WO2020049938A1 - Actuator - Google Patents

Actuator Download PDF

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Publication number
WO2020049938A1
WO2020049938A1 PCT/JP2019/031050 JP2019031050W WO2020049938A1 WO 2020049938 A1 WO2020049938 A1 WO 2020049938A1 JP 2019031050 W JP2019031050 W JP 2019031050W WO 2020049938 A1 WO2020049938 A1 WO 2020049938A1
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WO
WIPO (PCT)
Prior art keywords
face gear
motor
actuator
speed reducer
stator
Prior art date
Application number
PCT/JP2019/031050
Other languages
French (fr)
Japanese (ja)
Inventor
雄一 水谷
秀生 斉藤
孝太郎 櫛田
Original Assignee
Thk株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Thk株式会社 filed Critical Thk株式会社
Publication of WO2020049938A1 publication Critical patent/WO2020049938A1/en

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    • 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
    • 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
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/17—Toothed wheels
    • 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

Definitions

  • the present invention relates to an actuator including a precession speed reducer and a motor.
  • the precession speed reducer includes a first face gear, a second face gear, and a cam (see Patent Document 1).
  • the first face gear and the second face gear face each other.
  • the cam portion inclines the first face gear with respect to the second face gear so that the first face gear meshes with the second face gear, and precesses the first face gear so that the meshing portion moves.
  • the second face gear rotates at a reduced speed relative to the first face gear by the difference in the number of teeth between the first face gear and the second face gear.
  • the cam of the precession speed reducer is driven to rotate by a motor.
  • the motor includes a stator and a rotor.
  • the rotor is an inner rotor.
  • the cam is fastened to the motor shaft of the inner rotor.
  • the cam portion is driven to rotate about the motor shaft by the inner rotor.
  • the precession speed reducer and the motor are arranged in the axial direction. For this reason, in applications where the actuator becomes longer in the axial direction and there is a limit on the dimension in the axial direction, there is a problem in that the degree of freedom in design and the design are impaired.
  • an object of the present invention is to provide an actuator that is flat in the axial direction.
  • an embodiment of the present invention provides an actuator including a precession speed reducer and a motor, wherein the precession speed reducer includes a first face gear and a first face gear.
  • the first face gear is inclined with respect to the second face gear such that the first face gear meshes with the second face gear, and the first face gear is tilted with respect to the second face gear so that the meshing portion moves.
  • an actuator including a precession-type reduction gear and a motor, wherein the precession-type reduction gear includes a first face gear, and a second face gear facing the first face gear. Tilting the first face gear with respect to the second face gear so that the first face gear meshes with the second face gear, and precessing the first face gear so that the meshing portion moves. And a cam portion, wherein the motor for rotating the cam portion is arranged radially inside the first face gear and / or the second face gear.
  • the precession speed reducer can be arranged radially outside the outer rotor of the motor. Therefore, the actuator can be made flat in the axial direction.
  • the actuator can be flattened in the axial direction. it can.
  • FIG. 2 is a perspective view (including a partial cross-sectional view) of the actuator according to the first embodiment of the present invention. It is a sectional view of the actuator of a 1st embodiment.
  • FIG. 6 is a sectional view of an actuator according to a second embodiment of the present invention.
  • FIG. 11 is a perspective view (including a partial cross-sectional view) of an actuator according to a third embodiment of the present invention. It is sectional drawing of the actuator of 3rd Embodiment. It is a perspective view (including a partial sectional view) of an actuator of a fourth embodiment of the present invention. It is sectional drawing of the actuator of 4th Embodiment.
  • FIG. 1 is a perspective view of an actuator 1 according to a first embodiment of the present invention.
  • the precession speed reducer 2 is shown in cross section, and the outer rotor 32 of the motor 3 is shown in cross section for easy understanding of the internal structure of the actuator 1.
  • FIG. 2 is a sectional view of the actuator 1 according to the first embodiment.
  • the actuator 1 of the first embodiment includes a precession speed reducer 2 and a motor 3.
  • the precession speed reducer 2 includes a first face gear 11, a second face gear 12 facing the first face gear 11, and a cam portion 13 for precessing the first face gear 11.
  • the first face gear 11 is ring-shaped. A plurality of teeth 11a are formed radially on a side surface of the first face gear 11 (a surface facing the second face gear 12).
  • the first face gear 11 is supported by the inner ring 16 via a spline structure 17 so as to be swingable about the center O of precession (see FIG. 2) and not to rotate with respect to the inner ring 16.
  • the motor 3 is provided inside the first face gear 11 in the radial direction. At least a part of the first face gear 11 and at least a part of the motor 3 overlap in a side view viewed from a direction orthogonal to the center of the motor 3.
  • the second face gear 12 is also ring-shaped.
  • a plurality of teeth 12a are formed radially on a side surface of the second face gear 12 (a surface facing the first face gear 11).
  • the number of teeth of the first face gear 11 and the number of teeth of the second face gear 12 are different from each other.
  • the motor 3 is provided inside the second face gear 12 in the radial direction. In a side view, at least a part of the second face gear 12 and at least a part of the motor 3 overlap.
  • the second face gear 12 is fixed to a frame 14 of the precession speed reducer 2 by a fastening member such as a bolt.
  • the frame 14 and the second face gear 12 constitute a housing of the precession speed reducer 2.
  • the spline structure 17 includes a first track groove 11b formed on the inner surface of the first face gear 11 along the axial direction, a second track groove 16b formed on the outer surface of the inner ring 16 along the axial direction, A ball 18 interposed between the track groove 11b and the second track groove 16b.
  • a plurality of spline structures 17 are provided at equal intervals in the circumferential direction.
  • the inner ring 16 is fixed to the output unit 15.
  • the first face gear 11 is supported by the output unit 15 via a spline structure 17 so as to be swingable and non-rotatable with respect to the output unit 15.
  • the output unit 15 is rotatably supported by the second face gear 12 via the bearing 20. Between the output portion 15 and the second face gear 12, a sealing device (not shown) for closing a gap between them is provided. This is for sealing the inside of the precession speed reducer 2.
  • the cam portion 13 is an inclined cam that is thick in a part in the circumferential direction (for example, the upper part in FIGS. 1 and 2) and thin in another part in the circumferential direction (for example, in the lower part in FIGS.
  • the cam portion 13 inclines the first face gear 11 so that the first face gear 11 meshes with the second face gear 12.
  • the cam portion 13 precesses the first face gear 11 so that a portion where the first face gear 11 and the second face gear 12 mesh with each other moves.
  • the precession movement is a movement in which the rotation axis of the first face gear 11 swings so as to describe the side surface C (see FIG. 2) of the cone.
  • the vertex of the cone is the center O of the precession.
  • a circular opening 13a is formed in the center of the cam portion 13.
  • the outer rotor 32 of the motor 3 is fitted into the opening 13a.
  • the outer rotor 32 is fixed to the cam portion 13 by fixing means such as fastening with a bolt and bonding.
  • the outer rotor 32 is integral with the cam portion 13.
  • a ring-shaped bearing ring 21 is fixed to the first face gear 11.
  • a ring-shaped raceway 21 a is formed on the raceway 21.
  • a ring-shaped bearing ring 22 is also fixed to the frame 14.
