JPH0140595B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an actuator, and more particularly, to an actuator that presses or pushes various driven bodies and actuated bodies to perform desired forward and backward movement, and reciprocating and moving operations.

As is well known, actuators use the rotational force of various motors, the pushing force or tensile force of fluid pressure actuated devices, or the attractive force or repulsive force of electromagnets to perform desired operations. Conventionally, there have been few devices that can finely control the operation and variably control the operating stroke, and the control of positioning, fixing, etc. has also been relatively complicated.

SUMMARY OF THE INVENTION In view of the above-mentioned conventional circumstances, it is an object of the present invention to provide an actuator that is relatively easy to control and whose operation can be finely controlled and whose operating stroke can be variably controlled.

The present invention will be explained below with reference to illustrated embodiments.
FIG. 1 shows an actuator showing one embodiment of the present invention. In the same figure, reference numeral 2 denotes an operating shaft, and by reciprocating the operating shaft 2 from side to side as shown by an arrow 20 with the structure shown below, the driven body 9 can be pushed or pressed or pulled at one end. The desired operation is performed by alternating the return movements.
1 is a basic structure that supports the operating shaft 2 so as to be slidable in the axial direction by stopping rotation with a key and a keyway as necessary; 3 is a fixed member fixed to the operating shaft 2; 5
is a swash plate as shown in FIGS. 2a and 2b, and this swash plate 5 is a disc-shaped member formed by punching a relatively thin steel material or a spring material, and has an inner hole 5b in the center.
The inner hole 5b has a rotation preventing keyway 5c with respect to the shaft as required, and a plurality of notches 5a are formed in the outer and inner circumferential edges in a radially radially uniform manner, and in the center On the other hand, the disk part is inclined at a predetermined angle to one side and formed into a cap shape, that is, a truncated conical shape, and 21 is a laminated structure in which a plurality of swash plates 5 formed in this way are stacked one on top of the other. The body 6 is a pressing body of the swash plate laminated body 21 provided coaxially and slidably on the operating shaft 2, and is connected to the fixed member 3 by an elastic cylindrical bellows 6a to prevent separation beyond the electromagnetic attraction limit. 7 is fixed to the fixed member 3 or the pressing member 6, and the operating shaft 2 is arranged so that the vicinity of the inner peripheral end of the inner hole 5b of the swash plate 5 can be crushed and released between the pressing member 6 and the fixed member 3. An electromagnet 8 for controlling the inclination of the swash plate laminate 21 consisting of a cylindrical iron core and a coil coaxially disposed around the swash plate 5 is located on the outer peripheral edge side of the swash plate 5 and is spaced a predetermined distance apart. Electromagnets for attracting and moving the swash plate are positioned and fixed at, for example, four positions equally divided around the circumference, and reference numeral 4 denotes a compression spring disposed between the fixing member 3 and the base material 1. The member 3 is adjusted to return to approximately the predetermined position between the base bodies 1,1. 22 is a sequential excitation control circuit,
The electromagnet 8 is excited and controlled through the lead wire 23, and the electromagnet 7 is excited and controlled through the lead wire 24. As the excitation control order will be explained in detail below, the electromagnet 7 is first controlled to excite, then the electromagnet 8 is controlled to excite, and then the excitation is released in an appropriate order to operate as described above. The shaft 2 is reciprocated left and right as shown by the arrow 20 to drive and control the driven body 9.

