JP4452976B2 - Magnetic Geneva gear mechanism - Google Patents

Magnetic Geneva gear mechanism Download PDF

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JP4452976B2
JP4452976B2 JP2003316775A JP2003316775A JP4452976B2 JP 4452976 B2 JP4452976 B2 JP 4452976B2 JP 2003316775 A JP2003316775 A JP 2003316775A JP 2003316775 A JP2003316775 A JP 2003316775A JP 4452976 B2 JP4452976 B2 JP 4452976B2
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magnetic
rotating body
rotating
gear mechanism
disk
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JP2005083487A (en
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憲二 原
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Yaskawa Electric Corp
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Description

本発明はＦＡ、ロボット等の位置検出器に用いられる多回転式エンコーダの多回転量を検出する為の非接触で大きな減速比が得られる磁気ゼネバ歯車機構に関する。   The present invention relates to a magnetic Geneva gear mechanism capable of obtaining a large reduction ratio in a non-contact manner for detecting a multi-rotation amount of a multi-rotation encoder used in a position detector such as an FA or a robot.

従来、円板状の磁性体で形成された回転体に回転軸に対して半径方向や周方向に多極着磁した磁気歯車機構を利用した多回転式エンコーダが開示されている（例えば、特許文献１参照）。
図７は多回転式エンコーダに用いられた従来の磁気歯車機構である。図において、１は第１回転体、２は第２回転体、１２は第１回転軸、２２は第２回転軸、１６は第１回転軸１２と直角方向に一方向に着磁された磁性体円板、２６はラジアル方向に多極着磁された第２回転体のリング状の磁性体部、２４は第２回転軸２２とリング状の磁性体部２６を固定する非磁性体円板である。
第１回転体と第２回転体は磁気的な結合をしており、第１回転体が１回転すると、第２回転体は２極分回転する。本従来例では、第２回転体のリング状の磁性体部２５はラジアル方向に１６極着磁されており、減速比１：８の磁気歯車機構を構成している。
図８はこの磁気歯車機構を用いた従来の多回転式エンコーダの適用例を示す斜視図である。多回転式エンコーダ４０は第１回転体、第２回転体および絶対値エンコーダ５０から構成される。多回転量を測定するモータ６０の回転軸に第１回転体の回転軸を、第２回転体の回転軸に絶対値エンコーダの回転軸を直結する。モータの回転数に対して絶対値エンコーダの回転数は１／８に減速され、絶対値エンコーダの回転角の読みから、モータ８回転分の多回転量を検出できる。 Conventionally, a multi-rotation encoder using a magnetic gear mechanism in which a multi-pole magnet is magnetized in a radial direction or a circumferential direction with respect to a rotating shaft on a rotating body formed of a disk-like magnetic body has been disclosed (for example, a patent) Reference 1).
FIG. 7 shows a conventional magnetic gear mechanism used in a multi-rotation encoder. In the figure, 1 is a first rotating body, 2 is a second rotating body, 12 is a first rotating shaft, 22 is a second rotating shaft, and 16 is magnetized in one direction perpendicular to the first rotating shaft 12. A body disk 26 is a ring-shaped magnetic body portion of the second rotating body magnetized in the radial direction, and 24 is a non-magnetic disk that fixes the second rotating shaft 22 and the ring-shaped magnetic body portion 26. It is.
The first rotating body and the second rotating body are magnetically coupled. When the first rotating body rotates once, the second rotating body rotates by two poles. In this conventional example, the ring-shaped magnetic body portion 25 of the second rotating body is magnetized in 16 poles in the radial direction to constitute a magnetic gear mechanism with a reduction ratio of 1: 8.
FIG. 8 is a perspective view showing an application example of a conventional multi-rotation encoder using this magnetic gear mechanism. The multi-rotation encoder 40 includes a first rotating body, a second rotating body, and an absolute value encoder 50. The rotary shaft of the first rotary body is directly connected to the rotary shaft of the motor 60 for measuring the multi-rotation amount, and the rotary shaft of the absolute value encoder is directly connected to the rotary shaft of the second rotary body. The rotational speed of the absolute value encoder is reduced to 1/8 with respect to the rotational speed of the motor, and a multi-rotation amount corresponding to 8 motor rotations can be detected from the reading of the rotational angle of the absolute value encoder.

