Rotary actuator

Abstract

The invention provides a rotary actuator capable of improving maintainability. The rotary actuator is provided with: a groove (53) which is provided in a second ring surface portion (50b), which is a facing portion of the base member (20) facing the rotary member (30), and which extends in the direction of rotation of the rotary member; a ball (54) that is provided on a rear surface portion of an opposing portion, which is the rotating member and which faces the base member, and that moves inside the recess in accordance with the rotation of the rotating member with respect to the base member; and a first detection switch (27) and a second detection switch (28) provided on both sides of the groove in the longitudinal direction and operated by the ball. The controller unit periodically rotates the rotating member with respect to the base member, and the ball presses the first detection switch or the second detection switch, whereby the angular position of the stepping motor can be corrected to a normal position. Therefore, the rotary actuator (10) with improved maintainability can be realized.

Description

Technical Field

[0001] The present invention relates to a rotary actuator for rotating a driven object. Background Art

[0002] For example, Patent Document 1 describes a network device having a driver for rotating a signal receiving antenna. The driver has a drive motor and a reducer composed of a plurality of gears, and the driver is housed inside a base. In addition, a bracket supporting the signal receiving antenna is rotatably connected to the base. Furthermore, the network device has a main controller. Furthermore, the main controller controls the drive motor so that the signal receiving antenna (bracket) rotates in a direction with a strong signal strength.

[0003] Patent Document 1: Japanese Patent Application No. 2023-508219

[0004] However, in the technology described in Patent Document 1, a position detector composed of a Hall sensor and a magnetic component is used to detect the rotation angle of the bracket relative to the base. Therefore, if the main controller misses the pulse signal from the Hall sensor for some reason and miscalculates the count value of the pulse signal, an error will occur in the rotation angle of the bracket relative to the base during rotation control. In this case, maintenance is required to match the count value of the pulse signal with the rotation angle of the bracket relative to the base. Summary of the invention

[0005] An object of the present invention is to provide a rotary actuator capable of improving maintainability.

[0006] One embodiment of the present invention is a rotary actuator, which comprises: a base member; a rotary member supported on the base member in a rotatable manner; and an electric motor that rotates the rotary member, wherein the rotary actuator comprises: a groove, which is provided in an opposing portion of the base member opposite to the rotary member and extends along the rotation direction of the rotary member; a block member, which is provided in an opposing portion of the rotary member opposite to the base member and moves inside the groove as the rotary member rotates relative to the base member; and a rotation detection switch, which is provided on both sides of the groove in the longitudinal direction and is operated by the block member.

[0007] According to the present invention, a rotary actuator capable of improving maintainability can be realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is a perspective view showing the rotary actuator according to the first embodiment.

[0009] Figure 2 yes Figure 1 Exploded perspective view of a rotary actuator.

[0010] Figure 3 Viewed from the rotating part (dashed line) side Figure 1 Top view of the rotary actuator.

[0011] Figure 4 It is along Figure 3 Cross-sectional view along line AA.

[0012] Figure 5 yes Figure 4 An enlarged view of the dotted circle B.

[0013] Figure 6 It is an exploded perspective view showing the annular member and the switch substrate.

[0014] Figure 7 It is an exploded perspective view showing the base member and the annular member.

[0015] Figure 8 This is a perspective view of the rotating member as viewed from the base member side.

[0016] Fig. 9 It is a partial enlarged view for explaining the movement of the spherical body (at each angle).

[0017] Fig.10 An exploded perspective view of a rotary actuator (rotating member omitted) according to Embodiment 2 is shown.

[0018] Fig.11 yes Fig.10 An enlarged top view of a portion of a rotary actuator corresponding to a first switch substrate and a second switch substrate (rotating components omitted).

[0019] Fig.12 It is an enlarged perspective view for explaining a method of adjusting the positions of the first switch substrate and the second switch substrate relative to the annular member.

[0020] Description of symbols

[0021] 10: Rotary actuator; 20: Base member; 21: Annular main body; 21a: First face portion; 21b: Second face portion; 22: Fixed leg portion; 23: Boss portion; 23a: Internal thread portion; 24: Bearing holding portion; 24a: Annular bottom wall; 24b: Annular side wall; 25: Substrate seat; 25a: Internal thread portion; 26: Switch substrate; 26a: One side substrate surface; 26b: The other side substrate surface; 26c: Screw insertion hole; 27: First detection switch (rotation detection switch, first switch ); 28: second detection switch (rotation detection switch, second switch); 30: rotating member; 31: back portion; 32: surface portion; 33: bearing mounting portion; 33a: internal threaded hole; 34: anti-dropping member; 34a: main body; 34b: small diameter cylindrical portion; 34c: large diameter cylindrical portion; 34d: flange portion; 35: cylindrical large diameter gear; 35a: gear teeth; 36: ball holding portion (holding groove); 36a: through hole; 40: stepping motor (electric motor); 41: connector connection portion; 4 2: Motor body; 43: Planetary gear reduction unit; 43a: Mounting unit; 44: Output shaft (rotation shaft); 45: Pinion; 50: Annular component; 50a: First annular portion; 50b: Second annular portion; 51: Substrate fixing recess; 52: Internal thread component; 53: Groove; 53a: One side groove end wall (contact wall); 53b: The other side groove end wall (contact wall); 54: Ball (block component); 55: Screw fixing hole; 60: Rotation actuator; 70: First switch substrate; 71: long hole; 80: second switch substrate; 81: long hole; 90: fixture; 91: knob part; 92: first insertion part; 93: second insertion part; AH: adjustment hole; BB: ball bearing; CP: cap part; CU: controller unit; HL: fixture insertion hole; IR: inner ring; LN: substrate wiring; OR: outer ring; PG: pinion; PS: pressing part; S1: annular component fixing screw; S2: substrate fixing screw; S3: external thread component; S4: substrate fixing screw; SL: sealing component. DETAILED DESCRIPTION

[0022] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0023] <Implementation method 1>

[0024] Figure 1 is a perspective view showing the rotary actuator of Embodiment 1, Figure 2 yes Figure 1 An exploded perspective view of a rotary actuator, Figure 3 Viewed from the rotating part (dashed line) side Figure 1 Top view of the rotary actuator, Figure 4 It is along Figure 3 The cross-sectional view of line AA, Figure 5 yes Figure 4 The enlarged view of the dotted circle B, Figure 6 is an exploded perspective view showing the annular component and the switch substrate, Figure 7 is an exploded perspective view showing a base member and an annular member, Figure 8 This is a perspective view of the rotating part as viewed from the base part side. Fig. 9 It is a partial enlarged view for explaining the movement of the spherical body (at each angle).