  • a ring-shaped raceway 22 a is formed on the raceway 22.
  • a raceway 13b facing the raceways 21a and 22a is formed in the cam portion 13.
  • a large number of balls 23 are interposed between the cam portion 13 and the race 21 so as to be able to roll.
  • a large number of balls 24 are interposed between the cam portion 13 and the bearing ring 22 so as to be able to roll.
  • the reaction force generated by the engagement of the first face gear 11 and the second face gear 12 is transmitted to the frame 14 via the cam 13.
  • the motor 3 is an outer rotor type motor.
  • the motor 3 includes a stator 31 provided with a plurality of coils 34 and an outer rotor 32 provided with a plurality of permanent magnets 35. Note that the coil 34 may be provided on the outer rotor 32 and the permanent magnet 35 may be provided on the stator 31.
  • the outer rotor 32 is arranged outside the stator 31 in the radial direction.
  • the cam portion 13 is fixed to the outer periphery of the outer rotor 32.
  • the motor 3 is stored in the precession speed reducer 2.
  • the stator 31 is fixed to the frame 14. As shown in FIG. 2, a ring-shaped cylindrical portion 14a is formed at the center of the frame 14.
  • the core 36 of the stator 31 is fixed to the outer periphery of the cylindrical portion 14a.
  • Each coil 34 of the stator 31 is wound around each salient pole 36 a of the core 36 projecting radially.
  • the outer rotor 32 includes a yoke 33 and a plurality of permanent magnets 35.
  • the yoke 33 includes a boss 33a, a rib 33b extending radially from the boss 33a, and a cylindrical portion 33c provided at a tip of the rib 33b.
  • a part of the outer rotor 32, that is, the cylindrical portion 33 c is arranged outside the stator 31 in the radial direction.
  • a plurality of permanent magnets 35 are fixed to the cylindrical portion 33c. The plurality of permanent magnets 35 face the stator 31 with a radial gap therebetween.
  • the outer rotor 32 is supported by a shaft 37 rotatably provided inside the stator 31. As shown in FIG. 2, the shaft 37 is rotatably supported by the cylindrical portion 14a of the frame 14 via bearings 38a and 38b.
  • the motor 3 rotates the cam 13 around the shaft 37
  • the first face gear 11 precesses by the cam 13.
  • the meshing portion between the first face gear 11 and the second face gear 12 moves in the circumferential direction.
  • the second face gear 12 rotates relative to the first face gear 11 by the difference in the number of teeth.
  • the first face gear 11 rotates by the number of teeth.
  • the rotation of the first face gear 11 is taken out to the output unit 15 via the spline structure 17. That is, the output portion 15 rotatably supported by the housing (the frame 14 and the second face gear 12) is rotated at a reduced speed by the precession speed reducer 2.
  • the precession speed reducer 2 can be arranged outside the outer rotor 32 of the motor 3 in the radial direction. Therefore, the actuator 1 can be made flat in the axial direction.
  • the size of the motor 3 can be reduced while the output of the motor 3 is maintained. It is easy to store in.
  • the motor 3, the first face gear 11, the second face gear 12, and the cam portion 13 are housed in the housings 14, 12, protection such as casing of the motor 3 for ensuring dustproof / waterproofness and safety is provided. This eliminates the need for cost, improves dust and water resistance, and improves safety.
  • the motor 3 can be sealed. Since the space between the output portion 15 that rotates at a reduced speed and the housings 14 and 12 is sealed, the loss of the seal can be reduced as compared with the case where the space between the outer rotor 32 and the stator 31 that rotates at a high speed is sealed. (Second embodiment)
  • FIG. 3 shows a sectional view of an actuator 41 according to a second embodiment of the present invention.
  • the actuator 41 according to the second embodiment also includes the precession speed reducer 2 and the motor 3. Since the configuration of the motor 3 is substantially the same as that of the first embodiment, the same reference numerals are given and the description thereof is omitted.
  • the precession speed reducer 2 includes a first face gear 11, a second face gear 12, and a cam 13 as in the first embodiment.
  • the second face gear 12 is fixed to the frame 14, and the rotation of the first face gear 11 is transmitted to the output unit 15 via the spline structure 17.
  • the rotation of the first face gear 11 is limited by the spline structure 17, and the rotation of the second face gear 12 is transmitted to the output unit 15 integrated with the second face gear 12. .
  • a spline structure 17 is interposed between the frame 14 and the first face gear 11.
  • the spline structure 17 makes the first face gear 11 swingable and non-rotatable with respect to the frame 14.
  • the spline structure 17 includes a first track groove 11b formed on the outer surface of the first face gear 11 along the axial direction, a second track groove 14b formed on the inner surface of the frame 14 along the axial direction, A ball 18 interposed between the track groove 11b and the second track groove 14b.
  • the output portion 15 is formed integrally with the second face gear 12.
  • the output unit 15 is rotatably supported by a housing (the frame 14 and the lid member 19) via a bearing 20.
  • FIG. 4 is a perspective view of the actuator 50 according to the third embodiment of the present invention
  • FIG. 5 is a cross-sectional view of the actuator 50 according to the third embodiment.
  • the actuator 50 of the third embodiment also includes the precession speed reducer 2 and the motor 3 as in the first embodiment. Since the configuration of the precession speed reducer 2 is substantially the same as that of the first embodiment, the same reference numerals are given and the description thereof is omitted.
  • the motor 53 includes a stator 51 and an outer rotor 52.
  • the stator 51 includes a plurality of coils 54 and a core 55.
  • the stator 51 is fixed to the frame 14 via a stator fixing member 57 (see FIG. 5).
  • the core 55 of the stator 51 includes a ring-shaped core main body 55a and a plurality of salient poles 55b projecting radially inward from the core main body 55a.
  • Each coil 54 is wound around each salient pole 55b.
  • a plurality of permanent magnets 35 of the outer rotor 32 are provided on the outer side of the stator 31 in the radial direction.
  • a plurality of permanent magnets 56 of the outer rotor 52 are provided with a plurality of permanent magnets 56 of the outer rotor 52.
  • the outer rotor 52 has a rotor portion 52a provided inside the stator 51 in the radial direction, and an outer portion 52b provided outside the stator 51 in the radial direction.
  • the rotor section 52a is provided with a plurality of permanent magnets 56 facing the stator 51 with a radial gap therebetween.
  • the outer part 52b includes a disk part 52b1 and a cylindrical part 52b2 provided on the outer periphery of the disk part 52b1.
  • a part of the outer rotor 52 that is, a cylindrical portion 52 b 2 is arranged outside the stator 51 in the radial direction.
  • the cam portion 13 is fixed to the outer periphery of the cylindrical portion 52b2.
  • the outer rotor 52 is supported by a shaft 37 rotatably provided inside the stator 51.
  • the shaft 37 is rotatably supported by the cylindrical portion of the stator fixing member 57 and the cylindrical portion of the frame 14 via bearings 38a and 38b.
  • FIG. 6 is a perspective view of an actuator 60 according to a fourth embodiment of the present invention
  • FIG. 7 is a cross-sectional view of the actuator 60 according to the fourth embodiment.
