WO2021182019A1 - Actionneur électrique - Google Patents

Actionneur électrique Download PDF

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Publication number
WO2021182019A1
WO2021182019A1 PCT/JP2021/005444 JP2021005444W WO2021182019A1 WO 2021182019 A1 WO2021182019 A1 WO 2021182019A1 JP 2021005444 W JP2021005444 W JP 2021005444W WO 2021182019 A1 WO2021182019 A1 WO 2021182019A1
Authority
WO
WIPO (PCT)
Prior art keywords
rotating body
planetary
input
tooth portion
speed reducer
Prior art date
Application number
PCT/JP2021/005444
Other languages
English (en)
Japanese (ja)
Inventor
慎太朗 石川
久 高木
Original Assignee
Ntn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 Ntn株式会社 filed Critical Ntn株式会社
Publication of WO2021182019A1 publication Critical patent/WO2021182019A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/02—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows
    • F16C19/10—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for axial load mainly
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/30—Parts of ball or roller bearings
    • F16C33/38—Ball cages
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/30—Parts of ball or roller bearings
    • F16C33/66—Special parts or details in view of lubrication
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • 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 electric actuator.
  • variable valve timing device that changes the opening / closing timing of one or both of the intake valve and the exhaust valve of an automobile engine is known.
  • this type of electric actuator includes an electric motor and a speed reducer that obtains a driving force by the electric motor and decelerates and transmits the rotational force (see, for example, Patent Document 1).
  • the input side member for example, sprocket
  • the output side member for example, camshaft
  • the speed reducer When the speed reducer is driven by the electric motor, the speed reducer changes the rotational phase difference of the output side member with respect to the input side member, thereby adjusting the valve opening / closing timing.
  • the internal gear arranged between the input rotating body and the output rotating body performs an eccentric rotating motion to obtain a rotational phase difference of the output rotating body with respect to the input rotating body.
  • An eccentric speed reducer that changes is adopted.
  • the eccentric speed reducer has a meshing structure between the outer tooth portions provided on the outer circumferences of the input rotating body and the output rotating body and the inner tooth portions provided on the inner circumference of the internal gear.
  • a lubricant such as grease is sealed in the housing of the electric actuator.
  • the lubricant easily flows at the meshing part (tooth surface). Therefore, there is a risk that the lubricant will flow out from the meshing portion and be exhausted.
  • an object of the present invention is to support the axial load generated in the speed reducer and suppress the outflow of the lubricant from the meshing portion of the speed reducer.
  • the purpose is to provide an electric actuator to obtain.
  • the electric actuator according to the present invention includes an electric motor capable of supplying a driving force, an input rotating body that can rotate around a rotating shaft, a planetary rotating body that can rotate and revolve around a rotating shaft, and a rotating shaft. It has an output rotating body that can rotate around the center, and is equipped with a speed reducer in which the planetary rotating body meshes with each of the input rotating body and the output rotating body to change the rotational phase difference of the output rotating body with respect to the input rotating body. ..
  • the present invention provides a thrust ball bearing that axially supports the planetary rotating body with respect to the input rotating body in the axial gap between the input rotating body and the planetary rotating body. It is characterized in that it is arranged.
  • the thrust ball bearing can suppress the outflow of the lubricant from the meshing portion of the speed reducer, and makes it easier to hold the lubricant at the meshing portion of the speed reducer.
  • the thrust ball bearing of the present invention preferably has a structure in which a raceway ring on which a rolling surface of a ball is formed is fitted into an annular concave groove on the end surface of the input rotating body, and the ball is brought into contact with the end surface of the planetary rotating body.
  • the thrust ball bearing of the present invention preferably has a structure in which the cage that holds the balls at equal intervals in the circumferential direction has a flat disk shape or a disk shape with a flange.
  • the outflow of the lubricant from the meshing portion of the speed reducer can be further suppressed by the flat disk-shaped or the flanged disk-shaped cage.
  • the thrust ball bearing receives the axial load generated by the eccentric rotary motion to prevent the planetary rotating body from being press-fitted or removed. This makes it possible to improve the efficiency and reliability of the reducer.
  • FIG. 5 is an enlarged cross-sectional view of a main part showing a thrust ball bearing in another embodiment of the present invention.
  • FIG. 1 is a cross-sectional view showing the overall configuration of the electric actuator
  • FIG. 2 is a cross-sectional view taken along the line PP of FIG. 1
  • FIG. 3 is a cross-sectional view taken along the line QQ of FIG.
  • the electric actuator 1 of this embodiment mainly includes an input rotating body 2, an output rotating body 3, an electric motor 4, a speed reducer 5, and a casing 6 accommodating them. It is provided as a component.
  • the input rotating body 2 is a member that is rotationally driven by inputting a driving force from an external driving source (not shown).
  • the input rotating body 2 integrally has a small diameter portion 11 and a large diameter portion 12 having a diameter larger than that of the small diameter portion 11.
  • the input rotating body 2 is rotatably supported by a rolling bearing 7 with a seal with respect to the casing 6.
  • the space between the casing 6 and the input rotating body 2 is sealed by the rolling bearing 7 with a seal.
  • the output rotating body 3 is a member that outputs the driving force input to the input rotating body 2 to the outside.
  • the output rotating body 3 is fastened by bolts 8 so that the shaft 9 as an output shaft rotates integrally.
