CN114110101A - Drive device and method for manufacturing drive device - Google Patents

Drive device and method for manufacturing drive device Download PDF

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Publication number
CN114110101A
CN114110101A CN202110855941.3A CN202110855941A CN114110101A CN 114110101 A CN114110101 A CN 114110101A CN 202110855941 A CN202110855941 A CN 202110855941A CN 114110101 A CN114110101 A CN 114110101A
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CN
China
Prior art keywords
gear
motor
motors
main body
frame
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202110855941.3A
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Chinese (zh)
Inventor
百濑阳介
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Nidec Precision Corp
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Nidec Copal Corp
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Publication date
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Publication of CN114110101A publication Critical patent/CN114110101A/en
Pending legal-status Critical Current

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/46—Systems consisting of a plurality of gear trains each with orbital gears, i.e. systems having three or more central gears
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
    • F16H19/04—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising a rack
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02034—Gearboxes combined or connected with electric machines
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02039—Gearboxes for particular applications

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Retarders (AREA)
  • Transmission Devices (AREA)
  • Manufacture Of Motors, Generators (AREA)

Abstract

The invention provides a driving device and a manufacturing method of the driving device. One embodiment of the present invention is a driving device including: a plurality of gear motors having a motor main body and a pinion gear rotated about a central axis by the motor main body; and a main gear engaged with the plurality of pinions. The output of the main gear is more than 65% relative to the sum of the outputs of the plurality of gear motors.

Description

Drive device and method for manufacturing drive device
Technical Field
The present invention relates to a driving device and a method of manufacturing the driving device.
Background
In recent years, electronic devices such as smart phones have been increasingly thinned, and a reduction in thickness of a mounted gear motor has been demanded. Patent document 1 discloses such a gear box device mounted on a thin electronic device.
Patent document 1: japanese patent laid-open publication No. 2019-47589
Such a thin driving device is sometimes required to have a further high output. The present inventors have conceived of realizing a thin and high output drive device by driving 1 main gear using a plurality of motors arranged in parallel. In such a configuration, there is a problem that it is difficult to output a high driving force due to a phase difference of the motor or the like.
Disclosure of Invention
An object of one embodiment of the present invention is to provide a driving device that is thin and can output high driving force.
One embodiment of the present invention is a driving device including: a plurality of gear motors having a motor main body and a pinion gear rotated about a central axis by the motor main body; and a main gear engaged with the plurality of pinions. The output of the main gear is more than 65% relative to the sum of the outputs of the plurality of gear motors.
According to one embodiment of the present invention, a thin driving device capable of outputting a high driving force is provided.
Drawings
Fig. 1 is a perspective view of a driving device according to an embodiment.
Fig. 2 is a sectional view of a driving apparatus according to an embodiment.
Description of the reference symbols
1: a drive device; 2A, 2B: a gear motor; 3: rack and pinion (master gear); 5A, 5B: a pinion gear; 10: a frame; 20A, 20B: a motor main body; 30A, 30B: a planetary gear mechanism; 39 p: a recess (adjustment section); j1, J2: a central axis.
Detailed Description
Hereinafter, a driving device 1 according to an embodiment of the present invention will be described with reference to the drawings.
The scope of the present invention is not limited to the following embodiments, and can be arbitrarily changed within the scope of the technical idea of the present invention.
In the drawings, an XYZ coordinate system is appropriately shown as a three-dimensional orthogonal coordinate system. In the following description, unless otherwise specified, the direction (Z-axis direction) parallel to the central axes J1, J2 is simply referred to as "axial direction", the + Z side is simply referred to as "one axial side", and the-Z side is simply referred to as "the other axial side". The circumferential direction around each of the center axes J1, J2 is simply referred to as the "circumferential direction", and the radial direction with respect to each of the center axes J1, J2 is simply referred to as the "radial direction".
For the sake of simplifying the description of the present specification, the Y-axis direction is simply referred to as the up-down direction, the + Y-axis direction is simply referred to as the upper side, and the-Y direction is simply referred to as the lower side. The vertical direction in this specification is a direction set for convenience of description, and does not limit the posture of the drive device 1 when used.
< Driving device >
Fig. 1 is a perspective view of a driving device 1 according to an embodiment. Fig. 2 is a sectional view of the drive device 1. The drive device 1 of the present embodiment is mounted on a thin electronic device in which the dimension along the Y axis direction is suppressed.
As shown in fig. 1, the driving device 1 includes a 1 st gear motor 2A, a 2 nd gear motor 2B, a rack gear (main gear) 3, a frame 10, and a fitting 40.