[0025] <Overview of Rotary Actuators>

[0026] like Figure 1 and Figure 2 As shown, the entire rotary actuator 10 is formed into a substantially disc shape. The rotary actuator 10 is used, for example, as a driving source for rotating an antenna (not shown) capable of receiving millimeter waves in a direction with a strong signal strength. Here, millimeter waves refer to radio waves suitable for high-speed and large-capacity communications, and are radio waves with a wavelength of 1 mm to 10 mm and a frequency of 30 GHz to 300 GHz.

[0027] The rotary actuator 10 includes a base member 20 fixed to the ground, a base, etc. (not shown) and a rotary member 30 rotatably supported on the base member 20. In addition, a stepper motor 40 for rotating the rotary member 30 is fixed to one axial side (lower side in the figure) of the base member 20. Moreover, a connector connection portion 41 of the stepper motor 40 is electrically connected to the controller unit CU.

[0028] In addition, the stepping motor 40 corresponds to the electric motor in the present invention.

[0029] <About stepping motors>

[0030] like Figure 2 As shown, the stepper motor 40 is formed in a substantially cylindrical shape. The stepper motor 40 has a motor body 42 and a planetary gear reduction unit 43. The motor body 42 is arranged on one axial side (lower side in the figure) of the stepper motor 40, and the planetary gear reduction unit 43 is arranged on the other axial side (upper side in the figure) of the stepper motor 40. In addition, the planetary gear reduction unit 43 has an output shaft 44, and a pinion 45 is fixed to the output shaft 44.

[0031] Thus, the pinion 45 is driven to rotate with high torque as the motor body 42 is driven to rotate. In addition, the output shaft 44 to which the pinion 45 is fixed is equivalent to the rotating shaft in the present invention. Here, the stepping motor 40 is a motor that can control the rotation angle and rotation speed of the output shaft 44 with high precision according to the pulse signal (rectangular wave signal) from the controller unit CU.

[0032] In addition, a pair of mounting portions 43a are integrally provided in the planetary gear reduction portion 43. These mounting portions 43a are fixed to the first surface portion 21a (see FIG. 21) of the base member 20 by a pair of motor fixing screws (not shown). Figure 4 ) That is, the stepping motor 40 is fixed to the side of the base member 20 opposite to the rotating member 30 side by a pair of motor fixing screws in a manner that does not shake.

[0033] <Base parts>

[0034] like Figures 1 to 4 and Figure 7 As shown, the base member 20 is formed into a substantially annular shape by a resin material such as plastic. Furthermore, the base member 20 has an annular main body 21 and a plurality of fixed legs 22. The annular main body 21 has a first face portion 21a and a second face portion 21b. Specifically, the first face portion 21a is provided on one axial side of the rotary actuator 10 (the stepping motor 40 side), and extends in a direction perpendicular to the axial direction of the rotary actuator 10. On the other hand, the second face portion 21b is provided on the other axial side of the rotary actuator 10 (the rotary member 30 side), and extends in a direction perpendicular to the axial direction of the rotary actuator 10.

[0035] Furthermore, the base ends of a plurality of fixing legs 22 are integrally provided on the first surface portion 21a of the base member 20. That is, the plurality of fixing legs 22 extend toward one side in the axial direction of the rotary actuator 10. Furthermore, the front ends of the plurality of fixing legs 22 are fixed to the ground, a base, etc. (not shown) by base member fixing screws (not shown).

[0036] In addition, a stepper motor 40 is fixed to the first surface 21a of the base member 20, and the front end side of the output shaft 44 forming the stepper motor 40 passes through the annular main body 21 of the base member 20 and is arranged on the second surface 21b side of the annular main body 21. In addition, a pinion 45 is fixed to the output shaft 44 on the second surface 21b side. That is, the pinion 45 is rotatable on the second surface 21b side by the stepper motor 40.

[0037] Furthermore, a total of three boss portions 23 are integrally provided on the radially outer side of the second surface portion 21b of the base member 20. These boss portions 23 protrude at a predetermined height toward the other axial side of the base member 20 (the rotating member 30 side), and are formed into a substantially cylindrical shape. A total of three boss portions 23 are arranged at equal intervals (120 degree intervals) in the circumferential direction of the annular main body portion 21, and each of these boss portions 23 is provided with an internal thread portion 23a. In addition, an annular member fixing screw S1 (refer to FIG. 1 ) for fixing the annular member 50 to the second surface portion 21b of the annular main body portion 21 is threadedly fastened to the internal thread portion 23a. Figure 7 ).

[0038] In addition, an annular bearing holding portion 24 is integrally provided on the radially inner side of the base member 20 and on the second surface portion 21b side. A ball bearing BB (see FIG. 2 ) that rotatably supports the rotating member 30 is mounted on the bearing holding portion 24. Figure 2 and Figure 4 ). Specifically, the cross section of the bearing holding portion 24 is formed into a substantially L-shaped shape, and has an annular bottom wall 24a and an annular side wall 24b. Moreover, the annular bottom wall 24a supports the outer ring OR of the ball bearing BB in the axial direction, and the annular side wall 24b supports the outer ring OR of the ball bearing BB in the radial direction.

