WO2020129678A1 - Actuator - Google Patents

Actuator Download PDF

Info

Publication number
WO2020129678A1
WO2020129678A1 PCT/JP2019/047657 JP2019047657W WO2020129678A1 WO 2020129678 A1 WO2020129678 A1 WO 2020129678A1 JP 2019047657 W JP2019047657 W JP 2019047657W WO 2020129678 A1 WO2020129678 A1 WO 2020129678A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor
fan
housing
speed reducer
actuator
Prior art date
Application number
PCT/JP2019/047657
Other languages
French (fr)
Japanese (ja)
Inventor
山口　修一
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.)
Filing date
Publication date
Application filed by Thk株式会社 filed Critical Thk株式会社
Publication of WO2020129678A1 publication Critical patent/WO2020129678A1/en

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H02K5/20—Casings or enclosures characterised by the shape, form or construction thereof with channels or ducts for flow of cooling medium
    • H02K5/207—Casings or enclosures characterised by the shape, form or construction thereof with channels or ducts for flow of cooling medium with openings in the casing specially adapted for ambient air
    • 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
    • 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
    • H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K9/00—Arrangements for cooling or ventilating
    • H02K9/02—Arrangements for cooling or ventilating by ambient air flowing through the machine
    • H02K9/04—Arrangements for cooling or ventilating by ambient air flowing through the machine having means for generating a flow of cooling medium
    • H02K9/06—Arrangements for cooling or ventilating by ambient air flowing through the machine having means for generating a flow of cooling medium with fans or impellers driven by the machine shaft

