Actuator unit and safety switch

Abstract

Provided is an actuator unit and a safety switch that can absorb misalignment with respect to an actuator insertion hole in any direction intersecting the insertion direction and that can improve durability. In an actuator unit (3), an actuator (3A) having a front end portion (30) that can be inserted into an actuator insertion hole (20) and a base portion (3B) that supports a base end portion (34) of the actuator (3A) so as to be freely movable in a direction (arrow B) intersecting the insertion direction of the actuator (3A) with respect to the actuator insertion hole (20), namely, the direction of arrow (A), by a ball bearing (35) are provided. Misalignment between the front end portion (30) of the actuator (3A) and the actuator insertion hole (20) is absorbed by movement of the base end portion (34) of the actuator (3A) by the ball bearing (35).

Description

Technical Field

[0001] The present invention relates to an actuator unit and a safety switch having the actuator unit. Background Technology

[0002] At the entrances and exits of hazardous areas where industrial machinery such as machine tools or industrial robots are installed, safety switches are installed that are turned on / off according to the opening and closing status of the door.

[0003] Generally, a safety switch includes: an actuator disposed on the door side; and a switch body disposed on the wall side, having an actuator insertion hole, and switching contacts according to the movement of an internal operating lever. When the door is closed, the actuator on the door side is inserted into the actuator insertion hole of the switch body on the wall side, and the operating lever inside the switch body moves to switch contacts.

[0004] In such safety switches, due to door shaking or misalignment, the actuator may become misaligned relative to the actuator insertion hole. As a result, when the door closes, the actuator may sometimes fail to insert smoothly into the insertion hole. Therefore, various countermeasures have been implemented to prevent this from happening.

[0005] For example, in the actuator described in Japanese Patent Application Publication No. 2017-91877, the operating key (2) is supported on the base (3) in a swingable manner, and the operating key (2) is restored to the reference position after swinging by the force of the torsion spring (41). Thus, even when the door shakes significantly, by swinging the operating key (2) when it is inserted, the operating key (2) can be inserted into the key insertion slot (103, 104) of the switch body (see paragraphs

[0037] ,

[0038] ,

[0044] of that publication). Figure 1 , Figures 13-15 ).

[0006] In the key switch described in Japanese Patent Application Publication No. 8-138500, the key body (9) of the operating key (3) is slidably mounted on the support shaft (12) of the holding part (8), and the key body (9) is positioned in a sliding neutral position by the force of the elastic body (13). Therefore, even if there is an assembly error or misalignment between the operating key (3) and the switch body (2), the operating key (3) can be inserted into the keyhole (6) of the switch body (2) by sliding the operating key (3) when it is inserted (see paragraphs

[0009] ,

[0020] of the publication). Figures 1-3 ).

[0007] In the safety switch drive mechanism disclosed in Japanese Patent Application Publication No. 11-317132, the base (3) of the key (2) can be mounted to slide in the retainer (1) by means of a circular PTFE sliding bearing (or roller bearing) (9), and the key (2) is forced towards the center position by a spring (10), thereby causing the base (3) of the key (2) to move along the mounting surface of the sliding bearing (9). This allows for the correction of any mismatch between the drive mechanism and the insertion slot of the safety switch (see claims 1, paragraphs

[0011] ,

[0012] of that publication). Figure 1 , Figure 3 , Figure 4 ).

[0008] Existing technical documents

[0009] Patent documents

[0010] Patent Document 1: Japanese Patent Application Publication No. 2017-91877 (refer to paragraphs

[0037] ,

[0038] ,

[0044] ) Figure 1 , Figures 13-15 )

[0011] Patent Document 2: Japanese Patent Application Publication No. 8-138500 (refer to paragraphs

[0009] ,

[0020] ) Figures 1-3 )

[0012] Patent Document 3: Japanese Patent Application Publication No. 11-317132 (refer to claim 1, paragraphs

[0011] ,

[0012] , ...) Figure 1 , Figure 3 , Figure 4 ) Summary of the Invention

[0013] In the technical content disclosed in Japanese Patent Application Publication No. 2017-91877, when misalignment occurs between the operating key (2) and the key insertion port (103, 104) of the switch body (100), the misalignment can be absorbed by swinging the operating key (2) when it is inserted into the key insertion port (103, 104). Therefore, it can deal with misalignment in the swing direction of the operating key (2) (i.e., within the swing plane), but it cannot deal with misalignment in the direction that intersects (e.g., orthogonal) to the swing direction.

[0014] In the technical content described in Japanese Patent Application Publication No. 8-138500, when misalignment occurs between the key body (9) of the operating key (3) and the keyhole (6) of the switch body (2), the misalignment can be absorbed by sliding the key body (9) when it is inserted into the keyhole (6). Therefore, it can deal with misalignment in the sliding direction of the key body (9) (i.e., within the sliding surface). However, it cannot deal with misalignment in the direction that intersects (e.g., orthogonal) with the sliding direction.

[0015] In this regard, according to the technical content described in Japanese Patent Application Publication No. 11-317132, when misalignment occurs between the key (2) and the insertion slot of the safety switch, when the key (2) is inserted into the insertion slot, the misalignment can be absorbed by moving the key (2) along the mounting surface of the sliding bearing (9). Therefore, it can handle misalignment in any direction.

[0016] However, when the door is closed while there is a misalignment between the key (2) and the insertion slot of the safety switch, an excessive impact load will be applied to the base (3) of the key (2) due to the inertia of the door. This load will then continue to act on the PTFE sliding bearing, which may break, thus affecting its durability. In addition, although the technical content described in Japanese Patent Application Publication No. 11-317132 describes the use of roller bearings instead of PTFE sliding bearings, the base (3) of the key (2) can only move in the rolling direction of the roller bearing. Therefore, while it can handle misalignment in the rolling direction, it cannot handle misalignment in directions that intersect (e.g., orthogonal) to the rolling direction.

[0017] The present invention was made in view of this conventional situation. The problem to be solved by the present invention is to provide an actuator unit that can not only absorb misalignment relative to the actuator insertion hole in any direction intersecting the insertion direction, but also improve durability.

[0018] The actuator unit according to the present invention includes: an actuator having a front end portion that can be inserted into an actuator insertion hole; and a base portion that supports the base end portion of the actuator so that it can move freely in any direction intersecting the insertion direction of the actuator relative to the actuator insertion hole by means of a ball bearing, wherein the misalignment between the front end portion of the actuator and the actuator insertion hole is absorbed in any direction by means of the movement of the base end portion of the actuator by means of the ball bearing.

[0019] According to the present invention, the base end of the actuator is supported on the base portion in a manner that allows it to move freely in any direction intersecting the insertion direction of the actuator via a ball bearing. Furthermore, misalignment between the front end of the actuator and the actuator insertion hole is absorbed by the movement of the base end of the actuator via the ball bearing. Therefore, misalignment relative to the actuator insertion hole can be absorbed in any direction intersecting the insertion direction. Moreover, according to the present invention, since the base end of the actuator is supported by a ball bearing, even when misalignment relative to the actuator insertion hole occurs, and even if an excessive load is applied to the front end of the actuator resulting in an excessive thrust load acting on the base end of the actuator, the base end of the actuator can be reliably supported by the ball bearing, thereby improving the durability of the actuator unit. Additionally, since rolling friction is much less than sliding friction, the coefficient of friction can be reduced by using a ball bearing compared to using a sliding bearing, thereby enabling smooth movement of the actuator and further improving durability.

[0020] In this invention, the base end of the actuator has a retaining part that holds multiple balls so that they can rotate freely, and the balls and the retaining part together constitute a ball bearing.

[0021] In this invention, the front end of the actuator has a convex arc-shaped surface or an inclined surface. In this case, when the front end abuts against the opening edge of the actuator insertion hole due to misalignment, the base end of the actuator can move smoothly.

[0022] In this invention, a first elastic support member is provided in the base portion to elastically support the actuator from its outer periphery. In this case, the force of the first elastic support member can be used to return the moved actuator to its original position.

[0023] In this invention, the actuator has a shaft extending between a front end and a base end, and the base has an opening through which the shaft is inserted in a manner that allows movement of the base end.

[0024] In this invention, a stepped difference is formed between the shaft portion and the front end portion.

[0025] In this invention, a first elastic support member is provided in the base portion to elastically support the shaft portion of the actuator from its outer periphery. In this case, the force of the first elastic support member can be used to return the moved actuator to its original position.

[0026] In this invention, the first elastic support member covers the opening in the base portion.

[0027] In this invention, the actuator has a locking hole, and a locking component inside the switch body having an actuator insertion hole is locked in the locking hole.

[0028] In this invention, a second elastic support member is provided in the base portion to elastically support the base end of the actuator in the insertion direction of the actuator. In this case, when misalignment occurs, the second elastic support member can support the thrust load acting on the actuator when the actuator is inserted, thereby improving the durability of the ball bearing.

[0029] In this invention, a circular arc-shaped plate member with a concave circular arc surface is provided in the base portion, and this concave circular arc surface constitutes the rolling surface of the ball bearing. The circular arc-shaped plate member is elastically supported by a second elastic support member. In this case, the concave circular arc surface of the circular arc-shaped plate member forms the rolling surface of the ball bearing, thereby making it easy to return the base end of the actuator to its original position.

[0030] The safety switch involved in this invention comprises: the actuator unit described in technical solution 1, and a switch body having an actuator insertion hole.

[0031] According to the present invention as described above, misalignment between the front end of the actuator and the actuator insertion hole can be absorbed in any direction intersecting the insertion direction of the actuator. Furthermore, according to the present invention, even when misalignment occurs, if an excessive load is applied to the front end of the actuator, resulting in an excessive thrust load on the actuator, the base end of the actuator can be reliably supported by a ball bearing, thereby improving the durability of the actuator unit. Attached Figure Description

[0032] Figure 1 This is a schematic diagram illustrating the configuration of a safety switch comprising an actuator unit and a switch body according to an embodiment of the present invention.

[0033] Figure 2 It is the actuator unit ( Figure 1 (The overall three-dimensional view of the image.)

[0034] Figure 3 It is the actuator unit ( Figure 2 (Top view of )

[0035] Figure 4 yes Figure 1 A view along line IV-IV, showing the actuator unit ( Figure 2 A bottom view of the state with the bottom cover removed.

[0036] Figure 5 yes Figure 4 The VV-line cross-sectional view represents the actuator unit ( Figure 2 The longitudinal section of ).