[0039] In addition, the inner ring IR of the ball bearing BB is mounted on the bearing mounting portion 33 of the rotating member 30. Moreover, the inner ring IR of the ball bearing BB is clamped between the rotating member 30 and the anti-detachment member 34. In addition, the annular bottom wall 24a of the bearing holding portion 24 is arranged between the outer ring OR of the ball bearing BB and the anti-detachment member 34. As a result, the rotating member 30 does not fall off from the base member 20 and can rotate smoothly relative to the base member 20.

[0040] Furthermore, a substrate stand 25 is integrally provided on the second surface 21b side of the base member 20 and near the pinion 45 (stepping motor 40). The substrate stand 25 is formed into a substantially rectangular shape in a plan view and protrudes from the second surface 21b to the other side of the base member 20 in the axial direction by a predetermined height. Figure 4 As shown, a switch substrate 26 fixed to an annular member 50 is placed on the substrate stand 25 .

[0041] <Ring-shaped parts>

[0042] like Figures 2 to 7 As shown in FIG. 2 , an annular member 50 is mounted on the second face portion 21b of the base member 20. That is, the annular member 50 constitutes a part of the base member 20 and is formed into a substantially flat plate shape by a resin material such as plastic. Figure 6 A first annular portion 50a is provided on the lower side of the annular member 50. Figure 6 A second annular surface portion 50b is provided on the upper side thereof.

[0043] Furthermore, a substrate fixing recess 51 for fixing the switch substrate 26 is provided on the first annular surface 50a of the annular member 50. The substrate fixing recess 51 is recessed at a predetermined depth toward the second annular surface 50b of the annular member 50. In addition, a total of three internal thread members 52 are provided at locations of the annular member 50 corresponding to the substrate fixing recess 51 by insert molding or the like.

[0044] Here, the internal thread member 52 is made of metal and is formed in a substantially cylindrical shape, and a substrate fixing screw S2 for fixing the switch substrate 26 to the substrate fixing recess 51 is screwed into the internal thread member 52. In this way, the switch substrate 26 is supported by the annular member 50 at three points and is firmly fixed without loosening.

[0045] And, if Figure 6 As shown, the second annular portion 50b of the annular member 50 is provided with a groove 53, which is located at the other side ( Figure 7 When the base member 20 (annular member 50) is viewed from the upper side of the base member 20, the groove 53 is formed in a substantially spiral shape. That is, the groove 53 is provided in the opposing portion (second annular surface portion 50b) of the annular member 50 that forms a part of the base member 20 and that is opposed to the rotating member 30.

[0046] Furthermore, the groove 53 is recessed at a predetermined depth toward the first annular surface portion 50a of the annular member 50. In addition, approximately half of the ball 54 is freely movable into the interior of the groove 53 (see Figure 5 ), the ball 54 rolls inside the groove 53 as the rotating component 30 rotates relative to the base component 20.

[0047] The spherical body 54 is made of metal (steel ball), and corresponds to a block member in the present invention.

[0048] Here, the groove 53 extends in a spiral shape in the circumferential direction of the annular member 50, that is, in the rotation direction of the rotating member 30, and is provided over a range of approximately 380 degrees in the circumferential direction of the annular member 50. That is, the sphere 54 can be moved from one side in the longitudinal direction of the groove 53 (see Fig. 9 [0 degrees]) to the other side in the length direction (refer to Fig. 9 Thus, the rotating member 30 can rotate relative to the base member 20 within a rotation angle range of 360 degrees or more (approximately 380 degrees).

[0049] In addition, at one end of the groove 53 in the longitudinal direction, that is, near the [0 degree] which is the reference rotation angle position of the rotating member 30 relative to the base member 20 (refer to Fig. 9 ), a groove end wall 53a is provided on one side of the moving end of the sphere 54. In addition, at the other end in the longitudinal direction of the groove 53, that is, near the [380 degrees] position where the rotating member 30 has the maximum relative rotation angle relative to the base member 20 (refer to Fig. 9 ) is provided with a groove end wall 53b on the other side forming the other moving end of the sphere 54.

[0050] Here, the one side groove end wall 53a and the other side groove end wall 53b are provided at both ends of the groove 53 in the longitudinal direction, and form a wall portion having substantially the same curvature as the sphere 54. Thus, the sphere 54 can abut against the one side groove end wall 53a and the other side groove end wall 53b as the rotating member 30 rotates relative to the base member 20. In addition, the one side groove end wall 53a and the other side groove end wall 53b are equivalent to the abutting wall portion in the present invention.

[0051] Furthermore, the annular member 50 is provided with a total of three screw fixing holes 55 that penetrate along the axial direction of the annular member 50. Specifically, these screw fixing holes 55 are arranged at equal intervals (120 degree intervals) in the circumferential direction of the annular member 50. Furthermore, the annular member fixing screws S1 are inserted through and fixed in these screw fixing holes 55. Thus, the annular member 50 is firmly fixed to the total of three boss portions 23 provided on the second surface portion 21b of the base member 20 without shaking.

[0052] Here, if Figure 2 As shown in FIG. 1 , when the annular member 50 is fixed to the base member 20, a portion of the pinion gear 45 is exposed radially inward of the annular member 50. Figure 4 As shown, in the radial direction of the rotary actuator 10 , the cylindrical large-diameter gear 35 of the rotary member 30 disposed between the bearing holding portion 24 and the annular member 50 meshes with the pinion gear 45 .

[0053] <Switch board>

[0054] like Figure 5 and Figure 6 As shown, the switch substrate 26 fixed to the substrate fixing recess 51 of the annular member 50 is composed of a substantially rectangular PCB (Printed Circuit Board), and has a substrate surface 26a on one side and a substrate surface 26b on the other side. In addition, when the rotary actuator 10 is assembled, the substrate surface 26a on the one side abuts against the substrate pedestal 25 of the base member 20, and the substrate surface 26b on the other side abuts against the substrate fixing recess 51 of the annular member 50.

