-like valve 70 toward the first end side of the bore 20.
  • the valve urging member 71 is constituted by a coil spring.
  • the valve urging member 71 is housed in the medium-diameter hole portion 320b in a state of being fitted on the small-diameter shaft portion 70b on the second end side of the bore 20.
  • the valve urging member 71 is opposite to the step formed at the boundary between the small diameter hole portion 320c and the medium diameter hole portion 320b and the step formed between the large diameter shaft portion 70a and the small diameter shaft portion 70b. It is arranged to apply force.
  • the actuator 1 according to the present embodiment is as described above. Next, the operation of the actuator 1 having the above configuration will be described.
  • each of the plurality of plungers 302 is pushed toward the outer ring portion 31 b by the urging of the urging member 303.
  • the tip of each plunger 302 is always in contact with the inner peripheral surface of the outer ring portion 31b.
  • the eccentric hole (inner hole) of the outer ring portion 31 b is eccentric with respect to the rotation center of the rotating shaft 4.
  • at least any one plunger 302 is pushed into the plunger hole 301 by the inner peripheral surface of the outer ring portion 31b (see FIG. 7).
  • the drive of the motor is transmitted to the rotating shaft 4.
  • the rotating shaft 4 rotates. If it does so, rotational torque will be transmitted to the outer ring
  • the outer ring portion 31b rotates around the rotation shaft 4 and presses each of the plurality of plungers 302 arranged on the piston main body 31a in sequence into the plunger hole 301.
  • the plunger 302 released from pressing by the outer ring portion 31b protrudes outward (inner peripheral surface side of the outer ring portion 31b) by the biasing member 303.
  • each of the plurality of plungers 302 reciprocates within the plunger hole 301 by shifting the timing by rotating the rotating shaft 4. Accordingly, the volume of the space of the plunger hole 301 (the region where the plunger 302 does not exist) changes in volume. As a result, the hydraulic oil on the second end side of the bore 20 with the piston portion 31 as a boundary flows into the plunger hole 301 and is pushed out to the first end side of the bore 20 with the piston portion 31 as a boundary.
  • the first end side of the bore 20 is filled with the hydraulic oil.
  • the hydraulic oil is further fed in the state where the hydraulic oil is filled in the first end side of the bore 20 with the piston portion 31 as a boundary, the pressure on the first end side of the bore 20 with the piston portion 31 as a boundary increases. .
  • the piston portion 31 is pushed to the second end side of the bore 20 and the piston rod 3 moves in the axial direction.
  • the actuator 1 since the guide bar 6 is inserted through the outer ring portion 31b, the outer ring portion 31b moves along the guide bar 6 while rotating about the axis of the rotation shaft 4.
  • a region (bore 20) on the first end side of the bore 20 with the piston portion 31 as a boundary is hydraulic oil. It will be in a full state.
  • the actuator 1 includes a valve mechanism 7. Therefore, when the piston rod 3 reaches the limit position on the second end side of the bore 20, the valve mechanism 7 opens the communication path 320, so that the hydraulic oil in the region on the first end side of the bore 20 is present. Flows into the region on the second end side of the bore 20 and the pressure in the region on the first end side of the bore 20 (bore 20) decreases.
  • the actuator 1 reciprocates in the axial direction of the rod of the piston rod 3 by repeating the above operation.
  • the actuator 1 configured as described above moves the piston rod 3 by applying the fluid pressure of the hydraulic oil to the piston portion 31 in the cylinder body 2 (in the bore 20). Thereby, the actuator 1 can exhibit the performance equivalent to a hydraulic cylinder.
  • the actuator 1 includes a configuration in which the hydraulic oil flows only in the cylinder body 2 and the hydraulic oil flows in the cylinder body 2. Thereby, the actuator 1 is reduced in size and weight.
  • a plurality of plunger holes 301 are formed, and a plunger 302 and an urging member 303 are internally provided therein.
  • the present invention is not limited to this.
  • a single plunger hole 301 may be formed, and a plunger 302 and a biasing member 303 may be housed therein.
  • a first flow path 304 and a second flow path 305 in which check valves 306 and 307 are installed are provided correspondingly. Even in this way, the plunger 302 reciprocates in the plunger hole 301. Accordingly, the hydraulic oil is fed from the second end side of the bore 20 to the first end side of the bore 20, and the piston rod 3 moves in one direction (axial direction).
  • a plurality of plunger holes 301 are formed in the same manner as in the above embodiments, and a plunger 302 and a biasing member 303 are housed in these holes. What is necessary is just to provide the 1st flow path 304 and the 2nd flow path 305 by which the valves 306 and 307 were equipped.