  • the output rotating body 3 is arranged coaxially with respect to the input rotating body 2 about the rotation axis X and is configured to be relatively rotatable.
  • a rolling bearing 10 with a seal is arranged on the inner circumference of the large diameter portion 12 of the input rotating body 2.
  • the shaft 9 is rotatably supported by a rolling bearing 10 with a seal with respect to the input rotating body 2.
  • the space between the input rotating body 2 and the shaft 9 is sealed by the rolling bearing 10 with a seal.
  • the casing 6 is divided into a bottomed cylindrical main body 13 and a lid 14 that closes the main body 13 in order to improve assembleability.
  • the main body portion 13 and the lid portion 14 are integrated by using a fastening means (not shown) such as a bolt.
  • the lid 14 has a tubular shape for drawing out a power supply line for supplying power to the electric motor 4 and a signal line connected to a rotation speed detection sensor (not shown) for detecting the rotation speed of the electric motor 4.
  • a protrusion 15 is provided.
  • the space between the lid portion 14 of the casing 6 and the output rotating body 3 is sealed by a rolling bearing 16 with a seal.
  • the rolling bearing 16 with a seal rotatably supports the output rotating body 3 with respect to the lid portion 14 of the casing 6.
  • the electric motor 4 is a radial gap type motor having a stator 17 fixed to the main body 13 of the casing 6 and a rotor 18 arranged so as to face each other with a gap inside the stator 17 in the radial direction.
  • the rotor 18 rotates about the rotation axis X with respect to the stator 17 due to the exciting force acting between the stator 17 and the rotor 18.
  • the main part of the speed reducer 5 rotates integrally with the first external tooth portion 19 formed on the outer periphery of the input rotating body 2, the second external tooth portion 20 formed on the outer periphery of the output rotating body 3, and the rotor 18.
  • a cycloid reducer composed of an eccentric member 21, a planetary rotating body 22 arranged on the inner circumference of the eccentric member 21, and a needle-shaped roller bearing 23 arranged between the eccentric member 21 and the planetary rotating body 22. Is.
  • the eccentric member 21 integrally includes a small-diameter tubular portion 24 fixed to the inner circumference of the rotor 18 and a large-diameter tubular portion 25 formed to have a larger diameter than the small-diameter tubular portion 24 and projecting axially from the rotor 18. ..
  • the small-diameter tubular portion 24 and the large-diameter tubular portion 25 are rotatably supported by rolling bearings 26 and 27 with respect to the casing 6.
  • the outer peripheral surface of the eccentric member 21 is formed coaxially with the rotation axis X.
  • the inner peripheral surface of the small diameter tubular portion 24 is arranged so as to be eccentric with respect to each central axis (rotation axis X) of the input rotating body 2 and the output rotating body 3.
  • the inner peripheral surface of the large-diameter tubular portion 25 is arranged coaxially with each central axis (rotation axis X) of the input rotating body 2 and the output rotating body 3.
  • the planetary rotating body 22 integrally has a small-diameter cylinder portion 28 and a large-diameter cylinder portion 29 having a diameter larger than that of the small-diameter cylinder portion 28.
  • the first internal tooth portion 30 is formed on the inner circumference of the large-diameter tubular portion 29, and the second internal tooth portion 31 is formed on the inner circumference of the small-diameter tubular portion 28.
  • Both the first internal tooth portion 30 and the second internal tooth portion 31 are composed of a plurality of teeth whose radial cross section draws a curved line (for example, a trochoidal curve).
  • the pitch circle diameter of the second internal tooth portion 31 is smaller than the pitch circle diameter of the first internal tooth portion 30. Further, the number of teeth of the second internal tooth portion 31 is smaller than the number of teeth of the first internal tooth portion 30.
  • the first external tooth portion 19 is formed on the outer periphery of the input rotating body 2 so as to mesh with the first internal tooth portion 30 of the planetary rotating body 22. Further, a second external tooth portion 20 is formed on the outer periphery of the output rotating body 3 so as to mesh with the second internal tooth portion 31 of the planetary rotating body 22 so as to face each other.
  • Both the first external tooth portion 19 and the second external tooth portion 20 are composed of a plurality of teeth whose radial cross section draws a curved line (for example, a trochoidal curve).
  • the pitch circle diameter of the second external tooth portion 20 is smaller than the pitch circle diameter of the first external tooth portion 19.
  • the number of teeth of the second external tooth portion 20 is smaller than the number of teeth of the first external tooth portion 19.
  • the number of teeth of the first external tooth portion 19 is less than the number of teeth of the first internal tooth portion 30 that mesh with each other, and is preferably one less.
  • the number of teeth of the second external tooth portion 20 is also smaller than the number of teeth of the second internal tooth portion 31 that mesh with each other, preferably one less.
  • the number of teeth of the first internal tooth portion 30 is 24, the number of teeth of the second internal tooth portion 31 is 20, the number of teeth of the first external tooth portion 19 is 23, and the number of teeth of the second external tooth portion 20 is 20.
  • the number of teeth is 19.
  • the planetary rotating body 22 is formed between the rolling bearing 32 arranged between the large-diameter tubular portion 29 and the large-diameter tubular portion 25 of the eccentric member 21, and between the small-diameter tubular portion 28 and the small-diameter tubular portion 24 of the eccentric member 21. It is rotatably supported by the eccentric member 21 by the arranged needle roller bearing 23.
  • the rolling bearing 32 and the needle roller bearing 23 support the planetary rotating body 22 with respect to the eccentric member 21, thereby reducing the radial runout of the planetary rotating body 22 and reducing the radial runout of the planetary rotating body 22. It suppresses the decrease in power transmission efficiency due to radial runout.
