JP2019058031A - Series of electric actuators - Google Patents

Abstract

To provide a series of electric actuators capable of easily determining the constitution of electric actuator while reducing the cost by reducing the kinds of component parts for the series of the electric actuators.SOLUTION: Each of respective housings 11, 21, 31, 41 of component parts 10, 20, 30, 40 has at least either one of a convex fitting part 51 and a concave fitting part 52. Each of revolving shafts 12, 22, 32, 42 of the component parts 10, 20, 30, 40 has at least either one of a torque output part 61 and a torque input part 62. The convex fitting part 51 formed in the housing of the respective component parts is capable of being fitted with the concave fitting part 52 which is formed in the housing of any of the other component parts. The torque output part 61 formed on the revolving shaft of the respective component parts is capable of connected with torque input part 62 formed on the revolving shaft of any of component parts.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a series of electric actuators that constitute an electric actuator by connecting a plurality of components selected from three or more types of components.

  In the following Patent Document 1, a plurality of types of motors, a reduction gear unit, and a plurality of types of linear operation units are prepared. Various combinations of motors, reduction gear units, and linear operation units are selected as appropriate. A series of linear actuators that can constitute the actuator is shown.

Japanese Patent No. 5871643

  In the series of linear actuators disclosed in Patent Document 1, an adapter and an attachment are interposed as necessary when connecting the motor and the speed reducer. In this case, it is necessary to include adapters and attachments as parts constituting the series, and the number of components to be prepared increases, resulting in high costs. In addition, when determining the configuration of a linear actuator using series components, it is necessary to consider the types and combinations of adapters and attachments that are interposed between the motor and the reducer. It takes time to decide.

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to reduce the number of components of the series of electric actuators, thereby reducing the cost and facilitating determination of the configuration of the electric actuator.

  In order to achieve the above object, the present invention comprises three or more types of components each including a housing and a rotating shaft and including at least a motor portion, and a plurality of components selected from these components. In a series of electric actuators that can be connected to form an electric actuator, the housing of each component is a convex fitting portion and a concave fitting that can be fitted with a convex fitting portion provided on the housing of another component. At least one of the fitting portions, and the rotation shaft of each component is a torque output portion, and a torque input portion that can be connected to a torque output portion provided on the rotation shaft of another component so as to be able to transmit torque. Among them, at least one is provided, and the convex fitting portion provided in the housing of each component can be fitted with the concave fitting portion provided in the housing of any other component. Torque output portion provided on the rotary shaft of each component provides a series of electric actuator is connectable even a torque input unit provided on a rotary shaft of any other component.

  In this way, any two configurations can be achieved by allowing the convex fitting portion provided in the housing of each component to be fitted with the concave fitting portion provided in the housing of any other component. Since the convex fitting portion and the concave fitting portion of the housing of the component can be fitted, the housings of both components can be directly connected without using an adapter or an attachment. In addition, the torque output unit provided on the rotating shaft of each component can be connected to the torque input unit provided on the rotating shaft of any other component, thereby rotating any two components. Since the torque output part of the shaft and the torque input part can be connected so as to be able to transmit torque, the rotating shafts of both components can be directly connected without using an adapter or an attachment. This eliminates the need for adapters and attachments as series components, reducing the types of components to be prepared, and eliminating the need to study the types and combinations of adapters and attachments interposed between components. .

  The electric actuator series includes, as a component, for example, a linear motion conversion unit that has an output shaft inserted in the inner periphery of the rotary shaft, and converts rotation of the rotary shaft into axial movement of the output shaft. Can be included. In this case, if each of the rotating shafts of the component parts has a cylindrical shape in which the output shaft can be inserted into the inner periphery, the output shaft of the linear motion conversion unit is connected to the inner periphery of the rotating shaft of the other component parts. Since it can be inserted, the stroke of the output shaft can be increased.

  In the series of electric actuators described above, it is preferable that the cross-sectional shapes orthogonal to the axial direction of the outermost peripheral portion of the housing of each component are the same. In this case, since the electric actuator configured by connecting a plurality of components has a columnar shape (for example, a prismatic shape) as a whole, it can be easily incorporated into other devices. The outermost peripheral portion of the housing refers to a region (axial region) farthest from the axis of the rotating shaft on the outer peripheral surface of the housing.

  As described above, according to the electric actuator series of the present invention, the housings of the plurality of component parts and the rotating shafts can be directly connected without using an adapter or an attachment. This reduces the cost and reduces the cost, and facilitates the determination of the configuration of the electric actuator using the series components.

