JP4701337B2 - Double speed resolver - Google Patents

Description

  The present invention relates to a multi-speed resolver, and more particularly, to a novel improvement for achieving a large reduction ratio and miniaturization by configuring a reduction mechanism using a planetary gear.

As this type of double-speed resolver that has been conventionally used, the configuration shown in Patent Document 1 described later is shown in FIGS.
Conventionally, a resolver capable of detecting the rotation angle of one rotation of the attached shaft is disposed on the rotation shaft and the deceleration shaft that has reduced the rotation of the rotation shaft, thereby providing a plurality of rotation angles of the rotation shaft. There are known absolute reluctance resolvers that can be detected over several revolutions, for example several hundred revolutions. FIG. 3 is an axial sectional view showing an example of an absolute encoder in which three reluctance type resolvers are arranged on a concentric shaft, and FIG. 4 is a sectional view taken along the line II of FIG. Three resolvers consisting of stators 1, 2, 3 and rotors 4, 5, 6 are arranged on concentric shafts, made of aluminum die cast or resin to secure winding spacers and avoid magnetic interference between resolvers The spacers 7, 8, 9 are arranged at intervals. The input shaft 10 is supported by casings 13 and 14 via bearings 11 and 12. A non-magnetic gear 15 and the rotor 4 are fitted to the input shaft 10. A shaft 16 arranged in parallel to the input shaft 10 is supported by the casing 13 and the casing 14 via a bearing (not shown). A non-magnetic gear 17 and non-magnetic gears 18 and 19 are fitted on the shaft 16.

  The non-magnetic gear 20 and the rotor 5 are attached to the input shaft 10 via bearings 21. The non-magnetic gear 22 and the rotor 6 are attached to the input shaft 10 via bearings 23. The reduction gear mechanism is configured by the meshing of the gear 15 and the gear 17, the gear 18 and the gear 20, and the gear 19 and the gear 22. The gear 20 and the rotor 5, and the gear 22 and the rotor 6 are bonded to each other, and by the reduction gear mechanism, the rotor 5 rotates once when the input shaft 10 rotates 24 times, and the rotor 6 rotates once when the input shaft 10 rotates 25 times. It is configured as follows.

  As shown in FIG. 4, each of the stator 2 and the rotor 5 is formed by punching and laminating thin magnetic materials, and the rotor 5 has a cylindrical shape and rotates eccentrically with respect to the rotation center. It is configured. The stator 2 has four pole teeth 30 to 33, and four windings 34 to 37 are wound around these pole teeth 30 to 33, and the rotor 4, 5, 6 rotates to rotate the rotor 4. The magnetic resistance is changed by the change of the air gap between the pole teeth 30 to 33 of the stators 5 and 6 and the stators 1, 2 and 3.

This change can be detected by a change in inductance of each winding, and the absolute position can be detected up to 25 rotations of the input shaft 10. Also, the two resolvers comprising the stators 1 and 3 and the rotors 4 and 6 have the same structure as the stator 2 and the rotor 5, and the absolute position can be detected for 1 rotation and 24 rotations of the input shaft, respectively. By further numerically processing the three absolute position detection values by the two resolvers, the position of 600 rotations of the input shaft 10 can be detected with high accuracy.
In addition, as another double speed sensor, there is a differential planetary type double speed sensor of Patent Document 2, in which a pair of rotation detection sensors are provided at both ends of the case via a differential planetary gear portion. Yes.
In addition, as another multi-speed sensor, there is a multi-rotation type absolute encoder disclosed in Patent Document 3, in which a speed reduction unit is provided in the center of the case, and a pair of encoders are arranged on both sides of the speed reduction unit to form a multi-speed. ing.
Furthermore, as a rotation detection mechanism using a planetary gear, the configuration of Patent Document 4 can be given, and a rotation detection unit having a reflective surface 4a and a non-reflective surface 4b is rotated through a speed reduction mechanism using a planetary gear. Rotation detection.

