CN103915946A - Servo unit structure - Google Patents
Servo unit structure Download PDFInfo
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- CN103915946A CN103915946A CN201310741281.1A CN201310741281A CN103915946A CN 103915946 A CN103915946 A CN 103915946A CN 201310741281 A CN201310741281 A CN 201310741281A CN 103915946 A CN103915946 A CN 103915946A
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- detector
- housing main
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Abstract
The invention provides a servo unit structure to make a servo unit small and improve the heat radiation of a motor. The servo unit structure includes a servo housing (10) comprising a housing main body (11) and a cover part (12), and an internal gear motor (20) in the servo housing (10). The housing main body (11) is integrally provided with a concave motor chamber (10a) inserting into the motor (20) along the direction of a shaft, and a concave detector chamber (10b) inserting into a detector (30) along the same direction. The cover part (12) is arranged on the housing main body (11) to enclose the concave motor chamber (10a) and detect the opening of the concave detector chamber (10b), the motor (20) is provided with a cylindrical stator (20a) having no housing on the periphery and a rotor (20b) freely and rotationally inserting into the stator (20a), so that the stator (20a) and the inner wall surface of the motor chamber (10a) are directly contacted to realize engagement.
Description
Technical field
The present invention relates to be equipped on wireless operating (common name: radio control, below, be called ラ ジ コ Application (registered trade mark)) model of an airplane, helicopter, automobile, boats and ships, humanoid robot and other the industrial robot etc. of formula, as the structure of the servo unit of small-sized movement device.
Background technology
In the past, for example, described in patent documentation 1, this kind of invention possessed: the servo shell that comprises the cover of the peristome of housing main body (lower part box 2) and this housing main body of sealing; Be installed on detector (variable resistance 18) and motor (4) in this servo shell; With the reducing gear (5) that the rotation of the output shaft of motor is passed to detector, the detection signal from detector output and the operation signal of inputting from outside are compared, and suitably control the rotation amount of motor.
In recent years, the exercise performance raising of the various small-sized movement devices of the servo unit being formed by above-mentioned conventional art from lift-launch and the demand of miniaturization, for servo unit itself, require further minitype high-performance.
Prior art document
Patent documentation
Patent documentation 1 Japanese kokai publication hei 8-331657 communique
Summary of the invention
The present invention is to process above-mentioned situation in the past as one of its problem.The motor space, the object of the invention is to by reducing in servo shell makes servo unit miniaturization and optimizes the thermal diffusivity of motor and improve exercise performance.
For solving the method for problem
For a method that solves above-mentioned problem be, in the servo unit that possesses the internal gear type motor in servo shell and this servo shell that comprises housing main body and cover is constructed, above-mentioned housing main body has integratedly: the motor room that axially inserts the concavity of above-mentioned motor; Insert in the same direction the detector compartment of the concavity of detector.And above-mentioned cover is installed on above-mentioned housing main body, to seal the peristome of above-mentioned motor room and above-mentioned detector compartment, above-mentioned electric tools is standby inserts the rotor in this stator at peripheral part freely without the stator of the tubular of housing and rotation, makes said stator directly contact and carry out chimeric with the internal face of above-mentioned motor room.
Invention effect
The present invention is configured as described above, therefore, can reach following object of the present invention: reduce motor space in servo shell, make servo unit miniaturization, improve motor thermal diffusivity, improve productivity etc.
Accompanying drawing explanation
Fig. 1 is the profile that represents an example of the servo unit with servo unit structure of the present invention.
Fig. 2 is the profile that represents an example of the servo shell of same servo unit.
Fig. 3 is the upward view of same servo unit.
Fig. 4 is other routine profiles that represent servo unit structure of the present invention.
In figure:
1,2 servo units
10 servo shells
11 housing main bodies
11b1 bearing cage
12,12 ' cover
12a, 12a ' bearing cage
10a motor room
10b detector compartment
20 motor
20a stator
21 stator cores
22 coils
20b rotor
22 coils
25 rotating shafts
30 detectors
31 rotating shafts
40 control substrate
A servo unit structure
Embodiment
The First Characteristic of present embodiment is: in the servo unit that possesses the internal gear type motor in servo shell and this servo shell that comprises housing main body and cover is constructed, above-mentioned housing main body has integratedly: the motor room of the concavity that above-mentioned motor axially inserts; The detector compartment of the concavity inserting in the same direction with detector.And above-mentioned cover is installed on above-mentioned housing main body, to seal the peristome of above-mentioned motor room and above-mentioned detector compartment, above-mentioned electric tools is standby inserts the rotor in this stator at peripheral part freely without the stator of the tubular of housing and rotation, makes said stator directly contact to carry out chimeric with the internal face of above-mentioned motor room.