That is, in the state shown in FIG. 1, the sequential excitation control circuit 22 first excites the electromagnet 7 via the lead wire 24. Then, due to the attractive magnetic force of the electromagnet 7, the pressing body 6 is attracted by the electromagnet 7 and moved toward the electromagnet 7. As a result, the laminated body 21 of the swash plate 5 is pressed and crushed by the pressing body 6, the inclination angle changes, and it becomes an upright state as shown by the dotted line, and its outer peripheral end 5P is located at a position close to the magnetic pole of the electromagnet 8. I'm coming. At this time, the gap between the outer peripheral end 5P of the swash plate 5 and the electromagnet 8 changes from e ₀ to e ₁ as shown in the figure. After changing the inclination angle of the swash plate 5 in this way and bringing its outer peripheral end close to the electromagnet 8, the sequential excitation control circuit 22 further controls the lead wire 23.
The electromagnet 8 is excited via the . Then, the outer peripheral end of the swash plate 5 is further drawn toward the electromagnet 8, that is, to the right in this figure, by the attractive magnetic force of the electromagnet 8. As a result, the entire stacked body 21 of the swash plate 5 moves to the right, and the operating shaft 2 is moved to the right via the fixing member 3 against the action of the spring 4, so that the right end of the operating shaft 2 is moved to the right. to press or push the driven body 9 to perform a desired operation. After pressing the driven body 9 with the actuating shaft 2, the control circuit 22 sequentially controls the excitation of the electromagnet 8 by turning off the excitation of the electromagnet 7 in advance, in the reverse order of the above, at the same time, or after the excitation of the electromagnet 8. When the electromagnets 8 and 7 are de-energized, the actuating shaft 2 is released from the electromagnet 8's restraint on the swash plate stack 21, moves to the left by the action of the spring 4, and returns to its original position. The swash plate 5 also returns to its original tilted state by a self-restoring action. By repeating the above operations in the same manner under the control of the excitation sequential control circuit 22, a reciprocating actuator is obtained. The stroke of the operating shaft 2 at this time is S. In the above case, when the electromagnet 8 is excited, the outer peripheral end 5P of the swash plate stack 21
If the dimensions and inclination are such that the surface and the magnetic pole surface of the electromagnet 8 are in close contact with each other firmly, the actuating shaft 2 will be positioned and fixed at that position while being moved in a predetermined manner during excitation and adsorption. In addition, if the magnetic pole surface and the outer circumferential end 5P surface are configured with dimensions and inclinations such that they attract each other and face each other with a slight gap, for example, a plurality of electromagnets 8 and swash plate 5 may be arranged on the outer periphery of the electromagnet 8 and the swash plate 5. It is also possible to rotate the swash plate laminate 21, and therefore the shaft 2, by sequentially controlling the excitation.

The actuator shown in FIG. 3, which is another embodiment of the present invention, similarly to the actuator shown in FIG. However, instead of the single swash plate 5 stack 21 and electromagnet 7 shown in FIG. 1, a pair of swash plates 5A, 5B stack 21A, 21B and the like, and in order to adjust the inclination angle of the swash plates 5A, 5B,
Small motor 26A, 26B, worm 27A, 2
7B, and worm wheels 28A and 28B are respectively provided symmetrically on the operating shaft 2, and the same members as those shown in FIG. 2 are given the same reference numerals. Furthermore, although not shown in this Figure 3,
A sequential excitation control circuit 22 as shown in the figure is provided, whereby small motors 26A, 26B and electromagnets 8A, 8B are appropriately driven and excitation controlled.
It is designed to operate as an actuator.

