Actuator module and door

Abstract

An actuator module (1000) is provided with: a drive unit (400); an output unit (OS) that outputs power output from the drive unit to the outside; first sensors (611, 612) that detect the position in the rotation direction of a first rotating body (G22) that rotates with the rotation of the output unit; and a second sensor (620) that detects the rotation angle of a second rotating body (SG) that rotates with the rotation of the output unit. The rotation speed of the first rotating body is lower than the rotation speed of the second rotating body.

Description

Actuator module and door

[0001] This disclosure relates to actuator modules and doors.

[0002] A locking system is used that automatically locks and unlocks the door. The locking system comprises, for example, an actuator module and a control unit. The actuator module has a motor that generates power and an output unit that receives the power generated by the motor, rotates, and outputs rotational force to the lock.

[0003] In the locking system described above, when the control unit drives the motor of the actuator module, the motor's power is transmitted to the door via the output unit, causing the door's deadbolt to move. This locks or unlocks the door.

[0004] In actuator modules used in lock systems, the state of the output unit is detected by a sensor. Patent Document 1 describes a control device for a drive shaft drive mechanism of an electric lock, in which a rotating plate having a sensor identification unit is integrally provided on a drive shaft rotatably supported in the drive box of the electric lock, a sensor support equipped with a photosensor for detecting the position state of the sensor identification unit is fixed inside the drive box, and a control unit is provided that acquires a detection signal output from the photosensor and controls the drive motor.

[0005] Japanese Patent Publication No. 2009-221690

[0006] In actuator modules, it is desirable to have a configuration that can accommodate output units with a wider rotation range, both in terms of detecting the state of the output unit and in other respects. This issue is not limited to actuator modules used in lock systems.

[0007] This disclosure aims to provide an actuator module having a configuration that can accommodate an output section with a wider rotation range, and a door including the actuator module.

[0008] According to a first aspect of this disclosure, an actuator module is provided comprising: a drive unit; an output unit that outputs power output from the drive unit to the outside; a first sensor that detects the position in the rotational direction of a first rotating body that rotates in conjunction with the rotation of the output unit; and a second sensor that detects the rotational angle of a second rotating body that rotates in conjunction with the rotation of the output unit, wherein the rotational speed of the first rotating body is less than the rotational speed of the second rotating body.

[0009] According to a second aspect of the present disclosure, an actuator module used in a lock system, comprising: a drive unit; an output unit that outputs power output from the drive unit to a lock to be mounted in the lock system, the output unit being rotatable between an unlocked position in which the lock is in an unlocked state and a locked position in which the lock is in a locked state; and a transmission rotating body that transmits power output from the drive unit to the output unit, the transmission rotating body having a rotational speed lower than that of the output unit, the transmission rotating body comprising: a first transmission rotating body that rotates in accordance with the power output from the drive unit and has a first protrusion; and a second transmission rotating body that rotates in accordance with the rotation of the output unit and has a second protrusion, the actuator module being capable of performing an unlocking operation in which the output unit is moved to the unlocked position by power from the drive unit; a locking operation in which the output unit is moved to the locked position by power from the drive unit; and a reverse rotation operation in which the first transmission rotating body is moved to a first position by power from the drive unit. In each of the unlocking and locking operations, the first projection presses against the second projection, causing the first and second transmission rotating bodies to rotate together. In the reverse rotation operation, the first projection moves away from the second projection, causing the first transmission rotating body to rotate independently of the second transmission rotating body.

[0010] A third aspect of the present disclosure provides a door comprising a door body, door bolts provided on the door body, and an actuator module of a first or second aspect for moving the door bolts.

[0011] According to this disclosure, an actuator module having a configuration that can accommodate an output section with a wider rotation range, and a door including the actuator module are provided.

[0012] Figure 1 is a plan perspective view of an actuator module, which is one embodiment of the design. Figure 2 is a side view showing a lock system, which is one embodiment of the design, mounted on a door. Figure 3(a) is a perspective view showing an example of a first member of a second driven gear. Figure 3(b) is a perspective view showing an example of a second member of a second driven gear. Figure 4 is a plan view showing an example of a second driven gear. Figure 5 is a perspective view showing an example of the arrangement of a first photointerrupter and a second photointerrupter with respect to the second member. Figures 6(a) to 6(d) are explanatory diagrams for illustrating the changes in the output of the first photointerrupter and the output of the second photointerrupter in response to the rotation of the small-diameter gear of the second driven gear. Figure 6(a) shows an example of a state where the output of the first photointerrupter is on and the output of the second photointerrupter is off. Figure 6(b) shows an example of a state where the output of the first photointerrupter is on and the output of the second photointerrupter is on. Figure 6(c) shows an example of a state where the output of the first photointerrupter is off and the output of the second photointerrupter is on. Figure 6(d) shows an example of a state where the output of the first photointerrupter is off and the output of the second photointerrupter is off. Figure 7 is a table showing the relationship between the rotation angle of the small diameter gear of the second driven gear and the output of the first photointerrupter and the second photointerrupter. Figure 8 is an explanatory diagram illustrating an example of how to determine the rotation angle of the output gear using the output of the first photointerrupter, the output of the second photointerrupter, and the output of the potentiometer. Figures 9(a) to 9(e) are explanatory diagrams illustrating an example of the reverse rotation process performed by the actuator module. Figure 9(a) shows a state where the large diameter gear is in the first position and the small diameter gear is in the unlocked position. Figure 9(b) shows a state where the large diameter gear is in the second position and the small diameter gear is in the locked position. Figure 9(c) shows the large-diameter gear in reverse rotation, moving from the second position to the first position, with the small-diameter gear in the locked position. Figure 9(d) shows the large-diameter gear in the first position with the small-diameter gear in the locked position. Figure 9(e) shows the large-diameter gear in the third position with the small-diameter gear in the unlocked position. Figure 10 is an explanatory diagram for describing a modified example in which a photoreflector is used instead of a photointerrupter. Figure 11 is a plan view of the actuator module of the modified example.

[0013] <Embodiment> An actuator module 1000 (Figure 1), which is one embodiment of the present disclosure, will be described with reference to Figures 1 to 9.

[0014] As shown in Figure 1, the actuator module 1000 mainly comprises a housing 100, a circuit board 200 located inside the housing 100, a controller 300, a motor 400, a power transmission unit 500, a sensor group 600, and a storage unit 700.

[0015] The actuator module 1000 is used, for example, as part of a locking system LS that is attached to the door DR, as shown in Figure 2.

[0016] The lock system LS includes, for example, a housing LSC and an actuator module 1000 housed inside the housing LSC. The lock system LS may also include a controller for controlling the actuator module 1000, a display unit for displaying information to the user, an input unit for the user to input instructions to the lock system LS, a communication unit for communicating with the outside, a storage unit for storing various information, etc. (all not shown).

[0017] The door DR mainly consists of a plate-shaped door body DRM and a lock LK. The lock LK mainly consists of a door bolt DB provided on the side of the door body DRM and a door bolt moving mechanism DBM for moving the door bolt DB.