Definitions

  • the present invention relates to an actuator including a speed reducer, a motor and a fan.
  • Patent Document 1 Conventionally, it has been attempted to integrate a speed reducer and a motor in order to downsize the actuator (see Patent Document 1). In order to realize higher output of the actuator, it is necessary to cool the motor. In order to cool the motor, in the actuator of Patent Document 1, a fan is attached to the rotating shaft of the motor, fins are provided on the outer surface of the housing of the motor, and the fan generates wind along the outer surface of the housing of the motor. ing.
  • an object of the present invention is to provide an actuator capable of efficiently cooling a motor.
  • one embodiment of the present invention includes a motor, a speed reducer that reduces the rotation of the motor, and a fan that cools the motor, and includes the speed reducer, the motor, and the fan.
  • the actuators are arranged in order, an intake port is provided in a housing between the speed reducer and the motor, and the fan draws air from the intake port and blows air on the motor.
  • FIG. 1 is an external perspective view of an actuator of one embodiment of the present invention (FIG. 1A is a perspective view seen from a speed reducer side, and FIG. 1B is a perspective view seen from a fan side). It is sectional drawing along the shaft of the actuator of this embodiment. It is a perspective view of the stator of the actuator of this embodiment. It is a front view of the stator of the actuator of this embodiment.
  • FIG. 1 shows an external perspective view of an actuator 1 according to an embodiment of the present invention.
  • FIG. 2 shows a sectional view of the actuator 1 along the shaft 6.
  • the housing 5 accommodates the speed reducer 2, the motor 3, and the fan 4.
  • the reducer 2, the motor 3, and the fan 4 are arranged in order in the axial direction of the shaft 6 (in order from the left in FIG. 2).
  • the speed reducer 2 and the motor 3 share the shaft 6.
  • the fan 4 is separated from the shaft 6 and is not connected to the shaft 6.
  • the speed reducer 2, the motor 3, and the fan 4 are arranged coaxially, that is, the shaft 6 and the rotation shaft 4a which is the rotation center of the fan 4 are arranged coaxially, but the air flow passage is If secured, it does not necessarily have to be arranged coaxially.
  • FIG. 1A is an external perspective view of the actuator 1 viewed from the speed reducer 2 side
  • FIG. 1B is an external perspective view of the actuator 1 viewed from the fan 4 side.
  • An intake port 7 is provided in the housing 5 between the speed reducer 2 and the motor 3. As shown in FIG. 2, when the fan 4 is rotated, the air is sucked in through the intake port 7 and the wind 8 (the wind is schematically indicated by the arrow 8) hits the motor 3. The wind 8 passes through the motor 3 and the fan 4, and is exhausted from the exhaust port 9 of the housing 5.
  • the housing 5 includes a speed reducer housing 5a in which the speed reducer 2 is housed, and a motor housing 5b in which the motor 3 and the fan 4 are housed.
  • the material of the housing 5 is not particularly limited.
  • the speed reducer housing 5a is made of metal and the motor housing 5b is made of resin.
  • the speed reducer housing 5a has a bracket 10 and has a substantially bottomed tubular shape.
  • the motor housing 5b has a substantially tubular shape.
  • One end of the motor housing 5b is connected to one end of the speed reducer housing 5a.
  • a plurality of intake ports 7 are provided in the circumferential direction at one end of the motor housing 5b.
  • An exhaust port 9 is provided at the other end of the motor housing 5b.
  • the speed reducer 2 decelerates the rotation of the motor 3 and outputs it from the output shaft.
  • the type of the speed reducer 2 is not particularly limited, and for example, a planetary gear type, a cycloid type, a wave gear type, a spur gear type or the like can be used.
  • FIG. 2 shows a planetary gear type speed reducer as an example of the speed reducer 2.
  • the sun gear 11 is a sun gear
  • 13 is an internal gear
  • 12 is a planetary gear
  • 14 is a carrier
  • 15 is an output shaft.
  • the sun gear 11 is fixed to the shaft 6 that functions as an input shaft of the speed reducer 2 and rotates together with the shaft 6.
  • the internal gear 13 is fixed to the reduction gear housing 5a by a fastening member 16 such as a bolt.
  • the planetary gear 12 meshes with the sun gear 11 and the internal gear 13.
  • the carrier 14 rotatably supports the planetary gear 12 and is fixed to the output shaft 15 by a fastening member 17 such as a bolt.
  • the carrier 14 is rotatably supported by the speed reducer housing 5a via bearings 18a and 18b.
  • the motor 3 is an outer rotor type motor, and includes a stator 20 having a coil 21 and an outer rotor 23 having a magnet 24.
  • FIG. 3 shows a perspective view of the stator 20
  • FIG. 4 shows a front view of the stator 20.
  • the stator 20 includes a core 22 made of a soft magnetic material, and a plurality of coils 21 wound around a plurality of salient poles 22b of the core 22.
  • the core 22 includes a ring-shaped main body 22a and a plurality of salient poles 22b radially protruding from the outer surface of the main body 22a. Each coil 21 is wound around each salient pole 22b.
  • a ring-shaped stator housing 29 as a fixing member is fitted inside the stator 20. As shown in FIG.
  • the stator housing 29 has a role of fixing the stator 20 to the speed reducer housing 5a, and is fixed to the bracket 10 of the speed reducer housing 5a by a fastening member such as a bolt.
  • the motor 3 is supported by the speed reducer housing 5a.
  • a ring-shaped recess 29b is formed in the center of the stator housing 29.
  • An encoder in this embodiment, an incremental encoder 32, see FIG. 2 for detecting the rotational position of the motor 3 is arranged in the recess 29b.
  • the stator housing 29 is formed with an opening 30 penetrating in the axial direction. As shown in FIG. 4, the opening 30 is formed by radially arranging a slit group 30a including a plurality of slits parallel to each other.
  • the outer rotor 23 includes a rotor 25 and a plurality of magnets 24.
  • the rotor 25 is made of a soft magnetic material to facilitate passage of magnetic flux between the magnets 24.
  • the rotor 25 includes a substantially cylindrical back yoke 25a arranged outside the stator 20, a boss 25b fixed to the shaft 6, and a spoke 25c connecting the boss 25b and the back yoke 25a.
  • a plurality of magnets 24 are arranged in the circumferential direction on the inner surface of the back yoke 25a.
  • the magnet 24 faces the salient pole 22b of the core 22 of the stator 20 in the radial direction with a gap in between.
  • the shaft 6 that functions as the output shaft of the motor 3 is fastened to the outer rotor 23 by fastening members 27 such as bolts.
  • the outer rotor 23 rotates and the shaft 6 rotates together with the outer rotor 23.
  • the shaft 6 is supported by three bearings 28a, 28b, 28c. To receive the load of the speed reducer 2.
  • the two bearings 28 a and 28 b are arranged before and after the speed reducer 2.
  • the bearing 28c at one location is arranged on the motor 3.
  • a shaft is provided for each of the reducer and the motor, and the structure is such that they are connected by a spline or the like. In that case, in order to support each shaft, each shaft is supported by two bearings.
  • the shafts 6 of the speed reducer 2 and the shaft 6 of the motor 3 are integrated, and the same shaft 6 is shared by the speed reducer 2 and the motor 3, so that the bearings 28a, 28b, 28c.
  • the number of actuators is three, and the actuator 1 is miniaturized.
  • encoders absolute encoder 31 and incremental encoder 32
  • the fan 4 includes blades 41.
  • the fan 4 includes a fan motor 42 that rotates the blades 41.
  • the fan motor 42 includes a plurality of coils and a plurality of magnets facing the plurality of coils.
  • the fan 4 is supported by the motor housing 5b.
  • the fan 4 of this embodiment is an axial fan, and sucks the wind 8 from the front of the blade 41 and discharges the wind 8 to the rear.
  • the type of the fan 4 is not particularly limited, and a mixed flow fan, a centrifugal fan or the like can be used. For example, when the flow path resistance is large and the negative pressure is large, a mixed flow fan or a centrifugal fan is used. If the exhaust port cannot be provided at the end of the housing, a centrifugal fan is used to exhaust the gas through the exhaust port on the side surface of the housing.
  • the air that has entered through the intake port 7 is divided into a plurality of parts of the motor 3, such as the coil 21, the stator housing 29, the rotor 25, and the magnet 24, and cools each part.
  • the stator housing 29 is provided with openings 30 (see FIG. 4) that function as cooling fins, and heat generated by iron loss of the coil 21 and the core 22 is transmitted to the stator housing 29 by heat transfer.
  • the motor housing 5b is provided with ribs 33a and 33b for limiting the flow rate of the wind 8 passing through the gap g1 between the motor housing 5b and the outer rotor 23.
  • the ribs 33a and 33b project inward from the inner surface of the motor housing 5b.
  • the ribs 33a and 33b are provided on at least one of the front and the rear of the motor 3.
  • the coil 21 is designed so that the gap g2 (see FIG. 4) between the coils 21 is as narrow as possible in order to improve the performance of the motor 3. Therefore, although the air flows through the gap g2, the flow path resistance of the gap g2 becomes large.
  • narrow the opening 30 of the stator housing 29 narrow the gap g1 between the motor housing 5b and the outer rotor 23, or bend the flow passage by providing the ribs 33a and 33b in accordance with the flow passage resistance. In order to prevent the flow rate to the coil 21 from decreasing, the cooling performance of the entire motor 3 is improved.
  • the actuator 1 is equipped with an absolute encoder 31 as an encoder that detects the rotational position of the output shaft of the reduction gear 2.
  • the absolute encoder 31 is arranged between the speed reducer 2 and the motor 3.
  • the absolute encoder 31 is a magnetic type or an optical type, and includes a disk-shaped scale 31b attached to the carrier 14, and a sensor 31a attached to the bracket 10 of the speed reducer housing 5a and reading the scale of the scale 31b.
  • the absolute encoder 31 is used to control the position of the output shaft (shaft 6) of the speed reducer 2 and outputs the absolute position of the shaft 6.
  • the rotational position of the output shaft of the motor 3 is detected by the incremental encoder 32 as an encoder.
  • the incremental encoder 32 is arranged inside the outer rotor 23, in this embodiment, inside the stator 20.
  • the incremental encoder 32 is a magnetic type or an optical type, and includes a disk-shaped scale 32b attached to the outer rotor 23, and a sensor 32a attached to the stator housing 29 to read the scale of the scale 32b.
  • the incremental encoder 32 is used to control the rotation of the motor 3, and outputs the rotation speed and phase of the motor 3.
  • the configuration of the actuator 1 of this embodiment has been described above.
  • the actuator 1 according to the present embodiment has the following effects.
  • the speed reducer 2, the motor 3, and the fan 4 are arranged in order, an intake port 7 is provided in the housing 5 between the speed reducer 2 and the motor 3, and the fan 4 sucks air from the intake port 7 to wind the motor 3. Since 8 is applied, the heat of the motor 3 is less likely to be transmitted to the speed reducer 2 and the motor 3 can be cooled efficiently.
  • the motor 3 is an outer rotor type motor and the coil 21 is arranged inside the outer rotor 23, it is possible to concentrate the heat generating portion inside the motor 3 on the premise of forced air cooling by the fan 4 and apply the wind 8 thereto. Therefore, the motor 3 can be cooled more efficiently.
  • stator housing 29 is provided inside the stator 20 and the opening 30 through which the wind 8 passes is formed in the stator housing 29, heat transferred from the coil 21 and the core 22 to the stator housing 29 can be discharged.
  • the motor 3 can be cooled even if the rotation speed of the motor 3 is unsteady and the motor 3 stops.
  • the actuator 1 can be downsized.
  • the actuator 1 can be downsized.
  • the actuator 1 can be downsized. If the incremental encoder 32 is arranged outside the outer rotor 23, rigidity for fixing the incremental encoder 32 to the motor housing 5b is required, and the motor housing 5b becomes large and heavy. In the present embodiment, the motor housing 5b need only be strong enough to support the fan 4, so that the motor housing 5b can be made lighter with resin or the like.
  • the stator housing is provided with an opening through which air flows, but a fin capable of radiating heat may be provided instead of providing the opening.
  • the use of the actuator of this embodiment is not particularly limited, but is suitable for a robot joint.
  • the joint of the robot includes a first member and a second member rotatable about a shaft with respect to the first member.
  • the housing of the actuator is connected to the first member, and the output shaft of the speed reducer of the actuator is connected to the second member.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Motor Or Generator Cooling System (AREA)
  • Motor Or Generator Frames (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

