Electric actuator

Abstract

The utility model provides an electric actuator. The actuator provided by the utility model comprises a motor part; a transmission mechanism unit connected to the motor unit; a linear motion part which is connected with the transmission mechanism part and performs linear motion through the transmission mechanism part; a housing in which the motor unit, the transmission mechanism unit, and the linear motion unit are accommodated; a substrate having an inverter circuit for supplying power to the motor unit; a magnet provided to the direct-acting part; and a magnetic sensor capable of detecting the magnetic field of the magnet. The magnetic sensor is provided with: a sensor main body section disposed apart from the substrate; and a terminal part which extends from the sensor main body part and is fixed to the substrate. The housing has a holding recess that holds the sensor main body. The holding recess is open toward the substrate.

Description

Technical Field

[0001] The utility model relates to an electric actuator. Background Art

[0002] Conventionally, there is known a structure in which a stroke sensor detects the amount of movement of a member performing linear motion in a device that converts the driving force of an electric motor into linear motion and outputs the converted linear motion (for example, Patent Document 1).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2017-114398 Utility Model Content

[0006] Issues to be solved by the utility model

[0007] In the above-mentioned device, in order to ensure the detection accuracy of the stroke sensor, it is preferably arranged with high precision near the component that performs linear motion. However, if the stroke sensor is simply arranged close to the component, the structure of the device may be complicated.

[0008] In view of the above situation, one of the objects of the present invention is to provide an electric actuator capable of suppressing structural complexity.

[0009] Solutions to Problems

[0010] The electric actuator of the first embodiment of the present invention is characterized in that it comprises: a motor part; a transmission mechanism part, which is connected to the motor part; a direct-acting part, which is connected to the transmission mechanism part and performs linear motion through the transmission mechanism part; a housing, which accommodates the motor part, the transmission mechanism part and the direct-acting part; a substrate, which has an inverter circuit for supplying power to the motor part; a magnet, which is arranged on the direct-acting part; and a magnetic sensor, which can detect the magnetic field of the magnet, the magnetic sensor comprising: a sensor main body, which is arranged separately from the substrate; and a terminal part, which extends from the sensor main body and is fixed to the substrate, the housing having a holding recess for holding the sensor main body, and the holding recess opening toward the substrate.

[0011] The electric actuator according to the second aspect of the present invention is characterized in that, in the first aspect,

[0012] The direct-acting portion performs linear motion in the axial direction of the motor portion, and the motor portion and the direct-acting portion are arranged side by side in a first direction intersecting the axial direction of the motor portion. When viewed in a second direction intersecting both the axial direction of the motor portion and the first direction, the substrate overlaps with the motor portion and the direct-acting portion, and the sensor main body is arranged separately from the substrate in the second direction.

[0013] The electric actuator according to the third aspect of the present invention is characterized in that, in the second aspect,

[0014] The holding recess is provided in a wall portion of the housing that is opposed to the linear motion portion in the first direction.

[0015] The electric actuator according to the fourth aspect of the present invention is characterized in that, in the third aspect,

[0016] A distance between the linear motion portion and the substrate in the second direction is greater than a distance between the motor portion and the substrate in the second direction.

[0017] The electric actuator according to the fifth aspect of the present invention is characterized in that, in the second aspect,

[0018] The motor portion includes an output portion protruding in the axial direction, the output portion being connected to the transmission mechanism portion, and the linear motion portion extending from the transmission mechanism portion in the axial direction of the motor portion in a direction opposite to a direction in which the output portion protrudes.

[0019] The electric actuator according to the sixth aspect of the present invention is characterized in that, in the second aspect,

[0020] The transmission mechanism includes a first gear fixed to the motor unit and a second gear meshing with the first gear.

[0021] The substrate is arranged at a position different from the second gear when viewed in the second direction.

[0022] The electric actuator according to the seventh aspect of the present invention is characterized in that, in the second aspect,

[0023] The housing includes a housing portion for housing the motor portion and the linear motion portion. The housing portion includes an opening that opens on one side in the second direction. The substrate extends in the first direction and is arranged across the opening in the first direction.

[0024] The electric actuator according to the eighth aspect of the present invention is characterized in that, in any one of the first to seventh aspects,

[0025] The holding recess opens toward the linear motion portion.

[0026] The electric actuator according to a ninth aspect of the present invention is characterized in that, in any one of the first to seventh aspects,

[0027] The housing is made of a non-magnetic material, and the holding recess is a hole opened toward the substrate.

[0028] Utility model effect

[0029] According to one aspect of the present invention, it is possible to suppress complication of the structure of the electric actuator. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a perspective view showing an electric actuator in one embodiment.

[0031] Figure 2 This is a perspective view showing a portion of an electric actuator in one embodiment.

[0032] Figure 3 It is a perspective view showing a housing in one embodiment.

[0033] Figure 4 This is a diagram showing a portion of an electric actuator according to one embodiment as viewed from above.

[0034] Figure 5 is a cross-sectional view showing an electric actuator in one embodiment, Figure 1 VV section view in.

[0035] Figure 6 is a cross-sectional view showing an electric actuator in one embodiment, Figure 5 VI-VI section view in.

[0036] Figure 7 This is a cross-sectional perspective view showing a portion of an electric actuator in one embodiment.

[0037] Figure 8 This is a perspective view showing a portion of an electric actuator in a modified example.

