JP2008017588A - Driving mechanism - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving mechanism wherein power can be accurately transmitted between and among a drive motor, a speed reducer, and an electromagnetic brake, and output torque can be enhanced. <P>SOLUTION: The drive motor 101 includes: a housing 7 having a cylindrical portion 7a extended in the axial direction; a stator 2 disposed along the outer circumference of the cylindrical portion 7a; a rotor 3 disposed along the outer circumference of the stator 2; and a rotating shaft 4 rotatably passing through the cylindrical portion 7a and extending outward from both ends of the cylindrical portion 7a. The rotor 3 is provided with a diameter-reduced portion 8 whose diameter is reduced, protruded toward the speed reducer 103 beyond the stator 2 and the cylindrical portion 7a. One end of the rotating shaft 4 is inserted into and joined with the diameter-reduced portion 8 and further protruded from the diameter-reduced portion 8 and connected to the speed reducer 103. The other end of the rotating shaft 4 is protruded from the cylindrical portion 7a and connected to the electromagnetic brake 102. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a drive device using a drive motor as a drive source and including a speed reducer and an electromagnetic brake.

  2. Description of the Related Art Conventionally, there has been known a drive device that integrally includes a drive motor, a speed reducer that reduces the rotation of the drive motor, and an electromagnetic brake that brakes the rotation of the drive motor.

Further, in the drive device described above, the drive motor is an inner rotor type electric motor, and a rotary shaft that rotates integrally with the rotor is provided, and a first rotary shaft that is connected to a speed reducer at one end of the rotary shaft. And a second rotating shaft connected to the electromagnetic brake is connected to the other end of the rotating shaft, and the rotation of the motor is reduced via the rotating shaft and the first and second rotating shafts. (For example, refer to Patent Document 1).
JP 2005-240416 A

  And according to the structure of the drive device of patent document 1, while outputting rotation of a rotor via a rotating shaft, connecting a 1st rotating shaft to the end of this rotating shaft, and connecting to a reduction gear, Since the second rotary shaft is connected to the other end of the rotary shaft and connected to the electromagnetic brake, the drive motor and the speed reducer are affected by the eccentricity between the rotary shaft and the first and second rotary shafts. There is a risk that power transmission with the electromagnetic brake may be impaired. Further, in order to reduce the eccentricity, high accuracy is required for the joint portion, and there is a possibility that productivity may be impaired.

  Further, since the drive motor is of the inner rotor type, there is a problem that the output torque is smaller than that of the outer rotor type.

  Therefore, the present invention can accurately transmit power between the drive motor, the speed reducer, and the electromagnetic brake and improve the output torque in the drive device that is integrally provided with the drive motor, the speed reducer, the electromagnetic brake, and the like. An object of the present invention is to provide a drive device that can perform the above-described operation.

  The invention according to claim 1, which has been made to achieve such an object, includes: a drive motor; a speed reducer that decelerates rotation of the drive motor; and an electromagnetic brake that brakes rotation of the drive motor in the axial direction. In the drive device provided integrally, the drive motor includes a housing having a cylindrical portion extending in the axial direction, a stator disposed along an outer periphery of the cylindrical portion, and an outer periphery of the stator. And a rotating shaft that is rotatably inserted into the cylindrical portion and extends outward from both ends of the cylindrical portion. The rotor includes the stator and the cylinder. A diameter-reducing portion projecting toward the speed reducer from the shape portion, and having one end of the rotating shaft inserted through and joined to the diameter-reducing portion and projecting from the diameter-reducing portion to reduce the speed reduction Connected to the machine, the other end of the rotating shaft from the cylindrical portion It is connected to the electromagnetic brake out, characterized in that.

  According to the drive device of the first aspect, the drive motor includes a housing having a cylindrical portion extending in the axial direction, a stator disposed along the outer periphery of the cylindrical portion, and an outer periphery of the stator. And a rotating shaft that is rotatably inserted into the cylindrical portion and extends outward from both ends of the cylindrical portion. The rotor includes a stator and a cylindrical portion. Is also provided with a reduced diameter portion projecting toward the speed reducer, and one end of the rotating shaft is inserted and joined to the reduced diameter portion, and is projected from the reduced diameter portion and connected to the speed reducer. Since the other end protrudes from the cylindrical portion and is connected to the electromagnetic brake, power transmission between the drive motor, the speed reducer, and the electromagnetic brake can be performed with high accuracy, and the output torque can be improved. .

  That is, according to the drive device of the first aspect, the drive motor is configured as an outer rotor type, and the rotation of the rotor is transmitted to the speed reducer and the electromagnetic brake via the common rotation shaft. Compared with the mold, the output torque of the drive motor can be improved, and the rotation of the drive motor can be transmitted with higher accuracy than when transmitted to the speed reducer and the electromagnetic brake via a plurality of rotating shafts.

