WO2023026804A1 - Pole piece member and magnetic modulation gear - Google Patents

Pole piece member and magnetic modulation gear Download PDF

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Publication number
WO2023026804A1
WO2023026804A1 PCT/JP2022/029775 JP2022029775W WO2023026804A1 WO 2023026804 A1 WO2023026804 A1 WO 2023026804A1 JP 2022029775 W JP2022029775 W JP 2022029775W WO 2023026804 A1 WO2023026804 A1 WO 2023026804A1
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WIPO (PCT)
Prior art keywords
pole piece
magnetic
piece member
magnetic pole
inner peripheral
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PCT/JP2022/029775
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French (fr)
Japanese (ja)
Inventor
泰三 山本
貴浩 三成
博貴 中川
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住友重機械工業株式会社
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Publication of WO2023026804A1 publication Critical patent/WO2023026804A1/en

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K49/00—Dynamo-electric clutches; Dynamo-electric brakes

Definitions

  • the present invention relates to a magnetic pole piece member and a magnetic modulation gear including the same.
  • a magnetic modulation gear in which a magnetic pole piece member having a plurality of magnetic pole pieces is arranged between two magnetic rotors arranged on the inner and outer circumferences to modulate the magnetic flux distribution between the two magnetic rotors.
  • the magnetic pole piece member a plurality of magnetic pole pieces are arranged at regular intervals in the circumferential direction.
  • the magnetic pole piece members described in Patent Documents 1 and 2 employ a structure in which magnetic pole pieces (magnetic bodies) and non-magnetic bodies are alternately arranged in the circumferential direction and combined.
  • a structure causes an increase in the number of parts and complication of the manufacturing process. Therefore, in some cases, a structure is adopted in which a plurality of magnetic pole pieces and a connecting portion (bridge portion) therebetween are made of an integral magnetic material.
  • the present invention has been made in view of the above circumstances, and an object of the present invention is to obtain suitable torque performance.
  • the present invention is a pole piece member comprising: a plurality of circumferentially arranged pole pieces; a connecting portion that connects circumferentially adjacent magnetic pole pieces to each other in the circumferential direction; has It satisfies the following conditional expressions. 0 ⁇ hb/hp ⁇ 0.5 (1) however, hp: radial length of the pole piece hb: radial length from the inner peripheral position of the magnetic pole piece to the inner peripheral position of the connecting portion
  • the present invention also provides a magnetic modulation gear, a pole piece member as described above; an input shaft disposed on the inner diameter side of the magnetic pole piece member and having a plurality of inner pole magnets arranged in the circumferential direction; a plurality of outer pole magnets disposed on the outer diameter side of the magnetic pole piece member and arranged in a circumferential direction; Prepare.
  • FIG. 1 is a cross-sectional view of a magnetic modulation gear according to an embodiment
  • FIG. 3 is a cross-sectional view of a magnetic modulation unit assembly according to the embodiment
  • FIG. 1 is a perspective view of a pole piece member according to an embodiment
  • FIG. 4 is an enlarged view of the pole piece member for explaining the radial position of the bridge portion
  • FIG. 4 is a flow chart showing a schematic manufacturing process of a magnetic modulation unit assembly.
  • 1 is a cross-sectional view schematically showing a magnetic modulation section according to an embodiment
  • FIG. It is a figure which shows the result of an analysis example. It is a figure which shows the result of an analysis example.
  • FIG. 1 is a cross-sectional view of a magnetic modulation gear 1 according to this embodiment.
  • the direction along the central axis Ax of the magnetic modulation gear 1 will be referred to as the "axial direction,” the direction perpendicular to the central axis Ax as the “radial direction,” and the direction of rotation about the central axis Ax as the “circumferential direction.””Direction”.
  • the side (left side in the figure) connected to the external driven member is called the “output side”
  • the opposite side right side in the figure
  • the magnetic modulation gear 1 includes a casing (frame) 10, an input side cover 20 and an output side cover 30 covering both sides of the casing 10 in the axial direction, and a An input shaft 40 in which a part is housed and a magnetic modulation part assembly 50 are provided.
  • the casing 10 is formed in a substantially cylindrical shape centered on the central axis Ax, and has a stator yoke 11 and outer pole magnets 12 on its inner periphery.
  • the stator yoke 11 is formed in a cylindrical shape and fitted inside the casing 10 .
  • the outer pole magnets 12 have a larger number of poles than the inner pole magnets 41a of the input shaft 40, which will be described later. affixed to.
  • the outer pole magnet 12 may be in the form of an integral ring, or may be formed by arranging divided parts in the circumferential direction.
  • a bearing 61 (for example, a ball bearing) that rotatably supports the magnetic modulator assembly 50 is arranged on the input side of the stator yoke 11 in the inner peripheral portion of the casing 10 .
  • the input side cover 20 is arranged on the input side of the casing 10 and covers the inner opening of the casing 10 from the input side.
  • An outer peripheral portion of the input side cover 20 is fitted to the casing 10 with a spigot.
  • a bearing 62 (for example, a ball bearing) that rotatably supports the input shaft 40 is arranged on the inner peripheral portion of the input side cover 20 .
  • the output side cover 30 is arranged on the output side of the casing 10 and covers the inner opening of the casing 10 from the output side.
  • the outer peripheral portion of the output side cover 30 is fitted to the casing 10 with a spigot.
  • a bearing 63 (for example, a ball bearing) that rotatably supports the magnetic modulation unit assembly 50 is arranged on the inner peripheral portion of the output side cover 30 .
  • the input shaft 40 is a shaft that rotates around the central axis Ax, and includes a disk portion 41 and a motor connection portion 42 .
  • the input shaft 40 is rotatably supported by a bearing 62 arranged between the input side cover 20 and a bearing 64 arranged between the magnetic modulator assembly 50 .
  • the disk portion 41 has an inner pole magnet 41 a arranged on the inner diameter side of the outer pole magnet 12 on the outer peripheral portion.
  • the inner pole magnets 41a are permanent magnets such as neodymium magnets, and are attached to the outer peripheral surface of the disk portion 41 so that a plurality of magnets with different polarities are alternately arranged in the circumferential direction.
  • the inner pole magnet 41a may be in the form of an integral ring, or may be formed by arranging divided parts in the circumferential direction.
  • the motor connecting portion 42 extends from the disk portion 41 toward the input side in the axial direction.
  • the tip side of the motor connecting portion 42 protrudes from the input side cover 20 to the outside, and this protruding portion is connected to a motor (not shown).
  • FIG. 2 is a cross-sectional view of the magnetic modulation unit assembly 50. As shown in FIG. As shown in FIGS. 1 and 2, the magnetic modulator assembly 50 has an output shaft portion 51 and a cylindrical portion 52 .
  • the output shaft portion 51 is a metal shaft that rotates around the central axis Ax. Approximately half of the output shaft portion 51 protrudes outside from the output side cover 30, and this protruding portion is connected to a driven member (not shown). A substantially central portion of the output shaft portion 51 in the axial direction is rotatably supported by a bearing 63 disposed between the output side cover 30 and the output shaft portion 51 . A bearing 64 (for example, a ball bearing) that rotatably supports the input shaft 40 is arranged at the input-side end of the output shaft portion 51 . The output-side end of the cylindrical portion 52 is connected to the outer peripheral portion of the output shaft portion 51 between the bearings 63 and 64 in the axial direction.
  • the cylindrical portion 52 is formed in a substantially cylindrical shape centered on the central axis Ax, and has a magnetic pole piece member 54 arranged at an axial position corresponding to the outer pole magnet 12 and the inner pole magnet 41a.