[0018] The locking system LS locks and unlocks the door DR when it is attached to one side of the door body DRM of the door DR. When the locking system LS is attached to the door DR, the front end OSa of the output shaft OS (described later) of the actuator module 1000 is connected to the door bolt DB of the door DR via the door bolt moving mechanism DBM. A thumbturn ST is attached to the rear end OSb of the output shaft OS. When the motor 400 of the actuator module 1000 is operated, the power generated by the motor 400 is transmitted to the door bolt DB via the output shaft OS and the door bolt moving mechanism DBM, causing the door bolt DB to move. The door bolt DB may be a deadbolt or a latch bolt. If the door bolt DB is a deadbolt, a latch bolt (not shown) separate from the door bolt DB may move along with the movement of the door bolt DB. The output shaft OS can be connected directly or indirectly to the door bolt DB in any manner that allows the door bolt DB to move due to the rotation of the output shaft OS.

[0019] When the door bolt DB is in a protruding position, extending from the side of the door body DRM, the lock LK, and consequently the door DR, is locked. When the door bolt DB is in a retracted position, housed inside the door body DRM, the lock LK, and consequently the door DR, is unlocked.

[0020] For the sake of explanation, the front-to-back, left-to-right, and up-to-down directions of the actuator module 1000 will be as shown in Figures 1 and 2. The front-to-back direction is the direction in which the output shaft OS extends, with the direction toward the door DR being forward. The left-to-right and up-to-down directions correspond to the width and height directions of the door DR when the lock system LS, and consequently the actuator module 1000, is attached to the door DR, respectively. Right and left are defined as the left and right directions when viewed from the front. The front-to-back, left-to-right, and up-to-down directions are orthogonal to each other.

[0021] The housing 100 is a box-shaped body made of any material such as metal or resin. In this embodiment, the housing 100 is a rectangular prism, but is not limited to this and may be any shape. The housing 100 has a front portion and a rear portion, each of which is bathtub-shaped. The internal space 100in is defined by fitting the front portion and the rear portion of the housing 100 together in the front-to-back direction.

[0022] The circuit board 200 is a flat printed circuit board (PCB) located near the front end of the internal space 100in, perpendicular to the front-to-back direction.

[0023] The controller 300 is a control device that controls the motor 400, the sensor group 600, and the like. The controller 300 is mounted on the circuit board 200. In this embodiment, the controller 300 is an MCU (microcontroller).

[0024] The motor 400 is a drive unit that generates power supplied externally by the actuator module 1000. The motor 400 is located near the upper end of the internal space 100in. The motor 400 is connected to the controller 300 via wiring (not shown) on the circuit board 200. In this embodiment, the motor 400 is a DC motor, but it may be any other type of motor. The motor 400 has a rotating shaft 400S.

[0025] The power transmission unit 500 is a mechanism that transmits the power generated by the motor 400 to the outside of the actuator module 1000. As shown in Figure 1, the power transmission unit 500 includes a worm gear G0, a first driven gear G1, a second driven gear G2, a third driven gear G3, an output gear G4, and an output shaft OS (an example of an "output unit").

[0026] The worm gear G0 is attached to the rotating shaft 400S of the motor 400.

[0027] The first driven gear G1 is a two-stage gear having a large-diameter gear G11 and a small-diameter gear G12, and a shaft SF extending in the front-rear direction. Ｇ１ It can rotate around the center. Shaft SF Ｇ１ It is supported by the housing 100. The large-diameter gear G11 meshes with the worm gear G0.

[0028] The second driven gear G2 is a two-stage gear having a large-diameter gear G21 and a small-diameter gear G22, and is connected to a shaft SF that extends in the front-rear direction. Ｇ２ It can rotate around the center. Shaft SF Ｇ２ It is supported by the housing 100. The large-diameter gear G21 meshes with the small-diameter gear G12 of the first driven gear G1.

[0029] The second driven gear G2 has a configuration that allows it to be in either a state where the large-diameter gear G21 and the small-diameter gear G22 rotate independently of each other, or a state where the large-diameter gear G21 and the small-diameter gear G22 rotate as a single unit. Specifically, it is as follows:

[0030] The second driven gear G2 includes the first member 10 shown in Figure 3(a) and the second member 20 shown in Figure 3(b).

[0031] The first member 10 includes a disc-shaped base 11 and an outer peripheral wall 12 and an inner peripheral wall 13 on the rear surface 11b of the base 11. A circular through hole TH is located in the center of the base 11 and inside the inner peripheral wall 13, penetrating the first member 10 in the front-rear direction. １０ A gear tooth GT is formed on the outer surface of the base 11. １１ (In Figures 1, 3(a), and 4, the individual teeth are not shown.) The base 11 and gear teeth GT are formed. １１ These constitute the large-diameter gear G21.

[0032] On the inner peripheral surface of the outer peripheral wall 12, a convex portion PT1 protruding toward the inner side in the radial direction of the base 11 is formed. On the outer peripheral surface of the inner peripheral wall 13, a convex portion PT2 protruding toward the outer side in the radial direction of the base 11 is formed. The side surfaces on both circumferential sides of the base 11 of each of the convex portion PT1 and the convex portion PT2 are planes extending in a plane orthogonal to the circumferential direction of the base 11. The convex portion PT1 and the convex portion PT2 are separated from each other by 180° in the circumferential direction of the base 11. That is, the convex portion PT1 and the convex portion PT2 are arranged along a straight line passing through the center of the base 11 and extending in the radial direction of the base 11. Further, the distance from the center of the base 11 to the convex portion PT1 is larger than the distance from the center of the base 11 to the convex portion PT2. That is, in the radial direction of the base 11, the convex portion PT1 is located more outside than the convex portion PT2. As an example, each of the convex portion PT1 and the convex portion PT2 may extend over a 20° region in the circumferential direction of the base 11.

[0033] The second member 20 includes a disk-shaped base 21 and a flange FL on the outer peripheral surface of the base 21. A substantially rectangular through-hole TH penetrating the second member 20 in the front-rear direction is formed at the center portion of the base 21. ２０ is formed. Gear teeth GT ２１ (in FIGS. 1, 3(b), and 4, illustration of each tooth is omitted) are formed on the outer peripheral surface of the base 21. The base 21 and the gear teeth GT ２１ constitute a small-diameter gear G22.

[0034] The flange FL is a flat plate-shaped portion protruding radially outward from the outer peripheral surface of the base 21 and the front end portion of the gear teeth GT ２１ . The flange FL extends in a plane orthogonal to the front-rear direction. The flange FL is formed over a region with a width of 180° along the circumferential direction of the base 21.

[0035] The front surface 21a of the base 21 has two protrusions, pt1 and pt2, which project forward. The circumferential sides of each of the protrusions pt1 and pt2 on the base 21 are planes that extend in a plane perpendicular to the circumferential direction of the base 21. The protrusions pt1 and pt2 are spaced 180° apart from each other in the circumferential direction of the base 21. That is, the protrusions pt1 and pt2 are aligned along a straight line that passes through the center of the base 21 and extends radially. Also, the distance from the center of the base 21 to the protrusion pt1 is greater than the distance from the center of the base 21 to the protrusion pt2. That is, in the radial direction of the base 21, the protrusion pt1 is located outside the protrusion pt2. As an example, each of the protrusions pt1 and pt2 may extend over a 20° region in the circumferential direction of the base 21.

[0036] The first member 10 and the second member 20 are assembled with the rear surface 13b of the inner peripheral wall 13 of the first member 10 and the front surface 21a of the base 21 of the second member 20 in contact. Figure 4 is a plan view of the assembled first member 10 and second member 20 as seen from the front, with the second member 20, located behind the first member 10, drawn with a dashed line. In the assembled state of the first member 10 and second member 20, the protrusions pt1 and pt2 of the second member 20 are located between the outer peripheral wall 12 and the inner peripheral wall 13 of the first member 10.

