WO2015033851A1

WO2015033851A1 - Bistable moving device

Info

Publication number: WO2015033851A1
Application number: PCT/JP2014/072581
Authority: WO
Inventors: 上運天　昭司; 光晴田中
Original assignee: アズビル株式会社
Priority date: 2013-09-09
Filing date: 2014-08-28
Publication date: 2015-03-12
Also published as: JP6134237B2; JP2015053816A

Abstract

A mover (1) is movable in a movable axis (Z-axis) direction and held so as to prevent rotation about the movable axis. The mover (1) is constituted by a first permanent magnet (1-1) and a second permanent magnet (1-2), and the magnetic poles of the permanent magnets (1-1, 1-2) are arranged so that different poles face each other in the movable axis direction. A ring-shaped permanent magnet is provided on the outside of the mover (1) as a rotor (4). The rotor (4) is rotatable about the movable axis and held so as to prevent movement in the movable axis direction. By rotating the rotor (4), an arrangement of the magnetic poles on the inner circumferential surface of the rotor (4) is changed between a first arrangement (S pole on the upper side, N pole on the lower side) and a second arrangement (N pole on the upper side, S pole on the lower side), so that the mover (1) is latched at movement positions on one side and the other side of the movable axis direction. This makes it possible to obtain a bistable moving device having a high safety and capable of obtaining a reliable operation.

Description

Bistable moving device

The present invention relates to a bistable moving device that uses a mover and a rotor, moves the mover between two positions, and holds the mover at either position.

Conventionally, as a bistable moving device of this kind, there is a mechanism that allows the mover to move between two positions in various applications such as shut-off valves, electromagnetic switches, and electronic locks, and holds it in either position. The bistable latch type solenoid provided is used.

For example, as a bistable linear electromagnetic solenoid in Patent Document 1 and as a solenoid actuator in Patent Document 2, a plunger (movable element) fixed to a nonmagnetic shaft that can move in the axial direction has an axial direction across the plunger. It is configured to be latched by one of a set of permanent magnets (stator) having a fixed core placed symmetrically to each other, and movement to the other end is arranged symmetrically in the axial direction surrounding them. Also disclosed is a bistable moving device that uses a set of exciting coils.

In Patent Document 1 and Patent Document 2, the mover is an iron core and a magnet is arranged on the stator. On the other hand, for example, in the bidirectional latching solenoid shown in Patent Document 3, the mover is In any case, the conventional bistable moving device has a structure in which either the mover or the stator is an iron core (magnetic material) and the other is a magnet. Has been.

JP-A-8-288129 JP 7-335434 A Japanese Unexamined Patent Publication No. 2010-98037

However, in the conventional bistable moving device described above, since either the mover or the stator is an iron core (magnetic material) and the other is a magnet, the supply current (excitation current) to the excitation coil is reduced. When the mover is latched to either one of the pair of stators in the shut-off state, if an impact or excessive force is applied in the other direction and the mover moves in the other direction The mover is latched in the other direction, resulting in a serious malfunction. In particular, shut-off valves, electromagnetic switches, electronic locks, and the like become a fatal problem that the open / close state is reversed by an impact.

Also, if the latching force is increased by increasing the magnetic force of the latching permanent magnet in order to prevent this, a problem arises that large electric power is required for releasing the latch and moving in the other direction.

In addition, in order to perform the initial movement of the mover in the direction of the movable axis, that is, the attracting action of the mover in the most distant state with electromagnetic force, in particular, stroke (≈ gap between the mover and the stator) Is large, the electromagnetic force is inversely proportional to the square of the distance (gap), and thus a large amount of power is required.

The present invention has been made to solve such a problem. The object of the present invention is to apply an impact or temporary excessive force to the mover in the other direction, and the mover moves in the other direction. If this happens, the mover will not be latched in the other direction, and the mover will automatically return to the latch in the original direction. It is to provide a stable moving device.
It is another object of the present invention to provide a bistable moving device that can be operated with less electric power than a conventional solenoid that is used as the main power for movement in the direction of the movable axis.

In order to achieve such an object, the present invention can move in the direction of the movable axis and is held so as to prevent rotation about the movable axis, and sandwich the movable axis in a direction perpendicular to the movable axis. The first permanent magnets having a plurality of magnetic poles arranged in the first and second magnetic poles are arranged so that the movable shaft is sandwiched in a direction orthogonal to the movable shaft, and the different polarities are in the movable axis direction with respect to the magnetic pole of the first permanent magnet. A movable element including a second permanent magnet having a plurality of magnetic poles arranged to face each other, a movable element that can rotate about the movable axis, and is held so as to prevent movement in the movable axis direction; The position of the magnetic pole is on a first circumference centered on the movable axis, and the position of the other magnetic pole is on a second circumference centered on a movable axis having a larger diameter than the first circumference. Equipped with permanent magnets with magnetic pole pairs arranged so that the mover is sandwiched in the direction perpendicular to the movable axis A rotor, and rotor rotation means for rotating the rotor to change the arrangement of the magnetic poles on the first circumference of the rotor between the first arrangement and the second arrangement; When the arrangement of the magnetic poles on the first circumference is the first arrangement, the first permanent magnet of the mover is magnetically attracted and held, while the second permanent magnet of the mover is magnetically repelled, When the arrangement of the magnetic poles on the circumference of 1 is the second arrangement, the second permanent magnet of the mover is magnetically attracted and held, while the first permanent magnet of the mover is magnetically repelled. .

In the present invention, the mover is movable in the direction of the movable axis and is held so as to prevent rotation about the movable axis, and a plurality of magnetic poles are sandwiched between the movable axes in a direction orthogonal to the movable axis. A plurality of first permanent magnets are arranged so as to sandwich the movable shaft in a direction orthogonal to the movable shaft, and opposite to each other in the movable shaft direction with respect to the magnetic pole of the first permanent magnet. It is comprised with the 2nd permanent magnet which has arrange | positioned the magnetic pole, and a rotor replaces the arrangement | positioning of the magnetic pole on a 1st circumference between 1st arrangement | positioning and 2nd arrangement | positioning by rotating. be able to.

In the present invention, when the rotor is rotated and the arrangement of the magnetic poles on the first circumference of the rotor is the first arrangement, the first permanent magnet of the mover is magnetically attracted and held, while the first of the mover 2 permanent magnets are magnetically repelled. When the rotor is rotated and the arrangement of the magnetic poles on the first circumference of the rotor is the second arrangement, the second permanent magnet of the mover is magnetically attracted and held, while the first of the mover is The permanent magnet is magnetically repelled.

That is, in the present invention, when the arrangement of the magnetic poles on the first circumference of the rotor is in the first arrangement, and the first permanent magnet of the mover is magnetically attracted to the rotor, the rotor is When the rotor is rotated to place the magnetic poles on the first circumference of the rotor in the second arrangement, the magnetic attractive force between the first permanent magnet of the mover and the rotor disappears, and the first permanent A magnetic repulsive force is generated between the magnet and the rotor. As a result, the first permanent magnet leaves the rotor, the second permanent magnet approaches the rotor, and the resultant force with the magnetic attractive force generated between the second permanent magnet and the mover moves in the direction of the movable axis. The second permanent magnet of the mover is latched (attracted and held) by the rotor.

In the present invention, when the arrangement of the magnetic poles on the first circumference of the rotor is in the second arrangement, and the second permanent magnet of the mover is magnetically attracted to the rotor, the rotor is When the arrangement of the magnetic poles on the first circumference of the rotor is changed to the first arrangement by rotating the magnetic attraction force between the second permanent magnet of the mover and the rotor, the second permanent magnet is lost. A magnetic repulsive force is generated between the magnet and the rotor. As a result, the second permanent magnet leaves the rotor, the first permanent magnet approaches the rotor, and the resultant force with the magnetic attractive force generated between the first permanent magnet and the mover moves in the direction of the movable axis. The first permanent magnet of the mover is latched (attracted and held) by the rotor.

In the present invention, for example, when the arrangement of magnetic poles on the first circumference of the rotor is in the first arrangement and the first permanent magnet of the mover is magnetically attracted to the rotor, the direction of the movable axis Suppose that an impact or temporary excessive force is applied to one side of the armature and the mover has moved to one side in the direction of the movable axis. In this case, the mover moves from the state in which the first permanent magnet is latched to the rotor in a state where the magnetic poles on the first circumference of the rotor are in the first arrangement, in the direction of the movable axis. Move to one side. When the second permanent magnet of the mover approaches the rotor, a magnetic repulsive force is generated between the second permanent magnet and the rotor.

As a result, the second permanent magnet moves away from the rotor, the first permanent magnet approaches the rotor, and the movable element is moved by the resultant force of the magnetic attraction force generated between the first permanent magnet and the rotor. Returned to the other side in the direction of the movable axis. That is, even if the mover moves to one side in the movable axis direction, the mover is not latched at the position moved to one side in the movable axis direction, and is automatically moved to the other side in the movable axis direction. Return to the original latch (original latch state).

