WO2021024825A1 - ロータリアクチュエータ - Google Patents
ロータリアクチュエータ Download PDFInfo
- Publication number
- WO2021024825A1 WO2021024825A1 PCT/JP2020/028629 JP2020028629W WO2021024825A1 WO 2021024825 A1 WO2021024825 A1 WO 2021024825A1 JP 2020028629 W JP2020028629 W JP 2020028629W WO 2021024825 A1 WO2021024825 A1 WO 2021024825A1
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- WIPO (PCT)
- Prior art keywords
- motor
- hollow
- rotary actuator
- shaft
- rotor
- Prior art date
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/46—Fastening of windings on the stator or rotor structure
- H02K3/52—Fastening salient pole windings or connections thereto
- H02K3/521—Fastening salient pole windings or connections thereto applicable to stators only
- H02K3/522—Fastening salient pole windings or connections thereto applicable to stators only for generally annular cores with salient poles
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- 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
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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
- F16H35/00—Gearings or mechanisms with other special functional features
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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
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2793—Rotors axially facing stators
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
- H02K21/24—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets axially facing the armatures, e.g. hub-type cycle dynamos
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
- H02K3/26—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors consisting of printed conductors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/32—Windings characterised by the shape, form or construction of the insulation
- H02K3/34—Windings characterised by the shape, form or construction of the insulation between conductors or between conductor and core, e.g. slot insulation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/32—Windings characterised by the shape, form or construction of the insulation
- H02K3/34—Windings characterised by the shape, form or construction of the insulation between conductors or between conductor and core, e.g. slot insulation
- H02K3/345—Windings characterised by the shape, form or construction of the insulation between conductors or between conductor and core, e.g. slot insulation between conductor and core, e.g. slot insulation
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- 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
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- 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
- H02K7/003—Couplings; Details of shafts
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- 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
- H02K7/08—Structural association with bearings
- H02K7/083—Structural association with bearings radially supporting the rotary shaft at both ends of the rotor
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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
- F16H35/00—Gearings or mechanisms with other special functional features
- F16H2035/003—Gearings comprising pulleys or toothed members of non-circular shape, e.g. elliptical gears
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02034—Gearboxes combined or connected with electric machines
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2203/00—Specific aspects not provided for in the other groups of this subclass relating to the windings
- H02K2203/03—Machines characterised by the wiring boards, i.e. printed circuit boards or similar structures for connecting the winding terminations
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
- H02K2213/12—Machines characterised by the modularity of some components
Definitions
- the present invention relates to a rotary actuator including a strain wave gearing reducer and a motor.
- a hollow rotary actuator As a rotary actuator provided with a strain wave gearing speed reducer and a motor, for example, a hollow rotary actuator proposed in Patent Documents 1 and 2 is known.
- a hollow motor and a hollow wave gear reducer are coaxially connected, and the hollow portion extends axially through the center of the actuator. ing.
- an SPM motor Surface Permanent Magnet Motor
- the SPM motor is a rotating field type synchronous motor in which a permanent magnet is attached to the outer peripheral surface of a rotor attached to the outer peripheral surface of a hollow motor shaft.
- FIG. 7 is an explanatory view showing a hollow rotary actuator equipped with a strain wave gearing reducer and an SPM motor.
- the rotary actuator 400 includes an SPM motor 410 and a strain wave gearing reducer 450 coaxially connected to the SPM motor 410.
- An encoder 460 is attached to the SPM motor 410.
- the SPM motor 410 includes a hollow motor shaft 411, a motor rotor 420 coaxially fixed to the outer periphery thereof, and a motor stator 430 that coaxially surrounds the motor rotor 420. Further, a motor wiring board 440 is arranged on the side of the motor rotor 420 and the motor stator 430.
- the motor rotor 420 includes an annular rotor yoke 421 fixed to the outer circumference of the hollow motor shaft 411, and a plurality of magnets 422 attached to the outer peripheral surface.
- the motor stator 430 includes an annular stator core 431 made of a laminated body of electrical steel sheets, a plurality of salient poles 432 formed at regular angular intervals along the inner peripheral surface thereof, and windings arranged on the salient poles 432. It includes a stator coil 433 composed of wires. Each stator coil 433 is covered by an insulator 434.
- the windings of each phase (for example, three phases of U, V, and W) are connected by soldering. Further, a motor power line 413 drawn from the outside is attached to the motor wiring board 440 by soldering.