[0037] Shaft SF of the second driven gear G2 Ｇ２ The through hole TH of the first member 10 １０ and the through hole TH of the second member 20 ２０ It extends through to. As shown in Figure 3(b), the through hole TH20 of the second member 20 is approximately rectangular, so the shaft SF Ｇ２ The second member 20, and by extension the small-diameter gear G22, rotates together. On the other hand, as shown in Figure 3(a), the through hole TH10 of the first member 10 is circular, so the first member 10, and by extension the large-diameter gear G21, rotates together with the shaft SF. Ｇ２ They rotate independently of each other. The protrusions PT1 and PT2 of the first member 10 and the protrusions pt1 and pt2 of the second member 20 are either in contact with each other or separated from each other, depending on the circumferential positional relationship between the large-diameter gear G21 and the small-diameter gear G22.

[0038] When the protrusion PT1 of the first member 10 is in contact with the protrusion pt1 of the second member 20, and the protrusion PT2 of the first member 10 is in contact with the protrusion pt2 of the second member 20, the large-diameter gear G21 and the small-diameter gear G22 rotate as a single unit. When the protrusion PT1 of the first member 10 is separated from the protrusion pt1 of the second member 20, and the protrusion PT2 of the first member 10 is separated from the protrusion pt2 of the second member 20, the large-diameter gear G21 and the small-diameter gear G22 rotate independently of each other. This makes it possible to perform reverse rotation using the second driven gear G2 (details will be described later). In the following explanation, to avoid complicating the description, the protrusions PT1 and PT2 of the first member 10 may be referred to as the protrusions PT1 and PT2 of the large-diameter gear G21, and the protrusions pt1 and pt2 of the second member 20 may be referred to as the protrusions pt1 and pt2 of the small-diameter gear G22.

[0039] The third driven gear G3 is connected to the shaft SF which extends in the front-rear direction. Ｇ３ It can rotate around the center. Shaft SF Ｇ３ It is supported by the housing 100. The third driven gear G3 meshes with the small diameter gear G22 of the second driven gear G2.

[0040] The output gear G4 is rotatable around the output shaft OS, which extends in the front-to-back direction. The output gear G4 meshes with the third driven gear G3.

[0041] The output shaft OS protrudes forward from the housing 100 through an opening OP formed on the front surface 100a of the housing 100, and protrudes rearward from the housing 100 through an opening (not shown) formed on the rear surface 100b (Figure 2) of the housing 100. That is, the front end OSa of the output shaft OS is located outside and in front of the housing 100, and the rear end OSb of the output shaft OS is located outside and behind the housing 100. The output shaft OS is configured to rotate integrally with the output gear G4, for example, by a spline. Alternatively, the output shaft OS and the output gear G4 may be formed integrally.

[0042] The sensor group 600 mainly includes a first photointerrupter 611 (an example of the "first sensor"), a second photointerrupter 612 (an example of the "first sensor"), a potentiometer 620 (an example of the "second sensor"), and a Hall sensor 630.

[0043] The first photointerrupter 611 and the second photointerrupter 612 are sensors for detecting the position of the small-diameter gear G22 (an example of the "first rotating body") of the second driven gear G2 in the direction of rotation. As shown in Figure 5, each of the photointerrupters 611 and 612 has a light-emitting part EM and a light-receiving part RE. Each of the photointerrupters 611 and 612 is arranged on the circuit board 200 around the second member 20 of the second driven gear G2. The photointerrupters 611 and 612 are connected to the controller 300 via wiring (not shown) on the circuit board 200. Alternatively, the photointerrupters 611 and 612 may be arranged on the inner surface of the housing 100.

[0044] When the circumferential position of the flange FL of the second member 20 coincides with the position where the photointerrupters 611 and 612 are installed, in accordance with the rotation of the second driven gear G2, the flange FL is positioned between the light-emitting unit EM and the light-receiving unit RE. In this state, the light emitted by the light-emitting unit EM does not reach the light-receiving unit RE, and the outputs of the photointerrupters 611 and 612 are turned on. On the other hand, when the circumferential position of the flange FL of the second member 20 does not coincide with the position where the photointerrupters 611 and 612 are installed, the flange FL is not positioned between the light-emitting unit EM and the light-receiving unit RE. In this state, the light-receiving unit RE receives the light emitted by the light-emitting unit EM, and the outputs of the photointerrupters 611 and 612 are turned off.

[0045] The potentiometer 620 is a rotation angle sensor for detecting the rotation angle of the output shaft OS. The potentiometer 620 is mounted on the circuit board 200 and connected to the controller 300 via wiring (not shown) on the circuit board 200. In this embodiment, the potentiometer 620 is a two-phase potentiometer and includes a first sensor unit 621 that outputs an angle output in a first angle range and a second sensor unit 622 that outputs an angle output in a second angle range shifted by 180° from the first angle range. Both the first and second angle ranges are 330°, which is less than 360°.

[0046] A sensor gear SG (an example of a "second rotating body") is attached to the rotating shaft of the potentiometer 620. The sensor gear SG meshes with the driven gear G3.

[0047] The Hall sensor 630 is a sensor for detecting the position of the large-diameter gear G21 of the second driven gear G2 in the rotational direction. The Hall sensor 630 is attached to the rotating shaft 400S of the motor 400. The Hall sensor 630 is connected to the controller 300 via wiring (not shown) on the circuit board 200.

[0048] The memory unit 700 is a storage device that stores the outputs of each sensor of the sensor group 600. The memory unit 700 is mounted on the circuit board 200. In this embodiment, the memory unit 700 may include arbitrary volatile memory and non-volatile memory.

[0049] [Detection of the rotation angle of the output shaft OS] The actuator module 1000 of this embodiment detects the rotation angle θ of the output shaft OS. ＯＳ Let's explain the detection. As described above, the output shaft OS is connected to the door bolt DB and thumbturn ST of the door DR, and when the output shaft OS rotates, the door bolt DB and thumbturn ST move. Therefore, the rotation angle θ of the output shaft OS ＯＳ By detecting this, the status of the door DR (for example, whether it is unlocked or locked) can be detected.

[0050] Specifically, the controller 300 of the actuator module 1000 controls the rotation angle θ of the output shaft OS in the following manner, for example: ＯＳ This detects the rotation angle. For the sake of explanation, here we will assume that each sensor in the sensor group 600 detects each rotation angle in 1° increments, but the detection of each rotation angle by each sensor in the sensor group 600 is not limited to this.

[0051] First, in the actuator module 1000 of this embodiment, the gear ratio of the output gear G4, the sensor gear SG, and the small-diameter gear G22 of the second driven gear G2 is 2.25:2.25:1. Therefore, when the output gear G4 (and thus the output shaft OS) rotates 720°, the sensor gear SG rotates 720° and the small-diameter gear G22 rotates 320°. In other words, the rotational speed of the sensor gear SG and the rotational speed of the output gear G4 (and thus the output shaft OS) are equal to each other, and the rotational speed of the small-diameter gear G22 is smaller than the rotational speed of both the sensor gear SG and the output gear G4 (and thus the output shaft OS). The small-diameter gear G22 is a reduction gear that is reduced in speed compared to the sensor gear SG and the output gear G4.

[0052] The controller 300 combines the outputs of the first photointerrupter 611, the second photointerrupter 612, and the potentiometer 620 to control the rotation angle θ of the output gear G4. ＯＳ It detects this over a wide range from 0° to 720°.

