JPH04101271U - actuator - Google Patents

Abstract

(57) [Summary] [Purpose] The purpose is to efficiently convert an outer rotor type actuator to an inner rotor type actuator. [Structure] A shaft passes through the hollow part of the outer rotor type actuator, and this shaft is connected to the outer rotor with a connecting member to convert the outer rotor type into an inner rotor. Something to do. Further, the shaft is provided with a brake on one end side, and the side without the brake is used as an output shaft.

Description

[Detailed explanation of the idea]

0001

[Industrial application field]

This invention can be used as a positioning means in the field of FA (factory automation). This paper relates to improvements to actuators used in

0002

[Conventional technology]

Both actuators used in the FA field are of the outer rotor type. There is one that combines a motor and a rotation sensor. Conventionally, as such an actuator, for example, There was one described in the application specification of No. 9729. Figure 2 shows the configuration of this actuator. In FIG. 2, 1 is a motor section, and 2 is a rotation sensor section that detects the rotation of the motor section 1. It is. In the figure, the rotation sensor section 2 is a magnetic resolver.

0003 In the motor section 1, 11 is a stator, 12 is a rotor, and 13 and 14 are rotor 1. 2 on the stator 11 in a rotatable manner. In the stator 11, 111 is a cylindrical stator flange, and 112 is a non-magnetic material. A shield ring is fixed to the outer peripheral surface of the stator flange 111. , 113 is a stator core attached to the outside of the shield ring 112. vinegar Theta core 113 is made of laminated steel plates, and has a protrusion with teeth at a constant pitch at the tip. A pole is provided. 114 is a coil wound around the stator core 113; 115 is a coil wound around the stator core 113; This is a permanent magnet sandwiched between the stacks of stator cores 113. stator core 113 constitutes a magnetic circuit for a magnetic field generated by a coil 114 and a permanent magnet 115. 116 is a clamp that clamps the bearing 13 from one end side. 117 is state flag This is a lower flange fixed to the lower part of the hinge 111. Lower end of lower flange 117 The structure is such that it can be connected to other parts by fitting or screws. In the rotor 12, 121 is a cylindrical rotor flange, and 122 is a rotor flange 1. a rotor core, 123, which is fixed to the inner peripheral surface of 21 and constitutes a magnetic circuit of the rotor; and 124 are the upper and lower flanges fixed to the upper and lower parts of the rotor flange 121. The flange 125 is a clamp that clamps the bearing 13 from the other end side. rotor core 122 is made of laminated steel plate, and has a fixed pitch at a position facing the teeth of the stator core. The teeth are formed by

0004 The rotation sensor section 2 uses the stator flange 111 and the lower flange 124. The stator and rotor are made up of the stator and rotor. In the stator, 21 is the stator runner. A non-magnetic ring 22 is fixed to the outside of the non-magnetic ring 21. The core 23 is a coil wound around the core 22. The core 22 has a certain pitch at the tip. Teeth are formed by chi. In the rotor, 24 is fixed to the lower flange 124. The non-magnetic ring 25 is a core fixed to the outside of the non-magnetic ring 21. Ko The core 25 also has teeth formed at a constant pitch at positions facing the teeth of the core 22. Na The rotation sensor section 2 is not limited to a magnetic resolver, but may also be an optical encoder, etc. . Bearings 13 and 14 are a cross roller bearing and a ball bearing, respectively. In this type of actuator, the rotor on the outside has a robot arm, a Positioning is performed by directly attaching the positioning target such as a machine turntable.

[0005] This actuator is an outer rotor type, so it can only be positioned. It was limited to those that could be combined with the outer rotor. For this reason, the motor Even though it has the feature of generating high torque at low speed, the actuator is an inner rotor type actuator. - Not applicable to machines that are coupled with data. Conventionally, to solve these problems, a Attach the shaft and connect the outer rotor type actuator to the inner rotor type actuator. There is a mechanical interface that converts it into an actuator. However, with this mechanical interface, the shaft is not connected to the outer rotor. difficult to install with high coaxiality. Also, a shutter is installed on one end of the outer rotor. Because the foot overhangs, the shaft is said to be prone to tilting due to insufficient support. There was a problem.

[0006]

[Problem that the idea aims to solve]

This invention was devised to solve these problems, and the actuator - Utilizes the hollow part of the rotor to efficiently create an outer rotor type actuator. The purpose is to make the motor into an inner rotor type.