Provided is an actuator capable of efficiently cooling a motor. An actuator (1) comprises: a motor (3); a reducer (2) that reduces the rotation speed of the motor (3); and a fan (4) that cools the motor (3). The reducer (2), the fan (4), and the motor (3) are disposed in sequence. An intake port (7) is provided to a housing (5) between the reducer (2) and the motor (3). The fan (4) intakes air from the intake port (7) and blows wind (8) against the motor (3). The motor (3) is an outer rotor type motor comprising: a stator (20) that includes a coil (21); and an outer rotor (23) that includes a magnet (24).

Description

アクチュエータActuator
　本発明は、減速機、モータ及びファンを備えるアクチュエータに関する。 The present invention relates to an actuator including a speed reducer, a motor and a fan.
　従来からアクチュエータの小型化のため、減速機とモータを一体化することが試みられている（特許文献１参照）。アクチュエータの高出力化を実現しようとすると、モータの冷却が必要になる。モータを冷却するために、特許文献１のアクチュエータにおいては、モータの回転軸にファンを取り付け、モータのハウジングの外面にフィンを設け、ファンによってモータのハウジングの外面に沿って風を発生させるようにしている。 Conventionally, it has been attempted to integrate a speed reducer and a motor in order to downsize the actuator (see Patent Document 1). In order to realize higher output of the actuator, it is necessary to cool the motor. In order to cool the motor, in the actuator of Patent Document 1, a fan is attached to the rotating shaft of the motor, fins are provided on the outer surface of the housing of the motor, and the fan generates wind along the outer surface of the housing of the motor. ing.
特開２０１５－１３０７６４号公報JP-A-2015-130764
　しかしながら、従来のアクチュエータにおいては、モータの外側部分を冷却することができても、モータの中心部分を効率よく冷却できないという課題がある。このため、モータの中心部分の温度が上昇して、モータの効率が低下してしまう。また、モータの外面にフィンを設けるので、アクチュエータの重量の増加を招いてしまう。 However, in the conventional actuator, there is a problem that the central portion of the motor cannot be efficiently cooled even though the outer portion of the motor can be cooled. For this reason, the temperature of the central portion of the motor rises and the efficiency of the motor decreases. Moreover, since the fins are provided on the outer surface of the motor, the weight of the actuator is increased.
　そこで、本発明は、モータを効率よく冷却することができる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 capable of efficiently cooling a motor.
　上記課題を解決するために、本発明の一態様は、モータと、前記モータの回転を減速する減速機と、前記モータを冷却するファンと、を備え、前記減速機、前記モータ、前記ファンを順番に配置し、前記減速機と前記モータとの間のハウジングに吸気口を設け、前記ファンが前記吸気口から空気を吸い込んで、前記モータに風を当てるアクチュエータである。 In order to solve the above problems, one embodiment of the present invention includes a motor, a speed reducer that reduces the rotation of the motor, and a fan that cools the motor, and includes the speed reducer, the motor, and the fan. The actuators are arranged in order, an intake port is provided in a housing between the speed reducer and the motor, and the fan draws air from the intake port and blows air on the motor.
　本発明の一態様によれば、モータの熱が減速機に伝わりにくくしながらモータを効率よく冷却することができる。 According to one aspect of the present invention, it is possible to efficiently cool the motor while preventing heat of the motor from being transmitted to the reducer.
本発明の一実施形態のアクチュエータの外観斜視図である（図１（ａ）は減速機側から見た斜視図であり、図１（ｂ）はファン側から見た斜視図である）。FIG. 1 is an external perspective view of an actuator of one embodiment of the present invention (FIG. 1A is a perspective view seen from a speed reducer side, and FIG. 1B is a perspective view seen from a fan side). 本実施形態のアクチュエータのシャフトに沿った断面図である。It is sectional drawing along the shaft of the actuator of this embodiment. 本実施形態のアクチュエータのステータの斜視図である。It is a perspective view of the stator of the actuator of this embodiment. 本実施形態のアクチュエータのステータの正面図である。It is a front view of the stator of the actuator of this 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。 Hereinafter, embodiments in which the actuator of the present invention is embodied 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 herein. This embodiment is provided with the intention of providing those of ordinary skill in the art with a sufficient understanding of the scope of the invention by having the full disclosure of the specification.
　図１は、本発明の一実施形態のアクチュエータ１の外観斜視図を示す。図２は、シャフト６に沿ったアクチュエータ１の断面図を示す。図２に示すように、ハウジング５には、減速機２、モータ３、ファン４が収容される。 FIG. 1 shows an external perspective view of an actuator 1 according to an embodiment of the present invention. FIG. 2 shows a sectional view of the actuator 1 along the shaft 6. As shown in FIG. 2, the housing 5 accommodates the speed reducer 2, the motor 3, and the fan 4.
　減速機２、モータ３、ファン４は、シャフト６の軸方向に順番に（図２では左から順番に）配置される。減速機２とモータ３は、シャフト６を共有する。ファン４はシャフト６から離れていて、シャフト６には接続されていない。この実施形態では、減速機２、モータ３、ファン４が同軸上に配置、すなわち、シャフト６とファン４の回転中心である回転軸４ａとが同軸上に配置されるが、空気の流路が確保できれば、必ずしも同軸上に配置される必要はない。 The reducer 2, the motor 3, and the fan 4 are arranged in order in the axial direction of the shaft 6 (in order from the left in FIG. 2). The speed reducer 2 and the motor 3 share the shaft 6. The fan 4 is separated from the shaft 6 and is not connected to the shaft 6. In this embodiment, the speed reducer 2, the motor 3, and the fan 4 are arranged coaxially, that is, the shaft 6 and the rotation shaft 4a which is the rotation center of the fan 4 are arranged coaxially, but the air flow passage is If secured, it does not necessarily have to be arranged coaxially.
　図１（ａ）は減速機２側から見たアクチュエータ１の外観斜視図であり、図１（ｂ）はファン４側から見たアクチュエータ１の外観斜視図である。減速機２とモータ３との間のハウジング５には、吸気口７が設けられる。図２に示すように、ファン４を回転させると、吸気口７から空気が吸い込まれ、風８（風を符号８の矢印で模式的に示す）がモータ３に当たる。風８はモータ３、ファン４を通り、ハウジング５の排気口９から排気される。 1A is an external perspective view of the actuator 1 viewed from the speed reducer 2 side, and FIG. 1B is an external perspective view of the actuator 1 viewed from the fan 4 side. An intake port 7 is provided in the housing 5 between the speed reducer 2 and the motor 3. As shown in FIG. 2, when the fan 4 is rotated, the air is sucked in through the intake port 7 and the wind 8 (the wind is schematically indicated by the arrow 8) hits the motor 3. The wind 8 passes through the motor 3 and the fan 4, and is exhausted from the exhaust port 9 of the housing 5.