[0037] Figure 6 yes Figure 5The cross-sectional view along line VI-VI shows the actuator unit ( Figure 2 The cross-section of the base portion of the ).

[0038] Figure 7 This indicates that the safety switch ( Figure 1 The diagram shows the state in which the actuator described in the diagram is inserted inside the switch body.

[0039] Figure 8 It is in the safety switch ( Figure 1 In the diagram, the movement of the actuator unit and the actuator is shown in sequence when the actuator unit is misaligned relative to the actuator insertion hole of the switch body.

[0040] Figure 9 It is in the safety switch ( Figure 1 In the diagram, the movement of the actuator unit and the actuator is shown in sequence when the actuator unit is misaligned relative to the actuator insertion hole of the switch body.

[0041] Figure 10 It is in the safety switch ( Figure 1 In the diagram, the movement of the actuator unit and the actuator is shown in sequence when the actuator unit is misaligned relative to the actuator insertion hole of the switch body.

[0042] Figure 11 It is the actuator unit ( Figure 10 The top view of ) and is with Figure 3 The corresponding diagram.

[0043] Figure 12 yes Figure 10 A view along line XII-XII, showing the direction from the actuator unit ( Figure 10 A bottom view of the state with the bottom cover removed.

[0044] Figure 13 yes Figure 12 The longitudinal section view along line XIII-XIII shows the actuator unit ( Figure 10 The longitudinal section of ).

[0045] Figure 14 yes Figure 13 The cross-sectional view along line XIV-XIV shows the actuator unit ( Figure 10 The cross-section of the base portion of the ).

[0046] Figure 15 This indicates that the actuator ( Figure 8 A diagram showing the state of the switch inserted inside the switch body.

[0047] Figure 16 This is the actuator unit involved in the first modification of the present invention ( Figure 18 The XVI-XVI line cross-sectional view is the same as that of the embodiment described. Figure 6 The corresponding diagram.

[0048] Figure 17 It is the actuator unit ( Figure 18 The bottom view of the embodiment is shown below. Figure 4 The corresponding diagram.

[0049] Figure 18 yes Figure 17 Cross-sectional view of line XVIII-XVIII.

[0050] Figure 19 In the actuator unit ( Figure 18 In the event of misalignment relative to the actuator insertion hole of the switch body, this indicates the state of the actuator after movement, and is consistent with the state described in the embodiment. Figure 14 The corresponding diagram.

[0051] Figure 20 This is the actuator unit involved in the second modification of the present invention ( Figure 22 The XX-XX line cross-sectional view is consistent with the embodiment described. Figure 6 The corresponding diagram.

[0052] Figure 21 It is the actuator unit ( Figure 22 The bottom view of the embodiment is shown below. Figure 4 The corresponding diagram.

[0053] Figure 22 yes Figure 21 Cross-sectional view of line XXII-XXII.

[0054] Figure 23 In the actuator unit ( Figure 22 In the event of misalignment relative to the actuator insertion hole of the switch body, this indicates the state of the actuator after movement, and is consistent with the state described in the embodiment. Figure 14 The corresponding diagram.

[0055] Figure 24 This is the actuator unit involved in the third modification of the present invention ( Figure 26 The XXIV-XXIV line cross-sectional view is the same as that in the embodiment described. Figure 6 The corresponding diagram.

[0056] Figure 25 It is the actuator unit ( Figure 26 The bottom view of the embodiment is shown below. Figure 4The corresponding diagram.

[0057] Figure 26 yes Figure 25 Cross-sectional view of line XXVI-XXVI.

[0058] Figure 27 In the actuator unit ( Figure 26 In the event of misalignment relative to the actuator insertion hole of the switch body, this indicates the state of the actuator after movement, and is consistent with the state described in the embodiment. Figure 14 The corresponding diagram.

[0059] Figure 28 This is the actuator unit involved in the fourth modification of the present invention ( Figure 30 The XXVIII-XXVIII line cross-sectional view is the same as that of the embodiment described. Figure 6 The corresponding diagram.

[0060] Figure 29 It is the actuator unit ( Figure 30 The bottom view of the embodiment is shown below. Figure 4 The corresponding diagram.

[0061] Figure 30 yes Figure 29 Cross-sectional view of line XXX-XXX.

[0062] Figure 31 In the actuator unit ( Figure 30 In the event of misalignment relative to the actuator insertion hole of the switch body, this indicates the state of the actuator after movement, and is consistent with the state described in the embodiment. Figure 14 The corresponding diagram.

[0063] Figure 32 This is the actuator unit involved in the fifth modification of the present invention ( Figure 34 The cross-sectional view of line XXXII-XXXII of the embodiment is shown below. Figure 6 The corresponding diagram.

[0064] Figure 33 It is the actuator unit ( Figure 34 The bottom view of the embodiment is shown below. Figure 4 The corresponding diagram.

[0065] Figure 34 yes Figure 33 Cross-sectional view of line XXXIV-XXXIV.

[0066] Figure 35 In the actuator unit ( Figure 34In the event of misalignment relative to the actuator insertion hole of the switch body, this indicates the state of the actuator after movement, and is consistent with the state described in the embodiment. Figure 14 The corresponding diagram.

[0067] Figure 36 This is an overall perspective view of the actuator unit according to the sixth modification of the present invention, and is consistent with the embodiment described above. Figure 2 The corresponding diagram.

[0068] Figure 37 From the actuator unit ( Figure 36 A longitudinal cross-sectional view of the state with the bottom cover removed, and it is consistent with the embodiment described above. Figure 5 The corresponding diagram.

[0069] Figure 38 From the actuator unit ( Figure 36 A bottom view showing the state with the bottom cover removed, and it is consistent with the embodiment described above. Figure 4 The corresponding diagram.

[0070] Figure 39 It is the actuator unit ( Figure 36 In the event of misalignment relative to the actuator insertion hole of the switch body, this indicates the state of the actuator after movement, and is consistent with the state described in the embodiment. Figure 13 The corresponding diagram.

[0071] Figure 40 This is a schematic longitudinal cross-sectional view of the actuator unit involved in the seventh variation of the present invention.

[0072] Figure 41 In the actuator unit ( Figure 40 In the event of misalignment relative to the actuator insertion hole of the switch body, this indicates the state of the actuator after movement, and is consistent with the state described in the embodiment. Figure 13 The corresponding diagram.

[0073] Figure 42 This is a schematic longitudinal cross-sectional view of the actuator unit involved in the eighth variation of the present invention.

[0074] Figure 43 In the actuator unit ( Figure 42 In the event of misalignment relative to the actuator insertion hole of the switch body, this indicates the state of the actuator after movement, and is consistent with the state described in the embodiment. Figure 13 The corresponding diagram.

[0075] Figure 44 This is a schematic longitudinal cross-sectional view of the actuator unit involved in the 9th variation of the present invention.

[0076] Figure 45In the actuator unit ( Figure 44 In the event of misalignment relative to the actuator insertion hole of the switch body, this indicates the state of the actuator after movement, and is consistent with the state described in the embodiment. Figure 13 The corresponding diagram.

[0077] Figure 46 This is a diagram showing a schematic configuration of a safety switch having the actuator unit and switch body according to the 10th modification of the present invention.

[0078] Figure 47 From the actuator unit ( Figure 46 A longitudinal cross-sectional view of the state with the bottom cover removed, and it is consistent with the embodiment described above. Figure 5 The corresponding diagram.

[0079] Figure 48 It is in the safety switch ( Figure 46 In the diagram, the movement of the actuator unit and the actuator is shown in sequence when the actuator unit is misaligned relative to the actuator insertion hole of the switch body.

[0080] Figure 49 It is in the safety switch ( Figure 46 In the diagram, the movement of the actuator unit and the actuator is shown in sequence when the actuator unit is misaligned relative to the actuator insertion hole of the switch body.

[0081] Figure 50 It is in the safety switch ( Figure 46 In the diagram, the movement of the actuator unit and the actuator is shown in sequence when the actuator unit is misaligned relative to the actuator insertion hole of the switch body.

[0082] Figure 51 In the actuator unit ( Figure 47 In the event of misalignment relative to the actuator insertion hole of the switch body, this indicates the state of the actuator after movement, and is consistent with the state described in the embodiment. Figure 13 The corresponding diagram.

[0083] Figure 52 yes Figure 50 A schematic view of the LII arrows, and is consistent with the embodiment described. Figure 7 The corresponding diagram.

[0084] Figure 53 This is a bottom view of the actuator unit according to the 11th variation of the present invention, showing the state with the bottom-side cover removed, illustrating the embodiment. Figure 4 A variation of the base end in the figure.

[0085] Figure 54 This refers to the actuator unit involved in the 12th modification of the present invention, and is related to the embodiment described above. Figure 6 The corresponding diagram.

[0086] Figure 55 This refers to the actuator unit involved in the 13th modification of the present invention, and is related to the first modification. Figure 16 The corresponding diagram.

[0087] Figure 56 This refers to the actuator unit involved in the 14th modification of the present invention, and is related to the 5th modification. Figure 32 The corresponding diagram.

[0088] Explanation of reference numerals in the attached figures

[0089] 1…Safety switch; 2…Switch body; 20…Actuator insertion hole; 3…Actuator unit; 3A, 3A'…Actuator; 30, 31'a…Front end; 30a…Convex arc-shaped surface; 31, 31'…Shaft; 31'b…Locking hole; 31'r…R-shaped part (convex arc-shaped surface); 32a…Opening; 34…Base end (retaining part); 34a…Retaining hole; 35…Ball; 3B…Base part; 371~374… Metal wire (first elastic support component); 37C1~37C4… Torsion spring / tension coil spring (first elastic support component); 371, 372… Rubber strip; 37C… Snail spring (first elastic support component); 39'… Arc-shaped rigid plate (arc-shaped plate component); 39'a… Concave arc-shaped surface; 40… Corrugated part (first elastic support component); 5… Elastic structure (second elastic support body); SR… Locking component; A… Actuator insertion direction; B… Direction intersecting the actuator insertion direction. Detailed Implementation

[0090] The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0091] Figures 1 to 15 This diagram illustrates an actuator unit according to an embodiment of the present invention, and a safety switch including the actuator unit. Figure 1 This is a schematic diagram of the safety switch. Figure 2 This is a three-dimensional view of the entire actuator unit. Figure 3 This is its top view. Figure 4 This is a bottom view showing the state after the bottom cover has been removed from the actuator unit. Figure 1 (View along line IV-IV) Figure 5 This is a longitudinal cross-sectional view showing the state after the bottom cover has been removed from the actuator unit. Figure 4 (Cross-section diagram of VV line in the middle) Figure 6 yes Figure 5 Cross-sectional view of line VI-VI. Figure 7 It means from Figure 1 The diagram shows the state in which the actuator is inserted into the switch body. Figures 8 to 10 This diagram sequentially represents the movement of the actuator unit and the actuator when the actuator unit is misaligned relative to the actuator insertion hole of the switch body. Figure 11 This is a top view after the actuator has moved. Figure 12 This is a bottom view after the actuator has moved. Figure 10 (View along line XII-XII) Figure 13 This is a longitudinal cross-sectional view of the actuator after it has moved. Figure 12 (Cross-section diagram of line XIII-XIII). Figure 14 yes Figure 13 Cross-sectional view of line XIV-XIV in the middle. Figure 15 It means from Figure 8 The diagram shows the state in which the actuator is inserted into the switch body.