[0055] The first detection switch 27 and the second detection switch 28 are mounted on the other side substrate surface 26b of the switch substrate 26. Here, the first detection switch 27 and the second detection switch 28 are both operated by the ball 54 and become limit switches. Specifically, the first detection switch 27 and the second detection switch 28 each have a pressing portion PS pressed by the ball 54, and when these pressing portions PS are pressed by the ball 54, the first detection switch 27 and the second detection switch 28 generate an "on signal".

[0056] In addition, if Figure 1 , Figure 2 as well as Figure 4 As shown, the switch substrate 26 is electrically connected to the controller unit CU via the substrate wiring LN. Thus, the controller unit CU can grasp the operation state of the ball 54 on the first detection switch 27 and the second detection switch 28, and control the rotation angle of the stepping motor 40 with high accuracy.

[0057] More specifically, if Figure 3 As shown, in the state where the rotary actuator 10 is assembled, the pressing portion PS of the first detection switch 27 is exposed to the front side than the one side groove end wall 53a in the groove 53. That is, the pressing portion PS of the first detection switch 27 can be operated before the ball 54 moves inside the groove 53 and abuts against the one side groove end wall 53a.

[0058] On the other hand, in the state where the rotary actuator 10 is assembled, the pressing portion PS of the second detection switch 28 is exposed to the front side relative to the other side groove end wall 53b of the groove 53. That is, the pressing portion PS of the second detection switch 28 can be operated before the ball 54 moves inside the groove 53 and abuts against the other side groove end wall 53b.

[0059] In this way, the first detection switch 27 and the second detection switch 28 operated by the ball 54 are provided on both sides of the groove 53 in the longitudinal direction. These first detection switch 27 and the second detection switch 28 are equivalent to the rotation detection switch in the present invention.

[0060] Thus, the controller unit CU can understand the situation that the ball 54 operates the pressing part PS of the first detection switch 27, that is, the situation that the rotating part 30 is at the reference rotation angle position [0 degrees] relative to the base part 20, and can use this as a reference to rotate the stepping motor 40 with high precision in the direction of adding the rotation angle (increasing direction).

[0061] On the other hand, the controller unit CU can understand the situation that the ball 54 operates the pressing part PS of the second detection switch 28, that is, the rotating part 30 is at the maximum relative rotation angle position [380 degrees] relative to the base part 20, and can use this as a reference to rotate the stepping motor 40 with high precision in the direction of subtracting the rotation angle (reducing direction).

[0062] Therefore, the controller unit CU periodically rotates the rotating member 30 relative to the base member 20, and the first detection switch 27 is pressed or the second detection switch 28 is pressed by the ball 54, thereby automatically correcting the angular position of the stepping motor 40 to a normal position. Such a correction operation is an "automatic maintenance operation" automatically performed by the controller unit CU through programming. Therefore, the user does not need to worry about it.

[0063] Here, the controller unit CU has a memory such as a RAM (not shown), and the memory stores the output shaft 44 (see Figure 2 ) is stored in association with the rotation angle of the rotating member 30 relative to the base member 20. Thus, the controller unit CU can perform high-precision control to increase the rotation angle from the angular position of [0 degrees] or to decrease the rotation angle from the angular position of [380 degrees].

[0064] When the rotation angle of the output shaft 44 in the stepping motor 40 and the rotation angle of the rotating member 30 relative to the base member 20 are respectively associated, the gear ratio (reduction ratio) between the pinion gear 45 and the cylindrical large-diameter gear 35 is considered.

[0065] The first detection switch 27 and the second detection switch 28 are mechanical switches (mechanical switches) that can be operated by the ball 54. Therefore, compared with non-contact switches such as magnetic sensors and optical sensors, "on signals" and "off signals" can be generated more reliably.

[0066] Furthermore, even if the controller unit CU malfunctions due to overheating or the like and cannot recognize the "ON signal" and "OFF signal" from the first detection switch 27 and the second detection switch 28, the ball 54 moves between the one side groove end wall 53a and the other side groove end wall 53b inside the groove 53 as the rotating member 30 rotates relative to the base member 20. As a result, the ball 54 abuts against the one side groove end wall 53a or the other side groove end wall 53b, preventing the rotating member 30 from rotating relative to the base member 20 by more than a predetermined rotation angle (fail-safe operation).

[0067] In addition, the rotation operation of the rotating member 30 relative to the base member 20 will be described in detail later.

[0068] In addition, if Figure 6 As shown, a total of three screw insertion holes 26c are provided in the switch substrate 26. These screw insertion holes 26c penetrate the switch substrate 26 in the plate thickness direction, and a substrate fixing screw S2 is inserted through each of the screw insertion holes 26c.

[0069] <Rotating parts>

[0070] like Figures 1 to 5 and Figure 8As shown, the rotating member 30 is formed of a resin material such as plastic into a substantially disc shape. In addition, the rotating member 30 has a back portion 31 and a surface portion 32. Specifically, the back portion 31 is provided on one axial side of the rotating actuator 10 (the side of the base member 20), and extends in a direction perpendicular to the axial direction of the rotating actuator 10. On the other hand, the surface portion 32 is provided on the other axial side of the rotating actuator 10 (the side opposite to the side of the base member 20), and extends in a direction perpendicular to the axial direction of the rotating actuator 10.

[0071] like Figure 4 and Figure 8 As shown, a bearing mounting portion 33 having a substantially thick cylindrical shape is integrally provided on the radial inner side of the back portion 31. In addition, an inner ring IR of a ball bearing BB is mounted on the radial outer side of the bearing mounting portion 33. In addition, the other axial side of the inner ring IR mounted on the bearing mounting portion 33 abuts against the rotating member 30.

[0072] In addition, on one axial side ( Figure 4 A total of four internal thread holes 33a are provided on the lower side of the bearing mounting portion 33. These internal thread holes 33a are arranged at equal intervals (90 degree intervals) in the circumferential direction of the bearing mounting portion 33. In addition, threads are tightened in each internal thread hole 33a to prevent the anti-dropping member 34 (see Figure 2 and Figure 4 ) is fixed to the external threaded component S3 of the rotating component 30.

