JPH04295266A - Epicyclic motor - Google Patents

Abstract

PURPOSE:To reduce the vibration at the time of an epicyclic motor operating. CONSTITUTION:The epicyclic motor comprises a rotor 91, which epicyclically moves, and a stator 1, which is arranged around the rotor 91 and gives the epicyclic motion to the rotor 91. The stator 1 comprises a ring-shaped magnetic substance 11, a plurality of magnetic poles 12 radially projected around that magnetic substance 11, and exciting coils 13 wound on that magnetic poles 12. At motor operation, currents are applied to the exciting coils 13 so as to excite the magnetic poles 12 in order. At this time, the flow of a magnetic flux go toward the contact part between the rotor 91 and the stator 1, and besides it changes accompanying the rotation of the rotor 91. This is attributable to that the inside periphery of the stator 1 is magnetically connected by the magnetic substance 11. Therefore, the operating angle 62 of the rotor 91 becomes smaller than the arrangement angle 61 of the magnetic pole 12, and besides it changes smoothly accompanying the rotation of the rotor 91.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a planetary motor that utilizes the planetary motion of a rotor to obtain a low-speed, high-torque rotational output.

0002

2. Description of the Related Art A planetary motor consists of a rotor and a stator, and the planetary motion of the rotor obtained by sequentially exciting the stator in the circumferential direction is utilized externally. The planetary motor is characterized in that it can provide a low-speed and large-torque rotational output without using a speed reduction mechanism such as a gear. As shown in FIGS. 5 and 6, a conventional planetary motor includes a rotor 91 that makes planetary motion, and a stator 92 that is arranged around the rotor 91 and gives planetary motion to the rotor 91.
It becomes more.

The stator 92 is fixed to the inner wall surface of the housing 90 at every 60 degrees along the circumferential direction. As shown in FIGS. 7 and 8, each stator 92 has two upper and lower parts on the inner circumference side.
It has stepped protrusions 921, and each protrusion 92
1 is wound with an excitation coil 922. Each stator 92 constitutes a magnetic pole of a planetary motor, and by energizing the excitation coil 922 to sequentially excite each stator 92, the rotor 91 is caused to perform planetary motion. The planetary motion of the rotor 91 is extracted from the shaft 94 via the Oldham joint 93 as a low-speed, large-torque rotational output. In addition, in FIG. 6, 95 and 96 indicate bearings.

0004

[Problem to be Solved] However, in the conventional planetary motor, as shown in FIGS. 5 and 6, each stator 92 is magnetically separated, and the magnetic flux flow 99 obtained by each stator 92 is , each is independent. Therefore, the operating angle θ1 when the rotor 91 rolls due to the excitation of the stator 92 is determined by the arrangement angle (60 degrees in FIG. 5) of the stator 92 as a magnetic pole. When the rotor 91 rolls, the center of gravity of the rotor 91 moves, and as described above, since the operating angle θ1 is large, this movement of the center of gravity causes large vibrations when the motor operates.

[0005] In order to reduce the vibration during motor operation, it is sufficient to reduce the operating angle θ1, but in the conventional structure, it is necessary to secure a storage space for the excitation coil 922.
It is difficult to make the operating angle θ1 smaller than 60 degrees. In view of these conventional problems, the present invention seeks to provide a planetary motor that can reduce vibrations during motor operation.

[0006]

[Means for solving the problems] The present invention includes a rotor that moves planetarily,
In a planetary motor consisting of a stator disposed around the rotor and giving planetary motion to the rotor, the stator comprises a ring-shaped magnetic body and a ring-shaped magnetic body that protrudes radially from the outer periphery of the magnetic body. A planetary motor consists of a plurality of magnetic poles and an excitation coil wound around the magnetic poles.

The most noteworthy feature of the present invention is that, in order to reduce the operating angle, the ring-shaped magnetic material has a
The reason is that a magnetic pole is provided around which an excitation coil is wound. In other words, the rotor-side facing surfaces of the magnetic poles around which the excitation coils are wound are connected in a ring shape by a magnetic material so that the flow of magnetic flux moves smoothly as the rotor rolls.

[0008]

[Operation and Effect] When the excitation coils of the stator are sequentially energized, the magnetic poles are sequentially excited. Then, the rotor is successively attracted to the magnetic pole side and rotates. This causes the rotor to perform planetary motion inside the stator.

[0009] When the magnetic poles are sequentially excited in this way,
The rotor is first attracted by the excited magnetic poles and comes into contact with the inner peripheral surface of the ring-shaped magnetic body. Next, when the adjacent magnetic poles are excited, a flow of magnetic flux occurs between the magnetic poles and the vicinity of the contact portion. This is because the inner peripheral side of the stator is magnetically connected by the ring-shaped magnetic body. Since the contact portion moves with the rolling of the rotor, the flow of magnetic flux also changes. Therefore, the operating angle of the rotor is smaller than the arrangement angle of the magnetic poles, and changes smoothly as the rotor rolls. Therefore, according to the present invention, it is possible to provide a planetary motor that can reduce vibrations during motor operation.