[0092] like Figure 1 As shown, the safety switch 1 of this embodiment includes: a switch body 2 disposed on, for example, a wall or a fixed door (not shown), and an actuator unit 3 disposed on, for example, a sliding movable door (not shown) and configured to be plugged into or removed from the switch body 2. Figure 1 This is a view of the movable door from the front. In this diagram, arrow A indicates the insertion direction of actuator unit 3. Additionally, Figure 1 This indicates the state of the movable door during its closing process, and also indicates the state of the movable door being slightly open.

[0093] The switch body 2 has one or more actuator insertion holes 20. The actuator insertion hole 20 is a circular tapered hole that penetrates the wall of the switch body 2, gradually decreasing in diameter as it moves from the outer surface of the wall of the switch body 2 toward the inner side of the switch body 2, and has a tapered surface 20a. Figure 1 In the middle, a single-dot dashed line 2C L The center line of the actuator insertion hole 20 is indicated. Additionally, although not shown in the diagram, the switch body 2 contains a switchable contact and a locking component (described later) that engages with the inserted actuator unit 3.

[0094] The actuator unit 3 includes: an actuator 3A having a front end portion 30 that can be inserted into an actuator insertion hole 20 in the switch body 2; and a base portion 3B that houses the base end side of the actuator 3A. The front end portion 30 is, for example, a hemispherical protrusion having: a convex arcuate surface 30a disposed on the front end side and a flat surface 30b disposed on the rear end side. The front end of a cylindrical shaft portion 31 extending axially is integrally connected to the flat surface 30b. The shaft portion 31 is a component with a diameter smaller than that of the front end portion 30, and the flat surface 30b forms a stepped difference relative to the front end of the shaft portion 31. Figure 1 In the middle, a single-dot dashed line 3C L The center line representing the axial direction of the shaft portion 31 (i.e., actuator 3A) is shown in this example as center line 3C. L Centerline 2C of the actuator insertion hole 20 of the switch body 2 L A consistent state.

[0095] like Figure 2 as well as Figure 3 As shown, the base portion 3B is, for example, a box-shaped component, and includes: a box-shaped base body 32 having a circular opening 32a at one end through which the shaft portion 31 of the actuator 3A is inserted, and an open end; and a thin plate-shaped cover 33 covering the open end of the base body 32. The inner diameter of the opening 32a is, for example, a few millimeters to a dozen millimeters larger than the outer diameter of the shaft portion 31, in a manner that allows the shaft portion 31 to move within the opening 32a. In addition, the base body 32 has a plurality of screw insertion holes 32b for inserting mounting screws (not shown) for the cover 33, or for inserting mounting screws (not shown) for mounting the actuator unit 3 to the movable door.

[0096] like Figure 4 as well as Figure 5As shown, the base end portion 34 of the actuator 3A is housed inside the base portion 3B. The base end portion 34 is located at the rear end of the shaft portion 31 and is a disc-shaped component with a diameter larger than the shaft portion 31, integrally connected to the rear end of the shaft portion 31. That is, the shaft portion 31 extends between the front end portion 30 of the actuator 3A and the base end portion 34. A plurality of circular (five in this example) retaining holes 34a are formed on the rear end face of the base end portion 34. The retaining holes 34a are arranged at equal or approximately equal intervals around the circumference. Each retaining hole 34a houses, for example, a steel ball (i.e., a steel ball) 35, and each ball 35 is rotatably (i.e., self-rotating) supported in its respective retaining hole 34a. Each retaining hole 34a is filled with, for example, grease as a lubricant. The bottom of each retaining hole 34a is formed, for example, in a conical shape, and the depth of each retaining hole 34a is set such that a portion of each sphere 35 received can be observed (i.e., protruded) from the opening end (i.e., the rear end face of the base end 34) of the retaining hole 34a (see reference). Figure 5 The ball bearing is constructed from each retaining hole 34a and each ball 35. In this case, the base end 34 itself constitutes the retaining part (i.e., the retainer) of the ball bearing.

[0097] Figure 4 as well as Figure 5 This indicates that the cover 33 is removed from the base 3B. Figure 1 In the state where the cover 33 is installed, such as... Figure 5 As shown by the dashed line, each ball 35 protruding from the rear end face of the base end 34 abuts against the inner surface of the cover 33 and can move freely along this inner surface in the direction of arrow B. Here, the direction of arrow B refers to any direction that is orthogonal or approximately orthogonal (i.e., intersecting) with the insertion direction of the actuator unit 3, i.e., the direction of arrow A. That is, the direction of arrow B includes not only... Figure 5 The direction within the paper also includes all directions that form an angle with the near-front and depth sides relative to the paper surface of the drawing. If using Figure 4 To explain this, the base end portion 34 is configured to be movable in any direction within the plane of the drawing, including the longitudinal, transverse, and inclined directions. As described above, since the opening 32a formed on one end side of the base portion 3B is formed to be larger than the shaft portion 31, the shaft portion 31 can be allowed to move within the opening 32a. Figure 2 , Figure 3 Therefore, the base end 34 (and thus the actuator 3A) can move relative to the base portion 3B.

[0098] like Figure 5As shown, the shaft portion 31 of the actuator 3A has a flange portion 31f protruding outward from the base portion 3B. The flange portion 31f is, for example, a disc-shaped component. The flange portion 31f is configured to be spaced apart from the base end portion 34 by a predetermined interval. Between the flange portion 31f and the base end portion 34 are arranged a plurality of (four in this example) metal wires (first elastic support members) 371, 372, 373, 374 (see reference) extending in a direction orthogonal or substantially orthogonal (i.e., intersecting) to the direction of arrow A. Figure 4 Each of the metal wires 371, 372, 373, and 374 is made of high-tensile steel wire, such as piano wire, or other steel wires or metal wires.

[0099] like Figure 6 As shown, metal wires 371 and 372 are arranged such that they are parallel to the vertical direction of the diagram, sandwiching the shaft portion 31 from the left and right sides. Metal wires 373 and 374 are arranged such that they are parallel to the horizontal direction of the diagram, sandwiching the shaft portion 31 from the top and bottom sides. That is, metal wires 371, 372, 373, and 374 are arranged in a grid pattern. Furthermore, each metal wire 371 and 372 is positioned relative to each metal wire 373 and 374 in a specific pattern. Figure 6 Near the front side of the paper. In the base body 32 of the base portion 3B, there are respectively provided along the... Figure 6 Multiple (eight in this example) support pillars 36 extend vertically from the paper surface. Each wire 371 to 374 is sandwiched between two support pillars 36 and the shaft portion 31, elastically abutting against the outer peripheral surface of the shaft portion 31. Accordingly, the shaft portion 31 (and thus the actuator 3A) is elastically supported from the outer peripheral side by the wires 371 to 374.

[0100] In addition, such as Figure 5 As shown, a washer 38 is disposed between the flange portion 31f of the shaft portion 31 of the actuator 3A and the front side wall portion of the base body 32 of the base portion 3B. The washer 38 is a thin-walled circular (annular) component with an opening 38a through which the shaft portion 31 of the actuator 3A is inserted. The inner diameter of the opening 38a is larger than the outer diameter of the shaft portion 31 and smaller than the opening 32a of the base body 32. In addition, the outer diameter of the washer 38 is larger than the opening 32a.

[0101] Next, the effects of this embodiment will be explained.

[0102] exist Figure 1 In the state shown, when the movable door is moved in the closing direction, the actuator 3A of actuator unit 3 moves in the direction of arrow A, as shown. Figure 7 As shown, actuator 3A is inserted into the switch body 2 through actuator insertion hole 20. At the time of insertion, as described above, the centerline 3C of actuator 3A is... LCenterline 2C of the actuator insertion hole 20 of the switch body 2 L In accordance with this, the front end 30 of the actuator 3A is smoothly inserted into the interior of the switch body 2 without interfering with the conical surface 20a of the actuator insertion hole 20. The locking member SR inside the switch body 2 then engages with a flat surface 30b that forms a stepped difference between the front end 30 of the actuator 3A and the shaft portion 31. Therefore, the actuator 3A is locked in place and will not fall out. In this state, the contacts (not shown) inside the switch body 2 are switched, and the drive of a robot or other machine begins.

[0103] On the other hand, such as Figure 8 As shown, the centerline 3C of the shaft portion 31 (i.e., actuator 3A) L A misalignment occurs relative to the center line 2CL of the actuator insertion hole 20 of the switch body 2. The distance of this misalignment (i.e., the offset) is denoted as e. In this figure, the center line 3C is illustrated. L Relative to centerline 2C L However, there is a misalignment at a distance of e upwards.

[0104] In this state, when the movable door is moved in the closing direction, the actuator 3A of actuator unit 3 moves in the direction of arrow A, such as... Figure 9 As shown, the front end 30 of the actuator 3A abuts against the conical surface 20a of the actuator insertion hole 20 of the switch body 2. At this time, the convex arc-shaped surface 30a of the front end 30 abuts against the conical surface 20a, thereby, during the closing of the movable door, the convex arc-shaped surface 30a of the front end 30 slides along the conical surface 20a and intends to move diagonally downward as shown in the figure.

[0105] At this time, just like using Figure 5 As explained, since each ball 35 protruding from the rear end face of the base end 34 of the actuator 3A moves freely along the inner surface of the cover 33 in the direction of arrow B, when the movable door is closed, when a downward force is applied to the front end 30 of the actuator 3A, each ball 35 rolls on the inner surface of the cover 33, thereby causing the base end 34 to move downward along the inner surface of the cover 33 (see reference). Figure 13 Furthermore, as described above, since the opening 32a formed at one end of the base portion 3B is larger than that of the shaft portion 31, it is possible to allow the shaft portion 31 to move within the opening 32a (see reference). Figure 2 , Figure 3 Therefore, the base end 34 can move smoothly relative to the base portion 3B (and thus the actuator 3A can move).

