JP6882775B2 - Motor unit - Google Patents

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JP6882775B2
JP6882775B2 JP2017526210A JP2017526210A JP6882775B2 JP 6882775 B2 JP6882775 B2 JP 6882775B2 JP 2017526210 A JP2017526210 A JP 2017526210A JP 2017526210 A JP2017526210 A JP 2017526210A JP 6882775 B2 JP6882775 B2 JP 6882775B2
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gear
output shaft
driven gear
rotating body
rear side
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JPWO2017002465A1 (en
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徳和 佐藤
徳和 佐藤
小田桐　琴也
琴也 小田桐
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Adamant Namiki Precision Jewel Co Ltd
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Adamant Namiki Precision Jewel Co Ltd
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    • 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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
    • F16H1/06—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with parallel axes
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Gear Transmission (AREA)

Description

本発明は、例えば、人型ロボットや、その他の産業用ロボット、遠隔操作式の模型、産業機器、医療機器等に搭載されるモータユニットに関するものである。 The present invention relates to, for example, a humanoid robot, another industrial robot, a remote-controlled model, an industrial device, a motor unit mounted on a medical device, or the like.

従来、この種の発明には、例えば特許文献１に記載されるもののように、ケース（１１ａ，１１ｂ）内に、ロータ軸（回転軸１３ａ）の前側に駆動歯車（モータピニオン１４）を有するモータ（１３）と、ロータ軸と略平行に設けられた出力軸（２５）と、ロータ軸の回転力を出力軸へ伝達する遊星歯車装置（２０）とを具備し、駆動歯車の突出方向と逆方向に出力軸を突出させるようにしたサーボモータがある。なお、括弧内の数値は、特許文献１中の符号を示す。 Conventionally, in this type of invention, for example, as described in Patent Document 1, a motor having a drive gear (motor pinion 14) on the front side of a rotor shaft (rotary shaft 13a) in a case (11a, 11b). (13), an output shaft (25) provided substantially parallel to the rotor shaft, and a planetary gear device (20) for transmitting the rotational force of the rotor shaft to the output shaft, which is opposite to the protruding direction of the drive gear. There is a servo motor that projects the output shaft in the direction. The numerical values in parentheses indicate the reference numerals in Patent Document 1.

この従来技術によれば、ケース内に、遊星歯車装置を組み込むようにしているため、多数の遊星ギヤ（２３）等の構成が複雑であり、組立性等の改善が求められる。また、駆動歯車の突出方向と同方向に出力軸を突出させようとした場合には、駆動歯車の回転力を遊星歯車装置の後端側へ伝達させる他の歯車等を要するため、ケースが大型化してしまうおそれがある。 According to this conventional technique, since the planetary gear device is incorporated in the case, the configuration of a large number of planetary gears (23) and the like is complicated, and improvement in assembling property and the like is required. Further, when the output shaft is projected in the same direction as the protrusion direction of the drive gear, another gear or the like for transmitting the rotational force of the drive gear to the rear end side of the planetary gear device is required, so that the case is large. There is a risk of becoming a gear.

特開２００７−２９２２００号公報JP-A-2007-292200

本発明は上記従来事情に鑑みてなされたものであり、その課題とする処は、小型で生産性に優れたモータユニットを提供することにある。 The present invention has been made in view of the above-mentioned conventional circumstances, and an object of the present invention is to provide a small-sized motor unit having excellent productivity.

上記課題を解決するための一手段は、ケース内に、ロータ軸の前側に駆動歯車を設けたモータと、ロータ軸と略平行に設けられ、前側に対する後側に従動歯車を有する出力軸と、駆動歯車から従動歯車へ回転力を伝達する複数の平歯車とを具備する。そして、複数の平歯車の各々を、前側の大歯車と後側の小歯車からなる一体状に構成し、これら複数の平歯車を、隣接する大歯車と小歯車とを噛み合わせるようにしてロータ軸の前側から出力軸の後側へ向かう階段状に配置したことを特徴とする。 One means for solving the above problems is a motor provided with a drive gear on the front side of the rotor shaft in the case, an output shaft provided substantially parallel to the rotor shaft and having a drive gear on the rear side with respect to the front side. It is provided with a plurality of spur gears that transmit a rotational force from the driving gear to the driven gear. Then, each of the plurality of spur gears is integrally formed of a large gear on the front side and a small gear on the rear side, and the plurality of spur gears are engaged with the adjacent large gear and the small gear in a rotor. It is characterized by being arranged in a stepped manner from the front side of the shaft to the rear side of the output shaft.