In the present invention, for example, when the arrangement of the magnetic poles on the first circumference of the rotor is in the second arrangement and the second permanent magnet of the mover is magnetically attracted to the rotor, the direction of the movable axis Suppose that an impact or temporary excessive force is applied to the other side of the armature and the mover has moved to the other side in the direction of the movable axis. In this case, the mover moves from the state in which the second permanent magnet is latched to the rotor in the state where the magnetic poles on the first circumference of the rotor are in the second arrangement, in the direction of the movable axis. Move to the other side. When the first permanent magnet of the mover approaches the rotor, a magnetic repulsive force is generated between the first permanent magnet and the rotor.

Thereby, while the 1st permanent magnet of a mover leaves | separates from a rotor, a 2nd permanent magnet approaches a rotor, By the resultant force with the magnetic attraction force produced between a 2nd permanent magnet and a rotor, The mover is returned to one side in the movable axis direction. In other words, even if the mover moves to the other side in the movable axis direction, the mover is not latched at the position moved to the other side in the movable axis direction, but is automatically moved to one side in the movable axis direction. Return to the original latch (original latch state).

Thus, in the present invention, if the arrangement of the magnetic poles on the first circumference of the rotor is not changed by rotating the rotor, the position moved from one side of the mover to the position moved to the other side is changed. Latch switching cannot be performed from the position moved to the other side to the position moved to the one side. Further, without changing the arrangement of the magnetic poles on the first circumference of the rotor, the mover latched at the position moved to one side is moved to the other side and latched at the position moved to the other side. When the mover moving to one side occurs, the original latch state is automatically restored. This is due to the addition of a lock mechanism called the rotation of the rotor to the movement of the mover in the direction of the movable axis. By adding this lock mechanism, safety is improved and reliable operation is obtained. Is possible.

Further, in the present invention, a permanent magnet is used for both the mover and the rotor, and the main power for moving the mover in the direction of the movable axis is the source side that works with the rotor (permanent magnet). The magnetic repulsive force of the mover (permanent magnet) and the magnetic attraction force of the mover (permanent magnet) on the destination side are used simultaneously, and the rotational force for rotating the rotor is used as pilot power. , Because it is used only to change the arrangement of the magnetic poles on the first circumference of the rotor, for example, a magnetic field is applied instantaneously from a position close to the rotor (permanent magnet), and the first rotor It is only necessary to generate the rotational torque necessary to change the arrangement of the magnetic poles on the circumference, and (in principle) compared to the case where the conventional solenoid is used as the main power for movement in the direction of the movable axis. It is possible to operate with less power. Note that the rotational force (rotational torque) for rotating the rotor does not necessarily have to be electromagnetic force, and may be mechanical force from the outside.

In the present invention, the mover needs to be movable in the direction of the movable axis and held so as to prevent rotation about the movable axis. For this purpose, for example, a rotation stop mechanism is installed on the mover or the shaft to which the mover is connected to prevent rotation around the moveable axis, and only movement in the moveable axis direction is possible. And On the other hand, the rotor needs to be able to rotate around the movable axis and be held so as to prevent movement in the direction of the movable axis. For example, the rotor is arranged in an annular groove, etc. The movement in the direction is prevented, and only rotation around the movable shaft is possible.

In the present invention, if the permanent magnet of the mover and the permanent magnet of the rotor are arranged so as not to contact each other, the impact force and the adsorption sound to the magnet generated at the time of latching in the prior art are suppressed, and the latch having compliance Since the state can be maintained, there is a merit that it is not necessary to add a mechanical shock-absorbing mechanism or a spring mechanism as in the conventional solenoid.

Furthermore, in the present invention, when the rotor is rotated by applying a magnetic field from the outside to the permanent magnet of the rotor, the magnetic poles (outer periphery) arranged on the second circumference of the permanent magnet of the rotor Side magnetic pole) is used for generating rotational force, and magnetic pole (inner peripheral side magnetic pole) arranged on the first circumference of the permanent magnet of the rotor is used for magnetic attraction holding and magnetic repulsion of the mover Thus, the rotor can be rotated with a weak force from the outer peripheral side against the torque that hinders the rotation from the inner peripheral side caused by the magnetic attractive force generated between the mover and the rotor. The child rotating means can be reduced in size and power can be saved.

Further, in the present invention, as a further safety measure, in a normal holding state, an attractive force between a yoke or a permanent magnet, a lever, or the like that applies a rotational force to the rotor so that the rotor does not rotate unintentionally due to an impact or the like. It is preferable that a rotation holding force is exerted on the outer peripheral side of the rotor with a mechanical mechanism.

According to the present invention, the mover includes a first permanent magnet (a permanent magnet in which a plurality of magnetic poles are arranged so as to sandwich the movable shaft in a direction orthogonal to the movable axis) and a second permanent magnet (a direction orthogonal to the movable axis). And a permanent magnet having a plurality of magnetic poles arranged so that different poles face each other in the direction of the movable axis with respect to the magnetic pole of the first permanent magnet. By rotating the rotor, the arrangement of the magnetic poles on the first circumference of the rotor is switched between the first arrangement and the second arrangement, and the arrangement of the magnetic poles on the first circumference of the rotor is changed to the first one. In the case of the arrangement 1, the first permanent magnet of the mover is magnetically attracted and held, while the second permanent magnet of the mover is magnetically repelled so that the arrangement of the magnetic poles on the first circumference of the rotor is In the case of the second arrangement, the second permanent magnet of the mover is magnetically attracted and held, while the first permanent magnet of the mover Since the magnetic repulsion is applied, the mover may be latched in the other direction even if the mover is subjected to an impact or temporary excessive force in the other direction and the mover moves in the other direction. Therefore, the mover automatically returns to the latch in the original direction, so that a reliable operation can be obtained and safety is improved.

In addition, according to the present invention, the rotational force for rotating the rotor is used only as a pilot power to change the arrangement of the magnetic poles on the first circumference of the rotor. It is only necessary to apply a magnetic field instantaneously from a position close to the permanent magnet, and it is possible to operate with less power than that used for the main power of movement in the direction of the movable axis with a conventional solenoid. .