[0053] As shown in Figures 6(a) to 6(d), the first photointerrupter 611 and the second photointerrupter 612 are connected to the output of the small-diameter gear G22 and the rotation angle θ Ｇ２２ The following relationship is satisfied by the arrangement of the small diameter gear G22. Ｇ２２ When it is 0°, the rotation angle θ of the output shaft OS ＯＳ , the rotation angle θ of the output gear G4 Ｇ４ , and the rotation angle θ of the sensor gear SG ＳＧ It is also 0°.

[0054] (1) Rotation angle θ of the small diameter gear G22 Ｇ２２ When the angle is between 0° and 89°, the output of the first photointerrupter 611 is turned on and the output of the second photointerrupter 612 is turned off (Figure 6(a)). That is, the flange FL is located between the light-emitting part EM and the light-receiving part RE of the first photointerrupter 611, but not between the light-emitting part EM and the light-receiving part RE of the second photointerrupter 612. (2) Rotation angle θ of the small diameter gear G22 Ｇ２２When the angle is between 90° and 179°, the outputs of the first photointerrupter 611 and the second photointerrupter 612 are turned on (Figure 6(b)). That is, the flange FL is located between the light-emitting part EM and the light-receiving part RE of the first photointerrupter 611 and the second photointerrupter 612, respectively. (3) Rotation angle θ of the small diameter gear G22 Ｇ２２ When the angle is between 180° and 269°, the output of the first photointerrupter 611 is turned off, and the output of the second photointerrupter 612 is turned on (Figure 6(c)). That is, the flange FL is not located between the light-emitting part EM and the light-receiving part RE of the first photointerrupter 611, but is located between the light-emitting part EM and the light-receiving part RE of the second photointerrupter 612. (4) Rotation angle θ of the small-diameter gear G22 Ｇ２２ When the angle is between 270° and 359°, the outputs of the first photointerrupter 611 and the second photointerrupter 612 are turned off (Figure 6(d)). That is, the flange FL is not located between the light-emitting part EM and the light-receiving part RE of either the first photointerrupter 611 or the second photointerrupter 612.

[0055] The relationships described above are summarized in the table in Figure 7.

[0056] As shown in the middle of Figure 8, the angle output P1 of the first sensor unit 621 and the angle output P2 of the second sensor unit 622 of the potentiometer 620 correspond to the rotation angle θ of the sensor gear SG. ＳＧ It changes in response to the change in the rotation angle θ of the sensor gear SG. ＳＧ The rotation angle θ of the output shaft OS. ＯＳ and the rotation angle θ of the output gear G4 Ｇ４ It is equal to.

[0057] The angle output P1 of the first sensor unit 621 of the potentiometer 620 corresponds to the rotation angle θ of the sensor gear SG. ＳＧ When the angle is 0°, it is "-165", and the rotation angle θ of the sensor gear SG is θ ＳＧ For every 1° increase toward 330°, the value increases by "1", and the rotation angle θ of the sensor gear SG increases by "1". ＳＧ When the angle is 330°, the value is "165". Also, the angle output P1 of the first sensor unit 621 of the potentiometer 620 corresponds to the rotation angle θ of the sensor gear SG.ＳＧ When it is 360°, it is "-165", and the rotation angle θ of the sensor gear SG. ＳＧ For every 1° increase toward 690°, the value increases by "1", and the rotation angle θ of the sensor gear SG increases. ＳＧ When the angle is 690°, the value is "165". On the other hand, the angle output P1 of the first sensor unit 621 of the potentiometer 620 is not output when the rotation angle of the sensor gear is between 331° and 359°, and between 691° and 719°.

[0058] The angle output P2 of the second sensor section 622 of the potentiometer 620 corresponds to the rotation angle θ of the sensor gear SG. ＳＧ When it is 180°, it is "-165", and the rotation angle θ of the sensor gear SG. ＳＧ For every 1° increase toward 510°, the value increases by "1", and the rotation angle θ of the sensor gear SG increases. ＳＧ When the angle is 510°, the value is "165". Also, the angle output P2 of the second sensor section 622 of the potentiometer 620 corresponds to the rotation angle θ of the sensor gear SG. ＳＧ When the angle is 540°, it is "-165", and the rotation angle θ of the sensor gear SG is θ ＳＧ The value increases by "1" each time the angle increases by 1° toward 720°. Meanwhile, the angle output P2 of the second sensor 622 of the potentiometer 620 corresponds to the rotation angle θ of the sensor gear. ＳＧ No output is produced when the angle is between 0° and 179°, and between 511° and 539°.

[0059] The controller 300 controls the rotation angle θ of the output gear G4 based on the outputs of the first photointerrupter 611, the second photointerrupter 612, and the potentiometer 620. Ｇ４ This is calculated as follows:

[0060] The controller 300 determines the rotation angle θ of the small-diameter gear G22 when the output of the first photointerrupter 611 is ON and the output of the second photointerrupter 612 is OFF. Ｇ２２ If the angle is in the range of 0° to 89° (hereinafter referred to as "range A"), use the following equation (1) to determine the rotation angle θ of the output gear G4. Ｇ４ Calculate θ. Ｇ４ =P1+165...Formula (1)

[0061] As shown in Figure 8, in range A, the angular output P1 of the first sensor unit 621 of the potentiometer 620 increases linearly in accordance with the rotation of the small diameter gear G22, the sensor gear SG, and the output gear G4. Also, the rotation angle θ of the small diameter gear G22 Ｇ２２ , the rotation angle θ of the sensor gear SG ＳＧ , and the rotation angle θ of the output gear G4 Ｇ４ When the angle is 0°, the angle output P1 of the first sensor unit 621 of the potentiometer 620 is "-165". Therefore, the value obtained by adding "165" to the angle output P1 of the first sensor unit 621 of the potentiometer 620 is the rotation angle θ of the output gear G4 in range A. Ｇ４ It matches.

[0062] The controller 300 determines the rotation angle θ of the small-diameter gear G22 when the output of the first photointerrupter 611 is ON and the output of the second photointerrupter 612 is ON. Ｇ２２ If the angle is in the range of 90° to 179° (hereinafter referred to as "range B"), use the following equation (2) to determine the rotation angle θ of the output gear G4. Ｇ４ Calculate θ. Ｇ４ =202.5+P2+142.5...Formula (2)

[0063] As shown in Figure 8, in range B, the angular output P2 of the second sensor section 622 of the potentiometer 620 increases linearly in accordance with the rotation of the small diameter gear G22, the sensor gear SG, and the output gear G4. Also, the rotation angle θ of the small diameter gear G22 Ｇ２２ The angle is 90°, and the rotation angle θ of the sensor gear SG. ＳＧ and the rotation angle θ of the output gear G4 Ｇ４ When the angle is 202.5°, the angle output P2 of the second sensor unit 622 of the potentiometer 620 is "-142.5". Therefore, the value obtained by adding "202.5" and "142.5" to the angle output P2 of the second sensor unit 622 of the potentiometer 620 is the rotation angle θ of the output gear G4 in range B. Ｇ４ It matches.