本発明は、以上説明したように構成されているので、小型で生産性に優れたモータユニットを提供することができる。 Since the present invention is configured as described above, it is possible to provide a compact and highly productive motor unit.

本発明に係るモータユニットの一例を示す斜視図である。It is a perspective view which shows an example of the motor unit which concerns on this invention. 同モータユニットの内部構造を示す斜視図である。It is a perspective view which shows the internal structure of the motor unit. 同内部構造を示す側面図である。It is a side view which shows the internal structure. 同内部構造を示す平面図である。It is a top view which shows the same internal structure.

本実施の形態の一つは、ケース内に、ロータ軸の前側に駆動歯車を設けたモータと、ロータ軸と略平行に設けられ前側に対する後側に従動歯車を有する出力軸と、駆動歯車から従動歯車へ回転力を伝達する複数の平歯車とを具備している。そして、複数の平歯車の各々を、前側の大歯車と後側の小歯車からなる一体状に構成し、これら複数の平歯車を、隣接する大歯車と小歯車とを噛み合わせるようにしてロータ軸の前側から出力軸の後側へ向かう階段状に配置したことを特徴としている。
この構成によれば、ケース内の限られたスペースを有効に利用して回転力を伝達することができる上、構造が簡素なので組立性も良好である。One of the present embodiments is from a motor in which a drive gear is provided on the front side of the rotor shaft, an output shaft provided substantially parallel to the rotor shaft and having a drive gear on the rear side with respect to the front side, and a drive gear. It is equipped with a plurality of spur gears that transmit rotational force to the driven gear. Then, each of the plurality of spur gears is integrally formed of a large gear on the front side and a small gear on the rear side, and the plurality of spur gears are engaged with the adjacent large gear and the small gear so as to be engaged with the rotor. It is characterized by being arranged in a stepped manner from the front side of the shaft to the rear side of the output shaft.
According to this configuration, the limited space in the case can be effectively used to transmit the rotational force, and the structure is simple, so that the assembling property is good.

他の特徴としては、ケース内のスペースをより有効に利用するために、駆動歯車、複数の平歯車および従動歯車を、軸方向の一方側から視てＳ字状に並ぶように配置した。 As another feature, in order to make more effective use of the space in the case, the drive gear, the plurality of spur gears, and the driven gear are arranged so as to be arranged in an S shape when viewed from one side in the axial direction.

他の特徴としては、回転抵抗の少ない簡素な構造により出力軸の回転位置を検出できるように、出力軸における従動歯車よりも後側に、永久磁石を有する磁性回転体を設け、この磁性回転体の近傍に、磁性回転体の磁極を検知する磁気検出部を設けた。 Another feature is that a magnetic rotating body having a permanent magnet is provided on the rear side of the driven gear on the output shaft so that the rotational position of the output shaft can be detected by a simple structure with low rotational resistance. A magnetic detection unit for detecting the magnetic poles of the magnetic rotating body was provided in the vicinity of.

他の特徴としては、出力軸を安定的に支持するために、出力軸を回転自在に支持する軸受部材を、従動歯車よりも前側と、同従動歯車よりも後側とにそれぞれ設け、出力軸の後端側を、後側の軸受部材よりも後方へ突出させるとともに、この突出部分に磁性回転体を設けた。 Another feature is that in order to stably support the output shaft, bearing members that rotatably support the output shaft are provided on the front side of the driven gear and on the rear side of the driven gear, respectively, and the output shaft is provided. The rear end side is projected rearward from the bearing member on the rear side, and a magnetic rotating body is provided in this protruding portion.