FIG. 1A is a diagram showing a configuration of a main part of an embodiment of a bistable moving device according to the present invention (a diagram showing a state in which a mover is latched in a state where it is moved to the other side in a movable axis direction). is there. FIG. 1B is a diagram showing an AA cross section of the bistable moving device shown in FIG. 1A. FIG. 2A is a diagram showing a configuration of a main part of one embodiment of the bistable moving device according to the present invention (a diagram showing a state where the mover is latched in a state of moving to one side in the movable axis direction). is there. FIG. 2B is a diagram showing an AA cross section of the bistable moving device shown in FIG. 2A. FIG. 3A is a diagram (a diagram corresponding to FIG. 1A) illustrating an example in which the first permanent magnet and the second permanent magnet of the mover are arranged apart from each other. FIG. 3B is a diagram showing an AA cross section of the bistable moving device shown in FIG. 3A. FIG. 4A is a diagram (a diagram corresponding to FIG. 2A) illustrating an example in which the first permanent magnet and the second permanent magnet of the mover are arranged apart from each other. FIG. 4B is a diagram showing an AA cross section of the bistable moving device shown in FIG. 4A. FIG. 5A is a diagram illustrating an example in which chamfered portions are formed at both the edges of the mover and the rotor that are close to each other. FIG. 5B is a diagram showing a side view of the bistable moving device shown in FIG. 5A. FIG. 5C is a diagram showing a side view of the bistable moving device shown in FIG. 5A. FIG. 6A is a diagram illustrating a main part of a mechanism (rotation stop mechanism) that prevents rotation about the movable axis of the movable body. FIG. 6B is a view showing a BB cross section of the main part of the rotation stopping mechanism shown in FIG. 6A. FIG. 7A is a diagram showing an example using a rotor in which two permanent magnets are arranged so as to sandwich the mover so that the magnetic pole direction is perpendicular to the movable axis. FIG. 7B is a diagram showing an AA cross section of the bistable moving device shown in FIG. 7A. FIG. 8A is a diagram showing another example of a rotor in which two permanent magnets are arranged so as to sandwich the mover so that the magnetic pole direction is perpendicular to the movable axis. FIG. 8B is a view showing a CC cross section of the rotor shown in FIG. 8A. FIG. 9A is a diagram showing another example of a rotor in which two permanent magnets are arranged so as to sandwich the mover so that the magnetic pole direction thereof is orthogonal to the movable axis. FIG. 9B is a diagram showing a DD cross section of the rotor shown in FIG. 9A. FIG. 10A is a diagram showing an example using a set of electromagnetic coils that are arranged such that the axes of the movable shafts are substantially coincident and the ends of the cores are opposed to each other. FIG. 10B is a diagram showing an AA cross section of the bistable moving device shown in FIG. 10A. FIG. 11A is a diagram illustrating an example in which the shape of the other end of the yoke facing the movable element from a direction substantially orthogonal to the movable shaft is a flat surface. FIG. 11B is a diagram showing an AA cross section of the bistable moving device shown in FIG. 11A. FIG. 12 is a diagram showing an example in which the other end portion of the yoke facing each other with the mover interposed therebetween in a direction substantially orthogonal to the movable shaft is partially connected or integrated. FIG. 13 is a diagram illustrating an example in which the shape of the other end of the yoke facing the movable element from the direction substantially orthogonal to the movable shaft is asymmetric. FIG. 14 is a diagram showing an example in which a notch is provided at the other end of the yoke facing the movable element from a direction substantially orthogonal to the movable shaft. FIG. 15 is a diagram showing an example in which the movable shaft does not intersect the line connecting the centers of the end portions of the yokes facing each other with the movable element sandwiched from a direction substantially orthogonal to the movable shaft. FIG. 16 is a diagram showing an example in which the center of the yoke end opposed to the movable shaft in a direction substantially orthogonal to the movable shaft is shifted to both sides of the movable member within a plane orthogonal to the movable shaft. FIG. 17A is a diagram showing an example in which a set of permanent magnets for generating rotational force is provided so that the rotor can advance and retreat from a direction substantially orthogonal to the movable shaft (the state where the rotor is moved to the other side in the movable shaft direction). FIG. FIG. 17B is a diagram showing an AA cross section of the bistable moving device shown in FIG. 17A. FIG. 18A is a diagram showing an example in which a set of permanent magnets for generating a rotational force is provided so that the rotor can advance and retreat from a direction substantially orthogonal to the movable shaft (moved to one side in the movable shaft direction). FIG. 18B is a diagram showing an AA cross section of the bistable moving device shown in FIG. 18A. FIG. 19A is a diagram illustrating an example in which a rotating lever is attached to the rotor and mechanical force (rotational torque) is applied from the outside to rotate the rotor. FIG. 19B is a diagram showing an AA cross section of the bistable moving device shown in FIG. 19A. FIG. 20A is a diagram illustrating another example of a mechanism (rotation stop mechanism) that prevents rotation about the movable axis of the movable body. 20B is a view showing a CC cross section of the rotation stopping mechanism shown in FIG. 20A. FIG. 21 is a diagram illustrating another example of the rotation stopping mechanism. FIG. 22 is a diagram illustrating another example of the rotation stopping mechanism. FIG. 23A is a diagram illustrating another example of the rotation stopping mechanism. FIG. 23B is a diagram showing a DD cross section of the rotation stop mechanism shown in FIG. 23A. FIG. 24A is a diagram illustrating another example of the rotation stopping mechanism. FIG. 24B is a diagram showing an EE cross section of the rotation stopping mechanism shown in FIG. 24A. FIG. 25 is a diagram illustrating a movable body (movable element) and a rotor holding structure (an example in which the rotor is arranged in a compartment). FIG. 26 is a diagram illustrating a movable body (movable element) and a rotor holding structure (an example in which the rotor is disposed outside the compartment). FIG. 27A is a diagram illustrating a configuration of a main part when the first and second permanent magnets of the mover have four magnetic poles. FIG. 27B is a diagram showing a side view of the bistable moving device shown in FIG. 27A. FIG. 27C is a diagram showing a side view of the bistable moving device shown in FIG. 27A. FIG. 28 is a diagram showing the arrangement of the yokes constituting the rotor rotating means when the first and second permanent magnets of the mover have four magnetic poles. FIG. 29 is a diagram illustrating an example in which the magnetic pole pair in the rotor is set in only two directions, ie, the upper and lower directions, when the first and second permanent magnets of the mover have four magnetic poles.

Hereinafter, the present invention will be described in detail with reference to the drawings. 1A and 1B are views showing the configuration of the main part of an embodiment of a bistable moving device according to the present invention (FIG. 1A is a front view, and FIG. 1B is a cross-sectional view taken along line AA in FIG. 1A).

1A and 1B, reference numeral 1 (1A) denotes a mover, and shafts 2-1 and 2-2 are connected to both ends thereof. The shafts 2-1 and 2-2 are non-magnetic. In the following, an integral body composed of the movable element 1 and the shafts 2-1 and 2-2 is referred to as a movable body and is denoted by reference numeral 3.

The movable body 3 is provided so as to be movable in the axial direction (Z-axis direction) of the shafts 2-1 and 2-2. That is, the movable body 3 (movable element 1) is provided so as to be movable in the movable axis direction with the Z-axis direction as the movable axis direction.

The movable body 3 (movable element 1) is held so as to prevent rotation about the Z axis. A mechanism (rotation stop mechanism) for preventing the rotation of the movable body 3 (movable element 1) around the Z axis will be described later. Hereinafter, the Z axis is referred to as a movable axis.

The mover 1 includes a cylindrical first permanent magnet 1-1 and a second permanent magnet 1-2, and the permanent magnets 1-1 and 1-2 are magnetized in the radial direction. In the present embodiment, the permanent magnets 1-1 and 1-2 are integrated, the permanent magnet 1-1 is provided on one (Z1) side in the movable shaft direction, and the permanent magnet 1-2 is moved to the movable shaft. It is provided on the other side (Z2) in the direction.

Further, in this example, the permanent magnet 1-1 has a configuration in which two magnetic poles are arranged so as to sandwich the movable axis Z in a direction orthogonal to the movable axis Z, and one surface side facing the movable axis Z is disposed. The upper side in the state of FIG. 1B is the N pole, and the other side (the lower side in the state of FIG. 1B) is the S pole.

Similarly to the permanent magnet 1-1, the permanent magnet 1-2 has a configuration in which two magnetic poles are arranged so as to sandwich the movable shaft Z in a direction orthogonal to the movable shaft Z, and are opposed to each other with the movable shaft Z interposed therebetween. One surface side (upper side in the state of FIG. 1B) is the S pole, and the other surface side (lower side in the state of FIG. 1B) is the N pole.

That is, in this example, the permanent magnets 1-1 and 1-2 are a pair of magnetic poles so that the movable axis Z is sandwiched in a direction orthogonal to the movable axis Z so that the different poles face each other in the movable axis direction. Is arranged.

In this example, the direction of the magnetic poles of the permanent magnets 1-1 and 1-2 is as shown in FIG. 1A when the direction of the vertical line L1 orthogonal to the movable axis Z is the reference direction. It is inclined by θ with respect to the reference direction.

1A and 1B, reference numeral 4 (4A) denotes a rotor, which is rotatable about the movable axis Z and is held so as to prevent movement in the direction of the movable axis. The rotor 4 is a ring magnetized in the radial direction or a cylindrical permanent magnet (in this example, a ring-shaped permanent magnet), and moves in the direction of the movable axis through the hollow portion 4a of the ring-shaped permanent magnet. A movable body 3 (movable element 1) is provided so as to be movable.

In the rotor 4, the inner peripheral surface of the ring-shaped permanent magnet is such that one surface side (upper side in the state of FIG. 1B) facing the movable shaft Z is the S pole and the other surface side (in the state of FIG. 1B). The lower surface is the N pole, and the outer peripheral surface of the ring-shaped permanent magnet is the N pole and the other surface side (the upper side in the state of FIG. The lower side in the state of FIG. 1B is the S pole.

That is, the rotor 4 has a position of the S pole on the first circumference (inner circumferential surface) centered on the movable axis Z and has a larger diameter than the first circumference centered on the movable axis Z. A first magnetic pole (upper magnetic pole pair) pair having an N-pole position on the second circumference (outer peripheral surface) and N on the first circumference (inner peripheral surface) centered on the movable axis Z The second magnetic pole pair (the lower magnetic pole pair) having the S pole position on the second circumference (outer peripheral surface) having a diameter larger than the first circumference centered on the movable axis Z. Are arranged so as to sandwich the mover 1 in a direction perpendicular to the movable axis Z.

In this example, the permanent magnets 1-1 and 1-2 of the mover 1 have the same shape and the same size. Further, the length l of the permanent magnets 1-1 and 1-2 of the mover 1 in the movable axis direction is equal to or longer than the length L of the rotor 4 in the movable axis direction.

In FIGS. 1A and 1B, reference numeral 7 (7A) designates a magnetic field in a normal / reverse direction to the rotor 4 from a direction substantially orthogonal to the movable axis Z to rotate the rotor 4 (rotate 180 °), thereby rotating the rotor 4 This is a rotor rotation means for switching the arrangement of the magnetic poles on the inner peripheral surface between the first arrangement and the second arrangement.

The rotor rotating means 7 is composed of an electromagnetic coil 5 and yokes 6-1 and 6-2 in which one end is connected or integrated with one end and the other end of the core of the electromagnetic coil 5. Yes.

In this rotor rotating means 7, the other ends of the yokes 6-1 and 6-2 are opposed to each other with the rotor 4 sandwiched from a direction substantially perpendicular to the movable axis Z. That is, they are generally opposed to a pair of adjacent magnetic poles on the outer peripheral surface of the rotor 4. Further, the other ends of the yokes 6-1 and 6-2 have an arc shape in accordance with the shape of the outer peripheral surface of the rotor 4. The arc is preferably formed concentrically with the outer periphery of the rotor 4 in order to improve the rotation efficiency.