このように、従来の磁気歯車機構は、回転軸と直角方向に１方向に着磁した第１回転体とラジアル方向に多極着磁した第２回転体との磁気的な結合を使って、非接触の減速機構を実現している。
国際公開第０３／０３６２３７号（第２図） As described above, the conventional magnetic gear mechanism uses the magnetic coupling between the first rotating body magnetized in one direction perpendicular to the rotation axis and the second rotating body magnetized in the radial direction. A non-contact reduction mechanism is realized.
International Publication No. 03/036237 (Fig. 2)

従来の歯車装置は、回転軸に対してラジアル方向に着磁しており、強い磁力を得るためには直径の大きいリング状磁性体を使用し、さらに内径と外径との差を大きくして磁軸方向の長さを確保する必要がある。しかし、内径と外径との差を大きくすると特に内径側の磁極ピッチが短くなり、磁力の強い磁化を得ることが難しい。従って、減速比が大きく、伝達力の大きい小型の磁気歯車機構が実現できないという問題があった。
本発明はこのような問題点に鑑みてなされたものであり、減速比が大きく取れ、伝達力の大きい小型の磁気ゼネバ歯車機構を提供することを目的とする。 The conventional gear unit is magnetized in the radial direction with respect to the rotating shaft. To obtain a strong magnetic force, a ring-shaped magnetic body having a large diameter is used, and the difference between the inner diameter and the outer diameter is increased. It is necessary to ensure the length in the magnetic axis direction. However, when the difference between the inner diameter and the outer diameter is increased, the magnetic pole pitch on the inner diameter side is particularly shortened, and it is difficult to obtain a strong magnetic force. Therefore, there is a problem that a small magnetic gear mechanism having a large reduction ratio and a large transmission force cannot be realized.
The present invention has been made in view of such problems, and an object of the present invention is to provide a small magnetic Geneva gear mechanism having a large reduction ratio and a large transmission force.

上記問題を解決するため請求項１記載の発明は、第１回転円板と第１回転軸から成る第１回転体と、第２回転円板と第２回転軸から成る第２回転体とから構成され、前記第１回転体と前記第２回転体の磁気的結合により回転運動を伝達する運動機構において、前記第１回転円板および前記第２回転円板は、少なくとも磁性円板の円周部が回転軸方向に磁軸を持つように多極着磁され、前記第２回転体の磁極数を前記第１回転体の磁極数より大きくし、前記第１回転体の磁極の一部と前記第２回転体の磁極の一部との間に、磁性体板を磁気的に絶縁して複数重ね合わせて形成した磁路形成部材を付加したことを特徴とする磁気ゼネバ歯車機構とするものである。
また、請求項２に記載の発明は、第１回転円板と第１回転軸から成る第１回転体と、第２回転円板と第２回転軸から成る第２回転体とから構成され、前記第１回転体と前記第２回転体の磁気的結合により回転運動を伝達する運動機構において、前記第１回転円板および前記第２回転円板は、非磁性円板の円周部に、回転軸方向に磁軸を持つ複数の永久磁石が取り付けられるか、回転円板全体が回転軸方向に磁軸を持つ複数の永久磁石から構成され、前記第２回転体の磁極数を前記第１回転体の磁極数より大きくし、前記第１回転体の磁極の一部と前記第２回転体の磁極の一部との間に、磁性体板を磁気的に絶縁して複数重ね合わせて形成した磁路形成部材を付加したことを特徴とする磁気ゼネバ歯車機構とするものである。