In FIG. 3, first the small motors 26A, 26
When B is driven, the worms 27A, 27B rotate, and the worm wheels 28A, 28B that mesh with the worms 27A, 27B also rotate. and is integrally fixed to the worm wheels 28A, 28B, and
A nut 29 is rotatably provided coaxially with the operating shaft 2 at a predetermined fixed position in the axial direction on the operating shaft 2.
A and 29B also rotate together. Nuts 29A, 2
When the nut 9B rotates, the internal threads 31A and 31B formed on the inner peripheral surfaces of the nuts 29A and 29B are movable in the axial direction of the operating shaft 2.
The keys and key grooves 6a and 6b prevent the rotation of the pressing bodies 6A and 6B, respectively, and are engaged with the external threads 30A and 30B formed on the outer peripheral surfaces of the pressing bodies 6A and 6B.
A and 6B move forward and backward along the operating axis 2. and,
By moving the pressing bodies 6A, 6B back and forth, the stacked bodies 21A, 21B of each swash plate 5A, 5B are pinched and crushed or released between the fixing members 3A, 3B and the pressing bodies 6A, 6B, and the stacked bodies 21A, Adjust the inclination angle of 21B. As a result, the outer peripheral surfaces of the stacked bodies 21A of the left swash plate 5A are positioned slightly to the right with respect to the electromagnets 8A, and the stacked bodies 21B of the right swash plate 5B are positioned as shown by dotted lines. , is adjusted so that its outer circumferential surface faces the electromagnet 8B in a position that does not shift. After adjusting the laminated bodies 21A and 21B of the swash plates 5A and 5B in this manner, first, the electromagnet 8A is excited and controlled by a sequential excitation control circuit (not shown), and the laminated body 21A is
is attracted to the electromagnet 8A by this attractive magnetic force, moves toward the electromagnet 8A against the spring 4A, and comes to a position where it faces the electromagnet 8A and does not shift.
As the stacked body 21A moves to the left, the actuating shaft 2 also moves to the left. On the other hand, laminate 2
1A moves the operating shaft 2 to the left, the right stacked body 21B also moves to the left, and the stacked body 21B that was facing the electromagnet 8B without shifting
The outer peripheral surface of is shifted from facing the electromagnet 8B.

After the actuation shaft 2 has moved to the left in this way, the excitation of the electromagnet 8A is canceled by the sequential excitation control circuit, and when the right electromagnet 8B is excitation-controlled, the laminated body that has deviated from facing the electromagnet 8B is removed. 21B is attracted against the spring 4B by the attractive magnetic force of the electromagnet 8B and moves to the right, and the outer peripheral surface of the stacked body 21B comes to a position where it faces the electromagnet 8B and does not shift. As a result, the operating shaft 2 is also moved to the right,
The right end portion pushes or pushes the driven body 9 to cause it to perform a desired operation. When the actuation shaft 2 moves to the right in this manner, the left stacked body 21A moves to a position where its outer peripheral surface is slightly shifted to the right with respect to the electromagnet 8A, and returns to the initial state. Thus, by repeating the above-mentioned operation, the actuating shaft 2 is repeatedly pushed back and forth left and right as shown by the arrow 20, and its right end presses or pushes the driven body 9 to perform the desired operation. It is something that can be done.

The above is an example of the operation of the device shown in FIG.
Swash plate laminates 21A, 21B and electromagnets 8A, 8B
By providing two sets of actuating shafts and sequentially controlling their excitation, the axial reciprocating stroke of the actuating shaft 2 can be approximately doubled and the movement can be performed in sequential steps. The configuration and operation will be explained below.