Japanese Patent Laid-Open No. 10-146033 JP 9-2111015 A Japanese Patent Laid-Open No. 11-132792 JP 2000-19589 A

Since the conventional double-speed resolver is configured as described above, the following problems exist.
That is, in the case of the above-described configuration of Patent Document 1, in order to obtain a multi-speed resolver, it is necessary to provide a plurality of rotating shafts and a large number of gears for reduction. Therefore, it is difficult to shorten the overall length in the axial direction, and it is difficult to obtain a flat structure.
Further, a spacer or the like for magnetically blocking each resolver is required, which is an obstacle to simplification and miniaturization of the structure.
Further, in the configurations of the above-mentioned Patent Documents 2 and 3, since the sensors are attached to both ends of the case to form a double speed sensor, each double speed sensor overlaps in the axial direction. It was difficult to shorten the length.
Furthermore, in the configuration of the above-mentioned Patent Document 4, rotation detection is performed using a rotation detection unit having a reflective surface and a non-reflective surface via a speed reduction mechanism. Therefore, it is difficult to reduce the size and the axial length.

The double-speed resolver structure according to the present invention includes a rotary shaft rotatably supported by a first bearing provided on a flange body of a casing, and a first stator of a ring-shaped stator provided on the rotary shaft and fixed to the casing side. A first annular rotor for forming a first resolver corresponding to the windings, a plurality of planetary gears meshing with the rotating shaft and rotating planetarily, and rotatably provided on the casing side via a second bearing A rotating member that meshes with the planetary gear and has a second annular rotor, and is provided on the annular stator to form a second resolver corresponding to the second annular rotor that is fixed to the casing side. A second stator winding, wherein the first and second stator windings are provided on a common annular stator, and the second annular rotor of the second resolver is interposed via the planetary gear. In multi-speed resolver so as to reduced rotation than serial first annular rotor, wherein the annular stator comprises a first plurality of which extends in the circumferential direction to penetrate in the axial direction, the second elongated hole a, the bearing holder by a screw which is provided on the first elongate hole is connected, a configuration in which the flange piece by a screw provided on the second elongated hole are connected, or the flange of the casing Is provided with a flange piece integral with the flange body, the flange piece is connected to one surface of the annular stator, and the second annular rotor is provided on the inner surface of the rotating member located outside the flange piece. A bearing holder for supporting a gear support member for supporting the planetary gear via a gear bearing is connected to the other surface of the annular stator, and the annular stator and The annular rotor is configured along the radial direction of the casing, and the annular stator and each annular rotor are positioned between the flange body and the planetary gear in the axial direction of the rotating shaft. The first stator winding is disposed on the inner surface side of the flange piece, and the second stator winding is disposed on the outer surface side of the flange piece. is there.

Since the double-speed resolver structure according to the present invention is configured as described above, the following effects can be obtained.
That is, in the case of the configuration of FIGS. 1 and 2, the nx-type second resolver on the side that detects multiple rotations is decelerated and rotated through a plurality of planetary gears, so that the shaft is compared to the conventional configuration. With only one gear, the number of gears is small and a large reduction ratio can be obtained, which can contribute to downsizing the overall shape of the reduction resolver.
In the case of the configuration of FIG. 1, in particular, a second annular rotor of an nx-type second resolver is provided on the inner surface of the rotating member meshing with the planetary gear, and the annular stator is passed through the annular fixed plate. Since it is provided, the first and second resolvers can be linearly arranged along the radial direction of the casing, and the overall length in the axial direction can be shortened compared to the conventional configuration, resulting in flattening, miniaturization, and low cost. As a result, mounting on automobiles, robots, etc. is improved. Further, since the annular stator is common to the stator windings, the assembly is easy. Moreover, since a plurality of long holes are formed in the ring-shaped stator. Magnetic interference between the first and second resolvers can be reduced.

  The present invention is to obtain a large reduction ratio using a planetary gear, thereby simplifying the structure and reducing the size.

