WO2021182357A1 - Actionneur électrique - Google Patents

Actionneur électrique Download PDF

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Publication number
WO2021182357A1
WO2021182357A1 PCT/JP2021/008831 JP2021008831W WO2021182357A1 WO 2021182357 A1 WO2021182357 A1 WO 2021182357A1 JP 2021008831 W JP2021008831 W JP 2021008831W WO 2021182357 A1 WO2021182357 A1 WO 2021182357A1
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WO
WIPO (PCT)
Prior art keywords
rotating body
tooth portion
electric actuator
speed reducer
planetary
Prior art date
Application number
PCT/JP2021/008831
Other languages
English (en)
Japanese (ja)
Inventor
齋藤　隆英
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
Priority claimed from JP2020042980A external-priority patent/JP2021143720A/ja
Priority claimed from JP2020042983A external-priority patent/JP2021143721A/ja
Priority claimed from JP2020042979A external-priority patent/JP7463140B2/ja
Application filed by Ntn株式会社 filed Critical Ntn株式会社
Publication of WO2021182357A1 publication Critical patent/WO2021182357A1/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
    • F16C19/04—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for radial load mainly
    • F16C19/06—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for radial load mainly with a single row or balls
    • 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
    • F16C19/54—Systems consisting of a plurality of bearings with rolling friction
    • 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
    • F16C33/72—Sealings
    • F16C33/76—Sealings of ball or roller bearings
    • 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
    • F16C33/72—Sealings
    • F16C33/76—Sealings of ball or roller bearings
    • F16C33/78—Sealings of ball or roller bearings with a diaphragm, disc, or ring, with or without resilient members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • 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
    • F16J—PISTONS; CYLINDERS; SEALINGS
    • F16J15/00—Sealings
    • F16J15/02—Sealings between relatively-stationary surfaces
    • F16J15/06—Sealings between relatively-stationary surfaces with solid packing compressed between sealing surfaces
    • F16J15/10—Sealings between relatively-stationary surfaces with solid packing compressed between sealing surfaces with non-metallic packing
    • 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
    • F16J—PISTONS; CYLINDERS; SEALINGS
    • F16J15/00—Sealings
    • F16J15/16—Sealings between relatively-moving surfaces
    • F16J15/32—Sealings between relatively-moving surfaces with elastic sealings, e.g. O-rings
    • F16J15/3204—Sealings between relatively-moving surfaces with elastic sealings, e.g. O-rings with at least one lip
    • F16J15/3232—Sealings between relatively-moving surfaces with elastic sealings, e.g. O-rings with at least one lip having two or more lips
    • 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
    • F16J—PISTONS; CYLINDERS; SEALINGS
    • F16J15/00—Sealings
    • F16J15/44—Free-space packings
    • F16J15/447—Labyrinth packings
    • 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.
  • This eccentric speed reducer has a meshing structure between an external tooth portion provided on the outer periphery of an input rotating body and an output rotating body and an internal tooth portion provided on the inner circumference of an internal gear.
  • a lubricant such as grease is sealed in the housing of the electric actuator in order to smoothly perform the eccentric rotation of the internal gear due to the meshing of the external and internal teeth. This lubricant improves the efficiency and durability of the reducer.
  • an object of the present invention is to suppress the outflow of the lubricant from the meshing portion of the speed reducer and prevent the depletion of the lubricant by a simple structure.
  • the purpose is to provide a possible electric actuator.
  • 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 the rotating shaft, and the like. It has an output rotating body that can rotate around a rotation axis and a meshing portion formed by engaging the planetary rotating body with each of the input rotating body and the output rotating body, and the rotation of the output rotating body with respect to the input rotating body. It is equipped with a speed reducer that changes the phase difference.
  • the electric actuator according to the present invention is characterized by including an outflow suppressing mechanism for suppressing the outflow of the lubricant from the meshing portion of the speed reducer.
  • the electric actuator of the present invention includes an external tooth portion provided on the outer periphery of the input rotating body and the output rotating body, and an internal tooth portion provided on the inner circumference of the planetary rotating body, and serves as the outflow suppressing mechanism. It is characterized in that a lubricant reservoir is provided in the meshing portion between the outer tooth portion and the inner tooth portion.
  • the lubricant can be easily held at the meshing portion between the external tooth portion and the internal tooth portion, it becomes easy to maintain the lubrication performance and the sliding resistance at the meshing portion can be reduced.