  • the planetary rotating body 22 is arranged on the inner circumference of the eccentric member 21 via the needle roller bearing 23 and the rolling bearing 32, so that the central axes (rotating shafts) of the input rotating body 2 and the output rotating body 3 are provided. It is arranged eccentrically with respect to X).
  • the central axis Y of the first internal tooth portion 30 is only a distance E in the radial direction with respect to the rotation axis X. It is eccentric.
  • the first internal tooth portion 30 and the first external tooth portion 19 are in a state of being meshed with each other in a partial region in the circumferential direction (left side in FIG. 2), and in a region on the opposite side in the radial direction (right side in FIG. 2). It will not mesh.
  • the central axis Y of the second internal tooth portion 31 is also eccentric with respect to the rotation axis X by a distance E in the radial direction.
  • the second internal tooth portion 31 and the second external tooth portion 20 are in a state of being meshed with each other in a partial region in the circumferential direction (right side in FIG. 3), and in a region on the opposite side in the radial direction (left side in FIG. 3). It will not mesh.
  • the input rotating body 2 and the planetary rotating body 22 rotate integrally while maintaining this meshing state by torque transmission at the meshing portion 33 between the first external tooth portion 19 and the first internal tooth portion 30.
  • the planetary rotating body 22 and the output rotating body 3 also rotate integrally while maintaining the meshing positions of the second internal tooth portion 31 and the second external tooth portion 20. Therefore, the input rotating body 2 and the output rotating body 3 rotate while maintaining the same rotation phase.
  • the eccentric member 21 coupled to the rotor 18 is integrally rotated around the rotation axis X by the operation of the electric motor 4.
  • the pressing force associated with the rotation of the eccentric member 21 acts on the planetary rotating body 22 via the needle roller bearing 23 and the rolling bearing 32. Due to this pressing force, a component force in the circumferential direction is generated at the meshing portion 33 between the first internal tooth portion 30 and the first external tooth portion 19, so that the planetary rotating body 22 rotates eccentrically with respect to the input rotating body 2. Exercise.
  • the reduction ratio by the speed reducer 5 is I
  • the rotation speed of the electric motor 4 is Nm
  • the rotation speed of the input rotating body 2 is Ns
  • the phase angle difference of the output rotating body 3 is (Nm-Ns) / I.
  • the reduction ratio of the first external tooth portion 19 is i1
  • the reduction ratio of the second external tooth portion 20 is i2
  • the reduction ratio (i1) of the first external tooth portion 19 is 24 and the reduction ratio (i2) of the second external tooth portion 20 is 20, the reduction ratio is 120 from the above equation.
  • the speed reducer 5 in this embodiment it is possible to obtain a high torque with a large reduction ratio.
  • the overall configuration of the electric actuator 1 in this embodiment is as described above, but its characteristic configuration will be described in detail below.
  • the planetary rotating body 22 arranged between the input rotating body 2 and the output rotating body 3 performs an eccentric rotating motion to rotate the output rotating body 3 with respect to the input rotating body 2.
  • An eccentric speed reducer 5 that changes the phase difference is adopted.
  • the eccentric speed reducer 5 has a meshing structure between the first external tooth portion 19 of the input rotating body 2 and the first internal tooth portion 30 of the planetary rotating body 22, and the second external tooth portion 20 of the output rotating body 3 and the planetary rotation. It has a meshing structure with the second internal tooth portion 31 of the body 22.
  • a lubricant such as grease (not shown) is put in the housing 6 of the electric actuator 1 and the rolling bearings 7, 10 and 16 with a seal (FIG. 1). See).
  • the meshing portion 33 between the first external tooth portion 19 and the first internal tooth portion 30 and the meshing portion between the second external tooth portion 20 and the second internal tooth portion 31 are caused by the pumping action.
  • the lubricant easily flows in the portion 34.
  • a ball bearing 36 is arranged.
  • the thrust ball bearing 36 forms an annular groove 37 on the end surface of the input rotating body 2 facing the planetary rotating body 22, and the raceway ring 39 on which the rolling surface of the ball 38 is formed is press-fitted into the annular groove 37. It has a combined structure.
  • the thrust ball bearing 36 has a flat disk-shaped cage 41.
  • pockets 44 for accommodating the balls 38 are formed at equal intervals in the circumferential direction.
  • a plurality of (for example, 10 to 12) balls 38 are held at equal intervals in the circumferential direction by a cage 41 arranged between the end face 40 of the planetary rotating body 22 and the orbital ring 39.
  • the planetary rotating body 22 is tilted with respect to the axial direction due to the clearance of the rolling bearing 32, so that the planetary rotating body 22 is skewed, and as a result, the planetary rotating body 22 is skewed.
  • the axial load generated in the above is supported by the thrust ball bearing 36.
  • the planetary rotating body 22 By fitting the raceway ring 39 into the annular groove 37 of the input rotating body 2 and adopting the thrust ball bearing 36 having a structure in which the ball 38 is brought into contact with the end surface 40 of the planetary rotating body 22, the planetary rotating body 22 It is possible to easily support the axial load generated by the skew and suppress the outflow of the lubricant from the meshing portions 33 and 34 of the speed reducer 5.
  • a disk-shaped cage 42 with a flange is illustrated in the thrust ball bearing 36 of the embodiment shown in FIG. 6, a disk-shaped cage 42 with a flange is illustrated. That is, the cage 42 has a flange portion 43 extending in the axial direction on the outer periphery thereof. The flange portion 43 closes the axial gap 35 between the input rotating body 2 and the planetary rotating body 22.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Retarders (AREA)
  • Rolling Contact Bearings (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