The 1 st and 2 nd gear motors 2A and 2B have a columnar shape extending in the Z-axis direction. The 1 st and 2 nd gear motors 2A and 2B are disposed adjacent to each other in the X axis direction.
As shown in fig. 2, the 1 st gear motor 2A extends along the 1 st central axis J1. In addition, the 2 nd gear motor 2B extends along the 2 nd central axis J2. The 1 st central axis J1 and the 2 nd central axis J2 extend in parallel with each other.
The 1 st gear motor 2A includes a 1 st motor main body 20A, a 1 st planetary gear mechanism (1 st transmission mechanism) 30A connected to the 1 st motor main body 20A, and a 1 st pinion gear 5A connected to the 1 st planetary gear mechanism 30A. The motor shaft 29 of the 1 st motor main body 20A, the 1 st planetary gear mechanism 30A, and the 1 st pinion gear 5A rotate about the 1 st central axis J1.
Similarly, the 2 nd gear motor 2B includes a 2 nd motor main body 20B, a 2 nd planetary gear mechanism (2 nd transmission mechanism) 30B connected to the 2 nd motor main body 20B, and a 2 nd pinion gear 5B connected to the 2 nd planetary gear mechanism 30B. The motor shaft 29 of the 2 nd motor main body 20B, the 2 nd planetary gear mechanism 30B, and the 2 nd pinion gear 5B rotate about the 2 nd central axis J2.
The 1 st and 2 nd motor bodies 20A, 20B extend along the respective center axes (i.e., the 1 st center axis J1 or the 2 nd center axis J2). The 1 st and 2 nd motor bodies 20A, 20B are generally cylindrical with the center axes J1, J2 as centers. In the present embodiment, the 1 st and 2 nd motor main bodies 20A, 20B are stepping motors.
The 1 st and 2 nd motor main bodies 20A, 20B have a rotor 21 that rotates about respective center axes J1, J2, a stator 22 that surrounds the rotor 21 from the radial outside, and a motor case 23 that further surrounds the stator 22 from the radial outside. The rotor 21 has a motor shaft 29 extending along each of the center axes J1, J2.
The 1 st and 2 nd planetary gear mechanisms 30A, 30B are connected to the motor shafts 29 of the 1 st and 2 nd motor main bodies 20A, 20B, respectively. The 1 st and 2 nd planetary gear mechanisms 30A, 30B are speed reduction mechanisms that reduce the power output from the 1 st and 2 nd motor main bodies 20A, 20B and transmit the power to the 1 st and 2 nd pinion gears 5A, 5B, respectively. In the present embodiment, the reduction gear ratio of the 1 st planetary gear mechanism 30A and the reduction gear ratio of the 2 nd planetary gear mechanism 30B are equal to each other.
The 1 st and 2 nd planetary gear mechanisms 30A, 30B respectively have a gear housing 39, a 1 st sun gear 33a, 31 st planetary gears 33B, a 1 st carrier 31, 32 nd planetary gears 34B, a 2 nd carrier 32, 3 rd planetary gears 35B, and a 3 rd carrier 36.
The gear housing 39 is fixed to the frame 10. That is, the 1 st and 2 nd planetary gear mechanisms 30A and 30B are supported by the frame 10 in the gear housing 39. The gear housing 39 has an internal gear 39a and a bearing portion 39 d.
The internal gear 39a is formed in a cylindrical shape extending in the axial direction about the central axes J1 and J2. The internally-toothed gear 39a meshes with the 1 st planetary gear 33b, the 2 nd planetary gear 34b, and the 3 rd planetary gear 35 b. The bearing portion 39d is located at the other axial end of the internal gear 39 a. The bearing portion 39d extends in a cylindrical shape around the center axes J1 and J2. A slide bearing is attached to the inner peripheral surface of the bearing 39 d. The bearing portion 39d rotatably supports a cylindrical portion 36f described later.
The 1 st sun gear 33a is fixed to the motor shaft 29 and rotates together with the motor shaft 29 about the central axes J1 and J2. The 31 st planetary gears 33b are arranged at equal intervals in the circumferential direction of the central axes J1, J2. The 31 st planetary gears 33b are meshed with the 1 st sun gear 33 a. The 31 st planetary gears 33b revolve around the respective center axes J1, J2 in accordance with the rotation of the 1 st sun gear 33 a.