  • FIG. 3 is a perspective view of the pole piece member 54.
  • the magnetic pole piece member 54 has a plurality of magnetic pole pieces 54a arranged at predetermined intervals in the circumferential direction and a plurality of bridge portions 54b connecting adjacent magnetic pole pieces 54a in the circumferential direction. It is formed in an annular shape.
  • the magnetic pole piece member 54 is composed of an electromagnetic steel sheet (laminated steel sheet) in which a magnetic pole piece 54a and a bridge portion 54b are integrally laminated in the axial direction.
  • the magnetic pole piece 54a is concentrically arranged on the inner diameter side of the outer pole magnet 12 and on the outer diameter side of the inner pole magnet 41a with a predetermined gap therebetween.
  • the number of magnetic pole pieces 54a is (the number of outer pole pairs ⁇ the number of inner pole pairs), and is generally (the number of outer pole pairs ⁇ the number of inner pole pairs).
  • the number of outer pole pairs is the number of pole pairs of the outer pole magnet 12
  • the number of inner pole pairs is the number of pole pairs of the inner pole magnet 41a.
  • FIG. 4 is an enlarged view of the pole piece member 54 for explaining the radial position of the bridge portion 54b.
  • FIG. 4 illustrates a case where the radial position of the bridge portion 54b is different from that of the present embodiment.
  • the bridge portion 54b has a predetermined radial width t and connects the magnetic pole pieces 54a adjacent in the circumferential direction.
  • the radial position of the bridge portion 54b is set so as to satisfy the following conditional expression (1).
  • hp is the radial length of the magnetic pole piece 54a
  • hb is the radial length from the inner peripheral position (inner peripheral surface position) of the magnetic pole piece 54a to the inner peripheral position of the bridge portion 54b.
  • Conditional expression (1) means that the radial position of the bridge portion 54b corresponds to the radially inner half portion of the pole piece 54a.
  • the concave portion of the pole piece member 54 corresponding to the bridge portion 54b is filled with resin, and a load in the circumferential direction due to shrinkage of the resin acts on the bridge portion 54b during resin molding.
  • This load is compressive when the bridge portion 54b is positioned on the inner diameter side, but is tensile when positioned on the outer diameter side. Therefore, it is preferable for the bridge portion 54b to be positioned on the inner diameter side in terms of strength design during resin molding.
  • a jig for machining, resin molding, etc.
  • a bearing support ring 55 made of metal (for example, stainless steel) is arranged at the input-side end of the cylindrical portion 52 .
  • the bearing support ring 55 is fixed to the outer peripheral portion of the cylindrical portion 52, and the inner ring of the bearing 61 arranged between the casing 10 and the bearing support ring 55 is fitted to the outer peripheral surface (see FIG. 1).
  • a portion of the cylindrical portion 52 excluding the pole piece member 54 and the bearing support ring 55 is a resin portion 56 made of resin (for example, super engineering plastic).
  • the concave portion corresponding to the bridge portion 54b is also filled with resin, and the resin and the magnetic pole piece 54a are flush with each other.
  • the output-side end of the resin portion 56 projects radially inward and is connected to the output shaft portion 51 .
  • a plurality of protrusions 57 protruding toward the inner diameter side are arranged in the circumferential direction on the inner peripheral portion of this end portion.
  • the plurality of projections 57 are formed corresponding to the plurality of recesses 51a on the outer peripheral surface of the output shaft portion 51.
  • FIG. 5 is a flow chart showing a schematic manufacturing process of the magnetic modulation unit assembly 50.
  • the output shaft portion 51 and the bearing support ring 55 are processed (step S1).
  • both the output shaft portion 51 and the bearing support ring 55 are machined or the like (including required treatments such as heat treatment and surface treatment in addition to machining) to a predetermined finished shape.
  • the magnetic pole piece member 54 is processed (step S2).
  • one (or a plurality of) electromagnetic steel sheets are punched out into the shape of the magnetic pole piece member 54 having the magnetic pole piece 54a and the bridge portion 54b in plan view, and then laminated for a predetermined axial length.
  • the pole piece member 54 is produced.
  • the pole piece member 54 may be manufactured by wire cutting or other methods instead of punching.
  • step S3 the molding die is filled with resin, and molding (resin casting, injection molding, etc.) of the resin portion 56 is performed (step S4).
  • the resin portion 56 is thus molded, and the output shaft portion 51, the bearing support ring 55 and the pole piece member 54 are fixed to each other by the resin portion 56. As shown in FIG.
  • the inner peripheral surface and the outer peripheral surface of the magnetic pole piece member 54 are finished (step S5).
  • the inner peripheral surface and the outer peripheral surface of the pole piece member 54 are machined to a predetermined shape accuracy or the like by machining with a lathe or grinder.
  • the centering accuracy of these inner and outer peripheral surfaces is improved, and loss and torque ripple during operation are improved.
  • at least one of the inner peripheral surface and the outer peripheral surface of the magnetic pole piece member 54 may be processed.
  • other parts may be processed.
  • the processing here is not limited to mechanical processing using a lathe or a polishing machine, and includes manual polishing and the like, for example.
  • FIG. 6 is a cross-sectional view schematically showing a magnetic modulation section composed of the inner pole magnet 41a, the outer pole magnet 12, and the magnetic pole pieces 54a.
  • FIGS. 1 and 6 in the magnetic modulation gear 1, when the input shaft 40 is rotated around the central axis Ax by a motor (not shown), the spatial magnetic flux waveform of the inner pole magnet 41a of the input shaft 40 changes to the magnetic modulation portion assembly.
  • the magnetic pole piece 54a of 50 modulates the same frequency as that of the outer pole magnet 12, and the magnetic force between the magnetic pole piece 54a and the outer pole magnet 12 is used to transmit rotational torque to the magnetic modulation unit assembly 50.
  • FIG. 1 is a cross-sectional view schematically showing a magnetic modulation section composed of the inner pole magnet 41a, the outer pole magnet 12, and the magnetic pole pieces 54a.
  • the speed reduction ratio is the number of magnetic pole pieces/the number of inner pole pairs.
  • FIG. 7A shows the radial position of the bridge portion 54b on the horizontal axis
  • hb/hp see FIG. 4
  • the torque and torque ripple on the vertical axis are the diameter of the bridge portion 54b. It is indicated by a ratio (p.u.: per unit) based on the value when the direction position is 0.5.
  • 7A shows the results when the radial width t of the bridge portion 54b is one times the thickness of the laminated steel plate
  • FIG. 7B shows the result when the radial width t of the bridge portion 54b is twice the thickness of the laminated steel plate.
  • FIGS. 7A and 7B reveal the following. - As the bridge portion 54b is moved toward the inner diameter side, the output torque increases and the torque ripple decreases. ⁇ Whether the radial width t of the bridge portion 54b is 1 or 2 times the thickness of the laminated steel plate, the output is higher when the radial position of the bridge portion 54b is within the range of 0 ⁇ hb/hp ⁇ 0.5. Increase torque and reduce torque ripple. ⁇ The torque ripple changes greatly as the radial position of the bridge portion 54b approaches the end of the pole piece 54a. Torque ripple can be further reduced.
  • the magnetic pole pieces 54a adjacent in the circumferential direction are connected to each other in the circumferential direction by the bridge portion 54b. is the range of conditional expression (1). 0 ⁇ hb/hp ⁇ 0.5 (1) As a result, the plurality of magnetic pole pieces 54a can be firmly held by the bridge portion 54b therebetween, and the output torque can be increased and the torque ripple can be reduced. Therefore, suitable torque performance can be obtained.