First, the pressing and crushing of each swash plate stack 21A and 21B is released, and the outer peripheral end of the swash plate stack 21A is moved leftward from the electromagnet 8A by about twice the predetermined step, for example, from the electromagnet 8A as shown in FIG. In contrast, the outer peripheral end of the other swash plate stack 21B is shifted to the left with respect to the electromagnet 8B by approximately twice the shift of the swash plate stack 21A. The positions of the fixing members 3A, 3B and the springs 4A, 4B are adjusted accordingly. Therefore, first, the motor 2 is
6A is rotationally driven, the nut 29A is rotated to advance the pressing body 6A, and when the swash plate laminate 21A is pressed and compressed between the fixing member 3A, the swash plate laminate 2
When the outer peripheral end of the electromagnet 8A increases in diameter and deviates to the right, for example by about 1/2 of the deviation length, and approaches the magnetic pole face of the electromagnet 8A, when the electromagnet 8A is excited, the swash plate laminate The outer peripheral end of 21A is sucked into a minute gap state or adsorbed into a fixed contact state, and the actuating shaft 2 is moved to the right by about 1/2 of the displacement length (predetermined stroke) against the springs 4A and 4B. urge
At this time, the other swash plate stack 21B moves to the right and is in a state where there is a deviation of approximately 1/2 of the initial deviation length from the electromagnet 8B (when the first swash plate stack 21A and the electromagnet 8A are relative to each other). Therefore, the motor 26B is rotated and the electromagnet 8 is rotated.
When the electromagnet 8B is excited, the electromagnet 8A is deenergized almost simultaneously, or the motor 26A is further driven to rotate to release the crushing of the swash plate stack 21A by the pressing body 6A. to set the swash plate 5A to the first inclined state (in this state, even though the outer periphery of the laminate 21A faces the electromagnet 8A, the gap is as large as e ₀ , so even if the electromagnet 8A is energized, the laminate 21A It is desirable to set the adjustment so that the outer periphery cannot be attracted or attracted.) By energizing the electromagnet 8B, the swash plate stack 21B is attracted or fixed by attraction, and the operating shaft 2 is further driven one step to the right. To move from this state to the left, the electromagnet 8B may be first deenergized, the motor 26B may be reversed, and the electromagnet 8A may be energized at this time (the laminated body 21A may be If it has returned to the tilted state, rotate the motor 26A to press and crush the laminated body 21A), return it one step to the left in this way, and then energize the electromagnet 8A or continue energizing it for a while. , the electromagnet 8A is de-energized, or the motor 26A is driven to rotate at the same time to somewhat increase the inclination of the stacked body 21A, so that the second step leftward movement when the electromagnet 8A is de-energized can be quickly and reliably carried out. You may also allow it to be done. The above-described operation cycle can be repeated at a predetermined period by controlling the excitation circuit 22 using a program, sequence control, or the like.

As explained above, according to the present invention, a swash plate is used, the inclination angle of the swash plate is controlled, and the outer peripheral end of the swash plate is brought close to the electromagnet for attracting and moving the swash plate, and then the electromagnet is excited. The actuating shaft is pushed back and forth through a series of operations in which the swash plate is moved by suction.
The motion of this actuating shaft pushes, pushes, or pulls the non-driving body to perform the desired motion (work), and by controlling the inclination angle of the swash plate, fine and precise motion can be achieved. Not only can this be done, but its control is also relatively simple. and,
By appropriately controlling the inclination angle of the swash plate and changing the distance between its outer peripheral edge and the electromagnet,
It is possible to change the operating stroke of the actuator.

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram of an actuator showing an embodiment of the present invention, FIGS. 2a and 2b are a front view and a plan view, respectively, of a swash plate used in the actuator of FIG. 1, and FIG. FIG. 7 is an explanatory diagram of an actuator showing another embodiment of the invention. 2... Operating shaft, 5, 5A, 5B... Swash plate, 6, 6
A, 6B... Pressing body, 7... Inclination control electromagnet, 8,
8A, 8B... Electromagnet for attracting and moving the swash plate, 9... Driven body, 21, 21A, 21B... Laminated body, 22... Sequential excitation control circuit, 26A, 26B... Small motor, 2
7A, 27B... Worm, 28A, 28B... Worm car, 29A, 29B... Nut.

Claims (1)

[Scope of Claims] 1. An operating shaft for repeatedly reciprocating or pushing a driven body, etc., and an annular disc-shaped member coaxially fitted and attached to the operating shaft, the inner and outer periphery thereof at least one or more swash plate having a plurality of radial notches radially in the part thereof, the outer peripheral edge thereof being inclined at a predetermined angle to one side in a shade shape with respect to the center part; an electromagnet for attracting and moving the swash plate disposed near the outer peripheral end of the swash plate at a predetermined distance in the radial and axial directions; After changing the inclination angle of the swash plate to bring the outer peripheral end of the swash plate closer to the electromagnet, the electromagnet is controlled to excite and the swash plate is attracted to the electromagnet, thereby pushing the actuating shaft. An actuator comprising: sequential control means for controlling to press or move the actuator;