[0064] When the output of the first photointerrupter 611 is off and the output of the second photointerrupter 612 is on, that is, when the rotation angle of the small diameter gear G22 is in the range of 180° to 269° (hereinafter referred to as "range C"), the controller 300 uses the following equation (3) to determine the rotation angle θ of the output gear G4. Ｇ４ Calculate θ. Ｇ４ =405+P1+120...Formula (3)

[0065] As shown in Figure 8, in range C, the angular output P1 of the first sensor unit 621 of the potentiometer 620 increases linearly in accordance with the rotation of the small diameter gear G22, the sensor gear SG, and the output gear G4. Also, the rotation angle θ of the small diameter gear G22 Ｇ２２ The angle is 180°, and the rotation angle θ of the sensor gear SG. ＳＧ and the rotation angle θ of the output gear G4 Ｇ４ When the angle is 405°, the angle output P1 of the first sensor unit 621 of the potentiometer 620 is "-120". Therefore, the value obtained by adding "405" and "120" to the angle output P1 of the first sensor unit 621 of the potentiometer 620 is the rotation angle θ of the output gear G4 in range C. Ｇ４ It matches.

[0066] When the output of the first photointerrupter 611 is off and the output of the second photointerrupter 612 is off, that is, when the rotation angle of the small diameter gear G22 is in the range of 270° to 320° (hereinafter referred to as "range D"), the controller 300 uses the following equation (3) to determine the rotation angle θ of the output gear G4. Ｇ４ Calculate θ. Ｇ４ =607.5+P2+97.5...Formula (4)

[0067] As shown in Figure 8, in range D, the angular output P2 of the second sensor section 622 of the potentiometer 620 increases linearly in accordance with the rotation of the small diameter gear G22, the sensor gear SG, and the output gear G4. Also, the rotation angle θ of the small diameter gear G22 Ｇ２２ The angle is 270°, and the rotation angle θ of the sensor gear SG is 270°. ＳＧ and the rotation angle θ of the output gear G4 Ｇ４When the angle is 607.5°, the angle output P2 of the second sensor unit 622 of the potentiometer 620 is "-97.5". Therefore, the value obtained by adding "607.5" and "97.5" to the second phase angle output P2 of the potentiometer 620 is the rotation angle θ of the output gear G4 in range D. Ｇ４ It matches.

[0068] The controller 300 stores the output of the first photointerrupter 611, the output of the second photointerrupter 612, and the angle output of the potentiometer 620 in the memory unit 700 of the actuator module 1000. When the lock system LS is powered on, and consequently when the actuator module 1000 is powered on, the controller 700 reads the latest values ​​of each output stored in the memory unit 700 and determines the current rotation angle θ of the output gear G4 based on each output. Ｇ４ This calculates the output. This constitutes an absolute encoder based on the combination of the first photointerrupter 611, the second photointerrupter 612, and the potentiometer 620. The controller 300 may store each output in a storage unit (not shown) provided by the lock system LS instead of the storage unit 700.

[0069] [Locking, Unlocking, and Reverse Rotation] The controller 300 of the actuator module 1000 can perform a locking process, which drives the motor 400 to set the output shaft OS to the locked position (described later) based on a locking instruction from the user, and an unlocking process, which drives the motor 400 to set the output shaft OS to the unlocked position (described later). The controller 300 can also perform a reverse rotation process. The locking, unlocking, and reverse rotation processes performed by the controller 300 will be explained with reference to Figures 9(a) to 9(e). When the controller 300 performs the locking, unlocking, and reverse rotation processes, the actuator module 1000 performs the locking, unlocking, and reverse rotation operations.

[0070] In Figure 9(a), the rotation angle θ of the small diameter gear G22 of the second driven gear G2. Ｇ２２ It is 0°. At this time, the rotation angle θ of the output shaft OS. ＯＳThe angle is 0°. In this state, the lock LK is unlocked. When the second driven gear G2 is in the state shown in Figure 9(a), the protrusions pt1 and pt2 of the small diameter gear G22 are at 0° and 180° in the rotational direction, respectively, and the protrusions PT1 and PT2 of the large diameter gear G21 are at -20° and 160° in the rotational direction, respectively. For the small diameter gear G22 and the output shaft OS, this position is called the "unlocked position". For the large diameter gear G21, this position is called the "first position". That is, Figure 9(a) shows the state in which the small diameter gear G22 is in the "unlocked position" and the large diameter gear G21 is in the "first position". In the following explanation, "clockwise direction" and "counterclockwise direction" refer to the clockwise direction and counterclockwise direction as viewed from the front.

[0071] Assume that the controller 300 receives a locking instruction when the second driven gear G2 is in the state shown in Figure 9(a). At this time, the controller 300 may determine that the large-diameter gear G21 is in the first position based on the output of the Hall sensor 630 of the sensor group 600. Alternatively, the controller 300 may determine the rotation angle θ of the small-diameter gear G22 based on the outputs of the first photointerrupter 611, the second photointerrupter 612, and the potentiometer 620 of the sensor group 600. Ｇ２２ It may be determined that the angle is 0° (i.e., it may be determined that the small diameter gear G22 is in the unlocked position). The controller 300 controls the motor 400 to rotate the large diameter gear G21 clockwise to the position shown in Figure 9(b).

[0072] At this time, the protrusion PT1 contacts the protrusion pt1, and the protrusion PT2 contacts the protrusion pt2, pressing the protrusions pt1 and pt2 in a clockwise direction. As a result, the large-diameter gear G21 and the small-diameter gear G22 rotate 320° clockwise as a single unit to the position shown in Figure 9(b). This causes the output shaft OS to rotate 720°, and the door bolt DB of the door DR moves to the protruding position. That is, the door DR becomes locked.

[0073] In Figure 9(b), the rotation angle θ of the small diameter gear G22. Ｇ２２ It is 320°. At this time, the rotation angle θ of the output shaft OS. ＯＳThe angle is 720°. In this state, the lock LK is locked. When the second driven gear G2 is in the state shown in Figure 9(b), the protrusions pt1 and pt2 of the small diameter gear G22 are at 320° and 500° in the rotational direction, respectively, and the protrusions PT1 and PT2 of the large diameter gear G21 are at 300° and 480° in the rotational direction, respectively. For the small diameter gear G22 and the output shaft OS, this position is called the "locked position". For the large diameter gear G21, this position is called the "second position". In other words, the second position is the position of the large diameter gear G21 when all the gear operations related to locking are completed. That is, Figure 9(b) shows the state in which the small diameter gear G22 is in the "locked position" and the large diameter gear G21 is in the "second position".

[0074] The controller 300 rotates the large-diameter gear G21 to the second position to lock the door DR, and then performs a reverse rotation process to rotate the large-diameter gear G21 counterclockwise to the position shown in Figure 9(d). In the example in Figure 9, the large-diameter gear G21 is rotated counterclockwise (i.e., reverse rotation) by approximately 320°. During this rotational movement, the protrusions PT1 and PT2 move away from the protrusions pt1 and pt2, so the small-diameter gear G22 does not rotate. As shown in Figure 9(c), the protrusions PT1 of the large-diameter gear G21 and pt2 of the small-diameter gear G22 are at different positions in the radial direction of the second driven gear G2. Specifically, the protrusions PT1 and pt2 are spaced apart in the radial direction of the second driven gear G2. Therefore, the protrusions PT1 and PT2 do not come into contact regardless of the positional relationship between the large-diameter gear G21 and the small-diameter gear G22 in the rotational direction. Similarly, the protrusions PT2 of the large-diameter gear G21 and PT1 of the small-diameter gear G22 are located at different positions in the radial direction of the second driven gear G2. Therefore, the protrusions PT2 and PT1 do not come into contact regardless of the positional relationship between the large-diameter gear G21 and the small-diameter gear G22 in the rotational direction. Consequently, the large-diameter gear G21 can rotate more than 180° without interfering with the small-diameter gear G22, even though it has protrusions PT1 and PT2 that are 180° apart in the rotational direction.