Hereinafter, preferred embodiments of a multi-speed resolver structure according to the present invention will be described with reference to the drawings.
The same or equivalent parts as those in the conventional example will be described with the same reference numerals.
In FIG. 1, a reference numeral 50 indicates a casing including a flange body 13 having a protruding flange piece 72 and a rear casing 14, and the casing 50 is provided with first and second bearings 11 and 12. ing.

The first bearing 11 is a double bearing, and a rotary shaft 10 is rotatably provided on the first bearing 11.
A first annular rotor 4 and a rotary shaft gear 15 are provided around the rotary shaft 10, and a flange piece 72 fixed integrally to the flange body 13 includes the rotary shaft 10 and a rotary member 60 described later. It is located between the other end 60b. That is, the other end 60 b of the rotating member 60 is located outside the flange piece 72. The flange piece 72 is connected to one surface of a ring-shaped stator 1 having a large number of first and second magnetic poles 1A and 1B.

  On the inner surface 72 a side of the flange piece 72, a first stator winding 75 is provided on the first stator magnetic pole 1 </ b> A corresponding to the first annular rotor 4. The 1-ring rotor 4 constitutes a first resolver 73 that detects 1x (x is a shaft angle multiplier), that is, an angle of one rotation of the rotating shaft 10.

At the rear position of the rear casing 14, one end 60 a of a substantially cup-shaped rotating member 60 is rotatably provided via the second bearing 12, and the other end 60 b of the rotating member 60 is connected to the rear casing 14. It is extended to the flange body 13 side along the inner surface 14a vicinity.
An inner surface gear 61 is provided on the inner surface of the step portion 60e of the rotating member 60, and a second annular rotor 5 is provided on the inner surface 60f of the other end 60b.

On the outer surface 72b side of the flange piece 72, a second stator winding 75a is provided on the second magnetic pole 1B of the annular stator 1 corresponding to the second annular rotor 5, and this second stator winding 75a An nx-type second resolver 74 for performing multi-rotation detection of the rotating shaft 10 is constituted by the second annular rotor 5.
The ring-shaped stator 1 and the ring-shaped rotors 4 and 5 are arranged in a straight line at the same position in the axial direction of the rotary shaft 10 and overlapping in the radial direction of the casing 1. The annular stator 1 and the annular rotors 4 and 5 are disposed between the flange body 13 and the planetary gear 70 in the axial direction of the rotary shaft 10.
A bearing holder 72c is connected to the other surface of the annular stator 1, and a gear support member 71 having a pair of gear bearings 80 is provided on the bearing holder 72c.

  The gear support member 71 between the rotation shaft 10 and the rotation member 60 in the radial direction is provided with a planetary gear 70 that meshes with the rotation shaft gear 15 and the inner surface gear 61. A frame-like gear support member 71 that is rotatably supported via the gear bearings 80, 80 is attached so as to be movable between the flange piece 72 and the outer periphery of the rotary shaft 10, so that Although only one is shown, for example, a known star-type planetary gear composed of three is configured.

As shown in FIG. 2, the annular stator 1 has a plurality of first and second elongated holes 1 a and 1 b that penetrate along the axial direction and are disposed along the circumferential direction. The first and second elongated holes 1a and 1b are formed alternately at predetermined angular intervals.
The screws 1c provided in the first long holes 1a are screwed into the bearing holders 72c, and the bearing holders 72c are attached to the other surface of the annular stator 1.
Screws (not shown) provided in the second long holes 1b are screwed into the flange pieces 72, so that the flange pieces 72 are attached to one surface of the ring-shaped stator 1.

Accordingly, the flange pieces 72 and the bearing holders 72c are alternately arranged with respect to the circumference of the annular stator 1, and the flange pieces 72 and the bearing holders 72c are intermittent with respect to the annular stator 1. And arranged circumferentially.
The long holes 1a and 1b not only connect the flange piece 72 and the bearing holder 72c to both surfaces of the annular stator 1 with screws 1c, but also reduce magnetic interference between the stator windings 75 and 75a. It also has an effect.