  • the lubricant reservoir is composed of circumferential grooves formed in at least one of the outer tooth portion and the inner tooth portion.
  • the lubricant reservoir can be realized with a simple structure called a circumferential groove.
  • a circumferential groove By storing the lubricant in the circumferential groove in this way, it becomes easy to hold the lubricant at the meshing portion between the outer tooth portion and the inner tooth portion.
  • the lubricant reservoir has a structure in which a circumferential groove is formed at the axial center position of the outer tooth portion and the inner tooth portion.
  • the lubricant is stored in the circumferential groove located at the axial center position of the external tooth portion and the internal tooth portion, so that the lubricant is stored at the meshing portion between the external tooth portion and the internal tooth portion. Can be reliably held.
  • the lubricant reservoir is composed of axial grooves formed in at least one of the outer tooth portion and the inner tooth portion.
  • the lubricant reservoir can be realized with a simple structure called an axial groove.
  • an axial groove By storing the lubricant in the axial groove in this way, it becomes easy to hold the lubricant at the meshing portion between the outer tooth portion and the inner tooth portion.
  • the lubricant reservoir has a structure in which an axial groove is formed at the bottom of the outer tooth portion and the inner tooth portion.
  • the outer tooth portion and the bottom portion of the internal tooth portion do not contribute to torque transmission, so that the meshing portion between the external tooth portion and the internal tooth portion is lubricated without reducing the efficiency of the reduction gear.
  • the agent can be reliably retained.
  • the outflow suppressing mechanism at least one of the axial gap between the input rotating body and the planetary rotating body and the axial gap between the input rotating body and the output rotating body is input.
  • a seal portion for preventing the outflow of the lubricant from the meshing portion of the speed reducer is provided in the axial gap between the rotating body and the planetary rotating body.
  • the seal portion arranged in the axial gap between the input rotating body and the planetary rotating body allows the lubricant from the meshing portion of the reducer to be removed.
  • the outflow can be prevented, and the lubricant can be easily held at the meshing portion of the speed reducer.
  • arranging the seal portion at least in the axial gap between the input rotating body and the planetary rotating body means that in addition to the axial gap between the input rotating body and the planetary rotating body, the input rotating body and the output rotating body It means that the seal portion may be arranged also in the axial gap between the bodies.
  • the seal portion is fitted into a recess formed on the end face of the input rotating body facing the planetary rotating body to close the axial gap between the input rotating body and the planetary rotating body.
  • any one selected from the seal ring and the slide bearing is effective.
  • the seal portion can be realized with a simple structure such as a seal ring or a slide bearing fitted in a recess on the end face of the input rotating body. Further, the seal ring and the slide bearing can prevent the lubricant from flowing out from the meshing portion of the speed reducer, and it becomes easy to hold the lubricant at the meshing portion of the speed reducer.
  • the seal portion has a concave portion formed on the end face of the input rotating body facing the planetary rotating body, and a convex portion formed on the end surface of the planetary rotating body facing the input rotating body, and the convex portion is inserted into the concave portion.
  • a non-contact labyrinth structure is desirable.
  • the seal portion can be realized with a simple structure called a non-contact labyrinth structure. Further, the non-contact labyrinth structure can prevent the lubricant from flowing out from the meshing portion of the speed reducer, and it becomes easy to hold the lubricant at the meshing portion of the speed reducer.
  • the electric actuator of the present invention has an eccentric member in which the speed reducer can rotate eccentrically with respect to the rotating shaft, and as the outflow suppressing mechanism, a sealed type is provided between the eccentric member and the output rotating body.
  • a bearing is arranged, and the output rotating body is rotatably supported with respect to the eccentric member by the sealed bearing.
  • the sealed bearing is arranged between the eccentric member and the planetary rotating body, and the planetary rotating body is rotatably supported by the sealed bearing with respect to the eccentric member.
  • the sealed type bearing is any one selected from a sealed rolling bearing and a shielded rolling bearing.
  • the present invention it becomes easy to hold the lubricant at the meshing portion of the speed reducer. As a result, it becomes easy to maintain the lubrication performance, and the sliding resistance at the meshing portion can be reduced. As a result, the efficiency and durability of the speed reducer can be improved.
  • FIG. 5 is an enlarged cross-sectional view of a main part showing an input rotating body, an output rotating body, and a planetary rotating body of FIG.
