JPH02311159A - Electromagnetic stepping actuator - Google Patents

Abstract

PURPOSE:To obtain a small and highly sensitive electromagnetic stepping actuator which is suitable for mass production and in which the stroke of movable pole can be maintained by providing means for feeding power having specific polarity to each coil and switching the polarity according to a specific order. CONSTITUTION:Upon power supply to a coil 5, a first ring pole 3 is magnetized to produce lines of magnetic force which are then lapped over those of a permanent magnet 1. When the lines of magnetic force shown by solid lines and doe lines are in same direction, attraction force functions between first and second ring poles 3, 7 while when they are in opposite directions, attraction force is cancelled between same poles. Consequently, a movable pole 8 moves by single step to the right as show at (c) and when power is fed to each coil 5 in the direction shown at (c), the movable pole 8 moves by single step to the left as shown at (a). By such arrangement, a small and highly sensitive electromagnetic stepping actuator suitable for mass production and having a long stroke can be obtained.

Description

Detailed Description of the Invention [Industrial Application Field 1] The present invention relates to an electromagnetic stepping actuator, and more particularly to an electromagnetic stepping actuator that applies a step displacement to a plunger by a Ti magnetic force generated by energizing a solenoid coil. Regarding 1 eta.

[Prior Art I] The essential drawbacks of conventional electromagnetic stepping actuators will be explained.

■The cylindrical permanent magnet used in electromagnetic actuators is 1
It is often a permanent magnet that is magnetized in the radial direction of a cylinder, and the areas of both poles are different, making it difficult to be magnetized. Therefore, it was manufactured by disassembling it into several pieces and assembling them into a cylindrical shape. Therefore, there is a problem in that the number of manufacturing and assembly steps increases.

■The coil that excites the fixed electrode of the electromagnetic actuator was wound so that the coil surface was parallel to the yoke side door. Therefore, depending on the structure of the fixed electrode, there is a problem in that it takes time and effort to attach the coil.

(2) In general, the electromagnetic attractive force F acting on the fixed Ri pole of an electromagnetic actuator and the movable electrode of 1 m, and the magnetic flux density B in the gap between the fixed electrode and the movable electrode are expressed by the following equation.

F=KIB2S... (1) B=K
z (Nl) 2/d ・−(2) Here, K1. 2... Proportionality constant S... Cross-sectional area of the gap between the fixed electrode and the movable electrode Nl・
...Magnetic path excitation ampere turn d...Gap length between the fixed electrode and the movable electrode.

From equations (1) and (2).

F: Kt K2 (Nl)'S/d2...-(3)(3
) equation is obtained, but it is clear that the electromagnetic attractive force F is proportional to the square of the excitation ampere turn NI of the lia path and the cross-sectional area S, and inversely proportional to the square of the gap length d. The characteristic that the electromagnetic attraction force F decreases in proportion to the square of the stroke length requires an increase in the power required to drive the electromagnetic actuator, or an increase in the size of the electromagnetic actuator.

[Problems to be Solved by the Invention] The present invention provides an electromagnetic Stellar Pink actuator that eliminates the above-mentioned drawbacks, is suitable for mass production, and has a small size, high sensitivity, and a large stroke length of the movable electrode. This is the issue.

[Means for Solving the Problems 1] The present invention solves the above-mentioned problems, and employs the following technical means. That is, the first invention has the following features: (A cylindrical permanent magnet magnetized in the O-axis direction, a cylindrical yoke disposed on both magnetic pole sides of the permanent magnet on the same axis as the permanent magnet, and a cylindrical yoke identical to the cylindrical yoke on the inner surface of the cylindrical yoke. A predetermined number of first ring-shaped magnetic poles arranged at a predetermined pitch in the axial center and in the axial direction are called fixed magnetic poles.

■A coil that is wound in the circumferential direction of the cylindrical yoke and is magnetized by applying electricity to each first ring-shaped magnetic pole; ■A current of a predetermined polarity is passed through each coil, and the polarity of each current is switched and supplied in a predetermined order. With controlled wholesale means.

(2) A non-magnetic guide pipe or a non-magnetic gap that is inscribed in and penetrates the magnetic pole surface of each first ring-shaped magnetic pole on the same axis as the fixed magnetic pole.