The 1 st carrier 31 has a 1 st disc portion 31b, 31 st counter shafts 31a, and a 2 nd sun gear 31 c. The 1 st disc portion 31b extends in the radial direction around the center axes J1, J2. The 31 st auxiliary shafts 31a extend from the 1 st disc portion 31b to one axial side. The 2 nd sun gear 31c extends from the 1 st disc portion 31b to the other axial side about the central axes J1, J2.
The 1 st planetary gear 33b is rotatably supported by the 31 st counter shafts 31 a. The 1 st carrier 31 rotates about the central axes J1, J2 in accordance with the revolving rotation of the 31 st planetary gears 33 b.
Since the 2 nd sun gear 31c is a part of the 1 st carrier 31, the 2 nd sun gear 31c rotates about the central axes J1 and J2 in accordance with the revolving rotation of the 1 st planetary gear 33 b.
The 3 nd 2 nd planetary gears 34b are arranged at equal intervals in the circumferential direction of the central axes J1, J2. The 3 nd 2 nd planetary gears 34b are meshed with the 2 nd sun gear 31 c. The 3 nd 2 nd planetary gears 34b revolve in the circumferential direction of the respective center axes J1, J2 in accordance with the rotation of the 2 nd sun gear 31 c.
The 2 nd carrier 32 has a 2 nd disc portion 32b, 32 nd counter shafts 32a, and a 3 rd sun gear 32 c. The 2 nd disc part 32b extends in the radial direction around the center axes J1, J2. The 32 nd auxiliary shafts 32a extend from the 2 nd disc portion 32b to one axial side. The 3 rd sun gear 32c extends from the 2 nd disc portion 32b to the other axial side about the central axes J1, J2.
The 2 nd planetary gears 34b are rotatably supported by the 32 nd counter shafts 32 a. The 2 nd carrier 32 rotates about the central axes J1, J2 in accordance with the revolution of the 3 nd planetary gears 34 b.
Since the 3 rd sun gear 32c is a part of the 2 nd carrier 32, the 3 rd sun gear 32c rotates about the central axes J1 and J2 in accordance with the revolution of the 2 nd planetary gear 34 b.
The 3 rd 3 planetary gears 35b are arranged at equal intervals in the circumferential direction of the central axes J1, J2. The 3 rd 3 planetary gears 35b are meshed with the 3 rd sun gear 32 c. The 3 rd 3 planetary gears 35b revolve in the circumferential direction of the central axes J1, J2 as the 3 rd sun gear 32c rotates.
The 3 rd carrier 36 has a 3 rd disc portion 36b, 3 rd counter shafts 36a, and an output portion 36 c. The 3 rd disc portion 36b extends in the radial direction around the center axes J1, J2. The 3 rd auxiliary shafts 36a extend from the 3 rd disc portion 36b to one axial side. The output portion 36c extends from the 3 rd disc portion 36b to the other axial side about the central axes J1, J2.
The 3 rd 3 counter shafts 36a rotatably support the 3 rd planetary gear 35b, respectively. The 3 rd counter shaft 36a rotates about the central axes J1, J2 as the 3 rd planetary gear 35b revolves.
The output portion 36c includes a columnar portion 36f extending around the central axes J1 and J2, and a fitting shaft portion (protruding portion) 37 extending in the axial direction from the distal end surface of the columnar portion 36 f. The cylindrical portion 36f is rotatably supported by a bearing portion 39d of the gear housing 39. In addition, a holding hole 36d is provided in an end surface of the output portion 36c facing the other side (the (-Z side) in the axial direction. A shaft 36p is inserted into the holding hole 36 d.
The 1 st and 2 nd pinion gears 5A and 5B are disposed centering on the central axes J1 and J2, respectively. The 1 st and 2 nd pinion gears 5A and 5B are provided with through holes 5h penetrating in the axial direction. A shaft 36p is inserted into the through hole 5 h.
The shaft 36p extends around the central axes J1 and J2. One axial end of the shaft 36p is supported by the output portion 36c, and the other axial end is supported by the fitting 40 via the bearing 6. The shaft 36p assists rotation of the 1 st and 2 nd pinion gears 5A, 5B about the respective center axes J1, J2.
Fitting recesses 38 are provided on the surfaces of the 1 st and 2 nd pinion gears 5A and 5B facing one axial side (+ Z side). The fitting shaft portion 37 is inserted into the fitting recess portion 38. Thereby, the 1 st pinion gear 5A rotates toward the 1 st motor main body 20A via the 1 st planetary gear mechanism 30A. Similarly, the 2 nd pinion gear 5B rotates toward the 2 nd motor main body 20B via the 2 nd planetary gear mechanism 30B.
As shown in fig. 1, the rack gear 3 has a plate shape whose vertical direction is the plate thickness direction. The rack gear 3 is molded by MIM (Metal Injection Molding).