　図２に示すように、ハウジング５は、減速機２が収容される減速機ハウジング５ａと、モータ３とファン４が収容されるモータハウジング５ｂと、を備える。ハウジング５の材質は、特に限定されるものではない。例えば減速機ハウジング５ａは金属製で、モータハウジング５ｂは樹脂製である。減速機ハウジング５ａは、ブラケット１０を有して略有底筒状である。モータハウジング５ｂは、略筒状である。減速機ハウジング５ａの一端部にモータハウジング５ｂの一端部が連結される。モータハウジング５ｂの一端部には、円周方向に複数の吸気口７が設けられる。モータハウジング５ｂの他端部には、排気口９が設けられる。 As shown in FIG. 2, the housing 5 includes a speed reducer housing 5a in which the speed reducer 2 is housed, and a motor housing 5b in which the motor 3 and the fan 4 are housed. The material of the housing 5 is not particularly limited. For example, the speed reducer housing 5a is made of metal and the motor housing 5b is made of resin. The speed reducer housing 5a has a bracket 10 and has a substantially bottomed tubular shape. The motor housing 5b has a substantially tubular shape. One end of the motor housing 5b is connected to one end of the speed reducer housing 5a. A plurality of intake ports 7 are provided in the circumferential direction at one end of the motor housing 5b. An exhaust port 9 is provided at the other end of the motor housing 5b.
　減速機２は、モータ３の回転を減速して出力軸から出力する。減速機２の種類は、特に限定されるものではなく、例えば遊星歯車式、サイクロイド式、波動歯車式、平歯車式等を用いることができる。図２には、減速機２の一例として、遊星歯車式減速機を示す。 The speed reducer 2 decelerates the rotation of the motor 3 and outputs it from the output shaft. The type of the speed reducer 2 is not particularly limited, and for example, a planetary gear type, a cycloid type, a wave gear type, a spur gear type or the like can be used. FIG. 2 shows a planetary gear type speed reducer as an example of the speed reducer 2.
　１１は太陽歯車、１３は内歯車、１２は遊星歯車、１４はキャリヤ、１５は出力軸である。太陽歯車１１は、減速機２の入力軸として機能するシャフト６に固定されてシャフト６と共に回転する。内歯車１３は、ボルト等の締結部材１６によって減速機ハウジング５ａに固定される。遊星歯車１２は、太陽歯車１１と内歯車１３に噛み合う。キャリヤ１４は、遊星歯車１２を自転可能に支持すると共に、ボルト等の締結部材１７によって出力軸１５に固定される。キャリヤ１４は、減速機ハウジング５ａに軸受１８ａ，１８ｂを介して回転可能に支持される。太陽歯車１１が回転すると、遊星歯車１２が太陽歯車１１の周囲を公転運動する。遊星歯車１２の公転運動は、キャリヤ１４を介して出力軸１５に取り出される。 11 is a sun gear, 13 is an internal gear, 12 is a planetary gear, 14 is a carrier, and 15 is an output shaft. The sun gear 11 is fixed to the shaft 6 that functions as an input shaft of the speed reducer 2 and rotates together with the shaft 6. The internal gear 13 is fixed to the reduction gear housing 5a by a fastening member 16 such as a bolt. The planetary gear 12 meshes with the sun gear 11 and the internal gear 13. The carrier 14 rotatably supports the planetary gear 12 and is fixed to the output shaft 15 by a fastening member 17 such as a bolt. The carrier 14 is rotatably supported by the speed reducer housing 5a via bearings 18a and 18b. When the sun gear 11 rotates, the planetary gear 12 revolves around the sun gear 11. The revolution movement of the planetary gear 12 is taken out to the output shaft 15 via the carrier 14.
　モータ３は、アウターロータ型モータであり、コイル２１を有するステータ２０と、マグネット２４を有するアウターロータ２３と、を備える。 The motor 3 is an outer rotor type motor, and includes a stator 20 having a coil 21 and an outer rotor 23 having a magnet 24.
　図３はステータ２０の斜視図を示し、図４はステータ２０の正面図を示す。ステータ２０は、軟質磁性材料製のコア２２と、コア２２の複数の突極２２ｂに巻かれる複数のコイル２１と、を備える。コア２２は、リング状の本体部２２ａと、本体部２２ａの外面から放射状に突出する複数の突極２２ｂと、を備える。各突極２２ｂに各コイル２１が巻かれる。ステータ２０の内側には、固定部材としてのリング状のステータハウジング２９が嵌められる。図２に示すように、ステータハウジング２９は、ステータ２０を減速機ハウジング５ａに固定する役割を持ち、ボルト等の締結部材によって減速機ハウジング５ａのブラケット１０に固定される。モータ３は、減速機ハウジング５ａに支持される。 FIG. 3 shows a perspective view of the stator 20, and FIG. 4 shows a front view of the stator 20. The stator 20 includes a core 22 made of a soft magnetic material, and a plurality of coils 21 wound around a plurality of salient poles 22b of the core 22. The core 22 includes a ring-shaped main body 22a and a plurality of salient poles 22b radially protruding from the outer surface of the main body 22a. Each coil 21 is wound around each salient pole 22b. A ring-shaped stator housing 29 as a fixing member is fitted inside the stator 20. As shown in FIG. 2, the stator housing 29 has a role of fixing the stator 20 to the speed reducer housing 5a, and is fixed to the bracket 10 of the speed reducer housing 5a by a fastening member such as a bolt. The motor 3 is supported by the speed reducer housing 5a.
　図３に示すように、ステータハウジング２９の中央部には、リング状の凹部２９ｂが形成される。この凹部２９ｂには、モータ３の回転位置を検出するためのエンコーダ（この実施形態ではインクリメンタルエンコーダ３２、図２参照）が配置される。また、ステータハウジング２９には、軸方向に貫通する開口３０が形成される。図４に示すように、開口３０は、例えば互いに平行な複数のスリットから構成されるスリット群３０ａを放射状に配置してなる。 As shown in FIG. 3, a ring-shaped recess 29b is formed in the center of the stator housing 29. An encoder (in this embodiment, an incremental encoder 32, see FIG. 2) for detecting the rotational position of the motor 3 is arranged in the recess 29b. Further, the stator housing 29 is formed with an opening 30 penetrating in the axial direction. As shown in FIG. 4, the opening 30 is formed by radially arranging a slit group 30a including a plurality of slits parallel to each other.
　図２に示すように、アウターロータ２３は、ロータ２５と、複数のマグネット２４と、を備える。ロータ２５は、マグネット２４間の磁束を通り易くするために軟質磁性材料製である。ロータ２５は、ステータ２０の外側に配置される略筒状のバックヨーク２５ａと、シャフト６に固定されるボス２５ｂと、ボス２５ｂとバックヨーク２５ａとを連結するスポーク２５ｃと、を備える。バックヨーク２５ａの内面に、円周方向に複数のマグネット２４が並べられる。マグネット２４は、ステータ２０のコア２２の突極２２ｂに半径方向に隙間を介して対向する。アウターロータ２３には、モータ３の出力軸として機能するシャフト６がボルト等の締結部材２７によって締結される。 As shown in FIG. 2, the outer rotor 23 includes a rotor 25 and a plurality of magnets 24. The rotor 25 is made of a soft magnetic material to facilitate passage of magnetic flux between the magnets 24. The rotor 25 includes a substantially cylindrical back yoke 25a arranged outside the stator 20, a boss 25b fixed to the shaft 6, and a spoke 25c connecting the boss 25b and the back yoke 25a. A plurality of magnets 24 are arranged in the circumferential direction on the inner surface of the back yoke 25a. The magnet 24 faces the salient pole 22b of the core 22 of the stator 20 in the radial direction with a gap in between. The shaft 6 that functions as the output shaft of the motor 3 is fastened to the outer rotor 23 by fastening members 27 such as bolts.
