JPS61218358A - Geared motor - Google Patents

Abstract

PURPOSE:To obtain a thin geared motor having small size and weight by disposing a motor mechanism to become a drive source and a planetary gear for transmitting power in combination in a plane perpendicular to the axial direction of an output shaft. CONSTITUTION:A flange 6 is coupled with the end face of an output shaft 3, and another flange 7 is coupled by a crankshaft 9 with a coupling boss 6A. The first drive disk 11 and the second drive disk 12 made of a magnetic material are supported through bearings 13 onto the shaft 9. The disk 11 is engaged with inner teeth 14 formed on the inner periphery of a housing (stator) 1A to form a planetary gear, and the disk 12 is opposed to an exciting member 15 formed on the inner surface of a housing 1A to form a motor mechanism. Thus, when the member 5 is energized, the disk 12 is rotated around an output shaft, and the output rotating speed of large reduction gear ratio can be accordingly obtained.

Description

[Detailed description of the invention] (Industrial application field) The present invention relates to a geared motor.

(Prior Art) Geared motors are used in robots and the like as low-speed, high-torque motors. As a conventional geared motor, for example, one described in Japanese Unexamined Patent Publication No. 57-208838 is known. In this conventional geared motor, a planetary gear that moves planetarily relative to a first internal gear is meshed with the inner circumference of a yoke that generates a rotating magnetic field, and the planetary gear is magnetized in the direction of the output shaft. By associating a second internal gear different from the pinch of the null gear with the output shaft and meshing the planetary gear with the second internal gear in a planetary motion, the rotation of the planetary gear causes the second The output shaft is rotated by rotating the null gear. In other words, when a rotating magnetic field is generated in the yoke to cause the planetary gear to make a planetary motion relative to the first internal gear fixed to the yoke, the planetary gear also moves relative to the second internal gear. Do planetary movements.

The first internal gear and the second internal gear have different pinch points. Therefore, when the planetary gear makes a planetary motion relative to the first internal gear, the planetary gear makes a planetary motion relative to the second internal gear, and pushes the side surface of the second internal gear to cause the second internal gear to move. Rotate. As a result, the output shaft rotates, and the rotation of the output shaft is reduced in accordance with the number of teeth of the first internal gear and the second internal gear.

(Problems to be Solved by the Invention) However, in such a conventional geared motor, the first internal gear and the second internal gear are arranged in parallel, and the second internal gear related to the output shaft is Since the internal gear is rotatably supported, the output shaft has a cantilever support structure and is unstable. In order to solve this problem, a pair of cantilever structures having the same shape with first and second internal gears are provided on the left and right to form a set.

As a result, there is a problem in that the geared motor becomes thicker and larger in the direction of the output shaft of the gear.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems of the prior art, and aims to provide a thin, small, and lightweight geared motor.

(Means for solving the problem) In order to achieve this object, the geared motor of the present invention includes a housing, an output shaft rotatably supported by the housing, and an axial direction at an end of the output shaft. a first drive disk that is supported via a support member so as to be able to swing by a predetermined eccentric amount in a vertical plane and rotate integrally with the output shaft, and that is provided with external teeth on its outer periphery; internal teeth formed along the inner circumferential surface of the housing with a pitch circle diameter larger than the external teeth and a greater number of teeth so as to mesh with the external teeth on a concentric circle of the shaft; a magnetic second drive disk that is arranged in parallel with the drive member and supported by the support member so as to be able to swing by the predetermined amount of eccentricity; and an excitation member having an inner circumferential diameter larger than the outer circumferential diameter of the second drive disk and to which an excitation current is supplied along the inner circumferential surface.

(Example) Hereinafter, a first explanation will be given of a geared motor which is an example of the present invention.
This will be explained with reference to FIGS. 3 to 3.

The output shaft 3 is connected to the housing body IA via the bearing 2A.
is rotatably supported. A housing cover IB for closing the housing main body IA is connected to the housing main body IA by a fastening port 4.

Further, a support shaft 5 is fixedly provided inside the housing cover IB so as to face the center line L-L of the output shaft 3.

Here, a disk-shaped flange 6 is attached to the shaft end of one output shaft 3.
are integrally coupled, and coupling boss portions 6a are formed protruding from the flange 6 at positions dividing the circumferential direction into three equal parts, for example. On the other hand, a flange 7 is rotatably supported on the other support shaft 5 via a bearing 2B.