- a rotary actuator equipped with a strain wave gearing speed reducer and a motor is incorporated as a power unit in, for example, an industrial robot or other device. From the viewpoint of miniaturization of the apparatus, a rotary actuator having a short shaft length and a rotary actuator having a short shaft length and a large hollow diameter are desired.
- windings are applied to each of a plurality of salient poles formed on the inner peripheral surface of the stator core made of a laminated body of electromagnetic steel sheets, and each winding is insulated. It is provided with a motor stator having a structure provided and a motor rotor having a structure in which a magnet is attached to the outer peripheral surface of a ring-shaped rotor yoke.
- the SPM motor has a relatively large number of parts, a large number of assembly man-hours, and a high manufacturing cost.
- an electromagnetic steel plate is used for the motor stator, cogging torque is generated.
- windings are applied to the outer circumference of each salient pole of the stator core which is a laminated body of electromagnetic steel plates. Aligned winding for each salient pole is not easy, and increasing the winding space factor is not easy. Further, after the winding work to each salient pole, it is necessary to connect the windings of each phase. For example, in the wiring work of the three-phase windings of U, V, and W, there are many manual operations such as wire coating peeling treatment and solder connection, which requires skill. It is not easy to guarantee the quality of solder. Furthermore, since the power line is directly connected to the winding, if the power line is damaged, it is necessary to replace each motor.
- the present invention relates to a motor and a rotary actuator provided with a wave gear reducer connected to the motor so as to decelerate and output the output rotation of the motor, wherein the motor is a motor shaft and a central axis of the motor shaft.
- An axial gap type motor equipped with a motor rotor and a motor stator facing each other at regular intervals from the direction is used.
- the motor rotor includes a rotor disk coaxially fixed to the motor shaft and a rotor magnet fixed to the rotor disk.
- the motor stator includes an insulating substrate and a motor coil defined by printed wiring formed on the surface or inside of the insulating substrate.
- a hollow motor shaft extending through the central portion of the motor in the direction of the central axis is used as the motor shaft.
- the wave gear reducer is provided with a reduction gear hollow portion extending through the wave gear reducer in the direction of the central axis, and the reduction gear hollow portion is coaxially communicated with the hollow portion of the hollow motor shaft.
- a motor stator is formed from a printed wiring board (PWB: Printed wiring board) including an insulating substrate and a motor coil defined by printed wiring formed on the surface or inside of the insulating substrate. Is configured.
- PWB printed wiring board
- the motor having this configuration will be referred to as a PWB motor below.
- the rotary actuator of the present invention using the axial gap type PWB motor can shorten the shaft length and increase the hollow diameter.
- FIG. 1 is a schematic vertical sectional view showing a hollow rotary actuator according to a first embodiment of the present invention.
- the rotary actuator 1 includes a PWB motor 2, a strain wave gearing speed reducer 3 connected to the PWB motor 2 so as to decelerate and output the output rotation of the PWB motor 2, and a rotary encoder 4 for detecting the rotation of the PWB motor 2. And have.
- the PWB motor 2 is an axial gap type motor, includes a tubular housing 21, and a hollow motor shaft 22, a motor stator 23, and a motor rotor 24 are arranged therein.
- the hollow motor shaft 22 is coaxially arranged inside the housing 21 in a rotatably state via bearings.
- the hollow motor shaft 22 extends through the central portion of the PWB motor 2 in the direction of the central axis 1a.
- the motor stator 23 and the motor rotor 24 face each other in parallel at regular intervals from the direction of the central axis 1a of the hollow motor shaft 22 while coaxially surrounding the hollow motor shaft 22.
- the rotary encoder 4 is arranged at the shaft end 22a on the rear side of the hollow motor shaft 22.
- the rotary encoder 4 is covered by an encoder cover 41 attached to the opening end on the rear side of the housing 21.
- the rear end of the hollow motor shaft 22 penetrates the central portion of the encoder cover 41, and the hollow portion 22b opens rearward.
- the other front shaft end 22c of the hollow motor shaft 22 rotatably penetrates the housing partition wall 25 between the hollow motor shaft 22 and the strain wave gearing gear reducer 3, and extends toward the strain wave gearing gear reducer 3.
- the wave gear reducer 3 includes a rigid internal gear 31, a flexible external gear 32, and a wave generator 33.
- the external gear 32 is a silk hat-shaped external gear in this example, and is fixed to the housing 21.