■A movable magnetic pole that includes a predetermined number of second ring-shaped magnetic poles arranged at a predetermined pitch in the axial direction and is slidable in the axial direction within the guide pipe; and the first and second ring-shaped magnetic poles. 6 [Even when the dynamic magnetic poles slide, the magnetic poles at predetermined periodic positions in the axial direction are always arranged to face each other, and the magnetic flux of the permanent magnet and the magnetic flux of the permanent magnet are The magnetic flux of the first ring-shaped magnetic pole is canceled by the energization control means, and the magnetic fluxes of both magnetic poles that are not facing are added to move the movable 1ifi in a stepwise manner forward or in the opposite direction. This is an electromagnetic Stellar Pink actuator that is characterized by

The second invention is.

■A cylindrical permanent magnet magnetized in the axial direction, a cylindrical yoke arranged on both magnetic pole sides of the permanent magnet on the same axis as the permanent magnet, and a cylindrical yoke arranged on the inner surface of the cylindrical yoke on the same axis as the cylindrical yoke and in a predetermined axial direction. a fixed magnetic pole comprising a predetermined number of third ring-shaped magnetic poles arranged in Bi-Sochi;

■A predetermined number of third ring-shaped magnetic poles are arranged at equal intervals on the inner peripheral surface of each ring, and the positions on the convex rings are sequentially rotated by a predetermined angle in accordance with the axial direction. (■A coil that is wound around the cylindrical yoke and is magnetized by energizing each first arc-shaped magnetic pole piece, and ■A convex current is passed through each coil with four predetermined positive currents.) energization control means for switching and supplying positive signals in accordance with a predetermined order;

1 (5) A non-magnetic guide pipe or a non-magnetic gap that is inscribed and penetrated through the magnetic pole surface of the 6 first arc-shaped magnetic pole piece and coaxial with the fixed magnetic pole.

■A predetermined number of second arc-shaped &B magnetic pole pieces are provided around the circumference of the third convex ring-shaped Fi1 pole at the same number and pitch as the third ring-shaped magnetic pole, respectively, and are movable l1fl14 that can freely rotate within the guide pipe. and.

The first and second arc-shaped m+ pieces are arranged so that the magnetic pole pieces at predetermined periodic positions in the axial direction always face each other even when the movable magnetic pole rotates. In the circular arc-shaped magnetic pole piece, the magnetic flux of the permanent magnet and the magnetic flux of the first circular arc-shaped 1if114 piece by the energization control summation means are canceled out, and in the two l1flF4 pieces that are not facing each other, both magnetic fluxes are added to create a movable Mi magnet. This is an electromagnetic stepping actuator that rotates the motor clockwise or counterclockwise in steps.

The third invention is: ■ A root-like yoke that fixes one magnetic pole surface of a cylindrical permanent magnet that is magnetized in the axial direction, and a plate-like yoke that is attached on the circumference around the axis of the permanent magnet on the permanent magnet side of the plate-like yoke. A fixed Fa pole including a predetermined number of third columnar magnetic pole pieces at equal intervals, and (2) a coil that magnetizes each third columnar magnetic pole piece by energizing it.

(2) Energization control means for supplying current of a predetermined polarity to each coil and switching the polarity of each current according to a predetermined order.

■The other side of the cylindrical permanent magnet faces the columnar magnetic field piece of the container 3 and the cylindrical permanent magnet with a predetermined gap, and is permanently rotatable around the same axis as the cylindrical permanent magnet. a plate-shaped rotating magnetic pole coupled to a magnet and having a predetermined number of fourth magnetic pole pieces arranged at equal intervals on the circumference around the rotation axis; The magnetic pole piece of 4 is
Even when the plate-shaped rotating magnetic pole rotates, the magnetic pole pieces that are always in a predetermined positional relationship are arranged so as to face each other, and both opposing magnetic pole pieces are controlled by the magnetic flux of the cylindrical permanent magnet and the energization control means. The magnetic flux of the third columnar magnetic pole piece is canceled out, and both magnetic fluxes are added to the two magnetic pole pieces that are not facing each other, resulting in root-shaped rotation &Rr.
, I is an electromagnetic stepping actuator characterized by rotating clockwise or counterclockwise in a stepwise manner.

[effect j Since the present invention is configured as described above.

In the first invention, when each coil is energized by the energization control means, the movable magnetic poles are sequentially moved in the iii direction or the opposite direction (
or vertically) in the guide pipe in a step-like manner.