These two opposing flanges 6.7 are spaced apart by this length via the coupling boss portion 6a.
By being integrally connected at −8, the central axis L −
Rotatable around T-.

Between the flanges 6.7 with such a joint structure, the circumferential direction is further divided into three equal parts.
Two crank shirts 1-9 (carrying members) are attached to both flanges 6.
．． 7 and is rotatably supported via bearings 10 and 10.

The shape of the crankshaft 9 is stepped, as shown in FIG. The two parts of the support part 9b are eccentric by the dimension λ due to a phase shift of 180°. The rotation center axes of the supporting parts 9b and 9b are β and − in the figure.
p, is represented by a line.

The first and second drive disks 11 and 12 are connected to the output shaft 3 in such a way that these three crankshafts 9 and the three coupling boss portions 6a of the second flange 6 are inserted therethrough.
It is supported so as to be swingable within a plane perpendicular to the rotation center axis LL. That is, the adjacent first and second drive disks 11.12 are supported by the support portions 9b, 9b of the crankshaft 9 via the hair ring 13 so as to be relatively rotatable, with a phase shift of 180° from each other. Carrying part 9
The eccentricity (offcent) of b and 9b with respect to the rotational center axis β-β; λ swings like a vehicle crank.

In other words, the first and second drive disks 11, 12 are configured to revolve around the rotation center axis LL in a planetary motion while swinging themselves relative to the output shaft 3. On the other hand, the outer circumferential diameter of the coupling boss portions 6a of the six examples of flanges inserted into the first and second drive disks 11.12 at three locations is
The crankshaft 9
The offset amount is smaller by 2λ, which is twice λ (see FIG. 2), and allows each of the first and second drive disks 11, 12 to swing.

Further, the first drive disk 11 has a gear shape with external teeth 11a carved on the outer periphery, and the number of external teeth 11a is 35 in the embodiment. The inner peripheral surface of the housing main body IA corresponding to the outer teeth 11a has inner teeth 1 that mesh with the outer teeth 11a.
4 is formed, and this number of teeth is 3 which is one more than the external tooth 11a.
There are 6 pieces. As shown in the figure, the shape of the internal teeth 14 is such that a round pin is partially fitted onto the inner circumferential surface of the housing main body IA with a pinch.

That is, the pitch circle diameter of the internal teeth 14 is larger than that of the external teeth 11a, and the external teeth 11a and the internal teeth 14 are in a relationship that meshes with each other only in a portion. The internal teeth 14 and the external teeth 11a theoretically mesh with each other by the number of gold teeth, but in reality, there is a gap due to processing tolerances, so they are in a relationship where they mesh with each other about half of them. Therefore, since the meshing ratio is high, a large torque can be transmitted, and the torque is also averaged out and reduced.

In the case of the second drive disk 12, its size is smaller than the first drive disk 11, and the entire surface portion 12a or at least the outer circumferential surface portion 12a is formed of a magnetic material.

An annular excitation member (hereinafter referred to as a yaw) 15 is arranged around the inner circumferential surface of the housing body IA so as to surround the outer circumferential surface portion 11a of the second drive disk 12.

The structure of the yoke 15 is such that coils 01 to C3, which are 36 conductor bundles in the embodiment, are installed radially in the circumferential direction at equal intervals. These coils C1 to C are connected by a circuit from a power source (not shown) so that excitation current is applied to them in order, for example, in a counterclockwise direction. however,
In the case of the embodiment, the remaining half of the coils (in the state shown in FIG. 2, the coils C0 to C
The circuit is set so that when an excitation current is applied to 17) to turn it on, the other half of the coils are turned off. In this manner, as shown in FIG. 2, 17 magnetic poles consisting of both N and S magnetic poles are formed along the inner circumferential surface of the yoke 15 by applying the excitation current.

The inner diameter of the yaw 15 in which N and S magnetic poles are alternately formed is:
It is larger than the outer diameter of the second drive disk 12 by a dimension corresponding to twice the above offset amount; 2λ, so the second drive disk 12 can swing within the yaw 15.

Regarding the multi-phase excitation method in which several N and S magnetic poles are formed radially to form a so-called rotating magnetic field, please refer to the book "Theory and Application of Stemp Motor (Jikkyo Publishing Co., Ltd.)".
etc., so the explanation of the electric circuit etc. in the case of the embodiment will be omitted.