  • the actuator 60 of the fourth embodiment also includes the precession speed reducer 2 and the motor 63. Since the configuration of the precession speed reducer 2 is substantially the same as that of the first embodiment, the same reference numerals are given and the description thereof is omitted.
  • the motor 63 includes a stator 61 and an outer rotor 62.
  • the stator 61 includes a plurality of coils 64 and a core 65.
  • Stator 61 is fixed to frame 14.
  • the core 65 includes a ring-shaped core body 65a, and a plurality of salient poles 65b that protrude in the axial direction from the core body 65a. Each coil 64 is wound around each salient pole 65b.
  • stator 31 and the plurality of permanent magnets 35 face each other via a radial gap
  • stator 61 and the plurality of permanent magnets 67 move in the axial direction. They face each other through a gap.
  • the outer rotor 62 includes a yoke 68.
  • the yoke 68 includes a disk part 68a and a cylindrical part 68b provided on the outer periphery of the disk part 68a.
  • a plurality of permanent magnets 67 long in the radial direction are attached to the disk portion 68a of the yoke 68.
  • a part of the outer rotor 62, that is, the cylindrical portion 68 b is arranged radially outside the stator 61.
  • the outer rotor 62 is supported by a shaft 37 rotatably provided inside the stator 61. As shown in FIG. 7, the shaft 37 is rotatably supported by the cylindrical portion 14a of the frame 14 via bearings 38a and 38b.
  • the actuators according to the first to fourth embodiments of the present invention have been described above.
  • the present invention is not limited to the above-described embodiment, and can be embodied in various embodiments without changing the gist of the present invention.
  • the first face gear and the second face gear are provided in the precession speed reducer, but the first face gear, the second face gear, and the third face gear are provided in the precession speed reducer. It is also possible to provide. More specifically, the first face gear is disposed between the second face gear and the third face gear, radial teeth are formed on both side surfaces of the first face gear, and the first face gear is inclined by the cam portion. Thus, the second face gear and the third face gear can be meshed. The first face gear rotates relatively to the third face gear by the difference in the number of teeth, and the second face gear rotates relatively to the first face gear by the difference in the number of teeth. The ratio can be set in a wide range.

Abstract

Provided is an axially flat actuator. An actuator (1) is provided with a precession type speed reducer (2) and a motor (3). The precession type speed reducer (2) has a first face gear (11), a second face gear (12) which faces the first face gear (11), and a cam section (13) which tilts the first face gear (11) relative to the second face gear (12) so that the first face gear (11) meshes with the second face gear (12), causing the first face gear (11) to precess so that the point of the meshing moves. The motor (3) has a stator (31) and an outer rotor (32). The outer rotor (32) of the motor (3) and the cam section (13) of the precession type speed reducer (2) are integral with each other.

Description

アクチュエータActuator
　本発明は、歳差運動式減速機とモータとを備えるアクチュエータに関する。 The present invention relates to an actuator including a precession speed reducer and a motor.
　歳差運動式減速機は、第１フェースギヤと、第２フェースギヤと、カム部と、を備える（特許文献１参照）。第１フェースギヤと第２フェースギヤとは、互いに対向する。カム部は、第１フェースギヤが第２フェースギヤに噛み合うように第１フェースギヤを第２フェースギヤに対して傾斜させ、噛み合う箇所が移動するように第１フェースギヤを歳差運動させる。第１フェースギヤが歳差運動すると、第１フェースギヤと第２フェースギヤの歯数差の分だけ、第２フェースギヤが第１フェースギヤに対して相対的に減速して回転する。 The precession speed reducer includes a first face gear, a second face gear, and a cam (see Patent Document 1). The first face gear and the second face gear face each other. The cam portion inclines the first face gear with respect to the second face gear so that the first face gear meshes with the second face gear, and precesses the first face gear so that the meshing portion moves. When the first face gear precesses, the second face gear rotates at a reduced speed relative to the first face gear by the difference in the number of teeth between the first face gear and the second face gear.
　歳差運動式減速機のカム部は、モータによって回転駆動される。モータは、ステータと、ロータと、を備える。ロータは、インナーロータである。カム部は、インナーロータのモータシャフトに締結される。カム部は、インナーロータによってモータシャフトを中心に回転駆動される。 カ ム The cam of the precession speed reducer is driven to rotate by a motor. The motor includes a stator and a rotor. The rotor is an inner rotor. The cam is fastened to the motor shaft of the inner rotor. The cam portion is driven to rotate about the motor shaft by the inner rotor.
特開２０１８－７６９０６号公報JP 2018-76906 A
　しかしながら、従来のアクチュエータにおいては、歳差運動式減速機とモータとが軸方向に配置される。このため、アクチュエータが軸方向に長くなり、軸方向の寸法の制限がある用途においては、設計自由度やデザイン性を損ねるという課題がある。 However, in the conventional actuator, the precession speed reducer and the motor are arranged in the axial direction. For this reason, in applications where the actuator becomes longer in the axial direction and there is a limit on the dimension in the axial direction, there is a problem in that the degree of freedom in design and the design are impaired.
　そこで、本発明は、軸方向に扁平なアクチュエータを提供することを目的とする。 Therefore, an object of the present invention is to provide an actuator that is flat in the axial direction.
　上記課題を解決するために、本発明の一態様は、歳差運動式減速機とモータとを備えるアクチュエータにおいて、前記歳差運動式減速機は、第１フェースギヤと、前記第１フェースギヤに対向する第２フェースギヤと、前記第１フェースギヤが前記第２フェースギヤに噛み合うように前記第１フェースギヤを前記第２フェースギヤに対して傾斜させ、噛み合う箇所が移動するように前記第１フェースギヤを歳差運動させるカム部と、を有し、前記モータは、ステータと、アウターロータと、を有し、前記モータの前記アウターロータと前記歳差運動式減速機の前記カム部が一体であるアクチュエータである。 In order to solve the above problem, an embodiment of the present invention provides an actuator including a precession speed reducer and a motor, wherein the precession speed reducer includes a first face gear and a first face gear. The first face gear is inclined with respect to the second face gear such that the first face gear meshes with the second face gear, and the first face gear is tilted with respect to the second face gear so that the meshing portion moves. A cam portion for precessing the face gear, wherein the motor has a stator and an outer rotor, and the outer rotor of the motor and the cam portion of the precession speed reducer are integrated. Is an actuator.
　本発明の他の態様は、歳差運動式減速機とモータとを備えるアクチュエータにおいて、前記歳差運動式減速機は、第１フェースギヤと、前記第１フェースギヤに対向する第２フェースギヤと、前記第１フェースギヤが前記第２フェースギヤに噛み合うように前記第１フェースギヤを前記第２フェースギヤに対して傾斜させ、噛み合う箇所が移動するように前記第１フェースギヤを歳差運動させるカム部と、を有し、前記第１フェースギヤ及び／又は前記第２フェースギヤの径方向の内側に前記カム部を回転させる前記モータを配置するアクチュエータである。 Another aspect of the present invention is an actuator including a precession-type reduction gear and a motor, wherein the precession-type reduction gear includes a first face gear, and a second face gear facing the first face gear. Tilting the first face gear with respect to the second face gear so that the first face gear meshes with the second face gear, and precessing the first face gear so that the meshing portion moves. And a cam portion, wherein the motor for rotating the cam portion is arranged radially inside the first face gear and / or the second face gear.