[0106] Accordingly, the front end portion 30 of the actuator 3A extends along the conical surface 20a of the actuator insertion hole 20 towards... Figure 9 Move diagonally downwards, as follows Figure 10 As shown, the front end portion 30 is inserted into the actuator insertion hole 20. In this state, when the movable door moves further in the closing direction, the front end portion 30 of the actuator 3A is inserted into the interior of the switch body 2 through the actuator insertion hole 20 of the switch body 2. Thus, as Figure 15 As shown, the locking member SR inside the switch body 2 is engaged with a flat surface 30b that forms a stepped difference between the front end 30 of the actuator 3A and the shaft portion 31. Therefore, the actuator 3A is locked and will not fall out. In this state, switching the contacts (not shown) inside the switch body 2 initiates the operation of machinery such as robots.

[0107] According to this embodiment, if the front end 30 of the actuator 3A is misaligned relative to the actuator insertion hole 20 of the switch body 2, the misalignment will be absorbed by the movement of the base end 34 of the actuator 3A by means of the ball bearing. Accordingly, the misalignment of the actuator 3A relative to the actuator insertion hole 20 can be absorbed in any direction (arrow B direction) intersecting the actuator insertion direction (arrow A direction).

[0108] Furthermore, according to this embodiment, since the base end 34 of the actuator 3A is supported by a ball bearing, even when misalignment occurs relative to the actuator insertion hole 20, and even if an excessive load is applied to the front end 30 of the actuator 3A resulting in an excessive thrust load on the base end 34 of the actuator 3A, the ball bearing can reliably support the base end 34 of the actuator 3A, thereby improving the durability of the actuator unit 3. In addition, since rolling friction is much less than sliding friction, the coefficient of friction can be reduced by using a ball bearing compared to using a sliding bearing, thereby enabling smooth movement of the actuator 3A and further improving durability.

[0109] Additionally, when the base end 34 of the actuator 3A moves downward, such as Figure 13 As shown, as the shaft 31 moves downward, the washer 38 also moves slightly downward. However, even in this case, the upper area of ​​the flange 31f is blocked by the washer 38 in the opening 32a of the base body 32. Therefore, the interior of the base 3B will not be exposed to the outside through the opening 32a.

[0110] Furthermore, when the front end 30 of the actuator 3A is inserted into the switch body 2, although the front end 30 and the base end 34 move downward respectively (see reference) Figure 11 , Figure 12 However, at this time, such as Figure 14As shown, the shaft portion 31 of the actuator 3A also moves downward and abuts against the lower metal wire 374, causing it to elastically deform downward. Accordingly, at this time, the elastic reaction force accompanying the elastic deformation of the metal wire 374 acts upward on the outer peripheral surface of the shaft portion 31.

[0111] Therefore, when the movable door is open, as the front end 30 of the actuator 3A moves with the movable door and attempts to exit from the actuator insertion hole 20 of the switch body 2, the shaft 31 (and thus the actuator 3A) will move upward due to the elastic counterforce acting on the metal wire 374 of the shaft 31. At this time, since the base end 34 of the actuator 3A moves freely through the ball bearing, the actuator 3A can move upward smoothly.

[0112] Furthermore, in the above embodiment, although the following case was described as an example: because the actuator 3A is misaligned upward relative to the actuator insertion hole 20, and during the absorption of the misalignment, the shaft portion 31 of the actuator 3A abuts against the lower metal wire 374, causing the metal wire 374 to elastically deform downward; however, in the case of downward misalignment, the shaft portion 31 abuts against the upper metal wire 373, causing it to elastically deform upward; and in the case of left-right misalignment, the shaft portion 31 abuts against the left or right metal wires 371 or 372, causing the metal wires 371 or 372 to elastically deform downward. Figure 6 It undergoes elastic deformation on the left or right side.

[0113] [Example 1]

[0114] Figures 16 to 19 This indicates a first modification of the present invention (particularly a modification of the first elastic support member). In each figure, the same symbols as in the above embodiment indicate the same or corresponding parts. In the above embodiment, the example shown uses four metal wires extending in a straight line, and the metal wires 371, 372, 373, and 374 are arranged in a grid pattern in the vertical and horizontal directions (see reference). Figure 4 , Figure 6 However, in this first variation, four torsion springs 37C1, 37C2, 37C3, and 37C4 were used as the first elastic support component.

[0115] like Figure 16 As shown, the coil portion of the torsion spring 37C1 is mounted on the support column 361 of the base body 32, its fixed arm 371' is engaged with the inner wall surface of the base body 32, and the movable arm 371 elastically abuts against the outer peripheral surface of the shaft portion 31 (see reference). Figure 16Similarly, the coil portion of torsion spring 37C2 is mounted on support column 362, the fixed arm portion 372' is engaged with the inner wall surface of base body 32, and the movable arm portion 372 elastically abuts against the outer peripheral surface of shaft portion 31. The coil portion of torsion spring 37C3 is mounted on support column 363, the fixed arm portion 373' is engaged with the inner wall surface of base body 32, and the movable arm portion 373 elastically abuts against the outer peripheral surface of shaft portion 31. The coil portion of torsion spring 37C4 is mounted on support column 364, the fixed arm portion 374' is engaged with the inner wall surface of base body 32, and the movable arm portion 374 elastically abuts against the outer peripheral surface of shaft portion 31.

[0116] Accordingly, the movable arms 371, 372, 373, and 374 of each torsion spring 37C1, 37C2, 37C3, and 37C4 are arranged in a grid pattern in the inclined direction and in an inclined direction that is orthogonal or substantially orthogonal to it, and the shaft 31 (and thus the actuator 3A) is elastically supported from the outer periphery by the movable arms 371, 372, 373, and 374 of each torsion spring 37C1, 37C2, 37C3, and 37C4.

[0117] The movable arms 371, 372, 373, and 374 of each torsion spring 37C1, 37C2, 37C3, and 37C4 are as follows: Figure 18 As shown, the metal wires 371, 372, 373, and 374 in the above embodiment are disposed between the base end 34 and the flange portion 31f of the actuator 3A.

[0118] Even in this first modification, if the front end 30 of the actuator 3A is misaligned relative to the actuator insertion hole 20 of the switch body 2 (refer to the above embodiment) Figure 8 This misalignment is absorbed by the movement of the base end 34 of the actuator 3A via the ball bearing (see reference). Figure 17 , Figure 18 Therefore, not only can the misalignment of the actuator 3A relative to the actuator insertion hole 20 be absorbed in any direction (arrow B) intersecting the actuator insertion direction (arrow A direction), but the base end 34 can also be supported by the ball bearing. Therefore, when the actuator 3A is inserted, when an excessive thrust load is applied to the base end 34, the ball bearing can reliably support the base end 34.

[0119] Furthermore, when the front end 30 of the actuator 3A is inserted into the switch body 2 in a state of upward misalignment (refer to the above embodiment) Figure 15 The front end 30 and the base end 34 move downwards, causing the shaft 31 to also move downwards. At this time, the shaft 31 abuts against the movable arms 372 and 373 below, causing them to elastically deform downwards (see reference). Figure 19Accordingly, at this time, the elastic reverse force accompanying the elastic deformation of each movable arm 372, 373 acts upward on the outer peripheral surface of the shaft 31.

[0120] Therefore, when the movable door is open, as the front end 30 of the actuator 3A moves with the movable door and attempts to exit from the actuator insertion hole 20 of the switch body 2, the shaft 31 (and thus the actuator 3A) will move upward due to the elastic counterforce acting on the movable arms 372 and 373 of the shaft 31. At this time, since the base end 34 of the actuator 3A moves freely through the ball bearing, the actuator 3A can move upward smoothly.

[0121] Furthermore, although the following example was used for illustration: Figure 19 In the case of upward misalignment of actuator 3A relative to actuator insertion hole 20, during the absorption of the misalignment, the shaft portion 31 of actuator 3A abuts against the lower movable arms 372 and 373, causing the movable arms 372 and 373 to elastically deform downwards. However, in the case of downward misalignment, the shaft portion 31 abuts against the upper movable arms 371 and 374, causing the movable arms 371 and 374 to elastically deform upwards. In the case of left-right misalignment, the shaft portion 31 abuts against the left and right movable arms 373 and 374 or 371 and 372, causing the movable arms 373 and 374 or 371 and 372 to elastically deform downwards. Figure 16 It undergoes elastic deformation on the left or right side.

[0122] [Second variation]

[0123] Figures 20 to 23 This indicates a second modification of the present invention (particularly a modification of the first elastic support member). In each figure, the same symbols as in the above embodiment or the first modification indicate the same or corresponding parts. In the above embodiment, the example shown uses four metal wires extending in a straight line, and the metal wires 371, 372, 373, and 374 are arranged in a grid pattern in the vertical and horizontal directions (see reference). Figure 4 , Figure 6 However, in this second variation, four tension disc springs 37C1, 37C2, 37C3, and 37C4 are used as the first elastic support component.

[0124] like Figure 20 As shown, tension disc springs 37C1 and 37C3 are arranged in the vertical direction, and tension disc springs 37C2 and 37C4 are arranged in the horizontal direction. Each tension disc spring 37C1, 37C2, 37C3, and 37C4 is arranged in a cross shape along the extension line of the center O of the shaft portion 31 of the actuator 3A. The hook at one end of tension disc spring 37C1 is engaged with the support column 361 of the base body 32, and the hook at the other end... Figure 22 As shown, the locking protrusion 31fa (see reference) is engaged with the rearward (right side in the figure) protruding from the rear end face of the flange portion 31f of the actuator 3A. Figure 20 Similarly, the hook at one end of the tension spring 37C2 engages with the support column 362 of the base body 32, and the hook at the other end engages with the locking protrusion 31fa of the flange portion 31f. The hook at one end of the tension spring 37C3 engages with the support column 363 of the base body 32, and the hook at the other end engages with the locking protrusion 31fa of the flange portion 31f. The hook at one end of the tension spring 37C4 engages with the support column 364 of the base body 32, and the hook at the other end engages with the locking protrusion 31fa of the flange portion 31f.

