JPH01122361A - High torque motor - Google Patents

Abstract

PURPOSE:To output a magnetic attraction force operating between a rotor and an armature as a torque and to enhance the torque by stopping the rotation of the armature 3 around its own axis thereby to rotating it around the armature 3, thereby increasing the attraction force. CONSTITUTION:A rotor 1 is formed annularly with many tooth-like poles 2 circumferentially at an interval on its inner peripheral surface. An armature 3 is rotatably disposed in the rotor 1, has a smaller diameter than the inner diameter of the rotor 1, and a coil 4a is wound on the outer periphery of the armature 3 in the same size as that of the poles 2. Inner-tooth gear 5 is secured to the rotor 1, the gear 5 and the rotor 1 are rotatably supported by bearings 7 to both side plates 6a of a housing 6, and both are rotated at its center as a center. Further, an outer-tooth gear 8 is disposed at the gear 5, and engaged therewith by eccentrically rotating. The gear 5 cannot rotate around its own axis with respect to the housing 6, but can rotate around it, the armature 3 is similarly rotated to the gear 5, and rotated in the difference of the numbers of the inner and outer teeth.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to high torque motors such as servo motors and stepping motors used in working robots, machine tools, and the like.

[Conventional technology]

Conventional high-torque motors, whether servo motors or stepping motors, have a structure in which the magnetic force acting between the poles on the armature side and the poles (teeth) on the other side is directly extracted as output torque. It has become. Therefore, the output torque is relatively small, and a reduction gear must be used to obtain high torque.

Motors designed to produce high torque are also known, for example, as megatorque motors (manufactured by NSK Ltd.) and brushless DC motors (manufactured by ShinMaywa Industries, Ltd.).

[Problem that the invention seeks to solve]

Reduction gears have large friction, backlash, and lost motion, and the moment of inertia of the motor and reduction gear when viewed from the output shaft of the reduction gear is also large, so they are not useful for control purposes.

On the other hand, megatorque motors or brushless DC motors use the magnetic force acting between the poles on the armature side and the poles (teeth) on the other side as the output torque, so they are large and heavy in comparison to the output torque. There was a problem.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a high torque motor that can solve the above-mentioned problems.

[Means and actions for solving the problem 1 An armature is disposed within the rotor, and a magnetic attraction force is sequentially applied between the armature and the rotor in the circumferential direction so that the two rotate relative to each other. The rotation of the armature is restrained by the meshing part of the internal gear fixed to the rotor and the external gear fixed to the armature, and the pin is loosely fitted into the holes of the armature and external gear. Then, by connecting the pin to the housing that supports the rotor and restraining the rotation of the armature, it is possible to expand the magnetic attraction force and extract it as torque, reduce friction, and reduce mechanical loss. This makes it possible to reduce the amount of

[Example of implementation] The rotor 1 has an annular shape, and a large number of tooth-shaped poles 2 are formed on its inner peripheral surface at intervals in the circumferential direction. good.

An armature 3 is rotatably disposed within the rotor 1, and the armature 3 has a diameter smaller than the inner diameter of the rotor 1. The poles 4 having the same size as the poles 2 of the rotor 1 and one or more fewer than the poles 2 of the rotor 1 are formed at intervals in the circumferential direction, and each of the poles 4 is formed at intervals in the circumferential direction.
A coil 4a is wound around the coil 4a.

An internal gear 5 is fixed to the rotor 1, and the internal gear 5 has a tooth portion and a large number of pins 5b attached to the inner peripheral surface of an annular body 5a having approximately the same size as the rotor 1. The internal gear 5 and the rotor 1 are rotatably supported by bearings 7 on both side plates 6a, 6a of the housing 6, and the rotor 1 and the internal gear 5 are rotated about the center thereof. It's Nishide.

The external gear 8 fixed to the armature 3 faces into the internal gear 5, and the external gear 8 is formed with cycloidal teeth whose number is one or more less than the number of teeth of the internal gear 5. By rotating eccentrically with respect to the internal gear 5, one tooth meshes with the other.

Three or more holes 9 and 10 are bored in the armature 3 and the external gear 8, and pins 11 loosely fitted into the holes 9 and 10 are fixed to the side plate 6a of the housing 6.
1 has a smaller diameter than holes 9 and 10, and is connected to armature 3 and external gear 8.
is designed so that it can be displaced by the gap between the pin 11 and the holes 9 and 10. For example, the difference between the diameter of the hole 9.10 and the diameter of the pin 11 is 2 (ba). However, b is the base circle radius of the internal gear 5, and a is the base circle radius of the external gear 8.

Next, the operation will be explained.