  Next, the invention according to claim 2 is the drive device according to claim 1, wherein the speed reducer includes a case, a sun gear that rotates in response to the rotation of the drive motor, and around the sun gear. An internal gear disposed along a gap, a planetary gear that meshes with the internal gear and the sun gear, and a carrier that rotatably supports the planetary gear, and a shaft portion of the sun gear. Is formed integrally with the rotating shaft.

  According to the drive device of the second aspect, since the speed reducer is a planetary gear speed reducer and the shaft portion of the sun gear is formed integrally with the rotating shaft, the rotation of the drive motor can be accurately converted to the speed reducer. Can communicate.

  According to a second aspect of the present invention, in the drive device according to the third aspect, the carrier includes an insertion hole through which the reduced diameter portion is inserted, and the reduced diameter portion is interposed via a bearing. By being rotatably engaged with the insertion hole, the shaft core of the rotor and the carrier can be aligned with high precision, and the rotation of the rotor can be transmitted to the carrier with high precision. Rotation can be output with high accuracy via a reduction gear.

  In the drive device of the present invention, a drive motor is provided along a housing provided with a cylindrical portion extending in the axial direction, a stator provided along the outer periphery of the cylindrical portion, and an outer periphery of the stator. And a rotating shaft that is rotatably inserted into the tubular portion and extends outward from both ends of the tubular portion. The rotor is closer to the speed reducer than the stator and the tubular portion. A diameter-reducing portion that protrudes and reduces the diameter is provided, and one end of the rotating shaft is inserted into and joined to the diameter-reducing portion, and protrudes from the diameter-reducing portion and is connected to the speed reducer, and the other end of the rotating shaft is cylindrical Since it protrudes from the part and is connected to the electromagnetic brake, power transmission among the drive motor, the speed reducer, and the electromagnetic brake can be performed with high accuracy, and the output torque can be improved.

  That is, according to the drive device of the present invention, the drive motor is configured as an outer rotor type, and the rotation of the rotor is transmitted to the speed reducer and the electromagnetic brake via a common rotating shaft. Thus, the output torque of the drive motor can be improved, and the rotation of the drive motor can be transmitted with higher accuracy than when transmitted to the speed reducer and the electromagnetic brake via a plurality of rotating shafts.

  In the drive device of the present invention, the reduction gear is a planetary gear reduction gear, and the shaft portion of the sun gear is formed integrally with the rotation shaft, so that the rotation of the drive motor can be accurately transmitted to the reduction gear.

  In the driving device of the present invention, the carrier is provided with an insertion hole through which the reduced diameter portion is inserted, and the reduced diameter portion is rotatably engaged with the insertion hole through the bearing. The axis with the carrier can be aligned with high accuracy, the rotation of the rotor can be transmitted to the carrier with high accuracy via the planetary gear reduction mechanism, and the rotation of the drive motor can be output with high accuracy via the reduction gear. .

  Next, an embodiment of the drive device of the present invention will be described with reference to the drawings. FIG. 1 is a cross-sectional view showing the configuration of the drive device 1 of this embodiment.

  As shown in FIG. 1, the drive device 1 includes a drive motor 101 as a drive source, an electromagnetic brake 102 that brakes the rotation of the drive motor 101, and a speed reducer 103 that decelerates the rotation of the drive motor 101 and transmits it to the wheel 104. , The wheel 104 and the like.

  As shown in FIG. 1, the drive motor 101 includes a housing 7 having a cylindrical portion 7 a extending in the axial direction, a stator 2 disposed along the outer periphery of the cylindrical portion 7 a, and an outer periphery of the stator 2. An outer rotor type including a rotor 3 disposed along the shaft, a rotating shaft 4 rotatably inserted into an insertion hole 7b of the cylindrical portion 7a, and extending outward from both ends of the cylindrical portion 7a. In the DC brushless electric motor, the rotor 3 is provided with a diameter-reducing portion 8 that protrudes toward the speed reducer 103 from the stator 2 and the cylindrical portion 7a, and the diameter of the rotating shaft 4 is reduced. 8 is inserted and joined, and protrudes from the reduced diameter portion 8 and connected to the speed reducer 103, and the other end of the rotating shaft 4 protrudes from the cylindrical portion 7 a and is connected to the electromagnetic brake 102.

  The rotor 3 includes a plurality of permanent magnets 6 inside a cylindrical field core formed by axially laminating thin electromagnetic steel plates that are punched in an annular shape and coated with insulation on both sides. . The permanent magnet 6 is made of a ferrite-based anisotropic rare earth magnet and has an S pole and an N pole in the radial direction (that is, on the outer peripheral surface side and the inner peripheral surface side). The plurality of permanent magnets 6 are arranged such that the respective S poles and N poles appear alternately on the inner peripheral surface side of the rotor 3.