[0073] Here, the anti-dropping member 34 has the function of preventing the ball bearing BB from falling off from the bearing mounting portion 33 and preventing the rotating member 30 from falling off from the base member 20. The anti-dropping member 34 is formed of a resin material such as plastic into a substantially disc shape.

[0074] like Figure 4 As shown, the anti-slip component 34 includes: a main body portion 34a, through which the external threaded component S3 is inserted; a small-diameter cylindrical portion 34b, which is integrally arranged on the radial inner side of the main body portion 34a and protrudes toward the rotating component 30; a large-diameter cylindrical portion 34c, which is integrally arranged on the radial outer side of the main body portion 34a and protrudes toward the rotating component 30; and a flange portion 34d, which is arranged at a position radially outside the main body portion 34a than the large-diameter cylindrical portion 34c.

[0075] Furthermore, the small diameter cylindrical portion 34b enters the radial inner side of the bearing mounting portion 33 from one axial side. In addition, the large diameter cylindrical portion 34c having a larger diameter than the small diameter cylindrical portion 34b is supported and mounted on one axial side of the inner ring IR of the bearing mounting portion 33. Thus, the inner ring IR of the ball bearing BB is clamped between the rotating member 30 and the anti-slip member 34 by the threaded fastening of the external thread member S3.

[0076] Furthermore, the flange portion 34d protrudes radially outward from the anti-slip component 34 and faces the annular bottom wall 24a in the axial direction of the rotating component 30. Specifically, the flange portion 34d is arranged on one axial side of the rotating component 30, and the annular bottom wall 24a is arranged on the other axial side of the rotating component 30. Thus, the annular bottom wall 24a is arranged between the flange portion 34d and the outer ring OR of the ball bearing BB, thereby preventing the rotating component 30 from falling off from the base component 20.

[0077] In addition, if Figure 8 As shown, on the back side 31 of the rotating member 30, a cylindrical large diameter gear 35 is integrally provided on the radially outer side of the bearing mounting portion 33. A cylindrical large diameter gear 35 is provided on the outer periphery of the cylindrical large diameter gear 35 to be aligned with the pinion gear 45 (see Figure 7 Here, the number of teeth of the gear teeth 35a is greater than the number of teeth of the pinion gear 45, and thus, the cylindrical large-diameter gear 35 rotates at a lower speed and higher torque than the pinion gear 45.

[0078] In this way, the pinion gear 45 and the cylindrical large-diameter gear 35 form a speed reduction mechanism. In addition, in the radial direction of the rotary actuator 10, the bearing holding portion 24 and the ball bearing BB are arranged radially inside the cylindrical large-diameter gear 35.

[0079] And, if Figure 8 As shown in FIG. 1 , a ball retaining portion 36 formed of a protrusion formed in a substantially elliptical shape is integrally provided on the radially outer side of the cylindrical large diameter gear 35. The ball retaining portion 36 protrudes toward one side of the axial direction of the rotating member 30 at a predetermined height and extends in the radial direction of the rotating member 30. Moreover, approximately half of the ball 54 freely moves into the interior of the ball retaining portion 36 (see FIG. 1 ). Figure 5 That is, the sphere 54 is held by the sphere holding portion 36 and is provided at the portion (the back surface portion 31 ) of the rotating member 30 that faces the base member 20 .

[0080] Here, the ball holding portion 36 is provided at the portion (back surface portion 31 ) of the rotating member 30 facing the groove 53 , extends in the radial direction of the rotating member 30 , and holds the ball 54 movably, and corresponds to the holding groove in the present invention.

[0081] Specifically, the ball holding portion 36 holds the ball 54 so that it can move only in the radial direction of the rotating member 30 relative to the rotating member 30. That is, the ball 54 can only move in the radial direction of the rotating member 30 relative to the rotating member 30, and cannot move in the circumferential direction of the rotating member 30. As a result, the ball 54 is rotated by the rotating member 30 as the rotating member 30 rotates relative to the base member 20, and rolls inside the groove 53. At this time, the ball 54 moves inside the ball holding portion 36 as it moves inside the groove 53 formed in a substantially spiral shape.

[0082] In addition, a through hole 36a is provided in the rotating member 30 at a position corresponding to the inner side of the ball holding portion 36, which penetrates the rotating member 30 in the axial direction of the rotating member 30. The through hole 36a is a hole for inserting the ball 54 between the groove 53 and the ball holding portion 36 when the rotating member 30 is assembled to the base member 20. In addition, a cap CP is mounted on the through hole 36a, and the cap CP is covered by the sealing member SL.

[0083] <Operation of the rotary actuator>

[0084] Next, use Fig. 9 An example of the operation of the rotary actuator 10 formed as described above will be described in detail.

[0085] First, if Fig. 9 As shown by the dotted circle [0 degrees], the rotary actuator 10 is in a state where the rotary member 30 is stopped at the reference rotation angle position [0 degrees] relative to the base member 20. At this time, the ball 54 is located slightly in front of the one side groove end wall 53a of the groove 53, and the pressing part PS of the first detection switch 27 is pressed. In addition, the ball 54 at this time is arranged radially outside the ball holding part 36 relative to the ball holding part 36. That is, the one side groove end wall 53a of the groove 53 formed in a substantially spiral shape is arranged at a position radially outside the annular member 50 than the other side groove end wall 53b.

[0086] Next, the controller unit CU controls the stepping motor 40 to rotate the rotating member 30 in the clockwise direction relative to the base member 20. When the rotating member 30 rotates from [0 degrees] to the direction of the rotation angle added to the rotation angle and is located at the rotation angle position of [100 degrees], the rotation angle becomes Fig. 9 That is, the ball 54 is rotated by the rotating member 30, rolls inside the groove 53, and moves relative to the ball holding portion 36 to the approximate center in its length direction.