  • "hb/hp" representing the radial position of the bridge portion 54b preferably falls within the range of conditional expression (2) below. 0 ⁇ hb/hp ⁇ 0.2 (2) As a result, the torque ripple can be further reduced, and more suitable torque performance can be obtained.
  • the present invention is not limited to the above embodiments.
  • the outer pole magnet 12 is used as the stator, and the output is taken out from the magnetic modulation unit assembly 50 having the magnetic pole piece 54a.
  • the pole pieces 54a may be fixed, the outer pole magnets 12 may be provided on a rotatable low speed rotor, and the output may be taken from the low speed rotor.
  • the specifications of the magnetic modulation section are not limited to those of the above embodiment.
  • the present invention can be suitably applied to various machines for general industrial use because of its features such as high efficiency, low maintenance, quietness (low noise), and cleanness (oil-free).
  • it is highly useful for application to the following uses.
  • ⁇ Robot joint gears Due to the torque limit function and low rigidity of the magnetic modulation gear, it has high safety and compliance functions.
  • ⁇ Power generation speed increasing gear Equipped with a torque limit function, it does not apply an excessive load even during high loads such as strong winds in wind power generation. Highly useful for low maintenance.
  • ⁇ Vacuum equipment semiconductor manufacturing equipment: By using magnet coupling, the speed reduction function and the coupling function can be demonstrated independently, and the speed reduction gear can be eliminated (or the input motor can be made smaller).
  • the present invention is useful for obtaining suitable torque performance.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Dynamo-Electric Clutches, Dynamo-Electric Brakes (AREA)

Abstract

A pole piece member 54 that has a plurality of pole pieces 54 that are arranged in the circumferential direction and a bridge part 54b that connects adjacent pole pieces 54a in the circumferential direction.　When hp is the length of the pole pieces 54a in the radial direction and hb is the distance in the radial direction from the inner circumferential position of the pole pieces 54a to the inner circumferential position of the bridge part 54b, (1) 0≤hb/hp≤0.5.

Description

磁極片部材及び磁気変調ギヤMagnetic pole piece member and magnetic modulation gear
　本発明は、磁極片部材及びこれを備える磁気変調ギヤに関する。 The present invention relates to a magnetic pole piece member and a magnetic modulation gear including the same.
　従来、内外周に配置された２つの磁石ロータの間に、複数の磁極片を有する磁極片部材を配置し、２つの磁石ロータ間での磁束分布を変調させる磁気変調ギヤが知られている。 Conventionally, a magnetic modulation gear is known in which a magnetic pole piece member having a plurality of magnetic pole pieces is arranged between two magnetic rotors arranged on the inner and outer circumferences to modulate the magnetic flux distribution between the two magnetic rotors.
　磁極片部材では、複数の磁極片が周方向に等間隔で配列される。例えば特許文献１、２に記載の磁極片部材では、磁極片（磁性体）と非磁性体とを周方向に交互に並べて組み合わせた構造が採用されている。
　しかし、このような構造は、部品点数の増大や製造工程の煩雑化等を招来してしまう。そのため、複数の磁極片とその間の連結部（ブリッジ部）とを一体の磁性材で構成した構造が採られる場合がある。 In the magnetic pole piece member, a plurality of magnetic pole pieces are arranged at regular intervals in the circumferential direction. For example, the magnetic pole piece members described in Patent Documents 1 and 2 employ a structure in which magnetic pole pieces (magnetic bodies) and non-magnetic bodies are alternately arranged in the circumferential direction and combined.
However, such a structure causes an increase in the number of parts and complication of the manufacturing process. Therefore, in some cases, a structure is adopted in which a plurality of magnetic pole pieces and a connecting portion (bridge portion) therebetween are made of an integral magnetic material.
特許第５３５０４３８号公報Japanese Patent No. 5350438 特許第５４０８３５５号公報Japanese Patent No. 5408355
　しかしながら、複数の磁極片をその間の連結部で単純に連結した場合、連結部を通じた漏れ磁束により、好適なトルク性能を得られないおそれがある。 However, when a plurality of magnetic pole pieces are simply connected by a connecting portion between them, there is a risk that a suitable torque performance cannot be obtained due to leakage flux through the connecting portion.
　本発明は、上記事情に鑑みてなされたもので、好適なトルク性能を得ることを目的とする。 The present invention has been made in view of the above circumstances, and an object of the present invention is to obtain suitable torque performance.
　本発明は、磁極片部材であって、
　周方向に配列された複数の磁極片と、
　周方向に隣り合う磁極片同士を周方向に連結する連結部と、
　を有し、
　以下の条件式を満足する。
　　　０≦ｈｂ／ｈｐ≦０．５　　　　　・・・（１）
　ただし、
　ｈｐ：磁極片の径方向長さ
　ｈｂ：磁極片の内周位置から連結部の内周位置までの径方向長さ The present invention is a pole piece member comprising:
a plurality of circumferentially arranged pole pieces;
a connecting portion that connects circumferentially adjacent magnetic pole pieces to each other in the circumferential direction;
has
It satisfies the following conditional expressions.
0≦hb/hp≦0.5 (1)
however,
hp: radial length of the pole piece hb: radial length from the inner peripheral position of the magnetic pole piece to the inner peripheral position of the connecting portion
　また本発明は、磁気変調ギヤであって、
　上記の磁極片部材と、
　前記磁極片部材の内径側に配置され、周方向に配列された複数の内極磁石を有する入力軸と、
　前記磁極片部材の外径側に配置され、周方向に配列された複数の外極磁石と、
　を備える。 The present invention also provides a magnetic modulation gear,
a pole piece member as described above;
an input shaft disposed on the inner diameter side of the magnetic pole piece member and having a plurality of inner pole magnets arranged in the circumferential direction;
a plurality of outer pole magnets disposed on the outer diameter side of the magnetic pole piece member and arranged in a circumferential direction;
Prepare.
　本発明によれば、好適なトルク性能を得ることができる。 According to the present invention, suitable torque performance can be obtained.
実施形態に係る磁気変調ギヤの断面図である。1 is a cross-sectional view of a magnetic modulation gear according to an embodiment; FIG. 実施形態に係る磁気変調部アッシーの断面図である。3 is a cross-sectional view of a magnetic modulation unit assembly according to the embodiment; FIG. 実施形態に係る磁極片部材の斜視図である。1 is a perspective view of a pole piece member according to an embodiment; FIG. ブリッジ部の径方向位置を説明するための磁極片部材の拡大図である。4 is an enlarged view of the pole piece member for explaining the radial position of the bridge portion; FIG. 磁気変調部アッシーの概略の作製工程を示すフローチャートである。4 is a flow chart showing a schematic manufacturing process of a magnetic modulation unit assembly. 実施形態に係る磁気変調部を模式的に示した断面図である。1 is a cross-sectional view schematically showing a magnetic modulation section according to an embodiment; FIG. 解析例の結果を示す図である。It is a figure which shows the result of an analysis example. 解析例の結果を示す図である。It is a figure which shows the result of an analysis example.
　以下、本発明の実施形態について、図面を参照して詳細に説明する。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
［磁気変調ギヤの構成］
　図１は、本実施形態に係る磁気変調ギヤ１の断面図である。
　なお、以下の説明では、磁気変調ギヤ１の中心軸Ａｘに沿った方向を「軸方向」、中心軸Ａｘに垂直な方向を「径方向」、中心軸Ａｘを中心とする回転方向を「周方向」という。また、軸方向のうち、外部の被駆動部材と連結される側（図中の左側）を「出力側」といい、その反対側（図中の右側）を「入力側」という。 [Configuration of magnetic modulation gear]
FIG. 1 is a cross-sectional view of a magnetic modulation gear 1 according to this embodiment.
