JP2683364B2 - Step motor - Google Patents
Step motorInfo
- Publication number
- JP2683364B2 JP2683364B2 JP63164771A JP16477188A JP2683364B2 JP 2683364 B2 JP2683364 B2 JP 2683364B2 JP 63164771 A JP63164771 A JP 63164771A JP 16477188 A JP16477188 A JP 16477188A JP 2683364 B2 JP2683364 B2 JP 2683364B2
- Authority
- JP
- Japan
- Prior art keywords
- gear
- flexible gear
- magnetic field
- elliptical shape
- rotating magnetic
- 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.)
- Expired - Fee Related
Links
Classifications
-
- 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
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
- Linear Motors (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 本発明は調和歯車装置を用いたステップモータに関
し、特に、調和歯車装置における可撓性歯車を楕円形形
状に変形させる手段を改良したものに関する。Description: TECHNICAL FIELD The present invention relates to a step motor using a harmonic gear device, and more particularly to an improved means for deforming a flexible gear in the harmonic gear device into an elliptical shape. .
従来のステップモータに用いられていた調和歯車装置
においては、可撓性歯車を回転磁界の磁力により可撓性
歯車の外方から吸引し、その吸引方向を長軸方向とする
楕円形形状を形成させ、可撓性歯車と円形歯車とを噛み
合わせていた。In the conventional harmonic gear device used for the step motor, the flexible gear is attracted from the outside of the flexible gear by the magnetic force of the rotating magnetic field, and the elliptical shape whose attraction direction is the major axis direction is formed. Then, the flexible gear and the circular gear are meshed with each other.
また、本件出願人の出願に係る特開昭61−231863号公
報では、可撓性歯車に永久磁石を配設し、可撓性歯車の
楕円形形状への変形を回転磁界と永久磁石との磁気吸引
力のみならず磁気反発力をも利用て行う発明が開示され
ている。Further, in Japanese Patent Application Laid-Open No. 61-231863 filed by the applicant of the present application, a permanent magnet is arranged in a flexible gear, and deformation of the flexible gear into an elliptical shape is performed by using a rotating magnetic field and a permanent magnet. An invention is disclosed in which not only the magnetic attraction force but also the magnetic repulsion force is used.
しかしながら、従来のステップモータは調和歯車装置
を各種モータ（サーボモータ等）に組み入れたものに比
較して、単位体積当たりの出力トルクが小さい。これ
は、可撓性歯車を回転磁界の磁力によって外方からのみ
撓ませているため、吸引力を大きくすることができず、
歯車の噛み合いによるトルクの伝達が制限されるからで
ある。However, the output torque per unit volume of the conventional step motor is smaller than that of the one in which the harmonic gear device is incorporated in various motors (servo motors, etc.). This is because the flexible gear is bent only from the outside by the magnetic force of the rotating magnetic field, so that the attractive force cannot be increased,
This is because torque transmission due to meshing of gears is limited.
本発明はこの制限を解消し、単位体積当たりの出力ト
ルクの大きいステップモータを実現することを目的とす
る。An object of the present invention is to solve this limitation and realize a step motor having a large output torque per unit volume.
この目的を達成するため、本発明ではステップモータ
に組み入れられた調和歯車装置の可撓性歯車を充分な力
で楕円形形状に変形させることのできる変形手段を配置
するようにしている。To achieve this object, the present invention is provided with a deforming means capable of deforming the flexible gear of the harmonic gear device incorporated in the step motor into an elliptical shape with sufficient force.
即ち、本発明の変形手段は可撓性歯車の外方からの回
転磁界の磁力による吸引という従来の手段に加えて、本
発明は可撓性歯車の内方から楕円形の短軸方向に前記回
転磁界に同期させて第二の回転磁界の磁力による吸引力
を作用させる手段または楕円形の長軸方向に前記回転磁
界に同期させて可撓性歯車の楕円形形状への変形を助長
させる力を作用させる手段を備えている。That is, in addition to the conventional means of deforming means of the present invention, which is the attraction by the magnetic force of the rotating magnetic field from the outside of the flexible gear, the present invention is directed to the elliptical minor axis direction from the inside of the flexible gear. Means for applying an attractive force by the magnetic force of the second rotating magnetic field in synchronization with the rotating magnetic field or force for promoting deformation of the flexible gear into an elliptical shape in synchronization with the rotating magnetic field in the major axis direction of the elliptical shape. Is provided with a means for acting.
本発明によれば、従来のステップモータに比較して可
撓性歯車の楕円形形状への変形が大きな作用力の下で確
実になされ、歯車の噛み合う力が増し、伝達し得るトル
クを増加させることができる。この結果、ステップモー
タの単位体積当たりの出力トルクを大きくすることがで
き、モータの小型化も可能となる。According to the present invention, the flexible gear is reliably deformed into an elliptical shape under a large acting force as compared with the conventional step motor, the meshing force of the gear is increased, and the torque that can be transmitted is increased. be able to. As a result, the output torque per unit volume of the step motor can be increased, and the motor can be downsized.