According to this formation, make stator directly contact to form motor with the internal face of motor room, therefore, do not need the such stator of conventional art housing around, can make motor room and servo unit integral miniaturization, on the contrary, by with the servo unit in the past with identical appearance size, can also only make motor maximize to improve output.And the productivity while stator and rotor being installed to servo shell is also good.
And, adopt the structure that the stator housing main body larger with volume without housing directly contacted, therefore, thermal diffusivity is good, and result can suppress motor temperature and rise.
Second Characteristic is: possess from above-mentioned rotor two side-prominent rotating shafts axially, support freely the distolateral of this rotating shaft by above-mentioned housing main body rotation, and it is distolateral to support freely another of same rotating shaft by above-mentioned cover rotation.
According to this formation, what can make to rotate supporting rotating shaft freely is constructed to productivity well and simple structure.
The 3rd is characterized as: by the control substrate integrated of above-mentioned motor being controlled according to the signal of above-mentioned detector be located at scope between above-mentioned housing main body and above-mentioned cover, spread all over above-mentioned detector compartment from above-mentioned motor room, make above-mentioned another of above-mentioned rotating shaft distolaterally run through above-mentioned control substrate and survey by above-mentioned other end that this rotating shaft is supported in the rotation of above-mentioned cover freely.
According to this formation, by the control substrate of integrated, can input and output motor and the both sides' of detector signal, and the productivity of assembling while controlling substrate is also good.
And, in order to obtain the good concrete bearing construction of productivity, at above-mentioned housing main body and above-mentioned cover, bearing cage is set respectively, distolateral and another distolateral Jie respectively by the bearing that is embedded in above-mentioned bearing cage of above-mentioned rotating shaft, supported by above-mentioned housing main body and above-mentioned cover.
And, as the productivity of further raising motor portion, the concrete scheme of thermal diffusivity, above-mentioned motor overlaps the inwall of the coil of tubular and the stator core of tubular, and the peripheral part of said stator iron core and the internal face of above-mentioned motor room are directly contacted.
And, in order to obtain the support structure of the good rotating shaft of productivity, make that another of above-mentioned rotating shaft is distolateral to be run through above-mentioned control substrate and be supported in above-mentioned cover.
In addition, as other schemes of support structure that obtain the good rotating shaft of productivity, the projection of the concavity that connects above-mentioned control substrate is set at above-mentioned cover, the other end sideway swivel of above-mentioned rotating shaft is supported in freely to the projection of this concavity.
In addition,, as other schemes, at above-mentioned detector compartment installation and measuring device, form the servo unit that possesses above-mentioned servo unit structure.
Next,, based on accompanying drawing, the preferred object lesson of the present embodiment with above-mentioned feature is at length illustrated.
As shown in Figure 1, this servo unit structure A possesses in the servo shell 10 of rectangular box shape: at peripheral part without motor 20, the detector 30 of housing etc., control the control substrate 40 of motor 20 according to the signal of detector 30, form servo unit 1.
Servo shell 10 combines (with reference to Fig. 2) by the housing main body 11 of the rectangular box shape of an opening with to seal the cover 12 that the mode of peristome of this housing main body 11 installs.Housing main body 11 and cover 12 are integrally formed by synthetic resin material respectively.
Housing main body 11 is formed the cubic of growing crosswise, this cubic of growing crosswise comprises the side wall portion 11a of surrounding, by assembling (mount) wall, the 11b of portion seals one distolateral (according to Fig. 1 and Fig. 2, being upper end side) in the space being surrounded by these side wall portions 11a, and makes other end side opening.
Be provided with in the inside of this housing main body 11 from the first peristome 10a1 and be axially inserted in peripheral part without the 10a of motor room of the concavity of the motor 20 of housing and insert in the same direction the detector compartment 10b of the concavity of detector 30 from the second peristome 10b1, between the 10a of these motor room and detector compartment 10b, be provided with the partition wall 11c(separating between these two chambers with reference to Fig. 2).