他の特徴としては、ケース内のスペースをより有効に利用するために、磁性回転体よりも後側におけるケースの内面に、モータの駆動電力を制御する制御基板を設け、この制御基板に磁気検出部を設けた。 Another feature is that in order to make more effective use of the space inside the case, a control board that controls the driving power of the motor is provided on the inner surface of the case behind the magnetic rotating body, and magnetic detection is performed on this control board. A part was provided.

次に、上記特徴を有する好ましい実施例を、図面に基づいて詳細に説明する。 Next, a preferred embodiment having the above characteristics will be described in detail with reference to the drawings.

このモータユニットＡは、ケース１０内に、ロータ軸２１の前側に駆動歯車２２を設けたモータ２０と、ロータ軸２１と略平行に設けられ前側に対する後側に従動歯車３３を有する出力軸３０と、駆動歯車２２から従動歯車３３へ回転力を伝達する複数の平歯車４１，４２，４３，４４とを具備している。
なお、本明細書中、「前側」とは、ロータ軸２１の軸方向において駆動歯車２２を有する側を意味するものとする。The motor unit A includes a motor 20 having a drive gear 22 provided on the front side of the rotor shaft 21 in a case 10, and an output shaft 30 provided substantially parallel to the rotor shaft 21 and having a driven gear 33 on the rear side with respect to the front side. A plurality of spur gears 41, 42, 43, 44 for transmitting a rotational force from the drive gear 22 to the driven gear 33 are provided.
In the present specification, the "front side" means the side having the drive gear 22 in the axial direction of the rotor shaft 21.

ケース１０は、前端面を開口した中空矩形箱状のケース本体１１と、このケース本体１１の開口部を閉鎖するようにして着脱可能に装着される蓋部材１２とから構成される。ケース本体１１及び蓋部材１２は、それぞれ合成樹脂材料によって一体成形されている。 The case 10 is composed of a hollow rectangular box-shaped case body 11 having an opening at the front end surface, and a lid member 12 that is detachably attached so as to close the opening of the case body 11. The case body 11 and the lid member 12 are integrally molded with a synthetic resin material, respectively.

モータ２０は、円筒状のケーシング２２と、このケーシング２２の内周面に固定されたステータ及びコイル（図示せず）と、ステータ内で回転するように支持されたロータ（図示せず）と、このロータの中心部に固定されるとともに前端側を前方へ突出させたロータ軸２１とを具備し、ブラシレスＤＣモータを構成している。
そして、このモータ２０のロータ軸２１の前端側には、同軸状に駆動歯車２２が固定される。この駆動歯車２２は平歯車であり、後述する平歯車４１の大歯車Ｌに噛み合っている。The motor 20 includes a cylindrical casing 22, a stator and a coil (not shown) fixed to the inner peripheral surface of the casing 22, and a rotor (not shown) supported to rotate in the stator. A brushless DC motor is provided with a rotor shaft 21 which is fixed to the central portion of the rotor and whose front end side protrudes forward.
Then, the drive gear 22 is coaxially fixed to the front end side of the rotor shaft 21 of the motor 20. The drive gear 22 is a spur gear and meshes with the large gear L of the spur gear 41 described later.

出力軸３０は、ケース１０内において、モータ２０のロータ軸２１に対し、直交方向へ間隔を置いて略平行に配置され、ケース１０の内壁面によって回転自在に支持されている。
この出力軸３０の外周部には、前側から順に、出力歯車３１、前側軸受部材３２、従動歯車３３、後側軸受部材３４、磁性回転体３５が、環状に固定されている。The output shaft 30 is arranged in the case 10 substantially parallel to the rotor shaft 21 of the motor 20 at intervals in the orthogonal direction, and is rotatably supported by the inner wall surface of the case 10.
An output gear 31, a front bearing member 32, a driven gear 33, a rear bearing member 34, and a magnetic rotating body 35 are annularly fixed to the outer peripheral portion of the output shaft 30 in this order from the front side.