  • the hydraulic oil is supplied to the first end side of the bore 20, whereby the piston portion 31 (piston rod 3) moves to the second end side of the bore 20 and the urging force of the return spring 5.
  • the piston portion 31 (piston rod 3) is pushed back to the first end side of the bore 20, but is not limited to this.
  • the piston portion 31 (piston rod 3) moves to the first end side of the bore 20 and the urging force of the return spring 5 causes the piston portion 31 to move.
  • the (piston rod 3) may be pushed back to the second end side of the bore 20.
  • the return spring 5 is provided on the first end side of the bore 20 of the cylinder body 2.
  • a first flow path 304 that opens toward the first end side of the bore 20 and communicates with the plunger hole 301
  • a second flow that opens toward the second end side of the bore 20 and communicates with the plunger hole 301
  • a path 305 is provided corresponding to the plunger hole 301. While allowing the hydraulic fluid to flow from the first end side of the bore 20 toward the second end side of the bore 20 in each of the first flow path 304 and the second flow path 305, A check valve 306.307 is provided to prevent the flow of hydraulic oil from the end side toward the first end side of the bore 20.
  • the valve mechanism 7 can be provided.
  • the shaft-like valve 70 blocks the communication path while being positioned on the first end side of the bore 20, and the one end portion on the first end side of the bore 20 extends from the piston portion 31 to the one side. It is comprised so that it may protrude toward a certain obstruction
  • the shaft-like valve 70 is in a state where the piston portion 31 is located at a limit position or a predetermined position set on the first end side of the bore 20, and one end portion of the shaft-like valve interferes with a closing portion on one side.
  • the shaft-like valve is configured to move to the second end side of the bore 20 to open the communication path.
  • the communication passage 320 that communicates the first end side of the bore 20 and the second end side of the bore 20 with the piston portion 31 as a boundary is provided to penetrate the piston portion 31.
  • the valve mechanism 7 is built in, it is not limited to this.
  • only the communication path 320 that communicates the first end side of the bore 20 and the second end side of the bore 20 with the piston portion 31 as a boundary may be provided in the piston portion 31. Even if it does in this way, when the piston part 31 comes to the limit position which exists in the 2nd end side of the bore 20, the substantially whole quantity of the hydraulic fluid in the bore 20 will exist in the 1st end side of the bore 20.
  • the pressure increase stops and the hydraulic oil on the first end side of the bore 20 flows from the communication path 320 to the second end side of the bore 20. Accordingly, the piston portion 31 is pushed back to the first end side of the bore 20 by the urging force of the return spring 5.
  • the piston portion 31 can be pushed back to the first end side of the bore 20 by the urging force of the return spring 5 without providing the communication path 320.
  • the first flow path 304 and the second flow path 305 are formed in the piston portion 31, and the ball valves 308 and 310 and the coil springs 309 and 311 are provided in the first flow path 304 and the second flow path 305, respectively.
  • these are built in and constitute the check valves 306 and 307, they are not limited thereto.
  • independent check valves 306 and 307 (check valves 306 and 307 assembled as a unit) may be incorporated in the first flow path 304 and the second flow path 305.
  • the communication passage 320 that connects the first end side of the bore 20 and the second end side of the bore 20 with the piston portion 31 as a boundary is formed in the piston portion 31, but is not limited thereto. It is not a thing.
  • the first end side of the bore 20 and the second end side of the bore 20 may be communicated with each other via a pipe disposed outside the cylinder portion 21.
  • a valve mechanism such as a gate valve may be provided on the pipe so that the pressure in the bore 20 can be released. If it does in this way, piston part 31 (piston rod 3) can be pushed back rapidly like the above-mentioned embodiment.
  • valve mechanism 7 is not limited to those described in the above embodiments.
  • the valve mechanism 7 has a bypass flow path 321 communicating with the pressure side bore 20 (in the above embodiment, the first end side of the bore 20).
  • a large-diameter shaft portion 70a is formed at an intermediate position of the shaft-like valve 70 while being connected to an intermediate position of the passage 320, and an outer peripheral surface of the large-diameter shaft portion 70a is in sliding contact with an inner peripheral surface of the communication passage 320. You may make it move to an axial direction.
  • bypass flow path 321 communicates with the bore 20 (region) on the pressurization side.
  • the bypass flow path 321 communicates with the negative pressure side bore 20.
