WO2013069377A1 - 歯車伝動装置及び駆動ユニット - Google Patents
歯車伝動装置及び駆動ユニット Download PDFInfo
- Publication number
- WO2013069377A1 WO2013069377A1 PCT/JP2012/074019 JP2012074019W WO2013069377A1 WO 2013069377 A1 WO2013069377 A1 WO 2013069377A1 JP 2012074019 W JP2012074019 W JP 2012074019W WO 2013069377 A1 WO2013069377 A1 WO 2013069377A1
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- WIPO (PCT)
- Prior art keywords
- phase
- gear
- crankshafts
- gear transmission
- carrier
- Prior art date
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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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
-
- 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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing
Definitions
- the present invention relates to an eccentric oscillating gear transmission and a drive unit using the gear transmission.
- the eccentric oscillating gear transmission is sometimes called a cycloid reducer (cycloid drive).
- a gear transmission is known in which one external gear rotates around the other while meshing with an internal gear.
- the external gear rotates around the inner gear while meshing with the internal gear (external gear rotation type), and the external gear while the internal gear meshes with the external gear.
- internal gear rotation type There is a type that circulates around (internal gear rotation type).
- An external gear rotation type gear transmission generally has a carrier supported coaxially with an internal gear, a crankshaft supported by the carrier, and an external gear engaged with an eccentric body of the crankshaft.
- the internal gear is often formed inside the case.
- the external gear is provided with a hole in the axial direction, and the eccentric body engages with the hole.
- the external gear meshes with the internal gear.
- the carrier corresponds to the output shaft of the gear transmission.
- the crankshaft rotates, the external gear rotates around the inner periphery of the internal gear.
- the carrier rotates according to the difference in the number of teeth between the external gear and the internal gear.
- the eccentric oscillating gear transmission can obtain a very large gear ratio.
- Some gear transmissions have a plurality of crankshafts, and a motor is connected to each crankshaft.
- An example of such a gear transmission is disclosed in Japanese Patent Publication No. 2009-159725 (Patent Document 1).
- Patent Document 1 a radial gap type motor is connected to each crankshaft.
- the novel gear transmission disclosed in this specification includes three crankshafts and three single-phase claw pole motors.
- Each of the three single-phase claw pole motors is connected to each of the three crankshafts.
- the single-phase claw pole motor has the following structure.
- the stator has a yoke of a press sheet metal structure surrounding the coil. Comb-like magnetic poles (poles) alternately extend from both sides of the yoke in the axial direction.
- a rotor having a cylindrical multipolar permanent magnet is disposed inside the stator.
- Such a motor is called a claw pole type because its pole shape resembles claw (birds and claws, crabs and shrimp scissors).
- the novel gear transmission disclosed in this specification drives the same external gear with three single-phase claw pole motors.
- Three single-phase claw pole motors are convenient for individually using the output of each phase of one UVW three-phase AC output inverter.
- three single-phase claw pole motors are simultaneously driven by a single UVW three-phase AC output inverter, and torque is transmitted to the same external gear via three crankshafts. Since the three claw pole motors are simultaneously driven by one three-phase AC output inverter, the rotations of the three rotors are exactly equal. Further, the torque is evenly transmitted to the external gear through three claw pole motors and three crankshafts.
- the external gear rotates smoothly. Since three claw pole motors can be driven by a single three-phase AC output inverter, the novel gear transmission disclosed in this specification has a simple electric system structure. A gear transmission having a simple structure and rotating smoothly can be obtained. When a plurality of external gears are provided, three crankshafts drive each external gear simultaneously.
- the rotor of the single-phase claw pole motor should be fixed coaxially to the crankshaft.
- the rotor and the crankshaft are preferably connected by a spline or serration having a groove (or key) that is a multiple of three.
- Such spline or serration coupling has a rotational resolution that is a multiple of three.
- the three single-phase claw pole motors need to be 120 degrees out of phase with respect to each other. In order to equalize the mutual phase difference, it is advantageous that the coupling mechanism of the rotor and the crankshaft has a rotational resolution of a multiple of three.