The 1 st and 2 nd pinion gears 5A and 5B are disposed adjacent to each other in a direction perpendicular to the central axes J1 and J2 (in the X-axis direction in the present embodiment). The rack gear 3 extends linearly along the direction in which the 1 st and 2 nd pinion gears 5A and 5B are arranged. The rack gear 3 is located on the lower side with respect to a pair of shafts 36p and the 1 st and 2 nd pinion gears 5A, 5B.
The rack gear 3 has: a gear main body portion 3b having a plurality of tooth surfaces arranged in the X-axis direction; and a pair of sliding portions 3a that protrude from both sides of the gear main body portion 3b in the Z-axis direction. The sliding portion 3a extends along the extending direction (X-axis direction) of the rack and pinion 3.
The gear main body portion 3B of the rack gear 3 meshes with the 1 st pinion gear 5A and the 2 nd pinion gear 5B. The rack gear 3 is moved in the X-axis direction by being transmitted with power output from the 1 st and 2 nd pinion gears 5A, 5B. That is, the rack gear 3 is driven in a direction perpendicular to the central axes J1, J2 of the 1 st and 2 nd gear motors 2A, 2B.
The frame 10 supports a plurality of (2 in the present embodiment) 1 st and 2 nd gear motors 2A, 2B. The frame 10 of the present embodiment is formed by MIM.
The frame 10 is provided with a plurality of fixing portions 15. The fixing portion 15 has a plate shape along a plane (XZ plane) perpendicular to the vertical direction. The fixing portion 15 is provided with a fixing hole 15a penetrating in the plate thickness direction. Screws for fixing the drive device 1 to an external member (for example, an electronic device housing the drive device 1) are inserted into the fixing holes 15 a. The frame 10 is screwed to the external member at the fixing portion 15.
Further, the frame 10 is provided with a support frame portion 12. The support frame 12 is located at the other axial end (on the Z side) of the frame 10. The support frame 12 has a frame shape surrounding the 1 st and 2 nd pinion gears 5A and 5B from four sides. A rectangular enclosure space in a plan view enclosed by the support frame 12 is open in the vertical direction. The fitting 40 is inserted from the upper side into the opening of the support frame 12.
A rack guide (not shown) is provided at the lower end of the support frame 12. The rack guide portion slidably supports the sliding portion 3a of the rack gear 3. Thereby, the support frame 12 guides the movement of the rack gear 3 in the X axis direction.
The fitting 40 is inserted into the support frame 12 and fixed to the support frame 12. Thus, the fitting 40 reinforces the frame 10 around the 1 st and 2 nd pinion gears 5A and 5B. The fitting 40 holds the bearing 6. That is, the metal fitting 40 rotatably supports the shaft 36p via the bearing 6. The fitting 40 of the present embodiment is formed by MIM.
(Effect of drive device)
According to the driving device 1 of the present embodiment, the 1 st and 2 nd gear motors 2A and 2B drive the 1 st rack gear 3 to be driven. Therefore, the driving device 1 can drive the rack and pinion 3 with high principal force. Further, the rotation of the 1 st and 2 nd gear motors 2A, 2B can be converted into parallel motion.
According to the driving device 1 of the present embodiment, the 1 st and 2 nd gear motors 2A and 2B have a cylindrical shape arranged in line in the X-axis direction. Therefore, the dimension of the drive device 1 in the Y axis direction can be suppressed, and the drive device 1 can be easily mounted on an electronic apparatus which is thin in the Y axis direction. That is, according to the present embodiment, by using the 1 st and 2 nd motor main bodies 20A and 20B, the dimension in the Y axis direction can be suppressed while ensuring the output of the drive device 1. Further, compared to the case where the stators are stacked in the axial direction, the rotor magnet does not need to be lengthened in the axial direction, and damage to the rotor magnet can be suppressed even when an impact or the like is applied.
In general, the torque output during the rotation of the motor includes a periodic fluctuation amount (hereinafter referred to as torque pulsation). When the power of 2 motors is combined to 1 gear and output, the combined driving force may be reduced depending on the period of the torque ripple. Since the 1 st and 2 nd motor main bodies 20A and 20B of the present embodiment are stepping motors, the torque ripple is likely to increase. Therefore, there is a problem that it is difficult to stabilize the driving force output from the rack gear 3 due to the period of the torque pulsation.