[Normal latch operation]
In the state shown in FIGS. 1A and 1B, the rotor 4 is rotated by the rotor rotating means 7 so that the magnetic poles on the inner peripheral surface of the rotor 4 are arranged in the first arrangement (the S pole on the upper side and the N pole on the lower side). It shows the switched state.

In this first arrangement, as shown in FIG. 1, the magnetic poles on the inner peripheral surface of the rotor 4 (ring-shaped permanent magnet) have an S pole on the upper side and an N pole on the lower side. In this state, the rotor 4 magnetically attracts the permanent magnet 1-1 of the mover 1. That is, the permanent magnet 1-1 of the mover 1 is drawn into the hollow portion 4a and latched (attracted / held).

1A and 1B is a state where the rotor 4 is rotated by the rotor rotating means 7, that is, after the energization of the electromagnetic coil 5 is performed, the energization of the electromagnetic coil 5 is cut off (non-excitation). State).

In the non-excited state of the electromagnetic coil 5, the rotor 4 is moved along the direction of the magnetic pole of the permanent magnet 1-1 of the mover 1 by the magnetic attractive force between the rotor 4 and the permanent magnet 1-1 of the mover 1. The magnetic pole is stationary with the direction of the magnetic field tilted by about θ.

From this state, it is assumed that the rotor 4 is rotated (rotated 180 °) by the rotor rotating means 7 and the arrangement of the magnetic poles on the inner peripheral surface of the rotor 4 is switched to the second arrangement. That is, it is assumed that the positions of the magnetic poles on the inner peripheral surface of the rotor 4 are changed so that the lower side is the S pole and the upper side is the N pole. Then, the magnetic attractive force between the permanent magnet 1-1 of the mover 1 and the rotor 4 disappears, and a magnetic repulsive force is generated between the permanent magnet 1-1 and the rotor 4.

As a result, the permanent magnet 1-1 leaves the rotor 4, and the permanent magnet 1-2 approaches the rotor 4. Due to the resultant force with the magnetic attractive force generated between the permanent magnet 1-2, the mover 1 is moved. Moving to one side of the movable axis direction (left (Z1) direction shown in FIG. 1B), the permanent magnet 1-2 of the movable element 1 is latched by the rotor 4 (see FIGS. 2A and 2B).

2A and 2B are states in which the rotor 4 is rotated by the rotor rotating means 7, that is, after the energization of the electromagnetic coil 5 is performed, the energization of the electromagnetic coil 5 is cut off (non-excitation). State). Also in this case, the rotor 4 changes the direction of the magnetic pole along the direction of the magnetic pole of the permanent magnet 1-2 of the mover 1 by the magnetic attraction force between the rotor 1 and the permanent magnet 1-2 of the mover 1. Stand still with a tilt of ゞ θ.

Next, from this state (the state of FIGS. 2A and 2B), the rotor 4 is rotated (rotated 180 °) by the rotor rotating means 7, and the arrangement of the magnetic poles on the inner peripheral surface of the rotor 4 is the first arrangement. Suppose you switch to. In other words, it is assumed that the positions of the magnetic poles on the inner peripheral surface of the rotor 4 are changed so that the lower side is the N pole and the upper side is the S pole. Then, the magnetic attractive force between the permanent magnet 1-2 and the rotor 4 of the mover 1 disappears, and a magnetic repulsive force is generated between the permanent magnet 1-2 and the rotor 4.

As a result, the permanent magnet 1-2 leaves the rotor 4, and the permanent magnet 1-1 approaches the rotor 4, and the mover 1 is moved by the resultant force with the magnetic attractive force generated between the permanent magnet 1-1 and the permanent magnet 1-1. Moving to the other side of the movable axis direction (the right direction shown in FIG. 2B), the permanent magnet 1-1 of the movable element 1 is latched by the rotor 4 (see FIGS. 1A and 1B).

In this way, by rotating the rotor 4 by the rotor rotating means 7, the mover 1 moves in a non-contact manner with the rotor 4, and the latch on one side of the mover 1 and the latch on the other side are latched. Done. In this case, the magnetic pole on the outer peripheral surface of the rotor 4 is used for generating a rotational force, and the magnetic pole on the inner peripheral surface of the rotor 4 is used for magnetic attraction holding and magnetic repulsion of the movable element 1. The rotor 4 can be rotated with a weak force from the outer peripheral side against the torque that hinders the rotation from the inner peripheral side caused by the magnetic attractive force generated between the rotor 4 and the outer peripheral side. Thereby, size reduction and power saving of the rotor rotation means 7 are attained.

Further, since the magnetic pole 5 is tilted by about θ in the non-excited state of the electromagnetic coil 5 and the rotor 4 is stationary, the rotor 4 is efficiently rotated by receiving the electromagnetic force from the rotor rotating means 7. .

That is, when the electromagnetic coil 5 is in a non-excited state, the rotation connecting the center of the other end of the yoke 6-1 and the movable shaft Z so as to be orthogonal to the other end of the yoke 6-1. A crossing angle between a line connecting the center of the magnetic pole on the outer peripheral surface of the child 4 and the movable axis Z is θ, and a line connecting the center of the other end of the yoke 6-2 and the movable axis Z so as to be orthogonal to each other. Since the crossing angle of the line connecting the center of the magnetic pole on the outer peripheral surface of the rotor 4 and the other end of the yoke 6-2 and the movable axis Z is θ, the electromagnetic coil 5 is The electromagnetic force generated when the excitation state is established acts efficiently on the rotation of the rotor 4. When the above crossing angle is not θ, that is, when θ = 0, the clockwise and counterclockwise (clockwise and counterclockwise) rotational forces are balanced even when subjected to electromagnetic force. Therefore, it is difficult to rotate.

Thereby, the rotor 4 can be easily rotated, can be rotated with low power, and the power of the rotor rotating means 7 can be reduced. Further, the rotor 4 rotates in one direction. In this case, the crossing angle θ is preferably in a range larger than 0 ° and smaller than 90 °.

[When impact in the other direction or temporary excessive force is applied in the latched state]
Now, when the arrangement of the magnetic poles on the inner peripheral surface of the rotor 4 is the first arrangement, and the permanent magnet 1-1 of the mover 1 is magnetically attracted to the rotor 4 (see FIGS. 1A and 1B). Assume that an impact or temporary excessive force is applied to one side in the movable axis direction, and the mover 1 has moved to one side in the movable axis direction.

In this case, the mover 1 moves from the state in which the permanent magnet 1-1 is latched to the rotor 4 in the state in which the magnetic poles on the inner peripheral surface of the rotor 4 are in the first arrangement. Move to one side of When the permanent magnet 1-2 of the mover 1 approaches the rotor 4, a magnetic repulsive force is generated between the permanent magnet 1-2 and the rotor 4.

As a result, the permanent magnet 1-2 moves away from the rotor 4, and the permanent magnet 1-1 approaches the rotor 4, and due to the resultant force of the magnetic attraction generated between the permanent magnet 1-1 and the rotor 4, The mover 1 is returned to the other side in the movable axis direction.

That is, even if an impact or temporary excessive force is applied to one side in the movable axis direction and the mover 1 moves to one side in the movable axis direction, the mover 1 moves to one side in the movable axis direction. Then, without being latched, it automatically returns to the latch (original latch state) at the position moved to the other side in the movable axis direction.

Now, when the arrangement of the magnetic poles on the inner peripheral surface of the rotor 4 is the second arrangement and the permanent magnet 1-2 of the mover 1 is magnetically attracted to the rotor 4 (see FIGS. 2A and 2B). Assume that an impact or temporary excessive force is applied to the other side in the movable axis direction, and the mover 1 has moved to the other side in the movable axis direction.

In this case, the mover 1 moves from the state in which the permanent magnet 1-2 is latched to the rotor 4 in the state where the magnetic poles on the inner circumferential surface of the rotor 4 are in the second arrangement, Move to the other side. When the permanent magnet 1-1 of the mover 1 approaches the rotor 4, a magnetic repulsive force is generated between the permanent magnet 1-1 and the rotor 4.

As a result, the permanent magnet 1-1 moves away from the rotor 4, and the permanent magnet 1-2 approaches the rotor 4. Due to the resultant force of the magnetic attractive force generated between the permanent magnet 1-2 and the rotor 4, The mover 1 is returned to one side in the movable axis direction.

That is, even when an impact or temporary excessive force is applied to the other side in the movable axis direction and the mover 1 moves to the other side in the movable axis direction, the mover 1 moves to the other side in the movable axis direction. Then, without being latched, it automatically returns to the latch (original latched state) at the position moved to one side in the movable axis direction.

As described above, in the bistable moving device of the present embodiment, unless the arrangement of the magnetic poles on the inner peripheral surface of the rotor 4 is changed by rotating the rotor 4, the position is moved from one position of the mover 1. Switching the latch to the position moved to the other side and switching the latch from the position moved to the other side to the position moved to one side cannot be performed. Further, without changing the arrangement of the magnetic poles on the inner peripheral surface of the rotor 4, the mover 1 latched at the position moved to one side is moved to the other side, or latched at the position moved to the other side. When the mover 1 is moved to one side, the mover 1 automatically returns to the original latched state.