[0038] Explanation of symbols

[0039] 10, 210—housing; 23a—side wall portion (wall portion); 29—storage portion; 29a—opening portion; 30, 230—holding recess; 40—motor portion; 43a—output portion; 50—transmission mechanism portion; 51—first gear; 52—second gear; 60—direct-acting portion; 70—substrate; 71—magnetic sensor; 72—sensor main body portion; 73—terminal portion; 78—inverter circuit; 80—magnet; 100, 200—electric actuator. DETAILED DESCRIPTION

[0040] In each figure, the center axis J1 of the motor unit of the electric actuator of the embodiment described below is hypothetically shown. In the following description, the axial direction of the center axis J1 is simply referred to as the "axial direction." The radial direction centered on the center axis J1 is simply referred to as the "radial direction." The X-axis shown in each figure shows the direction in which the center axis J1 extends. The Y-axis shown in each figure shows a direction perpendicular to the X-axis direction. The Z-axis shown in each figure shows a direction perpendicular to both the X-axis direction and the Y-axis direction. In the following description, the direction along the Y-axis is referred to as the "width direction," and the direction along the Z-axis is referred to as the "up-down direction." In addition, the side in the axial direction toward which the X-axis arrow points (+X side) is referred to as the "one axial side," and the side in the axial direction opposite to the side toward which the X-axis arrow points (-X side) is referred to as the "other axial side." The side in the width direction toward which the Y-axis arrow points (+Y side) is referred to as the "one width direction side," and the side in the axial direction opposite to the side toward which the Y-axis arrow points (-Y side) is referred to as the "other width direction side." The side in the vertical direction toward which the Z-axis arrow points (+Z side) is referred to as the “upper side”, and the side in the vertical direction opposite to which the Z-axis arrow points (-Z side) is referred to as the “lower side”.

[0041] In the following embodiments, the width direction (Y-axis direction) corresponds to the "first direction" that intersects the axial direction. The vertical direction (Z-axis direction) corresponds to the "second direction" that intersects both the axial direction and the first direction. The upper side corresponds to "one side of the second direction." The terms "upper and lower directions," "width direction," "upper side," and "lower side" are merely used to describe the relative positional relationships of the components. The actual configuration relationships, etc., may be other than those indicated by these terms.

[0042] Figure 1 The electric actuator 100 of the present embodiment shown is a linear actuator that moves a driven object in the axial direction. The electric actuator 100 is mounted on a vehicle, for example. Figure 2 As shown, the electric actuator 100 of the present embodiment includes a housing 10 , a motor unit 40 , a transmission mechanism 50 , a linear motion unit 60 , a substrate 70 , a magnet 80 , and a magnetic sensor 71 .

[0043] The housing 10 houses the motor 40, the transmission mechanism 50, the linear motion unit 60, the substrate 70, the magnet 80, and the magnetic sensor 71. In this specification, the phrase "a portion houses an object" simply means that at least a portion of the object is located within the portion. In this embodiment, the housing 10 is made of a non-magnetic material. For example, the housing 10 is made of resin.

[0044] like Figure 1As shown, the housing 10 includes a first housing component 11 and a second housing component 12. The first housing component 11 includes a housing body portion 13, a flange portion 14, and a connector portion 15. Figure 3 As shown, the housing body 13 is box-shaped and open at the top. The housing body 13 includes a first housing portion 21 that houses the motor unit 40, a second housing portion 22 that houses the transmission mechanism 50, and a third housing portion 23 that houses a portion of the linear motion unit 60 and the magnet 80. The interiors of the first housing portion 21, the second housing portion 22, and the third housing portion 23 are open at the top.

[0045] like Figure 4 As shown, the first storage section 21 and the third storage section 23 are arranged side by side in the width direction (Y-axis direction). The interior of the first storage section 21 and the interior of the third storage section 23 are connected to each other. The first storage section 21 and the third storage section 23 form a storage section 29 that accommodates the motor section 40 and the linear motion section 60. The storage section 29 has an opening 29a that is open on the upper side. The opening 29a is formed by the upper opening of the first storage section 21 and the upper opening of the third storage section 23.

[0046] The second storage section 22 is located on the other side (-X side) of the first storage section 21 and the third storage section 23 in the axial direction. A first partition 24 is provided axially between the first storage section 21 and the second storage section 22. A through hole 24a is provided in the first partition 24, extending axially through the first partition 24. The interior of the first storage section 21 and the interior of the second storage section 22 are connected to each other via the through hole 24a. The through hole 24a is open at the top.

[0047] A second partition wall 25 is provided between the second housing portion 22 and the third housing portion 23 in the axial direction. The second partition wall 25 is located on one side (+X side) of the first partition wall 24 in the axial direction. Figure 3 As shown, the second partition wall 25 is provided with a through hole 25a that axially penetrates the second partition wall 25. The interior of the second housing portion 22 and the interior of the third housing portion 23 are connected to each other via the through hole 25a. The through hole 25a is circular in shape centered on the output axis J2 when viewed in the axial direction.

[0048] The output axis J2 is an imaginary line extending in the direction in which the direct-acting portion 60 moves. In this embodiment, the output axis J2 extends parallel to the central axis J1 of the motor portion 40. That is, in this embodiment, the direct-acting portion 60 performs linear motion along the axial direction of the motor portion 40. Figure 4 and Figure 5 As shown in FIG. 1 , in this embodiment, the output axis J2 is located on the other side (-Y side) in the width direction relative to the central axis J1. Figure 6As shown, in this embodiment, the position of the output axis J2 in the vertical direction is the same as the position of the central axis J1 in the vertical direction.

[0049] like Figure 4 As shown, the second storage portion 22 has a gear storage portion 27 and a tube storage portion 28. The gear storage portion 27 extends in the width direction (Y-axis direction) when viewed in the up and down direction. The portion of the gear storage portion 27 on one side in the width direction (+Y side) is connected to the interior of the first storage portion 21 via a through hole 24a. The tube storage portion 28 extends in the axial direction (X-axis direction) when viewed in the up and down direction. The gear storage portion 27 and the tube storage portion 28 intersect with each other. The tube storage portion 28 has a portion located on one side in the axial direction (+X side) of the gear storage portion 27 and a portion located on the other side in the axial direction (-X side) of the gear storage portion 27. The portion of the tube storage portion 28 located on one side in the axial direction of the gear storage portion 27 is connected to the interior of the third storage portion 23 via a through hole 25a.