- the external gear 32 and the internal gear 31 are held in a relative rotatable state via the bearing 34.
- the wave generator 33 is a rotation input element, and is a rigid plug 33a coaxially fixed to the outer peripheral surface of the shaft end portion 22c on the front side of the hollow motor shaft 22 and a wave bearing fitted to the elliptical outer peripheral surface of the rigid plug 33a. It is equipped with 33b.
- the portion of the external gear 32 on which the external teeth 32a are formed is bent in an elliptical shape by the wave generator 33. As a result, the external teeth 32a mesh with the internal teeth 31a of the internal gear 31 at the positions of both ends of the elliptical long axis.
- the internal gear 31 is a deceleration rotation output element, and a disk-shaped output shaft 35 is coaxially fixed to the internal gear 31.
- the center hole 35a of the output shaft 35 communicates coaxially with the hollow portion 22b of the hollow motor shaft 22.
- the hollow portion of the shaft end portion 22c of the hollow motor shaft 22 and the center hole 35a form a reduction gear hollow portion extending through the central portion of the strain wave gearing speed reducer 3. That is, the rotary actuator 1 is formed with hollow portions that extend through the central portion thereof in the direction of the central axis 1a and open at both ends.
- FIG. 2A is a schematic front view showing the PWB motor 2
- FIG. 2B is a schematic perspective view thereof.
- the motor stator 23 of the PWB motor 2 has an insulating substrate 26 having a center hole through which the hollow motor shaft 22 rotatably penetrates, and the insulating substrate 26. It includes a motor coil 27 (coreless coil) defined by a coil winding pattern made of formed copper foil.
- the insulating substrate 26 is fixed to the housing 21.
- the motor coils 27 are arranged on the surface of the insulating substrate 26 at equal angular intervals about the central axis 1a.
- twelve motor coils 27 forming the U, V, and W phases are arranged in the circumferential direction.
- the arrangement form, number of arrangements, shape, etc. of the motor coils 27 are not limited to the illustrated examples.
- the motor rotor 24 includes a rotor disk 28 having a constant plate thickness coaxially fixed to the hollow motor shaft 22, and a rotor magnet 29 attached to the rotor disk 28.
- the rotor magnets 29 are arranged at equal angular intervals about the central axis 1a.
- the rotor disk 28 is formed with eight circular magnet fitting holes 28a at equal angular intervals in the circumferential direction.
- a disk-shaped rotor magnet 29 having a thickness thicker than that of the rotor disk 28 is fitted into each magnet fitting hole 28a.
- the arrangement form and the number of arrangements of the rotor magnets 29 are not limited to the illustrated examples.
- the shape of the rotor magnet 29 is not limited to the disk shape, and may be a quadrangle or the like. Further, various mounting methods such as adhesion and press fitting can be adopted.
- the rotary actuator 1 of the present embodiment uses the axial gap type PWB motor 2.
- the PWB motor 2 is composed of a motor stator 23 made of an insulating substrate 26 on which a coil winding pattern is formed, and a motor rotor 24 made of a rotor disk 28 to which a rotor magnet 29 is attached.
- the shaft length can be shortened and the hollow diameter thereof can be increased.
- the number of parts and assembly man-hours are small, and the manufacturing cost can be reduced. It is not necessary to use a complex shaped insulator to insulate the windings of each salient pole. Further, since an electromagnetic steel plate is not used for the motor stator, there is no possibility that cogging torque is generated.
- the connection between the power line and the winding pattern can be formed via a connector mounted on the insulating substrate. As a result, it is possible to prevent the influence of the damage of the power line from affecting the insulating substrate and the winding pattern.
- FIG. 3 is a schematic perspective view and a schematic exploded perspective view showing another example of the PWB motor 2.
- the motor rotor 24A coaxially attached to the hollow motor shaft 22 is sandwiched, and the motor stators 23A and 23B are arranged on both sides in the direction of the central axis 1a.
- the motor stators 23A and 23B have the same structure as the above-mentioned motor stator 23, and are arranged symmetrically with the motor rotor 24A interposed therebetween. Further, the motor rotor 24A has the same structure as the above motor rotor 24.
- the motor output can be increased by using the two motor stators 23A and 23B.
- FIG. 4 is a schematic vertical sectional view showing a flat / hollow rotary actuator according to the second embodiment.
- the rotary actuator 100 includes a PWB motor 120, a cup-shaped strain wave gearing speed reducer 130, an annular output shaft 140, and a rotary encoder 150 that detects the rotation of the PWB motor 120.