[0087] After that, the stepping motor 40 is further controlled by the controller unit CU to rotate the rotating member 30 in the clockwise direction relative to the base member 20. When the rotating member 30 rotates from [100 degrees] to the direction of the rotation angle plus the rotation angle and is located at the rotation angle position of [190 degrees], the rotation angle becomes Fig. 9 That is, the ball 54 is further rotated by the rotating member 30 and further rolls inside the groove 53. Moreover, the ball 54 moves relative to the ball holding portion 36 toward a position closer to the cylindrical large-diameter gear 35 than the approximate center in the length direction of the ball holding portion 36.

[0088] In addition, the controller unit CU further controls the stepping motor 40 to rotate the rotating member 30 in the clockwise direction relative to the base member 20. When the rotating member 30 rotates from [190 degrees] to the direction of the rotation angle added to the rotation angle and is located at the rotation angle position of [280 degrees], the rotation angle becomes Fig. 9 The state shown by the dotted circle [280 degrees] is shown. That is, the ball 54 is further driven to rotate by the rotating member 30 and further rolls inside the groove 53. Then, the ball 54 moves closer to the cylindrical large-diameter gear 35 relative to the ball holding portion 36 than the above-mentioned [190 degrees] situation.

[0089] Next, the controller unit CU further controls the stepping motor 40 to rotate the rotating member 30 in the clockwise direction relative to the base member 20. When the rotating member 30 rotates from [280 degrees] to the direction of the rotation angle plus the rotation angle and is located at the rotation angle position of [380 degrees], the rotation angle becomes Fig. 9 The state shown by the dotted circle [380 degrees] is shown. That is, the ball 54 is further driven to rotate by the rotating member 30 and further rolls inside the groove 53. Then, the ball 54 moves closer to the cylindrical large-diameter gear 35 relative to the ball holding portion 36 than the above-mentioned [280 degrees] situation.

[0090] Then, the controller unit CU inputs an "ON signal" as the pressing portion PS of the second detection switch 28 is pressed by the ball 54, and stops the rotation control of the stepping motor 40. Therefore, the rotating member 30 stops at the maximum relative rotation angle position [380 degrees] relative to the base member 20.

[0091] Thus, the controller unit CU can control the rotation of the rotating member 30 relative to the base member 20 within the angle range of [0 degrees] to [380 degrees]. Of course, the controller unit CU can arbitrarily control the rotation angle of the rotating member 30 relative to the base member 20 by increasing the rotation angle from the angle position of [0 degrees] or decreasing the rotation angle from the angle position of [380 degrees]. Therefore, the rotary actuator 10 is suitable for use in a driving source for rotating an antenna capable of receiving millimeter waves in a direction with a strong signal strength, for example.

[0092] As described in detail above, the rotary actuator 10 of embodiment 1 comprises: a groove 53, which is provided on the second annular surface portion 50b of the base member 20 which is opposite to the rotating member 30, and extends along the rotation direction of the rotating member 30; a spherical body 54, which is provided on the back surface portion 31 of the rotating member 30 which is opposite to the base member 20, and moves inside the groove 53 as the rotating member 30 rotates relative to the base member 20; and a first detection switch 27 and a second detection switch 28, which are provided on both sides of the groove 53 in the longitudinal direction and are operated by the spherical body 54.

[0093] Thus, the controller unit CU can grasp the situation that the ball 54 operates the pressing portion PS of the first detection switch 27, that is, the situation that the rotating member 30 is located at the reference rotation angle position [0 degrees] relative to the base member 20, and with this situation as a reference, the stepper motor 40 is rotationally controlled with high precision in the direction of adding the rotation angle (increasing direction). On the other hand, the controller unit CU can grasp the situation that the ball 54 operates the pressing portion PS of the second detection switch 28, that is, the situation that the rotating member 30 is located at the maximum relative rotation angle position [380 degrees] relative to the base member 20, and with this situation as a reference, the stepper motor 40 is rotationally controlled with high precision in the direction of subtracting the rotation angle (decreasing direction).

[0094] Therefore, the controller unit CU periodically rotates the rotating member 30 relative to the base member 20, and the first detection switch 27 is pressed or the second detection switch 28 is pressed by the ball 54, thereby correcting the angular position of the stepping motor 40 to a normal position. Therefore, a rotary actuator 10 with improved maintainability can be realized.

[0095] Furthermore, according to the rotary actuator 10 of the first embodiment, the concave groove 53 is formed in a spiral shape when the base member 20 is viewed from the axial direction, and the sphere 54 can move relative to the rotary member 30 only in the radial direction of the rotary member 30 .

[0096] Thus, the sphere 54 is rotated by the rotating member 30 as the rotating member 30 rotates relative to the base member 20, and rolls inside the groove 53 of the base member 20. Therefore, the rotating member 30 can be rotated relative to the base member 20 within the angular range (predetermined angular range) of the groove 53 formed in a substantially spiral shape.

[0097] Furthermore, according to the rotary actuator 10 of the first embodiment, the ball holding portion 36 is provided on the back surface portion 31 of the rotary member 30 which is the portion facing the groove 53 and which extends in the radial direction of the rotary member 30 and holds the ball 54 movably.

[0098] Thus, the ball 54 can move in the radial direction of the rotating member 30 while rolling inside the groove 53 formed in a substantially spiral shape.

[0099] In addition, according to the rotary actuator 10 of embodiment 1, a groove end wall 53a and a groove end wall 53b are provided at both ends of the groove 53 in the longitudinal direction, and the groove end wall 53a and the groove end wall 53b can abut against the ball 54 as the rotating part 30 rotates relative to the base part 20.

[0100] Thus, even if the controller unit CU malfunctions due to overheating or the like and cannot recognize the "ON signal" and "OFF signal" from the first detection switch 27 and the second detection switch 28, the ball 54 moves between the one side groove end wall 53a and the other side groove end wall 53b inside the groove 53 as the rotating member 30 rotates relative to the base member 20. Therefore, it is possible to prevent the rotating member 30 from rotating relative to the base member 20 by more than a predetermined rotation angle (fail-safe operation).