In order to solve the above-mentioned problem, the invention described in claim 1 includes a first rotating body composed of a first rotating disk and a first rotating shaft, and a second rotating body composed of a second rotating disk and a second rotating shaft. In the motion mechanism configured to transmit rotational motion by magnetic coupling of the first rotating body and the second rotating body, the first rotating disk and the second rotating disk are at least a circumference of the magnetic disk. A multi-pole magnetized so that the portion has a magnetic axis in the rotation axis direction, the number of magnetic poles of the second rotating body is larger than the number of magnetic poles of the first rotating body, and a part of the magnetic poles of the first rotating body A magnetic Geneva gear mechanism characterized in that a magnetic path forming member formed by overlapping a plurality of magnetic plates with magnetic insulation is added between a part of the magnetic poles of the second rotating body. It is.
The invention according to claim 2 comprises a first rotating body composed of a first rotating disk and a first rotating shaft, and a second rotating body composed of a second rotating disk and a second rotating shaft, In the motion mechanism that transmits rotational motion by magnetic coupling between the first rotating body and the second rotating body, the first rotating disk and the second rotating disk are arranged on a circumferential portion of a nonmagnetic disk, A plurality of permanent magnets having a magnetic axis in the direction of the rotation axis is attached, or the entire rotating disk is composed of a plurality of permanent magnets having a magnetic axis in the direction of the rotation axis, and the number of magnetic poles of the second rotating body is set to the first number. The number of magnetic poles is larger than the number of magnetic poles of the rotating body, and a plurality of magnetic plates are magnetically insulated and overlapped between a part of the magnetic poles of the first rotating body and a part of the magnetic poles of the second rotating body. The magnetic geneva gear mechanism is characterized in that the magnetic path forming member is added .

請求項１に記載の発明によると、少なくとも回転円板の円周部に、回転軸方向に磁軸を持つよう多極着磁したので、径方向に小さくでき、小型の磁気ゼネバ歯車機構を提供することができる。
また、請求項２に記載の発明によると、強い磁化をもたせた永久磁石を用いて回転体を構成したので、より伝達力の大きい小型の磁気ゼネバ歯車機構を提供することができる。
また、請求項３に記載の発明によると磁路形成部材を用いて１回転体と第２回転体を磁気的に結合したので、さらに伝達力の大きい小型の磁気ゼネバ歯車機構を提供することができる。
また、請求項４記載の発明によると、磁路形成部材は、磁気的に絶縁した磁性体板を複数重ね合わせて形成したので、この磁路形成部材により同一回転体の隣り合う磁極間で磁路が形成されてしまうことがないので、回転体の磁極の境目が磁路形成部材の下に来たときも伝達力が減衰しない。 According to the first aspect of the present invention, since the multipolar magnetization is provided so that at least the circumferential portion of the rotating disk has a magnetic axis in the direction of the rotation axis, a small magnetic Geneva gear mechanism that can be reduced in the radial direction is provided. can do.
According to the second aspect of the present invention, since the rotating body is configured using a permanent magnet having strong magnetization, a small magnetic Geneva gear mechanism having a larger transmission force can be provided.
According to the third aspect of the present invention, since the first rotating body and the second rotating body are magnetically coupled using the magnetic path forming member, it is possible to provide a small magnetic Geneva gear mechanism having a larger transmission force. it can.
According to the invention described in claim 4, since the magnetic path forming member is formed by superposing a plurality of magnetically insulated magnetic plates, a magnetic path is formed between adjacent magnetic poles of the same rotating body by the magnetic path forming member. Since no path is formed, the transmission force is not attenuated even when the boundary between the magnetic poles of the rotating body comes under the magnetic path forming member.

以下、本発明の実施の形態について図を参照して説明する。   Hereinafter, embodiments of the present invention will be described with reference to the drawings.

図１は、本発明の第１実施例を示す磁気ゼネバ歯車機構の斜視図である。図において１は第１回転体、２は第２回転体である。第１回転体１は、磁性体の第１回転円板１１と第１回転軸１２と第１回転円板１１の円周上の表層部に施された磁化部分１３から構成されている。同様に、第２回転体２は、磁性体の第２回転円板２１と第２回転軸２２と第２回転円板２１の円周上の表層部に施された磁化部分２３から構成されている。磁化部分の矢印は磁化の方向を示す。図に示すように回転軸方向に磁軸もつように磁化されており、第１回転体１は２極、第２回転体２は２４極に着磁されている。 FIG. 1 is a perspective view of a magnetic Geneva gear mechanism showing a first embodiment of the present invention. In the figure, 1 is a first rotating body and 2 is a second rotating body. The first rotating body 1 includes a magnetic first rotating disk 11, a first rotating shaft 12, and a magnetized portion 13 provided on a surface layer portion on the circumference of the first rotating disk 11. Similarly, the 2nd rotary body 2 is comprised from the magnetized part 23 given to the surface layer part on the circumference of the 2nd rotating disc 21, the 2nd rotating shaft 22, and the 2nd rotating disc 21 of a magnetic body. Yes. The arrow of the magnetized portion indicates the direction of magnetization. As shown in the figure, it is magnetized so as to have a magnetic axis in the direction of the rotation axis, the first rotating body 1 is magnetized to 2 poles, and the second rotating body 2 is magnetized to 24 poles.