The 11b of fit walls portion accepts to be inserted into motor 20 in housing main body 11 and detector 30 and the wall portion of the rectangular plate-like that supports.
At the 11b of this fit walls portion, form accordingly bearing cage 11b1 with the 10a of motor room, form accordingly axle inserting hole 11b2 with detector compartment 10b.
Bearing cage 11b1 is the hole that connects the 11b of fit walls portion to motor reel direction, carrys out the bearing 26 of chimeric fixing motor 20 described later by inner circumferential surface.
Axle inserting hole 11b2 inserts freely the rotating shaft 31 of aftermentioned detector 30 and is exposed to outside through hole for rotating.
The 10a of motor room comprises three side wall portion 11a, partition wall 11c and the 11b of fit walls portion, guarantees the space cylindraceous of stator 20a of chimeric motor 20.It is planar that the internal face of three side wall portion 11a and partition wall 11c is formed as cylinder, the internal diameter of this internal face be set to the outer peripheral face of stator 20a near to or in contact with.
Be formed with the first peristome 10a1 for inserting stator 20a with the end of the opposition side of the 11b of fit walls portion of the 10a of this motor room.
Detector compartment 10b comprises three side wall portion 11a, partition wall 11c and the 11b of fit walls portion, and guarantees to hold the space of electric wiring of detector 30 and this detector 30 etc.
Be formed with the second peristome 10b1 for inserting detector 30 with the end of the 11b of the fit walls portion opposition side of this detector compartment 10b.
In addition, cover 12 is the first peristome 10a1 and the second peristome 10b1 of closure main body 11, and from the 10a of motor room across the rectangular plate-like parts to detector compartment 10b, and connect removably with respect to housing main body 11.
This cover 12 has buried bearing 27 and carries out chimeric fixing bearing cage 12a in the position corresponding with the 10a of motor room.This bearing cage 12a is the projection (with reference to Fig. 2) from cover 12 to the side-prominent concavity of motor 20.
Motor 20 comprises: the stator 20a at peripheral part without housing cylindraceous etc.; The rotor 20b configuring with respect to the inner peripheral surface interval prescribed distance of this stator 20a; Insert the rotating shaft 25 of the central side of this rotor 20b; The bearing 26,27(that support freely this rotating shaft 25 in both end sides rotation are with reference to Fig. 1).
Stator 20a comprises the coil 22 in stator core 21 and this stator core 21.Do not configure at the peripheral part of stator core 21 external shell cylindraceous possessing in general motor.
Stator core 21 is such as, by magnetic material circular thin plate (permalloy etc.) along motor reel direction lamination and be configured to parts cylindraceous.
This stator core 21 directly contacts with the internal perisporium face of the 10a of motor room and cannot be embedded in rotatably this internal perisporium face.At this, the so-called directly state of contact is included in the state that accompanies bonding agent between stator core 21 and the internal perisporium face of the 10a of motor room.
The method that cannot keep rotatably stator core 21 can be to be pressed into stator core 21 with respect to the 10a of motor room, can be also cannot be fixed rotatably by rib etc. after stator core 21 is inserted to the 10a of motor room.
Coil 22 forms by coiling wire, so that by producing magnetic flux from the electric power of controlling substrate 40 sides supplies, and is configured to cylindric along the inner peripheral surface of stator core 21.From the axial end pull-out lead-in wire 22a of this coil 22, this lead-in wire 22a is electrically connected with control substrate 40.
Rotor 20b is integrally formed by pivoting part 23 cylindraceous with by the tubular lining 24 that this pivoting part 23 is fixed on rotating shaft 25.In addition, as other examples, also can omit tubular lining 24, and adopt the formation that pivoting part 23 is directly engaged with rotating shaft 25.
Pivoting part 23 is the elongated cylinder-like part being made up of magnet (permanent magnet).
Tubular lining 24 is for being pressed into the parts cylindraceous (yoke) of the inner peripheral surface that is fixed on pivoting part 23, in the preferred example shown in Fig. 1, the lower end side of this tubular lining 24 is added to the below of growing to respect to pivoting part 23, increase rotating shaft 25 intensity around.
