JP2009038844A - Actuator incorporating reduction gear - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an actuator incorporating a reduction gear which can be replaced easily upon failure while achieving compactization in the axial direction and can deal with a wide range of load at the same time. <P>SOLUTION: The actuator incorporating a reduction gear includes a reduction gear 110 including a supporting portion 102 having a take-out hole 104, a casing 112 fixed to the supporting portion 102 through a fixing portion 114, and a reduction gear mechanism 118 contained in the casing 112 and transmitting rotation inputted from an input shaft 116 to an output shaft 120 while reducing to a predetermined rotational speed, a hollow motor 170 including a motor rotor 172 provided on the outer circumference of the reduction gear 110 and a motor stator 174 being fixed to the supporting portion 102 and to which the motor rotor 172 is fixed rotatably, and a flywheel 180 fixed to the motor rotor 172 and provided with a portion 184 being connected to the input shaft 116 of the reduction gear 110. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a reduction gear built-in type actuator that is small in the direction of the rotation axis and that can be easily disassembled, changed to a reduction gear, and a motor.

  2. Description of the Related Art Conventionally, there is an actuator in which a reduction gear and a motor are integrated (hereinafter referred to as a reduction mechanism integrated actuator) in which a reduction gear and a motor are connected in series in an axial direction. Such an actuator with a built-in reduction mechanism has a problem that it becomes longer in the axial direction, although it is free to disassemble and change the combination because the independent unit of the reduction gear and the motor is connected and fixed. It was.

  In view of this, a reduction mechanism integrated actuator shown in Patent Documents 1 and 2 has been proposed as a reduction in size in the axial direction.

  The reduction mechanism integrated actuator described in Patent Document 1 has a common rotating shaft of the motor mechanism and an input shaft of the reduction mechanism. For this reason, it is housed in one actuator frame and is reduced in size in the axial direction.

  The reduction mechanism-integrated actuator of Patent Document 2 is also provided with a motor mechanism and a two-stage planetary reduction mechanism mounted on a plate-like outer member, and does not have a motor rotation shaft and a reduction gear input shaft independently. Miniaturization is realized in the direction.

Japanese Patent Laid-Open No. 2001-112215 JP 2005-218245 A

  However, in both Patent Documents 1 and 2, the rotating shaft of the motor mechanism and the input shaft of the speed reduction mechanism are common parts for miniaturization. In addition, since the motor mechanism and the speed reduction mechanism do not have separate cases, the motor mechanism and the speed reduction mechanism are not individually independent structures. That is, in both Patent Documents 1 and 2, in the event of a failure, the motor mechanism and the speed reduction mechanism of the speed reduction mechanism-integrated actuator must be disassembled to remove and replace the failed part. . Further, one product composed of a motor mechanism and a speed reduction mechanism corresponds to one speed reduction ratio, and in order to change the speed reduction ratio, there is a problem that the product itself is replaced.

  The present invention has been made in order to solve the above-mentioned conventional problems. The reduction gear is arranged inside the hollow motor to achieve downsizing in the axial direction, and the reduction gear and the motor are made independent. Built-in reducer that makes it easy to replace in the event of a failure, etc., and at the same time can be replaced with an adaptable reducer with a different reduction ratio and an adaptable motor with a different motor output. It is an object to provide an actuator.

  The present invention provides a support portion having an extraction hole, a casing attached to the support portion via an attachment portion, and the rotation received from the input shaft is reduced to a predetermined rotation speed and output. A hollow motor having a speed reducer that transmits to a shaft, a motor rotor provided on an outer periphery of the speed reducer, and a motor stator to which the motor rotor is rotatably attached and attached to the support portion; The above-described problem is solved by providing a flywheel attached to the motor rotor and provided with an input connection portion for connecting to the input shaft.