- the rotary encoder 150 is arranged at the rear end (rear end) of the cylindrical housing 160 on the rear side (one of the directions of the central axis 100a).
- a PWB motor 120 and a strain wave gearing reducer 130 are incorporated from the rear end of the housing 160 toward the front of the actuator, and an output shaft 140 is arranged at the front end of the housing 160.
- the output shaft 140 is rotatably supported by the housing 160 via a cross roller bearing 170.
- the PWB motor 120 is an axial gap type hollow motor, and includes a hollow motor shaft 122, a motor rotor 124 assembled to the hollow motor shaft 122, and a motor stator 123 assembled to the housing 160.
- the front portion in the direction of the central axis 100a is the small diameter shaft portion 122a
- the rear portion is the large diameter shaft portion 122b.
- a rotor disk 122c extending outward in the radial direction is integrally formed at the rear end of the small diameter shaft portion 122a, and the front end of the large diameter shaft portion 122b is coaxially connected and fixed to the rotor disk 122c.
- the motor rotor 124 includes a rotor magnet 124a attached to a portion of the rotor disk 122c on the outer peripheral side of the large-diameter shaft portion 122b.
- the motor stator 123 faces the rotor magnet 124a from the rear side in the direction of the central axis 100a via a minute gap.
- a rotary encoder 150 is attached to the rear shaft end of the large diameter shaft portion 122b of the hollow motor shaft 122.
- the rotary encoder 150 is covered by an encoder cover 151 attached to the rear opening end of the housing 160.
- the motor hollow portion 125 which is a hollow portion of the hollow motor shaft 122, opens rearward from the central opening 152 of the encoder cover 151.
- An oil seal 153 is attached to the central opening edge of the encoder cover 151.
- the motor hollow portion 125 has a large-diameter hollow portion on the rear side in the direction of the central axis 100a and a small-diameter hollow portion on the front side.
- the wave gear reducer 130 has a cup shape, a hollow input shaft 131 integrally formed with a small diameter shaft portion 122a on the front side of the hollow motor shaft 122, and a wave generator 132 assembled on the outer peripheral surface of the hollow input shaft 131. It includes a flexible external gear 133 and an annular rigid internal gear 134 integrally formed on the inner peripheral surface of the housing 160. A disk-shaped partition plate portion 161 is formed on the end face of the internal gear 134 on the motor side. The partition plate portion 161 partitions the PWB motor 120 and the strain wave gearing reducer 130. A portion of the hollow input shaft 131 connected to the hollow motor shaft 122 is rotatably supported by a bearing 162 mounted on the inner peripheral edge of the partition plate portion 161.
- the external gear 133 is continuous with a cylindrical body portion 133a that can be flexed in the radial direction, a disk-shaped diaphragm 133b that extends inward in the radial direction from the rear end of the cylindrical body portion 133a, and an inner peripheral edge of the diaphragm. It is provided with a rigid annular boss 133c integrally formed therein, and external teeth 133d formed on the outer peripheral surface portion of the cylindrical body portion 133a on the open end side.
- the external gear 133 is a deceleration rotation output element, and its rigid boss 133c is coaxially connected and fixed to the output shaft 140.
- the output shaft 140 is integrally formed with the inner ring 171 of the cross roller bearing 170.
- the outer ring 172 of the cross roller bearing 170 is connected and fixed to the housing 160.
- the wave generator 132 is arranged inside the portion of the external gear 133 on which the external teeth 133d are formed.
- the wave generator 132 includes a plug portion 132a having an elliptical contour integrally formed on the outer peripheral surface of the hollow input shaft 131, and a wave bearing 132b mounted on the elliptical outer peripheral surface of the plug portion 132a.
- the portion of the external gear 133 on which the external teeth 133d are formed is bent in an elliptical shape by the wave generator 132.
- the external teeth 133d mesh with the internal teeth 134a of the internal gear 134 at the positions of both ends of the elliptical long axis.
- the front end portion of the hollow input shaft 131 extends to the vicinity of the boss 133c of the external gear 133.
- An annular bearing receiver 135 is coaxially fixed to the boss 133c.
- the front end portion of the hollow input shaft 131 is rotatably supported by the bearing 136 mounted on the bearing receiver 135.
- the hollow portion of the boss 133c, the hollow portion of the bearing receiver 135, and the hollow portion of the hollow input shaft 131 form a reduction gear hollow portion 137 that penetrates the central portion of the strain wave gearing speed reducer 130.