La présente invention concerne un actionneur électrique comprenant: un moteur électrique (4) capable de fournir une force d'entraînement; un rotor (2) d'entrée pouvant tourner autour d'un axe X de rotation; un rotor planétaire (22) capable de tourner et capable de décrire une orbite autour de l'axe de rotation; et un rotor (3) de sortie pouvant tourner autour de l'axe X de rotation. Le rotor planétaire (22) engrène à la fois avec le rotor (2) d'entrée et le rotor (3) de sortie, et constitue un réducteur (5) de vitesse servant à modifier une différence de phase angulaire du rotor (3) de sortie par rapport au rotor (2) d'entrée. Une butée (36) à billes servant à soutenir axialement le rotor planétaire (22) par rapport au rotor (2) d'entrée est disposée dans un écartement axial (35) entre le rotor (2) d'entrée et le rotor planétaire (22).
PCT/JP2021/005444 2020-03-12 2021-02-15 Actionneur électrique WO2021182019A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020-042984 2020-03-12
JP2020042984A JP2021143722A (ja) 2020-03-12 2020-03-12 電動アクチュエータ

Publications (1)

Publication Number Publication Date
WO2021182019A1 true WO2021182019A1 (fr) 2021-09-16

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ID=77672252

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2021/005444 WO2021182019A1 (fr) 2020-03-12 2021-02-15 Actionneur électrique

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JP (1) JP2021143722A (fr)
WO (1) WO2021182019A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009243556A (ja) * 2008-03-31 2009-10-22 Ntn Corp 軸受用保持器及びころ軸受
JP2017083005A (ja) * 2015-10-22 2017-05-18 株式会社ジェイテクト 駆動装置
JP2018194151A (ja) * 2017-05-22 2018-12-06 Ntn株式会社 電動アクチュエータ

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009243556A (ja) * 2008-03-31 2009-10-22 Ntn Corp 軸受用保持器及びころ軸受
JP2017083005A (ja) * 2015-10-22 2017-05-18 株式会社ジェイテクト 駆動装置
JP2018194151A (ja) * 2017-05-22 2018-12-06 Ntn株式会社 電動アクチュエータ

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JP2021143722A (ja) 2021-09-24

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