次に本発明の第１実施例の動作について説明する。
図２は第１実施例における二つの回転体の位置関係を示すグラフで、横軸に第１回転体の回転角を、縦軸に第２回転体の回転角を示している。両回転体のお互いに異なる極性の磁化部分が対向するように、吸引力が働き、第１回転体の回転が、第２回転体に伝達される。本実施例では第１回転体が１／２回転するごとに第２回転体は１／２４回転する。従って、１：１２の減速比をもつ磁気ゼネバ歯車機構が実現できる。
本発明が従来の方法と異なる部分は、従来の方法では回転体の回転軸と直角方向に磁軸を持つ磁化を形成しているのに対し、本発明では回転体の回転軸方向に磁軸をもつ磁化を形成した点である。これにより、径方向に小さくでき、小型の磁気ゼネバ歯車機構を提供することができる。 Next, the operation of the first embodiment of the present invention will be described.
FIG. 2 is a graph showing the positional relationship between the two rotating bodies in the first embodiment. The horizontal axis represents the rotation angle of the first rotating body, and the vertical axis represents the rotation angle of the second rotating body. The attractive force acts so that the magnetized portions of different polarities of the two rotating bodies face each other, and the rotation of the first rotating body is transmitted to the second rotating body. In the present embodiment, every time the first rotating body rotates 1/2, the second rotating body rotates 1/24. Therefore, a magnetic Geneva gear mechanism having a reduction ratio of 1:12 can be realized.
Where the present invention differs from the conventional method, the conventional method forms magnetization having a magnetic axis in a direction perpendicular to the rotation axis of the rotating body, whereas in the present invention, the magnetic axis extends in the direction of the rotating axis of the rotating body. This is the point where the magnetization with Thereby, it can reduce in radial direction and can provide a small-sized magnetic Geneva gear mechanism.

図３は、本発明の第２実施例を示す磁気ゼネバ歯車機構の斜視図である。第１回転体１は、非磁性体円板１４と円板上の周囲に取り付けられた永久磁石１５から構成されている。同様に、第２回転体２は、非磁性体円板２４と円板上の周囲に取り付けられた永久磁石２５から構成されている。永久磁石に記入した矢印は磁化の方向を示す。図のように回転軸方向に磁軸を持つようにして永久磁石を取り付けており、第１回転体１は２極、第２回転体２は２４極の極数をもつ回転体を形成している。なお、動作については実施例１と同じである。両回転体とも永久磁石が非磁性円板に固定されているので、両回転体の永久磁石で発生した磁束が両回転体間で効率よく結合する。従って、実施例１に比べて強い伝達力が得られる。 FIG. 3 is a perspective view of a magnetic Geneva gear mechanism showing a second embodiment of the present invention. The 1st rotary body 1 is comprised from the nonmagnetic disk 14 and the permanent magnet 15 attached to the circumference | surroundings on a disk. Similarly, the 2nd rotary body 2 is comprised from the nonmagnetic disk 24 and the permanent magnet 25 attached to the circumference | surroundings on a disk. The arrow written on the permanent magnet indicates the direction of magnetization. As shown in the figure, a permanent magnet is attached so as to have a magnetic axis in the direction of the rotation axis. The first rotating body 1 forms a rotating body having 2 poles and the second rotating body 2 has a pole number of 24 poles. Yes. The operation is the same as in the first embodiment. Since the permanent magnets are fixed to the non-magnetic discs in both rotating bodies, the magnetic flux generated by the permanent magnets of both rotating bodies is efficiently coupled between the rotating bodies. Therefore, a stronger transmission force can be obtained than in the first embodiment.