  According to the present invention, since the hollow motor and the speed reducer do not overlap in series in the axial direction by attaching the hollow motor to the outside of the speed reducer, it is possible to reduce the size in the axial direction. The speed reducer has a casing that houses the speed reduction mechanism. And since a flywheel is used for power transmission with a hollow motor and a reduction gear, the rotating shaft (rotary shaft of a hollow motor) of a motor rotor and the input shaft of a reduction gear are not shared. That is, when exchanging, repairing, or inspecting the hollow motor and the speed reducer, it is not necessary to disassemble components that are not replaced, and the hollow motor and the speed reducer can be kept independent. At the same time, hollow motors or speed reducers can easily have different output, reduction ratio, or connection shape to the load, as long as they have the same dimensions for the support and flywheel, and there is no interference between the external dimensions. Can be changed. Also, if the size of the flyhole is the same as that of the hollow motor and the speed reducer, it is possible to select an optimum one according to the motor output and the speed reducer.

  According to the present invention, compared with a conventional motor, speed reducer, and load arranged in a straight line, the space is saved in the direction of the rotary shaft, and the level of the rotary shaft during installation is not required, and the work efficiency is improved. . In addition, it is easy to replace each motor or speed reducer when a failure occurs. At the same time, the hollow motor or the speed reducer can be easily replaced with a speed reducer with a different reduction ratio or various motors.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. 1 is an exploded perspective view of a reduction gear built-in type actuator according to the present embodiment, FIG. 2 is an assembled cross-sectional view of the present embodiment, FIG. 3 is a cross-sectional view of a reduction gear usable for the reduction gear built-in type actuator, and FIG. The figure which showed the state of replacement | exchange of a reduction gear, FIG. 5 is a figure at the time of attaching a reduction gear to the side surface different from the attachment surface of the hollow motor of a support part.

  First, the configuration of the present embodiment will be described.

  As shown in FIGS. 1 and 2, the reduction gear built-in type actuator 100 of the present embodiment includes a support portion 102, a reduction gear 110, a hollow motor 170, and a flywheel 180.

  As shown in FIGS. 1 and 2, the support portion 102 has a take-out hole 104 (hollow inner diameter D1) into which the output shaft 120 of the speed reducer 110 is loosely fitted, and a circumferential position around the center of the take-out hole 104. The plurality of mounting holes 106 for mounting the speed reducer 110 and the plurality of mounting holes 108 for mounting the hollow motor 170 on a larger circumference than the mounting holes 106 are provided. 1 and 2, the support portion 102 has an inverted T shape, but the support portion 102 is for fixing the positional relationship between the speed reducer 110, the hollow motor 170, and the load. It is not limited to.

  As shown in FIGS. 1 and 2, the speed reducer 110 includes a casing 112 and a speed reduction mechanism 118. The casing 112 is a substantially cylindrical case (outer diameter d1 excluding the mounting portion 114 of the casing 112), and houses the speed reduction mechanism 118 so that the input shaft 116 and the output shaft 120 are coaxially arranged opposite to each other. Support. Moreover, the casing 112 is provided with the attaching part 114 (outer diameter d2) in the outer periphery. The output shaft 120 of the speed reducer 110 is loosely fitted into the take-out hole 104, and the attachment hole 106 and the attachment part 114 of the support part 102 are detachably attached by bolts 188. The speed reduction mechanism 118 has an input shaft 116 that fits with the input connection portion 184 of the flywheel 180 and an output shaft 120. The speed reduction mechanism 118 decelerates the rotation input from the input shaft 116 to a predetermined rotational speed, and outputs the output shaft. 120.

  A specific reduction gear 110 is shown in FIG. 3 and will be described in detail. The casing 112 includes an adapter plate 122, a joint cover 124, a first casing 126, and a second casing 128 connected by bolts 130 and 132. The attachment portion 114 is provided on the outer periphery of the casing 112 and is configured integrally with the second casing 128.

  The input shaft 116 has a concave portion 116a into which the input connection portion 184 of the flywheel 180 is inserted, and the surface of the concave portion 116a is fitted with a key shape portion 184a provided in the input connection portion 184. It has a key fitting part 116b. The input shaft 116 is also provided with a shaft fitting portion 116c into which the first rotation shaft (next-stage rotation shaft) 138 is fitted, and the first rotation shaft 138 is press-fitted. The input shaft 116 is supported by the joint cover 124 via a bearing 134.