In the bistable moving device of the present embodiment, a lock mechanism called rotation of the rotor 4 is added to the movement of the mover 1 in the direction of the movable axis, and a reliable operation is obtained by adding this lock mechanism. And safety is increased.

Further, in the bistable moving device of the present embodiment, permanent magnets are used for both the mover 1 and the rotor 4, and the main power for moving the mover 1 in the direction of the movable axis is the rotor (permanent magnet). ) It works by using both the magnetic repulsive force of the mover 1 (permanent magnet) on the source side and the magnetic attraction force of the mover 1 (permanent magnet) on the destination side, rotating between The rotational force for rotating the child 4 is used as pilot power only for replacing the arrangement of the magnetic poles on the inner peripheral surface of the rotor 4. As a result, a magnetic field is instantaneously applied from a position close to the rotor (permanent magnet) 4 to generate a rotational torque necessary to change the arrangement of the magnetic poles on the inner peripheral surface of the rotor 4. Well, it can be operated with (in principle) less power than a conventional solenoid used for the main power of movement in the direction of the movable axis.

[About the mover]
In the configuration shown in FIGS. 1A and 1B, the permanent magnets 1-1 and 1-2 of the mover 1 are columnar, but may be cylindrical. By making the permanent magnets 1-1 and 1-2 of the mover 1 columnar or cylindrical, the distance from the inner peripheral surface of the rotor 4 arranged on the outside can be set close. It is magnetically efficient and convenient for miniaturization. Further, in the case of a cylindrical shape, the magnetic force becomes weaker depending on the volume and the distance between the magnetic poles, but since it can be fixed through the shaft on the inside, the shaft alignment and connection with the shaft are facilitated and the assembly is facilitated. The permanent magnets 1-1 and 1-2 of the mover 1 may be rectangular, but it can be said that a cylindrical or cylindrical shape is the best shape in terms of magnetic and space efficiency.

In the configuration shown in FIGS. 1A and 1B, the permanent magnets 1-1 and 1-2 of the mover 1 have the same shape and the same size. However, they may not necessarily have the same shape and the same size. . By making the same shape and the same size, bidirectional operation characteristics can be made uniform. On the contrary, by changing the shape and size of the permanent magnets 1-1 and 1-2, the bidirectional operation characteristics can be made asymmetric.

Further, in the configuration shown in FIGS. 1A and 1B, the length l of the permanent magnets 1-1 and 1-2 of the mover 1 in the movable axis direction is equal to or longer than the length L of the rotor 4 in the movable axis direction. It is not always necessary that l ≧ L. By setting l ≧ L, the stroke of the mover 1 can be increased.

In the configuration shown in FIGS. 1A and 1B, the permanent magnets 1-1 and 1-2 of the mover 1 are integrated. However, the permanent magnets 1-1 and 1-2 are not necessarily integrated. The members may be connected by magnetic force or adhesion. By assembling the permanent magnets 1-1 and 1-2 of the mover 1 as one body, that is, by forming the permanent magnets 1-1 and 1-2 on the same member by multi-pole magnetization, the assembly can be facilitated. Can do.

FIGS. 3A and 3B show an example (a diagram corresponding to FIGS. 1A and 1B) in which the permanent magnet 1-1 and the permanent magnet 1-2 of the mover 1 are arranged apart from each other. In the example shown in FIGS. 3A and 3B, the mover 1 is constituted by a permanent magnet 1-1 and a permanent magnet 1-2, and between the permanent magnet 1-1 and the permanent magnet 1-2 (movable axis direction). Are connected by a non-magnetic member (shaft or the like) 1-3. By using such a mover 1B, the stroke of the mover can be further increased. FIGS. 4A and 4B show diagrams corresponding to FIGS. 2A and 2B, respectively.

[Control of movable range of mover]
3A and 3B show an example in which the movable range of the mover 1 is limited. In this example, a stopper 8-1 is provided on one side of the movable axis direction, and a stopper 8-2 is provided on the other side of the movable axis direction, and the movable body 3 (movable element 1) is moved in the movable axis direction by the stopper 8-1. The movement to one side is restricted, and the movement of the movable body 3 (movable element 1) to the other side in the movable axis direction is restricted by the stopper 8-2. The range of movement is limited.

3A and 3B, the permanent magnets of the mover 1B are arranged so that the permanent magnets 1-1 and 1-2 of the mover 1B do not enter the hollow portion 4a of the rotor 4. When the movable range of the mover 1B is limited so as to stop near the inner end face of the 1-1, 1-2, the permanent magnets 1-1, 1-2 that interfere with the rotation of the rotor 4 and the inner peripheral side of the rotor 4 Since it is possible to suppress an increase in the vector component in the direction perpendicular to the movable axis Z of the attractive force between the rotor 4 and the magnetic pole, the rotor 4 can be easily rotated. Further, the inner end faces of the permanent magnets 1-1 and 1-2 of the mover 1B are slightly in the hollow portion 4a of the rotor 4 (for example, the rotor 4 is a ring-shaped permanent magnet having an outer diameter of about 13 mm and an inner diameter of about 8 mm). If it is about 0.5 mm), if the movable range of the movable element 1B is limited so as to stop when it enters, the rotor 4 can be further rotated. This is because between the magnetic pole of the permanent magnet closer to the rotor 4 of the permanent magnets 1-1 and 1-2 of the mover 1B and the magnetic pole on the inner peripheral side of the rotor 4 (different poles). In addition to the attractive force generated at the same time, it is also affected by the repulsive force generated between the magnetic poles on the outer periphery side of the rotor 4 (same poles), so that the forces balance each other and the rotor 4 This is because the force that impedes the rotation of the rotor 4 is weakened as the resultant force received from the permanent magnet 1-1 and 1-2 of the permanent magnet closer to the rotor 4.

3A and 3B, a chamfered portion may be formed on both or one of the edges of the movable element 1 and the rotor 4 that are close to each other. 5A, 5B, and 5C show an example in which chamfered portions are formed at both the edges of the movable element 1 and the rotor 4 that are close to each other. 5A is a side cross-sectional view of the main part, FIG. 5B is a view of FIG. 5A viewed from the left (Z1) direction, and FIG. 5C is a view of FIG. 5A viewed from the right (Z2) direction.

In the example shown in FIGS. 5A, 5B, and 5C, chamfered

portions

1a and 1b are formed at the edges of the permanent magnets 1-1 and 1-2 of the mover 1 that are close to and opposed to the rotor 4 respectively. Further, chamfered

portions

4b and 4c are formed at edges of the rotor 4 that are close to and opposed to the permanent magnets 1-1 and 1-2 of the mover 1 of the rotor 4.

When the edges of the mover 1 and the rotor 4 are close to each other, the magnetic attractive force suddenly increases, the characteristics of the force generated in the mover 1 change suddenly, and the force in the direction perpendicular to the movable axis Z that prevents rotation is also present. growing. By forming chamfers on both or one of the adjacent edges of the mover 1 and the rotor 4, the characteristic change becomes smooth, so that the variation between solids is reduced, and the force in the direction perpendicular to the movable axis Z is also Since the torque becomes weaker and the torque that hinders the rotation is reduced, the power of the rotor rotating means 7 can be reduced. Further, since the force component in the direction parallel to the movable axis Z is increased, the generated force of the mover 1 is improved.

[Rotation stop mechanism]
6A and 6B show a main part of an example of a mechanism (rotation stop mechanism) that prevents the movable body 3 (mover 1) from rotating about the movable axis Z. FIG. 6A is a side view of the main part, and FIG. 6B is a cross-sectional view taken along line BB in FIG. 6A. 6A and 6B, the rotor 4 and the rotor rotating means 7 are omitted.

In this example, a shaft 2-1 connected to one end of the mover 1 is inserted into a bush (linear guide) 9-1, and a shaft 2-2 connected to the other end of the mover 1 is a bush (linear guide). It is inserted through 9-2. The bushes (linear guides) 9-1 and 9-2 are fixed, and the movable body 3 (movable element 1) moves in the movable axis direction along the bushes (linear guides) 9-1 and 9-2.

Protrusions

9a and 9b are formed on the inner peripheral surfaces of the bushes (linear guides) 9-1 and 9-2. The

protrusions

9a and 9b are arranged in the direction of the movable axis on the outer peripheral surfaces of the shafts 2-1 and 2-2. The shafts 2-1 and 2-2 are inserted into bushes (linear guides) 9-1 and 9-2 by engaging the

grooves

2 a and 2 b formed along

The engagement of the

projections

9a, 9b and the

grooves

2a, 2b prevents rotation of the movable body 3 (movable element 1) about the movable axis Z. Further, the movable shaft 3 of the movable body 3 (movable element 1) is moved by the engagement between the

protrusions

9a and 9b and the

grooves

2a and 2b, that is, depending on the fixed angle of the bushes (linear guides) 9-1 and 9-2. A rotation angle around the center is set, and the inclination θ in the direction of the magnetic poles of the permanent magnets 1-1 and 1-2 of the mover 1 is set by setting the rotation angle.