[0050] like Figure 3 As shown, a sealing holding portion 26 is provided on the wall portion of one axial side (+X side) of the shell body 13. The sealing holding portion 26 is cylindrical and protrudes from the shell body 13 to one axial side. The sealing holding portion 26 is cylindrical and is centered on the output axis J2 and is open on both axial sides. The opening portion of the sealing holding portion 26 on the other axial side (-X side) is connected to the interior of the third storage portion 23. The outside of the shell 10 and the inside of the shell 10 are connected to each other via the inside of the sealing holding portion 26. As shown Figure 5 As shown, an annular seal member 18 surrounding the output axis J2 is held inside the seal holding portion 26. The seal member 18 is, for example, an oil seal.

[0051] like Figure 3 As shown, the flange portion 14 extends from the upper end of the shell body portion 13 in a direction perpendicular to the up-down direction. The outer edge of the flange portion 14 is a generally rectangular shape that is longer in the axial direction when viewed in the up-down direction. A substrate support portion 16 is provided on the upper surface of the flange portion 14. The substrate support portion 16 protrudes upward from the upper surface of the flange portion 14. The substrate support portion 16 is cylindrical and opens on the upper side. A plurality of substrate support portions 16 are provided. In the present embodiment, two pairs of substrate support portions 16 are provided that are arranged with the opening portion 29a sandwiched in the width direction (Y-axis direction) and are spaced apart in the axial direction.

[0052] The connector portion 15 extends downward from the housing body portion 13. External devices such as a power supply device are connected to the connector portion 15. Figure 2 The plurality of wiring members 17 are shown. The plurality of wiring members 17 extend upward from the connector portion 15. The plurality of wiring members 17 pass through the interior of the first housing portion 21 and are electrically connected to the substrate 70.

[0053] like Figure 1 As shown, the second housing component 12 is located on the upper side of the first housing component 11. The second housing component 12 is fixed to the first housing component 11. Figure 6 As shown, the second housing member 12 is a substantially rectangular box-shaped body with an opening at the bottom. The bottom end of the second housing member 12 contacts the outer edge of the flange 14 from above. The substrate support 16 and the substrate 70 are housed inside the second housing member 12.

[0054] like Figure 2 As shown, the housing 10 has a retaining recess 30. The retaining recess 30 retains the sensor main body 72 described later in the magnetic sensor 71. In the present embodiment, the retaining recess 30 is provided in the side wall portion 23a located on the other side (-Y side) in the width direction of the wall portion constituting the third storage portion 23. In the present embodiment, the side wall portion 23a is a wall portion in the housing 10 that is opposite to the direct-acting portion 60 in the width direction (Y-axis direction) with a gap therebetween. In the present embodiment, the retaining recess 30 is a hole portion that is recessed downward from the upper end surface of the side wall portion 23a and has a bottom on the lower side. The retaining recess 30 is a rectangular shape that is longer in the axial direction (X-axis direction) when viewed in the vertical direction. The retaining recess 30 is arranged axially between the two substrate support portions 16 that are located on the other side of the width direction than the opening 29a when viewed in the vertical direction.

[0055] like Figure 5 As shown, the motor unit 40 is housed within the first housing portion 21. The motor unit 40 includes a rotor 41 rotatable about a central axis J1, a stator 42 located radially outside the rotor 41, and a housing 45 that houses the rotor 41 and stator 42. The rotor 41 includes an axially extending shaft 43 and a rotor body 44 fixed to the shaft 43. Although not shown, the rotor body 44 includes a rotor core and rotor magnets.

[0056] The shaft 43 is cylindrical and extends axially with the central axis J1 as the center. The shaft 43 protrudes from the inside of the housing 45 to the other axial side (-X side). The portion of the shaft 43 that protrudes from the housing 45 to the other axial side is the output portion 43a that protrudes axially. That is, the motor unit 40 has an output portion 43a. In this embodiment, the output portion 43a protrudes axially to the other axial side (-X direction) in the axial direction of the motor unit 40. The output portion 43a passes through the through hole 24a in the axial direction. The end portion of the output portion 43a on the other axial side is located in the gear housing portion 27 of the second housing portion 22. The stator 42 is connected to the gear housing portion 27 via the stator 42. Figure 2 The plurality of bus bars 19 shown are electrically connected to the substrate 70. Figure 5 In FIG. 4 , only the output portion 43 a of the motor portion 40 is shown in cross section.

[0057] The transmission mechanism 50 is connected to the motor 40. The transmission mechanism 50 converts the rotational motion of the rotor 41 in the motor 40 into linear motion and transmits it to the direct motion unit 60. Figure 5 As shown in FIG. 1 , in this embodiment, the transmission mechanism 50 includes a first gear 51 , a second gear 52 , and a tubular member 53 . The first gear 51 and the second gear 52 are housed in the gear housing 27 .

[0058] The first gear 51 is fixed to the motor part 40. In more detail, the first gear 51 is fixed to a portion of the output part 43a that is located inside the gear storage part 27. Thus, the output part 43a is connected to the transmission mechanism part 50. As the shaft 43 rotates around the center axis J1, the first gear 51 rotates around the center axis J1. The second gear 52 is located on the other side (-Y side) of the width direction of the first gear 51. The outer diameter of the second gear 52 is larger than the outer diameter of the first gear 51. The second gear 52 is meshed with the first gear 51. As the first gear 51 rotates around the center axis J1, the second gear 52 meshed with the first gear 51 rotates around the output axis J2. As shown Figure 2 As shown, the upper end portion of the second gear 52 protrudes upward from the interior of the gear housing 27 . The upper end portion of the second gear 52 is located inside the second housing member 12 .

