JP3324441B2 - Reciprocating rotary actuator - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a reciprocating rotary actuator suitable for use as a power source for driving a vibration such as a shoulder hitter or a massager.

[0002]

2. Description of the Related Art Conventionally, in order to realize a reciprocating rotational movement with one actuator, some mechanism for changing the direction of force is provided. For example, FIG. 5 is an explanatory diagram illustrating the principle of a mechanism that converts a rotary motion by a motor into a reciprocating motion. In FIG. 5, 1 is a rotating disk portion, 2 is a shaft rotatably mounted on an eccentric portion of the disk portion 1,
Reference numeral 3 denotes an arm that is rotatably mounted at the center to the fixed portion 4 and rotatably mounted at an end of the shaft 2 near the fixed portion 4. Therefore, in the mechanism shown in FIG. 5, when the disk portion 1 rotates, both ends of the arm 3 can move substantially up and down.

[0003]

However, in the conventional reciprocating mechanism as shown in FIG. 5, a mechanism for changing the direction of the force causes a power transmission loss and generates noise. There is a problem in that it is difficult to make the device compact and the device becomes large.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and has as its object to directly reciprocate without using a mechanism for changing the direction of force. It is an object of the present invention to provide an excellent reciprocating rotary actuator which can be made compact with a small energy loss.

[0005]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention is directed to the invention described in the first aspect, in which a coil is wound around a coil for forming an electromagnet which is magnetized in a radial direction. A stator having a magnetic pole portion, a mover having a permanent magnet which is disposed opposite to the stator and has a substantially semicircular arc shape and is magnetized in a radial direction, and guides the drive of the mover in a circumferential direction of the stator. And a movable range restricting portion for restricting the movable range of the mover, so that the mover can rotate around the stator, so that an impact can be given at the end of the mover. ing.

[0006] In the invention described in claim 2, the mover comprises a first mover and a second mover whose magnetization directions are reversed, and the rotational direction of each mover is changed. In the opposite manner, unnecessary vibrations generated when the respective movers are rotated can be canceled.

According to the third aspect of the present invention, the movable range restricting portion is configured to apply a pulling-back force to the movable element in accordance with the displacement from the neutral position, so that the driving force is not so large. Are amplified by resonance to increase the amplitude.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a first embodiment of a reciprocating rotary actuator according to the present invention will be described in detail based on FIGS. 1 to 3 and a second embodiment based on FIG. explain.

[First Embodiment] The reciprocating actuator according to the first embodiment corresponds to the reciprocating actuator according to the first or third aspect. FIG. 1 is a configuration diagram showing an outline of a reciprocating rotary actuator, and FIG.
FIG. 1B is a partially broken front view, and FIG. 1B is a partially broken bottom view. FIG. 2 is a front view showing a state in which the movable element of the reciprocating rotary actuator has rotated left and the tip has protruded.
FIG. 3 is a view showing a housing of the reciprocating rotary actuator, and FIG. 3 (a) is a partially broken front view, and FIG. 3 (b).
Is a partially broken bottom view.

FIG. 1 shows a state in which the mover is in a neutral position. As shown in FIG. 1, this reciprocating rotary actuator 1 includes a stator 2, a mover 3, and a movable range regulating portion. A corresponding coil spring 4 and a housing 5 are provided. The stator 2 includes a semi-cylindrical magnetic body 20 and a coil 21. The coil 21 winds a central leg 2 a sandwiched between two grooves 22, 22 provided from a direction of 45 ° on the semi-cylindrical surface of the magnetic body 20.

The mover 3 includes a semi-cylindrical permanent magnet 30 and a semi-cylindrical yoke 31. The radius of curvature of the outer arc surface of the permanent magnet 30 is made equal to the radius of curvature of the inner arc surface of the yoke 31, and the outer arc surface of the permanent magnet 30 is brought into close contact with the inner arc surface of the semi-circular yoke 31. It is fixed by an appropriate method such as bonding. The permanent magnet 30 is magnetized in the thickness direction (radial direction). The left half in the circumferential direction is magnetized so that the inside is an N pole and the outside is an S pole. The half is magnetized so that the inside has an S pole and the outside has an N pole, and the right half and the left half are magnetized in opposite directions.