　ステータ２０のコイル２１に電力を供給すると、アウターロータ２３が回転し、アウターロータ２３と共にシャフト６が回転する。シャフト６は、３箇所の軸受２８ａ，２８ｂ，２８ｃで支持される。減速機２の荷重を受けるために。２箇所の軸受２８ａ，２８ｂは、減速機２の前後に配置される。１箇所の軸受２８ｃは、モータ３に配置される。 When power is supplied to the coil 21 of the stator 20, the outer rotor 23 rotates and the shaft 6 rotates together with the outer rotor 23. The shaft 6 is supported by three bearings 28a, 28b, 28c. To receive the load of the speed reducer 2. The two bearings 28 a and 28 b are arranged before and after the speed reducer 2. The bearing 28c at one location is arranged on the motor 3.
　従来の減速機とモータとを一体化したアクチュエータでは、減速機とモータのそれぞれにシャフトを設け、スプライン等で接続する構成が採られる。その場合、それぞれのシャフトを支持するために、それぞれのシャフトを２箇所の軸受で支持する。これに対して、本実施形態では、減速機２のシャフト６とモータ３のシャフト６とを一体化し、減速機２とモータ３で同一のシャフト６を共有することで、軸受２８ａ，２８ｂ，２８ｃを３個にしてアクチュエータ１を小型化する。あわせて、軸受２８ｃの前後にエンコーダ（アブソリュートエンコーダ３１とインクリメンタルエンコーダ３２）を設けることで、省スペース化を図る。 In the conventional actuator that integrates a reducer and a motor, a shaft is provided for each of the reducer and the motor, and the structure is such that they are connected by a spline or the like. In that case, in order to support each shaft, each shaft is supported by two bearings. On the other hand, in the present embodiment, the shafts 6 of the speed reducer 2 and the shaft 6 of the motor 3 are integrated, and the same shaft 6 is shared by the speed reducer 2 and the motor 3, so that the bearings 28a, 28b, 28c. The number of actuators is three, and the actuator 1 is miniaturized. In addition, by providing encoders (absolute encoder 31 and incremental encoder 32) before and after the bearing 28c, space saving is achieved.
　ファン４は、羽根４１を備える。ファン４には、羽根４１を回転させるファンモータ４２が内蔵される。ファンモータ４２は、複数のコイルと、複数のコイルに対向する複数のマグネットと、を備える。ファン４は、モータハウジング５ｂに支持される。この実施形態のファン４は軸流ファンであり、羽根４１の前方から風８を吸い込み、後方へ吐き出す。ファン４の種類は、特に限定されるものではなく、斜流ファン、遠心ファン等を用いることができる。例えば、流路抵抗が大きくて負圧が大きい場合、斜流ファン又は遠心ファンを用いる。また、ハウジングの端部に排気口を設けられない場合、遠心ファンを用いてハウジングの側面の排気口から排気する。 The fan 4 includes blades 41. The fan 4 includes a fan motor 42 that rotates the blades 41. The fan motor 42 includes a plurality of coils and a plurality of magnets facing the plurality of coils. The fan 4 is supported by the motor housing 5b. The fan 4 of this embodiment is an axial fan, and sucks the wind 8 from the front of the blade 41 and discharges the wind 8 to the rear. The type of the fan 4 is not particularly limited, and a mixed flow fan, a centrifugal fan or the like can be used. For example, when the flow path resistance is large and the negative pressure is large, a mixed flow fan or a centrifugal fan is used. If the exhaust port cannot be provided at the end of the housing, a centrifugal fan is used to exhaust the gas through the exhaust port on the side surface of the housing.
　ファン４を回転させると、ハウジング５の吸気口７から空気が吸い込まれる。吸気口７から入った空気は、コイル２１、ステータハウジング２９、ロータ２５、マグネット２４等のモータ３の複数の部分に分かれて流れ、各部分を冷却する。ステータハウジング２９には、冷却フィンとして機能する開口３０（図４参照）が設けられており、コイル２１やコア２２の鉄損による発熱は、伝熱によってステータハウジング２９まで伝わる。 When the fan 4 is rotated, air is sucked in through the intake port 7 of the housing 5. The air that has entered through the intake port 7 is divided into a plurality of parts of the motor 3, such as the coil 21, the stator housing 29, the rotor 25, and the magnet 24, and cools each part. The stator housing 29 is provided with openings 30 (see FIG. 4) that function as cooling fins, and heat generated by iron loss of the coil 21 and the core 22 is transmitted to the stator housing 29 by heat transfer.
　モータハウジング５ｂには、モータハウジング５ｂとアウターロータ２３との間の隙間ｇ１を通る風８の流量を制限するリブ３３ａ，３３ｂが設けられる。リブ３３ａ，３３ｂは、モータハウジング５ｂの内面から内側に突出する。リブ３３ａ，３３ｂは、モータ３の前後の少なくとも一方に設けられる。 The motor housing 5b is provided with ribs 33a and 33b for limiting the flow rate of the wind 8 passing through the gap g1 between the motor housing 5b and the outer rotor 23. The ribs 33a and 33b project inward from the inner surface of the motor housing 5b. The ribs 33a and 33b are provided on at least one of the front and the rear of the motor 3.
　コイル２１は、モータ３の性能向上のため、なるべくコイル２１間の空隙ｇ２（図４参照）が狭くなるように設計される。このため、空気が空隙ｇ２を流れるものの、空隙ｇ２の流路抵抗は大きくなる。流路抵抗に合わせて、ステータハウジング２９の開口３０を狭くしたり、モータハウジング５ｂとアウターロータ２３との間の隙間ｇ１を狭くしたり、リブ３３ａ，３３ｂを設けて流路を曲げたりすることで流路抵抗を上げて、コイル２１への流量が小さくならないようにし、モータ３全体での冷却性能を向上させる。 The coil 21 is designed so that the gap g2 (see FIG. 4) between the coils 21 is as narrow as possible in order to improve the performance of the motor 3. Therefore, although the air flows through the gap g2, the flow path resistance of the gap g2 becomes large. To narrow the opening 30 of the stator housing 29, narrow the gap g1 between the motor housing 5b and the outer rotor 23, or bend the flow passage by providing the ribs 33a and 33b in accordance with the flow passage resistance. In order to prevent the flow rate to the coil 21 from decreasing, the cooling performance of the entire motor 3 is improved.
　アクチュエータ１には、減速機２の出力軸の回転位置を検出するエンコーダとしてのアブソリュートエンコーダ３１が搭載される。アブソリュートエンコーダ３１は、減速機２とモータ３との間に配置される。アブソリュートエンコーダ３１は、磁気式又は光学式であり、キャリヤ１４に取り付けられるディスク状のスケール３１ｂと、減速機ハウジング５ａのブラケット１０に取り付けられ、スケール３１ｂの目盛を読み取るセンサ３１ａと、を備える。アブソリュートエンコーダ３１は、減速機２の出力軸（シャフト６）を位置制御するために用いられ、シャフト６の絶対位置を出力する。 The actuator 1 is equipped with an absolute encoder 31 as an encoder that detects the rotational position of the output shaft of the reduction gear 2. The absolute encoder 31 is arranged between the speed reducer 2 and the motor 3. The absolute encoder 31 is a magnetic type or an optical type, and includes a disk-shaped scale 31b attached to the carrier 14, and a sensor 31a attached to the bracket 10 of the speed reducer housing 5a and reading the scale of the scale 31b. The absolute encoder 31 is used to control the position of the output shaft (shaft 6) of the speed reducer 2 and outputs the absolute position of the shaft 6.