[0059] like Figure 5 As shown, the barrel component 53 is cylindrical and extends in the axial direction. In the present embodiment, the barrel component 53 is cylindrical with the output axis J2 as the center and open on one side (+X side) in the axial direction. The barrel component 53 is housed inside the barrel housing portion 28. The barrel component 53 is supported by the inner surface of the barrel housing portion 28 so as to be able to rotate around the output axis J2. A threaded portion 54 is provided on the inner circumferential surface of the barrel component 53. The second gear 52 is connected to the outer circumferential surface of the barrel component 53. In the present embodiment, the second gear 52 and the barrel component 53 are part of a single component. As the second gear 52 rotates around the output axis J2, the barrel component 53 rotates around the output axis J2. Since the outer diameter of the second gear 52 is larger than the outer diameter of the first gear 51, the rotation of the rotor 41 is decelerated and transmitted to the second gear 52 and the barrel component 53.

[0060] The linear motion part 60 is connected to the transmission mechanism part 50. The linear motion part 60 performs linear motion through the transmission mechanism part 50. In this embodiment, the linear motion part 60 performs linear motion along the axial direction of the motor part 40. Figure 5 In the following description, unless otherwise specified, the relative positional relationship of the linear motion portion 60 is described with reference to the case where the linear motion portion 60 is located most toward the other axial side.

[0061] The direct-acting portion 60 extends axially. In this embodiment, the direct-acting portion 60 extends from the transmission mechanism portion 50 in one axial direction (the +X direction). That is, in this embodiment, the direct-acting portion 60 extends from the transmission mechanism portion 50 in the axial direction of the motor portion 40 in a direction opposite to the direction in which the output portion 43a protrudes. Thus, by arranging the transmission mechanism portion 50 on the other axial side (the -X side) relative to the motor portion 40 and the direct-acting portion 60, the motor portion 40 and the direct-acting portion 60 can be easily connected to each other using the transmission mechanism portion 50.

[0062] The direct-acting portion 60 is located on one axial side (+X side) of the transmission mechanism portion 50. The end portion of the direct-acting portion 60 on the other axial side (-X side) is connected to the transmission mechanism portion 50. The direct-acting portion 60 is located on the other width side (-Y side) of the motor portion 40. In this embodiment, the motor portion 40 and the direct-acting portion 60 are arranged side by side in the width direction (Y-axis direction) that intersects the axial direction of the motor portion 40. Therefore, compared to a case where the motor portion 40 and the direct-acting portion 60 are arranged in the axial direction, for example, the electric actuator 100 can be miniaturized in the axial direction.

[0063] The direct-acting portion 60 includes a direct-acting portion body 61 and a connected component 62. The direct-acting portion body 61 includes a base 63, a connecting portion 64, and a flange portion 65. The base 63 extends in the axial direction. The base 63 is cylindrical, centered on the output axis J2. The base 63 is housed within the third housing portion 23. The end portion of the base 63 on one axial side (+X side) protrudes to the outside of the housing 10 through the interior of the seal holding portion 26. The sealing component 18 contacts the outer peripheral surface of the base 63. The direct-acting portion 60 and the housing 10 are sealed by the sealing component 18.

[0064] The connecting portion 64 is connected to the other axial side (-X side) of the base 63. The connecting portion 64 extends in the axial direction. The connecting portion 64 is roughly cylindrical with the output axis J2 as the center. The outer diameter of the connecting portion 64 is smaller than the outer diameter of the base 63. The connecting portion 64 passes through the through hole 25a in the axial direction. At least a portion of the connecting portion 64 is located inside the cylindrical member 53. More specifically, the entire connecting portion 64, except for the end portion on one axial side (+X side), is located inside the cylindrical member 53. A threaded portion 66 is provided on the outer peripheral surface of the connecting portion 64 to engage with the threaded portion 54 provided on the inner peripheral surface of the cylindrical member 53. The connecting portion 64 is connected to the cylindrical member 53 by the mutual engagement of the threaded portion 54 and the threaded portion 66. Thus, the direct-acting portion 60 is connected to the transmission mechanism portion 50. When the cylindrical member 53 rotates around the output axis J2, the threaded portion 66 of the connecting portion 64 is fed in the axial direction by the threaded portion 54 rotating around the output axis J2. Thus, the direct-acting portion 60 moves in the axial direction.

[0065] The flange 65 is provided on the outer peripheral surface of the other axial side (-X side) end of the base 63. The flange 65 protrudes outward from the outer peripheral surface of the base 63 in the radial direction centered on the output axis J2. The flange 65 is annular and surrounds the base 63.

[0066] The connected member 62 is fixed to one axial end (+X side) of the linear motion unit main body 61. The axial end of the linear motion unit main body 61 corresponds to one axial end of the base 63. A driven object, which is moved axially by the electric actuator 100, is connected to the connected member 62. A connecting hole 67 is provided in the connected member 62, extending vertically through the connected member 62. A shaft or the like provided on the driven object is passed vertically through the connecting hole 67.

[0067] The magnet 80 is provided on the direct-acting portion 60. In the present embodiment, the magnet 80 is cylindrical with the output axis J2 as the center and open on both axial sides. The base 63 passes through the interior of the magnet 80 in the axial direction. The base 63 is embedded in the interior of the magnet 80. The inner peripheral surface of the magnet 80 is fixed to the outer peripheral surface of the base 63. The end of the other axial side (-X side) of the magnet 80 contacts the flange portion 65. The magnet 80 is positioned in the axial direction by the flange portion 65. The magnet 80 is housed inside the third housing portion 23. The magnet 80 is a permanent magnet.