The coil spring 4 is formed by winding a spring wire in a coil shape. The spring constant of the coil spring 4 is set from the relationship with the moment of inertia of the mover 3 so that a natural frequency suitable for the purpose (shoulder tapping, massage) can be obtained. The setting is such that a large vibration amplitude can be obtained by the resonance amplification action.

The housing 5 is a non-magnetic hard plastic molded article having excellent wear resistance. More specifically, as shown in FIG. 3, the housing 5 has a substantially semi-cylindrical (fan-shaped) outer shape. And a fan-shaped hollow space 50 in which the stator 2, the mover 3 and the coil spring 4 can be incorporated.
It has. Arc-shaped convex ribs 51, 51 are formed at opposing inner side surfaces where the cavity space 50 is formed, and are fixed to the center axis side with the arc-shaped convex rib 51 as a boundary. A stator housing space 50a for housing the child 2 is formed, and a mover housing space 50b for housing the mover 3 is formed outside.

Accordingly, the stator 2 is housed and fixed in the stator housing space 50a, and a power supply lead wire (not shown) from the housing 5 near the stator housing space 50a to the coil 21.
Is drawn out as appropriate. The mover 3 is accommodated in the mover accommodating space 50b so as to be rotatable in an arc direction.
In order to reduce frictional resistance when the mover 3 pivotally moves in the mover accommodating space 50b, a sliding structure between the housing 5 and the mover 3 is appropriately provided with a bearing structure (not shown).
It is preferable to employ

By the way, the mover accommodating space 50b communicates with the external space from the bottom surface of the housing 5, and the mover 3 comes out of the communication port 52 if there is no support. Therefore,
The mover 3 is supported from the inner surface of the arc of the housing 5 by three coil springs 4, 4, 4 to prevent such a situation. It should be noted that instead of the coil spring 4 corresponding to the movable range restricting portion, a rubber cord or the like can be used instead.

The reciprocating rotary actuator 1 constructed as described above operates as follows. That is, for example, assuming a case in which an alternating current is applied to the coil 21 and magnetic flux is emitted from the tip arc surface of the center leg 2a of the stator 2, that is, the tip arc surface of the center leg 2a is It becomes the N pole, and both legs 2b, both sides of the central leg 2a,
Assuming that each of the arcuate surface portions 2b has an S pole, a counterclockwise rotating force acts on the mover 3 as shown in FIG. And the left end of the mover 3 protrudes from the housing 5, and the right end of the mover 3 is
Get inside.

Next, assuming a state in which the direction of the alternating current flowing through the coil 21 is reversed, that is, the arcuate surface at the tip of the central leg 2a becomes the S pole, and the two legs 2b, 2b adjacent to the central leg 2a on both sides. Assuming that each of the arcuate portions at the tip has N poles, a clockwise turning force acts on the mover 3 in a manner opposite to that shown in FIG. 2, and the mover 3 rotates clockwise. When the power and the counterclockwise retraction force of the coil springs 4, 4, and 4 rotate to a position where they are balanced, the right end of the mover 3 projects from the housing 5, and the left end of the mover 3 enters the housing 5. .

Accordingly, when the alternating current is supplied to the coil 21, the mover 3 vibrates right and left along the mover accommodating space 50b of the housing 5. In addition, the natural frequency determined from the relationship between the moment of inertia of the mover 3 and the pull-back force of the coil springs 4, 4, 4 is made to match the frequency of the alternating current. Even if the rotating force acting between the movable member 2 and the moving member 2 is not so strong, a rotating vibration having a relatively large amplitude can be obtained by the amplification effect of the resonance phenomenon. If attached, a hitting vibration can be given directly to the affected part, which can be suitable as a vibration driving power source for a shoulder hitter or a massager.