In the second invention, when each coil is energized by the energization control means, the movable LA pole can be sequentially rotated in a stepwise manner clockwise or counterclockwise within the guide pipe.

In the third invention, when the eight coils are energized by the energization control means, the one-turn magnetic pole can be sequentially rotated in a stepwise manner clockwise or counterclockwise.

[Example] Embodiments of the present invention will be described with reference to the drawings.

(First invention) - Fig. 1 is an explanatory diagram of the first embodiment of the first invention, and Fig. 1(a), Fig. 1(b), and Fig. 1(c) are axial direction A sectional view, FIG. 1(d) shows a top view. Figure 1 (
a) consists of a cylindrical permanent magnet l magnetized in the axial direction, a cylindrical yoke 2 disposed on both magnetic pole sides of the permanent magnet l on the same axis as the permanent magnet l, and a cylindrical yoke 2 inside the cylindrical yoke 2 that is identical to the cylindrical yoke 2. A fixed magnetic pole 4 having four first ring-shaped magnetic poles 3 arranged at a predetermined pitch around the axis, and a ring-shaped magnetic pole 3 of the container 1 wound around the circumferential direction of the cylindrical yoke 2 are connected by energizing. A magnetizing coil 5, a non-magnetic guide tube inscribed in and penetrating the magnetic pole surface of the ring-shaped magnetic pole 3 of the container 1 on the same axis as the fixed magnetic pole 4, and a guide tube 4 that is slidable inside the guide tube. In this case, the pitch of the first ring-shaped magnetic pole 3 is 3n times the thickness of the same magnetic pole piece, and the pitch of the first ring-shaped magnetic pole 3 is 3n times the thickness of the second ring-shaped magnetic pole piece. The pitch of the ring-shaped magnetic pole 7 is
The thickness is 2n times the thickness of the &B pole piece (in Figure 1, n=
1), and n may of course be 2 or more -F.

Note that the energization control means for supplying current of a predetermined polarity to each coil 5 and switching and supplying the polarity of the valley current in accordance with a predetermined order is omitted.

FIG. 1(a) shows a state in which the coil 5 is not energized;
In other words, the lines of magnetic force due to the cylindrical permanent magnet (actual 11
), and the ring-shaped magnetic pole 3 of the container 1 and the second ring-shaped magnetic pole 7 are stable in the illustrated positional relationship. As shown in FIG. 1(b), when the coil 5 is energized, the first ring-shaped magnetic pole 3 is magnetized and lines of magnetic force are generated as shown by dotted lines, which are superimposed on the lines of magnetic force (solid lines) of the permanent magnet l. That is, when the magnetic lines shown by the solid line and the dotted line are in the same direction, an attractive force acts between the first ring-shaped magnetic pole 3 and the second ring-shaped magnetic pole 7, and the magnetic force lines shown by the solid line and the dotted line are in opposite directions. In the case of , the same M1Ff! In between, the attraction force is canceled and disappears. Therefore, the movable magnetic pole 8 moves one step to the right as shown in FIG. 1(C).

Similarly, when each coil 5 is energized by the energization control means in the direction shown in FIG. 1(C), the movable magnetic pole 8 moves one step to the left as shown in FIG. 1(a) and returns to its original position. return to the state.

FIG. 2 is an explanatory diagram of the second embodiment of the first invention, and FIG. 2(a), FIG. 2(b), FIG. 2(C), and FIG.
) and Fig. 2(e) is an axial sectional view, Fig. 2(f)
0 shows a plan view This embodiment includes a fixed magnetic pole 4 having six first ring-shaped magnetic poles 3 and a fixed magnetic pole 4 having five second ring-shaped magnetic poles 7.
This is an example in which a cylindrical movable magnetic pole 8 is provided.

Figure 2 (a) shows the magnetic force 5li due to only the cylindrical permanent magnet l.
The state of t (actual!!9) is shown. At this time, when the coil 5 is energized as shown in FIG. 2(b), the first ring-shaped magnetic pole 3 is magnetized and lines of magnetic force are generated as shown by the dotted line, causing the magnetic force of the permanent magnet l! ! (Fig. 2 (b)
)). Due to the addition and cancellation of the magnetic lines of force, the movable magnetic pole 8 moves one step to the left as shown in FIG. 2(C). Next, when the coil 5 is energized as shown in FIG. 2(C), the movable magnet f4B moves one step to the left as shown in FIG. 2(d). Then, when the coil 5 is energized as shown in FIG. 2(d), the movable magnetic pole 8 moves one step to the left as shown in FIG. 2(e).