  The speed reduction mechanism 118 is a mechanism that reduces the rotation in two stages, and is housed in the casing 112. The first stage constitutes a so-called simple planetary gear mechanism, and the first sun gear 140 integrally formed with the first rotating shaft 138 meshes with the first planetary gear 144. Further, the first planetary gear 144 is in mesh with the internal teeth 146 provided in the first casing 126. A first carrier pin 142 is inserted into the first planetary gear 144. The first carrier pin 142 is also engaged with the first flange body 148 so that the revolution component of the first planetary gear 144 can be transmitted to the first flange body 148. The first flange body 148 has a rotation shaft hole 148a into which the second rotation shaft 151 can be fitted, and the second rotation shaft 151 is press-fitted.

  The second stage of the speed reduction mechanism 118 also constitutes a simple planetary gear mechanism. A second sun gear 150 is integrally formed with the second rotating shaft 151, and the second sun gear 150 meshes with the second planetary gear 154. The second planetary gear 154 is in mesh with the internal teeth 156 provided in the second casing 128 at the same time. A second carrier pin 152 is inserted into the second planetary gear 154, and one end of the second carrier pin 152 is supported by the auxiliary member 162 and the other end is supported by the second flange body 160. The revolution component of the planetary gear 154 can be transmitted to the second flange body 160 and the auxiliary member 162. Further, the second flange body 160 is connected to the auxiliary member 162 by a bolt 158 and is rotatably supported by the second casing 128 via a pair of bearings 164 and 166. The second flange body 160 functions as the output shaft 120. Reference numerals 136 and 168 denote oil seals.

  1 and 2, the hollow motor 170 includes a ring-shaped motor rotor 172 having a flange surface 172 a and a ring-shaped motor stator 174 that faces the motor rotor 172. The motor rotor 172 is rotatably attached to and supported by the motor stator 174 via a pair of bearings 176 and 178. The motor stator 174 (hollow motor 170) is attached to the outer periphery of the motor rotor 172 coaxially with the output shaft 120 of the speed reducer 110 and outside the speed reducer 110 through the mounting hole 108 of the support portion 102. That is, the speed reducer 110 is disposed inside the motor rotor 172. The hollow inner diameter D2 of the motor rotor 172 is larger than the outer diameter of the speed reducer 110, that is, the outer diameter d2 of the mounting portion 114 of the casing 112. Therefore, the reduction gear 110 can be removed from the support portion 102 without removing the hollow motor 170 from the support portion 102 by removing the bolt 188 that attaches the reduction gear 110 to the support portion 102.

  As shown in FIGS. 1 and 2, the flywheel 180 has a disk-shaped main body 182 and a cylindrical input connection portion 184 that is integrally fixed to the center of the main body 182. The disc-shaped main body 182 has its weight and diameter adjusted to enable smooth transmission of power to the speed reducer 110 according to the output of the hollow motor 170. Further, in order to facilitate attachment / detachment with the motor rotor 172, the bolt 192 is attached and fixed to the flange surface 172 a of the motor rotor 172. The input connecting portion 184 is a cylindrical protrusion and has a key-shaped portion 184a at least in the axial direction on the outer periphery of the tip portion. That is, when the reduction gear 110 and the hollow motor 170 are attached and fixed to the support portion 102 and the flywheel 180 is fixed to the motor rotor 172 with the bolt 192, the key shape portion 184a of the input connection portion 184 is input to the reduction gear 110. The key 116 is fitted into the key fitting portion 116b of the shaft 116.

  A cover 186 is provided outside the flywheel 180 as shown in FIGS. This is for protecting a person or an object from the rotation of the flywheel 180, and is attached to the motor stator 174 with a plurality of bolts 194.

  Next, the operation of this embodiment will be described in detail with reference to FIGS.

  When the motor rotor 172 of the hollow motor 110 rotates, the flywheel 180 connected to the motor rotor 172 rotates. The input shaft 116 of the speed reducer 110 is rotated by the rotation of the input connecting portion 184 provided at the center of the flywheel 180. At this time, since the key shape portion 184a of the input connection portion 184 of the flywheel 180 and the key fitting portion 116b corresponding to the key shape portion 184a of the input shaft 116 are fitted, the input shaft 116 is integrated with the input connection portion 184. Rotate with.