[0101] Furthermore, according to the rotary actuator 10 of the first embodiment, the spherical body 54 can operate the first detection switch 27 and the second detection switch 28 before coming into contact with the one-side groove end wall 53 a and the other-side groove end wall 53 b .

[0102] Thus, the controller unit CU can control the stepping motor 40 (stop or reverse the stepping motor 40 ) before the ball 54 contacts the one groove end wall 53a and the other groove end wall 53b , thereby preventing the ball 54 and the groove 53 from being damaged.

[0103] In addition, according to the rotary actuator 10 of the first embodiment, since the ball 54 capable of rolling inside the groove 53 is used, it can roll inside the groove 53 and inside the ball holding portion 36. Therefore, it is possible to suppress the increase in the rotation resistance of the rotating member 30 with respect to the base member 20, and further, it is possible to use a smaller stepping motor 40 as a driving source.

[0104] Furthermore, according to the rotary actuator 10 of the first embodiment, the stepping motor 40 capable of controlling the rotation angle of the rotary shaft is used as the driving source of the rotary actuator 10. Thus, the rotation angle position of the rotary member 30 relative to the base member 20 can be adjusted finely and accurately.

[0105] <Implementation method 2>

[0106] Fig.10 1 is an exploded perspective view showing a rotary actuator (rotating components omitted) according to Embodiment 2. Fig.11 yes Fig.10An enlarged top view of a portion of the rotary actuator corresponding to the first switch substrate and the second switch substrate (rotating components omitted), Fig.12 It is an enlarged perspective view for explaining a method of adjusting the positions of the first switch substrate and the second switch substrate relative to the annular member.

[0107] In addition, the same reference numerals are given to portions having the same functions as those in the first embodiment, and detailed description thereof will be omitted.

[0108] like Figures 10 to 12 As shown, the rotary actuator 60 of the second embodiment is different from the rotary actuator 10 of the first embodiment in that it has a pair of first switch substrates 70 and second switch substrates 80. In addition, the first switch substrate 70 and the second switch substrate 80 are fixed to the substrate seat 25 of the base member 20 by a total of three substrate fixing screws S4.

[0109] The difference is that the first switch substrate 70 and the second switch substrate 80 are provided with jig insertion holes HL for adjusting the positions of the first switch substrate 70 and the second switch substrate 80 relative to the substrate base 25. The difference is that the pinion 45 of the stepping motor 40 and the cylindrical large diameter gear 35 of the rotating member 30 (see Figure 8 ) are provided with another pinion PG.

[0110] Specifically, the first detection switch 27 is mounted on the first switch substrate 70. That is, the first switch substrate 70 is arranged near the one side groove end wall 53a of the groove 53. On the other hand, the second detection switch 28 is mounted on the second switch substrate 80. That is, the second switch substrate 80 is arranged near the other side groove end wall 53b of the groove 53.

[0111] Here, the first detection switch 27 in the second embodiment is arranged on one side in the length direction of the groove 53, which is equivalent to the rotation detection switch and the first switch in the present invention. In addition, the second detection switch 28 in the second embodiment is arranged on the other side in the length direction of the groove 53, which is equivalent to the rotation detection switch and the second switch in the present invention.

[0112] Furthermore, a total of three long holes 71 and 81 are provided on the first switch substrate 70 and the second switch substrate 80, respectively, and substrate fixing screws S4 are inserted through these long holes 71 and 81. That is, in a state where the substrate fixing screws S4 are temporarily fastened, the first switch substrate 70 and the second switch substrate 80 can each move relative to the substrate stand 25. Specifically, in a state where the substrate fixing screws S4 are temporarily fastened, the first switch substrate 70 and the second switch substrate 80 can each move in the direction in which the long holes 71 and 81 extend.

[0113] In addition, each substrate fixing screw S4 is screwed into an internal thread portion 25 a provided on the substrate stand 25 .

[0114] And, if Fig.11 As shown, a pair of adjustment holes AH hollowed out in a substantially elliptical shape are provided in the annular member 50 of the rotary actuator 60 of the second embodiment. Moreover, one of the pair of adjustment holes AH is provided corresponding to the first switch substrate 70, and the other of the pair of adjustment holes AH is provided corresponding to the second switch substrate 80. Moreover, in the state where the rotary actuator 60 is assembled, a jig insertion hole HL is provided inside each of the adjustment holes AH.

[0115] Here, in the rotary actuator 60 of the second embodiment, by using Fig.12 The jig 90 shown can adjust the positions of the first switch substrate 70 and the second switch substrate 80 relative to the substrate stand 25. Specifically, the jig 90 is formed in a substantially cylindrical shape with a step, and has a knob portion 91 with a large diameter and a first insertion portion 92 with a smaller diameter than the knob portion 91. In addition, a mesh knurling process (net-shaped portion in the figure) is applied to the outer periphery of the knob portion 91 to function as an anti-slip portion.

[0116] In addition, at the front end side ( Fig.12 A second insertion portion 93 is provided on the lower side thereof. The diameter of the second insertion portion 93 is smaller than the diameter of the first insertion portion 92, and the second insertion portion 93 is arranged at a position offset (eccentric) relative to the central axis of the first insertion portion 92.

[0117] Furthermore, in a state where the first switch substrate 70 and the second switch substrate 80 are temporarily fastened to the substrate stand 25, as shown in FIG. Fig.12 As shown by the dashed arrow M1 , the first insertion portion 92 is inserted into the adjustment hole AH of the annular member 50 . Next, the second insertion portion 93 is inserted into the jig insertion holes HL of the first switch board 70 and the second switch board 80 .

[0118] After that, the jig 90 is rotated as indicated by the dotted arrow M2. Then, the first switch substrate 70 and the second switch substrate 80 move (slide) relative to the substrate stand 25 as indicated by the dotted arrow M3. Then, with the first switch substrate 70 and the second switch substrate 80 positioned relative to the substrate stand 25, the substrate fixing screw S4 is formally tightened to the internal thread portion 25a.