- the gear transmission having three single-phase claw pole motors is convenient to drive with one three-phase AC output inverter.
- Another aspect of the technology disclosed in the present specification is that the gear transmission having the three single-phase claw pole motors described above and the electrical phase of the three single-phase claw pole motors are shifted by 120 degrees.
- a drive unit including one three-phase AC output inverter for supplying an AC current.
- Sectional drawing of a gear transmission is shown.
- the top view of the gear transmission which removed the motor cover is shown.
- the exploded perspective view of a motor is shown. It is a typical top view which shows the mutual phase relationship of three motors.
- FIG. 1 shows a cross-sectional view of the gear transmission 100 of the embodiment
- FIG. 2 shows a plan view of the gear transmission 100 with the motor cover 40 removed as viewed from the direction of the axis CL.
- transmission device the gear transmission
- the cross-sectional view of FIG. 1 corresponds to the cross section seen along the line AA of FIG.
- the structure of the transmission device 100 will be outlined.
- the transmission device 100 is an eccentric oscillating type speed reducer incorporating three single-phase claw pole motors 50a, 50b, and 50c.
- the eccentric oscillating speed reducer is also called a cycloid speed reducer.
- the carrier 8 is supported by the case 2 having an internal gear 28 on the inner surface, and the three crankshafts 32 are supported by the carrier 8, and the crankshafts 32 are two externally mounted.
- the toothed gear 26 is rotated.
- the two external gears 26 have an engagement through hole 25, and an eccentric body 24 of the crankshaft is engaged with the engagement through hole 25.
- the external gear 26 circulates around the inner periphery of the internal gear while meshing with the internal gear 28.
- the carrier 8 rotates by an angle corresponding to the difference in the number of teeth between the internal gear 28 and the external gear 26.
- the carrier 8 corresponds to the output shaft of the transmission device 100.
- Three single-phase claw pole motors 50 a, 50 b and 50 c are fixed to the carrier 8, and the rotor 54 of each motor is connected to each of the three crankshafts 32.
- the transmission device 100 has three crankshafts 32 as shown in FIG.
- Single-phase claw pole motors 50a, 50b, and 50c are connected to the shaft 32.
- the single-phase claw pole motor is simply referred to as “CP motor”.
- the three CP motors 50a, 50b, and 50c may be collectively referred to as “CP motor 50”.
- FIG. 3 shows an exploded view of the CP motor 50.
- the stator 52 includes a coil 62 and a pair of stator half cases 61 and 63 that house the coil 62.
- the coil 62 is represented by a single ring.
- Each stator half case 61, 63 has comb teeth 61a, 63a facing each other. When the pair of stator half cases 61, 63 are coupled to face each other, the respective comb teeth are alternately arranged in the circumferential direction. .
- the CP motor 50 When a current is passed through the coil 62 housed in the stator half cases 61 and 63, one of the comb teeth (for example, 61a) becomes an N magnetic pole, and the other comb tooth (for example, 63a) becomes an S magnetic pole. That is, in the CP motor, a plurality of N magnetic poles and S magnetic poles are alternately arranged in the circumferential direction on the stator 52 by one coil 62. When the current of the coil 62 is reversed, the magnetic pole of the stator 52 is reversed. In the rotor 54, a plurality of permanent magnets are alternately arranged in the circumferential direction.
- the CP motor 50 according to this embodiment includes a 24-pole stator 52 and a 12-pole rotor 54.
- the rotor 54 rotates. Therefore, the rotation speed is synchronized with the frequency of magnetic pole reversal.
- the CP motor 50 can smoothly rotate the rotor in a single phase. Since the principle of the CP motor 50 is well known, further detailed description is omitted.
- a spline groove 66 is formed at the center of the rotor 54.
- a spline key 67 is formed at the end of the crankshaft 32.
- the rotor 54 and the crankshaft 32 are connected by spline coupling.