According to the present embodiment, in the 1 st and 2 nd gear motors 2A, 2B, the power of the 1 st and 2 nd motor main bodies 20A, 20B is reduced in the 1 st and 2 nd planetary gear mechanisms 30A, 30B as the transmission mechanism, and then combined by the rack gear 3. That is, the power of the 1 st and 2 nd motor bodies 20A, 20B is synthesized after being decelerated. Therefore, the period of the torque pulsation is also decelerated by the 1 st and 2 nd planetary gear mechanisms 30A and 30B, and the deviation of the torque pulsation at the time of combining is less likely to affect the driving force. That is, according to the present embodiment, a high driving force can be output to the rack gear 3.
In addition, according to the present embodiment, the planetary gear mechanism is adopted as the transmission mechanism in the 1 st and 2 nd gear motors 2A and 2B, thereby obtaining a large reduction ratio. Therefore, the drive device 1 of the present embodiment can further suppress a decrease in the drive force due to the variation in the torque ripple. In particular, the 1 st and 2 nd planetary gear mechanisms 30A and 30B of the present embodiment include 3-stage planetary gears (the 1 st, 2 nd, and 3 rd planetary gears 33B, 34B, and 35B) and achieve a large speed reduction, and therefore this effect can be remarkably obtained.
The reduction gear ratio of the 1 st and 2 nd planetary gear mechanisms 30A, 30B of the present embodiment is, for example, about 120. The pitch angles of the 1 st and 2 nd motor bodies 20A and 20B of the present embodiment are 22.5 °. The torque ripple of the stepper motor is related to the step angle. Therefore, the rotation angle at which the torque pulsation is generated in the 1 st and 2 nd pinion gears 5A and 5B is about 0.2 °, and the influence of the torque pulsation at the time of combination can be reduced.
With such a configuration, in the driving device 1 of the present embodiment, the sum of the outputs of the rack gear 3 with respect to the outputs of the plurality of gear motors (i.e., the 1 st and 2 nd gear motors 2A and 2B) is 65% or more. That is, when the outputs of the 1 st and 2 nd gear motors 2A and 2B are P1 and P2, respectively, and the main force of the rack gear 3 is P3, the following expression is established.
(P1+P2)×0.8≤P3
According to the present embodiment, a high driving force can be output to the rack gear 3. In this case, the output of the rack gear 3 is 1.3 times or more the average value of the outputs of the plurality of gear motors (i.e., the 1 st and 2 nd gear motors 2A, 2B). That is, according to the drive device 1 of the present embodiment, by combining the plurality of gear motors 2A and 2B, it is possible to increase the output without increasing the thickness in the vertical direction, as compared with the case of using only 1 gear motor.
Further, by performing an adjustment step described later, the driving force in the rack gear 3 can be further increased. More specifically, the output of the rack gear 3 can be set to 90% or more ((P1+ P2). times.0.9. ltoreq. P3) with respect to the sum of the outputs of the 1 st and 2 nd gear motors 2A, 2B. In this case, the output of the rack gear 3 is 1.8 times or more the average value of the outputs of the plurality of gear motors (i.e., the 1 st and 2 nd gear motors 2A, 2B).
Here, when the motor main body is a stepping motor, the ratio of the output of the rack gear 3 to the sum of the outputs of the plurality of gear motors may vary depending on the driving frequency of the motor main body. Therefore, in the present specification, when the motor main body is a stepping motor, the value of the ratio of the output of the rack gear 3 to the sum of the outputs of the plurality of gear motors is evaluated by the value when the driving frequency of the motor main body is 2400pps (pulse/second).
< manufacturing method >
Next, a method for manufacturing the driving device 1 will be described.
The manufacturing method of the driving device 1 mainly includes an assembling step, an adjusting step, and a fixing step.
Hereinafter, each step will be described in detail.
(Assembly Process)
The assembly step is a step of assembling the 1 st and 2 nd gear motors 2A and 2B, the rack gear 3, and the attachment 40 to the frame 10.
In the assembling step, the 1 st and 2 nd gear motors 2A and 2B are assembled in advance. That is, in the manufacturing method of the present embodiment, the motor case 23 of the 1 st motor main body 20A and the gear case 39 of the 1 st planetary gear mechanism 30A are fixed to each other. Further, the 1 st pinion gear 5A is fixed to the output portion 36c of the 1 st planetary gear mechanism 30A. Similarly, the motor case 23 of the 2 nd motor main body 20B and the gear case 39 of the 2 nd planetary gear mechanism 30B are fixed to each other. A 2 nd pinion gear 5B is fixed to an output portion 36c of the 2 nd planetary gear mechanism 30B.