In the following description, the direction along the central axis Ax of the magnetic modulation gear 1 will be referred to as the "axial direction," the direction perpendicular to the central axis Ax as the "radial direction," and the direction of rotation about the central axis Ax as the "circumferential direction.""Direction". Further, in the axial direction, the side (left side in the figure) connected to the external driven member is called the "output side", and the opposite side (right side in the figure) is called the "input side".
　図１に示すように、本実施形態に係る磁気変調ギヤ１は、ケーシング（フレーム）１０と、ケーシング１０の軸方向の両側を覆う入力側カバー２０及び出力側カバー３０と、これらの内部に主部が収容された入力軸４０及び磁気変調部アッシー５０とを備える。 As shown in FIG. 1, the magnetic modulation gear 1 according to the present embodiment includes a casing (frame) 10, an input side cover 20 and an output side cover 30 covering both sides of the casing 10 in the axial direction, and a An input shaft 40 in which a part is housed and a magnetic modulation part assembly 50 are provided.
　ケーシング１０は、中心軸Ａｘを中心とするほぼ円筒状に形成され、内周部にステータヨーク１１と外極磁石１２を有する。
　ステータヨーク１１は円筒状に形成され、ケーシング１０に内嵌されている。
　外極磁石１２は、後述する入力軸４０の内極磁石４１ａよりも多い極数を有し、極性の異なる複数のものが周方向に交互に配置されるように、ステータヨーク１１の内周面に貼り付けられている。ただし、外極磁石１２は、一体のリング状であってもよいし、分割されたものを周方向に並べたものなどであってもよい。
　また、ケーシング１０の内周部のうち、ステータヨーク１１よりも入力側には、磁気変調部アッシー５０を回転自在に支持する軸受６１（例えば玉軸受）が配置されている。 The casing 10 is formed in a substantially cylindrical shape centered on the central axis Ax, and has a stator yoke 11 and outer pole magnets 12 on its inner periphery.
The stator yoke 11 is formed in a cylindrical shape and fitted inside the casing 10 .
The outer pole magnets 12 have a larger number of poles than the inner pole magnets 41a of the input shaft 40, which will be described later. affixed to. However, the outer pole magnet 12 may be in the form of an integral ring, or may be formed by arranging divided parts in the circumferential direction.
A bearing 61 (for example, a ball bearing) that rotatably supports the magnetic modulator assembly 50 is arranged on the input side of the stator yoke 11 in the inner peripheral portion of the casing 10 .
　入力側カバー２０は、ケーシング１０の入力側に配置され、ケーシング１０の内側開口を入力側から覆う。入力側カバー２０の外周部は、ケーシング１０とインローで嵌合している。また、入力側カバー２０の内周部には、入力軸４０を回転自在に支持する軸受６２（例えば玉軸受）が配置されている。 The input side cover 20 is arranged on the input side of the casing 10 and covers the inner opening of the casing 10 from the input side. An outer peripheral portion of the input side cover 20 is fitted to the casing 10 with a spigot. A bearing 62 (for example, a ball bearing) that rotatably supports the input shaft 40 is arranged on the inner peripheral portion of the input side cover 20 .
　出力側カバー３０は、ケーシング１０の出力側に配置され、ケーシング１０の内側開口を出力側から覆う。出力側カバー３０の外周部は、ケーシング１０とインローで嵌合している。また、出力側カバー３０の内周部には、磁気変調部アッシー５０を回転自在に支持する軸受６３（例えば玉軸受）が配置されている。 The output side cover 30 is arranged on the output side of the casing 10 and covers the inner opening of the casing 10 from the output side. The outer peripheral portion of the output side cover 30 is fitted to the casing 10 with a spigot. A bearing 63 (for example, a ball bearing) that rotatably supports the magnetic modulation unit assembly 50 is arranged on the inner peripheral portion of the output side cover 30 .
　入力軸４０は、中心軸Ａｘ回りに回転する軸であり、円板部４１と、モータ連結部４２とを備える。この入力軸４０は、入力側カバー２０との間に配置された軸受６２と、磁気変調部アッシー５０との間に配置された軸受６４とにより、回転自在に支持されている。
　円板部４１は、外極磁石１２の内径側に配置された内極磁石４１ａを外周部に有する。この内極磁石４１ａは、例えばネオジム磁石などの永久磁石であり、極性の異なる複数のものが周方向に交互に配置されるように、円板部４１の外周面に貼り付けられている。ただし、内極磁石４１ａは、一体のリング状であってもよいし、分割されたものを周方向に並べたものなどであってもよい。
　モータ連結部４２は、円板部４１から軸方向の入力側に延出している。モータ連結部４２の先端側は、入力側カバー２０から外部に突出しており、この突出部がモータ（図示省略）に連結される。 The input shaft 40 is a shaft that rotates around the central axis Ax, and includes a disk portion 41 and a motor connection portion 42 . The input shaft 40 is rotatably supported by a bearing 62 arranged between the input side cover 20 and a bearing 64 arranged between the magnetic modulator assembly 50 .
The disk portion 41 has an inner pole magnet 41 a arranged on the inner diameter side of the outer pole magnet 12 on the outer peripheral portion. The inner pole magnets 41a are permanent magnets such as neodymium magnets, and are attached to the outer peripheral surface of the disk portion 41 so that a plurality of magnets with different polarities are alternately arranged in the circumferential direction. However, the inner pole magnet 41a may be in the form of an integral ring, or may be formed by arranging divided parts in the circumferential direction.
The motor connecting portion 42 extends from the disk portion 41 toward the input side in the axial direction. The tip side of the motor connecting portion 42 protrudes from the input side cover 20 to the outside, and this protruding portion is connected to a motor (not shown).
　図２は、磁気変調部アッシー５０の断面図である。
　図１及び図２に示すように、磁気変調部アッシー５０は、出力軸部５１と、円筒部５２とを有する。 FIG. 2 is a cross-sectional view of the magnetic modulation unit assembly 50. As shown in FIG.
As shown in FIGS. 1 and 2, the magnetic modulator assembly 50 has an output shaft portion 51 and a cylindrical portion 52 .
　出力軸部５１は、中心軸Ａｘ回りに回転する金属製の軸である。出力軸部５１は、出力側のほぼ半部が出力側カバー３０から外部に突出しており、この突出部が被駆動部材（図示省略）に連結される。
　出力軸部５１のうち軸方向のほぼ中央部は、出力側カバー３０との間に配置された軸受６３により回転自在に支持されている。また、出力軸部５１のうち入力側の端部には、入力軸４０を回転自在に支持する軸受６４（例えば玉軸受）が配置されている。出力軸部５１のうち、軸受６３と軸受６４の間の軸方向位置の外周部には、円筒部５２の出力側の端部が連結されている。 The output shaft portion 51 is a metal shaft that rotates around the central axis Ax. Approximately half of the output shaft portion 51 protrudes outside from the output side cover 30, and this protruding portion is connected to a driven member (not shown).
A substantially central portion of the output shaft portion 51 in the axial direction is rotatably supported by a bearing 63 disposed between the output side cover 30 and the output shaft portion 51 . A bearing 64 (for example, a ball bearing) that rotatably supports the input shaft 40 is arranged at the input-side end of the output shaft portion 51 . The output-side end of the cylindrical portion 52 is connected to the outer peripheral portion of the output shaft portion 51 between the bearings 63 and 64 in the axial direction.