- the spline groove 66 has a multiple of 3 and the spline key 67 has a multiple of 3. Since the spline groove 66 of FIG. 3 has 12 grooves and the spline key 67 has 12 keys, their combination has a resolution of 30 degrees.
- FIG. 4 schematically shows the relationship between the phases of the three CP motors 50a, 50b, and 50c.
- the angle between the triangular mark Ar marked on the rotor 54 and the triangular mark As shown on the stator 52 indicates the phase.
- the phase of the first CP motor 50a is 0 degrees
- the phase of the second CP motor 50b is 120 degrees
- the phase of the third CP motor 50c is 240 degrees.
- the three CP motors 50a, 50b, and 50c have an electrical phase difference of 120 degrees from each other. It is convenient that the rotational resolution of the coupling between the crankshaft 32 and the rotor 54 is a multiple of 3 in order to equalize the phase difference between the three CP motors.
- the three CP motors 50 each drive the crankshaft 32.
- the three crankshafts drive each of the two external gears 26 (see FIG. 1).
- the three CP motors 50 (three crankshafts 32) are arranged at equal intervals around the axis CL of the transmission device 100 at an angle of 120 degrees, and three CPs are further provided.
- the motors 50 have an electrical phase difference of 120 degrees from each other. Such an arrangement smoothly rotates the same external gear 26. That is, the output shaft (carrier 8) of the transmission device 100 is smoothly rotated by the three CP motors 50 described above.
- ⁇ Using a single three-phase AC output inverter can rotate the output shaft (carrier 8) of the transmission 100 more smoothly.
- three single-phase AC powers are required.
- a single three-phase AC output inverter that can output three-phase alternating current is convenient for driving the transmission 100 of the embodiment.
- Various types of three-phase AC output inverters are widely used as drivers for three-phase AC synchronous motors, and there is an advantage that a type corresponding to the specifications of the transmission device 100 can be easily obtained.
- FIG. 5 shows a block diagram of an electric system of the drive unit 200 including the transmission device 100 and one three-phase AC output inverter 74.
- the inverter 74 includes six switching circuits SW1 to SW6 configured by an antiparallel connection of an IGBT and a freewheeling diode. Two switching circuits are connected in series between a positive line (P line) and a negative line (N line), and an output line extends from the midpoint toward the coil of the CP motor. Three sets of two switching circuits are connected in series, and U-phase, V-phase, and W-phase AC currents are output from the midpoint of each set. Each single-phase AC output of the UVW three phases is supplied to the stators 52 of the three CP motors.
- the three-phase AC outputs have a phase of 120 degrees with each other, it is convenient to rotate the three CP motors 50 synchronously with a phase difference of 120 degrees. Since inverter 74 requires DC input power, the output of commercial AC power supply 71 is converted to DC by AC / DC converter 72, and the DC is input to three-phase AC output inverter 74. A capacitor 73 connected between the ACDC converter 72 and the inverter 74 is provided to smooth the input current of the inverter 74.
- the transmission device 100 includes a case 2, a carrier 8, a crankshaft 32, an external gear 26, and a CP motor 50.
- An internal gear 28 is provided inside the case 2.
- a plurality of internal teeth pins 30 are arranged at equal intervals in the circumferential direction on the cylindrical inner surface of the case 2, and the internal teeth pins 30 constitute an internal gear 28.
- the carrier 8 is supported on the case 2 by a pair of angular ball bearings 4.
- the carrier 8 is supported by the case 2 so as to be coaxial with the internal gear 28.
- the axis CL corresponds to the axis of the carrier 8.
- the axis line CL also corresponds to the axis line of the internal gear 28 (case 2).
- the carrier 8 corresponds to the output shaft of the transmission device 100.
- the carrier 8 includes a pair of opposing disks (first plate 8a and second plate 8c) and a column 8b connecting them.
- the column 8 b passes through the off-center through hole 46 of the external gear 26.
- An oil seal 6 is arranged between the case 2 and the carrier 8.
- a motor cover 40 is attached to one end of the carrier 8 in the direction of the axis CL.