[0068] like Figure 2 As shown, the substrate 70 is a plate-shaped plate with its surface facing the vertical direction. In this embodiment, the substrate 70 extends in the width direction (Y-axis direction). More specifically, the substrate 70 is a roughly rectangular plate-shaped plate that is longer in the width direction. The substrate 70 is located on the upper side of the first housing member 11. The substrate 70 is fixed to the multiple substrate support portions 16 by screw members 77. Each screw member 77 is screwed into each substrate support portion 16 from the upper side through a hole provided in the substrate 70 in the axial direction. The edge of one side (+Y side) of the substrate 70 in the width direction is fixed to two substrate support portions 16 located on one side of the width direction relative to the opening 29a. The edge of the other side (-Y side) of the substrate 70 in the width direction is fixed to two substrate support portions 16 located on the other side of the width direction relative to the opening 29a. The substrate 70 is arranged to span the opening 29a in the width direction. The substrate 70 covers at least a portion of the opening 29a from the upper side. In this embodiment, the substrate 70 covers a portion of the opening 29a from the upper side. The substrate 70 is disposed above the motor portion 40 and the linear motion portion 60 so as to span the motor portion 40 and the linear motion portion 60 in the width direction.

[0069] like Figure 4As shown, the substrate 70 overlaps with the motor portion 40 and the direct-acting portion 60 when viewed in the up-down direction. More specifically, the substrate 70 overlaps with a portion of the motor portion 40 and a portion of the base 63 when viewed in the up-down direction. The substrate 70 overlaps with the magnet 80 when viewed in the up-down direction. The substrate 70 is arranged at a position different from the first gear 51 and the second gear 52 when viewed in the up-down direction. The substrate 70 overlaps with the end portion of one axial side (+X side) of the barrel portion 53 when viewed in the up-down direction. The substrate 70 overlaps with the retaining recess 30 when viewed in the up-down direction. As shown in FIG. Figure 7 As shown, the substrate 70 covers the upper opening of the holding recess 30 from above. Thus, the holding recess 30 opens toward the substrate 70. In this embodiment, the holding recess 30 is a hole portion that opens toward the substrate 70.

[0070] like Figure 6 As shown, a distance L2 in the vertical direction between the linear motion portion 60 and the base plate 70 is greater than a distance L1 in the vertical direction between the motor portion 40 and the base plate 70 . Figure 6 The distance L1 shown is the distance in the vertical direction between the upper end of the motor unit 40 and the lower surface of the substrate 70 . Figure 6 The distance L2 shown is the vertical distance between the upper end of the base 63 and the lower surface of the substrate 70. The substrate 70 includes an inverter circuit 78 that supplies power to the motor unit 40. The inverter circuit 78 includes, for example, a plurality of transistors. The inverter circuit 78 supplies power to the stator 42 via the bus bar 19.

[0071] The magnetic sensor 71 is a sensor that can detect the magnetic field of the magnet 80. By using the magnetic sensor 71 to detect the strength of the magnetic field of the magnet 80, the axial position of the direct-acting portion 60 can be detected. The magnetic sensor 71 is a so-called dual in-line package (DIP) type electronic component. The magnetic sensor 71 has a sensor body 72 and a terminal 73. The sensor body 72 is a portion that can detect the magnetic field of the magnet 80. Figure 7 As shown, the sensor body 72 is a generally rectangular parallelepiped that is thin in the width direction (Y-axis direction). The axial dimension (X-axis direction) of the sensor body 72 is larger than its width direction. The sensor body 72 is vertically separated from the substrate 70. More specifically, the sensor body 72 is separated from the substrate 70 on the lower side.

[0072] The sensor body 72 is held inside the holding recess 30. The sensor body 72 is fitted inside the holding recess 30. The lower surface of the sensor body 72 contacts the bottom surface of the inner surface of the holding recess 30. In addition, a gap may be provided between the bottom surface and the sensor body 72 in the vertical direction. Figure 6 As shown, the two side surfaces of the sensor main body 72 in the width direction (Y-axis direction) are in contact with the side surfaces located on both sides of the inner surface of the holding recess 30 in the width direction. In addition, a gap may be provided in the width direction between the two side surfaces of the sensor main body 72 and the side surfaces located on both sides of the inner surface of the holding recess 30 in the width direction. Figure 7 As shown, the axial dimension (X-axis direction) of the sensor main body 72 is smaller than the axial dimension of the retaining recess 30. The two axial side surfaces of the sensor main body 72 are disposed separately from the two axial side surfaces of the inner surface of the retaining recess 30. Alternatively, the two axial side surfaces of the sensor main body 72 may contact the two axial side surfaces of the inner surface of the retaining recess 30.

[0073] The terminal portion 73 extends upward from the sensor body portion 72 and is fixed to the substrate 70. The terminal portion 73 passes through a through hole 70a that penetrates the substrate 70 in the vertical direction. The terminal portion 73 is electrically connected to the substrate 70, for example, by solder. In this embodiment, a plurality of terminal portions 73 are provided. The terminal portion 73 includes three: a first terminal portion 74, a second terminal portion 75, and a third terminal portion 76. The first terminal portion 74, the second terminal portion 75, and the third terminal portion 76 are arranged in an axial direction (X-axis direction). The second terminal portion 75 and the third terminal portion 76 are arranged so as to sandwich the first terminal portion 74 in the axial direction.

[0074] The first terminal portion 74 extends linearly in the vertical direction. The second terminal portion 75 is located on the other axial side (-X side) of the first terminal portion 74. The second terminal portion 75 includes a first extension portion 75a extending upward from the sensor body portion 72, a second extension portion 75b extending upward and obliquely axially toward the other side from the upper end of the first extension portion 75a, and a third extension portion 75c extending upward from the upper end of the second extension portion 75b. The first and second extension portions 75a, 75b are located within the retaining recess 30. The third extension portion 75c protrudes upward from the interior of the retaining recess 30 and is connected to the substrate 70.