[Second Embodiment] The reciprocating actuator according to the second embodiment corresponds to the reciprocating actuator according to the second aspect. 4A and 4B are configuration diagrams showing the outline of the reciprocating rotary actuator. FIG. 4A is a front view in which a part is crushed, and FIG. 4B is a bottom view in which a part is crushed. In FIG. 4, the same parts as those in the reciprocating rotary actuator of the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

The reciprocating rotary actuator 1 shown in FIG.
However, what is different from the reciprocating rotary actuator of the first embodiment is that the housing 5 is expanded in the axial direction,
A mover accommodating space 50c is provided in the mover accommodating space 50b in the axial direction, the mover accommodating space is divided into two places, and the first mover 3 is accommodated in the mover accommodating space 50b. Accommodates the second mover 6 and reverses the magnetized relationship between the first mover 3 and the second mover 6 so that
The rotational directions of the movable element 3 and the second movable element 6 are set to be opposite to each other, and the reaction force caused by the rotational vibration of the first movable element 3 and the rotational vibration of the second movable element 6 Thus, unnecessary vibration of the entire reciprocating rotary actuator 1 is reduced by canceling the action and reaction force of the reciprocating rotary actuator 1.

As shown in FIG. 4, the mover 6, like the mover 3, is composed of a semi-cylindrical permanent magnet 60 and a semi-cylindrical yoke 61. The radius of curvature is equal to the radius of curvature of the inner arc surface of the yoke 61, and the permanent magnet 6 is attached to the inner arc surface of the semi-arc yoke 61.
The outer arc surface of the “0” is brought into close contact and fixed by an appropriate method such as adhesion. The permanent magnet 60 is magnetized in the thickness direction (radial direction). The left half in the circumferential direction is magnetized so that the inner side is an S pole and the outer side is an N pole. The right half is magnetized so that the inside has an N pole and the outside has an S pole.

The mover 6, like the mover 3, is supported from the inner surface of the arc of the housing 5 by three coil springs (not shown), and resonates at the same natural frequency as the mover 3. I have. Although the stators may be separately formed, it is not necessary to separate them separately, and it is preferable to use a common stator from the viewpoint of compactness.

The reciprocating rotary actuator 1 constructed as described above operates as follows. That is, for example, assuming a case in which an alternating current is applied to the coil 21 and magnetic flux is emitted from the tip arc surface of the center leg 2a of the stator 2, that is, the tip arc surface of the center leg 2a is It becomes the N pole, and both legs 2b, both sides of the central leg 2a,
Assuming that each of the arc-shaped end portions of 2b has an S pole, a counterclockwise turning force acts on the mover 3, and the mover 3 rotates counterclockwise with the coil spring 4,
Rotation is made to the position where the clockwise retraction force of the movers 4 and 4 is balanced, and the left end of the mover 3 projects from the housing 5, and the right end of the mover 3 enters the housing 5. In addition, a clockwise turning force acts on the mover 6, and the mover 6 rotates to a position where the clockwise turning force and the counterclockwise retraction force by the three coil springs are balanced. The right end of the mover 6 protrudes from the housing 5, and the left end of the mover 6 enters the housing 5.

Next, assuming that the direction of the alternating current flowing through the coil 21 is reversed, that is, the arcuate surface at the tip of the central leg 2a becomes the S pole, and the two legs 2b, 2b adjacent to the central leg 2a on both sides. Assuming that each of the arc-shaped end portions has a north pole, a clockwise turning force acts on the mover 3, and the mover 3 applies a clockwise turning force to the coil springs 4, 4, and 4. The right end of the mover 3 projects from the housing 5, and the left end of the mover 3 enters the housing 5. Further, a counterclockwise rotating force acts on the mover 6, and the mover 6 rotates to a position where the counterclockwise rotating force and the clockwise retraction force by the three coil springs are balanced. The left end of the mover 6 projects from the housing 5, and the right end of the mover 6 enters the housing 5.

Therefore, when the alternating current is supplied to the coil 21, the mover 3 moves left and right along the mover accommodating space 50b of the housing 5, and the mover 6 moves right and left along the mover accommodating space 50c of the housing 5. Each of them will rotate and vibrate.