- the speed reducer hollow portion 137 communicates coaxially with the motor hollow portion 125.
- the hollow portion 125 of the motor and the hollow portion 137 of the reduction gear form an actuator hollow portion extending through the rotary actuator 100 in the direction of the central axis 100a.
- the rotation of the hollow motor shaft 122 of the PWB motor 120 is transmitted to the wave generator 132 via the hollow input shaft 131.
- the wave generator 132 rotates, the meshing position of the external gear 133 with respect to the internal gear 134 moves in the circumferential direction. Relative rotation corresponding to the difference in the number of teeth of both gears 133 and 134 occurs between both gears 133 and 134. Since the internal gear 134 is a fixed side member integrally formed with the housing 160, the external gear 133 rotates. The rotation of the external gear 133 is output from the output shaft 140.
- the PWB motor 120 has the same configuration as the PWB motor 2 shown in FIG.
- the motor stator 123 of the PWB motor 120 is composed of an insulating substrate 123a having a center hole through which the large-diameter shaft portion 122b of the hollow motor shaft 122 rotatably penetrates, and a copper foil formed on the insulating substrate 123a. It includes a motor coil (not shown) defined by a coil winding pattern.
- the insulating substrate 123a is fixed to the housing 160.
- the motor coils are arranged on the surface of the insulating substrate 123a at equal angular intervals about the central axis 100a. For example, twelve motor coils forming each of the U, V, and W phases are arranged in the circumferential direction.
- the arrangement form, number of arrangements, shape, etc. of the motor coils are not limited to the illustrated examples.
- the motor rotor 124 includes a rotor magnet 124a attached to a rotor disk 122c having a constant plate thickness integrally formed with a small diameter shaft portion 122a of the hollow motor shaft 122.
- the rotor magnets 124a are arranged at equal angular intervals about the central axis 100a.
- the rotor disk 122c is formed with eight circular magnet fitting holes 122d at equal angular intervals in the circumferential direction.
- a disk-shaped rotor magnet 124a having a thickness thicker than that of the rotor disk 122c is fitted into each magnet fitting hole 122d.
- the arrangement form and the number of arrangements of the rotor magnets 124a are not limited to the illustrated examples.
- the shape of the rotor magnet 124a is not limited to the disk shape, and may be a quadrangle or the like. Further, various mounting methods such as adhesion and press fitting can be adopted.
- the rotary actuator 100 uses an axial gap type PWB motor 120.
- the shaft length can be shortened and the hollow diameter thereof can be increased.
- the hollow portion 125 of the motor can have a large diameter.
- the number of parts and the number of assembly steps are smaller than those of a generally used SPM motor, and the manufacturing cost can be reduced. It is not necessary to use a complex shaped insulator to insulate the windings of each salient pole. Further, since an electromagnetic steel plate is not used for the motor stator, there is no possibility that cogging torque is generated.
- the winding pattern made of copper foil may be formed on the surface or inside of the insulating substrate 123a, a highly accurate winding pattern can be easily formed and the winding space factor can be increased. it can. In addition, manual work such as soldering of windings is not required. Further, the connection between the power line and the winding pattern can be formed via the connector 190 mounted on the insulating substrate 123a. Thereby, it is possible to prevent the influence of the breakage of the power line from affecting the insulating substrate 123a and the winding pattern.
- the PWB motor 120 is an axial gap type motor, and since it is not necessary to arrange the components in the radial direction, it is easy to increase the hollow diameter of the motor hollow portion 125. is there. For example, it is easy to set the hollow diameter of the large-diameter hollow portion of the motor hollow portion 125 opened at the rear end to a size larger than the outer diameter dimension of the front end portion of the output shaft 140 arranged at the front end. is there. By setting the dimensions in this way, the rotary actuator 100 can be coaxially connected in the axial direction to form a multi-axis rotary actuator.
- FIG. 5 is a schematic vertical sectional view showing a two-axis rotary actuator 200 having a configuration in which rotary actuators 100 (1) and 100 (2) of the same size and the same configuration are connected in the axial direction. Since the rotary actuator 100 (1) in the first stage and the rotary actuator 100 (2) in the rear stage have the same size and structure as the rotary actuator 100 described above, the description of their structures will be omitted.