　本発明の一態様によれば、モータのアウターロータの径方向の外側に歳差運動式減速機を配置することができる。したがって、アクチュエータを軸方向に扁平にすることができる。 According to one aspect of the present invention, the precession speed reducer can be arranged radially outside the outer rotor of the motor. Therefore, the actuator can be made flat in the axial direction.
　本発明の他の態様によれば、歳差運動式減速機の第１フェースギヤ及び／又は第２フェースギヤの径方向の内側にモータを配置するので、アクチュエータを軸方向に扁平にすることができる。 According to another aspect of the present invention, since the motor is disposed radially inside the first face gear and / or the second face gear of the precession speed reducer, the actuator can be flattened in the axial direction. it can.
本発明の第１の実施形態のアクチュエータの斜視図（一部断面図を含む）である。FIG. 2 is a perspective view (including a partial cross-sectional view) of the actuator according to the first embodiment of the present invention. 第１の実施形態のアクチュエータの断面図である。It is a sectional view of the actuator of a 1st embodiment. 本発明の第２の実施形態のアクチュエータの断面図である。FIG. 6 is a sectional view of an actuator according to a second embodiment of the present invention. 本発明の第３の実施形態のアクチュエータの斜視図（一部断面図を含む）である。FIG. 11 is a perspective view (including a partial cross-sectional view) of an actuator according to a third embodiment of the present invention. 第３の実施形態のアクチュエータの断面図である。It is sectional drawing of the actuator of 3rd Embodiment. 本発明の第４の実施形態のアクチュエータの斜視図（一部断面図を含む）である。It is a perspective view (including a partial sectional view) of an actuator of a fourth embodiment of the present invention. 第４の実施形態のアクチュエータの断面図である。It is sectional drawing of the actuator of 4th Embodiment.
　以下、添付図面を参照して、本発明のアクチュエータを具体化した実施形態を詳細に説明する。ただし、本発明のアクチュエータは種々の形態で具体化することができ、本明細書に記載される実施形態に限定されるものではない。この実施形態は、明細書の開示を十分にすることによって、当業者が発明の範囲を十分に理解できるようにする意図をもって提供されるものである。
　（第１の実施形態） Hereinafter, an embodiment of an actuator according to the present invention will be described in detail with reference to the accompanying drawings. However, the actuator of the present invention can be embodied in various forms, and is not limited to the embodiments described in this specification. This embodiment is provided with the intention of making the disclosure of the specification sufficient so that those skilled in the art can fully understand the scope of the invention.
(First embodiment)
　図１は、本発明の第１の実施形態のアクチュエータ１の斜視図を示す。図１において、アクチュエータ１の内部構造をわかり易くするために、歳差運動式減速機２が断面で示され、モータ３のアウターロータ３２が断面で示されている。図２は、第１の実施形態のアクチュエータ１の断面図を示す。 FIG. 1 is a perspective view of an actuator 1 according to a first embodiment of the present invention. In FIG. 1, the precession speed reducer 2 is shown in cross section, and the outer rotor 32 of the motor 3 is shown in cross section for easy understanding of the internal structure of the actuator 1. FIG. 2 is a sectional view of the actuator 1 according to the first embodiment.
　図１に示すように、第１の実施形態のアクチュエータ１は、歳差運動式減速機２と、モータ３と、を備える。まず、歳差運動式減速機２の構成を説明する。歳差運動式減速機２は、第１フェースギヤ１１と、第１フェースギヤ１１に対向する第２フェースギヤ１２と、第１フェースギヤ１１を歳差運動させるカム部１３と、を備える。 As shown in FIG. 1, the actuator 1 of the first embodiment includes a precession speed reducer 2 and a motor 3. First, the configuration of the precession speed reducer 2 will be described. The precession speed reducer 2 includes a first face gear 11, a second face gear 12 facing the first face gear 11, and a cam portion 13 for precessing the first face gear 11.
　第１フェースギヤ１１は、リング状である。第１フェースギヤ１１の側面（第２フェースギヤ１２との対向面）には、放射状に複数の歯１１ａが形成される。第１フェースギヤ１１は、スプライン構造１７を介して内輪１６に歳差運動の中心Ｏ（図２参照）を中心にして揺動可能にかつ内輪１６に対して回転不可能に支持される。第１フェースギヤ１１の径方向の内側にモータ３が設けられる。モータ３の中心と直交する方向から見た側面視において、第１フェースギヤ１１の少なくとも一部とモータ３の少なくとも一部とが重なる。 The first face gear 11 is ring-shaped. A plurality of teeth 11a are formed radially on a side surface of the first face gear 11 (a surface facing the second face gear 12). The first face gear 11 is supported by the inner ring 16 via a spline structure 17 so as to be swingable about the center O of precession (see FIG. 2) and not to rotate with respect to the inner ring 16. The motor 3 is provided inside the first face gear 11 in the radial direction. At least a part of the first face gear 11 and at least a part of the motor 3 overlap in a side view viewed from a direction orthogonal to the center of the motor 3.
　第２フェースギヤ１２も、リング状である。第２フェースギヤ１２の側面（第１フェースギヤ１１との対向面）には、放射状に複数の歯１２ａが形成される。第１フェースギヤ１１の歯数と第２フェースギヤ１２の歯数とは、互いに異なる。第２フェースギヤ１２の径方向の内側にモータ３が設けられる。側面視において、第２フェースギヤ１２の少なくとも一部とモータ３の少なくとも一部とが重なる。第２フェースギヤ１２は、歳差運動式減速機２のフレーム１４にボルト等の締結部材によって固定される。フレーム１４と第２フェースギヤ１２は、歳差運動式減速機２のハウジングを構成する。 The second face gear 12 is also ring-shaped. A plurality of teeth 12a are formed radially on a side surface of the second face gear 12 (a surface facing the first face gear 11). The number of teeth of the first face gear 11 and the number of teeth of the second face gear 12 are different from each other. The motor 3 is provided inside the second face gear 12 in the radial direction. In a side view, at least a part of the second face gear 12 and at least a part of the motor 3 overlap. The second face gear 12 is fixed to a frame 14 of the precession speed reducer 2 by a fastening member such as a bolt. The frame 14 and the second face gear 12 constitute a housing of the precession speed reducer 2.
　スプライン構造１７は、第１フェースギヤ１１の内面に軸方向に沿って形成される第１トラック溝１１ｂと、内輪１６の外面に軸方向に沿って形成される第２トラック溝１６ｂと、第１トラック溝１１ｂと第２トラック溝１６ｂとの間に介在するボール１８と、を備える。スプライン構造１７は、円周方向に均等間隔を開けて複数設けられる。内輪１６は、出力部１５に固定される。第１フェースギヤ１１は、スプライン構造１７を介して出力部１５に揺動可能にかつ出力部１５に対して回転不可能に支持される。 The spline structure 17 includes a first track groove 11b formed on the inner surface of the first face gear 11 along the axial direction, a second track groove 16b formed on the outer surface of the inner ring 16 along the axial direction, A ball 18 interposed between the track groove 11b and the second track groove 16b. A plurality of spline structures 17 are provided at equal intervals in the circumferential direction. The inner ring 16 is fixed to the output unit 15. The first face gear 11 is supported by the output unit 15 via a spline structure 17 so as to be swingable and non-rotatable with respect to the output unit 15.