出力歯車３１は、図示例によれば平歯車であり、ケース１０の前端面から前方へ突出し露出している。この出力歯車３１は、図示例によれば、出力軸３０と一体の部材として構成される。なお、他例としては、それぞれ別体の出力軸３０と出力歯車３１を連結するようにしてもよい。
また、この出力歯車３１は、モータユニットＡによる駆動対象物（図示せず）の態様に応じて、例えば、ウォームギヤやはすば歯車等、他の種類の歯車に置換することが可能である。The output gear 31 is a spur gear according to the illustrated example, and is exposed so as to project forward from the front end surface of the case 10. According to the illustrated example, the output gear 31 is configured as a member integrated with the output shaft 30. As another example, the output shaft 30 and the output gear 31, which are separate bodies, may be connected to each other.
Further, the output gear 31 can be replaced with another type of gear such as a worm gear or a helical gear, depending on the mode of the object to be driven by the motor unit A (not shown).

前側軸受部材３２及び後側軸受部材３４は、ボールベアリングやすべり軸受け等の周知の軸受部材である。前側軸受部材３２は、軸受ブラケット等を介してケース１０内面に固定され、その内周部により、出力軸３０における従動歯車３３よりも前側の部分を回転自在に支持している。略同様に、後側軸受部材３４は、軸受ブラケット等を介してケース１０内面に固定され、その内周部により出力軸３０における従動歯車３３よりも後側の部分を回転自在に支持している。 The front side bearing member 32 and the rear side bearing member 34 are well-known bearing members such as ball bearings and sliding bearings. The front bearing member 32 is fixed to the inner surface of the case 10 via a bearing bracket or the like, and the inner peripheral portion thereof rotatably supports a portion of the output shaft 30 on the front side of the driven gear 33. Similarly, the rear bearing member 34 is fixed to the inner surface of the case 10 via a bearing bracket or the like, and its inner peripheral portion rotatably supports a portion of the output shaft 30 on the rear side of the driven gear 33. ..

従動歯車３３は、出力軸３０の外周部に支持された略円筒状の平歯車である。この従動歯車３３は、後述する平歯車４４の小歯車Ｓに噛み合っており、この小歯車Ｓから回転力を受ける。
なお、図中符号６０は、出力軸３０に過剰な回転負荷が作用した際に、従動歯車３３と出力軸３０との回転力の伝達経路を切断するクラッチ装置である。このクラッチ装置６０は、回転負荷により切断される入力ディスク及び出力ディスク等を従動歯車３３内に配置している。The driven gear 33 is a substantially cylindrical spur gear supported on the outer peripheral portion of the output shaft 30. The driven gear 33 meshes with the small gear S of the spur gear 44, which will be described later, and receives a rotational force from the small gear S.
Reference numeral 60 in the drawing is a clutch device that disconnects the transmission path of the rotational force between the driven gear 33 and the output shaft 30 when an excessive rotational load acts on the output shaft 30. In the clutch device 60, an input disc, an output disc, and the like that are disconnected by a rotational load are arranged in the driven gear 33.

磁性回転体３５は、径方向の片半部側をＮ極とし、他半部側をＳ極とした略円盤状の２極（換言すれば極対数が１）の永久磁石である。この磁性回転体３５の他例としては、極対数が複数の態様とすることも可能である。 The magnetic rotating body 35 is a substantially disk-shaped two-pole (in other words, one pole logarithm) permanent magnet having an N pole on one half side in the radial direction and an S pole on the other half side. As another example of the magnetic rotating body 35, it is also possible to have a plurality of polar logarithms.

そして、上記構成の磁性回転体３５よりも後側には、ケース本体１１の底部に、制御基板５０が固定されている。この制御基板５０は、モータ２０の駆動電力を制御する駆動回路や、磁性回転体３５を検知するための複数の磁気検出部３６等を一体的に具備している。
磁気検出部３６は、検出される磁束に応じた電圧信号を出力するホール素子である。この磁気検出部３６は、磁性回転体３５の後端面に対向するように、制御基板５０上に２つ設けられる。これら２つの磁気検出部３６は、周方向に角度９０°間隔を置いて配置され、磁性回転体３５の磁極位置に応じた正弦波信号を出力する。The control board 50 is fixed to the bottom of the case body 11 behind the magnetic rotating body 35 having the above configuration. The control board 50 integrally includes a drive circuit that controls the drive power of the motor 20, a plurality of magnetic detectors 36 for detecting the magnetic rotating body 35, and the like.
The magnetic detection unit 36 is a Hall element that outputs a voltage signal corresponding to the detected magnetic flux. Two magnetic detectors 36 are provided on the control board 50 so as to face the rear end surface of the magnetic rotating body 35. These two magnetic detectors 36 are arranged at an angle of 90 ° in the circumferential direction, and output a sine wave signal corresponding to the magnetic pole position of the magnetic rotating body 35.