[About rotor]
In the configuration shown in FIGS. 1A and 1B, the rotor 4 is a ring or a cylindrical permanent magnet. However, the rotor 4 is not limited to a ring or a cylindrical permanent magnet, and as shown in FIGS. The permanent magnets 4-1 and 4-2 having a pair of magnetic poles may be arranged so as to sandwich the mover 1 so that the magnetic pole direction is orthogonal to the movable axis Z.

In the configuration shown in FIGS. 7A and 7B, rectangular permanent magnets 4-1 and 4-2 are sandwiched between the ends of semi-ring or semi-cylindrical holding members (non-magnetic members) 4-3 and 4-4. Thus, the rotor 4 (4B) having an overall shape of a ring or a cylinder is used.

In this rotor 4B, the positions of the S pole of the permanent magnet 4-1 and the N pole of the permanent magnet 4-2 are on the inner circumferential surface (first circumference) of the rotor 4B, and the permanent magnet 4-1 The positions of the N pole and the S pole of the permanent magnet 4-2 are on the outer peripheral surface of the rotor 4B (on the second circumference). That is, the permanent magnets 4-1 and 4-2 having a pair of magnetic poles are arranged so that the movable element 1 is sandwiched so that the magnetic pole direction is perpendicular to the movable axis Z.

8A and 8B, rectangular permanent magnets 4-1 and 4-2 may be provided on a disk-shaped holding member (nonmagnetic member) 4-5. As shown in FIG. 9B, rectangular permanent magnets 4-1 and 4-2 may be fitted into the outer peripheral surface of a ring or cylindrical holding member (nonmagnetic member) 4-6. By using the holding members 4-3 to 4-6 as shown in FIGS. 7A, 7B to 9A, 9B, the amount of magnet material used can be reduced, and the sliding portion can be integrated. Increases freedom.

[About rotor rotation means]
In the configuration shown in FIGS. 1A and 1B, the rotor rotating means 7 (7A) is composed of an electromagnetic coil 5 and yokes 6-1, 6-2, and the other ends of the yokes 6-1 and 6-2 are connected. Although it is made to oppose on both sides of the rotor 4 from the direction substantially orthogonal to the movable axis Z, such a configuration is not necessarily required.

For example, as shown in FIGS. 10A and 10B, a pair of electromagnetic coils 5-1 and 5-2 are arranged with the movable shaft Z sandwiched between them so that the shaft cores are substantially coincident and one end of the core is opposed to each other. The yokes 6-3 and 6-4, one end of which is connected to or integrated with one end of the core of the set of electromagnetic coils 5-1 and 5-2, and the set of electromagnetic coils 5-1 , 5-2 and the yoke 6-5 connecting the other ends of the cores may constitute the rotor rotating means 7.

In this rotor rotating means 7 (7B), the other end of the yokes 6-3 and 6-4 in which one end is connected to or integrated with one end of the core of the set of electromagnetic coils 5-1 and 5-2. The ends are opposed to each other with the mover 1 sandwiched from a direction substantially orthogonal to the movable axis Z. Further, the shape of the other end portion of the yokes 6-3 and 6-4 is formed in an arc shape in accordance with the shape of the outer peripheral surface of the rotor 4. The arc is preferably formed concentrically with the outer periphery of the rotor 4 in order to improve the rotation efficiency.

Further, in the configuration shown in FIGS. 1A and 1B, the shape of the other end of the yokes 6-1 and 6-2 is an arc shape in accordance with the shape of the outer peripheral surface of the rotor 4, but in FIGS. As shown, the shape of the other end of the yokes 6-1 and 6-2 may be a flat surface. If the shape of the other end of the yokes 6-1 and 6-2 is an arc, the generation efficiency of the rotational force is improved (it can be rotated with a low magnetic flux (low power)). It is preferable that both end portions of the arcs of the opposing yokes 6-1 and 6-2 have a small cross-sectional area (high magnetic resistance) and face each other in close proximity to increase the rotational force.

Further, in the configuration shown in FIGS. 1A and 1B, a space is provided in the abutting portion at the other end of the yokes 6-1 and 6-2, but no space is provided in the abutting portion as shown in FIG. It may be connected to or integrated with. When the butted portions of the other ends of the yokes 6-1 and 6-2 are connected or integrated, that is, when the other ends of the yokes 6-1 and 6-2 are partially connected or integrated, Although the generation efficiency decreases, alignment and assembly become easy.

In the configuration shown in FIGS. 1A and 1B, the setting of the crossing angle θ in the non-excited state of the electromagnetic coil 5 is performed by setting the rotation angle about the movable axis Z of the mover 1. The asymmetric shape or arrangement of 6-1 and 6-2 may be used. An example is shown in FIGS.

In the example shown in FIG. 13, the shape of the other end of the yokes 6-1 and 6-2 is asymmetrical so that the rotor 4 and the yokes 6-1 and 6-2 are in the non-excited state of the electromagnetic coil 5. The crossing angle θ is generated by setting a stable position where the rotation angles of the rotor 4 are balanced by the attractive force acting between the other end portions of the two.

In the example shown in FIG. 14, the

notches

6a and 6b are provided at the other ends of the yokes 6-1 and 6-2, so that the rotor 4 and the yokes 6-1 and 6 are in the non-excited state of the electromagnetic coil 5. The crossing angle θ is generated by setting a stable position where the rotation angle of the rotor 4 is balanced by the attractive force acting between the other end portion of -2.

As described above, when the crossing angle θ is set with the asymmetric shapes or arrangements of the yokes 6-1 and 6-2, the holding torque for holding the rotor 4 at a predetermined angular position works, so that the electromagnetic coil It is possible to prevent rotation due to factors other than excitation and prevent malfunction.

In the example shown in FIGS. 13 and 14, the direction of the magnetic pole of the mover 1 is not shown, but in order to maximize the generated force in the direction of the movable axis Z of the mover 1, the magnetic pole of the mover 1 Is preferably set by a rotation stopping mechanism so as to match the direction of the magnetic pole of the rotor 4.

Further, as shown in FIG. 15, in the configuration shown in FIGS. 11A and 11B, the centers of the end portions of the yokes 6-1 and 6-2 facing each other with the movable element 1 sandwiched from the direction substantially orthogonal to the movable axis Z. And the movable axis Z may not be crossed.

In addition, as shown in FIG. 16, in the configuration shown in FIGS. 11A and 11B, the centers of the end portions of the yokes 6-1 and 6-2 facing each other with the movable element 1 sandwiched from the direction substantially orthogonal to the movable axis Z. May be shifted to both sides of the mover 1 within a plane orthogonal to the movable axis Z.

15 and 16 makes it easier to rotate with the excitation of the electromagnetic coil 5, compared to the configuration shown in FIGS. 11A and 11B, so that it can be rotated with low power, and the rotor rotating means 7 Power saving can be achieved.

Further, as shown in FIGS. 17A and 17B, a set of permanent magnets 10-1 and 10-2 for generating a rotational force is provided so that the rotor 4 can advance and retreat from a direction substantially orthogonal to the movable axis Z. It may be.

In the example shown in FIGS. 17A and 17B, an arc-shaped permanent magnet 10-1 for generating a rotational force is provided on the upper side of the rotor 4 with the S pole as the rotor 4 side, and an arc-shaped permanent magnet for generating the rotating force. 10-2 is provided on the lower side of the rotor 4 with the S pole as the rotor 4 side, and the push button 11-1 and the coil spring 12-1 are attached to the permanent magnet 10-1 for generating the rotational force, thereby rotating. By making the permanent magnet 10-1 for generating force freely movable with respect to the rotor 4, and by attaching the push button 11-2 and the coil spring 12-2 to the permanent magnet 10-2 for generating rotating force, The generating permanent magnet 10-2 is movable forward and backward with respect to the rotor 4.

In the rotor rotating means 7 (7C) using the permanent magnets 10-1 and 10-2 for generating rotational force, when the permanent magnet 1-1 of the mover 1 is magnetically attracted to the rotor 4, When the push button 11-2 is pressed and the permanent magnet 10-2 for generating rotational force is brought close to the rotor 4, the magnetic pole (S pole) facing the rotor 4 of the permanent magnet 10-2 for generating rotational force And the magnetic repulsion between the outer peripheral surface of the rotor 4 and the magnetic pole (S pole) and the magnetic attraction with the other magnetic pole (N pole), the rotor 4 rotates and the magnetic poles are arranged on the inner peripheral surface. The first arrangement is switched to the second arrangement. As a result, the movable body 3 moves to one side in the movable axis direction, and the permanent magnet 1-2 of the movable element 1 is latched by the rotor 4 (see FIGS. 18A and 18B).