In the second example, the pitch of the first ring-shaped &R14 is 2n times the thickness of the same magnetic pole, and the pitch of the second ring-shaped magnetic pole is 3n times the thickness of the same magnetic pole piece. In this case, n=1), but of course n may be set to 2 or more.

(Second invention) The first invention is a cylindrical imT! # While the magnetic pole slides forward (Kt (vQ is [F)] along the axis, the present invention is constructed so that the cylindrical if IJI fa pole rotates around the axis. It is.

Examples of the present invention are shown in FIGS. 3 to 6. Figure 3(a)
- Fig. 6 (a) is an axial sectional view, Fig. 3 (b) - Fig. 6 (b), Fig. 3 (cl - Fig. 6 fcl), and Fig. 3 (d).
), Figures 4(d) to 6(d) are respectively similar to Figure 3(a).
), sectional views taken along the line A-A in FIGS. 4(a) to 6(a).

They are a +3-11 visual loss cross-sectional view and a C-C arrow cross-sectional view.

FIG. 3(a) shows the fixed It! A third ring-shaped magnetic pole 20 is provided in the axial direction of 6fkM (3ml, where m=2) in the ring-shaped container 3! 1fit4i20 is provided with two first arc-shaped bi1 return pieces 9 around the circumference. Ij■motion&11
x12 has a 3rd ring shape 611 facing the pole 20,
Two second arc-shaped magnetic pole pieces lO are provided in six pieces (2n pieces, n=3) in the axial direction. hSecond arc-shaped magnetic pole piece [
0 are arranged in the same direction in the circumferential row, but the 3rd first arc-shaped magnetic pole pieces 9 are arranged at equal intervals on the inner surface of the third ring-shaped magnetic pole 20, and their positions are as shown in FIG. (bJ, CC), (d
) is shown above.

They are arranged so as to be rotated by 360°26260°, that is, by 60'° in the axial direction. Therefore, when the second arcuate pole piece IO rotates six steps in the same direction, the 11 [moving 1ifl pole 12] rotates once.

Figures 3 (a) to (d) are permanent magnets! The state of the Efl field lines (solid lines) due to only Efl is shown. At this time, Fig. 4 (a
), when the coil 5 is energized, the first arc shape m
The states of the magnetic lines of force between the + piece 9 and the second arc-shaped magnetic pole piece 10 are as shown in FIG.
As shown in Figures (b) to (1), the coil 5 rotates clockwise by 60'°.Then, as shown in Figure 5 (Fl), the coil 5
In the same way, the movable 1ifit 412 is
60 meters clockwise to the river as shown in Figure (b) ~ ((1)
Then, when the coil 5 is energized as shown in FIG. 6(a), the movable magnet 1412 rotates by 60''.

Note that m and n(i in this embodiment can be selected as appropriate.

(Third invention) FIG. 7 and FIG. 8 are explanatory diagrams of the third invention.
The figures show the first embodiment, and FIG. 7(a) is an axial cross-sectional view, FIG. 7(b) is a D-1) asymmetrical view of FIG. 7(a), and FIG. 7(c) is an axial sectional view. is an IE-E blind view of FIG. 7(a), FIG. 8 is a second embodiment, and FIG. 8(a) is an axial sectional view;
Figure 8 (bl is the F-F dysopia view of Figure 8 (a), Figure 8 (
cJ is a GG sky view of the rotating magnetic pole in FIG. 8(a).

As shown in FIG. 7, a plate-shaped yoke 14 fixed to one magnetic pole surface of a circular permanent magnet l magnetized in the axial direction;
On the permanent magnet side of the plate-shaped yoke 14, 31P4 (3n pieces ([i l, n
= 1) third columnar 6R14i pieces provided at equal intervals.
Fixed Mi poles 16 with 3 (in this example, configured in a cylindrical shape) and 4 (2n (f, i l, n =
l) Rotating Vi14i17 with the fourth magnetic pole piece 15
Consisting of one rotating magnetic pole 17 is a fixed magnetic that can rotate! 4i16
is combined with

When a current of a predetermined polarity is applied to the 8 coil 5, the fourth m+ piece 15 rotates clockwise or counterclockwise by l steps due to the phase r1 action of the permanent magnet 1 and the cylindrical 1ifiI4i piece 13 with the 't diagonal magnetic field lines. Move clockwise. 3rd columnar magnetic pole piece [3rd and 4th 6R pole piece [n of the number of 5 pieces can be selected as appropriate.