It is a side view which shows the component of the series of an electric actuator. It is sectional drawing which shows an example of the electric actuator formed using the component of the series of FIG. It is a perspective view of the electric actuator of FIG. It is the perspective view which looked at the reduction gear from the downstream. It is the perspective view which looked at the reduction gear from the upstream. It is sectional drawing which shows the other example of the electric actuator formed using the component of the series of FIG. It is sectional drawing which shows the further another example of the electric actuator formed using the component of the series of FIG. It is sectional drawing which shows the other example of an electric actuator. It is a perspective view which shows the other example of a reduction gear.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  The series of the electric actuator according to the present embodiment has three or more types of components. For example, as shown in FIG. 1, the motor unit 10, the speed reducer unit 20, and the reverse input prevention unit 30 are used as the components. One or a plurality of linear motion conversion units 40 are provided. In the illustrated example, two types of motor units 10 with different outputs, two types of reducer units 20 with different reduction ratios, one type of reverse input prevention unit 30, and two types of linear motion conversion units 40 with different strokes are provided. Is provided. Each of the above components includes a housing and a rotating shaft.

  2 and 3 show an electric actuator in which the motor unit 10, the speed reducer unit 20, the reverse input prevention unit 30, and the linear motion conversion unit 40 are selected and connected one by one. Hereinafter, the details of each component will be described with reference to FIGS. 2 and 3. In the present specification, in the axial direction of the rotating shaft, the motor unit 10 side (right side in FIG. 2) is referred to as “upstream side”, and the linear motion conversion unit 40 side (left side in FIG. 2) is referred to as “downstream side”.

  The motor unit 10 includes a motor main body 10a and a control board unit 10b. The motor body 10 a includes a housing 11 and a rotating shaft 12 that is rotatably accommodated on the inner periphery of the housing 11. The housing 11 has the same cross-sectional shape (hereinafter referred to as a transverse section) in the direction perpendicular to the axial direction in the entire axial direction, and specifically, the transverse section is rectangular, particularly square (see FIG. 3). . As shown in FIG. 2, the rotating shaft 12 is attached to the housing 11 through bearings 13 and 14 in the vicinity of the upstream and downstream ends, respectively. The motor unit 10 includes a stator coil 15 fixed to the housing 11 and a rotor magnet 16 fixed to the rotating shaft 12 as driving means for driving the rotating shaft 12. The control board portion 10b has a control board (not shown) that is electrically connected to the stator coil 15 of the motor body 10a. By energizing the stator coil 15 via the control board of the control board portion 10b, the rotor magnet 16 and the rotating shaft 12 rotate integrally. The motor unit 10 may not be provided with the control board unit 10b but may be configured only by the motor body 10a.

  The reduction gear unit 20 includes a housing 21 and a rotating shaft 22 that is rotatably accommodated on the inner periphery of the housing 21. The housing 21 has the same cross-sectional shape in the entire axial direction, and specifically has a rectangular cross section, particularly a square (see FIG. 3). As shown in FIG. 2, the rotating shaft 22 includes an input shaft 22a provided on the upstream side and an output shaft 22b provided on the downstream side. The output shaft 22 b is attached to the housing 21 via a bearing 24. The input shaft 22a is inserted into the inner periphery of the output shaft 22b, and the outer peripheral surface of the input shaft 22a is slidably supported by the inner peripheral surface of the output shaft 22b. The input shaft 22 a and the output shaft 22 b are connected via the speed reduction mechanism 23. In the illustrated example, the input shaft 22a and the output shaft 22b are arranged concentrically and coaxially. As the speed reduction mechanism 23, for example, an arbitrary mechanism such as a cycloid type, a planetary gear type, a planetary roller, or a wave gear can be employed. Via the speed reduction mechanism 23, the rotation of the input shaft 22a is decelerated and transmitted to the output shaft 22b.

  The reverse input preventing unit 30 includes a housing 31 and a rotating shaft 32 that is rotatably accommodated on the inner periphery of the housing 31. The housing 31 has the same cross-sectional shape in the entire axial direction, and specifically has a rectangular cross section, particularly a square (see FIG. 3). As shown in FIG. 2, the rotating shaft 32 includes an input shaft 32a provided on the upstream side and an output shaft 32b provided on the downstream side. The input shaft 32a and the output shaft 32b are each attached to the housing 31 via a bearing (not shown). The input shaft 32 a and the output shaft 32 b are connected via a reverse input prevention mechanism 33. In the illustrated example, the input shaft 32a and the output shaft 32b are arranged concentrically and coaxially. The rotational torque of the input shaft 32a is transmitted to the output shaft 32b through the reverse input prevention mechanism 33 at the same rotational speed regardless of whether it is forward rotation or reverse rotation. On the other hand, the rotational torque of the output shaft 32b is blocked by the reverse input prevention mechanism 33 and is not transmitted to the input shaft 32a regardless of whether it is forward rotation or reverse rotation. As a specific configuration of the reverse input prevention mechanism 33, any known configuration can be employed. The reverse input prevention unit 30 is preferably provided between the speed reducer unit 20 and the linear motion conversion unit 40.