In the assembly process of the present embodiment, the 1 st and 2 nd gear motors 2A and 2B are assembled to the frame 10, but are not fixed to the frame 10. On the other hand, in the assembling step, it is preferable that the metal fittings 40 be fixed to the frame 10. The fitting 40 surrounds the 1 st and 2 nd pinion gears 5A, 5B. Therefore, by fixing the metal fitting 40 to the frame 10, the 1 st and 2 nd pinion gears 5A and 5B can be prevented from coming off the frame, and the ease of handling in the subsequent step can be easily improved.
(adjustment step)
The adjusting step is a step of adjusting the assembly position of the 1 st and 2 nd gear motors 2A and 2B with respect to the frame 10.
The adjustment process has a moving step of driving the 1 st and 2 nd gear motors 2A, 2B on the one hand and moving only the gear motor to be adjusted (for example, the 2 nd gear motor 2B) relative to the frame 10 on the other hand. The adjustment step is a step of finding a position where the output of the rack and pinion 3 is maximum.
In the adjusting step of the present embodiment, after the 1 st gear motor 2A is fixed to the frame 10, the 2 nd gear motor 2B is moved relative to the frame 10 to adjust the position. Thereby, the phase of the torque ripple of the 2 nd gear motor 2B is optimized with respect to the phase of the torque ripple of the 1 st gear motor 2A.
In addition, after the 2 nd gear motor 2B is fixed to the frame 10, the 1 st gear motor 2A may be moved relative to the frame to adjust the position. In the drive device having 3 or more gear motors, the gear motors to be moved may be sequentially changed, and the optimal position may be determined for each gear motor.
In the adjustment step of the present embodiment, first, the gear housing 39 of the 1 st gear motor 2A is fixed to the frame 10 by a fixing means such as laser welding. In the present embodiment, the 1 st gear motor 2A is completely fixed to the frame 10. However, the 1 st gear motor 2A may be temporarily fixed to the frame 10 in the adjustment step so as to restrict the positional deviation. In this case, in the fixing step after the adjustment step, the 1 st gear motor 2A is completely fixed to the frame 10 together with the 2 nd gear motor 2B.
In the moving step, the position of the 2 nd gear motor 2B is changed while the 1 st and 2 nd gear motors 2A and 2B are driven, and the position of the 2 nd gear motor 2B where the driving force of the rack gear 3 is the largest is determined. In the moving step, synchronized pulse signals are input to the 1 st and 2 nd gear motors 2A, 2B. Therefore, the 1 st and 2 nd pinion gears 5A and 5B rotate in the same direction at the same speed to move the rack gear 3.
In the moving step, a measuring device for measuring the driving force of the rack gear 3 is attached to the rack gear 3. In addition, when a simple measurement is performed, a weight variable weight that applies a reaction force to the driving of the rack and pinion 3 may be attached instead of the measurement device. In this case, the weight of the largest weight that can be lifted by gradually increasing or decreasing the weight of the weight is used as the driving force of the rack gear 3.
As shown in fig. 1, in the 1 st and 2 nd gear motors 2A and 2B, a concave portion (adjustment portion) 39p is provided on the outer peripheral surface of the gear housing 39. In the moving step, the adjustment jig 9 is inserted into the recess 39p of the 2 nd gear motor 2B. The 2 nd gear motor 2B is rotated about the 2 nd central axis J2 by the adjusting jig 9.
In the moving step, the 2 nd gear motor 2B is moved around the 2 nd central axis J2 at predetermined angular intervals. Further, the driving device 1 drives the 1 st and 2 nd gear motors 2A and 2B at respective angular positions, and measures the driving force of the rack gear 3. The operator moves the 2 nd gear motor 2B a plurality of times within a predetermined angular range, and measures the driving force of the rack gear 3 at each angular position. The operator selects 1 angular position at which the driving force is highest among the measurement results of the driving force of the rack gear 3 at each angular position as the angular position of the 2 nd gear motor 2B.
(fixation step)
The worker then performs a fixing step of fixing the 2 nd gear motor 2B to the frame 10 in accordance with the position adjusted in the adjusting step. The 2 nd gear motor 2B is fixed by laser welding, for example.
(Effect of the production method)
According to the present embodiment, the driving force of the rack gear 3 is measured while holding the position of one of the 1 st and 2 nd gear motors 2A and 2B and moving the other. This makes it possible to optimize the relative rotation angle between the 1 st pinion gear 5A of the 1 st gear motor 2A and the 2 nd pinion gear 5B of the 2 nd gear motor 2B. That is, the phase difference between the torque pulses of the 1 st and 2 nd gear motors 2A and 2B and the meshing condition of the gears can be optimized, and the most efficient driving of the rack gear 3 can be realized.