Further, when the permanent magnet 1-2 of the mover 1 is magnetically attracted to the rotor 4 (see FIG. 18), the push button 11-1 is pushed and the permanent magnet 10-1 for generating rotational force rotates. When approached to the rotor 4, the magnetic repulsion between the magnetic pole (S pole) facing the rotor 4 of the permanent magnet 10-1 for generating rotational force and the magnetic pole (S pole) on the outer peripheral surface of the rotor 4 and the other Due to magnetic attraction with the magnetic pole (N pole), the rotor 4 rotates and the arrangement of the magnetic poles on the inner peripheral surface is switched from the second arrangement to the first arrangement. Thereby, the movable body 3 moves to the other side in the movable axis direction, and the permanent magnet 1-1 of the movable element 1 is latched by the rotor 4 (see FIGS. 17A and 17B).

In the configuration shown in FIGS. 1A and 1B and the configuration shown in FIGS. 17A and 17B, a magnetic field is applied to the rotor 4 from the outside. However, as shown in FIGS. (13-1, 13-2) are attached, and a mechanical force (rotational torque) is applied to the rotary lever 13 from the outside to rotate the rotor 4, so that the magnetic poles on the inner peripheral surface of the rotor 4 are arranged. You may make it replace.

In this configuration, the rotor rotating means 7 (7D) is constituted by the rotating lever 13 and means for applying a mechanical force to the rotating lever 13 from the outside. Although not shown in FIGS. 19A and 19B, an actuator such as a manual motor or a motor is conceivable as means for applying a mechanical force to the rotary lever 13 from the outside.

When a magnetic field is applied to the rotor 4 from the outside, the rotor 4 can be driven through a non-magnetic shield. For example, the rotor 4 in the explosion-proof area in the tube can be driven without contact.

[Other examples of rotation stop mechanism]
In the configuration shown in FIGS. 1A and 1B, as shown in FIGS. 6A and 6B, by providing

protrusions

9a and 9b for rotation prevention on bushes (linear guides) 9-1 and 9-2, the movable body 3 (movable) Although the rotation about the movable axis Z of the child 1) is prevented, such a rotation stopping mechanism is not necessarily required.

20A and 20B show another example of the rotation stop mechanism. 20A is a side view of the main part, and FIG. 20B is a cross-sectional view taken along the line CC in FIG. 20A. 20A and 20B, the rotor 4 and the rotor rotating means 7 are omitted.

In this example, the bushes (linear guides) 9-1 and 9-2 are not provided with a rotation-preventing protrusion, and the shafts 2-1 and 2-2 connected to the mover 1 can be directly moved and rotated. To support. The bushes (linear guides) 9-1 and 9-2 are fixed. In this example, the bush (linear guide) 9-1 is fixed (press-fitted) to the base member (nonmagnetic member) 14. The bush (linear guide) 9-2 is fixed (press-fit) to another member.

Reference numeral 15 denotes an external driven body that receives a force in the direction of the movable axis of the mover 1. The movement of the movable member in the direction of the movable axis is guided using a plurality of pins 16 provided on the base member 14 as a guide. The movement in the rotation direction around Z is restricted by the pin 16.

The tip of the shaft 2-1 is connected (fixed) to the driven body 15, and the movement of the movable body 3 (movable element 1) in the movable axis direction guided by bushes (linear guides) 9-1 and 9-2. Is transmitted to the actuated body 15. Further, the rotation of the driven body 15 is restricted by the pin 16, so that the rotation about the movable axis Z of the movable body 3 (mover 1) is prevented.

21 to 24A and 24B show another example of the rotation stop mechanism. In the example shown in FIG. 21, a plurality of pins 16 provided on the base member 14 are inserted into holes 15a provided on the operated body 15 (for example, a valve body of a shut-off valve), whereby the operated body 15 The movement of the movable body 15 around the movable axis Z is regulated (the rotation of the movable body 3 (movable element 1) around the movable axis Z is prevented). )

In the example shown in FIG. 22, the movement of the driven body 15 in the direction of the movable axis is performed by inserting a plurality of pins 17 provided on the back side of the driven body 15 into the holes 14 a provided in the base member 14. The movement of the driven body 15 in the rotational direction around the movable axis Z is restricted (rotation around the movable axis Z of the movable body 3 (movable element 1) is prevented).

In the example shown in FIGS. 23A and 23B, the plurality of projections 15b provided on the back surface side of the body 15 to be driven and the plurality of projections 14a provided on the base member 14 are engaged with each other, thereby The movement of the movable body 15 around the movable axis Z is regulated (the rotation of the movable body 3 (movable element 1) around the movable axis Z is prevented). )

In the example shown in FIGS. 24A and 24B, the columnar convex portion 15 c provided on the back surface side of the driven body 15 is inserted into the square hole 14 b provided in the base member 14, thereby moving the movable shaft of the driven body 15. The movement in the direction is guided, and the movement of the driven body 15 in the rotation direction around the movable axis Z is restricted (rotation of the movable body 3 (movable element 1) around the movable axis Z is prevented). I have to.

With the configuration shown in FIGS. 21 to 24A and 24B, it is possible to prevent malfunction when some external force (rotational force about the movable axis Z) is applied to the actuated body 15. It becomes possible not to provide the rotation stopper on the shaft side.

FIG. 25 and FIG. 26 illustrate the holding structure of the movable body 3 (movable element 1) and the rotor 4. In FIG. 25 and FIG. 26, the rotor rotating means 7, the rotation stopping mechanism of the movable body 3 (movable element 1), and the like are omitted.

In the example shown in FIG. 25, the movable body 3 (movable element 1) and the compartment 22 formed by the base member (nonmagnetic member) 14 (14 A) and the tubular member (nonmagnetic member) 21 (21 A) are provided. The rotor 4 is provided. The shaft 2-1 of the movable body 3 is inserted into a bush (linear guide) 9-1 fixed (press-fitted) to the base member 14A, and the shaft 2-2 of the movable body 3 is fixed in the pipe of the tubular member 21A ( The bush (linear guide) 9-2 is press-fitted. The rotor 4 is held in a space in the compartment 22 sandwiched between the base member 14A and the tubular member 21A so as to be rotatable about the movable axis Z and to prevent movement in the movable axis direction. .

In the example shown in FIG. 26, the movable body 3 (movable element 1) is provided in the internal compartment 22 formed by the base member 14 (14B) and the tubular member 21 (21B). The shaft 2-1 of the movable body 3 is inserted into a bush (linear guide) 9-1 fixed (press-fitted) to the base member 14B, and the shaft 2-2 of the movable body 3 is fixed in the pipe of the tubular member 21B ( The bush (linear guide) 9-2 is press-fitted. The rotor 4 is held in a groove 23 provided outside the tubular member 21B so as to be rotatable about the movable axis Z and to prevent movement in the movable axis direction.

[About the permanent magnet of the mover]
In the structure shown in FIGS. 1A and 1B, the permanent magnets 1-1 and 1-2 constituting the mover 1 have two magnetic poles, but four or more magnetic poles (for example, cylindrical radial magnetization (in the case of a cylinder, the inner Since there are magnetic poles on the circumferential side, a multi-pole permanent magnet of 8 magnetic poles)) may be used.

FIGS. 27A to 27C are configuration diagrams in the case where the permanent magnets 1-1 and 1-2 of the mover 1 are columnar permanent magnets and the columnar permanent magnets are four magnetic poles. 27A is a side cross-sectional view of the main part, FIG. 27B is a view of FIG. 27A viewed from the left (Z1) direction, and FIG. 27C is a view of FIG. 27A viewed from the right (Z2) direction. 27A to 27C, the rotor rotating means 7 and the like shown in FIGS. 1A and 1B are omitted.

In this example, the circumferential direction of the permanent magnet 1-1 of the mover 1 is divided into four, and magnetic poles are formed on adjacent circumferential surfaces at 90 ° intervals. In this example, the S pole is on the first circumferential surface (the upper surface in FIG. 27B) that is adjacent at 90 ° intervals, and the second surface (the left surface in FIG. 27B). The N pole is formed, the S pole is formed on the third surface (the lower surface in FIG. 27B), and the N pole is formed on the fourth surface (the right surface in FIG. 27B). .

Similarly, the circumferential direction of the permanent magnet 1-2 of the mover 1 is divided into four, and magnetic poles are formed on adjacent circumferential surfaces at 90 ° intervals. In this example, an N pole is formed on the first circumferential surface adjacent at 90 ° intervals (the upper surface in FIG. 27C), and an S pole is formed on the second surface (the left surface in FIG. 27C). The N pole is formed on the third surface (the lower surface in FIG. 27C), and the S pole is formed on the fourth surface (the right surface in FIG. 27C).

Accordingly, the rotor 4 is also a ring-shaped permanent magnet having a total of 8 magnetic poles with 4 magnetic poles on the inner peripheral surface and 4 magnetic poles on the outer peripheral surface. That is, the circumferential direction of the inner peripheral surface of the rotor 4 is divided into four, and magnetic poles are formed on adjacent circumferential surfaces at 90 ° intervals. In this example, the N pole is formed on the first circumferential surface (the upper surface in FIG. 27B) adjacent at 90 ° intervals, and the S pole is formed on the second surface (the left surface in FIG. 27B). An N pole is formed on the third surface (the lower surface in FIG. 27B), and an S pole is formed on the fourth surface (the right surface in FIG. 27B).