[0125] Accordingly, the shaft 31 (and consequently the actuator 3A) is elastically supported from the outer periphery by the tension disc springs 37C1, 37C2, 37C3, and 37C4. Furthermore, the tension disc springs 37C1, 37C2, 37C3, and 37C4 are as follows: Figure 22 As shown, the metal wires 371, 372, 373, and 374 in the above embodiment are similarly disposed between the base end 34 and the flange portion 31f of the actuator 3A.

[0126] Even in this second modification, if the front end 30 of the actuator 3A is misaligned relative to the actuator insertion hole 20 of the switch body 2 (refer to the above embodiment) Figure 8 This misalignment is absorbed by the movement of the base end 34 of the actuator 3A via the ball bearing (see reference). Figure 21 , Figure 22 Therefore, not only can the misalignment of the actuator 3A relative to the actuator insertion hole 20 be absorbed in any direction (arrow B) intersecting the actuator insertion direction (arrow A direction), but the base end 34 can also be supported by the ball bearing. Therefore, when the actuator 3A is inserted, when an excessive thrust load is applied to the base end 34, the ball bearing can reliably support the base end 34.

[0127] Furthermore, when the front end 30 of the actuator 3A is inserted into the switch body 2 in a state of upward misalignment (refer to the above embodiment) Figure 15 The shaft portion 31 also moves downwards as the front end portion 30 and the base end portion 34 move downwards. At this time, as... Figure 23 As shown, the lower tension spring 37C3 undergoes compression deformation, while the upper and left / right tension springs 37C1, 37C2, and 37C4 undergo tension deformation. At this time, the elastic reaction force accompanying the elastic deformation of each tension spring 37C1, 37C2, 37C3, and 37C4 acts on the shaft 31 from its outer periphery upwards.

[0128] Therefore, when the movable door is open, as the front end 30 of the actuator 3A moves with the movable door and attempts to exit from the actuator insertion hole 20 of the switch body 2, the shaft 31 (and thus the actuator 3A) will move upward due to the elastic counterforce acting on the tension disc springs 37C1, 37C2, 37C3, and 37C4 of the shaft 31. At this time, since the base end 34 of the actuator 3A moves freely through the ball bearing, the actuator 3A can move upward smoothly.

[0129] Furthermore, although the following example was used for illustration: Figure 23 In the process, because the actuator 3A is misaligned upward relative to the actuator insertion hole 20, when the misalignment is absorbed, the lower tension spring 37C3 is compressed and deformed, and the upper and left and right tension springs 37C1, 37C2, and 37C4 are stretched and deformed. However, when misaligned downward, the upper tension spring 37C1 is compressed and deformed, and the lower and left and right tension springs 37C2, 37C3, and 37C4 are stretched and deformed. When misaligned to the left, the right tension spring 37C2 is compressed and deformed, and the upper, lower, and left tension springs 37C1, 37C3, and 37C4 are stretched and deformed. When misaligned to the right, the left tension spring 37C4 is compressed and deformed, and the upper, lower, and right tension springs 37C1, 37C2, and 37C3 are stretched and deformed.

[0130] [Example 3]

[0131] Figures 24 to 27 This indicates a third modification of the present invention (particularly a modification of the first elastic support member). In each figure, the same symbols as in the above embodiments, the first or second modifications, indicate the same or corresponding parts. In the above embodiments, the examples shown use four metal wires extending in a straight line, and the metal wires 371, 372, 373, and 374 are arranged in a grid pattern in the vertical and horizontal directions (see reference). Figure 4 , Figure 6 However, in this third variation, a spiral spring 37C is used as the first elastic support component.

[0132] like Figure 24 As shown, one end 37Ca of the inner circumference of the coil spring 37C is engaged with a locking recess formed on the outer circumferential surface of the shaft portion 31 of the actuator 3A, and the other end 37Cb of the outer circumferential side is engaged with a locking recess formed on the inner wall surface of the base body 32 of the base portion 3B.

[0133] Accordingly, the shaft 31 (and thus the actuator 3A) is elastically supported from the outer periphery by a coil spring 37C. Furthermore, the coil spring 37C, as... Figure 26 As shown, the metal wires 371, 372, 373, and 374 in the above embodiment are similarly disposed between the base end 34 and the flange portion 31f of the actuator 3A.

[0134] Even in this third variation, if the front end 30 of the actuator 3A is misaligned relative to the actuator insertion hole 20 of the switch body 2 (refer to the above embodiment) Figure 8 This misalignment is absorbed by the movement of the base end 34 of the actuator 3A via the ball bearing (see reference). Figure 25 , Figure 26 Therefore, not only can the misalignment of the actuator 3A relative to the actuator insertion hole 20 be absorbed in any direction (arrow B) intersecting the actuator insertion direction (arrow A direction), but the base end 34 can also be supported by the ball bearing. Therefore, when the actuator 3A is inserted, when an excessive thrust load is applied to the base end 34, the ball bearing can reliably support the base end 34.

[0135] Furthermore, when the front end 30 of the actuator 3A is inserted into the switch body 2 in a state of upward misalignment (refer to the above embodiment) Figure 15 The front end 30 and the base end 34 move downwards, causing the shaft 31 to also move downwards. At this time, the elastic reaction force of the spiral spring 37C, which is elastically deformed, acts upwards on the outer peripheral surface of the shaft 31 (see reference). Figure 27 ).

[0136] Therefore, when the movable door is open, as the front end 30 of the actuator 3A moves with the movable door and attempts to exit from the actuator insertion hole 20 of the switch body 2, the shaft 31 (and thus the actuator 3A) will move upward due to the elastic counterforce of the spiral spring 37C acting on the shaft 31. At this time, since the base end 34 of the actuator 3A moves freely through the ball bearing, the actuator 3A can move upward smoothly.

[0137] Furthermore, although the following example was used for illustration: Figure 27In this third modification, because the actuator 3A is misaligned upward relative to the actuator insertion hole 20, during the absorption of the misalignment, the shaft portion 31 of the actuator 3A causes the coil spring 37C to elastically deform downward. However, in the case of downward misalignment, the shaft portion 31 causes the coil spring 37C to elastically deform upward. In the case of left-right misalignment, the shaft portion 31 causes the coil spring 37C to elastically deform to the left or right. Furthermore, in this third modification, one end of the inner circumference of the coil spring 37C is engaged with the shaft portion 31 of the actuator 3A, and the other end of the outer circumference is engaged with the base body 32. When the actuator 3A moves and the shaft portion 31 attempts to rotate, the coil spring 37C twists, and its elastic restoring force acts on the shaft portion 31, thus restricting the rotation of the shaft portion 31.

[0138] [Example 4]

[0139] Figures 28 to 31 The figures indicate a fourth variation of the invention (particularly a variation of the first elastic support member). In each figure, the same symbols as in the above embodiments and the first to third variations indicate the same or corresponding parts. In the above embodiments, the examples shown use four metal wires extending in a straight line, and the wires 371, 372, 373, and 374 are arranged in a grid pattern in both the vertical and horizontal directions (see reference). Figure 4 , Figure 6 However, in this fourth variation, four tension disc springs 37C1, 37C2, 37C3, and 37C4 are used as the first elastic support component.

[0140] like Figure 28 As shown, tension springs 37C1 and 37C2 are arranged in a straight line in the left-right direction above the shaft portion 31 of the actuator 3A, while tension springs 37C3 and 37C4 are arranged in a straight line in the left-right direction below the shaft portion 31. Each tension spring 37C1 and 37C2 is arranged parallel to each other. One end of tension spring 37C1 is hooked into the support column 361 of the base body 32, and the other end is hooked into a locking protrusion 31a that protrudes radially outward from the shaft portion 31. Similarly, one end of tension spring 37C2 is hooked into the support column 362 of the base body 32, and the other end is hooked into the locking protrusion 31a of the shaft portion 31. The hook at one end of the tension spring 37C3 engages with the support column 363 of the base body 32, and the hook at the other end engages with a locking protrusion 31b that protrudes radially outward from the shaft portion 31. The hook at one end of the tension spring 37C4 engages with the support column 364 of the base body 32, and the hook at the other end engages with the locking protrusion 31b of the shaft portion 31.

[0141] Accordingly, the shaft 31 (and consequently the actuator 3A) is elastically supported from the outer periphery by the tension disc springs 37C1, 37C2, 37C3, and 37C4. Furthermore, the tension disc springs 37C1, 37C2, 37C3, and 37C4 are as follows: Figure 30 As shown, the metal wires 371, 372, 373, and 374 in the above embodiment are similarly disposed between the base end 34 and the flange portion 31f of the actuator 3A.

[0142] Even in this fourth variation, if the front end 30 of the actuator 3A is misaligned relative to the actuator insertion hole 20 of the switch body 2 (refer to the above embodiment) Figure 8 This misalignment is absorbed by the movement of the base end 34 of the actuator 3A via the ball bearing (see reference). Figure 29 , Figure 30 Therefore, not only can the misalignment of the actuator 3A relative to the actuator insertion hole 20 be absorbed in any direction (arrow B) intersecting the actuator insertion direction (arrow A direction), but the base end 34 can also be supported by the ball bearing. Therefore, when the actuator 3A is inserted, when an excessive thrust load is applied to the base end 34, the ball bearing can reliably support the base end 34.

[0143] Furthermore, when the front end 30 of the actuator 3A is inserted into the switch body 2 in a state of upward misalignment (refer to the above embodiment) Figure 15 The shaft 31 moves downward as the front end 30 and base end 34 move downward. At this time, the upper tension springs 37C1 and 37C2 are stretched and deformed, and the lower tension springs 37C3 and 37C4 are stretched and deformed (see reference). Figure 31 At this time, the elastic reaction force of each tension spring 37C1, 37C2, 37C3, and 37C4, which undergoes elastic deformation, acts upward from its outer periphery onto the shaft 31.

[0144] Therefore, when the movable door is open, as the front end 30 of the actuator 3A moves with the movable door and attempts to exit from the actuator insertion hole 20 of the switch body 2, the shaft 31 (and thus the actuator 3A) will move upward due to the elastic counterforce acting on the tension disc springs 37C1, 37C2, 37C3, and 37C4 of the shaft 31. At this time, since the base end 34 of the actuator 3A moves freely through the ball bearing, the actuator 3A can move upward smoothly.