  • FIG. 5 is an assembled disassembled perspective view showing an input rotating body, an output rotating body, and a planetary rotating body of FIG.
  • FIG. 5 is an assembled disassembled perspective view showing an input rotating body, an output rotating body, and a planetary rotating body of FIG.
  • FIG. 6 is an assembled disassembled perspective view showing an input rotating body, an output rotating body, and a planetary rotating body of FIG. It is sectional drawing which shows the whole structure of the electric actuator in the 3rd Embodiment of this invention. It is an enlarged cross-sectional view of part C which shows the seal part of FIG. It is an assembly disassembled perspective view which shows the electric actuator of FIG. It is an enlarged sectional view of the main part which shows the seal part in 4th Embodiment of this invention.
  • FIG. 5 is an enlarged cross-sectional view of a main part showing a seal portion in the fifth embodiment of the present invention. It is sectional drawing which shows the whole structure of the electric actuator in the 6th Embodiment of this invention.
  • FIG. 5 is an enlarged cross-sectional view of a main part showing a shielded rolling bearing according to a seventh embodiment of the present invention. It is an assembly disassembled perspective view which shows the whole structure of the electric actuator of 7th Embodiment.
  • lubricant reservoirs 35 to 40 are provided at the meshing portions between the outer tooth portions 19 and 20 and the inner tooth portions 30 and 31 of the speed reducer 5, which will be described later. ..
  • FIG. 1 is a cross-sectional view showing the overall configuration of the first embodiment 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 sheets 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 the lubrication structure, which is a characteristic configuration thereof, 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 planet. It has a meshing structure with the second internal tooth portion 31 of the rotating 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 seals (see FIG. 1). ) Is enclosed.
  • the meshing portion 33 between the first external tooth portion 19 and the first internal tooth portion 30 and the second external tooth portion 20 and the second internal tooth portion 31 are brought into contact with each other by the pumping action.
  • the lubricant easily flows at the meshing portion 34.
  • the outflow of the lubricant from the meshing portions 33 and 34 of the eccentric speed reducer 5 is suppressed by various outflow suppression mechanisms with a simple structure, and the depletion of the lubricant is prevented. We are taking steps.
  • the meshing portion 33 between the first external tooth portion 19 and the first internal tooth portion 30, and the second external tooth portion 20 and the second internal tooth A lubricant reservoir is provided in the meshing portion 34 with the portion 31.
  • the lubricant reservoir of the first embodiment is formed in the circumferential direction formed on the first external tooth portion 19 of the input rotating body 2 and the second external tooth portion 20 of the output rotating body 3. It is composed of grooves 35 and 36.
  • the circumferential grooves 35 and 36 are formed at the axial center positions of the first external tooth portion 19 and the second external tooth portion 20.
  • the circumferential grooves 35 and 36 become a lubricant pool at the meshing portions 33 and 34. Therefore, the lubricant (see the broken arrow in FIG. 4) that flows due to the eccentric rotational movement (pumping action) of the planetary rotating body 22 is stored in the circumferential grooves 35 and 36.
  • the lubricant can be easily held by the meshing portion 33 between the first external tooth portion 19 and the first internal tooth portion 30, and the meshing portion 34 between the second external tooth portion 20 and the second internal tooth portion 31. Therefore, it becomes easy to maintain the lubrication performance, and the sliding resistance at the meshing portions 33 and 34 can be reduced. As a result, the efficiency and durability of the speed reducer 5 can be improved.
  • the lubricant reservoir can be realized with a simple structure of circumferential grooves 35 and 36.
  • the meshing portion 33 between the first external tooth portion 19 and the first internal tooth portion 30, and the second external tooth portion 20 and the second inner tooth portion 20 are stored. It becomes easy to hold the lubricant at the meshing portion 34 with the tooth portion 31.
  • the circumferential grooves 35 and 36 in which the lubricant is stored at the axial center positions of the first external tooth portion 19 and the second external tooth portion 20 are further arranged.
  • the lubricant can be reliably held by the meshing portion 33 with the tooth portion 30 and the meshing portion 34 between the second external tooth portion 20 and the second internal tooth portion 31.
  • the planetary rotation A lubricant pool may be formed by forming a circumferential groove in the first internal tooth portion 30 and the second internal tooth portion 31 of the body 22.