[0075] In Figure 9(d), the large-diameter gear G21 is in the first position, as in Figure 9(a), and the small-diameter gear G22 is in the locked position, as in Figure 9(b).

[0076] Assume that the controller 300 has received an unlocking instruction when the second driven gear G2 is in the state shown in Figure 9(d). At this time, the controller 300 may determine that the large-diameter gear G21 is in the first position based on the output of the Hall sensor 630 of the sensor group 600. Alternatively, the controller 300 may determine the rotation angle θ of the small-diameter gear G22 based on the outputs of the first photointerrupter 611, the second photointerrupter 612, and the potentiometer 620 of the sensor group 600. Ｇ２２ It may be determined that the angle is 320° (i.e., it may be determined that the small-diameter gear G22 is in the locked position). The controller 300 controls the motor 400 to rotate the large-diameter gear G21 in a counterclockwise direction to the position shown in Figure 9(e).

[0077] At this time, the protrusion PT1 contacts the protrusion pt1, and the protrusion PT2 contacts the protrusion pt2, pressing the protrusions pt1 and pt2 in a counterclockwise direction. As a result, the large-diameter gear G21 and the small-diameter gear G22 rotate 320° counterclockwise as a single unit to the position shown in Figure 9(e). This causes the output shaft OS to rotate 720°, and the door bolt DB of the door DR moves to its housing position. That is, the lock LK becomes unlocked.

[0078] In Figure 9(e), the small-diameter gear G22 is in the unlocked position. The protrusions PT1 and PT2 of the large-diameter gear G21 are at 20° and 200° positions in the rotational direction, respectively. This position of the large-diameter gear G21 is called the "third position." In other words, the third position is the position of the large-diameter gear G21 when all the gear movements related to unlocking are completed.

[0079] The controller 300 rotates the large-diameter gear G21 to the third position to unlock the door DR, and then performs a reverse rotation process to return the large-diameter gear G21 to the first position by rotating it clockwise. In the case of Figure 9, the large-diameter gear G21 is rotated clockwise (i.e., in reverse) by approximately 320°. As a result, the second driven gear G2 is in the state shown in Figure 9(a). During this rotational movement, the protrusions PT1 and PT2 move away from the protrusions pt1 and pt2, so the small-diameter gear G22 does not rotate. Even during this movement, the large-diameter gear G21 rotates by more than 180° without the protrusions PT1 and PT2 contacting the protrusions pt1 and pt2 of the small-diameter gear G22.

[0080] Here, when the second driven gear G2 is in the state shown in Figure 9(a), that is, when the large-diameter gear G21 is in the first position and the small-diameter gear G22 is in the unlocked position, the user operates the thumbturn ST to lock the door DR. In this case, the small-diameter gear G22 rotates 320° clockwise toward the locked position, and the second driven gear G2 is in the state shown in Figure 9(d), that is, when the large-diameter gear G21 is in the first position and the small-diameter gear G22 is in the locked position. At this time, since the protrusions PT1 and PT2 are not located within the range of movement of the protrusions pt1 and pt2, the user can rotate the small-diameter gear G22 toward the locked position without being hindered by the large-diameter gear G21. During this movement, the small-diameter gear G22 rotates by more than 180° without the protrusions pt1 and pt22 engaging with the protrusions PT1 and PT2 of the large-diameter gear G21.

[0081] Furthermore, when the second driven gear G2 is in the state shown in Figure 9(d), that is, when the large-diameter gear G21 is in the first position and the small-diameter gear G22 is in the locked position, the user operates the thumbturn ST to unlock the door DR. In this case, the small-diameter gear G22 rotates 320° counterclockwise toward the unlocked position, and the second driven gear G2 is in the state shown in Figure 9(a), that is, when the large-diameter gear G21 is in the first position and the small-diameter gear G22 is in the unlocked position. At this time, since the protrusions PT1 and PT2 are not located within the range of movement of the protrusions pt1 and pt2, the user can rotate the small-diameter gear G22 toward the unlocked position without being hindered by the large-diameter gear G21. Even in this movement, the small-diameter gear G22 rotates by more than 180° without the protrusions pt1 and pt22 engaging with the protrusions PT1 and PT2 of the large-diameter gear G21.

[0082] In this way, the controller 300 performs a reverse rotation process to return the large-diameter gear G21 to the first position after performing the unlocking and locking processes. Therefore, the user can lock and unlock the door via the thumbturn ST without interference from the large-diameter gear G21 (and consequently without feeling the resistance of the motor 400).

[0083] The advantageous effects of the actuator module 1000 of this embodiment are summarized below.

[0084] In the actuator module 1000 of this embodiment, the controller 300 controls the rotation angle θ of the sensor gear SG. ＳＧ Based on the output of the potentiometer 620 which detects the rotation of the small-diameter gear G22, which rotates at a lower speed than the sensor gear SG, and the outputs of the first photointerrupter 611 and the second photointerrupter 612 which detect the position of the small-diameter gear G22 in the rotational direction, the rotation angle θ of the output gear G4 is determined. Ｇ４ This calculates the rotation angle θ of the output gear G4 over an angle range wider than the angle range detectable by the output of the potentiometer 620. Ｇ４ This can be detected. Therefore, the actuator module 1000 can accommodate an output shaft OS with a wider rotation range. More specifically, the actuator module 1000 can detect the rotation angle θ of the output gear G4. Ｇ４ and the rotation angle θ of the output shaft OS ＯＳ It can detect over a wide range (720° in this embodiment).

[0085] In the actuator module 1000 of this embodiment, a mechanism for performing reverse rotation processing by the controller 300 is provided on the second driven gear G2, which has a rotational speed lower than that of the output gear G4 and the output shaft OS. This allows the actuator module 1000 to accommodate the output shaft OS with a wider rotational range. More specifically, the actuator module 1000 controls the rotational angle θ of the output shaft OS. ＯＳ Despite its wide range of rotation, it can perform reverse rotation without causing interference between the large-diameter gear G21 and the small-diameter gear G22.

[0086] These effects are particularly advantageous when using an actuator module 1000 in a lock system LS that targets a lock LK that requires two rotations of the thumbturn ST to unlock or lock.

[0087] <Modification> In the above embodiment, the following modified forms can also be used.

[0088] [Modification of Power Transmission Unit 500] In the actuator module 1000 of the above embodiment, the gear ratio of the output gear G4, the sensor gear SG, and the small diameter gear G22 of the second driven gear G2 is 2.25:2.25:1, but is not limited to this. The gear ratio of the output gear G4, the sensor gear SG, and the small diameter gear G22 of the second driven gear G2 can be set as appropriate. When the rotational speed of the second driven gear G2 is smaller than the rotational speed of the sensor gear SG, the controller 300 can switch how the output of the potentiometer 620 is used based on the outputs of the first photointerrupter 611 and the second photointerrupter 612, and the rotational angle θ of the output gear G4 can be changed over an angular range wider than the angular range detectable by the output of the potentiometer 620. Ｇ４ The controller 300 can detect the rotation angle θ of the output gear G4 over an angle range wider than the angle range detectable by the output of the potentiometer 620, even when the rotation speed of the sensor gear SG is less than the rotation speed of the output gear G4. Ｇ４ It can detect this.