  The rotation of the input shaft 116 is transmitted to the first sun gear 140 via the first rotation shaft 138, and the first sun gear 140 rotates about the axis. The rotation is transmitted to the first planetary gear 144, and the first planetary gear 144 meshes with the internal teeth 146 and the first sun gear 140 and rotates around the first sun gear 140 slowly while rotating. Revolve in the same direction. The revolution component is taken out by the first carrier pin 142 and rotates the first flange body 148. Then, the rotation of the first flange body 148 is transmitted to the second sun gear 150 via the second rotating shaft 151.

  The rotation of the second sun gear 150 is transmitted to the second planetary gear 154, and the second planetary gear 154 meshes with the internal teeth 156 and the second sun gear 150 and rotates around the second sun gear 130 more slowly. And revolve. This revolution component is transmitted to the second flange body 160 (the output shaft 120 of the speed reducer 110) via the second carrier pin 152, and drives a load (not shown) connected to the output shaft 120.

  Next, the procedure for exchanging the components in this embodiment will be described mainly with reference to FIG.

  First, when replacing the hollow motor 170, the bolt 194 is removed from the motor stator 174 of the hollow motor 170 and the cover 186 is removed. Next, the bolt 192 is removed, and the flywheel 180 is removed from the flange surface 172 a of the motor rotor 172 of the hollow motor 170. At this time, since the input shaft 116 of the speed reducer 110 and the input connection portion 184 of the flywheel 180 are merely fitted, the flywheel 180 is removed from the flange surface 172a of the motor rotor 172 and at the same time the flywheel 180 is moved to the speed reducer. 110 can be easily removed. Then, the bolt 190 attached to the attachment hole 108 of the support portion 102 is removed, and the motor stator 174 (hollow motor 170) is removed from the support portion 102. The hollow motor 170 is attached in the reverse order of the removal. That is, the hollow inner diameter D2 of the motor rotor 172 of the hollow motor 170 to be mounted is larger than the outer diameter d2 of the mounting portion 114 of the speed reducer 110, and the mounting hole 108 is compatible with the hollow motor 170. Then, after confirming that there is no interference between the external dimensions (D2 and d2), the hollow motor 170 is attached with the bolt 190. The weight and diameter of the flywheel 180, the input connection portion 184 and the key-shaped portion 184a, the compatibility of the input shaft 116 and the key fitting portion 116b of the speed reducer 110, and the flange surface 172a of the motor rotor 172 After confirming (commonality), the flywheel 180 and the flange surface 172a of the motor rotor 172 are attached with bolts 192. Finally, the cover 186 is attached with bolts 194. The flywheel 180 can be removed after the hollow motor 170 is removed.

  When replacing the speed reducer 110, the bolt 194 is removed from the motor stator 174 of the hollow motor 170 and the cover 186 is removed. Next, the bolt 192 is removed, and the flywheel 180 is removed from the flange surface 172 a of the motor rotor 172 of the hollow motor 170. At this time, since the input shaft 116 and the input connection portion 184 of the flywheel 180 are only fitted, the flywheel 180 is removed from the flange surface 172a of the motor rotor 172 of the hollow motor 170, and at the same time, the flywheel 180 is reduced. 110 can be easily removed. Then, the bolt 188 attached to the attachment hole 106 of the support portion 102 is removed, and the speed reducer 110 is removed from the support portion 102. At this time, the maximum outer diameter of the speed reducer 110 is the outer diameter d2 of the mounting portion 114 provided on the outer periphery of the casing 112, and the outer diameter d2 is smaller than the hollow inner diameter D2 of the motor rotor 172 of the hollow motor 170. The reduction gear 110 can be removed without removing the hollow motor 170. The reduction gear 110 is attached in the reverse order of the removal. That is, the outer diameter d2 of the mounting portion 114 of the reduction gear 110 to be mounted is smaller than the hollow inner diameter D2 of the motor rotor 172 of the hollow motor 170, and the mounting hole 106 is compatible with the reduction gear 110, that is, the mating dimensions of each other are common. In addition, after confirming that there is no interference between the external dimensions (D2 and d2), the reduction gear 110 is attached with the bolt 188. Weight and diameter of flywheel 180, input connection portion 184 and key shape portion 184a, compatibility with input shaft 116 and key fitting portion 116b of speed reducer 110, and flange surface 172a of motor rotor 172 (commonness of mating dimensions) ) And the flywheel 180 and the flange surface 172a of the motor rotor 172 are attached with the bolts 192. At this time, as shown in FIG. 4, the output shaft 120 of the speed reducer 110 can be changed from the flange shaft to the speed reducer 110a that is the solid shaft 120a. This is because the shapes of the output shafts 120 and 120a of the reduction gears 110 and 110a have the same dimensions for the support portion 102 and the flywheel 180, and the external dimensions (D2 and d2) do not interfere with each other. Finally, the cover 186 is attached with bolts 194.