　出力部１５は、ベアリング２０を介して第２フェースギヤ１２に回転可能に支持される。出力部１５と第２フェースギヤ１２との間には、これらの間の隙間を塞ぐ図示しないシール装置が設けられる。歳差運動式減速機２の内部をシールするためである。 The output unit 15 is rotatably supported by the second face gear 12 via the bearing 20. Between the output portion 15 and the second face gear 12, a sealing device (not shown) for closing a gap between them is provided. This is for sealing the inside of the precession speed reducer 2.
　カム部１３は、円周方向の一部（例えば図１、図２の上部）が厚く、円周方向の他の一部（例えば図１、図２の下部）が薄い傾斜カムである。カム部１３は、第１フェースギヤ１１が第２フェースギヤ１２に噛み合うように第１フェースギヤ１１を傾斜させる。また、カム部１３は、第１フェースギヤ１１と第２フェースギヤ１２の噛み合う箇所が移動するように第１フェースギヤ１１を歳差運動させる。歳差運動は、第１フェースギヤ１１の自転軸が円錐の側面Ｃ（図２参照）を描くように振れ回る運動である。円錐の頂点が歳差運動の中心Ｏである。 The cam portion 13 is an inclined cam that is thick in a part in the circumferential direction (for example, the upper part in FIGS. 1 and 2) and thin in another part in the circumferential direction (for example, in the lower part in FIGS. The cam portion 13 inclines the first face gear 11 so that the first face gear 11 meshes with the second face gear 12. In addition, the cam portion 13 precesses the first face gear 11 so that a portion where the first face gear 11 and the second face gear 12 mesh with each other moves. The precession movement is a movement in which the rotation axis of the first face gear 11 swings so as to describe the side surface C (see FIG. 2) of the cone. The vertex of the cone is the center O of the precession.
　カム部１３の中央部には、円形の開口１３ａが形成される。この開口１３ａにモータ３のアウターロータ３２が嵌められる。アウターロータ３２は、ボルトによる締結、接着等の固定手段によってカム部１３に固定される。アウターロータ３２は、カム部１３と一体である。 円 形 A circular opening 13a is formed in the center of the cam portion 13. The outer rotor 32 of the motor 3 is fitted into the opening 13a. The outer rotor 32 is fixed to the cam portion 13 by fixing means such as fastening with a bolt and bonding. The outer rotor 32 is integral with the cam portion 13.
　第１フェースギヤ１１には、リング状の軌道輪２１が固定される。軌道輪２１には、リング状のレースウェイ２１ａが形成される。フレーム１４にも、リング状の軌道輪２２が固定される。軌道輪２２には、リング状のレースウェイ２２ａが形成される。カム部１３には、レースウェイ２１ａ，２２ａに対向するレースウェイ１３ｂが形成される。カム部１３と軌道輪２１との間には、多数のボール２３が転がり運動可能に介在する。カム部１３と軌道輪２２との間には、多数のボール２４が転がり運動可能に介在する。第１フェースギヤ１１と第２フェースギヤ１２とが噛み合うことによって発生する反力は、カム部１３を介してフレーム１４に伝達される。 リ ン グ A ring-shaped bearing ring 21 is fixed to the first face gear 11. A ring-shaped raceway 21 a is formed on the raceway 21. A ring-shaped bearing ring 22 is also fixed to the frame 14. A ring-shaped raceway 22 a is formed on the raceway 22. A raceway 13b facing the raceways 21a and 22a is formed in the cam portion 13. A large number of balls 23 are interposed between the cam portion 13 and the race 21 so as to be able to roll. A large number of balls 24 are interposed between the cam portion 13 and the bearing ring 22 so as to be able to roll. The reaction force generated by the engagement of the first face gear 11 and the second face gear 12 is transmitted to the frame 14 via the cam 13.
　モータ３は、アウターロータ型のモータである。モータ３は、複数のコイル３４が設けられるステータ３１と、複数の永久磁石３５が設けられるアウターロータ３２と、を備える。なお、コイル３４をアウターロータ３２に設け、永久磁石３５をステータ３１に設けることも可能である。 The motor 3 is an outer rotor type motor. The motor 3 includes a stator 31 provided with a plurality of coils 34 and an outer rotor 32 provided with a plurality of permanent magnets 35. Note that the coil 34 may be provided on the outer rotor 32 and the permanent magnet 35 may be provided on the stator 31.
　アウターロータ３２は、ステータ３１の径方向の外側に配置される。アウターロータ３２の外周にカム部１３が固定される。モータ３は、歳差運動式減速機２の中に格納される。 The outer rotor 32 is arranged outside the stator 31 in the radial direction. The cam portion 13 is fixed to the outer periphery of the outer rotor 32. The motor 3 is stored in the precession speed reducer 2.
　ステータ３１は、フレーム１４に固定される。図２に示すように、フレーム１４の中央部には、リング状の筒部１４ａが形成される。ステータ３１のコア３６は、筒部１４ａの外周に固定される。ステータ３１の各コイル３４は、コア３６の放射状に突出する各突極３６ａに巻かれる。 The stator 31 is fixed to the frame 14. As shown in FIG. 2, a ring-shaped cylindrical portion 14a is formed at the center of the frame 14. The core 36 of the stator 31 is fixed to the outer periphery of the cylindrical portion 14a. Each coil 34 of the stator 31 is wound around each salient pole 36 a of the core 36 projecting radially.
　図１に示すように、アウターロータ３２は、ヨーク３３と、複数の永久磁石３５と、を備える。ヨーク３３は、ボス部３３ａと、ボス部３３ａから放射状に延びるリブ部３３ｂと、リブ部３３ｂの先端に設けられる円筒部３３ｃと、を備える。アウターロータ３２の一部、すなわち円筒部３３ｃがステータ３１の径方向の外側に配置される。円筒部３３ｃには、複数の永久磁石３５が固定される。複数の永久磁石３５は、ステータ３１に径方向の隙間を介して対向する。 ア ウ As shown in FIG. 1, the outer rotor 32 includes a yoke 33 and a plurality of permanent magnets 35. The yoke 33 includes a boss 33a, a rib 33b extending radially from the boss 33a, and a cylindrical portion 33c provided at a tip of the rib 33b. A part of the outer rotor 32, that is, the cylindrical portion 33 c is arranged outside the stator 31 in the radial direction. A plurality of permanent magnets 35 are fixed to the cylindrical portion 33c. The plurality of permanent magnets 35 face the stator 31 with a radial gap therebetween.
　アウターロータ３２は、ステータ３１の内側に回転可能に設けられる軸３７に支持される。図２に示すように、軸３７は、ベアリング３８ａ，３８ｂを介してフレーム１４の筒部１４ａに回転可能に支持される。 The outer rotor 32 is supported by a shaft 37 rotatably provided inside the stator 31. As shown in FIG. 2, the shaft 37 is rotatably supported by the cylindrical portion 14a of the frame 14 via bearings 38a and 38b.