また、平歯車４１，４２，４３，４４の各々は、前側の大歯車Ｌと、後側の小歯車Ｓとを同軸一体状に連結してなる。各平歯車における大歯車Ｌと小歯車Ｓの外径は、ロータ軸２１と出力軸３０の間の減速比に応じて適宜に設定される。
これら平歯車４１，４２，４３，４４は、水平方向に隣接する大歯車Ｌと小歯車Ｓとを噛み合わせるようにして、ロータ軸２１の前側から出力軸３０の後側へ向かう階段状に配置される。Further, each of the spur gears 41, 42, 43, 44 is coaxially and integrally connected with the large gear L on the front side and the small gear S on the rear side. The outer diameters of the large gear L and the small gear S in each spur gear are appropriately set according to the reduction ratio between the rotor shaft 21 and the output shaft 30.
These spur gears 41, 42, 43, 44 are arranged in a stepped shape from the front side of the rotor shaft 21 to the rear side of the output shaft 30 so as to mesh the large gear L and the small gear S adjacent in the horizontal direction. Will be done.

さらに、これら平歯車４１，４２，４３，４４は、図４に示すように、ロータ軸２１の軸方向の一方側から平面視した際に、駆動歯車２２と従動歯車３３の間における回転力の伝達経路がＳ字状にカーブするように配置される。そして、これら平歯車４１，４２，４３，４４は、それぞれ、ケース１０の内面又はモータ２０のケーシング等に対し、回転軸等を介して回転自在に支持される。Further, as shown in FIG. 4, these spur gears 41, 42, 43, 44 have a rotational force between the drive gear 22 and the driven gear 33 when viewed in a plan view from one side in the axial direction of the rotor shaft 21. The transmission path is arranged so as to curve in an S shape. The spur gears 41, 42, 43, and 44 are rotatably supported on the inner surface of the case 10 or the casing of the motor 20 via a rotation shaft or the like, respectively.

これら平歯車４１，４２，４３，４４の配置について詳細に説明すれば、最もロータ軸２１側の平歯車４１は、ロータ軸２１と出力歯車３１とを結ぶ仮想平面に対し、交差方向の一方側（図４における上側）に位置し、その前部側の大歯車Ｌを駆動歯車２２に噛み合わせている。
次の平歯車４２は、平歯車４１よりも更に一方側に位置し（図４参照）、その前側の大歯車Ｌを平歯車４１の小歯車Ｓに噛み合わせている（図３参照）。
次の平歯車４３は、平歯車４２よりも一方側に対する他方側（図４における下側）に位置し、その前側の大歯車Ｌを平歯車４２の小歯車Ｓに噛み合わせている（図３参照）
最も出力歯車３１側の平歯車４１は、上記仮想平面に対し、一方側に対する他方側（図４における下側）に位置し、その前部側の大歯車Ｌを平歯車４３の小歯車Ｓに噛み合わせるとともに、その後部側の小歯車Ｓを従動歯車３３に噛み合わせている（図３参照）。Explaining in detail the arrangement of these spur gears 41, 42, 43, 44, the spur gear 41 on the rotor shaft 21 side is one side in the intersecting direction with respect to the virtual plane connecting the rotor shaft 21 and the output gear 31. It is located (upper side in FIG. 4), and the large gear L on the front side thereof meshes with the drive gear 22.
The next spur gear 42 is located on one side of the spur gear 41 (see FIG. 4), and the large gear L on the front side thereof meshes with the small gear S of the spur gear 41 (see FIG. 3).
The next spur gear 43 is located on the other side (lower side in FIG. 4) with respect to one side of the spur gear 42, and the large gear L on the front side thereof meshes with the small gear S of the spur gear 42 (FIG. 3). reference)
The spur gear 41 on the most output gear 31 side is located on the other side (lower side in FIG. 4) with respect to one side with respect to the virtual plane, and the large gear L on the front side thereof is used as the small gear S of the spur gear 43. While meshing, the small gear S on the rear side is meshed with the driven gear 33 (see FIG. 3).