  According to this embodiment, since the hollow motor 170 and the reduction gear 110 do not overlap in series in the axial direction by attaching the hollow motor 170 to the outside of the reduction gear 110, it is possible to reduce the size in the axial direction. That is, as compared with the conventional motor, speed reducer, and actuator in which the load is arranged in a straight line, the space is saved in the direction of the rotation axis, and the level adjustment of the rotation axis at the time of installation is unnecessary, and the work efficiency is improved.

  The speed reducer 110 has a casing 112 that houses the speed reduction mechanism 118. Since the flywheel 180 is used for power transmission between the hollow motor 170 and the speed reducer 110, the motor rotor (rotary shaft of the hollow motor) 172 and the input shaft 116 of the speed reducer 110 are not shared. For this reason, when exchanging the hollow motor 170 and the speed reducer 110 (replacement, repair, inspection, etc.), it is not necessary to disassemble the components that are not replaced, and the hollow motor 170 and the speed reducer 110 are independent. It is possible to keep. In other words, in the event of a failure, replacement is easy for each motor and reducer.

  At the same time, as shown in FIG. 4, the hollow motor 170 or the speed reducer 110 has a common engagement size with the support portion 102 and the flywheel 180, and if there is no interference between the outer dimensions, the output, the reduction ratio, or It can be easily changed to one having a different connection shape to the load. That is, if the coupling dimensions of the hollow motor 170 and the speed reducer 110 are common and the outer diameter d2 of the mounting portion 114 is smaller than the hollow inner diameter D2 of the motor rotor 172 of the hollow motor 170, the speed reducer 110 with various reduction ratios or various By changing to the hollow motor 170, the reduction ratio and output can be easily changed.

  In addition, if the size of the connection between the fly hole 180 and the hollow motor 170 and the speed reducer 110 is the same, it is possible to select an optimum one according to the output of the hollow motor 170 and the speed reducer 110. That is, it is possible to select an optimum weight and diameter in accordance with the motor output and the reduction ratio, thereby preventing resonance due to mismatch between the hollow motor 170 and the reduction gear 110, and the hollow motor 170 and the reduction gear. The power transmission with 110 can be optimized.

  Further, since the hollow inner diameter D2 of the motor rotor 172 of the hollow motor 170 is larger than the outer diameter D2 of the mounting portion 114 provided on the outer periphery of the casing 112, the speed reducer 110 can be passed through the hollow space of the hollow motor 170. it can. That is, by removing the flywheel 180, there is no need to remove the hollow motor 170 from the support portion 102, and the reduction gear 110 can be easily repaired or replaced.

  The present invention is not limited to the reduction gears 110 and 110a being attached only to the same side of the support portion 102 as the attachment surface of the hollow motor 170 (for example, the support portion 102a side in FIG. 5). As shown in FIG. 5, when the outer diameter d3 of the casing 112b excluding the attachment portion 114b is smaller than the hollow inner diameter D1 of the extraction hole 104 of the support portion 102, the casing 112b excluding the attachment portion 114b is taken into the extraction hole 104. The reduction gear 110b can be attached to the opposite side of the side surface 102a of the support portion 102 (the support portion 102b side: the anti-hollow motor side) via the attachment portion 114b. In this case, when replacing the speed reducer 110b, it is possible to omit the trouble of removing the cover 186 and the flywheel 180, and further, the hollow inner diameter D2 of the motor rotor 172 and the outer diameter d3 of the mounting portion 114b. Even when the clearance between the motor rotor 172 and the reduction gear 110b is small, the reduction gear 110b can be efficiently replaced. Further, since the mounting surfaces of the reduction gear 110b and the support portion 102 of the hollow motor 170 are different, interference with the reduction gear 110b when the hollow motor 170 is attached / detached hardly occurs.