  • the circumferential grooves 35 and 36 are exemplified as the lubricant reservoirs, but the present invention is not limited to this, and the lubricant reservoirs of the second embodiment are axial grooves. May be good.
  • FIG. 6 is a cross-sectional view showing the overall configuration of the electric actuator 1 in the second embodiment
  • FIG. 7 is a cross-sectional view taken along the line RR of FIG. 6
  • FIG. 8 is a cross-sectional view taken along the line SS of FIG. ..
  • FIGS. 6 to 8 the same parts as those in FIGS. 1 to 3 are designated by the same reference numerals, and duplicate description will be omitted.
  • the axial groove 39 as a lubricant reservoir is formed in the second external tooth portion 20 of the output rotating body 3 and the second internal tooth portion 31 of the planetary rotating body 22. 40 is formed (see FIG. 9).
  • the first external tooth portion 19 and the first internal tooth portion 30 are provided with the axial grooves 37 and 38, and the second external tooth portion 20 and the second internal tooth portion 31 are provided with the axial grooves 39 and 40.
  • the axial grooves 37 to 40 become a lubricant pool at the meshing portions 33 and 34, so that the lubricant flowing due to the eccentric rotational movement of the planetary rotating body 22 is stored in the axial grooves 37 to 40.
  • the lubricant can be easily held by the meshing portion 33 between the first external tooth portion 19 and the first internal tooth portion 30, and the meshing portion 34 between the second external tooth portion 20 and the second internal tooth portion 31. Therefore, it becomes easy to maintain the lubrication performance, and the sliding resistance at the meshing portions 33 and 34 can be reduced. As a result, the efficiency and durability of the speed reducer 5 can be improved.
  • the lubricant reservoir can be realized with a simple structure of axial grooves 37 to 40.
  • the meshing portion 33 between the first external tooth portion 19 and the first internal tooth portion 30, and the second external tooth portion 20 and the second internal tooth It becomes easy to hold the lubricant at the meshing portion 34 with the portion 31.
  • the axial grooves 37 to 40 are provided at the bottoms of the first external tooth portion 19, the first internal tooth portion 30, the second external tooth portion 20, and the second internal tooth portion 31.
  • the bottoms of the first external tooth portion 19, the first internal tooth portion 30, the second external tooth portion 20, and the second internal tooth portion 31 are locations that do not contribute to torque transmission. In this way, by providing the axial grooves 37 to 40 at the bottom that does not contribute to torque transmission, the efficiency of the speed reducer 5 is not adversely affected.
  • FIGS. 10 to 14- As another outflow suppressing mechanism for suppressing the outflow of the lubricant from the meshing portions 33 and 34 of the eccentric speed reducer 5 and preventing the depletion of the lubricant, the third embodiment based on FIGS. 10 to 14-.
  • the fifth embodiment will be described.
  • the cross-sectional view taken along the line PP of FIG. 10 is common to that of FIG. 2, and the cross-sectional view taken along the line QQ of FIG. 10 is common with that of FIG.
  • the structure and function of the electric actuator 1 of the third to fifth embodiments are common to those of the first embodiment and the second embodiment except for the outflow suppression mechanism, the description of these common structures and functions is omitted. do.
  • the axial gap 41 between the input rotating body 2 and the planetary rotating body 22 and the axial gap 46 between the input rotating body 2 and the output rotating body 3 are provided.
  • seal portions 42, 47, 50, 51 that prevent the outflow of the lubricant from the meshing portions 33, 34 of the speed reducer 5 are provided at least in the axial gap 41 between the input rotating body 2 and the planetary rotating body 22. doing.
  • FIGS. 10 and 11 show a third embodiment. As shown in FIGS. 10 and 11, in the third embodiment, the inflow of the lubricant from the meshing portions 33 and 34 of the speed reducer 5 is prevented in the axial gap 41 between the input rotating body 2 and the planetary rotating body 22.
  • a seal ring 42 is arranged as a seal portion to be sealed.
  • annular groove 43 (see FIG. 12) is formed as a recess on the end surface of the input rotating body 2 facing the planet rotating body 22, and the seal ring 42 is press-fitted into the annular groove 43.
  • the structure is adopted.
  • the seal ring 42 is a C-shaped member made of resin or rubber, and as shown in FIGS. 11 and 12, a concave portion 44 and a convex portion 45 having an L-shaped cross section are formed at both ends thereof.