When the coils 4a wound around each unit 4 of the armature 3 are sequentially excited by passing a current through them, the poles 4 of the armature 3 and the poles 2 of the rotor 1 are sequentially attracted by the magnetic attraction force, and both of them are attempts a relative rotation.

On the other hand, the external gear 8 fixed to the armature 3 has cycloidal teeth formed on its outer periphery that mesh with the teeth of the internal gear 5, for example, the pin 5b, and its rotation is restrained. Since the rotation is restricted between 11 and the hole 1°,
The external gear 5 cannot rotate relative to the housing 6, but can only revolve around the housing 6.

For this reason, the armature 3 cannot rotate relative to the housing 6, but can only revolve, and when the armature 3 revolves once, the rotor 1 is moved by the difference in the number of teeth between the external gear 8 and the internal gear 5. Rotate.

At this time, the relative speed between pin 11 and holes 9 and 10 is
and the housing 6, and the mechanical loss is reduced.

For example, when the pin 11 is fitted into the armature 3 and the external gear 8, and both ends of the pin 11 are supported in the housing 6 with eccentricity with respect to the center of the pin 11, the armature makes a small revolution movement. During this time, both ends of the pin 11 move at a relatively high circumferential speed, resulting in large mechanical losses.

Therefore, high torque can be extracted from the rotor 1.

To explain the above operation in detail, the armature 3 and the rotor 1 are connected to two inscribed circles (with a radius of r1+'2+
rl and r2), and there is rolling contact at these contact points without slipping, and the inner circle cannot rotate, that is, the circle itself cannot rotate around its center point, but is restrained so that it can only orbit. ing. At this time, the center of the outer circle is fixed, the armature 3 is integrated with the inner circle, and the rotor 1 is integrated with the outer circle.

Since this is the case, the rotation angle of the armature's revolution is ψ
(rad), then the angle θ of the rotational motion of rotor 1 is 2. Also, the relative motion between pole 4 of armature 3 and pole 2 of rotor 1 is a motion that approaches linearly on the line segment connecting them. Therefore, a large component of the electromagnetic attractive force acting between the poles 4 of the armature 3 and the rotor 1 can be extracted as output torque.

In addition, although the tooth-shaped pole 2 was formed on the inner periphery of the rotor 1 in the above embodiment, it is not necessary to form this tooth-shaped pole 2.

In this case, it is not necessary to form the poles 2 at intervals on the inner circumference of the rotor 1. In other words, the radial component of the magnetic attractive force only needs to act.

Because of this, one link 20 is connected to the housing 6 as shown by imaginary lines in FIGS. 1, 2, and 3, for example.
If the other link 21 is connected to the rotor 1 and the internal gear 5, by rotating the rotor 1 and the internal gear 5 as described above, one link 20 will be connected to the other link. 21 can be rotated to change the angle formed by the two, and can be used as a robot joint.

〔Effect of the invention〕

The magnetic attraction force acting between the rotor 1 and the armature 3 is not directly output as torque, but is expanded and extracted by preventing the rotation of the armature 3 and causing it to revolve. High torque can be obtained considering the size and weight.

In addition, since the rotation of the armature 3 is restrained by the meshing part between the internal gear 5 and the external gear 8, the pin 11, and the holes 9 and 10, the friction that exists in that part is compared to the friction of conventional reducers. Not only can you improve efficiency with a small size, but also the pin 11 and hole 9.10
Since the relative speed is the relative speed of the armature 3 and the housing 6, mechanical loss can be reduced.

[Brief explanation of the drawing]

The drawings show embodiments of the present invention, with FIG. 1 being a longitudinal sectional view and FIG.
3 are cross-sectional views taken along the lines ■--■ and ■--■ in FIG. 1. 1 is a rotor, 2 is a pole, 3 is an armature, 4 is a pole, 5 is an internal gear, 6 is a housing, 8 is an external gear 9. 10 is a hole, 11
is a pin.

Claims (1)

[Claims] An armature 3 is disposed on the inner circumference of the annular rotor 1, and a large number of poles 2 formed on the inner circumference of the rotor 1 and a large number of poles 4 formed on the outer circumference of the rotor 1 are sequentially excited. The internal gear 5 and the external gear 8 are connected to the rotor 1 and the armature 3 so that a magnetic attraction force is sequentially applied between the rotor 1 and the armature 3 to rotate them relative to each other.
are fixed respectively and the rotation of the armature 3 is restrained by their meshing parts, and a pin 11 is loosely fitted into the holes 9 and 10 formed across the armature 3 and the external gear 8, and the pin 11 is A high torque motor characterized in that the rotor 1 and the internal gear 5 are connected to a housing 6 that rotatably supports the rotor 1 and the internal gear 5.