　円筒部５２は、中心軸Ａｘを中心とするほぼ円筒形状に形成され、外極磁石１２及び内極磁石４１ａと対応した軸方向位置に配置された磁極片部材５４を有する。 The cylindrical portion 52 is formed in a substantially cylindrical shape centered on the central axis Ax, and has a magnetic pole piece member 54 arranged at an axial position corresponding to the outer pole magnet 12 and the inner pole magnet 41a.
　図３は、磁極片部材５４の斜視図である。
　この図に示すように、磁極片部材５４は、周方向に所定間隔で配置された複数の磁極片５４ａと、隣り合う磁極片５４ａ同士を周方向に連結する複数のブリッジ部５４ｂとを有するほぼ円環状に形成されている。磁極片部材５４は、磁極片５４ａとブリッジ部５４ｂとを一体的に軸方向に積層した電磁鋼板（積層鋼板）で構成されている。
　磁極片５４ａは、外極磁石１２の内径側であって内極磁石４１ａの外径側に、これらとの間にそれぞれ所定の隙間を介して同心状に配置されている。磁極片５４ａの数は、（外極極対数±内極極対数）であり、一般的には（外極極対数－内極極対数）とすることが多い。外極極対数とは外極磁石１２の極対数であり、内極極対数とは内極磁石４１ａの極対数である。磁極片部を固定子、外極磁石部を出力軸とする場合、減速比は－（外極極対数／内極極対数）となる（入力軸と出力軸は逆方向に回転）。磁極片部を出力軸、外極磁石部を固定子とする場合、減速比は（磁極片数／内極極対数）となる（入力軸と出力軸は同方向に回転）。 3 is a perspective view of the pole piece member 54. FIG.
As shown in this figure, the magnetic pole piece member 54 has a plurality of magnetic pole pieces 54a arranged at predetermined intervals in the circumferential direction and a plurality of bridge portions 54b connecting adjacent magnetic pole pieces 54a in the circumferential direction. It is formed in an annular shape. The magnetic pole piece member 54 is composed of an electromagnetic steel sheet (laminated steel sheet) in which a magnetic pole piece 54a and a bridge portion 54b are integrally laminated in the axial direction.
The magnetic pole piece 54a is concentrically arranged on the inner diameter side of the outer pole magnet 12 and on the outer diameter side of the inner pole magnet 41a with a predetermined gap therebetween. The number of magnetic pole pieces 54a is (the number of outer pole pairs±the number of inner pole pairs), and is generally (the number of outer pole pairs−the number of inner pole pairs). The number of outer pole pairs is the number of pole pairs of the outer pole magnet 12, and the number of inner pole pairs is the number of pole pairs of the inner pole magnet 41a. When the magnetic pole piece is the stator and the outer pole magnet is the output shaft, the reduction ratio is - (the number of outer pole pairs/the number of inner pole pairs) (the input shaft and the output shaft rotate in opposite directions). When the magnetic pole pieces are the output shaft and the outer pole magnets are the stator, the reduction ratio is (the number of magnetic pole pieces/the number of inner pole pairs) (the input shaft and the output shaft rotate in the same direction).
　図４は、ブリッジ部５４ｂの径方向位置を説明するための磁極片部材５４の拡大図である。ただし、図４では、ブリッジ部５４ｂの径方向位置が本実施形態のものと異なる場合を例示している。
　この図に示すように、ブリッジ部５４ｂは、所定の径方向幅ｔを有し、周方向に隣り合う磁極片５４ａ同士を連結する。
　ブリッジ部５４ｂの径方向の位置は、以下の条件式（１）を満足するように設定される。
　　　０≦ｈｂ／ｈｐ≦０．５　　　　　・・・（１）
　ここで、ｈｐは磁極片５４ａの径方向長さであり、ｈｂは磁極片５４ａの内周位置（内周面の位置）からブリッジ部５４ｂの内周位置までの径方向長さである。
　条件式（１）は、ブリッジ部５４ｂの径方向位置を磁極片５４ａの内径側半部に対応させることを意味する。このように、磁極片５４ａのうちの内径側にブリッジ部５４ｂを配置することにより、より出力トルクを大きく、トルクリップルを小さくできる。
　また、ブリッジ部５４ｂに相当する磁極片部材５４の凹部には樹脂が充填されるが、その樹脂成形時において、ブリッジ部５４ｂには樹脂の収縮による周方向の荷重が作用する。この荷重は、ブリッジ部５４ｂが内径側に位置する場合には圧縮だが、外径側に位置する場合には引張りとなってしまう。そのため、ブリッジ部５４ｂが内径側に位置する方が、樹脂成形時における強度設計的にも好ましい。 FIG. 4 is an enlarged view of the pole piece member 54 for explaining the radial position of the bridge portion 54b. However, FIG. 4 illustrates a case where the radial position of the bridge portion 54b is different from that of the present embodiment.
As shown in this figure, the bridge portion 54b has a predetermined radial width t and connects the magnetic pole pieces 54a adjacent in the circumferential direction.
The radial position of the bridge portion 54b is set so as to satisfy the following conditional expression (1).
0≦hb/hp≦0.5 (1)
Here, hp is the radial length of the magnetic pole piece 54a, and hb is the radial length from the inner peripheral position (inner peripheral surface position) of the magnetic pole piece 54a to the inner peripheral position of the bridge portion 54b.
Conditional expression (1) means that the radial position of the bridge portion 54b corresponds to the radially inner half portion of the pole piece 54a. Thus, by arranging the bridge portion 54b on the inner diameter side of the magnetic pole piece 54a, the output torque can be increased and the torque ripple can be reduced.
Also, the concave portion of the pole piece member 54 corresponding to the bridge portion 54b is filled with resin, and a load in the circumferential direction due to shrinkage of the resin acts on the bridge portion 54b during resin molding. This load is compressive when the bridge portion 54b is positioned on the inner diameter side, but is tensile when positioned on the outer diameter side. Therefore, it is preferable for the bridge portion 54b to be positioned on the inner diameter side in terms of strength design during resin molding.
　なお、本実施形態の磁極片部材５４では、ブリッジ部５４ｂが磁極片部材５４の最内径に位置している（すなわち、ｈｂ／ｈｐ＝０）。つまり、磁極片５４ａの内周面とブリッジ部５４ｂの内周面とが実質的に面一であり、磁極片部材５４の内周面が円筒面となっている。
　このように、磁極片部材５４の内周面を凹凸のほぼ無い円筒面とすると、以下の理由等により、特に加工・製造上の面で好ましい。まず、内周面にジグ（機械加工用や樹脂モールド用など）を嵌めやすくなる。また、内周面で芯出し（基準出し）しやすくなるため、各部の形状精度（同軸度、円筒度、直交度など）を高精度に仕上げやすい。また、内周面に樹脂モールドが不要となるため、樹脂成形時における内周部からの樹脂漏れ対策が不要となる。 In addition, in the pole piece member 54 of the present embodiment, the bridge portion 54b is located at the innermost diameter of the pole piece member 54 (that is, hb/hp=0). That is, the inner peripheral surface of the pole piece 54a and the inner peripheral surface of the bridge portion 54b are substantially flush with each other, and the inner peripheral surface of the magnetic pole piece member 54 is a cylindrical surface.