FIG. 8 shows a second embodiment, in which a disk-shaped yoke is used instead of the plate-shaped yoke, a third columnar magnetic pole piece 13 of 6 ff Al is provided on the fixed magnetic pole 16 side, and a permanent 6R stone shows an example provided on the rotating M1 pole 17 side.

That is, in FIGS. 7 and 8, the permanent magnet l may be placed on either side of the fixed magnetic pole 6 or on the co-moving magnetic pole 17 side.

I have been wondering about the first embodiment of the present invention.

First ring-shaped &aMi3 and second ring-shaped magnetic pole 7゜First arc-shaped lifiMi piece 9 and second arc-shaped 6n pole piece 1
0 and the third columnar &1t4i piece 13 and the fourth &[II
5) By chamfering the periphery of the opposing surface to make the magnetic pole surface smaller, the magnetic flux density passing through the 8 magnetic pole surfaces can be increased, so the convex step movement distance on the moving magnetic pole side can be made more accurate. be able to.

〔Effect of the invention] The present invention has the following excellent effects.

■Small, highly sensitive electromagnetic stepping actuator (
I can do it.

(1i) It has a pure and sturdy structure, and is suitable for mass production because the magnetization direction of the permanent magnet and the winding method of the coil have been changed.

(j) It can be applied to a wide variety of mechatronic means such as positioning using proportional control.

[Brief explanation of the drawing]

1 to 8 are detailed explanatory diagrams of the present invention, FIG. 1 is an explanatory diagram of a first embodiment of the first invention, and FIG.
a), FIG. 1(b) and FIG. 1(c) are axial sectional views, FIG. 1(d) is a plan view, and FIG. 2 is an explanatory diagram of the second embodiment of the first invention. Yes, Figure 2 (a), Figure 2 (b),
Figure 2(C), Figure 2(d) and Figure 2(e) are axial sectional views, Figure 2(r) is a plan view, and Figures 3 to 6 are of the second invention. FIG. 3(a) is an explanatory diagram of one embodiment.
~Figure 6 (al is a sectional view in the direction of axis li, Figure 3(b)~Figure 6(b), Figure 3(c)~Figure E3(c) and Figure 3(d)~ Fig. 6 ((i) is respectively Fig. 3(a) -
A sectional view taken along the line A-A, a sectional view taken along the line U-B, and a sectional view taken along the line C-c in FIG. 6(a), FIGS. 7 and 8 are explanatory views of the third invention, and Figure 7 shows the first embodiment;
Figure (FX) is an axial sectional view, and 7IQ (b) is Figure 7 (
Figure 7(c) is the DD dysopia diagram of Figure 1), Figure 7(a)
FIG. 8 is a second embodiment, FIG. 8(a) is an axial sectional view, and FIG. 8(b) is an I'-F view of FIG. 8(a). Loss of vision, FIG. 81(c) is a view of G'G loss of vision of rotation &Hh in FIG. 8(a). l・-・permanent M1 stone 2...Yoko 3...
First ring-shaped magnetic pole 4...Fixed Mi pole 5...Coil 6...Guide pipe 7...Second ring-shaped 6R pole 8...[111M magnetic pole 1]...-1st
Arc-shaped 1ifl pole piece 10--Second arc-shaped &B magnetic pole 11...Fixed magnetic pole 12-...Movable M1t+13
...Third columnar &B anode piece 4...Root-like yoke 15...-Fourth &1114 piece 16--Fixed magnetic pole 17...Rotating magnetic pole 20...Third ring-shaped magnetic pole exit Applicant Mitsubishi Mining Cement Co., Ltd. Mick Industry Co., Ltd. Agent Attorney Yoshizuki Kosugi (C) d) (a) (a) Fig. 6 (b) (C) Fig. 7 FG, ",1"7 FG (a) (C) Fig. 8

Claims (1)