- a central through hole 12 is formed so as to penetrate the center of the carrier 8 and the motor cover 40, and a cylindrical pipe 42 is fitted into the central through hole 12.
- the cylindrical pipe 42 and the carrier 8 (8c) are sealed with an oil seal 41.
- the motor cover 40, the oil seals 6 and 41, and the cap 19 (described later) seal the case internal space that houses the gear group and encloses the lubricant.
- the crankshaft 32 is supported on the carrier 8 by a pair of tapered roller bearings 23.
- the crankshaft 32 extends parallel to the axis CL at a position offset from the axis CL.
- the reference numeral RL in the figure indicates the center line of the crankshaft 32.
- the crankshaft 32 includes two eccentric bodies 24. Each of the two eccentric bodies 24 is engaged with an external gear 26.
- the two eccentric bodies 24 are eccentric in opposite directions with respect to the axis RL of the crankshaft 32. Since the two eccentric bodies 24 are located between the pair of tapered roller bearings 23, they rotate smoothly without fluctuation.
- the rotor 54 of the CP motor 50 is connected to one end of the crankshaft 32, and the encoder 18 is attached to the other end.
- the other end of the crankshaft 32, that is, the encoder 18, is covered with a cap 19 and isolated from the outside.
- the encoder 18 is attached to one of the three crankshafts 32. Brakes (not shown) are attached to the other two crankshafts 32.
- crankshaft 32 and the rotor 54 may be coupled by serration instead of the spline. Even when serration is employed, the number of grooves (or keys) of the serration is preferably a multiple of three.
- the transmission device 100 includes an auxiliary crankshaft (driven crankshift) that rotates passively by the rotational force of the external gear 26 in addition to a crankshaft (drive crankshaft) to which three CP motors 50 are connected. It may be. As the number of crankshafts increases, the rotation of the external gear 26 becomes more stable.
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Retarders (AREA)
Abstract
Description
Claims (5)
- 偏心揺動型の歯車伝動装置であり、
3本のクランクシャフトと、
3個の単相クローポールモータと、
を備えており、
3個の単相クローポ-ルモータの夫々が、3本のクランクシャフトのそれぞれに連結していることを特徴とする歯車伝動装置。 - 夫々の単相クローポールモータのロータが夫々のクランクシャフトに同軸に固定されていることを特徴とする請求項1に記載の歯車伝動装置。
- 夫々のロータと夫々のクランクシャフトは、3の倍数の数の溝を有するスプライン又はセレーションにて結合していることを特徴とする請求項2に記載の歯車伝動装置。
- 3個の単相クローポールモータの電気的な位相が相互に120度ずれていることを特徴とする請求項1から3のいずれか1項に記載の歯車伝動装置。
- 請求項1から4のいずれか1項に記載の歯車伝動装置と、3個の単相クローポールモータの夫々に位相が120度ずれた交流電流を供給する一つの3相交流出力インバータを備えることを特徴とする駆動ユニット。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201280055325.9A CN103930694B (zh) | 2011-11-10 | 2012-09-20 | 齿轮传动装置及驱动单元 |
DE112012004699.4T DE112012004699T5 (de) | 2011-11-10 | 2012-09-20 | Zahnradgetriebevorrichtung und Antriebseinheit |
KR1020147015090A KR20140091732A (ko) | 2011-11-10 | 2012-09-20 | 기어 전동 장치 및 구동 유닛 |
Applications Claiming Priority (2)
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JP2011246417A JP5901943B2 (ja) | 2011-11-10 | 2011-11-10 | 歯車伝動装置及び駆動ユニット |
JP2011-246417 | 2011-11-10 |
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WO2013069377A1 true WO2013069377A1 (ja) | 2013-05-16 |