In this way, forming the inner peripheral surface of the pole piece member 54 into a substantially flat cylindrical surface is particularly preferable in terms of processing and manufacturing for the following reasons. First, it becomes easier to fit a jig (for machining, resin molding, etc.) on the inner peripheral surface. In addition, since it is easy to center (reference) the inner peripheral surface, it is easy to finish the shape accuracy (coaxiality, cylindricity, orthogonality, etc.) of each part with high accuracy. In addition, since resin molding is not required on the inner peripheral surface, countermeasures against resin leakage from the inner peripheral portion during resin molding are not required.
　図２に示すように、円筒部５２のうち入力側の端部には、金属（例えばステンレス）製の軸受支持リング５５が配置されている。軸受支持リング５５は、円筒部５２の外周部に固定され、ケーシング１０との間に配置された軸受６１の内輪が外周面に嵌合される（図１参照）。
　円筒部５２のうち、磁極片部材５４と軸受支持リング５５を除く部分は、樹脂（例えばスーパーエンジニアリングプラスチック）で構成された樹脂部５６となっている。磁極片部材５４の周面のうち、ブリッジ部５４ｂに対応する凹部にも樹脂が充填され、この樹脂と磁極片５４ａとが面一となっている。
　樹脂部５６のうち出力側の端部は、内径側に張り出し出力軸部５１に連結されている。この端部の内周部には、内径側に向かって突出した複数の凸部５７が周方向に配列されている。この複数の凸部５７は出力軸部５１の外周面の複数の凹部５１ａに対応して成形されており、これら凸部５７と凹部５１ａの係合により、出力軸部５１と円筒部５２とが強固に固定されている。 As shown in FIG. 2, a bearing support ring 55 made of metal (for example, stainless steel) is arranged at the input-side end of the cylindrical portion 52 . The bearing support ring 55 is fixed to the outer peripheral portion of the cylindrical portion 52, and the inner ring of the bearing 61 arranged between the casing 10 and the bearing support ring 55 is fitted to the outer peripheral surface (see FIG. 1).
A portion of the cylindrical portion 52 excluding the pole piece member 54 and the bearing support ring 55 is a resin portion 56 made of resin (for example, super engineering plastic). Of the peripheral surface of the magnetic pole piece member 54, the concave portion corresponding to the bridge portion 54b is also filled with resin, and the resin and the magnetic pole piece 54a are flush with each other.
The output-side end of the resin portion 56 projects radially inward and is connected to the output shaft portion 51 . A plurality of protrusions 57 protruding toward the inner diameter side are arranged in the circumferential direction on the inner peripheral portion of this end portion. The plurality of projections 57 are formed corresponding to the plurality of recesses 51a on the outer peripheral surface of the output shaft portion 51. By engaging the projections 57 and the recesses 51a, the output shaft portion 51 and the cylindrical portion 52 are brought into contact with each other. firmly fixed.
［磁気変調部アッシーの作製工程］
　図５は、磁気変調部アッシー５０の概略の作製工程を示すフローチャートである。
　この図に示すように、磁気変調部アッシー５０の作製工程では、まず出力軸部５１と軸受支持リング５５の加工が行われる（ステップＳ１）。ここでは、出力軸部５１と軸受支持リング５５のいずれもが、所定の完成形状まで機械加工等（機械加工のほか、熱処理や表面処理などの所要の処理を含む）される。 [Manufacturing Process of Magnetic Modulator Assy]
FIG. 5 is a flow chart showing a schematic manufacturing process of the magnetic modulation unit assembly 50. As shown in FIG.
As shown in this figure, in the manufacturing process of the magnetic modulation portion assembly 50, first, the output shaft portion 51 and the bearing support ring 55 are processed (step S1). Here, both the output shaft portion 51 and the bearing support ring 55 are machined or the like (including required treatments such as heat treatment and surface treatment in addition to machining) to a predetermined finished shape.
　次に、磁極片部材５４の加工が行われる（ステップＳ２）。ここでは、１枚（又は複数枚）の電磁鋼板を、磁極片５４ａ及びブリッジ部５４ｂを有する磁極片部材５４の平面視形状に打ち抜いた後、これを所定の軸方向長さ分だけ積層することにより、磁極片部材５４が作製される。なお、打抜きでなくワイヤカットその他の方法により磁極片部材５４を作製してもよい。 Next, the magnetic pole piece member 54 is processed (step S2). Here, one (or a plurality of) electromagnetic steel sheets are punched out into the shape of the magnetic pole piece member 54 having the magnetic pole piece 54a and the bridge portion 54b in plan view, and then laminated for a predetermined axial length. Thus, the pole piece member 54 is produced. The pole piece member 54 may be manufactured by wire cutting or other methods instead of punching.
　次に、ステップＳ１、Ｓ２で作製された出力軸部５１、軸受支持リング５５及び磁極片部材５４が、樹脂部５６を成形するための成形型に配置される（ステップＳ３）。
　そして、成形型に樹脂が充填されて樹脂部５６の成形（樹脂注型又は射出成形等）が行われる（ステップＳ４）。こうして樹脂部５６が成形され、出力軸部５１、軸受支持リング５５及び磁極片部材５４が樹脂部５６により相互に固定される。 Next, the output shaft portion 51, the bearing support ring 55 and the magnetic pole piece member 54 manufactured in steps S1 and S2 are placed in a mold for molding the resin portion 56 (step S3).
Then, the molding die is filled with resin, and molding (resin casting, injection molding, etc.) of the resin portion 56 is performed (step S4). The resin portion 56 is thus molded, and the output shaft portion 51, the bearing support ring 55 and the pole piece member 54 are fixed to each other by the resin portion 56. As shown in FIG.
　次に、磁極片部材５４の内周面及び外周面が仕上げ加工される（ステップＳ５）。ここでは、旋盤又は研磨機での機械加工により、磁極片部材５４の内周面及び外周面が所定の形状精度等まで加工される。これにより、これら内周面や外周面の芯出し精度が向上し、動作時の損失やトルクリップルが改善する。
　なお、ここでは磁極片部材５４の内周面及び外周面の少なくとも一方が加工されればよい。また、それ以外の部分の加工が行われてもよい。また、ここでの加工は旋盤や研磨機での機械加工に限定されず、例えば手作業での研磨等を含む。 Next, the inner peripheral surface and the outer peripheral surface of the magnetic pole piece member 54 are finished (step S5). Here, the inner peripheral surface and the outer peripheral surface of the pole piece member 54 are machined to a predetermined shape accuracy or the like by machining with a lathe or grinder. As a result, the centering accuracy of these inner and outer peripheral surfaces is improved, and loss and torque ripple during operation are improved.
Here, at least one of the inner peripheral surface and the outer peripheral surface of the magnetic pole piece member 54 may be processed. In addition, other parts may be processed. Further, the processing here is not limited to mechanical processing using a lathe or a polishing machine, and includes manual polishing and the like, for example.
［磁気変調ギヤの動作］
　続いて、磁気変調ギヤ１の動作を簡単に説明する。
　図６は、内極磁石４１ａ、外極磁石１２、磁極片５４ａからなる磁気変調部を模式的に示した断面図である。
　図１及び図６に示すように、磁気変調ギヤ１では、図示しないモータにより入力軸４０が中心軸Ａｘ回りに回転すると、入力軸４０の内極磁石４１ａの空間磁束波形が、磁気変調部アッシー５０の磁極片５４ａによって外極磁石１２と同周波数に変調され、磁極片５４ａ－外極磁石１２間の磁力を用いて磁気変調部アッシー５０に回転トルクが伝達される。この時、減速比は磁極片数／内極極対数となる。
　こうして、磁気変調部で減速された回転運動が、磁気変調部アッシー５０の出力軸部５１に連結された被駆動部材（図示省略）に出力される。 [Operation of magnetic modulation gear]
Next, the operation of the magnetic modulation gear 1 will be briefly described.