0010

[Example] Regarding the planetary motor according to the example of the present invention,
This will be explained using FIGS. 1 to 4. The planetary motor of this example includes a rotor 91 that makes planetary motion, and a stator 1 that is disposed around the rotor 91 and gives planetary motion to the rotor 91. The stator 1 includes a ring-shaped magnetic body 11, a plurality of magnetic poles 12 protruding radially from the outer circumference of the magnetic body 11,
It consists of an excitation coil 13 wound around the magnetic pole 12.

In this example, as shown in FIG. 2, the stators 1 are stacked in two stages in the axial direction to generate a magnetic flux flow 19. The magnetic body 11 of the stator 1 is formed into a ring shape, as shown in FIGS. 1 and 3, and its inner diameter is slightly larger than the outer diameter of the rotor 91. The magnetic poles 12 are provided to protrude along the outer periphery of the magnetic body 11 at regular angle intervals. In this example, the arrangement angle θ of the magnetic pole 12 is
1 is set to 60 degrees. Further, as shown in FIGS. 2 and 3, the magnetic pole 12 has a fixing surface 121 for fixing to the housing 90 and a contact surface 122 for magnetically connecting the upper and lower stators 1. ing.

The excitation coil 13 is wound around each magnetic pole 12, and the ends of the windings are connected to an excitation coil switching circuit (not shown). The rest is the same as the conventional example.

Since the planetary motor of this example is constructed as described above, it exhibits the following effects. That is, as shown in Figures 1 and 2, the stator 1 is
When the excitation coils 13 are sequentially energized, the magnetic poles 12 are sequentially excited. At this time, the stator 1 in the upper and lower stages has
A magnetic flux flow 19 is generated, and the rotor 91 is successively attracted to the magnetic pole 12 side and rotates. As a result, the rotor 91 performs planetary motion inside the stator 1. In this way, when the magnetic poles 12 are sequentially excited from the arrangement position A to the arrangement position B, a magnetic flux flow 19 is first generated in the stator 1 from the point D1 to the point E1. Therefore, the rotor 91 is
It is attracted by the magnetic pole 12 at the arrangement position A and comes into contact with the inner peripheral surface of the ring-shaped magnetic body 11.

Next, while maintaining the excited state of the magnetic pole 12 at position A, the magnetic pole 12 at position B is excited. At this time, a flow 19 of magnetic flux is generated between the magnetic pole 12 at the arrangement position B and the rotor 91 from the point D2 toward the point E2. This is because the inner peripheral side of the stator 1 is magnetically connected by the ring-shaped magnetic body 11, and the flow of magnetic flux from point D2 passes through the magnetic body 11 and goes to point E2. Near this point E2, the gap between the rotor 91 and the stator 1 is small, making it easier for magnetic flux to flow.

Therefore, the operating angle θ2 of the rotor 91 is smaller than the arrangement angle θ1 of the magnetic poles 12. This working angle θ
2, a rotational force for causing the above-mentioned planetary motion acts on the rotor 91. Therefore, when the excitation state of the magnetic pole 12 at the arrangement position A is released, the rotor 91 is attracted toward the E2 point and moves to the intermediate position C. Thereafter, as the rotor 91 rolls, the magnetic flux flow 19 gradually changes and eventually becomes a flow from point D2 to point E3. Therefore, the operating angle θ2 also changes smoothly as the rotor 91 rolls.

Therefore, according to this example, vibrations during motor operation can be significantly reduced. Also, excitation coil 1
3 can be wound from the outside of the stator 1, making the winding work easier. Furthermore, since the stator 1 is integrated, the assembly work to the housing 90 is facilitated. Note that if the amount of current applied to the excitation coil 13 is gradually changed as the rotor 91 rolls, it is possible to further reduce the operating angle θ2.

[Brief explanation of drawings]

FIG. 1 is a plan sectional view of a planetary motor according to an embodiment.

FIG. 2 is a side sectional view of the planetary motor of the embodiment.

FIG. 3 is a perspective view of the stator of the embodiment before winding the excitation coil.

FIG. 4 is a perspective view of the stator of the embodiment after winding an excitation coil.

FIG. 5 is a plan sectional view of a conventional planetary motor.

FIG. 6 is a side sectional view of a conventional planetary motor.

FIG. 7 is a perspective view of a conventional stator before winding an excitation coil.

FIG. 8 is a perspective view of a conventional stator after winding an excitation coil.

[Explanation of symbols]

1. ．． ．． stator, 11. ．． ．． magnetic material, 12. ．． ．． magnetic pole, 13. ．． ．． excitation coil, 91. ．． ．． rotor,

Claims (1)

[Claims] [Claim 1] A planetary motor consisting of a rotor that makes planetary motion and a stator that is arranged around the rotor and gives planetary motion to the rotor, wherein the stator is made of a ring-shaped magnetic material. , a planetary motor comprising a plurality of magnetic poles protruding radially from the outer periphery of the magnetic body, and an excitation coil wound around the magnetic poles.