[0119] Thus, the first switch substrate 70 and the second switch substrate 80 can be positioned at any position relative to the substrate base 25, and the position of the first detection switch 27 relative to the groove 53 and the position of the second detection switch 28 relative to the groove 53 can be adjusted independently. Thus, the operation timing of the first detection switch 27 and the second detection switch 28 by the ball 54 can be adjusted.

[0120] As described in detail above, in Embodiment 2, the same effects as those of Embodiment 1 can be achieved. In addition, in Embodiment 2, since the positions of the first detection switch 27 and the second detection switch 28 relative to the groove 53 can be adjusted, the rotation angle range of the rotating member 30 relative to the base member 20 can be adjusted. Therefore, more diverse needs can be met.

[0121] In addition, between the pinion gear 45 and the cylindrical large diameter gear 35 (see Figure 8 ) and other pinions PG are provided between the stepping motors 40 and 41 and meshed with each other, so that the reduction ratio can be adjusted more finely. Therefore, for example, a smaller stepping motor 40 can be adopted.

[0122] The present invention is not limited to the above-mentioned embodiments, and various changes can be made without departing from the scope of the present invention. For example, in the above-mentioned embodiments, the rotary actuator 10, 60 is used as a driving source for rotating an antenna capable of receiving millimeter waves in a direction with strong signal strength, but the present invention is not limited to this, and can be appropriately used for rotary actuators for other purposes, especially for rotary actuators that need to set the rotation angle of the rotary member 30 relative to the base member 20 with high precision.

[0123] In addition, in each of the above-mentioned embodiments, the case where the sphere 54 is used as the block component is shown, but the present invention is not limited to this. For example, components other than spheres, such as quadrangular prisms or other polyhedron shapes, can also be used as block components.

[0124] Furthermore, in each of the above-mentioned embodiments, a limit switch (mechanical switch) having a pressing portion PS is shown as the rotation detection switch, but the present invention is not limited thereto, and other types of switches (non-contact switches, etc.) such as magnetic switches and optical switches may also be used. For example, in the case of a magnetic switch, the block component is made of metal to detect the proximity of the block component, and in the case of an optical switch, the shielding state of the light irradiated by the optical switch can be detected by the block component.

[0125] Furthermore, the material, shape, size, number, installation location, etc. of each component in the above-mentioned embodiments are arbitrary as long as the present invention can be implemented, and are not limited to the above-mentioned embodiments.

[0126] Furthermore, the present technology can adopt the following structures.

[0127] (1) A rotary actuator comprising: a base member; a rotary member rotatably supported on the base member; and an electric motor for rotating the rotary member, wherein the rotary actuator comprises: a groove provided at a portion of the base member opposing the rotary member and extending along a rotation direction of the rotary member; a block member provided at a portion of the rotary member opposing the base member and moving inside the groove as the rotary member rotates relative to the base member; and a rotation detection switch provided on both sides of the groove in a longitudinal direction and operated by the block member.

[0128] (2) The rotary actuator according to (1), wherein the groove is formed in a spiral shape when the base member is viewed from the axial direction, and the block member can move relative to the rotary member only in the radial direction of the rotary member.

[0129] (3) The rotary actuator according to (2), wherein a retaining groove is provided in a portion of the rotary member that faces the groove and extends in a radial direction of the rotary member and retains the block member to be able to move.

[0130] (4) A rotary actuator according to any one of (1) to (3), wherein abutment walls are provided at both ends of the groove in the longitudinal direction, and the abutment walls can abut against the block member as the rotating member rotates relative to the base member.

[0131] (5) The rotary actuator according to (4), wherein the block member can operate the rotation detection switch before the block member comes into contact with the contact wall portion.

[0132] (6) The rotary actuator according to any one of (1) to (5), wherein the block-shaped member is a sphere that can roll inside the groove.

[0133] (7) The rotary actuator according to any one of (1) to (6), wherein the electric motor is a stepping motor capable of controlling a rotation angle of the rotary shaft.

[0134] (8) A rotation actuator according to any one of (1) to (7), wherein the rotation detection switch has a first switch arranged on one side of the length direction of the groove and a second switch arranged on the other side of the length direction of the groove, and the position of the first switch relative to the groove and the position of the second switch relative to the groove can be adjusted independently.

Claims

1. A rotary actuator, comprising: Base components; a rotating member rotatably supported on the base member; and an electric motor which causes the rotating member to rotate, in, The rotary actuator has: a groove, which is provided at an opposing portion of the base member that is opposite to the rotating member and extends along a rotation direction of the rotating member; a block member disposed at a portion of the rotating member that is opposed to the base member and moves inside the groove as the rotating member rotates relative to the base member; and The rotation detection switch is arranged on both sides of the groove in the length direction and is operated by the block component.

2. The rotary actuator according to claim 1, wherein: When the base member is viewed from the axial direction, the groove is formed in a spiral shape. The block member is movable relative to the rotating member only in the radial direction of the rotating member.

3. The rotary actuator according to claim 2, wherein: A holding groove is provided at a portion of the rotating member that is opposed to the groove. The holding groove extends in a radial direction of the rotating member and holds the block member to be movable.

4. The rotary actuator according to claim 1, wherein: Abutment walls are provided at both ends of the groove in the longitudinal direction, and the abutment walls can abut against the block member as the rotating member rotates relative to the base member.

5. The rotary actuator according to claim 4, wherein: The block member can operate the rotation detection switch before the block member comes into contact with the contact wall portion.

6. The rotary actuator according to claim 1, wherein: The block-shaped member is a sphere capable of rolling inside the groove.

7. The rotary actuator according to claim 1, wherein: The electric motor is a stepping motor capable of controlling the rotation angle of a rotation shaft.

8. The rotary actuator according to claim 1, wherein: The rotation detection switch includes a first switch disposed on one side of the groove in the longitudinal direction and a second switch disposed on the other side of the groove in the longitudinal direction. The position of the first switch relative to the groove and the position of the second switch relative to the groove can be adjusted independently.

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