また、特開昭61−231863号公報に示すステップモータ
よりも簡単な構造のものを提供できるとともに、異なる
形式のステップモータを提供でき、ステップモータを使
用する装置の設計の自由度が増す。Further, it is possible to provide a structure having a simpler structure than the step motor shown in Japanese Patent Laid-Open No. 61-231863, and it is possible to provide a different type of step motor, which increases the degree of freedom in designing a device using the step motor.
実施例１ 第１図は可撓性歯車の内方から楕円形の短軸方向に磁
力による吸引力を作用させる手段として電磁石を用いた
実施例を示す。Example 1 FIG. 1 shows an example in which an electromagnet is used as a means for exerting an attractive force by a magnetic force from the inside of a flexible gear in the direction of the short axis of an ellipse.
可撓性外歯歯車３には、外方からは回転磁界２の磁力
による吸引力が作用し、この吸引方向が楕円形の長軸方
向となり、内方からは電磁石４によって生じる回転磁界
の磁力により楕円形の短軸方向に吸引力が作用する。こ
の両吸引力によって可撓性歯車の楕円形形状への変形の
正確性が向上する。An attractive force due to the magnetic force of the rotating magnetic field 2 acts on the flexible external gear 3 from the outside, the attracting direction becomes the elliptical major axis direction, and the magnetic force of the rotating magnetic field generated by the electromagnet 4 from the inside. The suction force acts in the direction of the minor axis of the ellipse. Both of these suction forces improve the accuracy of deformation of the flexible gear into an elliptical shape.
この場合、回転磁界２の磁力の吸引方向と電磁石４の
回転磁界の磁力の吸引方向は直交するようにすることが
必要であり、このため回転磁界２の磁力により可撓性歯
車が楕円形に変形したときに該楕円形の短軸上に位置す
る電磁石４が磁化されるように、適当な制御手段により
電磁石４に通電する。In this case, it is necessary to make the attraction direction of the magnetic force of the rotating magnetic field 2 and the attracting direction of the magnetic force of the rotating magnetic field of the electromagnet 4 orthogonal to each other. The electromagnet 4 is energized by appropriate control means so that the electromagnet 4 located on the minor axis of the ellipse is magnetized when deformed.
更に、両磁極による磁界の干渉の影響を少なくするた
め、円形歯車または可撓性歯車のいずれかを支持軸方向
（第１図を参照すれば、図面の紙面に垂直な方向）にず
らして取り付けるか、または可撓性歯車の幅を厚くして
磁束を通過させる。Further, in order to reduce the influence of the magnetic field interference caused by the two magnetic poles, either the circular gear or the flexible gear is mounted while being displaced in the support axis direction (the direction perpendicular to the plane of the drawing in FIG. 1). Alternatively, the width of the flexible gear is increased to allow the magnetic flux to pass.
実施例２ 第２図は実施例１の電磁石の代わりに永久磁石を用い
た実施例を示す。Example 2 FIG. 2 shows an example in which a permanent magnet was used instead of the electromagnet of Example 1.
この場合、回転磁界２の磁力の吸引方向と永久磁石６
の磁力の吸引方向は直交するように、即ち永久磁石６が
楕円形形状の短軸方向に位置するように適当な制御手段
により回転磁界２に同期させて永久磁石６を取り付けた
回転子５を回転させる。In this case, the magnetic attraction of the rotating magnetic field 2 and the permanent magnet 6
Of the rotor 5 having the permanent magnets 6 attached thereto in synchronism with the rotating magnetic field 2 by an appropriate control means so that the directions of attraction of the magnetic forces are orthogonal to each other, that is, the permanent magnets 6 are positioned in the minor axis direction of the elliptical shape. Rotate.
実施例３ 第３図は楕円形の長軸方向に可撓性歯車の楕円形形状
への変形を助長させる力を作用させる手段として圧電素
子を用いた実施例を示す。Embodiment 3 FIG. 3 shows an embodiment in which a piezoelectric element is used as a means for exerting a force that promotes the deformation of a flexible gear into an elliptical shape in the major axis direction of the ellipse.
圧電素子７を長軸方向に突出させることにより可撓性
歯車３の楕円形形状への変形を確実なものとするもので
ある。By projecting the piezoelectric element 7 in the long axis direction, the deformation of the flexible gear 3 into the elliptical shape is ensured.
圧電素子７は回転磁界２に同期して付勢されるように
圧電素子７を圧電素子用ドライバ（図示せず）により制
御する。The piezoelectric element 7 is controlled by a piezoelectric element driver (not shown) so that the piezoelectric element 7 is biased in synchronization with the rotating magnetic field 2.