  The linear motion conversion unit 40 includes a housing 41, a rotating shaft 42 that is rotatably accommodated on the inner periphery of the housing 41, and an output shaft 43 that is inserted on the inner periphery of the rotating shaft 42. In the illustrated example, the rotating shaft 42 and the output shaft 43 are arranged concentrically and coaxially. The housing 41 has a rectangular tube portion 41a and a cylindrical portion 41b provided on the downstream side of the rectangular tube portion 41a, and the rectangular tube portion 41a is the outermost peripheral portion (see FIG. 3). The rectangular tube portion 41a has the same cross-sectional shape in the entire axial direction, and specifically has a rectangular cross section, particularly a square. The cylindrical portion 41b is provided so as to protrude downstream from the downstream side surface of the rectangular tube portion 41a. As shown in FIG. 2, the rotating shaft 42 is attached to the housing 41 via bearings 44 and 45 at two locations separated in the axial direction. On the inner peripheral surface of the rotating shaft 42 and the outer peripheral surface of the output shaft 43, thread grooves that are screwed together are formed. In the illustrated example, a sliding screw mechanism is configured by the rotation shaft 42 and the output shaft 43, and the output shaft 43 moves in the axial direction as the rotation shaft 42 rotates. Note that the linear motion conversion unit 40 may employ a ball screw mechanism in addition to the sliding screw mechanism.

  As shown in FIG. 3, the motor unit 10, the speed reducer unit 20, the reverse input prevention unit 30, and the linear motion conversion unit 40 are arranged in the axial direction, and the housings 11, 21, 31, 41 (square tube portions 41a) are arranged. ) By inserting bolts (not shown) into the axial through holes provided at the four corners of the housing 11, and holding and fixing the housings 11, 21, 31, 41 from both sides in the axial direction with these bolts and nuts (not shown), These are integrated to form an electric actuator. The fixing method of the housings 11, 21, 31, 41 is not limited to the above. For example, a female screw is formed in the through hole of the housing arranged at the axial end (the end opposite to the bolt head). The housing 11, 21, 31, 41 can also be fixed by tightening a bolt inserted into a through hole of another housing to the female screw.

  In the series of electric actuators described above, at least one of a convex fitting portion and a concave fitting portion is provided on the side surface of the housing of each component. In the present embodiment, as shown in FIG. 1, on the downstream side surfaces of the housings 11 of all the motor units 10, the housings 21 of the speed reducer units 20, and the housings 31 of the reverse input prevention unit 30, respectively. A convex fitting portion 51 is provided. For example, as shown in FIG. 4, a convex fitting portion 51 protruding downstream is provided on the downstream side surface of the housing 21 of the speed reducer portion 20. The convex fitting part 51 of the illustrated example has a cylindrical outer peripheral surface, and is particularly arranged adjacent to the large-diameter outer peripheral surface 51a disposed on the upstream side and the downstream side of the large-diameter outer peripheral surface 51a, A small-diameter outer peripheral surface 51b having a smaller diameter than the large-diameter outer peripheral surface 51a. A convex fitting portion 51 having the same shape as the convex fitting portion 51 shown in FIG. 4 is also provided on the downstream side surface of the housing 11 of the motor portion 10 and the housing 31 of the reverse input preventing portion 30.