図４は、本発明の第３実施例を示す磁気ゼネバ歯車機構の斜視図である。第１回転体、第２回転体の個々の構成は実施例２と同じであるが、両回転体の永久磁石が磁化の方向にギャップを介して重なるように配置されており、磁気的結合が強く、強い伝達力が得られる。また、回転体の径方法に小型化できるという特徴がある。 FIG. 4 is a perspective view of a magnetic Geneva gear mechanism showing a third embodiment of the present invention. The individual configurations of the first rotating body and the second rotating body are the same as in the second embodiment, but the permanent magnets of both rotating bodies are arranged so as to overlap with each other via a gap in the direction of magnetization, and the magnetic coupling is Strong and strong transmission power can be obtained. In addition, there is a feature that the diameter of the rotating body can be reduced.

図５は、本発明の第４実施例を示す磁気ゼネバ歯車機構の斜視図である。図６は、図５におけるＡ−Ａ線断面図である。第１回転体、第２回転体の個々の構成は実施例２と同じであるが、実施例２と異なる点は、磁路形成用部材３０を使って接近した両回転体の永久磁石間に磁路を形成している点である。磁路形成用部材３０により磁気的結合部分の磁束密度が増し、さらに強い伝達力が得られる。磁路形成用部材３０は複数の磁性体板を樹脂などの非磁性の材料を挟みながら重ね合わせており、同一回転体の隣り合う磁極間とこの磁路形成部材により磁路が形成されることがないので、回転体の磁極の境目が磁路形成部材の下に来たときも伝達力が減衰しない。 FIG. 5 is a perspective view of a magnetic Geneva gear mechanism showing a fourth embodiment of the present invention. 6 is a cross-sectional view taken along line AA in FIG. The individual configurations of the first rotating body and the second rotating body are the same as those of the second embodiment. However, the difference from the second embodiment is that the permanent magnets of both rotating bodies approaching each other using the magnetic path forming member 30 are different. This is a point forming a magnetic path. The magnetic path forming member 30 increases the magnetic flux density of the magnetic coupling portion, and a stronger transmission force is obtained. The magnetic path forming member 30 is formed by stacking a plurality of magnetic plates while sandwiching a non-magnetic material such as resin, and a magnetic path is formed between adjacent magnetic poles of the same rotating body by the magnetic path forming member. Therefore, the transmission force is not attenuated even when the boundary between the magnetic poles of the rotating body comes under the magnetic path forming member.

本発明の第１実施例を示す磁気ゼネバ歯車機構の斜視図The perspective view of the magnetic Geneva gear mechanism which shows 1st Example of this invention. 本発明の第１実施例における二つの回転体の位置関係を示すグラフThe graph which shows the positional relationship of the two rotary bodies in 1st Example of this invention. 本発明の第２実施例を示す磁気ゼネバ歯車機構の斜視図The perspective view of the magnetic Geneva gear mechanism which shows 2nd Example of this invention. 本発明の第３実施例を示す磁気ゼネバ歯車機構の斜視図The perspective view of the magnetic Geneva gear mechanism which shows 3rd Example of this invention. 本発明の第４実施例を示す磁気ゼネバ歯車機構の斜視図The perspective view of the magnetic Geneva gear mechanism which shows 4th Example of this invention. 図５におけるＡ−Ａ線断面図AA line sectional view in FIG. 従来の磁気歯車機構を示す斜視図A perspective view showing a conventional magnetic gear mechanism 従来の磁気歯車機構を用いた多回転式エンコーダへの適用例を示す斜視図A perspective view showing an application example to a multi-rotation encoder using a conventional magnetic gear mechanism