上記構成のモータユニットＡによれば、上述したように複数の平歯車４１，４２，４３，４４を階段状且つ略Ｓ字状に配置して、これら複数の平歯車を密集させるとともに、これら平歯車群の後方側に、磁性回転体３５や、磁気検出部３６を有する制御基板５０等を配置するようにしたため、ロータ軸２１と出力軸３０との間のスペースや、ケース１０内における平歯車群の後方側のスペース等を有効活用することができる。
しかも、大歯車Ｌと小歯車Ｓを同方向へ向けて複数の平歯車４１，４２，４３，４４を噛み合わせるようにしたため、製造時には、後側から順番に、平歯車４４、平歯車４３、平歯車４２、平歯車４１を組付ければよく、生産性が良好である。
また、出力軸３０と一体の磁性回転体３５を、磁気検出部３６によって非接触で感知するようにしているため、例えばポテンショメータを用いた従来技術等に比較し、軸方向の突出寸法を減らせる上、回転抵抗も小さくすることができる。
さらに、上述した従動歯車３３及び磁性回転体３５等の配置により、出力軸３０を安定的に支持することができる。According to the motor unit A having the above configuration, as described above, a plurality of spur gears 41, 42, 43, 44 are arranged in a stepped shape and a substantially S shape so that the plurality of spur gears are densely packed and these spur gears are spur Since the magnetic rotating body 35, the control board 50 having the magnetic detection unit 36, and the like are arranged on the rear side of the gear group, the space between the rotor shaft 21 and the output shaft 30 and the spur gear in the case 10 are arranged. The space on the rear side of the group can be effectively used.
Moreover, since the large gear L and the small gear S are oriented in the same direction and the plurality of spur gears 41, 42, 43, 44 are meshed with each other, the spur gear 44, the spur gear 43, The spur gear 42 and the spur gear 41 may be assembled, and the productivity is good.
Further, since the magnetic rotating body 35 integrated with the output shaft 30 is detected by the magnetic detection unit 36 in a non-contact manner, the protrusion dimension in the axial direction can be reduced as compared with the conventional technique using a potentiometer, for example. In addition, the rotational resistance can be reduced.
Further, the output shaft 30 can be stably supported by the arrangement of the driven gear 33 and the magnetic rotating body 35 and the like described above.

なお、上記実施例によれば、モータ２０としてブラシレスＤＣモータを構成したが、他例としては、モータ２０をブラシモータ等の他の種類のモータとすることも可能である。 According to the above embodiment, the brushless DC motor is configured as the motor 20, but as another example, the motor 20 can be another type of motor such as a brush motor.

また、上記実施例によれば、４つの平歯車４１，４２，４３，４４を設けたが、他例としては平歯車の数を、６以上や５以下に設定することも可能である。 Further, according to the above embodiment, four spur gears 41, 42, 43, 44 are provided, but as another example, the number of spur gears can be set to 6 or more or 5 or less.

また、上記実施例によれば、磁気検出部３６としてホール素子を用いたが、磁気検出部３６の他例としては、磁気式エンコーダや、その他のセンサーを用いることも可能である。 Further, according to the above embodiment, the Hall element is used as the magnetic detection unit 36, but as another example of the magnetic detection unit 36, a magnetic encoder or another sensor can also be used.

また、上記実施例によれば、磁気検出部３６の数を二つとしたが、磁性回転体３５の回転位置検知方法等に応じて、磁気検出部３６の数を、単数や三以上とすることも可能である。 Further, according to the above embodiment, the number of the magnetic detectors 36 is two, but the number of the magnetic detectors 36 is singular or three or more depending on the rotation position detection method of the magnetic rotating body 35 or the like. Is also possible.