[0075] The third terminal portion 76 is located on one axial side (+X side) of the first terminal portion 74. The third terminal portion 76 includes a first extension portion 76a extending upward from the sensor body 72, a second extension portion 76b extending upward and obliquely to one axial side from the upper end of the first extension portion 76a, and a third extension portion 76c extending upward from the upper end of the second extension portion 76b. The first and second extension portions 76a, 76b are located within the retaining recess 30. The third extension portion 76c protrudes upward from the interior of the retaining recess 30 and is connected to the substrate 70.

[0076] The axial distance from the surface on the other axial side (-X side) of the third extension portion 75c to the surface on one axial side (+X side) of the third extension portion 76c is the same as the axial dimension of the retaining recess 30. The third extension portion 75c and the third extension portion 76c are in contact with both axial side surfaces of the inner surface of the retaining recess 30. Alternatively, a gap may be provided between the third extension portions 75c and 76c and both axial side surfaces of the retaining recess 30.

[0077] exist Figure 4 In FIG, the solid line shows the state where the direct-acting portion 60 is located closest to the other axial side (-X side), and the double-dashed line shows the state where the direct-acting portion 60 is located closest to one axial side (+X side). Figure 4 As shown, when the linear motion portion 60 is positioned most axially toward the other side, the magnet 80 is positioned axially toward the other side relative to the magnetic sensor 71. When the linear motion portion 60 is positioned most axially toward the other side, the magnet 80 faces the motor portion 40 across a gap in the width direction (Y-axis direction). When the linear motion portion 60 is positioned most axially toward one side, the magnet 80 is positioned axially toward one side relative to the magnetic sensor 71. When the linear motion portion 60 is positioned most axially toward one side, the magnet 80 is positioned axially toward one side relative to the motor portion 40.

[0078] According to this embodiment, the magnetic sensor 71 includes a sensor main body 72 disposed separately from the substrate 70 having the inverter circuit 78, and a terminal portion 73 extending from the sensor main body 72 and fixed to the substrate 70. The housing 10 includes a retaining recess 30 for retaining the sensor main body 72. The retaining recess 30 opens toward the substrate 70. Therefore, when placing the substrate 70 with the magnetic sensor 71 mounted thereon, an operator manufacturing the electric actuator 100 can insert the sensor main body 72, disposed separately from the substrate 70, into the retaining recess 30 through the opening of the retaining recess 30. This allows the operator to easily retain the sensor main body 72 within the retaining recess 30 by placing the substrate 70, allowing for easy and highly precise positioning of the sensor main body 72. Therefore, even when the substrate 70 is disposed separately from the linear motion unit 60, the sensor main body 72 can be easily and precisely positioned near the linear motion unit 60. Therefore, the detection accuracy of the magnetic field of the magnet 80 by the magnetic sensor 71 can be improved, and the axial position of the direct-acting portion 60 can be detected with high precision. In addition, since the magnetic sensor 71 can be mounted on the substrate 70 having the inverter circuit 78 that supplies power to the motor portion 40 via the terminal portion 73, there is no need to provide another substrate near the direct-acting portion 60 for mounting the magnetic sensor 71. In addition, there is no need to provide a complex structure to connect the magnetic sensor 71 and the substrate 70. Thus, the complexity of the structure of the electric actuator 100 can be suppressed. In addition, since there is no need to provide another substrate as described above, the increase in the number of components of the electric actuator 100 can be suppressed. In addition, since the sensor main body 72 can be configured so that the terminal portion 73 is extended from the substrate 70, the configuration freedom of the sensor main body 72 can be increased.

[0079] In this embodiment, an operator brings the substrate 70, with the magnetic sensor 71 mounted thereon, closer to the first housing member 11 from above. The operator then inserts the sensor body 72, which is spaced apart from the lower side of the substrate 70, into the holding recess 30 through the upper opening of the holding recess 30. The operator brings the substrate 70 closer to the first housing member 11 until it contacts each substrate support 16, and then secures the substrate 70 to each substrate support 16 using a plurality of screw members 77. This secures the substrate 70 relative to the housing 10, retains the sensor body 72 within the holding recess 30, and secures the magnetic sensor 71 relative to the housing 10.

[0080] When the motor unit 40 and the linear motion unit 60 are arranged side by side in the width direction (Y-axis direction) as in the present embodiment, for example, to prevent the electric actuator 100 from increasing in size in the axial direction, it is conceivable to arrange the substrate 70 having the inverter circuit 78 radially outward of the motor unit 40. In particular, when the direction in which the linear motion unit 60 extends from the transmission mechanism unit 50 and the direction in which the output portion 43a of the motor unit 40 protrudes are opposite, as in the present embodiment, it is difficult to arrange the substrate 70 axially relative to the motor unit 40 and the linear motion unit 60. Therefore, the substrate 70 is likely to be arranged radially outward of the motor unit 40. In this case, the outer diameter of the motor unit 40 is likely to be larger than the outer diameter of the linear motion unit 60. Therefore, when the substrate 70 is arranged radially outward of the motor unit 40, the distance from the substrate 70 to the linear motion unit 60 increases, making it difficult to arrange the magnetic sensor 71 relative to the linear motion unit 60 provided with the magnet 80.