[0145] Furthermore, although the following example was used for illustration: Figure 31In the process, because the actuator 3A is misaligned upward relative to the actuator insertion hole 20, when the misalignment is absorbed, the upper and lower tension disc springs 37C1, 37C2, 37C3, and 37C4 are stretched and deformed. However, when misaligned downward, the upper and lower tension disc springs 37C1, 37C2, 37C3, and 37C4 are stretched and deformed. When misaligned to the left, the right tension disc springs 37C1 and 37C4 are compressed and deformed, and the left tension disc springs 37C2 and 37C3 are stretched and deformed. When misaligned to the right, the left tension disc springs 37C2 and 37C3 are compressed and deformed, and the right tension disc springs 37C1 and 37C4 are stretched and deformed. Furthermore, in this fourth modification, tension springs 37C1 and 37C2 are locked to the locking protrusion 31a of the shaft portion 31, and tension springs 37C3 and 37C4 are locked to the locking protrusion 31b of the shaft portion 31. When the actuator 3A moves and the shaft portion 31 wants to rotate, the elastic restoring force accompanying the deformation of each tension spring 37C1, 37C2, 37C3, and 37C4 acts on the shaft portion 31, thus restricting the rotation of the shaft portion 31.

[0146] [5th ​​variation]

[0147] Figures 32 to 35 The figures show the fifth variation of the invention (particularly a variation of the first elastic support member). In each figure, the same symbols as in the above embodiments and the first to fourth variations indicate the same or corresponding parts. In the above embodiments, the examples shown use four metal wires extending in a straight line, and the wires 371, 372, 373, and 374 are arranged in a grid pattern in both the vertical and horizontal directions (see reference). Figure 4 , Figure 6 However, in this fifth variation, two annular rubber strips 371 and 372 are used as the first elastic support component.

[0148] like Figure 32 As shown, rubber strip 371 is wound around the four supports 361 of the base body 32 from the outer periphery and is arranged in a rectangular shape that is longer in the vertical direction. Similarly, rubber strip 372 is wound around the four supports 362 of the base body 32 from the outer periphery and is arranged in a rectangular shape that is longer in the horizontal direction. Rubber strip 371 is positioned relative to rubber strip 372 at... Figure 32 The front side of the paper. Each rubber band 371, 372 elastically abuts against the outer peripheral surface of the shaft 31, and the shaft 31 (and thus the actuator 3A) is elastically supported from the outer peripheral side by each rubber band 371, 372.

[0149] Each rubber belt 371, 372, etc. Figure 34As shown, the metal wires 371, 372, 373, and 374 in the above embodiment are similarly disposed between the base end 34 and the flange portion 31f of the actuator 3A.

[0150] Even in this fifth variation, if the front end 30 of the actuator 3A is misaligned relative to the actuator insertion hole 20 of the switch body 2 (refer to the above embodiment) Figure 8 This misalignment is absorbed by the movement of the base end 34 of the actuator 3A via the ball bearing (see reference). Figure 33 , Figure 34 Therefore, not only can the misalignment of the actuator 3A relative to the actuator insertion hole 20 be absorbed in any direction (arrow B) intersecting the actuator insertion direction (arrow A direction), but the base end 34 can also be supported by the ball bearing. Therefore, when the actuator 3A is inserted, when an excessive thrust load is applied to the base end 34, the ball bearing can reliably support the base end 34.

[0151] Furthermore, when the front end 30 of the actuator 3A is inserted into the switch body 2 in a state of upward misalignment (refer to the above embodiment) Figure 15 The front end 30 and the base end 34 move downwards, causing the shaft 31 to also move downwards. At this time, the shaft 31 abuts against the lower side of the rubber belt 372, causing it to elastically deform downwards (see reference). Figure 35 Accordingly, at this time, the elastic reverse force, which accompanies the elastic deformation of the lower side of the rubber belt 372, acts upward on the outer peripheral surface of the shaft portion 31.

[0152] Therefore, when the movable door is open, as the front end 30 of the actuator 3A moves with the movable door and attempts to exit from the actuator insertion hole 20 of the switch body 2, the shaft 31 (and thus the actuator 3A) will move upward due to the elastic counterforce acting on the lower side of the rubber band 372 of the shaft 31. At this time, since the base end 34 of the actuator 3A moves freely through the ball bearing, the actuator 3A can move upward smoothly.

[0153] Furthermore, although the following example was used for illustration: Figure 35 In the process of displacement, because the actuator 3A is misaligned upward relative to the actuator insertion hole 20, during the absorption of the misalignment, the shaft portion 31 of the actuator 3A abuts against the lower side span of the rubber belt 372, causing the lower side span to elastically deform downward. However, in the case of downward displacement, the shaft portion 31 abuts against the upper side span of the rubber belt 372, causing the upper side span to elastically deform upward. In the case of left-right displacement, the shaft portion 31 abuts against the left or right side span of the rubber belt 372, causing the left or right side span to elastically deform upward. Figure 32 It undergoes elastic deformation on the left or right side.

[0154] [Sixth variation]

[0155] Figures 36 to 39 The figures show the sixth variation of the present invention (particularly a variation of the first elastic support member). In each figure, the same symbols as in the above embodiments and the first to fifth variations indicate the same or corresponding parts. In the above embodiments, the example shown has metal wires 371, 372, 373, and 374 (see reference 1) disposed inside the base portion 3B. Figure 5 However, in this sixth variation, the first elastic support member is located outside the base portion 3B.

[0156] like Figure 36 as well as Figure 37 As shown, in the actuator unit 3, a rubber cover 4 is installed on the front end face 32A and side face 32B of the base body 32 of the base portion 3B. The cover 4 has a corrugated portion (first elastic support member) 40 on the front end face 32A of the base body 32, with a through hole 40a formed in the center for the shaft portion 31 to be inserted. The inner peripheral surface of the through hole 40a of the corrugated portion 40 is in close contact with the outer peripheral surface of the shaft portion 31, and the shaft portion 31 is elastically supported by the corrugated portion 40. The corrugated portion 40 is configured to be concentrically formed from the through hole 40a outwards, and by expansion and contraction, an elastic reverse force is applied to the outer peripheral surface of the shaft portion 31. Furthermore, the corrugated portion 40 covers the through hole 32a formed on the front end face 32A of the base body 32.

[0157] Even in this sixth variation, if the front end 30 of the actuator 3A is misaligned relative to the actuator insertion hole 20 of the switch body 2 (refer to the above embodiment) Figure 8 This misalignment is absorbed by the movement of the base end 34 of the actuator 3A via the ball bearing (see reference). Figure 37 , Figure 38 Therefore, not only can the misalignment of the actuator 3A relative to the actuator insertion hole 20 be absorbed in any direction (arrow B) intersecting the actuator insertion direction (arrow A direction), but the base end 34 can also be supported by the ball bearing. Therefore, when the actuator 3A is inserted, when an excessive thrust load is applied to the base end 34, the ball bearing can reliably support the base end 34.

[0158] Furthermore, when the front end 30 of the actuator 3A is inserted into the switch body 2 in a state of upward misalignment (refer to the above embodiment) Figure 15 The front end portion 30 and the base end portion 34 move downwards, causing the shaft portion 31 to also move downwards. At this time, the shaft portion 31 causes the corrugated portion 40 to elastically deform downwards (see reference). Figure 39That is, in this case, the lower corrugated region undergoes compressive deformation from the shaft portion 31, while the upper corrugated region undergoes tensile deformation from the shaft portion 31. Accordingly, at this time, the elastic reaction force accompanying the elastic deformation of the corrugated portion 40 acts upward on the outer peripheral surface of the shaft portion 31.

[0159] Therefore, when the movable door is open, as the front end 30 of the actuator 3A moves with the movable door and attempts to exit from the actuator insertion hole 20 of the switch body 2, the shaft 31 (and thus the actuator 3A) will move upward due to the elastic counterforce acting on the corrugated portion 40 of the shaft 31. At this time, since the base end 34 of the actuator 3A moves freely via a ball bearing, the actuator 3A can move upward smoothly.

[0160] Furthermore, although the following example was used for illustration: Figure 39 In the process of displacement, because the actuator 3A is misaligned upward relative to the actuator insertion hole 20, during the absorption of the misalignment, the shaft portion 31 of the actuator 3A causes the corrugated portion 40 to elastically deform downward. However, in the case of downward displacement, the shaft portion 31 causes the corrugated portion 40 to elastically deform upward. In the case of left-right displacement, the shaft portion 31 causes the corrugated portion 40 to elastically deform upward. Figure 36 Elastic deformation occurs on the left or right side.

[0161] [Seventh variation]

[0162] Figure 40 as well as Figure 41 The seventh variation of the present invention is shown. In each figure, the same symbols as those in the above embodiments and the first to sixth variations indicate the same or corresponding parts.

[0163] like Figure 40 As shown, inside the base body 32 of the base portion 3B, and behind the base end portion 34 of the actuator 3A (on the right side of the figure), an elastic structure (second elastic support member) 5, composed of a compression spring or the like, is provided. A flat rigid plate 39 is disposed between the elastic structure 5 and the base end portion 34. Each ball 35 of the base end portion 34 abuts against the front end face of the rigid plate 39, and one end of the elastic structure 5 abuts against the rear end face of the rigid plate 39. The other end of the elastic structure 5 abuts against the front end face of the cover 33 of the base portion 3B. Accordingly, the base end portion 34 of the actuator 3A and the rigid plate 39 are elastically supported by the elastic structure 5 in the direction of arrow A in the actuator insertion direction.

[0164] Additionally, although not illustrated, this seventh variation includes any of the first elastic support members shown in the above embodiments or the first to sixth variations.

[0165] Even in this case, if the front end 30 of the actuator 3A is misaligned relative to the actuator insertion hole 20 of the switch body 2 (refer to the above embodiment) Figure 8 This misalignment is absorbed by the movement of the base end 34 of the actuator 3A via the ball bearing (see reference). Figure 41 Therefore, not only can the misalignment of the actuator 3A relative to the actuator insertion hole 20 be absorbed in any direction (arrow B) intersecting the actuator insertion direction (arrow A direction), but the base end 34 can also be supported by the ball bearing. Therefore, when the actuator 3A is inserted, when an excessive thrust load is applied to the base end 34, the ball bearing can reliably support the base end 34.

[0166] Moreover, in this case, since the rigid plate 39 that allows the balls 35 of the base end 34 to roll is elastically supported in the thrust direction by the elastic structure 5, the excessive thrust load acting on the base end 34 when the actuator 3A is inserted will be more effectively absorbed by the elastic compression deformation of the elastic structure 5.