１０：ケース
２０：モータ
２１：ロータ軸
２２：駆動歯車
３０：出力軸
３２：前側軸受部材
３３：従動歯車
３４：後側軸受部材
３５：磁性回転体
３６：磁気検出部
４１，４２，４３，４４：平歯車
５０：制御基板
６０：クラッチ装置
Ａ：モータユニット
Ｌ：大歯車
Ｓ：小歯車10: Case 20: Motor 21: Rotor shaft 22: Drive gear 30: Output shaft 32: Front bearing member 33: Driven gear 34: Rear bearing member 35: Magnetic rotating body 36: Magnetic detector 41, 42, 43, 44 : Spur gear 50: Control board 60: Clutch device A: Motor unit L: Large gear S: Small gear

Claims (1)

ケース内に、ロータ軸の前側に駆動歯車を設けたモータと、前記ロータ軸と略平行に設けられ前記前側に対する後側に略円筒状の従動歯車を有する出力軸と、前記駆動歯車から前記従動歯車へ回転力を伝達する複数の平歯車とを具備し、
前記複数の平歯車の各々を、前側の大歯車と後側の小歯車からなる一体状に構成し、これら複数の平歯車を、隣接する大歯車と小歯車とを噛み合わせるようにして前記ロータ軸の前側から前記出力軸の後側へ向かう階段状に配置するとともに、前記駆動歯車、前記複数の平歯車および前記従動歯車を、軸方向の一方側から視てＳ字状に並ぶように配置し、
前記出力軸における前記従動歯車よりも後側に、永久磁石を有する磁性回転体を設け、前記磁性回転体の近傍に、前記磁性回転体の磁極を検知する磁気検出部を設け、
前記出力軸を回転自在に支持する軸受部材を、前記従動歯車よりも前側と、同従動歯車よりも後側とにそれぞれ設け、前記出力軸の後端側を、後側の前記軸受部材よりも後方へ突出させるとともに、この突出部分に前記磁性回転体を設け、
前記磁性回転体よりも後側における前記ケースの内面に、前記モータの駆動電力を制御する制御基板を設け、前記制御基板に前記磁気検出部を設け、
前記出力軸に過剰な回転負荷が作用した際に、前記従動歯車と前記出力軸との回転力の伝達経路を切断するクラッチ装置を構成する入力ディスク及び出力ディスクを、前記従動歯車の内側に配置していることを特徴とするモータユニット。 In the case, a motor provided with a drive gear on the front side of the rotor shaft, an output shaft provided substantially parallel to the rotor shaft and having a substantially cylindrical driven gear on the rear side with respect to the front side, and the driven gear from the drive gear. Equipped with multiple spur gears that transmit rotational force to the gears,
Each of the plurality of spur gears is integrally formed of a front side large gear and a rear side small gear, and the plurality of spur gears are engaged with the adjacent large gear and the small gear so as to engage the rotor. The drive gear, the plurality of spur gears, and the driven gear are arranged in an S-shape when viewed from one side in the axial direction, while being arranged in a stepped manner from the front side of the shaft to the rear side of the output shaft. and,
A magnetic rotating body having a permanent magnet is provided on the output shaft behind the driven gear, and a magnetic detection unit for detecting the magnetic poles of the magnetic rotating body is provided in the vicinity of the magnetic rotating body.
Bearing members that rotatably support the output shaft are provided on the front side of the driven gear and on the rear side of the driven gear, and the rear end side of the output shaft is provided on the rear side of the bearing member. Along with projecting rearward, the magnetic rotating body is provided on this projecting portion.
A control board for controlling the driving power of the motor is provided on the inner surface of the case on the rear side of the magnetic rotating body, and the magnetic detection unit is provided on the control board.
When an excessive rotational load acts on the output shaft, an input disc and an output disc constituting a clutch device that disconnects the transmission path of the rotational force between the driven gear and the output shaft are arranged inside the driven gear. A motor unit characterized by being
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