　モータ３の出力軸の回転位置は、エンコーダとしてのインクリメンタルエンコーダ３２によって検出される。インクリメンタルエンコーダ３２は、アウターロータ２３の内側、この実施形態では、ステータ２０の内側に配置される。インクリメンタルエンコーダ３２は、磁気式又は光学式であり、アウターロータ２３に取り付けられるディスク状のスケール３２ｂと、ステータハウジング２９に取り付けられ、スケール３２ｂの目盛を読み取るセンサ３２ａと、を備える。インクリメンタルエンコーダ３２は、モータ３を回転制御するために用いられ、モータ３の回転数や位相を出力する。 The rotational position of the output shaft of the motor 3 is detected by the incremental encoder 32 as an encoder. The incremental encoder 32 is arranged inside the outer rotor 23, in this embodiment, inside the stator 20. The incremental encoder 32 is a magnetic type or an optical type, and includes a disk-shaped scale 32b attached to the outer rotor 23, and a sensor 32a attached to the stator housing 29 to read the scale of the scale 32b. The incremental encoder 32 is used to control the rotation of the motor 3, and outputs the rotation speed and phase of the motor 3.
　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 of this embodiment has been described above. The actuator 1 according to the present embodiment has the following effects.
　減速機２、モータ３、ファン４を順番に配置し、減速機２とモータ３との間のハウジング５に吸気口７を設け、ファン４が吸気口７から空気を吸い込んで、モータ３に風８を当てるので、モータ３の熱が減速機２に伝わりにくくしながらモータ３を効率よく冷却することができる。 The speed reducer 2, the motor 3, and the fan 4 are arranged in order, an intake port 7 is provided in the housing 5 between the speed reducer 2 and the motor 3, and the fan 4 sucks air from the intake port 7 to wind the motor 3. Since 8 is applied, the heat of the motor 3 is less likely to be transmitted to the speed reducer 2 and the motor 3 can be cooled efficiently.
　モータ３がアウターロータ型モータであり、コイル２１をアウターロータ２３の内側に配置するので、ファン４による強制空冷を前提に発熱部をモータ３の内側に集中させ、そこに風８を当てることができ、モータ３をより効率よく冷却できる。 Since the motor 3 is an outer rotor type motor and the coil 21 is arranged inside the outer rotor 23, it is possible to concentrate the heat generating portion inside the motor 3 on the premise of forced air cooling by the fan 4 and apply the wind 8 thereto. Therefore, the motor 3 can be cooled more efficiently.
　ステータ２０の内側にステータハウジング２９を設け、ステータハウジング２９に風８が通る開口３０を形成するので、コイル２１やコア２２からステータハウジング２９に伝わる熱を排出することができる。 Since the stator housing 29 is provided inside the stator 20 and the opening 30 through which the wind 8 passes is formed in the stator housing 29, heat transferred from the coil 21 and the core 22 to the stator housing 29 can be discharged.
　ハウジング５とアウターロータ２３との間の隙間ｇ１を通る風８の流量を制限するリブ３３ａ，３３ｂを設けるので、コイル２１を通る風８の流量が小さくならないようにすることができ、モータ３全体での冷却性能を向上させることができる。 Since the ribs 33a and 33b for limiting the flow rate of the wind 8 passing through the gap g1 between the housing 5 and the outer rotor 23 are provided, it is possible to prevent the flow rate of the wind 8 passing through the coil 21 from becoming small, and the motor 3 as a whole. The cooling performance can be improved.
　ファン４がファンモータ４２を内蔵するので、モータ３の回転数が非定常でモータ３が停止したとしても、モータ３を冷却することができる。 Since the fan 4 incorporates the fan motor 42, the motor 3 can be cooled even if the rotation speed of the motor 3 is unsteady and the motor 3 stops.
　減速機２とモータ３が同一のシャフト６を共有し、シャフト６を３箇所の軸受２８ａ，２８ｂ，２８ｃで支持するので、アクチュエータ１の小型化が図れる。 Since the speed reducer 2 and the motor 3 share the same shaft 6 and the shaft 6 is supported by the bearings 28a, 28b, 28c at three locations, the actuator 1 can be downsized.
　減速機２の回転位置を検出するアブソリュートエンコーダ３１を減速機２とモータ３との間に設けるので、アクチュエータ１の小型化が図れる。 Since the absolute encoder 31 that detects the rotational position of the speed reducer 2 is provided between the speed reducer 2 and the motor 3, the actuator 1 can be downsized.
　モータ３の回転位置を検出するインクリメンタルエンコーダ３２をアウターロータ２３の内側に設けるので、アクチュエータ１の小型化が図れる。仮にインクリメンタルエンコーダ３２をアウターロータ２３の外側に配置した場合、モータハウジング５ｂにインクリメンタルエンコーダ３２を固定するための剛性が必要となり、モータハウジング５ｂが大きく重くなる。本実施形態では、モータハウジング５ｂにはファン４を支持する強度があれば十分なので、例えば樹脂等でモータハウジング５ｂをより軽く作ることができる。 Since the incremental encoder 32 that detects the rotational position of the motor 3 is provided inside the outer rotor 23, the actuator 1 can be downsized. If the incremental encoder 32 is arranged outside the outer rotor 23, rigidity for fixing the incremental encoder 32 to the motor housing 5b is required, and the motor housing 5b becomes large and heavy. In the present embodiment, the motor housing 5b need only be strong enough to support the fan 4, so that the motor housing 5b can be made lighter with resin or the like.
　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。 It should be noted that the present invention is not limited to being embodied in the above embodiments, and can be embodied in various embodiments without departing from the spirit of the present invention.
　例えば、上記実施形態では、ステータハウジングに風が通る開口を設けているが、開口を設ける代わりに放熱可能なフィンを設けることもできる。 For example, in the above embodiment, the stator housing is provided with an opening through which air flows, but a fin capable of radiating heat may be provided instead of providing the opening.
　本実施形態のアクチュエータの用途は、特に限定されるものではないが、ロボットの関節に適している。ロボットの関節は、第一部材と、第一部材に対してシャフトを中心にして回転可能な第二部材と、を備える。この場合、アクチュエータのハウジングが第一部材に連結され、アクチュエータの減速機の出力軸が第二部材に連結される。 The use of the actuator of this embodiment is not particularly limited, but is suitable for a robot joint. The joint of the robot includes a first member and a second member rotatable about a shaft with respect to the first member. In this case, the housing of the actuator is connected to the first member, and the output shaft of the speed reducer of the actuator is connected to the second member.
　本明細書は、２０１８年１２月１９日出願の特願２０１８－２３６９１９に基づく。この内容はすべてここに含めておく。 The present specification is based on Japanese Patent Application No. 2018-236919 filed on December 19, 2018. All this content is included here.
１…アクチュエータ、２…減速機、３…モータ、４…ファン、５…ハウジング、６…シャフト、７…吸気口、８…風、２０…ステータ、２１…コイル、２３…アウターロータ、２４…マグネット、２８ａ～２８ｃ…軸受、２９…ステータハウジング（固定部材）、３０…開口、３１…アブソリュートエンコーダ（エンコーダ）、３２…インクリメンタルエンコーダ（エンコーダ）、３３ａ，３３ｂ…リブ、４２…ファンモータ 1... Actuator, 2... Reduction gear, 3... Motor, 4... Fan, 5... Housing, 6... Shaft, 7... Intake port, 8... Wind, 20... Stator, 21... Coil, 23... Outer rotor, 24... Magnet , 28a to 28c... Bearing, 29... Stator housing (fixing member), 30... Opening, 31... Absolute encoder (encoder), 32... Incremental encoder (encoder), 33a, 33b... Rib, 42... Fan motor