[0007]

[Means to solve the problem]

The present invention is an actuator configured as follows. (1) A motor and a rotation sensor that detects the rotation of this motor are connected in the axial direction. Both the motor and rotation sensor are of the outer rotor type, and the inner stator is a hollow structure. In an actuator with a a shaft passing through a hollow portion of the stator; a connecting member connecting the shaft and the outer rotor of the motor; a bearing installed outside the motor and rotatably supporting the shaft; A casing that holds the bearing and the outer rotor type actuator body; An actuator characterized by comprising: (2) The shaft is provided with a brake means for braking the rotation of the shaft on one end side. The actuator according to item (1), wherein the actuator is Eta.

[0008]

[Effect]

In this invention, a shaft is installed in the hollow part of the outer rotor type actuator. By passing through the shaft and connecting this shaft with the outer rotor using a connecting member, the Convert the outer rotor type to an inner rotor type. In addition, the shaft has a brake on one end. A brake is provided, and the side without a brake is used as an output shaft.

[0009]

【Example】

The present invention will be explained below with reference to the drawings. FIG. 1 is a block diagram of an embodiment of the present invention. Components in Figure 1 that are the same as those in Figure 2 have the same symbols. Add. In Fig. 1, 31 to 33 house the outer rotor type actuator of Fig. 2. The external housing 34 passes through the hollow part of the outer rotor type actuator. , the shafts 35 and 36 that come out on both sides of the actuator connect the shaft 34. This is a bearing that supports the outer rotor type actuator at both ends. 37 is the shaft 34 and the upper flange 123, the shaft 34 is connected to the outer lower part. This is a connecting member that connects to the rotor of a rotary actuator. Outer rotor type actuator The tuator body is connected to the shaft at one end by a connecting member 37, and at the other end. The position is fixed by being fitted into the external housing 31. 38 is the shaft This is a brake means provided at one end of 34 to brake the rotation of the shaft, as shown in the figure. shows an electromagnetic brake. In addition, the braking means is not limited to electromagnetic brakes. It may be a hydraulic brake, a pneumatic brake, etc. Braking means for shaft 34 The output shaft 39 is on the opposite side to the side where the is provided. The output shaft 39 has a keyway and a tab. - Machining is applied to transmit torque such as parts. 40 and 41 are power lines to the motor. This is a connector that connects wiring to the magnetic resolver, magnetic resolver, and electromagnetic brake.

0010 In this type of actuator, the power of the outer rotor type actuator is By transmitting the signal to the shaft 34 through the connecting member 37, the outer rotor type actuator The rotor is changed to an inner rotor type. For this reason, the actuator in Figure 1 is located on the outside. If you look at it from above, it looks like an inner rotor type actuator. At this time, the outer ・The output torque and rotational speed of the rotor type actuator are transmitted directly to the shaft. It will be done.

【effect】

According to the present invention, the following effects can be obtained. Using the hollow part of the outer rotor type actuator, insert the shaft into this part. By penetrating it, the outer rotor type is converted to the inner rotor type. child As a result, an outer rotor type actuator can be efficiently changed to an inner rotor type actuator. . The shaft has an output shaft on the side opposite to the side where the brake is installed. Space constraints are reduced on the output shaft side. This drives the actuator. It becomes easier to connect to moving objects, expanding the applications of actuators. The shaft is provided outside both ends of the outer rotor type actuator. Since it is supported by two bearings, the axial length of the outer rotor type actuator is It can support the shaft over a longer span. This makes the inner rotor The shaft can be stably supported.

[Brief explanation of drawings]

FIG. 1 is a configuration diagram of an embodiment of the present invention.

FIG. 2 is a diagram showing a configuration example of a conventional outer rotor type actuator.

[Explanation of symbols]

1 Motor part 2 Rotation sensor section 31-33 External housing 34 Shaft 35, 36 Bearing 37 Connecting member 38 Electromagnetic brake 39 Output shaft

Claims (2)

[Scope of utility model registration request] Claim 1: A motor and a rotation sensor that detects the rotation of the motor are connected in the axial direction, and both the motor and the rotation sensor are of an outer rotor type with a stator inside. In an actuator having a hollow structure, the above-mentioned stay
a shaft passing through a hollow portion of the motor; a connecting member connecting the shaft and an outer rotor of the motor;
An actuator comprising: a bearing that is installed outside the motor and rotatably supports the shaft; and a casing that holds the bearing and the outer rotor type actuator body. -Ta. 2. The actuator according to claim 1, wherein the shaft is provided with a brake means for braking rotation of the shaft on one end side, and an output shaft on the other end side. .