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ID=48289763
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PCT/JP2012/074019 WO2013069377A1 (ja) | 2011-11-10 | 2012-09-20 | 歯車伝動装置及び駆動ユニット |
Country Status (6)
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JP (1) | JP5901943B2 (ja) |
KR (1) | KR20140091732A (ja) |
CN (1) | CN103930694B (ja) |
DE (1) | DE112012004699T5 (ja) |
TW (1) | TWI577908B (ja) |
WO (1) | WO2013069377A1 (ja) |
Cited By (1)
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CN109617314A (zh) * | 2019-01-25 | 2019-04-12 | 深圳市泓之发机电有限公司 | 齿轮传动结构及相应的电机 |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10411528B2 (en) | 2015-10-22 | 2019-09-10 | Samsung Electronics Co., Ltd. | Motor and motor control circuit |
KR102609369B1 (ko) | 2015-10-22 | 2023-12-04 | 삼성전자주식회사 | 단상 클로 폴 모터 |
JP6877318B2 (ja) * | 2017-11-14 | 2021-05-26 | 住友重機械工業株式会社 | ギヤモータ |
DE102020113971A1 (de) | 2020-05-25 | 2021-11-25 | Brose Fahrzeugteile Se & Co. Kommanditgesellschaft, Bamberg | Getriebe zum Verstellen eines Fahrzeugteils |
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JP2008079442A (ja) * | 2006-09-22 | 2008-04-03 | Nidec Sankyo Corp | ギアードモータ |
JP2009159725A (ja) * | 2007-12-26 | 2009-07-16 | Nabtesco Corp | 駆動装置とその製造方法 |
JP2009159658A (ja) * | 2007-12-25 | 2009-07-16 | Nabtesco Corp | モータユニット及び減速装置 |
JP2010014177A (ja) * | 2008-07-02 | 2010-01-21 | Nabtesco Corp | 偏心揺動型歯車伝動装置 |
Family Cites Families (3)
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CN2316503Y (zh) * | 1997-11-25 | 1999-04-28 | 石家庄市宏达机电研究所 | 一种摆滚式减速机械 |
CN2333463Y (zh) * | 1998-03-12 | 1999-08-18 | 燕山大学 | 连铸结晶器锯齿形振动发生装置 |
EP2234249A4 (en) * | 2007-12-25 | 2017-04-05 | Nabtesco Corporation | Motor unit and gear power transmission device |
-
2011
- 2011-11-10 JP JP2011246417A patent/JP5901943B2/ja active Active
-
2012
- 2012-09-20 WO PCT/JP2012/074019 patent/WO2013069377A1/ja active Application Filing
- 2012-09-20 KR KR1020147015090A patent/KR20140091732A/ko not_active Application Discontinuation
- 2012-09-20 CN CN201280055325.9A patent/CN103930694B/zh active Active
- 2012-09-20 DE DE112012004699.4T patent/DE112012004699T5/de not_active Withdrawn
- 2012-11-07 TW TW101141419A patent/TWI577908B/zh active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2008079442A (ja) * | 2006-09-22 | 2008-04-03 | Nidec Sankyo Corp | ギアードモータ |
JP2009159658A (ja) * | 2007-12-25 | 2009-07-16 | Nabtesco Corp | モータユニット及び減速装置 |
JP2009159725A (ja) * | 2007-12-26 | 2009-07-16 | Nabtesco Corp | 駆動装置とその製造方法 |
JP2010014177A (ja) * | 2008-07-02 | 2010-01-21 | Nabtesco Corp | 偏心揺動型歯車伝動装置 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109617314A (zh) * | 2019-01-25 | 2019-04-12 | 深圳市泓之发机电有限公司 | 齿轮传动结构及相应的电机 |
CN109617314B (zh) * | 2019-01-25 | 2024-01-30 | 深圳市泓之发机电股份有限公司 | 齿轮传动结构及相应的电机 |
Also Published As
Publication number | Publication date |
---|---|
DE112012004699T5 (de) | 2014-08-28 |
KR20140091732A (ko) | 2014-07-22 |
CN103930694A (zh) | 2014-07-16 |
TWI577908B (zh) | 2017-04-11 |
JP2013104442A (ja) | 2013-05-30 |
CN103930694B (zh) | 2016-10-19 |
TW201326621A (zh) | 2013-07-01 |
JP5901943B2 (ja) | 2016-04-13 |
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