Claims (9)

  1. 　モータと、
    　前記モータの回転を減速する減速機と、
    　前記モータを冷却するファンと、を備え、
    　前記減速機、前記モータ、前記ファンを順番に配置し、
    　前記減速機と前記モータとの間のハウジングに吸気口を設け、
    　前記ファンが前記吸気口から空気を吸い込んで、前記モータに風を当てるアクチュエータ。     A motor,
    A reducer for reducing the rotation of the motor,
    A fan that cools the motor,
    Arranging the speed reducer, the motor, and the fan in order,
    An intake port is provided in the housing between the speed reducer and the motor,
    An actuator in which the fan draws air from the intake port and blows air on the motor.
  2. 　前記モータが、コイルを有するステータと、マグネットを有するアウターロータと、を備えるアウターロータ型モータであり、
    　少なくとも前記コイルに前記風を当て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 motor is an outer rotor type motor including a stator having a coil and an outer rotor having a magnet,
    The actuator according to claim 1, wherein the wind is applied to at least the coil.
  3. 　前記モータが、前記ステータの内側に設けられ、前記ハウジングに前記ステータを固定するための固定部材を備え、
    　前記固定部材には、前記風が通る開口又はフィンが形成されることを特徴とする請求項２に記載のアクチュエータ。     The motor is provided inside the stator, and includes a fixing member for fixing the stator to the housing,
    The actuator according to claim 2, wherein the fixing member is formed with an opening or a fin through which the wind passes.
  4. 　前記ハウジングには、前記ハウジングと前記アウターロータとの間の隙間を通る前記風の流量を制限するリブが設けられることを特徴とする請求項２又は３に記載のアクチュエータ。 The actuator according to claim 2 or 3, wherein the housing is provided with a rib that restricts a flow rate of the wind passing through a gap between the housing and the outer rotor.
  5. 　前記ファンがファンモータを内蔵することを特徴とする請求項１ないし４のいずれか一項に記載のアクチュエータ。 The actuator according to any one of claims 1 to 4, wherein the fan has a built-in fan motor.
  6. 　前記減速機と前記モータが同一のシャフトを共有し、
    　前記シャフトが３箇所の軸受で支持されることを特徴とする請求項１ないし５のいずれか一項に記載のアクチュエータ。     The speed reducer and the motor share the same shaft,
    The actuator according to any one of claims 1 to 5, wherein the shaft is supported by bearings at three locations.
  7. 　前記減速機の回転位置を検出するエンコーダが、前記減速機と前記モータとの間に設けられることを特徴とする請求項１ないし６のいずれか一項に記載のアクチュエータ。 The actuator according to any one of claims 1 to 6, wherein an encoder that detects a rotational position of the speed reducer is provided between the speed reducer and the motor.
  8. 　前記モータの回転位置を検出するエンコーダが、前記アウターロータの内側に設けられることを特徴とする請求項２又は３に記載のアクチュエータ。 The actuator according to claim 2 or 3, wherein an encoder that detects a rotational position of the motor is provided inside the outer rotor.
  9. 　前記アクチュエータは、ロボットの関節を駆動させるのに用いられることを特徴とする請求項１ないし８のいずれか一項に記載のアクチュエータ。 The actuator according to any one of claims 1 to 8, wherein the actuator is used to drive a joint of a robot.
PCT/JP2019/047657 2018-12-19 2019-12-05 Actuator WO2020129678A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018236919A JP7465624B2 (en) 2018-12-19 2018-12-19 Actuator
JP2018-236919 2018-12-19