  • the valve mechanism 7 having the above-described configuration when the valve mechanism 7 having the above-described configuration is housed in the piston portion 31, the small diameter projecting toward the bore 20 on the negative pressure side (the second end side of the bore 20 in the above embodiment) with respect to the large-diameter shaft portion 70a.
  • a shaft portion 70b is provided, and when the piston portion 31 reaches the limit position on the negative pressure side, the small diameter shaft portion 70b comes into contact with the cylinder body 2 (blocking portion 22), and the large diameter shaft portion 70a) is connected to the bore 20 on the pressure side. If it is made to move toward, the same operations and effects as in the above embodiment can be obtained.
  • the rotary shaft 4 is constituted by the shaft main body portion 41 inserted into the other closing portion 23, the flange 43 disposed in the cylinder main body 2, and the guide bar 6 extended to the flange 43.
  • the guide bar 6 is inserted through the outer ring portion 31b, the present invention is not limited to this.
  • the embodiment shown in FIG. 1 the embodiment shown in FIG.
  • the actuator 1 shown in FIG. 10 is based on the premise that the piston portion 31 is configured in the same manner as in the second embodiment. Therefore, here, the description of the piston part 31 is substituted for the description of the second embodiment.
  • the rod portion 30 of the piston rod 3 is inserted into the cylinder body 2 (one closing portion 22) so as to be rotatable around the axis.
  • a rotating shaft 4 that is concentric with the center of the bore 20 is provided on the outer surface of the other closing portion 23.
  • a guide bar 6 extending toward the one closing portion 22 is provided on the inner surface of the other closing portion 23.
  • the guide bar 6 is inserted through the outer ring portion 31b.
  • the return spring 5 is fitted on the rod portion 30. However, the return spring 5 only needs to be able to urge the piston portion 31, and may be externally fitted to the guide bar 6 or may be disposed at other locations.
  • the plunger 302 is switched between a state in which the plunger 302 is pushed into the plunger hole 301 by pressing by the inner peripheral surface of the outer ring portion 31b and a state in which the plunger 302 protrudes outward from the plunger hole 301 by urging of the urging member 303. Then, as the plunger 302 moves in and out, the space of the plunger hole 301 (the region in which the urging member 303 is housed) changes in volume. Accordingly, the hydraulic oil on the second end side of the bore 20 with the piston portion 31 as a boundary flows into the plunger hole 301 and is pushed out to the first end side of the bore 20 with the piston portion 31 as a boundary. Thereby, the pressure at the first end of the bore 20 increases, and the piston rod 3 moves to the second end of the bore 20.
  • the piston rod 3 is pushed back to the first end side of the bore 20 by the urging force of 5.
  • the actuator 1 shown in FIG. 10 also includes the communication path 320 and the valve mechanism 7, the valve mechanism 7 opens the communication path 320, so that the piston rod 3 is bored at a high speed by the urging force of the return spring 5. Is pushed back to the first end side. Therefore, also in the actuator 1 having the above configuration, the piston rod 3 reciprocates in one direction by repeating the above operation.
  • valve mechanism 7 is provided in the outer ring portion 31b, but the present invention is not limited to this.
  • the communication passage 320 may be formed in the piston body 31a, and the valve mechanism 7 may be built in the communication passage 320.
  • the guide ring 44 for supporting the guide bar 6 is provided, but the present invention is not limited to this.
  • the guide bar 6 may be supported only by the flange 43 of the rotating shaft 4.
  • it is not limited to the one provided with two guide bars 6.
  • the guide bar 6 may be provided with one or three or more guide bars.
  • the actuator according to the present invention may be one in which a motor is integrated, or one in which a speed reducer and a motor are integrated.
  • the cylinder body may be formed integrally with a case of the device and configured so as not to be separated from the device.
  • the actuator according to the present invention can be employed not only in the field of hand-held tools but also in various machine fields such as the automobile field and the industrial machine field.
  • Energizing Member (coil spring: plunger urging means) 304 ... first flow path 304a ... large diameter hole 304b ... small diameter hole 305 ... second flow path 305a ... large diameter hole 305b ... small diameter hole 306 307: Check valve, 308, 310 ... Ball valve, 309, 311 ... Coil spring, 320 ... Communication path, 320a ... Large diameter hole, 320b ... Medium diameter hole, 320c ... Small diameter hole, 321 ... Bypass flow path , 330 ... annular part, 350 ... flat part, 420 ... oil draining hole, B ... bearing, P ... plug, S ... sealing material, S1 ... sealing member