Similarly, the circumferential direction of the outer inner circumferential surface of the rotor 4 is divided into four, and magnetic poles are formed on adjacent circumferential surfaces at 90 ° intervals. In this example, the S pole is formed on the first circumferential surface (the upper surface in FIG. 27B) adjacent at 90 ° intervals, and the N pole is formed on the second surface (the left surface in FIG. 27B). The S pole is formed on the third surface (the lower surface in FIG. 27B), and the N pole is formed on the fourth surface (the right surface in FIG. 27B).

In the structure shown in FIGS. 27A to 27C, when the rotor rotating means 7 is provided, the other ends of the yokes 6-1 and 6-2 are almost the same as the movable shaft Z as shown in FIG. They are arranged so as to be substantially opposed to a pair of adjacent magnetic poles on the outer peripheral surface of the permanent magnet of the rotor 4 from the orthogonal direction.

As shown in FIG. 28, when the yokes 6-1 and 6-2 are arranged, the center of the other end of the yoke 6-1 and the movable axis Z are orthogonal to each other when the electromagnetic coil 5 is not excited. Let θ be the intersection angle between the connecting line and the line connecting the center of the magnetic pole on the outer peripheral surface of the permanent magnet of the rotor 4 substantially opposite to the other end of the yoke 6-1 and the movable axis Z. In addition, on the outer peripheral surface of the permanent magnet of the rotor 4 that is substantially opposite to the other end of the yoke 6-2 and a line connecting the center of the other end of the yoke 6-2 and the movable shaft Z so as to be orthogonal to each other. It is desirable that the crossing angle between a line connecting the center of the magnetic pole and the movable axis Z so as to be orthogonal is θ, and to be generated.

For example, when the permanent magnets 1-1 and 1-2 constituting the mover 1 have four magnetic poles, the pair of magnetic poles in the rotor 4 may be in only two directions, as shown in FIG. However, when the magnetic pole pair is in only two directions up and down, they are opposite to each other with the same polarity, so that rotation by a coil (electromagnetic force) is difficult. However, the rotor 4 can be composed of magnetic pole pairs in two upper and lower directions. Is possible.

In the above-described embodiment, the permanent magnet is made of, for example, a rare earth magnet or ferrite magnet such as neodymium or samarium cobalt, or a bonded magnet formed by mixing a resin with a magnetic powder thereof. The yoke is made of a soft magnetic material (for example, an electromagnetic steel plate, electromagnetic soft iron, permalloy, etc.) having a large saturation magnetic flux density and magnetic permeability, a small coercive force, and a small magnetic hysteresis. The nonmagnetic member such as the shaft is made of, for example, aluminum, SUS316 (L), brass, resin, or the like. Although the performance is lowered, from the viewpoint of cost and the like, it is also conceivable to select a slightly magnetic material (for example, SUS304) as the nonmagnetic member instead of the nonmagnetic material as described above.

[Extension of the embodiment]
The present invention has been described above with reference to the embodiment. However, the present invention is not limited to the above embodiment. Various changes that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the technical idea of the present invention.

The bistable movement device according to the present invention can be applied to various uses such as a shut-off valve, an electromagnetic switch, and an electronic lock.

1 (1A, 1B) ... movable element, 1-1, 1-2 ... permanent magnet, 2-1,2-2 ... shaft, 3 ... movable body, 4 (4A, 4B) ... rotor, 4-1, 4-2 ... Permanent magnet, 5 ... Electromagnetic coil, 6-1, 6-2 ... Yoke, 7 (7A, 17B, 17C) ... Rotor rotating means.

Claims

A plurality of magnetic poles that are movable in the direction of the movable axis, are held so as to prevent rotation about the movable axis, and are arranged so as to sandwich the movable axis in a direction perpendicular to the movable axis; One permanent magnet is disposed so that the movable shaft is sandwiched in a direction orthogonal to the movable shaft, and opposite poles are opposed to each other in the movable shaft direction with respect to the magnetic pole of the first permanent magnet. A mover comprising a second permanent magnet having a plurality of magnetic poles;
It is rotatable about the movable shaft and is held so as to prevent movement in the direction of the movable shaft, and the position of one magnetic pole is on the first circumference centered on the movable shaft, and the other magnetic pole A plurality of magnetic pole pairs whose positions are on a second circumference centered on the movable shaft having a diameter larger than that of the first circumference so as to sandwich the mover in a direction perpendicular to the movable shaft A rotor with permanent magnets arranged;
Rotator rotating means for rotating the rotor to change the arrangement of magnetic poles on the first circumference of the rotor between the first arrangement and the second arrangement;
The rotor is
When the arrangement of the magnetic poles on the first circumference is the first arrangement, the first permanent magnet of the mover is magnetically attracted and held, while the second permanent magnet of the mover is magnetically repelled,
When the arrangement of the magnetic poles on the first circumference is the second arrangement, the second permanent magnet of the mover is magnetically attracted and held, while the first permanent magnet of the mover is magnetically repelled. A bistable moving device characterized by that.
The bistable moving device according to claim 1, wherein
The first and second permanent magnets of the mover are columnar or cylindrical.
The bistable moving device according to claim 1, wherein
The bistable movement device characterized in that the first and second permanent magnets of the mover have the same shape and the same size.
The bistable moving device according to claim 1, wherein
The length of the first permanent magnet and the second permanent magnet of the mover in the movable axis direction is equal to or longer than the length of the rotor in the movable axis direction.
The bistable moving device according to claim 1, wherein
The bistable movement device characterized in that the first and second permanent magnets of the mover are integrated.
The bistable moving device according to claim 1, wherein
The bistable movement device characterized in that the first and second permanent magnets of the mover are spaced apart.
The bistable movement device according to claim 6, wherein
The bistable movement apparatus characterized by the 1st and 2nd permanent magnet of the said needle | mover being connected by the nonmagnetic member.
The bistable movement device according to claim 6, wherein
A chamfered portion is formed on both or one of the adjacent edges of the movable element and the rotor.
The bistable moving device according to claim 1, wherein
And a nonmagnetic shaft that is movable in the direction of the movable axis and is held so as to prevent rotation about the movable axis.
The movable element is connected in the direction of the movable axis of the nonmagnetic shaft.
The bistable moving device according to claim 1, wherein
And a means for preventing rotation about the movable shaft; and a nonmagnetic shaft that is movably held in the direction of the movable shaft and connected to the means for preventing rotation.
The movable element is connected in the direction of the movable axis of the nonmagnetic shaft.
The bistable moving device according to claim 1, wherein
The rotor is formed of a ring magnetized in the radial direction or a cylindrical permanent magnet.
The bistable moving device according to claim 1, wherein
The permanent magnet of the rotor is
A bistable moving device comprising a plurality of permanent magnets arranged so as to sandwich the mover and having a pair of magnetic poles whose magnetic pole directions are orthogonal to the movable shaft.
The bistable moving device according to claim 1, wherein
The rotor rotating means includes
A bistable moving device characterized in that the rotor is rotated by applying a mechanical force from the outside.
The bistable moving device according to claim 1, wherein
The rotator rotating means rotates the rotor by applying a magnetic field from the outside to the permanent magnet of the rotor.
The bistable moving device according to claim 14,
The rotator rotating means rotates the rotor by bringing a permanent magnet closer to the movable shaft from a direction substantially perpendicular to the movable shaft and applying a reverse magnetic field to the permanent magnet of the rotor. Mobile equipment.
The bistable moving device according to claim 14,
The rotor rotating means includes an electromagnetic coil, and first and second yokes having one end connected to or integrated with one end and the other end of the core of the electromagnetic coil,
The other ends of the first and second yokes are
A bistable moving device arranged so as to be substantially opposed to a pair of adjacent magnetic poles on a second circumference of the permanent magnet of the rotor from a direction substantially orthogonal to the movable shaft. .
The bistable movement device according to claim 16,
A line connecting the center of the other end of the first yoke and the movable shaft so as to be orthogonal to a second end of the permanent magnet of the rotor that is generally opposed to the other end of the first yoke. A crossing angle between the center of the magnetic pole on the circumference and the line connecting the movable axis perpendicularly, and a line connecting the center of the other end of the second yoke and the movable axis orthogonally An intersection angle between a line connecting the movable axis and the center of the magnetic pole on the second circumference of the permanent magnet of the rotor, which is substantially opposite to the other end of the second yoke, is A bistable moving device characterized in that when the electromagnetic coil is in a non-excited state, the range is larger than 0 ° and smaller than 90 ° when viewed from the movable axis direction.
The bistable movement device according to claim 17,
The crossing angle is set by setting a rotation angle about the movable axis of the mover.
The bistable movement device according to claim 17,
The crossing angle is set by making the first and second yokes have an asymmetric shape or arrangement.
The bistable movement device according to claim 16,
A shape of the other end of each of the first and second yokes is an arc shape.
The bistable movement device according to claim 16,
The other end of each of the first and second yokes is partially connected or integrated.
The bistable moving device according to claim 1, wherein
The bistable moving device further comprises means for limiting a movable range of the movable element in the movable axis direction.