  • the concave portion 44 at one end and the convex portion 45 at the other end are fitted together, and the convex portion 45 at one end and the concave portion 44 at the other end are fitted together.
  • the seal ring 42 closes the axial gap 41 between the input rotating body 2 and the planetary rotating body 22.
  • a seal ring 47 is also provided in the axial gap 46 between the input rotating body 2 and the output rotating body 3 as a sealing portion for preventing the outflow of the lubricant from the meshing portions 33 and 34 of the speed reducer 5. doing. That is, the seal ring 47 is sandwiched between the end faces of the input rotating bodies 2 facing each other in the axial direction and the end faces of the output rotating bodies 3 by press fitting.
  • the seal ring 47 is located between the inner circumference of the planetary rotating body 22 and the outer circumference of the shaft 9. Thereby, by regulating the radial position of the seal ring 47, it is possible to prevent the positional deviation of the seal ring 47 in the radial direction.
  • the seal ring 47 is an annular member made of resin or rubber (see FIG. 5), and has a cross section L integrally having a small outer diameter portion 48 and a large outer diameter portion 49 having a diameter larger than the small outer diameter portion 48. Make a shape.
  • the end face of the large outer diameter portion 49 comes into contact with the end face of the input rotating body 2, and the end face of the small outer diameter portion 48 comes into contact with the end face of the output rotating body 3.
  • the seal ring 47 closes the axial gap 46 between the input rotating body 2 and the output rotating body 3.
  • the seal ring 42 may be arranged in the directional gap 41.
  • the seal ring 47 does not necessarily have to be provided, and may be provided as needed.
  • a sliding bearing 51 is provided between the end face of the input rotating body 2 and the end face of the output rotating body 3 which face each other in the axial direction. It is sandwiched by press fitting.
  • the slide bearings 50 and 51 close the axial gap 41 between the input rotating body 2 and the planetary rotating body 22 and the axial gap 46 between the input rotating body 2 and the output rotating body 3.
  • the eccentric rotary motion (pump action) of the planetary rotating body 22 in the speed reducer 5 is performed, it is possible to prevent the lubricant from flowing out from the meshing portions 33 and 34 of the speed reducer 5 to the outside of the speed reducer 5. , It becomes easy to hold the lubricant in the meshing portions 33 and 34 of the speed reducer 5.
  • the seal portion is realized by a simple structure of seal rings 42, 47 and slide bearings 50, 51.
  • the seal rings 42, 47 and the slide bearings 50, 51 can prevent the lubricant from flowing out from the meshing portions 33, 34 of the speed reducer 5, and the meshing portions 33, 34 of the speed reducer 5 lubricate. It becomes easy to hold the agent.
  • the seal rings 42, 47 and the slide bearings 50, 51 have been exemplified as the seal portions, but the present invention is not limited to these, and the seal as shown in FIG. 14 is not limited thereto. It may be a part (fifth embodiment).
  • the same parts as those in FIG. 11 are designated by the same reference numerals, and duplicate description will be omitted.
  • the end face of the input rotating body 2 facing the planetary rotating body 22 is annular.
  • a non-contact labyrinth structure 54 is formed in which the concave portion 52 is formed and an annular convex portion 53 is formed on the end surface of the planetary rotating body 22 facing the input rotating body 2 and the convex portion 53 is inserted into the concave portion 52.
  • a seal ring 47 is provided between the end face of the input rotating body 2 and the end face of the output rotating body 3 which face each other in the axial direction.
  • the sliding bearing 51 is sandwiched by press fitting.
  • the axial gap 41 between the input rotating body 2 and the planetary rotating body 22 is a labyrinth structure 54
  • the axial gap 46 between the input rotating body 2 and the output rotating body 3 is a seal ring 47 or a sliding bearing. It is blocked by 51.
  • the seal portion can be realized by a simple structure called a non-contact labyrinth structure 54.
  • the non-contact labyrinth structure 54 can prevent the lubricant from flowing out from the meshing portions 33 and 34 of the speed reducer 5, and the lubricant is held by the meshing portions 33 and 34 of the speed reducer 5. Becomes easier.
  • the seal portion causes the lubricant to flow out from the meshing portion of the speed reducer. By preventing this, it becomes easier to hold the lubricant at the meshing portion of the speed reducer.
  • FIGS. 15 to 19 A seventh embodiment will be described.