In addition, rotating shaft 25 is for insertion tubular lining 24 and to the side-prominent columned axis body of the direction of principal axis two of pivoting part 23.
And these pivoting parts 23, tubular lining 24 and rotating shaft 25, as one, are rotatably engaged.
In addition, bearing 26,27 is for inserting for rotating shaft 25 and rotating the sliding bearing that supports freely this rotating shaft, one side's bearing 26 is fitted the bearing cage 11b1 that is fixed on housing main body 11, and the opposing party's bearing 27 is fitted the bearing cage 12a that is fixed on cover 12.
In addition, these bearings 26,27 can be replaced into the rolling bearing such as ball bearing or roller bearing.
In addition, detector 30 is for changing the variable resistance of the variable-resistance resistance value in main part 32 according to the rotation amount of rotating shaft 31.This detector 30, rotating shaft 31 being inserted to the 11b of fit walls portion and being exposed to outside state, is fixed on the 11b of fit walls portion inner face by main part 32.The electric wiring 33 of exporting the resistance value of this detector 30 is electrically connected with control substrate 40.
Control substrate 40 for the operation signal of inputting from outside by operation signal electric wire 41 and the detection signal producing by detector 30 are compared, and suitably control the control circuit of the rotation amount of motor 20, for example, be constituted as the circuit (with reference to Fig. 1) that possesses not shown microprocessor, hall integrated circuit 42 etc.
This control substrate 40 is constituted as the rectangular plate-like that spreads all over the one of detector compartment 10b from the 10a of motor room, is embedded in the inwall of the peristome side of housing main body 11, and is separated the protruding end acceptance of wall 11c.
At the position corresponding with motor room's 10a side of this control substrate 40, through hole 40a is set.Insert rotating shaft 25 to this through hole 40a, according to the example of Fig. 1, also insert the tubular lining 24 of the surrounding of rotating shaft 25.And the end side of inserting the rotating shaft 25 of this through hole 40a is rotated support freely by being fixed on the bearing 27 of cover 12.
Operation signal electric wire 41 is clamped by the breach of the breach of housing main body 11 sides and cover 12 sides, and is inserted through in servo shell 10, is electrically connected with control substrate 40.
In figure, symbol 29 is for being fixed in a distolateral gear of rotating shaft 25.This gear 29 is such as situated between, by not shown reducing gear (multiple gears etc.), engages with the mode of interlock and the rotating shaft 31 of detector 30.
In figure, symbol 28 is for alleviating rotor 20b and bearing 26(or 27) between abrasion or the thrust pad of the dull and stereotyped ring-type of frictional force.
In addition, the protruding end side of rotating shaft 31 is for example situated between and such as, is connected with not shown control object thing (the action position of wireless remote-control model or robot etc.) by driver plate or electric wire etc.
Thus, according to the servo unit 1 of above-mentioned formation, make stator core 21 directly contact to form motor 20 with the internal face of the 10a of motor room, therefore, do not need the such stator of conventional art housing around.So, can make whole servo unit 1 miniaturization, by the servo unit 1 of identical appearance size, and only motor 20 is maximized and improves output.
In addition, the housing main body 11 that stator core 21 is larger with volume is directly contacted, and using housing main body 11 as the heat-conduction medium for dispelling the heat, therefore, can effectively suppress the rising of motor temperature.
In addition, omitted the formation in these conventional arts such as lining between stator housing, motor and detector around control substrate, motor and control substrate separately, therefore, amount of parts tails off, structure is succinct, and result, can improve productivity significantly.
Next, the servo unit 2 shown in Fig. 4 is illustrated.The formation that this servo unit 2 adopts is with respect to servo unit 1, and cover 12 is replaced into cover 12 '.In addition, in Fig. 4, omitted detector 30 and operation signal electric wire 41 illustrates, but these with above-mentioned servo unit 1(with reference to Fig. 1) formation identical.
With respect to cover 12, cover 12 ' is constituted as bearing cage 12a is replaced into the bearing cage 12a ' that overhang is larger.
Bearing cage 12a ' is side-prominent and run through and control substrate 40 towards motor 20 from cover 12 interior, and bearing 27 is fixedly embedded in the inner face of this protruding end side.