Publications (1)

Publication Number Publication Date
WO2020129678A1 true WO2020129678A1 (en) 2020-06-25

Family

ID=71101441

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/047657 WO2020129678A1 (en) 2018-12-19 2019-12-05 Actuator

Country Status (2)

Country Link
JP (1) JP7465624B2 (en)
WO (1) WO2020129678A1 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111756177A (en) * 2020-07-31 2020-10-09 诸暨亚目发动机有限公司 Motor device capable of avoiding fault caused by temperature surge
CN111934492A (en) * 2020-10-14 2020-11-13 山东奥卓电气科技发展有限公司 Active heat dissipation device of switched reluctance motor controller
CN118269141A (en) * 2024-04-16 2024-07-02 华中农业大学 Cycloidal pin gear deceleration type robot joint module and assembly method thereof

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024009515A1 (en) * 2022-07-08 2024-01-11 ファナック株式会社 Position detection system and actuator

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS54104509A (en) * 1978-02-03 1979-08-16 Nippon Shiyouriyoku Sangiyou K Motor for hoist
JP2001339924A (en) * 2000-05-30 2001-12-07 Honda Motor Co Ltd Outer-rotor motor generator
WO2015025493A1 (en) * 2013-08-23 2015-02-26 日本電産コパル電子株式会社 Damping mechanism
WO2017051784A1 (en) * 2015-09-25 2017-03-30 日本電産株式会社 Motor and rotating propeller device
WO2017159201A1 (en) * 2016-03-17 2017-09-21 株式会社 マキタ Electrically driven tool
WO2018030064A1 (en) * 2016-08-12 2018-02-15 株式会社Ｓｏｋｅｎ Electric motor system

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4787351B2 (en) 2009-11-09 2011-10-05 ファナック株式会社 Induction motor with a heat dissipation disk that dissipates heat generated in the rotor
JP5844629B2 (en) 2011-12-13 2016-01-20 住友重機械工業株式会社 Gear motor
JP2016182004A (en) 2015-03-24 2016-10-13 株式会社豊田自動織機 Motor with reduction gear
JP6397594B2 (en) 2018-04-02 2018-09-26 株式会社マキタ Impact driver, driver drill, power tool

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS54104509A (en) * 1978-02-03 1979-08-16 Nippon Shiyouriyoku Sangiyou K Motor for hoist
JP2001339924A (en) * 2000-05-30 2001-12-07 Honda Motor Co Ltd Outer-rotor motor generator
WO2015025493A1 (en) * 2013-08-23 2015-02-26 日本電産コパル電子株式会社 Damping mechanism
WO2017051784A1 (en) * 2015-09-25 2017-03-30 日本電産株式会社 Motor and rotating propeller device
WO2017159201A1 (en) * 2016-03-17 2017-09-21 株式会社 マキタ Electrically driven tool
WO2018030064A1 (en) * 2016-08-12 2018-02-15 株式会社Ｓｏｋｅｎ Electric motor system

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111756177A (en) * 2020-07-31 2020-10-09 诸暨亚目发动机有限公司 Motor device capable of avoiding fault caused by temperature surge
CN111934492A (en) * 2020-10-14 2020-11-13 山东奥卓电气科技发展有限公司 Active heat dissipation device of switched reluctance motor controller
CN111934492B (en) * 2020-10-14 2020-12-22 山东奥卓电气科技发展有限公司 Active heat dissipation device of switched reluctance motor controller
CN118269141A (en) * 2024-04-16 2024-07-02 华中农业大学 Cycloidal pin gear deceleration type robot joint module and assembly method thereof

Also Published As

Publication number Publication date
JP2020099148A (en) 2020-06-25
JP7465624B2 (en) 2024-04-11

Similar Documents

Publication Publication Date Title
WO2020129678A1 (en) Actuator
JP4291846B2 (en) Fan motor
JP5891521B2 (en) Outer rotor type motor
JP2007321699A (en) Motor-driven supercharger
JP5262583B2 (en) Resolver integrated rotary electric machine and rotor core
JP2007269129A (en) Wheel rotating device of in-wheel motor vehicle
JP4730664B2 (en) In-wheel motor
US11264868B2 (en) Motor cooling fan
JP4734516B2 (en) DC brushless motor
JP2016182004A (en) Motor with reduction gear
JP6278432B1 (en) Coreless motor
WO2014174721A1 (en) Induction machine
JP2009291031A (en) Brushless motor
JP6007951B2 (en) Rotating electric machine
JP2007259513A (en) Brushless motor
JP2008259376A (en) Motor device
US10024390B2 (en) Pancake motor
JP2008220054A (en) Vehicle driving totally-enclosed motor
JP2008005606A (en) Driving motor of servo unit for radio control
US20230327511A1 (en) Cooling structure of in-wheel motor
JP2019135140A (en) Gear motor for automotive vehicle wiper system
WO2017221994A1 (en) Coreless motor
JP5210986B2 (en) Motor unit
JP6318995B2 (en) Actuator
JP6450711B2 (en) Electric motor having balance structure and machine tool including the electric motor

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19899168

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19899168

Country of ref document: EP

Kind code of ref document: A1