By adopting the assembly method including the adjustment step of the present embodiment, the driving device 1 can further increase the driving force of the rack and pinion 3. That is, the output of the rack gear 3 can be set to 90% or more of the sum of the outputs of the 1 st and 2 nd gear motors 2A and 2B.
In the present embodiment, the moving step is a step of rotationally moving only the geared motor to be adjusted (in the present embodiment, the 2 nd geared motor 2B) around the central axis (in the present embodiment, the 2 nd central axis J2) with respect to the frame 10. Therefore, the movement and position adjustment of the 2 nd gear motor 2B become easy.
In addition, as the moving step, it is considered to move the geared motor to be adjusted in parallel in a direction perpendicular to the central axis. More specifically, for example, the 1 st gear motor 2A is fixed to the frame 10, and the 2 nd gear motor 2B is moved in the direction in which the rack gear 3 extends (i.e., the X-axis direction). Thereby, the position where the driving force of the rack gear 3 is maximum is found. Even when such a moving step is adopted, a driving device having improved efficiency by increasing the driving force of the rack and pinion 3 can be configured.
According to the present embodiment, the 1 st and 2 nd gear motors 2A, 2B are provided with recesses 39p on their outer peripheral surfaces for rotating the 1 st and 2 nd gear motors 2A, 2B about their respective central axes J1, J2. This makes it possible to easily adjust the positions of the 1 st and 2 nd gear motors 2A and 2B in the adjustment step.
In the drive device 1 of the present embodiment, a recess 39p is provided on the outer peripheral surface of both the 1 st and 2 nd gear motors 2A and 2B. Therefore, the drive device 1 may fix and adjust either one of the 1 st and 2 nd gear motors 2A and 2B in the adjustment step. However, if the concave portion 39p is provided on the outer peripheral surface of at least 1 of the plurality of gear motors, the driving force of the rack gear 3 can be increased by adjusting the gear motor provided with the concave portion 39 p.
In the present embodiment, a case where the concave portion 39p is used as an adjusting portion into which the adjusting jig 9 is inserted is described. However, the configuration of the adjustment unit is not limited to the present embodiment. The adjusting portion may be a convex portion provided on the outer peripheral surface of the gear motor, for example.
In the assembly process of the present embodiment, the motor case 23 and the gear case 39 are fixed to each other in advance in the gear motors 20A and 20B. However, the motor housing 23 and the gear housing 39 may not be fixed to each other in the assembly process. In this case, in the adjustment step, the motor case 23 of the gear motor to be adjusted is rotated relative to the gear case 39, and the gear motor is moved relative to the frame 10. Even in this case, the position where the driving force of the rack gear 3 is the largest can be found, and the relative positional relationship between the 1 st and 2 nd gear motors 2A and 2B can be adjusted.
Similarly, in the assembly process of the present embodiment, the output portion 36c of the planetary gear mechanisms 30A, 30B and the pinion gears 5A, 5B are fixed to each other in the gear motors 20A, 20B. However, the output portion 36c and the pinions 5A and 5B may not be fixed to each other in the assembly process. In this case, in the adjustment step, the output portion 36c of the gear motor to be adjusted is rotated relative to the pinions 5A and 5B, thereby moving the gear motor relative to the frame 10. Even in this case, the position where the output of the rack gear 3 is maximum can be found, and the relative positional relationship between the 1 st and 2 nd gear motors 2A and 2B can be adjusted.
That is, the "only the gear motor to be adjusted is moved relative to the frame" in the moving step also includes a case where a part of the gear motor to be adjusted (for example, the 2 nd gear motor 2B) is moved relative to the frame 10.
In the production line of the drive devices 1, the above-described adjustment process is most preferably performed for all the drive devices 1. However, the association between the manufacturing lot and the adjustment angle may be made clear, and the adjustment process may be simplified for each manufacturing lot. That is, the following production line may be adopted: the above-described adjustment process is performed only for a specific number of the drive devices 1 for a manufacturing lot, and after the inclination of the angle adjustment is grasped, only the angle adjustment is performed in accordance with the inclination grasped in the other drive devices 1.
[ examples ] A method for producing a compound
Next, a verification test for verifying the operation and effect of the manufacturing method of the driving device 1 including the adjustment step was performed.
Here, samples nos. 1 to 5 were prepared as samples of the drive device 1. The sample of the driving device 1 has the same structure as that of the above-described embodiment. The samples described below all have the same structure, and only the individual differences for each sample are included.