第１図は電磁石を用いた実施例の側面図、 第２図は永久磁石を用いた実施例の側面図、 第３図は圧電素子を用いた実施例の側面図である。 〔符号の説明〕 １……円形内歯歯車 ２……回転磁界 ３……可撓性外歯歯車 ４……電磁石 ５……回転子 ６……永久磁石 ７……圧電素子 FIG. 1 is a side view of an embodiment using an electromagnet, FIG. 2 is a side view of an embodiment using a permanent magnet, and FIG. 3 is a side view of an embodiment using a piezoelectric element. [Description of symbols] 1 ... Circular internal gear 2 ... Rotating magnetic field 3 ... Flexible external gear 4 ... Electromagnet 5 ... Rotor 6 ... Permanent magnet 7 ... Piezoelectric element
Claims (3)
撓性歯車の外方から吸引し、その吸引方向を長軸方向と
する楕円形形状に変形させ、該可撓性歯車と円形歯車と
を噛み合わせる調和歯車装置を備えたステップモータに
おいて、楕円形形状に変形させられた可撓性歯車の内部
に一群の電磁石が回転磁界Ｂを構成するように円盤状に
配置され、楕円形形状の短軸方向に位置する電磁石が回
転磁界Ａに同期して励磁されることを特徴とするステッ
プモータ。1. A flexible gear is attracted from the outside of the flexible gear by a magnetic force of a rotating magnetic field A, and is deformed into an elliptical shape having a major axis direction as the attraction direction. In a step motor having a harmonic gear device that meshes with a circular gear, a group of electromagnets are arranged in a disk shape so as to form a rotating magnetic field B inside a flexible gear deformed into an elliptical shape. A step motor in which an electromagnet positioned in the minor axis direction of the shape is excited in synchronization with a rotating magnetic field A.
性歯車の外方から吸引し、その吸引方向を長軸方向とす
る楕円形形状に変形させ、該可撓性歯車と円形歯車とを
噛み合わせる調和歯車装置を備えたステップモータにお
いて、楕円形形状に変形させられた可撓性歯車の内部に
設けられた回転子の一の直径方向の両端に一対の永久磁
石を備え、該永久磁石が楕円形形状の短軸方向に位置す
るように回転磁界に同期させて該回転子を回転させるこ
とを特徴とするステップモータ。2. A flexible gear is attracted from the outside of the flexible gear by the magnetic force of a rotating magnetic field, and is deformed into an elliptical shape having the major axis direction as the attraction direction, and the flexible gear and the circular shape. In a step motor having a harmonic gear device that meshes with a gear, a pair of permanent magnets are provided at both ends in a diameter direction of a rotor provided inside a flexible gear deformed into an elliptical shape, A step motor characterized by rotating the rotor in synchronism with a rotating magnetic field so that the permanent magnet is located in the minor axis direction of the elliptical shape.
性歯車の外方から吸引し、その吸引方向を長軸方向とす
る楕円形形状に変形させ、該可撓性歯車と円形歯車とを
噛み合わせる調和歯車装置を備えたステップモータにお
いて、楕円形形状に変形させられた可撓性歯車の内部に
設けられた回転子の外周にほぼ等間隔に取り付けられた
複数の圧電素子を備え、楕円形形状の長軸方向に位置す
る圧電素子が回転磁界に同期して付勢されることを特徴
とするステップモータ。3. A flexible gear is attracted from the outside of the flexible gear by the magnetic force of a rotating magnetic field, and is deformed into an elliptical shape with the attraction direction being the major axis direction, and the flexible gear and the circular shape. In a step motor equipped with a harmonic gear device that meshes with a gear, a plurality of piezoelectric elements mounted at substantially equal intervals on the outer periphery of a rotor provided inside a flexible gear deformed into an elliptical shape are provided. A stepping motor, comprising: an ellipse-shaped piezoelectric element located in a long axis direction and biased in synchronization with a rotating magnetic field.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63164771A JP2683364B2 (en) | 1988-07-01 | 1988-07-01 | Step motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63164771A JP2683364B2 (en) | 1988-07-01 | 1988-07-01 | Step motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0217857A JPH0217857A (en) | 1990-01-22 |
| JP2683364B2 true JP2683364B2 (en) | 1997-11-26 |
Family
ID=15799623
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63164771A Expired - Fee Related JP2683364B2 (en) | 1988-07-01 | 1988-07-01 | Step motor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2683364B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015162673A1 (en) * | 2014-04-21 | 2015-10-29 | 株式会社安川電機 | Motor |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2716515B1 (en) * | 1994-02-24 | 1997-01-10 | Sfim Ind | Ripple drive type rotary drive. |
-
1988
- 1988-07-01 JP JP63164771A patent/JP2683364B2/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015162673A1 (en) * | 2014-04-21 | 2015-10-29 | 株式会社安川電機 | Motor |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0217857A (en) | 1990-01-22 |
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Legal Events
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