JPH0217857A - Stepping motor - Google Patents
Stepping motorInfo
- Publication number
- JPH0217857A JPH0217857A JP16477188A JP16477188A JPH0217857A JP H0217857 A JPH0217857 A JP H0217857A JP 16477188 A JP16477188 A JP 16477188A JP 16477188 A JP16477188 A JP 16477188A JP H0217857 A JPH0217857 A JP H0217857A
- Authority
- JP
- Japan
- Prior art keywords
- gear
- elliptical shape
- magnetic field
- force
- flexible gear
- 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.)
- Granted
Links
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
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)
- Linear Motors (AREA)
- Retarders (AREA)
Abstract
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。[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a step motor using a harmonic gear system,
In particular, the present invention relates to an improved means for deforming a flexible gear into an elliptical shape in a harmonic gear device.
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 harmonic gear system used in conventional step motors, a flexible gear is attracted from the outside by the magnetic force of a rotating magnetic field, forming an elliptical shape with the direction of attraction being the long axis direction. The flexible gear and the circular gear were meshed together.
また、本件出願人の出願に係る特開昭６１−２３１８６
３号公報では、可撓性歯車に永久磁石を配設し、可視性
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して行う発明が
開示されている。In addition, Japanese Patent Application Laid-Open No. 61-23186 related to the application filed by the applicant
In Publication No. 3, a permanent magnet is placed in a flexible gear, and the visible gear is deformed into an elliptical shape by using not only the magnetic attraction force between the rotating magnetic field and the permanent magnet but also the magnetic repulsion force. An invention is disclosed.
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, conventional step motors have a smaller output torque per unit volume than motors in which a harmonic gear device is incorporated into various motors (servo motors, etc.). this is,
This is because the flexible gear is deflected only from the outside by the magnetic force of the rotating magnetic field, so the attractive force cannot be increased, and torque transmission through meshing of the 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
。The present invention aims to eliminate this limitation and realize a step motor with 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 objective, the invention provides for the provision of deformation means capable of deforming the flexible gear of the harmonic gear system 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 attracting the rotating magnetic field from the outside of the flexible gear by the magnetic force, the deformation means of the present invention also includes A means for applying an attractive force due to the magnetic force of a second rotating magnetic field in synchronization with the rotating magnetic field, or a force that promotes deformation of the flexible gear into an elliptical shape in synchronization with the rotating magnetic field in the direction of the long axis of the ellipse. It is equipped with a means to act.
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。According to the present invention, the flexible gear is reliably deformed into an elliptical shape under a large acting force compared to a conventional step motor, increasing the meshing force of the gears and increasing the torque that can be transmitted. be able to.
この結果、ステップモータの単位体積当たりの出力トル
クを太き（することができ、モータの小型化も可能とな
る。As a result, the output torque per unit volume of the step motor can be increased, and the motor can also be made smaller.
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。In addition, it is possible to provide a step motor with a simpler structure than that shown in Japanese Patent Application Laid-Open No. 61-231863, and
Different types of step motors can be provided, increasing the degree of freedom in designing devices that use step motors.
大施桝上
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。FIG. 1 shows an embodiment in which an electromagnet is used as a means for applying a magnetic attraction force from inside the flexible gear in the direction of the short axis of the 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
両級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, and the direction of this attraction is the long axis direction of the ellipse, and from the inside, the magnetic force of the rotating magnetic field generated by the electromagnet 4 acts on the flexible external gear 3. The suction force acts in the direction of the short axis of the ellipse. This attractive force improves the accuracy of the 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
１ｌｉ１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 that the direction of attraction of the magnetic force of the rotating magnetic field 2 and the direction of attraction of the magnetic force of the rotating magnetic field of the electromagnet 4 are perpendicular to each other. Therefore, the magnetic force of the rotating magnetic field 2 causes the flexible gear to become elliptical. The electromagnet 4 is energized by suitable control means so that the 1li1 stone 4 located on the short axis of the ellipse is magnetized when it is 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。Furthermore, in order to reduce the influence of magnetic field interference due to both magnetic poles, either the circular gear or the flexible gear is mounted in the direction of the support axis (
Referring to FIG. 1, the flexible gear may be offset in the direction perpendicular to the plane of the drawing, or the width of the flexible gear may be increased to allow the magnetic flux to pass through.
叉施±１
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。Figure 2 shows an example in which a permanent magnet is 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 rotating magnetic field is controlled by an appropriate control means so that the magnetic attraction direction of the rotating magnetic field 2 and the magnetic attraction direction of the permanent magnet 6 are perpendicular to each other, that is, the permanent magnet 6 is positioned in the short axis direction of the elliptical shape. 2, the rotor 5 to which the permanent magnet 6 is attached is rotated.
実旅炎１
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。Practical Travel Flame 1 FIG. 3 shows an embodiment in which a piezoelectric element is used as a means for applying a force that promotes deformation of a flexible gear into an elliptical shape in the long 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 making the piezoelectric element 7 protrude in the longitudinal direction, the flexible gear 3 can be reliably deformed into an elliptical shape.
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 energized 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〕
■・・・・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 electromagnets, FIG. 2 is a side view of an embodiment using permanent magnets, and FIG. 3 is a side view of an embodiment using piezoelectric elements. [Explanation of symbols] ■...Circular internal gear 2...Rotating magnetic field 3...Flexible external gear 4...Electromagnet 5...Rotor 6... Permanent magnet 7...Piezoelectric element
Claims (3)
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) The flexible gear is attracted from the outside by the magnetic force of the rotating magnetic field A, and deformed into an elliptical shape with the direction of attraction as the major axis direction, and the flexible gear and the circular gear are In a step motor equipped with a harmonic gear system that engages the A step motor characterized in that an electromagnet located in the short axis direction of the motor is excited in synchronization with a rotating magnetic field A.
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) The flexible gear is attracted from the outside by the magnetic force of the rotating magnetic field, and the flexible gear is deformed into an elliptical shape with the major axis direction, and the flexible gear and the circular gear are In a step motor equipped with a harmonic gear system that meshes the
A pair of permanent magnets are provided at both diametrical ends of one rotor provided inside a flexible gear deformed into an elliptical shape, and the permanent magnets are positioned in the short axis direction of the elliptical shape. A step motor characterized in that the rotor is rotated in synchronization with a rotating magnetic field.
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) The flexible gear is attracted from the outside by the magnetic force of the rotating magnetic field, and deformed into an elliptical shape with the direction of the attraction being the major axis direction, and the flexible gear and the circular gear are In a step motor equipped with a harmonic gear system that meshes the
A plurality of piezoelectric elements are installed at approximately equal intervals on the outer periphery of a rotor provided inside a flexible gear that has been deformed into an elliptical shape, and the piezoelectric elements are located in the long axis direction of the elliptical shape. A step motor characterized by being energized 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 true JPH0217857A (en) | 1990-01-22 |
| JP2683364B2 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 |
|---|---|---|---|---|
| FR2716515A1 (en) * | 1994-02-24 | 1995-08-25 | Sfim Ind | Oscillating disc gearing rotation device for orientation command of e.g. satellite aerial |
Families Citing this family (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 |
-
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 |
|---|---|---|---|---|
| FR2716515A1 (en) * | 1994-02-24 | 1995-08-25 | Sfim Ind | Oscillating disc gearing rotation device for orientation command of e.g. satellite aerial |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2683364B2 (en) | 1997-11-26 |
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