符号の説明Explanation of symbols

１ 第１回転体
２ 第２回転体
１１ 第１回転円板
１２ 第１回転軸
１３ 磁化部分
１４ 非磁性円板
１５ 永久磁石
１６ 磁性体円板
２１ 第２回転円板
２２ 第２回転軸
２３ 磁化部分
２４ 非磁性円板
２５ 永久磁石
２６ 磁性体部
３０ 磁路形成部材
４０ 多回転式エンコーダ
５０ 絶対値エンコーダ
６０ モータ DESCRIPTION OF SYMBOLS 1 1st rotary body 2 2nd rotary body 11 1st rotary disc 12 1st rotary shaft 13 Magnetization part 14 Nonmagnetic disc 15 Permanent magnet 16 Magnetic disc 21 Second rotary disc 22 2nd rotary shaft 23 Magnetization Portion 24 Nonmagnetic disk 25 Permanent magnet 26 Magnetic body portion 30 Magnetic path forming member 40 Multi-rotation encoder 50 Absolute value encoder 60 Motor

Claims (2)

第１回転円板と第１回転軸から成る第１回転体と、第２回転円板と第２回転軸から成る第２回転体とから構成され、前記第１回転体と前記第２回転体の磁気的結合により回転運動を伝達する運動機構において、前記第１回転円板および前記第２回転円板は、少なくとも磁性円板の円周部が回転軸方向に磁軸を持つように多極着磁され、前記第２回転体の磁極数を前記第１回転体の磁極数より大きくし、前記第１回転体の磁極の一部と前記第２回転体の磁極の一部との間に、磁性体板を磁気的に絶縁して複数重ね合わせて形成した磁路形成部材を付加したことを特徴とする磁気ゼネバ歯車機構。 A first rotating body composed of a first rotating disk and a first rotating shaft, and a second rotating body composed of a second rotating disk and a second rotating shaft, the first rotating body and the second rotating body. In the motion mechanism that transmits the rotational motion by magnetic coupling, the first rotating disc and the second rotating disc are multipolar so that at least a circumferential portion of the magnetic disc has a magnetic axis in the rotation axis direction. Magnetized, the number of magnetic poles of the second rotating body is made larger than the number of magnetic poles of the first rotating body, and between a part of the magnetic poles of the first rotating body and a part of the magnetic poles of the second rotating body A magnetic Geneva gear mechanism, characterized in that a magnetic path forming member formed by superposing a plurality of magnetic plates in a magnetically insulated manner is added . 第１回転円板と第１回転軸から成る第１回転体と、第２回転円板と第２回転軸から成る第２回転体とから構成され、前記第１回転体と前記第２回転体の磁気的結合により回転運動を伝達する運動機構において、前記第１回転円板および前記第２回転円板は、非磁性円板の円周部に、回転軸方向に磁軸を持つ複数の永久磁石が取り付けられるか、回転円板全体が回転軸方向に磁軸を持つ複数の永久磁石から構成され、前記第２回転体の磁極数を前記第１回転体の磁極数より大きくし、前記第１回転体の磁極の一部と前記第２回転体の磁極の一部との間に、磁性体板を磁気的に絶縁して複数重ね合わせて形成した磁路形成部材を付加したことを特徴とする磁気ゼネバ歯車機構。 A first rotating body composed of a first rotating disk and a first rotating shaft, and a second rotating body composed of a second rotating disk and a second rotating shaft, the first rotating body and the second rotating body. In the motion mechanism that transmits the rotational motion by magnetic coupling, the first rotating disc and the second rotating disc are a plurality of permanent magnets having a magnetic axis in the rotation axis direction at the circumferential portion of the nonmagnetic disc. A magnet is attached, or the entire rotating disk is composed of a plurality of permanent magnets having a magnetic axis in the direction of the rotation axis, and the number of magnetic poles of the second rotating body is made larger than the number of magnetic poles of the first rotating body . A magnetic path forming member formed by magnetically insulating and overlapping a plurality of magnetic plates is added between a part of the magnetic poles of one rotating body and a part of the magnetic poles of the second rotating body. Magnetic Geneva gear mechanism.
JP2003316775A 2003-09-09 2003-09-09 Magnetic Geneva gear mechanism Expired - Fee Related JP4452976B2 (en)

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JP4975144B2 (en) * 2009-07-30 2012-07-11 キヤノン株式会社 Driving device and image forming apparatus
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