Further, the rotational attraction force for causing the second driving disk 12 to swing can be generated by connecting, for example, a three-phase power supply to the magnetic pole coil through a rectifier, as in the case of the Ebisiku Motor (trademark), and connecting half of the yoke to the magnetic pole coil through a rectifier. A method may be adopted in which a magnetomotive force is generated.

Next, the operation and effect of the embodiment will be explained using an example in which the output shaft 3 is rotated in a counterclockwise direction.

The yoke 15 is in the state shown in FIG.
An excitation current is applied to the coils C8 to C17 to turn them on.

Then, the resultant force of the magnetic forces generated by the coils 02 to C8 of the 15 yokes (indicated by arrow F in FIG. 2) acts on the second drive disk 12 as an attractive force. Among the decomposed components of the attraction force F, the component element (shown in FIG. 2) that passes through the center point A of the second drive disk 12 (a point separated by the above-mentioned offset amount; λ from the center of the output shaft 3) causes the second drive disk to be 12 can be considered to have a counterclockwise torque acting on it. As a result, the second drive disk 12 swings (revolutions) in the counterclockwise direction, and in response to the swing of the second drive disk 12, the It rotates in a counterclockwise direction. Therefore, the output shaft 3 similarly swings in the counterclockwise direction due to the swinging torque of the first drive disk 11.

In other words, the coil group to be energized is connected to C on the yoke 15 side.
By sequentially switching 8 to C17, C2 to C, , C3 to CI9, -1, a counterclockwise rotating magnetic field is generated, and the second drive disk 2 is continuously oscillated by the rotational attractive force F caused by the rotating magnetic force. That is, a continuous rocking motion (revolution) is performed around the output shaft 3 in a counterclockwise direction. Therefore, the output shaft 3 continuously rotates in the counterclockwise direction via the crankshaft 9. Since the number of teeth of each of the external teeth 11a and the internal teeth 14 is 35.36, which is the difference in the number of teeth I, the output shaft 3 rotates once when the second drive disk 12 repeats rocking 35 times. . That is, in the geared motor of this embodiment, the reduction ratio is set as 1/35. In addition, a pair of first and second drive disks 1
1.12 Since the above-described swinging motion is performed with a phase shift of 180°, it is preferable to obtain the effect that the blur caused by each swinging motion is canceled out by each other. Furthermore, it goes without saying that a desired reduction ratio can be obtained by arbitrarily setting the ratio of the number of teeth between the external teeth 11a and the internal teeth 14.

(Effects of the Invention) As understood from the above, according to the geared motor of the present invention, each member for driving and transmitting power to the output shaft is combined within a plane perpendicular to the axial direction of the output shaft. Because of the configuration, and because the rotational driving force is obtained at a position close to the axis of the output shaft, a geared motor that is thin in the axis direction of the output shaft and small and lightweight in the direction perpendicular to the axis is obtained, which is preferable.

[Brief explanation of drawings]

FIG. 1 is a side sectional view of a geared motor according to an embodiment of the present invention, and FIG. 2 shows Y and -Y of FIG. 1 in the right half. FIG. 3 is a schematic view of the main parts, and FIG. Explanation of symbols of main parts LA---Housing main body, 3---One output shaft, 6.7---Flange, 9---Crankshaft (supporting member), 11-
・-First drive disk, 11a.--11--External tooth, 12-----1 magnetic second drive disk, 14-m--
-・Internal tooth, 15---Yoke (excitation member), C1~C,, -
----- Coil (conductor bundle).

Claims (1)

[Claims] a housing; an output shaft rotatably supported by the housing; and an end portion of the output shaft capable of swinging by a predetermined eccentric amount in a plane perpendicular to the axial direction and rotating integrally with the output shaft. a first drive disk supported by a support member and provided with external teeth on its outer periphery;
internal teeth formed along the inner circumferential surface of the housing with a larger pitch circle diameter and a greater number of teeth than the external teeth so as to mesh with the external teeth on a concentric circle of the output shaft; A magnetic second member is disposed in parallel with the first drive member and supported by the supporting member so as to be able to swing by the predetermined amount of eccentricity.
A drive disk is provided along the inner circumferential surface of the housing on a concentric circle of the output shaft, and has an inner circumferential diameter larger than the outer circumferential diameter of the second drive disk, and an exciting current is provided along the inner circumferential surface of the housing. A geared motor comprising: an excitation member to which is supplied.