Moreover, the natural frequency determined from the relationship between the moment of inertia of the mover 3 and the pullback force of the coil springs 4, 4, and 4, and the moment of inertia of the mover 6 and three coil springs (not shown) Since the natural frequency determined from the relationship with the pullback force is set to match the frequency of the alternating current, even if the rotating force acting on the mover 3 and the mover 6 from the stator 2 is not so strong, Rotational vibration having a relatively large amplitude can be obtained by the amplification effect due to the resonance phenomenon, and if a treatment member (not shown) is provided at both ends of the mover 2 and the mover 6, the vibration is hit directly to the affected part. And can be suitably used as a vibration driving power source for a shoulder tapper or a massager.

Further, since the vibration condition of the mover 3 and the vibration condition of the mover 6 are only reversed in the rotating direction, unnecessary vibration of the entire reciprocating rotary actuator 1 is canceled out and attenuated, and Unnecessary vibration transmitted to the hand when holding a hitter or a massager in the hand is reduced, and it is possible to apply a tapping vibration only to the treatment point, more suitable for use as a vibration driving power source of a shoulder tapper or a massager Can be something.

[0028]

According to the first aspect of the present invention, since the rotary vibration can be directly applied to the movable element by the magnetic force of the stator, the power transmission loss is reduced, the noise is less generated, and the movable element is compact. An effect of being able to provide a reciprocating rotary actuator suitable as a vibration driving power source for a shoulder tapper or a massager is provided _.

According to the invention described in claim 2, the claim
In addition to the effects of the invention described in 1, the reciprocating rotary actuator
Unnecessary vibrations of the whole are canceled out and attenuated.
Unnecessary vibration transmitted to hand when holding a massager etc. in hand
Movement is reduced, and hitting vibration is applied only to the treatment location.
As a vibration drive power source for shoulder tappers and massagers
It is possible to provide a reciprocating rotary actuator which is more suitable for use.
Has the effect of _.

According to the third aspect of the present invention, in addition to the effect of the first aspect of the present invention, the frequency of the alternating current applied to the stator coil is determined based on the relationship between the movable element and the movable range restricting portion. Suitable for use as a vibration drive power source for shoulder tappers and massagers that can match the determined natural frequency and can generate relatively large amplitude vibration by amplification due to resonance even with weak rotational vibration force In addition, there is an effect that a reciprocating rotary actuator can be provided _.

[Brief description of the drawings]

FIG. 1 is a diagram showing a reciprocating rotary actuator according to a first embodiment of the present invention.

FIG. 2 is a front view showing a state in which a movable element of the reciprocating rotary actuator is rotated left and a distal end is projected.

FIG. 3 is a view showing a housing of the reciprocating rotary actuator.

FIG. 4 is a diagram showing a reciprocating rotary actuator according to a second embodiment of the present invention.

FIG. 5 is a simplified explanatory view showing a mechanism of a conventional reciprocating rotary actuator.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 reciprocating rotary actuator 2 stator 21 coil 3 mover (first mover) 4 movable range regulating unit 50b guide unit 50c guide unit 6 mover (second mover)

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-1-321855 (JP, A) (58) Field surveyed (Int. Cl. ⁷ , DB name) H01F 7/08

Claims (3)

(57) [Claims] 1. A stator having a circumferential magnetic pole portion wound with a coil for forming an electromagnet magnetized in a radial direction, and a substantially semicircular arc-shaped member arranged in opposition to the stator and extending in a radial direction. A reciprocating rotary actuator including a mover having a permanent magnet to be magnetized, a guide section for guiding the drive of the mover in a circumferential direction of the stator, and a movable range regulating section for regulating a movable range of the mover. 2. The method according to claim 1, wherein the movable element has a first magnetization direction reversed.
Characterized by being composed of a mover and a second mover,
The reciprocating rotary actuator according to claim 1. 3. The reciprocating rotary actuator according to claim 1, wherein the movable range restricting portion applies a pulling-back force to the movable element in accordance with a shift from a neutral position.