JPS63117696A - Differential actuator - Google Patents

Abstract

PURPOSE:To preferably shift speed in multiple stages by a differential actuator having a simple and inexpensive construction by using a pole change type motor as two unit actuators. CONSTITUTION:Unit actuators 100, 102 are composed of pole change type induction motors. Pole change converters 104, 106 are, connected to the actuators 100, 102 respectively. When hollow shafts 108, 110 rotate in the actuators 100, 102, gears 15a, 15b are rotated. A differential shaft 16 is rotated therearound by the operation of a differential gear 15c which rotates at a speed of the difference of the rotating speeds of the gears 15a and 15b. The rotating speed of an output shaft 17 becomes a half of the difference or sum of the rotating speeds of the actuators 100, 102. Here, when 4-pole/6-pole change is executed, 5 rotating speeds can be obtained.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to, for example, a control or power electric device, and particularly relates to an improvement in a control method thereof.

[Conventional technology]

Conventionally, various transmission devices have been known as this type of actuator, but for example, the one shown in Japanese Patent Application Laid-Open No. 50-24 [i81] uses individual speed change electric motors as they are in the vehicle body to control speed. The output shaft is obtained from a single location.

Furthermore, FIG. 2 is a sectional view of the main parts of a differential actuator that is an improved version of the above device, and in the figure, (1
1) is unit actuator A, (IZ is unit actuator B coaxially facing unit actuator A (I+), θ■ is unit actuator A
It is a hollow f[I]A that becomes the glaze of the (+1) rotating part. °
In addition, α4) is a hollow shaft B that becomes the glaze of the rotating part of the unit actuator Ba2, and is hollow! It coaxially faces M A (+3). (15a) is a gear that transmits the rotation of the hollow shaft AQa, and (15b) is a gear that transmits the rotation of the hollow shaft AQa.
The gear (15c) is a differential gear that transmits the rotation of gears (15a) and (15b). (1
6) is a differential shaft, and (16a) is the differential shaft (16).
07)
is an output shaft connected orthogonally to the differential shaft (16).

A conventional actuated actuator is configured as described above,
Two independently controllable unit actuators A (
The difference in the rotational speed of I+) and BO is determined by the differential gear (15
G) to cause the differential shaft (16) to revolve.

Since the output shaft (17) connected to the differential shaft (16) passes through the hollow shafts Ada and Bo3),
The outputs of unit actuator A (Iυ and Baz can be taken out from two places. The rotation speed of the output shaft (17) is the difference between the rotation speeds of unit actuators A (I+) and B (goods), and its control range extends from the stem to It is possible to obtain up to the upper limit of either unit actuator.

[Problem that the invention seeks to solve]

However, with the conventional differential actuator, the speed control range is theoretically infinite as described above, but if it is used only for changing speed to a certain predetermined value, it is necessary to use two unit actuators. There is a disadvantage that the control device for changing the speed of the motor is complicated and expensive.

Another problem is that when the speed is fixed at a predetermined speed, it is difficult to adjust the speed.

This invention was made in order to solve these problems, and its purpose is to provide a differential actuator that can perform multi-speed shifting with a simple and inexpensive device. It is something to do.

[Means for Solving the Problems] The differential actuator according to the present invention combines the first and second actuators whose outputs are obtained through differential gear means with a pole change type electric motor that obtains multistage rotational speeds. The above problem is solved by providing a switching means for changing the number of poles for each actuator.

[Effect]

In this invention, the output rotational speed of each actuator changes stepwise depending on the number of poles. Therefore, the output of the differential gear means also changes stepwise depending on the set number of poles. The number of poles of each actuator is set by independently operating the switching means.

(Example) Hereinafter, an example of the present invention will be described with reference to Fig. 1. Note that the same reference numerals will be used for the same components as in the prior art described above.

In FIG. 1, unit actuators (10
0) and (102) are constituted by pole number conversion type electric conduction motors. These unit actuators (100) and (+02) are connected to pole number changers (104) and (106), respectively.
By these operations, the unit actuator (10
0) and (102) can be switched respectively.

In addition, similar to the prior art described above, the unit actuators (100), (102) 7;') hollow shafts (
108).

(110) are each provided with a gear (15a) at the opposite end.
.

(15b) are provided, and these gears (15a)
.

(15b) The output of the differential gear section constituted by the differential gear (15c) is taken out to the outside via the differential shaft (16) and the output shaft (17).

Next, the operation of the above embodiment will be explained. In the method for controlling the differential actuator configured as described above, first, in the two independently controllable unit actuators (100) and (102), the hollow!
When rotating 1th (108) and (110) respectively,
The gears (tSa) and (15b) each rotate.

Therefore, the differential shaft (16) has gears (15a) and (1
The differential gear (15) rotates at a speed that is the difference between the rotational speeds of
It will revolve due to the action of c). On the other hand, the output @h
(17) is connected orthogonally to the differential shaft (16),
Also, since the hollow shafts (108) and (110) are penetrated, a constant output can be obtained by fixing the output of the unit actuators (100) and (102).

The rotational speed of the output shaft (17) is half the difference or sum of the rotational speeds of the uniramie actuators (100) and (102). For example, if the number of poles is switched between 4 poles and 6 poles using pole number switchers (+04) and (106), five rotational speeds can be obtained as shown in Table 1 below.

Table 1 Note that the present invention is not limited to the above-described embodiments; for example, the number of poles may be 476, and is not particularly limited. By combining actuators having different numbers of switching poles, desired multistage rotational speed outputs can be obtained.

(Effects of the Invention) As explained above, according to the present invention, pole change type electric motors are used as two unit actuators,
Since we decided to control the output by switching the number of poles, it is possible to obtain various multi-stage outputs with a simple and inexpensive device configuration without the need for a complicated control device. .

[Brief explanation of the drawing]

FIG. 1 is a sectional view of the main parts showing an embodiment of the present invention.
FIG. 2 is a sectional view of the main parts of an example of a conventional differential actuator. In the figure (too), (
102) is a unit actuator, (15a),
(15b) is a gear, (15c) is a differential gear, (16
i) is a differential shaft, and (17) is an output shaft. Note that the same reference numerals in each figure indicate the same or corresponding parts.

Claims (1)

[Claims] In a differential actuator, the outputs of the first and second actuators are obtained on the output shaft via differential gear means,
A differential actuator characterized in that the first and second actuators are constituted by pole number changeable electric motors that obtain multistage rotational speeds, and a switching means for pole number conversion is provided for each actuator.