- the front end portion of the output shaft 140 (2) of the rear rotary actuator 100 (2) is coaxial with the motor hollow portion 125 (1) opened at the rear end of the rotary actuator 100 (1) in the front stage in a rotatable state. Insert in. In this state, both rotary actuators 100 (1) and 100 (2) are connected and fixed.
- the output shaft 140 (1) in the front stage and the output shaft 140 (2) in the rear stage can be arranged on the same axis. ..
- a multi-axis rotary actuator can be configured by coaxially connecting three or more rotary actuators 100 of the same size.
- the biaxial rotary actuator 200 or the multi-axis rotary actuator is formed with a hollow portion having a large inner diameter extending through the center thereof.
- This hollow portion can be used as a space for passing a large number of wires and pipes. It can also be used as a space for installing a power transmission member such as a ball screw. Furthermore, it can be used as an optical path for laser light or the like.
- FIG. 6 is a schematic vertical sectional view showing a two-axis rotary actuator 300 having a configuration in which rotary actuators 100 (1) and 100 (3) having different sizes and the same configuration are connected in the axial direction.
- the rotary actuator 100 (1) has the same size and configuration as the rotary actuator 100 described above.
- the rotary actuator 100 (3) has the same configuration as the rotary actuator 100, but is one size smaller.
- the outer diameter dimension of the housing 160 (3) of the rotary actuator 100 (3) is smaller than the inner diameter dimension of the large diameter hollow portion on the rear side of the motor hollow portion 125 (1) of the rotary actuator 100 (1). It is set to the dimension.
- the outer diameter dimension of the front end portion of the output shaft 140 (3) of the rotary actuator 100 (3) is smaller than the inner diameter dimension of the small diameter hollow portion on the front side of the motor hollow portion 125 (1) of the rotary actuator 100 (1). It is set to the dimension.
- the small size rotary actuator 100 (3) on the rear side is coaxially connected from the rear end opening side of the motor hollow portion 125 (1) of the large size rotary actuator 100 (1) on the front side. Insert in. In this state, the housings of both rotary actuators 100 (1) and 100 (3) are connected to each other. Further, the space between both rotary actuators 100 (1) and 100 (3) is sealed with an oil seal 153 (1). As a result, the biaxial rotary actuator 300 having a short axial length can be configured.
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Abstract
Description
図1は本発明の実施の形態1に係る中空型のロータリアクチュエータを示す概略縦断面図である。ロータリアクチュエータ1は、PWBモータ2と、このPWBモータ2の出力回転を減速して出力するようにPWBモータ2に連結された波動歯車減速機3と、PWBモータ2の回転を検出するロータリエンコーダ4とを備えている。
図4は実施の形態2に係る扁平・中空型のロータリアクチュエータを示す概略縦断面図である。ロータリアクチュエータ100は、PWBモータ120と、カップ型の波動歯車減速機130と、円環状の出力軸140と、PWBモータ120の回転を検出するロータリエンコーダ150とを備えている。ロータリエンコーダ150は、円筒状のハウジング160におけるアクチュエータ後方(中心軸線100aの方向の一方)の側の端(後端)に配置されている。ハウジング160の内部において、ハウジング160の後端からアクチュエータ前方に向けて、PWBモータ120および波動歯車減速機130が組み込まれており、ハウジング160の前端に、出力軸140が配置されている。出力軸140はクロスローラベアリング170を介して、ハウジング160によって回転自在の状態で支持されている。