[Claims] 1. A cylindrical permanent magnet magnetized in the axial direction, a cylindrical yoke disposed on both magnetic pole sides of the permanent magnet on the same axis as the permanent magnet, and an inner surface of the cylindrical yoke. A fixed magnetic pole including a predetermined number of first ring-shaped magnetic poles arranged on the same axis and at a predetermined pitch in the axial direction, and each of the first ring-shaped magnetic poles wound in the circumferential direction of the cylindrical yoke. a coil that is magnetized by energization; an energization control means that applies a current of a predetermined polarity to each coil and switches and supplies the polarity of each current according to a predetermined order; a non-magnetic guide pipe or a non-magnetic gap inscribed in and penetrating the magnetic pole surface of the ring-shaped magnetic pole; and a predetermined number of second ring-shaped magnetic poles arranged at a predetermined pitch in the axial direction. The first and second ring-shaped magnetic poles are arranged such that the magnetic poles at predetermined periodic positions in the axial direction always face each other even when the movable magnetic pole slides. The magnetic flux of the permanent magnet and the magnetic flux of the first ring-shaped magnetic pole caused by the energization control means are canceled out in the first and second ring-shaped magnetic poles that are opposed to each other, and the magnetic flux of the first ring-shaped magnetic pole that is not opposed to each other is An electromagnetic stepping actuator characterized in that the two magnetic fluxes are added to each other in a magnetic pole to sequentially move the movable magnetic pole in a stepwise manner in the forward direction or in the opposite direction. 2. A cylindrical permanent magnet magnetized in the axial direction, a cylindrical yoke disposed on both magnetic pole sides of the permanent magnet on the same axis as the permanent magnet, and a cylindrical yoke disposed on the inner surface of the cylindrical yoke on the same axis as the cylindrical yoke and on the same axis as the cylindrical yoke. a fixed magnetic pole including a predetermined number of third ring-shaped magnetic poles arranged at a predetermined pitch in the direction; a first arc-shaped magnetic pole piece whose arrangement position on each ring is sequentially rotated by a predetermined angle in accordance with the axial direction; and each first arc-shaped magnetic pole piece which is wound in the circumferential direction of the cylindrical yoke. a coil that is magnetized by energization; an energization control means that applies a current of a predetermined polarity to each coil and switches and supplies the polarity of each current according to a predetermined order; A non-magnetic guide pipe or a non-magnetic gap inscribed in and penetrating the magnetic pole surface of the arc-shaped magnetic pole piece, and a position facing each of the third ring-shaped magnetic poles at the same number and pitch as the third ring-shaped magnetic poles. a movable magnetic pole having a predetermined number of second arc-shaped magnetic pole pieces arranged around each of the guide pipes and rotatable within the guide pipe; At the same time, the magnetic pole pieces at predetermined periodic positions in the axial direction are always arranged to face each other, and in the opposing first and second arc-shaped magnetic pole pieces, the magnetic flux of the permanent magnet and the energization control means are arranged to oppose each other. The first
The movable magnetic pole is rotated clockwise or counterclockwise in a stepwise manner by canceling out the magnetic flux of the arc-shaped magnetic pole pieces, and adding the magnetic fluxes in the two magnetic pole pieces that are not facing each other. electromagnetic stepping actuator. 3. A plate-like yoke to which one magnetic pole surface of a cylindrical permanent magnet magnetized in the axial direction is fixed, and a predetermined number of magnets arranged on a circumference centered on the axis of the permanent magnet on the permanent magnet side of the plate-like yoke. a fixed magnetic pole having third columnar magnetic pole pieces at intervals; a coil that magnetizes each of the third columnar magnetic pole pieces by energization; a current of a predetermined polarity is passed through each coil, and the polarity of each current is set to a predetermined value; energization control means that switches and supplies current in accordance with the order of the following; A rotating plate that is rotatably coupled to the permanent magnet about the same axis as the magnet, and has a predetermined number of fourth magnetic pole pieces arranged at equal intervals on the circumference about the rotation axis. each third columnar magnetic pole piece and the fourth magnetic pole piece are arranged so that the magnetic pole pieces always in a predetermined positional relationship face each other even when the plate-shaped rotating magnetic pole rotates. At the same time, the magnetic flux of the cylindrical permanent magnet is caused to cancel out the magnetic flux of the cylindrical permanent magnet and the magnetic flux of the third columnar magnetic pole piece by the energization control means, and the magnetic flux of the third columnar magnetic pole piece is canceled out for both of the magnetic pole pieces that are not facing each other. An electromagnetic stepping actuator characterized in that the plate-shaped rotating magnetic pole is rotated in a stepwise manner clockwise or counterclockwise by adding magnetic flux.