　モータ３がカム部１３を軸３７を中心に回転させると、カム部１３によって第１フェースギヤ１１が歳差運動する。第１フェースギヤ１１が歳差運動すると、第１フェースギヤ１１と第２フェースギヤ１２の噛み合い箇所が円周方向に移動する。このため、第２フェースギヤ１２が第１フェースギヤ１１に対して歯数差の分だけ相対的に回転する。この実施形態では、第２フェースギヤ１２がフレーム１４に固定されているので、第１フェースギヤ１１が歯数差の分だけ回転する。第１フェースギヤ１１の回転は、スプライン構造１７を介して出力部１５に取り出される。すなわち、ハウジング（フレーム１４及び第２フェースギヤ１２）に回転可能に支持される出力部１５が、歳差運動式減速機２によって減速して回転する。 When the motor 3 rotates the cam 13 around the shaft 37, the first face gear 11 precesses by the cam 13. When the first face gear 11 precesses, the meshing portion between the first face gear 11 and the second face gear 12 moves in the circumferential direction. For this reason, the second face gear 12 rotates relative to the first face gear 11 by the difference in the number of teeth. In this embodiment, since the second face gear 12 is fixed to the frame 14, the first face gear 11 rotates by the number of teeth. The rotation of the first face gear 11 is taken out to the output unit 15 via the spline structure 17. That is, the output portion 15 rotatably supported by the housing (the frame 14 and the second face gear 12) is rotated at a reduced speed by the precession speed reducer 2.
　以上に本実施形態のアクチュエータ１の構成を説明した。本実施形態のアクチュエータ１によれば、以下の効果を奏する。 The configuration of the actuator 1 according to the present embodiment has been described above. According to the actuator 1 of the present embodiment, the following effects can be obtained.
　モータ３のアウターロータ３２と歳差運動式減速機２のカム部１３が一体であるので、モータ３のアウターロータ３２の径方向の外側に歳差運動式減速機２を配置することができる。したがって、アクチュエータ１を軸方向に扁平にすることができる。 (4) Since the outer rotor 32 of the motor 3 and the cam portion 13 of the precession speed reducer 2 are integrated, the precession speed reducer 2 can be arranged outside the outer rotor 32 of the motor 3 in the radial direction. Therefore, the actuator 1 can be made flat in the axial direction.
　アウターロータ３２がステータ３１の内側に回転可能に設けられる軸３７に支持されるので、モータ３の出力を保ったままモータ３を小型化することができ、モータ３を歳差運動式減速機２の中に格納するのが容易になる。 Since the outer rotor 32 is supported by the shaft 37 rotatably provided inside the stator 31, the size of the motor 3 can be reduced while the output of the motor 3 is maintained. It is easy to store in.
　モータ３、記第１フェースギヤ１１、第２フェースギヤ１２及びカム部１３をハウジング１４，１２に格納するので、防塵・防水性や安全性の確保のためにモータ３をケーシングする等の保護が不要となり、コスト削減、防塵・防水性の向上、安全性の向上が見込める。 Since the motor 3, the first face gear 11, the second face gear 12, and the cam portion 13 are housed in the housings 14, 12, protection such as casing of the motor 3 for ensuring dustproof / waterproofness and safety is provided. This eliminates the need for cost, improves dust and water resistance, and improves safety.
　出力部１５とハウジング１４，１２との間をシールすれば、モータ３をシールすることができる。減速回転する出力部１５とハウジング１４，１２との間をシールするので、高速回転するアウターロータ３２とステータ３１との間をシールする場合に比べて、シールのロスを少なくすることができる。
　（第２の実施形態） If the space between the output section 15 and the housings 14 and 12 is sealed, the motor 3 can be sealed. Since the space between the output portion 15 that rotates at a reduced speed and the housings 14 and 12 is sealed, the loss of the seal can be reduced as compared with the case where the space between the outer rotor 32 and the stator 31 that rotates at a high speed is sealed.
(Second embodiment)
　図３は、本発明の第２の実施形態のアクチュエータ４１の断面図を示す。第２の実施形態のアクチュエータ４１も、歳差運動式減速機２と、モータ３と、を備える。モータ３の構成は、第１の実施形態と略同一なので、同一の符号を附してその説明を省略する。 FIG. 3 shows a sectional view of an actuator 41 according to a second embodiment of the present invention. The actuator 41 according to the second embodiment also includes the precession speed reducer 2 and the motor 3. Since the configuration of the motor 3 is substantially the same as that of the first embodiment, the same reference numerals are given and the description thereof is omitted.
　歳差運動式減速機２は、第１の実施形態と同様に、第１フェースギヤ１１と、第２フェースギヤ１２と、カム部１３と、を備える。第１の実施形態では、第２フェースギヤ１２がフレーム１４に固定され、第１フェースギヤ１１の回転がスプライン構造１７を介して出力部１５に伝達される。これに対して、第２の実施形態では、第１フェースギヤ１１の回転がスプライン構造１７によって制限され、第２フェースギヤ１２の回転が第２フェースギヤ１２と一体の出力部１５に伝達される。 The precession speed reducer 2 includes a first face gear 11, a second face gear 12, and a cam 13 as in the first embodiment. In the first embodiment, the second face gear 12 is fixed to the frame 14, and the rotation of the first face gear 11 is transmitted to the output unit 15 via the spline structure 17. On the other hand, in the second embodiment, the rotation of the first face gear 11 is limited by the spline structure 17, and the rotation of the second face gear 12 is transmitted to the output unit 15 integrated with the second face gear 12. .
　フレーム１４と第１フェースギヤ１１との間には、スプライン構造１７が介在する。スプライン構造１７は、フレーム１４に対して第１フェースギヤ１１を揺動可能にかつ回転不可能にする。スプライン構造１７は、第１フェースギヤ１１の外面に軸方向に沿って形成される第１トラック溝１１ｂと、フレーム１４の内面に軸方向に沿って形成される第２トラック溝１４ｂと、第１トラック溝１１ｂと第２トラック溝１４ｂとの間に介在するボール１８と、を備える。 ス プ A spline structure 17 is interposed between the frame 14 and the first face gear 11. The spline structure 17 makes the first face gear 11 swingable and non-rotatable with respect to the frame 14. The spline structure 17 includes a first track groove 11b formed on the outer surface of the first face gear 11 along the axial direction, a second track groove 14b formed on the inner surface of the frame 14 along the axial direction, A ball 18 interposed between the track groove 11b and the second track groove 14b.
　第２フェースギヤ１２には、出力部１５が一体に形成される。出力部１５は、ハウジング（フレーム１４及び蓋部材１９）にベアリング２０を介して回転可能に支持される。 出力 The output portion 15 is formed integrally with the second face gear 12. The output unit 15 is rotatably supported by a housing (the frame 14 and the lid member 19) via a bearing 20.
　モータ３がカム部１３を軸３７を中心にして回転させると、カム部１３によって第１フェースギヤ１１が歳差運動する。第１フェースギヤ１１が歳差運動すると、第２フェースギヤ１２が第１フェースギヤ１１に対して歯数差の分だけ相対的に回転する。この実施形態では、第１フェースギヤ１１の回転がスプライン構造１７によって制限されているので、第２フェースギヤ１２が回転する。そして、第２フェースギヤ１２に一体の出力部１５が減速して回転する。
　（第３の実施形態） When the motor 3 rotates the cam 13 around the shaft 37, the first face gear 11 precesses by the cam 13. When the first face gear 11 precesses, the second face gear 12 rotates relative to the first face gear 11 by the number of teeth. In this embodiment, since the rotation of the first face gear 11 is restricted by the spline structure 17, the second face gear 12 rotates. Then, the output unit 15 integrated with the second face gear 12 rotates at a reduced speed.