[0081] In contrast, according to the present embodiment, the substrate 70 overlaps the motor unit 40 and the linear motion unit 60 when viewed in a vertical direction intersecting both the axial direction and the width direction of the motor unit 40. The sensor main body 72 is vertically separated from the substrate 70. Therefore, even if the substrate 70 is positioned radially outward from the motor unit 40 and the linear motion unit 60 is vertically separated from the substrate 70, the sensor main body 72, vertically separated from the substrate 70, can be positioned near the linear motion unit 60 via the terminal portion 73. Conventionally, such positioning of the sensor main body 72 reduces the accuracy of its placement, necessitating the preparation of a separate substrate for mounting the magnetic sensor 71 and positioning this substrate near the linear motion unit 60. In contrast, in the present embodiment, the housing 10 is provided with a retaining recess 30 into which the sensor main body 72 can be inserted and retained by positioning the substrate 70. This allows the sensor main body 72 to be positioned with high precision at a position separated from the substrate 70. Furthermore, by arranging the substrate 70 so that it overlaps the motor unit 40 and the linear motion unit 60 when viewed in the vertical direction, the sensor main body 72 can be easily inserted into the retaining recess 30. This eliminates the need for a separate substrate as described above, and allows the sensor main body 72 to be precisely positioned near the linear motion unit 60. Consequently, the electric actuator 100 can be miniaturized in the axial direction, further reducing the complexity of the structure of the electric actuator 100.

[0082] Furthermore, according to this embodiment, the retaining recess 30 is provided in the side wall portion 23a of the housing 10 that faces the linear motion portion 60 in the width direction (Y-axis direction). Therefore, by retaining the sensor main body 72 in the retaining recess 30, the sensor main body 72 can be positioned near the linear motion portion 60 with high precision.

[0083] Furthermore, according to this embodiment, the vertical distance L2 between the direct-acting portion 60 and the substrate 70 is greater than the vertical distance L1 between the motor portion 40 and the substrate 70. Therefore, with conventional structures, it is difficult to precisely position the magnetic sensor 71 mounted on the substrate 70 near the direct-acting portion 60. In contrast, in this embodiment, as described above, by positioning the sensor body 72 away from the substrate 70 and providing the retaining recess 30, the structural complexity of the electric actuator 100 can be suppressed, and the magnetic sensor 71 can be precisely positioned relative to the direct-acting portion 60. Furthermore, by making the distance L2 greater than the distance L1, the center axis J1 of the motor portion 40 and the output axis J2 of the direct-acting portion 60 can be easily positioned at the same position in the vertical direction. Consequently, the motor portion 40 and the direct-acting portion 60 can be easily connected via the transmission mechanism 50.

[0084] Furthermore, when the transmission mechanism 50 decelerates the rotation of the motor 40, as in the present embodiment, the outer diameter of the second gear 52 is likely to be larger than that of the first gear 51. In this case, if the substrate 70 is positioned vertically overlapping the second gear 52, it must be positioned significantly farther vertically from the motor 40 to prevent contact between the substrate 70 and the second gear 52. This can easily increase the size of the electric actuator 100. Furthermore, since the distance between the substrate 70 and the linear motion unit 60 increases, the terminal portion 73 must be lengthened vertically, potentially making it difficult to insert the sensor body 72 into the retaining recess 30 when the substrate 70 is positioned. In contrast, according to the present embodiment, the substrate 70 is positioned vertically away from the second gear 52. This makes it easier to position the substrate 70 close to the motor 40, thus preventing an increase in the size of the electric actuator 100. Furthermore, since the terminal portion 73 can be prevented from being elongated in the vertical direction, it is possible to prevent the sensor main body 72 from being difficult to insert into the holding recess 30 .

[0085] Furthermore, according to this embodiment, the substrate 70 extends in the width direction (Y-axis direction) and is arranged so as to straddle the opening 29a in the width direction. Therefore, the substrate 70 can be appropriately positioned above the motor unit 40 and the linear motion unit 60. Consequently, when the substrate 70 is mounted on the housing 10, the sensor body 72 of the magnetic sensor 71 mounted on the substrate 70 can be more easily inserted into the retaining recess 30.

[0086] In addition, according to this embodiment, the housing 10 is made of a non-magnetic material. The holding recess 30 is a hole portion that opens toward the substrate 70. Therefore, by inserting the sensor main body 72 into the holding recess 30, the sensor main body 72 can be properly held relative to the holding recess 30. In addition, it is possible to prevent the sensor main body 72 from escaping from the holding recess 30. In addition, since the housing 10 provided with the holding recess 30 is made of a non-magnetic material, even if the holding recess 30 is a hole portion, the magnetic field of the magnet 80 will not be blocked by the wall portion of the housing 10. Therefore, the magnetic field of the magnet 80 can be properly detected by the sensor main body 72.

[0087] In this specification, "workers, etc." include workers who perform various tasks and assembly devices, etc. Each task may be performed by only the worker, only the assembly device, or both the worker and the assembly device.

[0088] The present invention is not limited to the above-mentioned embodiments, and other structures and other methods can also be adopted within the scope of the technical concept of the present invention. The holding recess can be any structure as long as it is open to the substrate and can hold the sensor body. The holding recess can also be, for example, Figure 8 The structure of the holding recess 230 in the housing 210 of the electric actuator 200 shown in FIG. Figure 8 As shown, the retaining recess 230 is opened on the upper side in the same manner as the retaining recess 30, and is also opened on the surface on one side (+Y side) in the width direction of the side wall portion 23a. Thus, the retaining recess 230 is opened toward the direct-acting portion 60. Therefore, the sensor main body 72 retained in the retaining recess 230 can be arranged closer to the direct-acting portion 60. Therefore, the detection accuracy of the magnetic field of the magnet 80 by the sensor main body 72 can be further improved. In addition, by retaining the recess 230 opening toward the direct-acting portion 60, even in the case where the housing 210 is made of a magnetic body, the magnetic flux from the magnet 80 can easily flow to the sensor main body 72 retained in the retaining recess 230. Therefore, even in the case where the housing 210 is made of a magnetic body, it is easy to appropriately detect the magnetic field of the magnet 80 through the sensor main body 72.