Therefore, according to the servo unit 2 shown in Fig. 4, on the basis of the roughly the same action effect of performance and above-mentioned servo unit 1, can shorten tubular lining 24 and rotating shaft 25, therefore, also by cutting down cost.
In addition, according to above-mentioned concrete example, being configured to of stator 20a has coil 22 in stator core 21, but as other examples of stator, also can adopt the structure that has configured coil at the outer circumferential side of stator core.
In addition, according to above-mentioned concrete example, detector 30 adopts the variable resistance of the output resistance value corresponding with the rotation amount of rotating shaft 31, but as other examples, detector also can adopt the formation of the output signal corresponding with the rotary speed of rotating shaft, and adopts the mode that according to the output signal of this detector, the rotary speed of motor 20 is controlled to setting.
Claims (3)
1. a servo unit structure, possesses: the servo shell that comprises housing main body and cover; Internal gear type motor with in this servo shell, is characterized in that,
Above-mentioned housing main body has integratedly: the motor room that axially inserts the concavity of above-mentioned motor; Insert in the same direction the detector compartment of the concavity of detector,
Above-mentioned cover is installed on above-mentioned housing main body, to seal the peristome of above-mentioned motor room and above-mentioned detector compartment,
Above-mentioned electric tools is standby inserts the rotor in this stator at peripheral part freely without the stator of the tubular of housing and rotation, and makes said stator directly contact to carry out chimeric with the internal face of above-mentioned motor room.
2. servo unit structure according to claim 1, is characterized in that,
Possess from above-mentioned rotor two side-prominent rotating shafts axially, support freely the distolateral of this rotating shaft by above-mentioned housing main body rotation, and it is distolateral to support freely another of same rotating shaft by above-mentioned cover rotation.
3. servo unit structure according to claim 2, is characterized in that,
By the control substrate integrated of above-mentioned motor being controlled according to the signal of above-mentioned detector be located at scope between above-mentioned housing main body and above-mentioned cover, spread all over above-mentioned detector compartment from above-mentioned motor room, make above-mentioned another of above-mentioned rotating shaft distolaterally run through above-mentioned control substrate and support freely this rotating shaft above-mentioned by the rotation of above-mentioned cover that another is distolateral.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012-287818 | 2012-12-28 | ||
| JP2012287818A JP6142529B2 (en) | 2012-12-28 | 2012-12-28 | Servo unit structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103915946A true CN103915946A (en) | 2014-07-09 |
Family
ID=51041412
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310741281.1A Pending CN103915946A (en) | 2012-12-28 | 2013-12-27 | Servo unit structure |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP6142529B2 (en) |
| CN (1) | CN103915946A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2404259Y (en) * | 1999-12-22 | 2000-11-01 | 南海汇泉科技工业园有限公司 | High-magnetodensity permanent magnet brushless motor |
| US20040103733A1 (en) * | 2002-12-02 | 2004-06-03 | Yasuyuki Sumita | Geared motor comprising position sensor |
| JP2010130865A (en) * | 2008-11-30 | 2010-06-10 | Nidec Sankyo Corp | Geared motor |
| JP2010136591A (en) * | 2008-12-08 | 2010-06-17 | Mitsuba Corp | Actuator |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006240465A (en) * | 2005-03-03 | 2006-09-14 | Hitachi Ltd | Electric power steering device |
-
2012
- 2012-12-28 JP JP2012287818A patent/JP6142529B2/en active Active
-
2013
- 2013-12-27 CN CN201310741281.1A patent/CN103915946A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2404259Y (en) * | 1999-12-22 | 2000-11-01 | 南海汇泉科技工业园有限公司 | High-magnetodensity permanent magnet brushless motor |
| US20040103733A1 (en) * | 2002-12-02 | 2004-06-03 | Yasuyuki Sumita | Geared motor comprising position sensor |
| JP2010130865A (en) * | 2008-11-30 | 2010-06-10 | Nidec Sankyo Corp | Geared motor |
| JP2010136591A (en) * | 2008-12-08 | 2010-06-17 | Mitsuba Corp | Actuator |
Also Published As
| Publication number | Publication date |
|---|---|
| JP6142529B2 (en) | 2017-06-07 |
| JP2014131406A (en) | 2014-07-10 |
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| C06 | Publication | ||
| PB01 | Publication | ||
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Application publication date: 20140709 |