  On the other hand, as shown in FIG. 1, concave portions are respectively formed on the upstream side surfaces of the housings 21 of the reduction gear units 20, the housings 31 of the reverse input prevention units 30, and the housings 41 of the linear motion conversion units 40 constituting the series. A fitting portion 52 is provided. The concave fitting portion 52 has a shape that can be fitted to the convex fitting portion 51. For example, a concave fitting portion 52 as shown in FIG. 5 is provided on the upstream side surface of the housing 21 of the speed reducer portion 20. The concave fitting portion 52 has a cylindrical inner peripheral surface that is slightly larger in diameter than the cylindrical outer peripheral surface of the convex fitting portion 51, and in particular, a large-diameter outer peripheral surface 51 a and a small diameter of the convex fitting portion 51. A large-diameter inner peripheral surface 52a and a small-diameter inner peripheral surface 52b each having a slightly larger diameter than the outer peripheral surface 51b are provided. When the convex fitting part 51 and the concave fitting part 52 are fitted, the housings connected via these are positioned with respect to each other in a plane orthogonal to the axial direction. A concave fitting portion 52 having the same shape as the concave fitting portion 52 shown in FIG. 5 is also provided on the upstream side surface of the housing 31 of the reverse input preventing portion 30 and the housing 41 of the linear motion converting portion 40.

  In the series of electric actuators described above, at least one of a torque output unit and a torque input unit is provided at the end of the rotating shaft of each component. In the present embodiment, as shown in FIG. 1, the rotation shafts 12 of all the motor units 10 constituting the series, the rotation shaft 22 (output shaft 22 b) of the reduction gear unit 20, and the rotation shaft 32 of the reverse input prevention unit 30. A torque output unit 61 is provided at each downstream end of the (output shaft 32b). For example, a torque output unit 61 as shown in FIG. 4 is provided at the downstream end of the rotating shaft 22 (output shaft 22b) of the speed reducer unit 20. The torque output unit 61 has engaging pieces 61a provided at a plurality of locations (two locations facing each other in the diameter direction in the illustrated example) spaced apart in the circumferential direction.

  On the other hand, the rotating shaft 22 (input shaft 22a) of all the reduction gear units 20 constituting the series, the rotating shaft 32 (input shaft 32a) of the reverse input preventing unit 30, and the upstream side of the rotating shaft 42 of the linear motion converting unit 40. The torque input portions 62 are provided at the respective end portions. The torque input part 62 has a shape that can be engaged with the torque output part 61 in the rotational direction. For example, a torque input unit 62 as shown in FIG. 5 is provided at the upstream end of the rotating shaft 22 (input shaft 22a) of the speed reducer unit 20. The torque input portion 62 has engaging pieces 62a provided at a plurality of locations separated in the circumferential direction (two locations facing in the diametrical direction in the illustrated example). The circumferential interval between the plurality of engagement pieces 62 a of the torque input portion 62 is slightly larger than the circumferential dimension of the engagement pieces 61 a of the torque output portion 61. The engagement piece 61a of the torque output portion 61 is fitted between the engagement pieces 62a of the torque input portion 62, and the engagement pieces 61a and 62a are engaged with each other in the circumferential direction. The transmitted rotation shaft can transmit torque.

  As described above, all the convex fitting portions 51 and the concave fitting portions 52 provided in the housings of the components of the series have the same shape, so that no matter how the components are combined, these By fitting the convex fitting portion 51 and the concave fitting portion 52 of the housing, the housings can be positioned with respect to each other in the direction orthogonal to the axial direction. In addition, since all the torque output portions 61 and the torque input portions 62 provided on the rotation shafts of the components of the series have the same shape, the torque of these rotation shafts can be obtained regardless of how the components are combined. The output part 61 and the torque input part 62 can be connected so that torque can be transmitted. Therefore, when an electric actuator having a combination different from the above is formed, specifically, for example, an electric actuator including only the motor unit 10, the speed reducer unit 20, and the linear motion conversion unit 40 as illustrated in FIG. Even when an electric actuator including only the motor unit 10 and the linear motion conversion unit 40 as shown in FIG. 7 is formed, the respective components can be directly connected without using an adapter or an attachment.

  In addition, the convex fitting part 51 and the concave fitting part 52 of the housing of each component do not need to be completely the same shape, and can be fitted with the concave fitting part 52 and the convex fitting part 51 of other housings. If it is. For example, the thickness of the housing may be different depending on the component, or the axial dimensions of the convex fitting portion 51 and the concave fitting portion 52 may be slightly different. Further, the torque output part 61 and the torque input part 62 of the rotating shaft of each component do not need to be completely the same shape, and are connected to the torque input part 62 and the torque output part 61 of other rotating shafts so as to be able to transmit torque. If possible. For example, the thickness of the rotating shaft may be different depending on the component, or the axial dimension of the engaging piece 61a of the torque output unit 61 and the engaging piece 62a of the torque input unit 62 may be slightly different.