  In the above configuration, when the rotary shaft 10 is rotated by the rotation of a rotating body such as a robot or an automobile, the rotation angle within one rotation of the rotary shaft 10 is detected by the first resolver 73 and interlocked with the rotation of the rotary shaft 10. Then, the ring-shaped rotating member 60 is further decelerated and rotated by the planetary gear 70 that rotates at a reduction ratio of 1 / n, and the second ring-shaped rotor 5 (its known gap vermance changes so that multiple rotations can be detected). The second resolver 74 detects multiple rotations of the rotary shaft 10 by the rotation of the rotary shaft 10.

  The present invention can be applied to a structure in which rotation detection is performed by a rotary code plate using a light emitting element and a light receiving element instead of a resolver.

1 is a half sectional view showing a first form of a double speed resolver structure according to the present invention. It is AA sectional drawing of FIG. It is a longitudinal cross-sectional view which shows the conventional double speed resolver structure. It is II sectional drawing of FIG.

DESCRIPTION OF SYMBOLS 1 Ring-shaped stator 1a, 1b 1st, 2nd long hole 1c Screw 4 1st ring-shaped rotor 5 2nd ring-shaped rotor 10 Rotating shaft 11 First bearing 12 Second bearing 13 Flange body 14 Rear casing 15 Rotating shaft gear 50 Casing 60 Rotation Member 60a one end 60b other end 61 inner surface gear 70 planetary gear 71 gear support member 72 flange piece 72c bearing holder 73 first resolver 74 second resolver 75 first stator winding 75a second stator winding 80 gear bearing

Claims (5)

A rotating shaft (10) rotatably supported by a first bearing (11) provided on a flange body (13) of a casing (50), and a rotating shaft (10) provided on the casing (50) side. A first annular rotor (4) for forming a first resolver (73) corresponding to the first stator winding (75) of the fixed annular stator (1) meshes with the rotating shaft (10). A plurality of planetary gears (70) rotating in a planetary manner, and rotatably provided on the casing (50) side via a second bearing (12) and meshing with the planetary gear (70) and a second annular rotor (5 ) And a ring-shaped stator (1) for forming a second resolver (74) corresponding to the second ring-shaped rotor (5) provided fixed to the casing (50) side. A second stator winding (75a) provided on the
The first and second stator windings (75, 75a) are provided on the common annular stator (1), and the second annular rotor (5) of the second resolver (74) is connected to the planetary gear (70). in multi-speed resolver that is configured to decelerate rotation than the first annular rotor (4) through said annular stator (1) is extended along the circumferential direction to penetrate in the axial direction A plurality of first and second long holes (1a, 1b), and the bearing holder (72c) is connected by a screw (1c) provided in the first long hole (1a). The double speed resolver, wherein the flange piece (72) is connected by a screw provided in (1b) .   The flange body (13) of the casing (50) is provided with a flange piece (72) integral with the flange body (13), and the flange piece (72) is connected to one surface of the annular stator (1), The second annular rotor (5) is provided on the inner surface (60f) of the rotating member (60) located outside the flange piece (72), and the planetary gear is provided on the other surface of the annular stator (1). The multi-speed resolver according to claim 1, wherein a bearing holder (72c) for supporting a gear support member (71) for supporting (70) via a gear bearing (80) is connected.   The multi-speed resolver according to claim 1 or 2, wherein the annular stator (1) and each annular rotor (4, 5) are arranged along a radial direction of the casing (50).   The annular stator (1) and each annular rotor (4, 5) are positioned between the flange body (13) and the planetary gear (70) in the axial direction of the rotating shaft (10). The double-speed resolver according to any one of claims 1 to 3.   The first stator winding (75) is disposed on the inner surface (72a) side of the flange piece (72), and the second stator winding (75a) is disposed on the outer surface (72b) side of the flange piece (72). The double-speed resolver according to claim 1, wherein:

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