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Actuator (AREA)
  • Shearing Machines (AREA)
  • Reciprocating Pumps (AREA)
  • Details Of Reciprocating Pumps (AREA)
  • Supply Devices, Intensifiers, Converters, And Telemotors (AREA)
PCT/JP2011/079644 2010-12-27 2011-12-21 アクチュエータ WO2012090820A1 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2010290868A JP4918614B1 (ja) 2010-12-27 2010-12-27 アクチュエータ
JP2010-290868 2010-12-27

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WO2012090820A1 true WO2012090820A1 (ja) 2012-07-05

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103089740A (zh) * 2012-12-31 2013-05-08 蚌埠液力机械有限公司 卸荷阀和卸荷阀油缸

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107497970B (zh) * 2017-08-10 2024-03-26 浙江工业大学 一种轻型钢筋速断器
CN113007172B (zh) * 2021-03-12 2022-04-12 燕山大学 一种集成柱塞马达式双动力液压缸

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6487928A (en) * 1987-09-28 1989-04-03 Toyoda Machine Works Ltd Hydraulic controller
JPH04128120U (ja) * 1991-05-15 1992-11-24 日東工器株式会社 油圧作動機
JPH07223113A (ja) * 1994-02-03 1995-08-22 Robutetsukusu:Kk 電動油圧式作動工具における往復作動部材の作動機構

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6487928A (en) * 1987-09-28 1989-04-03 Toyoda Machine Works Ltd Hydraulic controller
JPH04128120U (ja) * 1991-05-15 1992-11-24 日東工器株式会社 油圧作動機
JPH07223113A (ja) * 1994-02-03 1995-08-22 Robutetsukusu:Kk 電動油圧式作動工具における往復作動部材の作動機構

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103089740A (zh) * 2012-12-31 2013-05-08 蚌埠液力机械有限公司 卸荷阀和卸荷阀油缸
CN103089740B (zh) * 2012-12-31 2015-07-15 蚌埠液力机械有限公司 卸荷阀和卸荷阀油缸

Also Published As

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TWI517917B (zh) 2016-01-21
JP2012137161A (ja) 2012-07-19
TW201302355A (zh) 2013-01-16
JP4918614B1 (ja) 2012-04-18

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