FIG. 6 is a cross-sectional view schematically showing a magnetic modulation section composed of the inner pole magnet 41a, the outer pole magnet 12, and the magnetic pole pieces 54a.
As shown in FIGS. 1 and 6, in the magnetic modulation gear 1, when the input shaft 40 is rotated around the central axis Ax by a motor (not shown), the spatial magnetic flux waveform of the inner pole magnet 41a of the input shaft 40 changes to the magnetic modulation portion assembly. The magnetic pole piece 54a of 50 modulates the same frequency as that of the outer pole magnet 12, and the magnetic force between the magnetic pole piece 54a and the outer pole magnet 12 is used to transmit rotational torque to the magnetic modulation unit assembly 50. FIG. At this time, the speed reduction ratio is the number of magnetic pole pieces/the number of inner pole pairs.
Thus, the rotational motion decelerated by the magnetic modulation portion is output to the driven member (not shown) connected to the output shaft portion 51 of the magnetic modulation portion assembly 50 .
［解析例］
　続いて、磁極片部材５４におけるブリッジ部５４ｂの径方向位置がトルク性能に及ぼす影響について、解析例を挙げて説明する。
　本解析では、出力軸部５１から取り出される出力トルクとそのトルクリップルが、ブリッジ部５４ｂの径方向位置によってどのように変化するかを調べた。
　解析した磁極片部材５４の形状は本実施形態のものとした。入力軸４０への入力（モータ出力）は２００Ｗとした。 [Analysis example]
Next, the influence of the radial position of the bridge portion 54b in the magnetic pole piece member 54 on the torque performance will be described with an analysis example.
In this analysis, it was investigated how the output torque extracted from the output shaft portion 51 and its torque ripple change depending on the radial position of the bridge portion 54b.
The analyzed shape of the pole piece member 54 was that of the present embodiment. The input (motor output) to the input shaft 40 was 200W.
　図７Ａ及び図７Ｂに解析結果を示す。この図では、横軸のブリッジ部５４ｂの径方向位置を上述した条件式（１）の「ｈｂ／ｈｐ」（図４参照）で示し、縦軸のトルク及びトルクリップルを、ブリッジ部５４ｂの径方向位置が０．５のときの値を基準とした比率（p.u.：per unit）で示している。また、図７Ａはブリッジ部５４ｂの径方向幅ｔが積層鋼板の厚さの１倍、図７Ｂはブリッジ部５４ｂの径方向幅ｔが積層鋼板の厚さの２倍の場合の結果である。 The analysis results are shown in Figures 7A and 7B. In this figure, the radial position of the bridge portion 54b on the horizontal axis is indicated by "hb/hp" (see FIG. 4) of the conditional expression (1) described above, and the torque and torque ripple on the vertical axis are the diameter of the bridge portion 54b. It is indicated by a ratio (p.u.: per unit) based on the value when the direction position is 0.5. 7A shows the results when the radial width t of the bridge portion 54b is one times the thickness of the laminated steel plate, and FIG. 7B shows the result when the radial width t of the bridge portion 54b is twice the thickness of the laminated steel plate.
　図７Ａ及び図７Ｂの解析結果から次のことが分かる。
　・ブリッジ部５４ｂを内径側に移動させるに連れて、出力トルクは大きく、トルクリップルは小さくなる。
　・ブリッジ部５４ｂの径方向幅ｔが積層鋼板厚さの１倍と２倍のいずれの場合でも、ブリッジ部５４ｂの径方向位置が０≦ｈｂ／ｈｐ≦０．５の範囲内において、より出力トルクを大きく、トルクリップルを小さくできる。
　・トルクリップルは、ブリッジ部５４ｂの径方向位置が磁極片５４ａの端部に近づくに連れて大きく変化し、特にブリッジ部５４ｂの径方向位置が０≦ｈｂ／ｈｐ≦０．２の場合に、トルクリップルをより一層小さくできる。 The analysis results of FIGS. 7A and 7B reveal the following.
- As the bridge portion 54b is moved toward the inner diameter side, the output torque increases and the torque ripple decreases.
・Whether the radial width t of the bridge portion 54b is 1 or 2 times the thickness of the laminated steel plate, the output is higher when the radial position of the bridge portion 54b is within the range of 0≦hb/hp≦0.5. Increase torque and reduce torque ripple.
・The torque ripple changes greatly as the radial position of the bridge portion 54b approaches the end of the pole piece 54a. Torque ripple can be further reduced.
［本実施形態の技術的効果］
　以上のように、本実施形態によれば、周方向に隣り合う磁極片５４ａ同士がブリッジ部５４ｂにより周方向に連結されており、ブリッジ部５４ｂの径方向位置を表す「ｈｂ／ｈｐ」が以下の条件式（１）の範囲である。
　　　０≦ｈｂ／ｈｐ≦０．５　　　　　・・・（１）
　これにより、複数の磁極片５４ａをその間のブリッジ部５４ｂで強固に保持するとともに、より出力トルクを大きく、トルクリップルを小さくできる。したがって、好適なトルク性能を得ることができる。 [Technical effect of the present embodiment]
As described above, according to the present embodiment, the magnetic pole pieces 54a adjacent in the circumferential direction are connected to each other in the circumferential direction by the bridge portion 54b. is the range of conditional expression (1).
0≦hb/hp≦0.5 (1)
As a result, the plurality of magnetic pole pieces 54a can be firmly held by the bridge portion 54b therebetween, and the output torque can be increased and the torque ripple can be reduced. Therefore, suitable torque performance can be obtained.
　また、本実施形態によれば、ブリッジ部５４ｂの径方向位置を表す「ｈｂ／ｈｐ」は以下の条件式（２）の範囲であるのが好ましい。
　　　０≦ｈｂ／ｈｐ≦０．２　　　　　・・・（２）
　これにより、トルクリップルをより一層小さくでき、より好適なトルク性能を得ることができる。 Further, according to the present embodiment, "hb/hp" representing the radial position of the bridge portion 54b preferably falls within the range of conditional expression (2) below.
0≦hb/hp≦0.2 (2)
As a result, the torque ripple can be further reduced, and more suitable torque performance can be obtained.
　また、本実施形態によれば、磁極片５４ａの内周面とブリッジ部５４ｂの内周面とが面一（すなわち、ｈｂ／ｈｐ＝０）であり、つまり磁極片部材５４の内周面が凹凸のほぼ無い円筒面状に形成されている。
　これにより、磁極片部材５４の加工・製造をより容易に行うことができる。 Further, according to the present embodiment, the inner peripheral surface of the pole piece 54a and the inner peripheral surface of the bridge portion 54b are flush with each other (that is, hb/hp=0), that is, the inner peripheral surface of the pole piece member 54 is It is formed in a cylindrical shape with almost no unevenness.
This makes it easier to process and manufacture the pole piece member 54 .
［その他］
　以上、本発明の実施形態について説明したが、本発明は上記の実施形態に限られない。
　例えば、上記実施形態では、外極磁石１２を固定子とし、磁極片５４ａを有する磁気変調部アッシー５０から出力を取り出すこととした。しかし、磁極片５４ａを固定し、外極磁石１２を回転可能な低速ロータに設けて、当該低速ロータから出力を取り出すこととしてもよい。 [others]
Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments.