[0167] Furthermore, when the front end 30 of the actuator 3A is inserted into the switch body 2 in a misaligned state (refer to the above embodiment) Figure 15 The actuator moves through the front end 30, the base end 34 and the shaft 31, and the elastic reaction force of the first elastic member (not shown) acts on the actuator 3A along with the elastic deformation.

[0168] Therefore, when the movable door is open, as the front end 30 of the actuator 3A moves with the movable door and attempts to exit from the actuator insertion hole 20 of the switch body 2, the actuator 3A will move in a certain direction due to the elastic counterforce of the first elastic member. At this time, since the base end 34 of the actuator 3A can move freely through the ball bearing, the actuator 3A can move smoothly.

[0169] [Example 8]

[0170] Figure 42 as well as Figure 43 The figures indicate the eighth variation of the present invention (particularly a variation of the seventh variation). In each figure, the same symbols as those in the above embodiments and the first to seventh variations indicate the same or corresponding parts.

[0171] like Figure 42As shown, in this eighth modification, the flat rigid plate 39 of the seventh modification is replaced by an arc-shaped (or bowl-shaped / plate-shaped / spring-shaped) rigid plate 39'. The rigid plate 39' has a concave arc-shaped surface 39'a on the front end side and a convex arc-shaped surface 39'b on the rear end side. Each ball 35 of the base end portion 34 abuts against the concave arc-shaped surface 39'a, and one end of the elastic structure 5 abuts against the convex arc-shaped surface 39'b. The other end of the elastic structure 5 abuts against the front end face of the cover 33 of the base portion 3B. Accordingly, the base end portion 34 of the actuator 3A and the rigid plate 39' are elastically supported in the actuator insertion direction A by the elastic structure 5. In addition, although not shown, even in this eighth modification, as in the seventh modification, any of the first elastic support members shown in the above embodiments or the first to sixth modifications are provided.

[0172] Even in this case, if the front end 30 of the actuator 3A is misaligned relative to the actuator insertion hole 20 of the switch body 2 (refer to the above embodiment) Figure 8 This misalignment is absorbed by the movement of the base end 34 of the actuator 3A via the ball bearing (see reference). Figure 43 Therefore, not only can the misalignment of the actuator 3A relative to the actuator insertion hole 20 be absorbed in any direction (arrow B) intersecting the actuator insertion direction (arrow A direction), but the base end 34 can also be supported by the ball bearing. Therefore, when the actuator 3A is inserted, when an excessive thrust load is applied to the base end 34, the ball bearing can reliably support the base end 34.

[0173] Furthermore, in this case, since the rigid plate 39' that allows the balls 35 of the base end 34 to roll is elastically supported in the thrust direction by the elastic structure 5, the excessive thrust load acting on the base end 34 when the actuator 3A is inserted is effectively absorbed by the elastic compression deformation of the elastic structure 5. Moreover, in this case, since the base end 34 moves along the concave arc surface 39'a of the rigid plate 39', the amount of compression deformation of the elastic structure 5 increases on the side where the base end 34 moves. Figure 43 Therefore, when the actuator 3A returns to its original position, the elastic counterforce of the first elastic support member (not shown) acts on the actuator 3A. In addition, the elastic counterforce of the elastic structure 5 acts on the actuator 3A through the rigid plate 39'. Therefore, the actuator 3A smoothly returns to its original position.

[0174] [9th variation]

[0175] Figure 44 as well as Figure 45The figures indicate the 9th variation of the present invention (particularly the variation of the 1st elastic support member). In each figure, the same symbols as those in the above embodiments and the 1st to 8th variations indicate the same or corresponding parts.

[0176] like Figure 44 As shown, the first elastic support member 37 in this ninth variation includes a cylindrical portion 37A disposed on the inner circumferential side and a protruding portion 37B extending obliquely forward from the rear end (right end in the figure) of the cylindrical portion 37A. The axial cross-section of the cylindrical portion 37A and the protruding portion 37B is formed in a generally V-shape. The inner circumferential surface 37Aa of the cylindrical portion 37A is in close contact with the outer circumferential surface of the shaft portion 31 between the base end portion 34 of the shaft portion 31 and the flange portion 31f. The outer circumferential end edge of the protruding portion 37B abuts against the inner wall surface of the base body 32. According to this configuration, the shaft portion 31 (and thus the actuator 3A) is elastically supported from the outer circumferential side by the first elastic support member 37.

[0177] Even in this ninth variation, if the front end 30 of the actuator 3A is misaligned relative to the actuator insertion hole 20 of the switch body 2 (refer to the above embodiment) Figure 8 This misalignment is absorbed by the movement of the base end 34 of the actuator 3A via the ball bearing (see reference). Figure 45 Therefore, not only can the misalignment of the actuator 3A relative to the actuator insertion hole 20 be absorbed in any direction (arrow B) intersecting the actuator insertion direction (arrow A direction), but the base end 34 can also be supported by the ball bearing. Therefore, when the actuator 3A is inserted, when an excessive thrust load is applied to the base end 34, the ball bearing can reliably support the base end 34.

[0178] Furthermore, when the front end 30 of the actuator 3A is inserted into the switch body 2 in a state of upward misalignment (refer to the above embodiment) Figure 15 The shaft portion 31 moves downward as the front end portion 30 and the base end portion 34 move downward. At this time, the shaft portion 31 causes the protruding portion 37B in the lower region of the first elastic support member 37 to elastically deform (see reference). Figure 45 Accordingly, at this time, the elastic reverse force generated by the elastic deformation of the protrusion 37B in the lower region of the first elastic support member 37 acts upward on the outer peripheral surface of the shaft portion 31.

[0179] Therefore, when the movable door is open, as the front end 30 of the actuator 3A moves out of the actuator insertion hole 20 of the switch body 2 along with the movement of the movable door, the shaft 31 (and thus the actuator 3A) will move upward due to the elastic counterforce acting on the protrusion 37B in the lower region of the first elastic support member 37. At this time, since the base end 34 of the actuator 3A moves freely through the ball bearing, the actuator 3A can move upward smoothly.

[0180] Furthermore, although the following example was used for illustration: Figure 45 In the process, because the actuator 3A is misaligned upward relative to the actuator insertion hole 20, when the misalignment is absorbed, the shaft portion 31 of the actuator 3A causes the protruding portion 37B of the lower region of the first elastic support member 37 to elastically deform. However, in the case of downward misalignment, the shaft portion 31 causes the protruding portion 37B of the upper region of the first elastic support member 37 to elastically deform. In the case of left-right misalignment, the shaft portion 31 causes the protruding portion 37B of the left or right region of the first elastic support member 37 to elastically deform to the left or right.

[0181] [Example 10]

[0182] Figures 46 to 52 This is a diagram illustrating a safety switch having the actuator unit and switch body as described in the 10th variation of the present invention. Figure 46 This is a schematic diagram of the safety switch (similar to the embodiment described above). Figure 1 (corresponding diagram) Figure 47 This is a longitudinal cross-sectional view of the actuator unit (as described in the above embodiment). Figure 5 (corresponding diagram) Figures 48 to 50 This is a diagram showing the timing of the movement of the actuator unit and the actuator when the actuator unit is misaligned relative to the actuator insertion hole of the switch body (as described in the above embodiment). Figures 8 to 10 (corresponding diagram) Figure 51 This is a longitudinal cross-sectional view of the actuator unit after the actuator has moved (similar to the embodiment described above). Figure 13 (corresponding diagram) Figure 52 This diagram illustrates a state where the actuator is inserted into the switch body, and a locking component inside the switch body is engaged with the actuator (as described in the above embodiment). Figure 15 (See the corresponding figures). In each figure, the same symbols as in the above embodiments represent the same or corresponding parts.

[0183] In this tenth variation, the shape of the actuator differs from that of the embodiments described above. In the embodiments described above, the actuator 3A's shaft portion 31 has a cylindrical shape (i.e., a circular cross-section), and the front end portion 30 has a hemispherical shape with a convex arcuate surface 30a at the front end. However, in this tenth variation, the actuator 3A's shaft portion 31' is plate-shaped (see reference...). Figure 50 , Figure 52 (That is, the cross-section is rectangular), and the corner of the flat front end 31'a has an R-shaped part (that is, a convex arc surface) 31'r. In addition, a rectangular locking hole 31'b is formed in the vicinity of the front end 31'a of the shaft portion 31', which penetrates the shaft portion 31' in the thickness direction.

[0184] In addition, such as Figure 47 as well as Figure 51 As shown, in this 10th variation, although the metal wires 371 to 374 in the above embodiments are used as the first elastic support member, other components as shown in the various variations above can also be used as the first elastic support member. Furthermore, the shaft portion 31' of the actuator 3A' can be made into a plate shape, and the opening 32a formed on the front end face of the base body 32 of the base portion 3B can be made rectangular instead of circular.

[0185] like Figure 46 As shown, at the center line 3C of actuator 3A' L Centerline 2C of the actuator insertion hole 20 of the switch body 2 L Under consistent conditions, when the actuator is inserted, the front end 31'a of the actuator 3A' is smoothly inserted into the actuator insertion hole 20 without interfering with the conical surface 20a of the actuator insertion hole 20.

[0186] On the other hand, such as Figure 48 As shown, at the center line 3C of the shaft 31' (i.e., actuator 3A') L The centerline 2C of the actuator insertion hole 20 relative to the switch body 2 L When misalignment occurs, when the actuator is inserted, the R-shaped portion 31'r of the front end 31'a of the actuator 3A' abuts against the conical surface 20a of the actuator insertion hole 20 (see reference). Figure 49 Accordingly, during the closing of the movable door, the R-shaped portion 31'r of the front end 31'a slides along the conical surface 20a and is about to move diagonally downward as shown in the figure.

[0187] At this time, as Figure 47As shown, since each ball 35 protruding from the rear end face of the base end 34 of the actuator 3A' moves freely along the inner surface of the cover 33 in the direction of arrow B, when the downward force acts on the front end 31'a of the actuator 3A' during the closing of the movable door, as... Figure 51 As shown, each ball 35 rolls on the inner surface of the cover 33, thereby causing the base end 34 to move downward along the inner surface of the cover 33. Accordingly, the actuator 3A' moves downward relative to the base portion 3B.