先に述べたように、ロータリアクチュエータ100において、PWBモータ120はアキシャルギャップ型のモータであり、ラジアル方向に構成部品を並べる必要がないので、モータ中空部125の中空径を大きくすることが容易である。例えば、後端に開口しているモータ中空部125の大径中空部の中空径を、前端に配置されている出力軸140の前端部分の外径寸法よりも大きな寸法に設定することが容易である。このように寸法を設定すると、ロータリアクチュエータ100を軸線方向に、同軸に連結して、多軸のロータリアクチュエータを構成できる。
Claims (5)
- モータ、および、このモータの出力回転を減速して出力するように前記モータに連結された波動歯車減速機を備えたロータリアクチュエータにおいて、
前記モータは、モータ軸と、前記モータ軸の中心軸線の方向から一定の間隔で対峙しているモータロータおよびモータステータとを備えたアキシャルギャップ型のモータであり、
前記モータロータは、前記モータ軸に同軸に固定したロータ円盤と、このロータ円盤に固定したロータマグネットとを備えており、
前記モータステータは、絶縁基板と、この絶縁基板の表面あるいは内部に形成されたプリント配線によって規定されるモータコイルとを備えているロータリアクチュエータ。 - 請求項1に記載のロータリアクチュエータにおいて、
前記モータ軸は、当該モータの中心部分を前記中心軸線の方向に貫通して延びる中空モータ軸であり、
前記中空モータ軸の中空部によってモータ中空部が形成されており、
前記波動歯車減速機は、当該波動歯車減速機を前記中心軸線の方向に貫通して延びる減速機中空部を備えており、
前記減速機中空部と前記モータ中空部は同軸状態で連通しており、
前記減速機中空部は、前記中心軸線の方向の一方であるアクチュエータ前方に開口しており、
前記モータ中空部は、前記中心軸線の方向の他方であるアクチュエータ後方に開口しているロータリアクチュエータ。 - 請求項2に記載のロータリアクチュエータにおいて、
前記波動歯車減速機は、剛性の内歯歯車と、この内歯歯車の内側に同軸に配置した可撓性の外歯歯車と、この外歯歯車を楕円形状に撓めて前記内歯歯車に対して部分的にかみ合わせるように、前記外歯歯車の内側に装着されている波動発生器と、前記中空モータ軸と一体回転する中空入力軸と、減速回転を出力する中空出力軸とを備えており、
前記波動発生器は、楕円状外周面を備えた剛性プラグと、前記楕円状外周面と前記外歯歯車の間に装着されたウエーブベアリングとを備えており、
前記剛性プラグは、前記中空入力軸の外周面に同軸に固定されているか、あるいは、前記外周面に一体形成されており、
前記内歯歯車および前記外歯歯車のうちの一方は固定側部材であり、他方は回転側部材であり、
前記回転側部材に前記中空出力軸が同軸に連結固定されているロータリアクチュエータ。 - 請求項3に記載のロータリアクチュエータにおいて、
前記中空出力軸は、前記アクチュエータ前方の端に配置されており、
前記モータ中空部に対して、前記アクチュエータ後方の側から、前記中空出力軸を挿入できるように、前記モータ中空部の内径寸法および前記中空出力軸の外径寸法が設定されているロータリアクチュエータ。 - 請求項4に記載のロータリアクチュエータにおいて、
筒状のハウジングと、
前記内歯歯車に対して前記外歯歯車を相対回転自在の状態で支持するためのベアリングと、
を備えており、
前記ハウジングの内部に前記モータおよび前記波動歯車減速機が組み込まれており、
前記内歯歯車は前記ハウジングに一体形成され、あるいは前記ハウジングに固定されている前記固定側部材であり、
前記外歯歯車は前記回転側部材であり、円筒状胴部と、この円筒状胴部の一体から半径方向の内方に延びるダイヤフラムと、前記ダイヤフラムの内周縁に連続して形成した円環状のボスとを備えており、
前記ボスは前記中空出力軸に同軸に連結固定されており、
前記中空出力軸は、前記ベアリングを介して、前記ハウジングによって回転自在の状態で支持されているロータリアクチュエータ。
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CN202080053021.3A CN114175467A (zh) | 2019-08-02 | 2020-07-27 | 旋转致动器 |
JP2021537226A JP7313790B2 (ja) | 2019-08-02 | 2020-07-27 | ロータリアクチュエータ |
US17/629,077 US20220255400A1 (en) | 2019-08-02 | 2020-07-27 | Rotary actuator |
EP20850108.0A EP4009498A4 (en) | 2019-08-02 | 2020-07-27 | ROTARY ACTUATOR |
KR1020227001800A KR102635551B1 (ko) | 2019-08-02 | 2020-07-27 | 로터리 액츄에이터 |
TW109141090A TW202220342A (zh) | 2019-08-02 | 2020-11-24 | 旋轉致動器 |
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US20220314466A1 (en) * | 2020-04-23 | 2022-10-06 | Guangzhou Accuglen Intelligent Tech Ltd. | Shafting structure of an integrated joint for a collaborative robot |
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JP7313790B2 (ja) | 2023-07-25 |
KR20220024698A (ko) | 2022-03-03 |
EP4009498A4 (en) | 2023-08-09 |
CN114175467A (zh) | 2022-03-11 |
JPWO2021024825A1 (ja) | 2021-02-11 |
US20220255400A1 (en) | 2022-08-11 |
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TW202220342A (zh) | 2022-05-16 |
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