For example, in the above embodiment, the outer pole magnet 12 is used as the stator, and the output is taken out from the magnetic modulation unit assembly 50 having the magnetic pole piece 54a. However, the pole pieces 54a may be fixed, the outer pole magnets 12 may be provided on a rotatable low speed rotor, and the output may be taken from the low speed rotor.
　また、外極磁石１２及び内極磁石４１ａの各極対数、磁極片５４ａの極数といった磁気変調部の諸元は、上記実施形態のものに限定されない。 Further, the specifications of the magnetic modulation section, such as the number of pole pairs of the outer pole magnet 12 and the inner pole magnet 41a and the number of poles of the magnetic pole piece 54a, are not limited to those of the above embodiment.
　また、本発明は、高効率、省メンテナンス、静粛性（低騒音）、クリーン（オイルフリー）といった特徴から、一般産業用の各種機械に好適に適用できる。特に、以下の用途への適用に有用性が高い。
　・ロボット関節用ギヤ ： 磁気変調ギヤによるトルクリミット機能や低剛性の特徴から、高い安全性やコンプライアンス機能を有する。
　・発電用増速機 ：トルクリミット機能を備えることから、風力発電での強風時等の高負荷時でも無理な負荷が掛からない。省メンテナンスの有用性が高い。
　・真空装置（半導体製造装置） ： マグネットカップリング用途での利用により、減速機能とカップリング機能を単体で発揮でき、減速用ギヤを不要に（又は入力用モータを小型に）できるため、装置のコンパクト化を図れる。
　・食品機械 ：グリスレス（オイルフリー）、軸シール（オイルシール）の摩耗粉が生じない、軸構造の分解が容易で内部洗浄が簡単、といった特徴から、衛生管理面での有用性が高い。
　・オフィス／家庭用機器 ： 非接触動力伝達のため振動騒音が少ないといった特徴から、室内空間の静粛性を確保できる。 In addition, the present invention can be suitably applied to various machines for general industrial use because of its features such as high efficiency, low maintenance, quietness (low noise), and cleanness (oil-free). In particular, it is highly useful for application to the following uses.
・Robot joint gears: Due to the torque limit function and low rigidity of the magnetic modulation gear, it has high safety and compliance functions.
・Power generation speed increasing gear: Equipped with a torque limit function, it does not apply an excessive load even during high loads such as strong winds in wind power generation. Highly useful for low maintenance.
・Vacuum equipment (semiconductor manufacturing equipment): By using magnet coupling, the speed reduction function and the coupling function can be demonstrated independently, and the speed reduction gear can be eliminated (or the input motor can be made smaller). It can be made compact.
・Food machinery: Features such as no grease (oil-free), no wear powder from the shaft seal (oil seal), easy disassembly of the shaft structure and easy internal cleaning make it highly useful in terms of hygiene management.
・Office/household equipment: Because of the non-contact power transmission, there is little vibration and noise, ensuring the quietness of the indoor space.
　その他、上記実施形態で示した細部は、発明の趣旨を逸脱しない範囲で適宜変更可能である。 In addition, the details shown in the above embodiments can be changed as appropriate without departing from the spirit of the invention.
産業上の利用の可能性Possibility of industrial use
　以上のように、本発明は、好適なトルク性能を得るのに有用である。 As described above, the present invention is useful for obtaining suitable torque performance.
１　　　磁気変調ギヤ
１０　　ケーシング
１２　　外極磁石
４０　　入力軸
４１ａ　内極磁石
５０　　磁気変調部アッシー
５１　　出力軸部
５２　　円筒部
５４　　磁極片部材
５４ａ　磁極片
５４ｂ　ブリッジ部（連結部）
５５　　軸受支持リング
５６　　樹脂部
Ａｘ　　中心軸
ｈｂ　　磁極片の内周位置からブリッジ部の内周位置までの径方向長さ
ｈｐ　　磁極片の径方向長さ
ｔ　　　ブリッジ部の径方向幅 1 magnetic modulation gear 10 casing 12 outer pole magnet 40 input shaft 41a inner pole magnet 50 magnetic modulation portion assembly 51 output shaft portion 52 cylindrical portion 54 magnetic pole piece member 54a magnetic pole piece 54b bridge portion (connecting portion)
55 Bearing support ring 56 Resin portion Ax Central axis hb Radial length from inner peripheral position of magnetic pole piece to inner peripheral position of bridge portion hp Radial length of magnetic pole piece t Radial width of bridge portion

Claims (5)

  1. 　周方向に配列された複数の磁極片と、
    　周方向に隣り合う磁極片同士を周方向に連結する連結部と、
    　を有し、
    　以下の条件式を満足する磁極片部材。
    　　　０≦ｈｂ／ｈｐ≦０．５　　　　　・・・（１）
    　ただし、
    　ｈｐ：磁極片の径方向長さ
    　ｈｂ：磁極片の内周位置から連結部の内周位置までの径方向長さ     a plurality of circumferentially arranged pole pieces;
    a connecting portion that connects circumferentially adjacent magnetic pole pieces to each other in the circumferential direction;
    has
    A pole piece member that satisfies the following conditional expression:
    0≦hb/hp≦0.5 (1)
    however,
    hp: radial length of the pole piece hb: radial length from the inner peripheral position of the magnetic pole piece to the inner peripheral position of the connecting portion
  2. 　以下の条件式を満足する請求項１に記載の磁極片部材。
    　　　０≦ｈｂ／ｈｐ≦０．２　　　　　・・・（２）     2. A magnetic pole piece member according to claim 1, wherein the following conditional expression is satisfied.
    0≦hb/hp≦0.2 (2)
  3. 　前記磁極片の内周面と前記連結部の内周面とが面一である、
    　請求項２に記載の磁極片部材。     an inner peripheral surface of the magnetic pole piece and an inner peripheral surface of the connecting portion are flush with each other;
    3. The pole piece member of claim 2.
  4. 　前記磁極片と前記連結部とは、同一の電磁鋼板から構成される、
    　請求項１から請求項３のいずれか一項に記載の磁極片部材。     The magnetic pole piece and the connecting portion are made of the same electromagnetic steel sheet,
    A pole piece member according to any one of claims 1 to 3.
  5. 　請求項１から請求項４のいずれか一項に記載の磁極片部材と、
    　前記磁極片部材の内径側に配置され、周方向に配列された複数の内極磁石を有する入力軸と、
    　前記磁極片部材の外径側に配置され、周方向に配列された複数の外極磁石と、
    　を備える、
    　磁気変調ギヤ。     a pole piece member according to any one of claims 1 to 4;
    an input shaft disposed on the inner diameter side of the magnetic pole piece member and having a plurality of inner pole magnets arranged in the circumferential direction;
    a plurality of outer pole magnets disposed on the outer diameter side of the magnetic pole piece member and arranged in a circumferential direction;
    comprising
    magnetic modulation gear.
PCT/JP2022/029775 2021-08-24 2022-08-03 Pole piece member and magnetic modulation gear WO2023026804A1 (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07264838A (en) * 1994-02-23 1995-10-13 Philips Electron Nv Magnetic driving device
WO2011036552A1 (en) * 2009-09-28 2011-03-31 Stellenbosch University Magnetic gear
WO2014109268A1 (en) * 2013-01-11 2014-07-17 日立金属株式会社 Magnetic gear device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07264838A (en) * 1994-02-23 1995-10-13 Philips Electron Nv Magnetic driving device
WO2011036552A1 (en) * 2009-09-28 2011-03-31 Stellenbosch University Magnetic gear
WO2014109268A1 (en) * 2013-01-11 2014-07-17 日立金属株式会社 Magnetic gear device

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