[0089] The retaining recess may retain the sensor body in any manner. For example, a claw capable of elastic deformation may be provided in the retaining recess, and the sensor body may be fixed to the retaining recess by a snap-fit ​​structure of the claw. In the case of manufacturing a housing having a retaining recess by resin molding, a demoulding slope may be provided in the retaining recess so that the inner size of the retaining recess becomes larger as it moves toward the substrate. In this case, the more the sensor body is inserted into the retaining recess, the smaller the inner size of the retaining recess becomes, and the easier it is to properly retain the sensor body in the retaining recess. As long as the sensor body retained in the retaining recess can detect the magnetic field of the magnet, the location of the housing where the retaining recess is provided is not particularly limited. The material constituting the housing is not particularly limited. The housing may also be made of metal.

[0090] The relative positional relationship between the linear motion portion and the motor portion is not particularly limited. The linear motion portion and the motor portion may also be arranged side by side in the axial direction. The transmission mechanism portion may have any structure as long as it is connected to the motor portion and can cause the linear motion portion to perform linear motion.

[0091] The application of the electric actuator to which the present invention is applied is not particularly limited. The electric actuator can be mounted on any device. For example, the electric actuator can be mounted on a vehicle or on a device other than a vehicle.

[0092] In addition, the present technology can adopt the following structure. (1) An electric actuator comprises: a motor part; a transmission mechanism part connected to the motor part; a direct-acting part connected to the transmission mechanism part and performing linear motion through the transmission mechanism part; a housing that internally accommodates the motor part, the transmission mechanism part, and the direct-acting part; a substrate having an inverter circuit that supplies power to the motor part; a magnet that is provided on the direct-acting part; and a magnetic sensor that can detect the magnetic field of the magnet, the magnetic sensor comprising: a sensor main body that is configured separately from the substrate; and a terminal part that extends from the sensor main body and is fixed to the substrate, the housing having a holding recess that holds the sensor main body, the holding recess opening toward the substrate. (2) The electric actuator according to (1), wherein the direct-acting portion performs direct linear motion in the axial direction of the motor portion, the motor portion and the direct-acting portion are arranged side by side in a first direction intersecting the axial direction of the motor portion, the substrate overlaps the motor portion and the direct-acting portion when viewed in a second direction intersecting both the axial direction of the motor portion and the first direction, and the sensor main body is arranged to be separated from the substrate in the second direction. (3) The electric actuator according to (2), wherein the retaining recess is provided in a wall portion of the housing that is opposite to the direct-acting portion in the first direction. (4) The electric actuator according to (3), wherein the distance between the direct-acting portion and the substrate in the second direction is greater than the distance between the motor portion and the substrate in the second direction. (5) The electric actuator according to any one of (2) to (4), wherein the motor portion has an output portion protruding in the axial direction, the output portion is connected to the transmission mechanism portion, and the direct-acting portion extends from the transmission mechanism portion in the axial direction of the motor portion in a direction opposite to the direction in which the output portion protrudes. (6) According to any one of (2) to (5), the transmission mechanism has: a first gear fixed to the motor; and a second gear meshing with the first gear, and the substrate is arranged at a position different from the second gear when viewed in the second direction. (7) According to any one of (2) to (6), the housing has a storage portion that stores the motor and the linear motion portion, the storage portion has an opening that opens on one side of the second direction, and the substrate extends in the first direction and is arranged to span the opening in the first direction. (8) According to any one of (1) to (7), the retaining recess opens toward the linear motion portion. (9) According to any one of (1) to (7), the housing is made of a non-magnetic material, and the retaining recess is a hole that opens toward the substrate.

[0093] The structures and methods described above in this specification can be appropriately combined within a range that does not contradict each other.

Claims

1. An electric actuator, characterized in that: have: Motor Department; a transmission mechanism portion connected to the motor portion; a linear motion portion connected to the transmission mechanism portion and performing linear motion through the transmission mechanism portion; a housing that accommodates the motor unit, the transmission mechanism unit, and the linear motion unit; a substrate having an inverter circuit for supplying electric power to the motor unit; a magnet provided on the linear motion portion; and a magnetic sensor capable of detecting the magnetic field of the magnet, The magnetic sensor has: a sensor main body configured to be separate from the substrate; and a terminal portion extending from the sensor main body and fixed to the substrate, The housing has a holding recess for holding the sensor main body. The holding recess opens toward the substrate.

2. The electric actuator according to claim 1, wherein: The linear motion portion performs linear motion in the axial direction of the motor portion. The motor unit and the linear motion unit are arranged side by side in a first direction intersecting the axial direction of the motor unit. When viewed in a second direction intersecting both the axial direction of the motor unit and the first direction, the substrate overlaps with the motor unit and the linear motion unit. The sensor main body is arranged to be separated from the substrate in the second direction.

3. The electric actuator according to claim 2, wherein: The holding recess is provided in a wall portion of the housing that is opposed to the linear motion portion in the first direction.

4. The electric actuator according to claim 3, wherein: A distance between the linear motion portion and the substrate in the second direction is greater than a distance between the motor portion and the substrate in the second direction.

5. The electric actuator according to claim 2, wherein: The motor portion has an output portion protruding in the axial direction, The output part is connected to the transmission mechanism part, The linear motion portion extends from the transmission mechanism portion in the axial direction of the motor portion in a direction opposite to a direction in which the output portion protrudes.

6. The electric actuator according to claim 2, wherein: The transmission mechanism has: a first gear fixed to the motor portion; and a second gear meshing with the first gear, The substrate is arranged at a position different from the second gear when viewed in the second direction.

7. The electric actuator according to claim 2, wherein: The housing has a housing portion for housing the motor portion and the linear motion portion. The storage portion has an opening portion opened on one side of the second direction, The substrate extends in the first direction and is arranged to straddle the opening in the first direction.

8. The electric actuator according to any one of claims 1 to 7, characterized in that: The holding recess opens toward the linear motion portion.

9. The electric actuator according to any one of claims 1 to 7, characterized in that: The shell is made of non-magnetic material. The holding recess is a hole portion opened toward the substrate.

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