  In addition, although this embodiment assumed the ring shape as the hollow motor 170, this invention is not limited to this. For example, the hollow motor may have a polygonal outer peripheral shape or inner peripheral shape. That is, the present invention includes that the shapes of the motor rotor and the motor stator are appropriately determined according to the outer peripheral shape and inner peripheral shape of the hollow motor.

  In the present invention, the speed reducers 110, 110a and 110b are not limited to simple planetary gear speed reducers. For example, an external gear that swings and rotates by the rotation of the input shaft and an internal mesh planetary gear reducer that internally meshes with the external gear and outputs the relative rotation of the external gear, or a wave generator and flexspline Can be used as a speed reducer for an actuator with a built-in speed reducer according to the present invention as long as the external dimensions are suitable.

FIG. 2 is an exploded configuration diagram of a reduction gear built-in type actuator that is an embodiment of the present invention Assembly cross section Cross-sectional view of a reducer that can be used for an actuator with a built-in reducer The figure which showed the state of exchange of a reduction gear Illustration when the reducer is mounted on a side surface different from the mounting surface of the hollow motor of the support section

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 ... Reducer built-in type actuator 102 ... Support part 102a, 102b ... Side surface of support part 104 ... Reduction shaft output shaft taking-out hole 106, 108 ... Mounting hole 110, 110a, 110b ... Reducer 112, 112b ... Casing 114, 114b ... Mounting portion of casing 116 ... Input shaft of reduction gear 116a ... Recessed shape portion of input shaft 116b ... Key fitting portion 116c ... Shaft fitting portion 118 ... Deceleration mechanism 120, 120a, 120b ... Output shaft of reduction gear 122 ... Adapter plate 124 ... Joint cover 126 ... First casing 128 ... Second casing 130, 132, 158, 188, 188b, 190, 192 ... Bolts 134, 164, 166, 176, 178 ... Bearings 136, 168 ... Oil seal 138 ... First rotating shaft 140 ... first sun gear 142 ... first carrier Yapin 144 ... 1st planetary gear 146, 156 ... Internal gear 148 ... 1st flange body 148a ... Rotating shaft hole 150 ... 2nd sun gear 151 ... 2nd rotating shaft 152 ... 2nd carrier pin 154 ... 2nd planetary gear 160 ... Flange body 162 ... Auxiliary member 170 ... Hollow motor 172 ... Motor rotor 172a ... Motor rotor flange surface 174 ... Motor stator 180 ... Flywheel 182 ... Flywheel body 184 ... Flywheel input connection 184a ... Key shape of input connection Part 186 ... Cover

Claims (3)

A support portion having an extraction hole;
A speed reducer comprising: a casing attached to the support part via an attachment part; and a reduction mechanism housed in the casing and decelerating the rotation input from the input shaft to a predetermined rotational speed and transmitting it to the output shaft When,
A hollow motor having a motor rotor provided on an outer periphery of the speed reducer, and a motor stator to which the motor rotor is rotatably attached and attached to the support portion;
A flywheel attached to the motor rotor and provided with an input connection for connecting to the input shaft;
A reduction gear built-in type actuator characterized by comprising: In claim 1,
A reduction gear built-in type actuator, wherein a hollow inner diameter of a motor rotor of the hollow motor is larger than an outer diameter of the mounting portion. In claim 1 or 2,
A reduction gear built-in type characterized in that the hollow inner diameter of the extraction hole is larger than the outer diameter of the casing excluding the mounting portion, and the mounting portion of the reduction gear can be mounted on the side opposite to the hollow motor of the support portion. Actuator.

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