(Third embodiment)
　図４は、本発明の第３の実施形態のアクチュエータ５０の斜視図を示し、図５は、第３の実施形態のアクチュエータ５０の断面図を示す。第３の実施形態のアクチュエータ５０も第１の実施形態と同様に、歳差運動式減速機２と、モータ３と、を備える。歳差運動式減速機２の構成は、第１の実施形態と略同一なので、同一の符号を附してその説明を省略する。 FIG. 4 is a perspective view of the actuator 50 according to the third embodiment of the present invention, and FIG. 5 is a cross-sectional view of the actuator 50 according to the third embodiment. The actuator 50 of the third embodiment also includes the precession speed reducer 2 and the motor 3 as in the first embodiment. Since the configuration of the precession speed reducer 2 is substantially the same as that of the first embodiment, the same reference numerals are given and the description thereof is omitted.
　図４に示すように、モータ５３は、ステータ５１と、アウターロータ５２と、を備える。ステータ５１は、複数のコイル５４と、コア５５と、を備える。ステータ５１は、ステータ固定部材５７（図５参照）を介してフレーム１４に固定される。ステータ５１のコア５５は、リング状のコア本体５５ａと、コア本体５５ａから径方向の内側に突出する複数の突極５５ｂと、を備える。各突極５５ｂに各コイル５４が巻かれる。 モ ー タ As shown in FIG. 4, the motor 53 includes a stator 51 and an outer rotor 52. The stator 51 includes a plurality of coils 54 and a core 55. The stator 51 is fixed to the frame 14 via a stator fixing member 57 (see FIG. 5). The core 55 of the stator 51 includes a ring-shaped core main body 55a and a plurality of salient poles 55b projecting radially inward from the core main body 55a. Each coil 54 is wound around each salient pole 55b.
　第１の実施形態では、ステータ３１の径方向の外側にアウターロータ３２の複数の永久磁石３５が設けられるのに対し、図５に示すように、第３の実施形態では、ステータ５１の径方向の内側にアウターロータ５２の複数の永久磁石５６が設けられる。 In the first embodiment, a plurality of permanent magnets 35 of the outer rotor 32 are provided on the outer side of the stator 31 in the radial direction. On the other hand, as shown in FIG. Are provided with a plurality of permanent magnets 56 of the outer rotor 52.
　図５に示すように、アウターロータ５２は、ステータ５１の径方向の内側に設けられるロータ部５２ａと、ステータ５１の径方向の外側に設けられるアウター部５２ｂと、を有する。ロータ部５２ａには、ステータ５１に径方向の隙間を介して対向する複数の永久磁石５６が設けられる。アウター部５２ｂは、円盤部５２ｂ１と、円盤部５２ｂ１の外周に設けられる円筒部５２ｂ２と、を備える。アウターロータ５２の一部、すなわち円筒部５２ｂ２がステータ５１の径方向の外側に配置される。この円筒部５２ｂ２の外周にカム部１３が固定される。 よ う As shown in FIG. 5, the outer rotor 52 has a rotor portion 52a provided inside the stator 51 in the radial direction, and an outer portion 52b provided outside the stator 51 in the radial direction. The rotor section 52a is provided with a plurality of permanent magnets 56 facing the stator 51 with a radial gap therebetween. The outer part 52b includes a disk part 52b1 and a cylindrical part 52b2 provided on the outer periphery of the disk part 52b1. A part of the outer rotor 52, that is, a cylindrical portion 52 b 2 is arranged outside the stator 51 in the radial direction. The cam portion 13 is fixed to the outer periphery of the cylindrical portion 52b2.
　アウターロータ５２は、ステータ５１の内側に回転可能に設けられる軸３７に支持される。軸３７は、ベアリング３８ａ，３８ｂを介してステータ固定部材５７の筒部とフレーム１４の筒部に回転可能に支持される。
　（第４の実施形態） The outer rotor 52 is supported by a shaft 37 rotatably provided inside the stator 51. The shaft 37 is rotatably supported by the cylindrical portion of the stator fixing member 57 and the cylindrical portion of the frame 14 via bearings 38a and 38b.
(Fourth embodiment)
　図６は、本発明の第４の実施形態のアクチュエータ６０の斜視図を示し、図７は、第４の実施形態のアクチュエータ６０の断面図を示す。第４の実施形態のアクチュエータ６０も第１の実施形態と同様に、歳差運動式減速機２と、モータ６３と、を備える。歳差運動式減速機２の構成は、第１の実施形態と略同一なので、同一の符号を附してその説明を省略する。 FIG. 6 is a perspective view of an actuator 60 according to a fourth embodiment of the present invention, and FIG. 7 is a cross-sectional view of the actuator 60 according to the fourth embodiment. Similarly to the first embodiment, the actuator 60 of the fourth embodiment also includes the precession speed reducer 2 and the motor 63. Since the configuration of the precession speed reducer 2 is substantially the same as that of the first embodiment, the same reference numerals are given and the description thereof is omitted.
　モータ６３は、ステータ６１と、アウターロータ６２と、を備える。ステータ６１は、複数のコイル６４と、コア６５と、を備える。ステータ６１は、フレーム１４に固定される。コア６５は、リング状のコア本体６５ａと、コア本体６５ａから軸方向に突出する複数の突極６５ｂと、を備える。各突極６５ｂに各コイル６４が巻かれる。 The motor 63 includes a stator 61 and an outer rotor 62. The stator 61 includes a plurality of coils 64 and a core 65. Stator 61 is fixed to frame 14. The core 65 includes a ring-shaped core body 65a, and a plurality of salient poles 65b that protrude in the axial direction from the core body 65a. Each coil 64 is wound around each salient pole 65b.
　第１の実施形態では、ステータ３１と複数の永久磁石３５とが径方向の隙間を介して対向するのに対し、第４の実施形態では、ステータ６１と複数の永久磁石６７とが軸方向の隙間を介して対向する。 In the first embodiment, the stator 31 and the plurality of permanent magnets 35 face each other via a radial gap, whereas in the fourth embodiment, the stator 61 and the plurality of permanent magnets 67 move in the axial direction. They face each other through a gap.
　アウターロータ６２は、ヨーク６８を備える。ヨーク６８は、円盤部６８ａと、円盤部６８ａの外周に設けられる円筒部６８ｂと、を備える。ヨーク６８の円盤部６８ａには、径方向に長い複数の永久磁石６７が取り付けられる。アウターロータ６２の一部、すなわち円筒部６８ｂがステータ６１の径方向の外側に配置される。アウターロータ６２は、ステータ６１の内側に回転可能に設けられる軸３７に支持される。図７に示すように、軸３７は、ベアリング３８ａ，３８ｂを介してフレーム１４の筒部１４ａに回転可能に支持される。 The outer rotor 62 includes a yoke 68. The yoke 68 includes a disk part 68a and a cylindrical part 68b provided on the outer periphery of the disk part 68a. A plurality of permanent magnets 67 long in the radial direction are attached to the disk portion 68a of the yoke 68. A part of the outer rotor 62, that is, the cylindrical portion 68 b is arranged radially outside the stator 61. The outer rotor 62 is supported by a shaft 37 rotatably provided inside the stator 61. As shown in FIG. 7, the shaft 37 is rotatably supported by the cylindrical portion 14a of the frame 14 via bearings 38a and 38b.