[0188] As a result, the R-shaped portion 31'r of the front end portion 31'a of the actuator 3A' moves along the conical surface 20a of the actuator insertion hole 20 towards... Figure 49 Move diagonally downwards, as follows Figure 50 As shown, actuator 3A' is inserted into the switch body 2 through actuator insertion hole 20. Thus, as... Figure 52 As shown, the locking component (e.g., cam component) SR inside the switch body 2 is locked into the locking hole 31'b of the shaft portion 31' of the actuator 3A'. Therefore, the actuator 3A' is locked and will not dislodge. In this state, switching the contacts (not shown) inside the switch body 2 initiates the mechanical drive of a robot or similar device.

[0189] Even in this tenth variation, similar to the embodiments described above, when misalignment occurs, it is absorbed by the movement of the base end 34 of the actuator 3A' via the ball bearing. Furthermore, it can absorb misalignment in any direction (arrow B) intersecting the actuator insertion direction (arrow A direction). Moreover, when misalignment occurs, the ball bearing reliably withstands excessive thrust loads acting on the base end 34 of the actuator 3A'. Additionally, by using the ball bearing, the coefficient of friction can be reduced, further improving durability. Furthermore, the elastic reaction force resulting from the elastic deformation of each of the metal wires 371-374 acts on the actuator 3A', causing the actuator 3A' to return to its original position. While this is the same as in the previous embodiment, in this 10th variation, since the shaft portion 31' of the actuator 3A' has a rectangular cross-section, to ensure smoother insertion into the actuator insertion hole 20 and the locking of the locking member SR with the locking hole 31'b of the shaft portion 31', it is preferable to restrict the rotation of the shaft portion 31'. In this regard, each of the metal wires 371-374 clamps the shaft portion 31' from above, below, left, and right (see the 12th variation described later). Figure 54 As a mechanism to limit the rotation of the shaft 31', the third variation described above can also be used. Figure 24 ) or the 4th variation ( Figure 28 The composition of ).

[0190] [Example 11]

[0191] In the above embodiments, an example is shown where the base end 34 of the actuator 3A holds five balls 35 (see reference). Figure 4 , Figure 12 However, the application of this invention is not limited thereto. The number of balls 35 may be more or less than 5. Figure 53 This represents the eleventh variation of the present invention, although it differs from the embodiments described above. Figure 4 Correspondingly, however, Figure 53 Only the rear end face of the base end 34 is shown.

[0192] like Figure 53 As shown, five balls 35 are arranged at equal or approximately equal intervals around the base 34 of the actuator 3A, and one ball 35 is arranged at or approximately at the center. In addition, various other arrangements of the balls 35 can be considered, and the sizes of the balls 35 may not be the same.

[0193] In the above embodiments, an example is shown where the bottom of the retaining hole 34a of the ball 35 is formed in a conical shape (see reference). Figure 5 However, the application of the present invention is not limited to this. The bottom of the retaining hole 34a can also be flat. In addition, the shape of the retaining hole 34a is not necessarily circular; it can be elliptical, oblong, olive-shaped, etc., or polygonal. Furthermore, multiple balls 35 can be retained in one retaining hole 34a.

[0194] In the above embodiments, although an example is shown where a retaining hole 34a is directly formed at the base end 34, the application of the present invention is not limited thereto. A thin-walled retainer can also be made using a material with a low coefficient of friction, and by embedding and fixing this retainer into a larger formed retaining hole 34a, the ball 35 can be held in a self-rotating manner.

[0195] In the above embodiments, although an example of the ball 35 being held at the base end 34 is shown, the application of the present invention is not limited thereto. Alternatively, the cover 33 may be made with a thick wall, and multiple retaining holes may be formed on the cover to hold the balls in a self-rotating manner. Furthermore, the rear end face of the base end 34 may be made flat, so that each ball abuts against the rear end face of the base end 34.

[0196] [Example 12]

[0197] Figure 54 This refers to the actuator unit in the 12th variation of the present invention, and is different from the one described in the above embodiments. Figure 6 The corresponding figure. In the above embodiment, although an example is shown where the shaft portion 31 of the actuator 3A has a circular cross-section, the shaft portion 31 may also have a rectangular cross-section. Figure 54In the example shown, a shaft portion 31A with a square cross-section is illustrated. As shown in the figure, metal wires 371 to 374 abut against the four faces of the shaft portion 31A, thereby restricting the rotation of the shaft portion 31A when the actuator 3A moves during the insertion of the actuator in case of misalignment.

[0198] [Example 13]

[0199] Figure 55 This refers to the actuator unit in the 13th modification of the present invention, and is different from that in the 1st modification described above. Figure 16 The corresponding figure. In the first modified example described above, although an example is shown where the shaft portion 31 of the actuator 3A has a circular cross-section, the shaft portion 31 may also have a rectangular cross-section. Figure 55 In the example shown, a shaft portion 31B with a square cross-section is illustrated. As shown in the figure, the movable arms 371 to 374 of the torsion springs 37C1 to 37C4 respectively abut against the four surfaces of the shaft portion 31B. Accordingly, when the actuator is inserted in case of misalignment, the rotation of the shaft portion 31B is restricted when the actuator 3A moves.

[0200] [Example 14]

[0201] Figure 56 This refers to the actuator unit in the 14th modification of the present invention, and is related to the 5th modification described above. Figure 32 The corresponding figure. In the fifth variation example above, although an example is shown where the shaft portion 31 of the actuator 3A has a circular cross-section, the shaft portion 31 may also have a rectangular cross-section. Figure 56 In the example shown, a shaft portion 31C with a square cross-section is illustrated. As shown in the figure, rubber strips 371 and 372 abut against the four faces of the shaft portion 31C, respectively. Accordingly, when the actuator is inserted in case of misalignment, the rotation of the shaft portion 31C is restricted when the actuator 3A moves.

[0202] [Example 15]

[0203] In the aforementioned 10th variation, although the actuator insertion hole 20 of the switch body 2 is illustrated with a conical surface 20a and the corner of the front end portion 31'a of the actuator 3A' has an R-shaped portion (i.e., a convex arc-shaped surface) 31'r, the application of the present invention is not limited to this. The actuator insertion hole 20 may have a convex arc-shaped surface, and the corner of the front end portion 31'a of the actuator 3A' may also have a chamfered portion (i.e., an inclined surface).

[0204] [Example 16]

[0205] The conical surface 20a provided in the actuator insertion hole 20 of the switch body 2 ( Figure 1The locking component SR can also be extended further into the interior of the switch body 2. Figure 7 The position near the locking member SR (not shown). In this case, even if the actuator 3A is misaligned in any direction or both of the vertical or horizontal directions, the misalignment of the actuator 3A will be eliminated when the actuator 3A moves along the conical surface 20a to the vicinity of the locking member SR. Therefore, the locking member SR can reliably lock the actuator 3A.

[0206] [Example 17]

[0207] In the above embodiments, although an example is shown where the diameter of the shaft portion 31 of the actuator 3A is smaller than that of the hemispherical front end portion 30, the application of the present invention is not limited to this. The shaft portion 31 and the front end portion 30 may also have substantially the same diameter, and a recess or groove / circumferential groove (not shown) with a smaller diameter than both the front end portion 30 and the shaft portion 31 may be formed between the front end portion 30 and the shaft portion 31, and the locking member SR may be engaged in these recesses, etc. Alternatively, in the above embodiments, a large-diameter portion with substantially the same diameter as the front end portion 30 but a larger diameter than the shaft portion 31 may be provided at a midpoint along the length direction of the small-diameter shaft portion 31, spaced apart from the front end portion 30 (functioning as a locking recess for the locking member SR).

[0208] In the above situation, after the front end 30 of the actuator 3A enters the interior of the switch body 2, the shaft portion 31 or the large diameter portion, which is substantially the same diameter as the front end 30, abuts against the conical surface 20a of the actuator insertion hole 20, and enters the interior of the switch body 2 along the conical surface 20a. Therefore, even if the actuator 3A is misaligned in any direction or both of the vertical or horizontal directions, the misalignment of the actuator 3A will be eliminated when the actuator 3A moves to the position of the locking member SR. Accordingly, the locking member SR can reliably lock the actuator 3A.

[0209] [Other variations]

[0210] The above-described embodiments and variations should be considered merely as illustrative examples of the invention and not as limitations thereof. Those skilled in the art will be able to construct various variations or other embodiments employing the principles of the invention, even if not explicitly described herein, by considering the foregoing teachings without departing from the concept and essential features of the invention.

[0211] [Potential for Industrial Applications]

[0212] This invention can be applied to actuator units and safety switches incorporating such actuator units.

Claims

1. An actuator unit, characterized in that, The actuator unit includes: an actuator having a front end portion capable of being inserted into an actuator insertion hole; and a base portion supporting the base end portion of the actuator so that it can move freely in any direction intersecting the insertion direction of the actuator relative to the actuator insertion hole by means of a ball bearing. The misalignment between the front end of the actuator and the actuator insertion hole is absorbed in any direction by the movement of the base end of the actuator via the ball bearing.

2. The actuator unit according to claim 1, characterized in that, The base end of the actuator has a holding portion that holds a plurality of balls so that they can rotate freely. The ball bearing is composed of the balls and the retaining portion.

3. The actuator unit according to claim 1, characterized in that, The front end has a convex arc-shaped surface or an inclined surface.

4. The actuator unit according to claim 1, characterized in that, The base portion is provided with a first elastic support member that elastically supports the actuator from its outer periphery.

5. The actuator unit according to claim 1, characterized in that, The actuator has a shaft extending between the front end and the base end, the base having an opening through which the shaft is inserted to allow the movement of the base end.

6. The actuator unit according to claim 5, characterized in that, A step difference is formed between the shaft portion and the front end portion.

7. The actuator unit according to claim 5, characterized in that, The base portion is provided with a first elastic support member that elastically supports the shaft portion of the actuator from its outer periphery.

8. The actuator unit according to claim 7, characterized in that, The first elastic support component covers the opening.

9. The actuator unit according to claim 1, characterized in that, The actuator has a locking hole. A locking component inside the switch body, which has the actuator insertion hole, is locked into the locking hole.

10. The actuator unit according to claim 1, characterized in that, The base portion is provided with a second elastic support member that elastically supports the base end of the actuator in the insertion direction of the actuator.

11. The actuator unit according to claim 10, characterized in that, The base portion is provided with an arc-shaped plate component having a concave arc-shaped surface, and the concave arc-shaped surface constitutes the rolling surface of the ball bearing. The arc-shaped plate component is elastically supported by the second elastic support component.

12. A safety switch, characterized in that, The safety switch comprises: the actuator unit as described in claim 1, and a switch body having the actuator insertion hole.

Images