  • the cross-sectional view taken along the line PP of FIG. 15 is common to that of FIG. 2, and the cross-sectional view taken along the line QQ of FIG. 15 is common with that of FIG.
  • the structure and function of the electric actuator 1 of the sixth embodiment and the seventh embodiment are common to those of the first to fifth embodiments except for the outflow suppression mechanism, the description of these common structures and functions is omitted. do.
  • a sealed bearing 16 is arranged between the eccentric member 21 and the output rotating body 3 as an outflow suppression mechanism, and the output rotating body 3 is eccentric member by the sealed bearing 16. It is rotatably supported with respect to 21.
  • FIGS. 15 and 16 show the sixth embodiment.
  • a sealed bearing is sealed between the small diameter tubular portion 24 of the eccentric member 21 that can rotate eccentrically with respect to the rotating shaft X and the output rotating body 3.
  • a rolling bearing 16 (see FIG. 17) is arranged, and the rolling bearing 16 with a seal rotatably supports the output rotating body 3 with respect to the eccentric member 21.
  • the lubricant flows out from the meshing portions 33 and 34 of the speed reducer 5 to the outside of the speed reducer 5 with a seal. It can be blocked by the seal portion 55 of the rolling bearing 16, and the lubricant can be easily held by the meshing portions 33 and 34 of the speed reducer 5.
  • the small-diameter tubular portion 24 of the eccentric member 21 is supported by the rolling bearing 26 with respect to the lid portion 14 of the housing 6, and the large-diameter tubular portion 25 of the eccentric member 21 is supported by the rolling bearing 27 as the main body of the housing 6. It is supported by the unit 13. As described above, the eccentric member 21 is supported at both ends with respect to the housing 6 by the rolling bearings 26 and 27, thereby ensuring the accuracy of the motor shaft.
  • the output rotating body 3 is supported by the sealed rolling bearing 16 with respect to the eccentric member 21. Thereby, the accuracy with respect to the eccentric member 21 can be ensured.
  • the structure in which the output rotating body 3 is supported with respect to the eccentric member 21 by the rolling bearing 16 with a seal contributes to the improvement of the efficiency of the speed reducer 5.
  • the rolling bearing 16 with a seal shown in FIG. 16 has a structure having seal portions 55 on both sides in the axial direction, but only the seal portion 55 located on the outer side in the axial direction (left side in FIG. 16) and the inner side in the axial direction (FIG. 16).
  • the seal portion 55 located on the right side) may be omitted.
  • the sealing portion 55 on the outer side in the axial direction closes the internal gap of the rolling bearing 16 with a seal communicating with the space (shaded portion in FIG. 16) between the eccentric member 21 and the output rotating body 3. ..
  • the sealed rolling bearing 16 is illustrated as a sealed bearing that closes the space between the eccentric member 21 and the output rotating body 3, but a shielded rolling bearing is applied as another sealed bearing. You may.
  • FIGS. 16 and 17 the case where the space between the eccentric member 21 and the output rotating body 3 is closed by the rolling bearing 16 with a seal is illustrated, but the seventh embodiment shown in FIGS. 18 and 19. It may have a structure like that of the embodiment.
  • FIGS. 18 and 19 the same parts as those in FIGS. 16 and 17 are designated by the same reference numerals, and duplicate description will be omitted.
  • a shielded rolling bearing 56 is used as a sealed bearing. Is adopted.
  • the shielded rolling is provided between the eccentric member 21 and the planetary rotating body 22.
  • a bearing 56 (see FIG. 19) is arranged, and a shielded rolling bearing 56 rotatably supports the planetary rotating body 22 with respect to the eccentric member 21.
  • the space between the eccentric member 21 and the planetary rotating body 22 (the shaded portion in FIG. 18) is closed by the shield portion 57 of the shielded rolling bearing 56.
  • the space between the eccentric member 21 and the planetary rotating body 22 there is a gap between the end face of the small diameter tubular portion 28 of the planetary rotating body 22 and the sealing portion 55 of the rolling bearing 16 with a seal, and an internal gap of the needle roller bearing 23. And the internal gap of the shielded rolling bearing 56.
  • the lubricant flows out from the meshing portions 33 and 34 of the speed reducer 5 to the outside of the speed reducer 5 with a shield. It can be blocked by the shield portion 57 of the rolling bearing 56, and the lubricant can be easily held by the meshing portions 33 and 34 of the speed reducer 5.