In the driving device 1 of each sample, the 1 st and 2 nd gear motors 2A, 2B have a reduction ratio of 118.31 (i.e., about 120). In the drive device 1 for each sample, the 1 st and 2 nd motor bodies 20A and 20B are two-phase stepping motors, and the stepping angles are 22.5 °. In the drive device 1 for each sample, the operating voltages of the 1 st and 2 nd motor bodies 20 were both 5.0V.
Table 1 shows changes in the output (driving force) of the rack and pinion 3 before and after the adjustment process in samples nos. 1 to 5. The outputs of the 1 st and 2 nd gear motors 2A and 2B are the sum of values calculated by measuring the torques of the 1 st and 2 nd gear motors 2A and 2B before the assembly step and outputting the driving force of the rack gear 3 based on the measured torques. The measured value of the rack gear 3 before and after adjustment is calculated from the weight of the drivable weight by applying a weight variable to the rack gear 3 as a load.
[ TABLE 1 ]
Figure BDA0003184168790000121
As can be seen from the results in table 1, by manufacturing the drive device 1 by using a manufacturing method in which the adjustment step is performed, the value of the output of the rack gear 3 can be set to 90% or more with respect to the sum of the outputs of the 1 st and 2 nd gear motors 2A and 2B.
While the embodiments of the present invention have been described above, the configurations and combinations thereof in the embodiments are merely examples, and additions, omissions, substitutions, and other modifications of the configurations can be made without departing from the spirit of the present invention. The present invention is not limited to the embodiments.
For example, the driving device 1 may further include a gear motor other than the 1 st and 2 nd gear motors 2A and 2B to further increase the power of the rack gear 3. The main gear driven by the 1 st and 2 nd pinions 5A and 5B is not limited to the rack gear 3, and may be another pinion, for example. Further, the 1 st and 2 nd pinions 5A and 5B may drive the rack gear via other pinions.

Claims (11)

1. A drive device, comprising:
a plurality of gear motors having a motor main body and a pinion gear rotated about a central axis by the motor main body; and
a main gear engaged with the plurality of pinions,
the output of the main gear is more than 65% relative to the sum of the outputs of the plurality of gear motors.
2. The drive apparatus according to claim 1,
the output of the main gear is more than 90% relative to the sum of the outputs of the plurality of gear motors.
3. The drive apparatus according to claim 1,
each of the gear motors has a transmission mechanism that decelerates the power of the motor main body and transmits the power to the pinion gear.
4. The drive apparatus according to claim 3,
the transmission mechanism is a planetary gear mechanism.
5. The drive apparatus according to claim 1,
the motor main body of each of the gear motors is a stepping motor.
6. The drive apparatus according to claim 1,
the main gear is a rack gear driven in a direction perpendicular to central axes of the plurality of gear motors.
7. The drive device according to any one of claims 1 to 6,
an adjusting portion for rotating the gear motor about a central axis is provided on an outer peripheral surface of at least one of the plurality of gear motors.
8. A method for manufacturing a driving device includes the steps of:
an assembling step of assembling a plurality of gear motors having a motor main body and a pinion gear rotated around a central axis by the motor main body and a main gear engaged with the plurality of pinion gears, respectively, to a frame;
an adjustment step of adjusting an assembly position of the gear motor with respect to the frame; and
a fixing step of fixing the gear motor to the frame in accordance with the position adjusted in the adjusting step,
the adjusting step is as follows: a moving step of driving a plurality of the gear motors on the one hand and moving only the gear motor to be adjusted relative to the frame on the other hand is performed to find a position where the output of the main gear is maximum.
9. The manufacturing method of a driving device according to claim 8,
the moving step is a step of rotationally moving only the gear motor to be adjusted around a central axis with respect to the frame.
10. The manufacturing method of the driving device according to claim 8 or 9,
each of the gear motors has a transmission mechanism that decelerates the power of the motor main body and transmits the power to the pinion gear.
11. The manufacturing method of the driving device according to claim 8 or 9,
the motor main body of each of the gear motors is a stepping motor.
CN202110855941.3A 2020-07-31 2021-07-28 Drive device and method for manufacturing drive device Pending CN114110101A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117943731A (en) * 2024-03-27 2024-04-30 华电(云南)新能源发电有限公司 Automatic welding device for generator stator

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117943731A (en) * 2024-03-27 2024-04-30 华电(云南)新能源发电有限公司 Automatic welding device for generator stator
CN117943731B (en) * 2024-03-27 2024-05-31 华电(云南)新能源发电有限公司 Automatic welding device for generator stator

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