[0089] In the actuator module 1000 of the above embodiment, the power transmission unit 500 may have any configuration that transmits the power generated by the motor 400 to the outside of the actuator module 1000. The number of gears in the power transmission unit 500 is arbitrary. In addition, any rotating body that receives power and rotates, such as a pulley, may be used instead of at least one of the gears in the power transmission unit 500.

[0090] In the actuator module 1000 of the above embodiment, the power transmission unit 500 does not necessarily have an output shaft OS. In this case, for example, an output engagement hole is provided in the center of the output gear G4. The power generated by the motor 400 is transmitted to the lock LK via an axial member included in the door bolt moving mechanism DBM, which is engaged with the engagement hole of the output gear G4. In this embodiment, the center of the output gear G4 is an example of an "output unit".

[0091] [Modification of the second driven gear G2] In the actuator module 1000 of the above embodiment, the second driven gear G2 of the power transmission unit 500 may have any configuration that allows for reverse rotation.

[0092] Specifically, for example, in the first member 10, the distance between the convex portion PT1 and the convex portion PT2 in the circumferential direction of the base 11 does not have to be 180°. In the second member 20, the distance between the convex portion pt1 and the convex portion pt2 in the circumferential direction of the base 21 does not have to be 180°. However, by setting each distance close to 180°, the pressing of the second member 20 (and consequently the small-diameter gear G22) by the first member 10 (and consequently the large-diameter gear G21) can be performed in a well-balanced manner in the rotational direction.

[0093] The protrusions PT1 and pt2 may be arranged in any manner in which they do not come into contact with each other, regardless of the rotational positional relationship between the large-diameter gear G21 and the small-diameter gear G22. The protrusions PT2 and pt1 may be arranged in any manner in which they do not come into contact with each other, regardless of the rotational positional relationship between the large-diameter gear G21 and the small-diameter gear G22.

[0094] The first member 10 may have only a single protrusion (for example, protrusion PT1), and the second member 20 may have only a single protrusion (for example, protrusion pt1).

[0095] A mechanism for performing reverse rotation may be provided on any rotating body that transmits the power generated by the motor 400 to the output shaft OS. In this case, by making the rotational speed of the rotating body smaller than the rotational speed of the output shaft OS, the actuator module 1000 can perform reverse rotation more effectively by suppressing interference between the rotating body corresponding to the large-diameter gear G21 and the rotating body corresponding to the small-diameter gear G22, even when the range of motion (i.e., the range in which it can rotate) of the output shaft OS is large.

[0096] [Modification of Sensor Group 600] In the actuator module 1000 of the above embodiment, the number and arrangement of photointerrupters in the sensor group 600 can be arbitrarily changed.

[0097] Specifically, for example, at least one of the first photointerrupter 611 and the second photointerrupter 612 may be omitted. Also in this case, the controller 300 switches the usage of the output of the potentiometer 620 based on the output of the first photointerrupter 611 or the second photointerrupter 612, so that the rotation angle θ of the output gear G4 can be detected over an angle range wider than the angle range detectable by the output of the potentiometer 620. Ｇ４ can be detected.

[0098] The first photointerrupter 611 and the second photointerrupter 612 may be provided for gears other than the second driven gear G2.

[0099] In the actuator module 1000 of the above embodiment, instead of the first photointerrupter 611 and the second photointerrupter 612 of the sensor group 600, any sensor that detects the position in the rotational direction of the small-diameter gear G22 can be used.

[0100] The sensor group 600 may use a photoreflector instead of the photointerrupter. In this case, for example, as shown in FIG. 10, the first photoreflector 613 and the second photoreflector 614 are arranged on the circuit board 200 at the same position in the rotational direction of the base 21, shifted in the radial direction of the base 21. Then, on, for example, the rear surface 21b of the base 21, a detection part D1 that reflects the light from the first photoreflector 613 when the rotation angle θ of the small-diameter gear G22 is 0° to 179° and a detection part D2 that reflects the light from the second photoreflector 614 when the rotation angle θ of the small-diameter gear G22 is 180° to 269° are provided. Also in this aspect, the outputs of the first photoreflector 613 and the second photoreflector 614 are the same as the outputs of the first photointerrupter 611 and the second photointerrupter 612 shown in the table of FIG. 7. Note that the first photoreflector 613 and the second photoreflector 614 may be arranged on the base 21, and the detection parts D1 and D2 may be provided, for example, on the inner surface of the housing 100 facing the base 21. Ｇ２２ when is 0° to 179° and the rotation angle θ of the small-diameter gear G22 Ｇ２２ when is 180° to 269°. Also in this aspect, the outputs of the first photoreflector 613 and the second photoreflector 614 are the same as the outputs of the first photointerrupter 611 and the second photointerrupter 612 shown in the table of FIG. 7. Note that the first photoreflector 613 and the second photoreflector 614 may be arranged on the base 21, and the detection parts D1 and D2 may be provided, for example, on the inner surface of the housing 100 facing the base 21.

[0101] In addition, any sensor can be used instead of at least one of the first photointerrupter 611 and the second photointerrupter 612 to detect whether or not the detected part of the small-diameter gear G22 is located at a position corresponding to the sensor. The detection method of the sensor may be any method, such as optical, magnetic, or contact.

[0102] The sensor group 600 replaces the first photointerrupter 611 and the second photointerrupter 612 with an arbitrary rotation angle sensor such as a potentiometer to measure the rotation angle θ of the small diameter gear G22. Ｇ２２ It may also detect the rotation angle. The rotation angle sensor may be any type of sensor that detects (or continuously detects) the rotation angle of a rotating body, such as a resistive sensor like a potentiometer, a magnetic sensor like an MR sensor, or an optical sensor like an encoder. In this case as well, the controller 300 will, based on the combination of the output of the potentiometer 620 and the output of the rotation angle sensor, determine the rotation angle θ of the output gear G4 over a wide angle range. Ｇ４ It is possible to detect this. Note that the rotation angle is one way of representing the position of a rotating body in the direction of rotation, and a rotation angle sensor is included in "sensors that detect the position of a rotating body in the direction of rotation". A sensor that detects the rotation angle is not limited to a sensor that detects the rotation angle of a rotating body as a specific numerical value, but may also be a sensor that detects the approximate rotation angle of a rotating body (for example, a sensor that detects that the rotation angle of a rotating body is in one of four ranges: 0° or more and less than 90°, 90° or more and less than 180°, 180° or more and less than 270°, or 270° or more and less than 360°). Any sensor (for example, a photo sensor such as a photo interrupter or photo reflector) that detects whether the part of the rotating body to be detected is located at the position corresponding to the sensor, thereby detecting whether the rotation angle of the rotating body is within a predetermined range, is also an example of a sensor that detects the rotation angle. A sensor that detects the rotation angle does not necessarily need to explicitly calculate the rotation angle.

[0103] In the actuator module 1000 of the above embodiment, any rotation angle sensor that detects the rotation angle of the sensor gear SG can be used instead of the potentiometer 620 of the sensor group 600. The rotation angle sensor may be a sensor of any detection type, such as a resistance sensor, a magnetic sensor, or an optical sensor. The detection range of one phase of the potentiometer may be less than 360°. The potentiometer may be a single-phase potentiometer having only one sensor unit.

[0104] In the actuator module 1000 of the above embodiment, the sensor gear SG of the sensor group 600 may be omitted, and the potentiometer 620 may be attached to the output gear G4.