  • a rolling bearing 56 with a shield on one side having only a shield portion 57 located on the outer side in the axial direction (right side in FIG. 18) is illustrated.
  • the internal gap of the rolling bearing 56 with a shield on one side adjacent to the internal gap of the needle roller bearing 23 is closed by the shield portion 57.
  • a shielded rolling bearing may be provided on the inner side in the axial direction (left side in FIG. 18) to have shielded portions on both sides in the axial direction. In this case, the space between the eccentric member 21 and the planetary rotating body 22 is blocked by the shield portion located inside in the axial direction.
  • the shielded rolling bearing 56 is exemplified as a sealed rolling bearing that closes the space between the eccentric member 21 and the planetary rotating body 22, but as another sealed rolling bearing, the sealed rolling bearing 56 is illustrated. May be applied.
  • the sealed bearing allows the eccentric member and the output rotating body to be separated from each other. By closing the space, it is possible to prevent the lubricant from flowing out from the meshing portion of the speed reducer, and it becomes easier to hold the lubricant at the meshing portion of the speed reducer.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Retarders (AREA)

Abstract

Actionneur électrique (1) comprenant : un moteur électrique (4) qui peut fournir une force d'entraînement ; un corps rotatif d'entrée (2) qui peut tourner autour d'un axe de rotation X ; un corps rotatif planétaire (22) qui est capable d'une rotation propre et qui peut tourner autour d'un axe de rotation ; un corps rotatif de sortie (3) qui peut tourner autour de l'axe de rotation X ; et un réducteur de vitesse (5) qui modifie la différence de phase de rotation du corps rotatif de sortie (3) par rapport au corps rotatif d'entrée (2). Dans le réducteur de vitesse (5), le corps rotatif planétaire (22) s'engrène avec chacun du corps rotatif d'entrée (2) et du corps rotatif de sortie (3). Le réducteur de vitesse (5) a des dents externes (19, 20) disposées sur la périphérie externe du corps rotatif d'entrée (2) et du corps rotatif de sortie (3) ; et des dents internes (30, 31) disposées sur la périphérie interne du corps rotatif planétaire (22). Des rainures de direction circonférentielle (35, 36) sont fournies en tant que réservoir de lubrifiant à des parties d'engrènement (33, 34) entre les dents externes (19, 20) et les dents internes (30, 31).
PCT/JP2021/008831 2020-03-12 2021-03-05 Actionneur électrique WO2021182357A1 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP2020-042980 2020-03-12
JP2020-042983 2020-03-12
JP2020-042979 2020-03-12
JP2020042980A JP2021143720A (ja) 2020-03-12 2020-03-12 電動アクチュエータ
JP2020042983A JP2021143721A (ja) 2020-03-12 2020-03-12 電動アクチュエータ
JP2020042979A JP7463140B2 (ja) 2020-03-12 2020-03-12 電動アクチュエータ

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WO2021182357A1 true WO2021182357A1 (fr) 2021-09-16

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57134410U (fr) * 1981-02-18 1982-08-21
JPH04312213A (ja) * 1991-04-11 1992-11-04 Mitsubishi Heavy Ind Ltd スプライン
JP2012184818A (ja) * 2011-03-07 2012-09-27 Ntn Corp 電気自動車用駆動装置
JP2013210025A (ja) * 2012-03-30 2013-10-10 Nabtesco Corp 歯車伝動装置
JP2014185744A (ja) * 2013-03-25 2014-10-02 Jtekt Corp 歯車装置
WO2019077886A1 (fr) * 2017-10-16 2019-04-25 株式会社ミツバ Mécanisme de réduction de vitesse et moteur équipé d'un réducteur de vitesse

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57134410U (fr) * 1981-02-18 1982-08-21
JPH04312213A (ja) * 1991-04-11 1992-11-04 Mitsubishi Heavy Ind Ltd スプライン
JP2012184818A (ja) * 2011-03-07 2012-09-27 Ntn Corp 電気自動車用駆動装置
JP2013210025A (ja) * 2012-03-30 2013-10-10 Nabtesco Corp 歯車伝動装置
JP2014185744A (ja) * 2013-03-25 2014-10-02 Jtekt Corp 歯車装置
WO2019077886A1 (fr) * 2017-10-16 2019-04-25 株式会社ミツバ Mécanisme de réduction de vitesse et moteur équipé d'un réducteur de vitesse

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