　以上に本発明の第１ないし第４の実施形態のアクチュエータを説明した。なお、本発明は、上記実施形態に具現化されるのに限られることはなく、本発明の要旨を変更しない範囲でさまざまな実施形態に具現化可能である。 The actuators according to the first to fourth embodiments of the present invention have been described above. The present invention is not limited to the above-described embodiment, and can be embodied in various embodiments without changing the gist of the present invention.
　例えば、上記実施形態では、歳差運動式減速機に第１フェースギヤと第２フェースギヤを設けているが、歳差運動式減速機に第１フェースギヤ、第２フェースギヤ及び第３フェースギヤを設けることも可能である。より詳しくは、第２フェースギヤと第３フェースギヤとの間に第１フェースギヤを配置し、第１フェースギヤの両側面に放射状の歯を形成し、カム部によって第１フェースギヤを傾斜させて第２フェースギヤと第３フェースギヤに噛み合うようにすることもできる。第１フェースギヤが第３フェースギヤに対して歯数差の分だけ相対的に回転し、第２フェースギヤが第１フェースギヤに対して歯数差の分だけ相対的に回転するので、減速比を広範囲に設定することができる。 For example, in the above embodiment, the first face gear and the second face gear are provided in the precession speed reducer, but the first face gear, the second face gear, and the third face gear are provided in the precession speed reducer. It is also possible to provide. More specifically, the first face gear is disposed between the second face gear and the third face gear, radial teeth are formed on both side surfaces of the first face gear, and the first face gear is inclined by the cam portion. Thus, the second face gear and the third face gear can be meshed. The first face gear rotates relatively to the third face gear by the difference in the number of teeth, and the second face gear rotates relatively to the first face gear by the difference in the number of teeth. The ratio can be set in a wide range.
　本明細書は、２０１８年９月６日出願の特願２０１８－１６６６４１に基づく。この内容はすべてここに含めておく。 This specification is based on Japanese Patent Application No. 2018-166641 filed on Sep. 6, 2018. All this content is included here.
　１…アクチュエータ、２…歳差運動式減速機、３…モータ、１１…第１フェースギヤ、１２…第２フェースギヤ、１３…カム部、３１…ステータ、３２…アウターロータ、３７…軸、４１…アクチュエータ、５０…アクチュエータ、５１…ステータ、５２…アウターロータ、５３…モータ、６０…アクチュエータ、６１…ステータ、６２…アウターロータ DESCRIPTION OF SYMBOLS 1 ... Actuator, 2 ... Precession type reduction gear, 3 ... Motor, 11 ... 1st face gear, 12 ... 2nd face gear, 13 ... Cam part, 31 ... Stator, 32 ... Outer rotor, 37 ... Shaft, 41 ... actuator, 50 ... actuator, 51 ... stator, 52 ... outer rotor, 53 ... motor, 60 ... actuator, 61 ... stator, 62 ... outer rotor

Claims (5)

  1. 　歳差運動式減速機とモータとを備えるアクチュエータにおいて、
    　前記歳差運動式減速機は、第１フェースギヤと、前記第１フェースギヤに対向する第２フェースギヤと、前記第１フェースギヤが前記第２フェースギヤに噛み合うように前記第１フェースギヤを前記第２フェースギヤに対して傾斜させ、噛み合う箇所が移動するように前記第１フェースギヤを歳差運動させるカム部と、を有し、
    　前記モータは、ステータと、アウターロータと、を有し、
    　前記モータの前記アウターロータと前記歳差運動式減速機の前記カム部が一体であるアクチュエータ。     In an actuator including a precession speed reducer and a motor,
    The precession speed reducer includes a first face gear, a second face gear facing the first face gear, and the first face gear such that the first face gear meshes with the second face gear. A cam portion that inclines with respect to the second face gear and that precesses the first face gear so that a meshing portion moves.
    The motor has a stator and an outer rotor,
    An actuator in which the outer rotor of the motor and the cam portion of the precession speed reducer are integrated.
  2. 　前記アウターロータが、前記ステータの内側に回転可能に設けられる軸に支持されることを特徴とする請求項１に記載のアクチュエータ。 The actuator according to claim 1, wherein the outer rotor is supported on a shaft rotatably provided inside the stator.
  3. 　前記モータ、前記第１フェースギヤ、前記第２フェースギヤ及び前記カム部が、ハウジングに格納されることを特徴とする請求項１又は２に記載のアクチュエータ。 The actuator according to claim 1 or 2, wherein the motor, the first face gear, the second face gear, and the cam are housed in a housing.
  4. 　前記ハウジングと前記歳差運動式減速機によって減速して回転する出力部との間にシール装置が設けられることを特徴とする請求項３に記載のアクチュエータ。 4. The actuator according to claim 3, wherein a seal device is provided between the housing and an output unit that rotates while being decelerated by the precession speed reducer. 5.
  5. 　歳差運動式減速機とモータとを備えるアクチュエータにおいて、
    　前記歳差運動式減速機は、第１フェースギヤと、前記第１フェースギヤに対向する第２フェースギヤと、前記第１フェースギヤが前記第２フェースギヤに噛み合うように前記第１フェースギヤを前記第２フェースギヤに対して傾斜させ、噛み合う箇所が移動するように前記第１フェースギヤを歳差運動させるカム部と、を有し、
    　前記第１フェースギヤ及び／又は前記第２フェースギヤの径方向の内側に前記カム部を回転させる前記モータを配置するアクチュエータ。     In an actuator including a precession speed reducer and a motor,
    The precession speed reducer includes a first face gear, a second face gear facing the first face gear, and the first face gear such that the first face gear meshes with the second face gear. A cam portion that inclines with respect to the second face gear and that precesses the first face gear so that a meshing portion moves.
    An actuator in which the motor for rotating the cam portion is arranged radially inside the first face gear and / or the second face gear.
PCT/JP2019/031050 2018-09-06 2019-08-07 Actuator WO2020049938A1 (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60166259U (en) * 1984-04-13 1985-11-05 株式会社安川電機 Outer rotor type motor with reducer
WO2016189989A1 (en) * 2015-05-25 2016-12-01 Thk株式会社 Deceleration or acceleration device
JP2018076906A (en) * 2016-11-09 2018-05-17 Thk株式会社 Speed-reducing or speed-increasing device and actuator

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60166259U (en) * 1984-04-13 1985-11-05 株式会社安川電機 Outer rotor type motor with reducer
WO2016189989A1 (en) * 2015-05-25 2016-12-01 Thk株式会社 Deceleration or acceleration device
JP2018076906A (en) * 2016-11-09 2018-05-17 Thk株式会社 Speed-reducing or speed-increasing device and actuator

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