[0105] [Other Modifications] In the actuator unit 1000 of the above embodiment, the distance between the unlocked position and the locked position of the output shaft OS, i.e., the movable range of the output shaft OS, is 720°. However, it is not limited to this. The movable range of the output shaft OS may be any value. The present disclosure is particularly advantageous when the movable range of the output shaft OS is 360° or more or greater than 360°.

[0106] In the actuator unit 1000 of the above embodiment, a configuration for performing reverse rotation processing is provided, and sensors are provided on each of the two rotating bodies to measure the rotation angle θ of the output shaft OS. ＯＳ At least one of the components for detecting the rotation may be omitted. For example, a second driven gear G2 equipped with a component for reverse rotation processing may be used in the actuator module 1001 shown in Figure 11. The actuator module 1001 controls the rotation angle θ of the output shaft OS. ＯＳ This is detected by a potentiometer 620 attached to the second driven gear G2, which has a rotational speed lower than that of the output shaft OS.

[0107] The actuator module 1000 in the above embodiment uses a motor 400 as the drive unit that generates power, but is not limited to this. The actuator module 1000 may have any drive unit. Another example of a drive unit is a linear actuator, etc.

[0108] The actuator module 1000 of the above embodiment does not necessarily have to include the controller 300. In this case, the control of the motor 400, the calculation of the rotation angle θ of the output shaft OS, and each process such as reverse rotation processing may be performed by a controller outside the actuator module 1000, for example, a controller included in the lock system LS. ＯＳ

[0109] Although the actuator module 1000 of the above embodiment and the modification example has been described by taking the case where it is used in the lock system LS as an example, the use of the actuator module 1000 is not limited to this. The actuator module 1000 can be incorporated and used in any mechanism that requires power.

[0110] As long as the features of the present invention are maintained, the present invention is not limited to the above embodiment, and other forms conceivable within the scope of the technical idea of the present invention are also included in the scope of the present invention. The features described in the above embodiment and the features described in each of the above modification examples can be arbitrarily combined and used with each other.

[0111] 10 First member; 20 Second member; 100 Housing; 200 Circuit board; 300 Controller; 400 Motor; 500 Power transmission unit; 600 Sensor group; 611 First photo interrupter; 612 Second photo interrupter; 620 Potentiometer; 630 Hall sensor; 1000 Actuator module; DB Door bolt; DBM Door bolt movement mechanism; DR Door; OS Output shaft

Claims

1. An actuator module comprising: a drive unit; an output unit that outputs power output from the drive unit to the outside; a first sensor that detects the position in the rotational direction of a first rotating body that rotates in conjunction with the rotation of the output unit; and a second sensor that detects the rotational angle of a second rotating body that rotates in conjunction with the rotation of the output unit, wherein the rotational speed of the first rotating body is less than the rotational speed of the second rotating body.

2. The actuator module according to claim 1, wherein the first sensor detects whether or not the detected portion of the first rotating body is located at a position corresponding to the first sensor.

3. The actuator module according to claim 2, wherein the first sensor is a photointerrupter and the detected portion is a flange provided on the outer circumference of the first rotating body.

4. The actuator module according to any one of claims 1 to 3, wherein the first rotating body transmits power output from the drive unit to the output unit.

5. The actuator module according to any one of claims 1 to 4, wherein the rotational speed of the first rotating body is less than the rotational speed of the output unit.

6. The actuator module according to any one of claims 1 to 5, wherein the second sensor comprises a plurality of sensor units, each of which has a detectable angular range smaller than 360°.

7. The actuator module according to claim 6, wherein the movable range of the output section is greater than 360°.

8. The actuator module according to any one of claims 1 to 7, further comprising a controller that determines the rotation angle of the output unit based on the output of the first sensor and the output of the second sensor.

9. The actuator module is an actuator module used in a locking system, and the output unit outputs power to the lock of the locking system, according to any one of claims 1 to 8.

10. The actuator module is an actuator module used in a lock system, the first rotating body is a transmission rotating body that transmits power output from the drive unit to the output unit, and is a transmission rotating body with a rotational speed lower than that of the output unit, the output unit is a rotating unit that outputs power output from the drive unit to a lock which is the object to be attached to the lock system, and is a rotating unit that can rotate between an unlocked position which puts the lock in an unlocked state and a locked position which puts the lock in a locked state, the transmission rotating body comprises a first transmission rotating body that rotates in accordance with the power output from the drive unit and has a first protrusion, and a second transmission rotating body that rotates in accordance with the rotation of the output unit and has a second protrusion, the actuator module is capable of performing an unlocking operation in which the output unit is moved to the unlocked position by power from the drive unit, a locking operation in which the output unit is moved to the locked position by power from the drive unit, and a reverse rotation operation in which the first transmission rotating body is moved to a first position by power from the drive unit. The actuator module according to any one of claims 1 to 9, wherein in each of the unlocking and locking operations, the first projection presses against the second projection, causing the first transmission rotor and the second transmission rotor to rotate together, and in the reverse rotation operation, the first projection moves away from the second projection, causing the first transmission rotor to rotate independently of the second transmission rotor.

11. An actuator module used in a locking system, comprising: a drive unit; an output unit that outputs power output from the drive unit to a lock to be mounted in the locking system, the output unit being rotatable between an unlocked position in which the lock is in an unlocked state and a locked position in which the lock is in a locked state; and a transmission rotating body that transmits power output from the drive unit to the output unit, the transmission rotating body having a rotational speed lower than that of the output unit, wherein the transmission rotating body comprises: a first transmission rotating body that rotates in accordance with the power output from the drive unit and has a first protrusion; and a second transmission rotating body that rotates in accordance with the rotation of the output unit and has a second protrusion, and the actuator module is capable of performing an unlocking operation in which the output unit is moved to the unlocked position by power from the drive unit; a locking operation in which the output unit is moved to the locked position by power from the drive unit; and a reverse rotation operation in which the first transmission rotating body is moved to a first position by power from the drive unit. In each of the unlocking and locking operations, the first projection presses against the second projection, causing the first and second transmission rotating bodies to rotate together; and in the reverse rotation operation, the first projection moves away from the second projection, causing the first transmission rotating body to rotate independently of the second transmission rotating body.

12. The actuator module according to claim 10 or 11, wherein the unlocked position and the locked position are separated by 360° or more in the rotational direction of the output unit.

13. The actuator module according to any one of claims 10 to 12, wherein the first protrusion includes an inner first protrusion and an outer first protrusion, which are at different distances from the rotation center of the first transmission rotating body; the second protrusion includes an inner second protrusion and an outer second protrusion, which are at different distances from the rotation center of the second transmission rotating body; when the first protrusion presses the second protrusion, the inner first protrusion presses the inner second protrusion and the outer first protrusion presses the inner second protrusion; the inner first protrusion and the outer second protrusion are positioned so as not to contact each other regardless of the positional relationship in the rotational direction between the first transmission rotating body and the second transmission rotating body; and the inner second protrusion and the outer first protrusion are positioned so as not to contact each other regardless of the positional relationship in the rotational direction between the first transmission rotating body and the second transmission rotating body.

14. The actuator module according to claim 13, wherein the inner first protrusion and the outer first protrusion are separated by 180° from each other in the rotational direction of the first transmission rotating body, and the inner second protrusion and the outer second protrusion are separated by 180° from each other in the rotational direction of the second transmission rotating body.

15. The actuator module according to any one of claims 1 to 14, wherein the output unit is connected directly or indirectly to the door bolt of the lock.

16. A door comprising a door body, door bolts provided on the door body, and an actuator module according to claim 15 for moving the door bolts.

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