  As described above, series components (especially housings and rotating shafts) can be directly connected without an adapter or attachment, eliminating the need to prepare an adapter or attachment as a series component. Therefore, the number of components in the series is reduced and the cost is reduced. In addition, when selecting multiple components from a series of components to form an electric actuator, there is no need to consider the types and combinations of adapters and attachments that are interposed between adjacent components. Configuration determination is facilitated.

  Moreover, in this embodiment, the cross-sectional shape of the outermost periphery part of the housing of all the components which comprise a series is the same. Specifically, the cross-sections of the housing 11 of the motor unit 10, the housing 21 of the speed reducer unit 20, the housing 31 of the reverse input prevention unit 30, and the rectangular tube part 41a of the housing 41 of the linear motion conversion unit 40 have the same shape. Specifically, it has a square of the same size. When these housings 11, 21, 31, 41 are connected, the outer peripheral surfaces of the housings 11, 21, 31, 41 are continuous in the axial direction as shown in FIG. It becomes easy to incorporate in equipment.

  The present invention is not limited to the above embodiment. For example, the output shaft 43 of the linear motion conversion unit 40 may be insertable on the inner periphery of the rotation shaft of all the components constituting the series. Specifically, for example, as shown in FIG. 8, by slightly reducing the diameter of the thread groove formed on the inner peripheral surface of the rotation shaft 42 of the linear motion conversion unit 40 and the output shaft 43 that is screwed thereto, The output shaft 43 can be inserted into the inner periphery of the rotating shafts 12, 22, 32 of other components. Thereby, when the electric actuator including the linear motion conversion unit 40 is configured, the output shaft 43 can be retracted to the inner periphery of the rotating shafts 12, 22, 32 of other components as shown by the dotted line in FIG. 8. Therefore, the stroke of the output shaft 43 can be increased. In addition to the above, by forming a screw groove that is screwed with a screw groove of the output shaft 43 on the inner peripheral surface of the rotary shaft of all the component parts, the output shaft 43 can be connected to the inner circumference of the rotary shaft of the other component parts. It can also be made insertable.

  Moreover, the components of the series are not limited to the motor unit 10, the speed reducer unit 20, the reverse input prevention unit 30, and the linear motion conversion unit 40, but may include other components having a housing and a rotating shaft, or Any of the components may be omitted. For example, a parallel shaft type reduction gear unit 20 as shown in FIG. 9 may be included as a series component. The speed reducer portion 20 is provided with both a convex fitting portion 51 and a concave fitting portion 52 on one surface in the axial direction of the housing 21, and a torque input portion 62 provided on the input shaft 22a on this surface. And both the torque output parts 61 provided in the output shaft 22b are exposed. When the electric actuator is configured using the reduction gear unit 20, the upstream component (for example, the motor unit 10) and the downstream component (for example, the reverse input prevention unit 30 or the linear motion conversion unit 40) Both are attached to the side surface of one side in the axial direction of the housing 21 of the reduction gear unit 20.

DESCRIPTION OF SYMBOLS 10 Motor part 11 Housing 12 Rotating shaft 20 Reduction gear part 21 Housing 22 Rotating shaft 23 Deceleration mechanism 30 Reverse input prevention part 31 Housing 32 Rotation shaft 33 Reverse input prevention mechanism 40 Linear motion conversion part 41 Housing 42 Rotation shaft 43 Output shaft 51 Convex Fitting part 52 Recessed fitting part 61 Torque output part 62 Torque input part

Claims (3)

An electric actuator which has a housing and a rotating shaft and is composed of at least three types of components including at least a motor portion, and can be configured by connecting a plurality of components selected from these components. In the series of
The housing of each component includes at least one of a convex fitting portion and a concave fitting portion that can be fitted to a convex fitting portion provided in the housing of another component,
The rotating shaft of each component includes at least one of a torque output unit and a torque input unit that can be connected to a torque output unit provided on the rotating shaft of another component so as to be able to transmit torque,
The convex fitting portion provided in the housing of each component can be fitted with the concave fitting portion provided in the housing of any other component,
A series of electric actuators in which the torque output section provided on the rotating shaft of each component can be connected to the torque input section provided on the rotating shaft of any other component. As a component, it has an output shaft inserted in the inner periphery of the rotating shaft, and includes a linear motion conversion unit that converts rotation of the rotating shaft into axial movement of the output shaft,
2. The series of electric actuators according to claim 1, wherein each of the rotating shafts of each component has a cylindrical shape into which the output shaft can be inserted into an inner periphery. The series of electric actuators according to claim 1 or 2, wherein the cross-sectional shape in the direction orthogonal to the axial direction of the outermost peripheral portion of the housing of each component is the same.

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