  The stator 2 is configured such that an exciting coil 9 is concentratedly wound around a plurality of armature cores that project radially from the outer peripheral surface toward the inner peripheral surface of the rotor 3.

  Further, the drive motor 101 detects a change in the magnetic field of the rotor 3 along with the rotation of the rotor 3 along the periphery of the stator 2, and detects a relative rotation amount of the rotor 3 with respect to the stator 2. Is provided. And the drive motor 101 rotates the rotor 3 and the rotating shaft 4 by energizing the exciting coil 9, detects the amount of rotation of the rotor 3 via the speed detector 5, and the rotation speed or It is configured to perform positioning control.

  The rotary shaft 4 is integrally formed with a first sun gear 21 on one end side (so-called rotary shaft 4 is a shaft portion of the first sun gear 21), and the other end rotates to the housing 7 via a bearing 10. It is supported freely.

  Next, the electromagnetic brake 102 includes a yoke (electromagnet) 11 fixed to the housing 7, an electromagnetic coil (not shown) housed in the yoke 11, a hub 12 fixed to the rotating shaft 4, and a hub 12. An engaging disc brake 13, an armature (braking plate) 14 disposed between the disc brake 13 and the yoke 11 and supported so as to be slidable in the axial direction, a side plate 15, and a cover 16 are included. Yes. The cover 16 is fixed to the housing 7.

  In the electromagnetic brake 102, the armature 14 is biased toward the disc brake 13 by a coil spring (not shown) housed in the yoke 11, and the yoke 11 and the side plate 15 are integrally fixed to the housing 7. An electromagnetic coil in the yoke 11 is connected to a control device (not shown) via a cable.

  In the electromagnetic brake 102, when the energization of the electromagnetic coil in the yoke 11 is cut off (OFF), the armature 14 is frictionally engaged with the disc brake 13 by the urging force of the coil spring, and the hub 12 is interposed. On the other hand, when the electromagnetic coil is energized through the control device, the magnetic force is generated in the yoke 11, and the yoke 11 attracts the armature 14 and separates it from the disc brake 13 to rotate. It is configured to release the braking of the rotation of the shaft 4.

  Next, the speed reducer 103 includes a first sun gear 21 that is formed integrally with the rotating shaft 4 and rotates together with the rotating shaft 4, and a first internal gear that is coaxially disposed in the first sun gear 21 via a gap. 22, the first planetary gear 23 is rotatably supported via the first planetary gear 23 disposed in the gap and meshed with the first sun gear 21 and the first internal gear 22, and the first connecting pin 24. The first carrier 25 that is rotatably supported coaxially with the sun gear 21, the second sun gear 26 integrally joined to the boss portion of the first carrier 25, and the second sun gear 26 coaxially with a gap The second planetary gear 28 is disposed via the second internal gear 27 disposed, the second planetary gear 28 disposed in the gap and meshing with the second sun gear 26 and the second internal gear 27, and the second connection pin 29. Second carrier 30 that is rotatably supported, for sealing lubricant Seal member 31 and a case 32, and the like.

  The case 32, the first internal gear 22, the second carrier 30, etc. are integrally fixed by bolts 39. Further, the case 32 is formed with an attachment hole 32a for attaching the drive device 1 to a device (not shown).

  The first carrier 25 is provided with an insertion hole 25 c through which the reduced diameter portion 8 is inserted, and the reduced diameter portion 8 is rotatably engaged via a bearing 33. The first carrier 25 includes an opening 25a, supports both ends of the first connecting pin 24 on both walls of the opening 25a, and projects in the axial direction toward the case 32 via the opening 25a. The bearing 34 is mounted around the cylindrical portion 25b, and is rotatably supported by the case 32 via the bearing 34. Further, the reduced diameter portion 8 of the rotor 3 is rotatably engaged with the inner periphery of the cylindrical portion 25b via a bearing 33.

  The first connecting pin 24 is rotatably engaged with the first planetary gear 23 via a bearing. The first planetary gear 23 is rotatably supported by the first carrier 25 via a first connecting pin 24 with a bearing engaged on the inner periphery thereof.

  The second carrier 30 includes an opening 30a, supports both ends of the second connecting pin 29 on both walls of the opening 30a, and protrudes in the axial direction on the opposite side of the rotary shaft 4 through the opening 30a. The cylindrical portion 30b is provided, and a bearing 35 is mounted around the cylindrical portion 30b, and the second internal gear 27 is rotatably supported via the bearing 35.

  The second connecting pin 29 is rotatably engaged with the second planetary gear 28 via a bearing. The second planetary gear 28 is rotatably supported by the second carrier 30 via a second connecting pin 29 with a bearing engaged on the inner periphery thereof.

  The second internal gear 27 is rotatably supported by the second carrier 30, the first internal gear 22, the case 32, etc. via bearings 35 and 36, and is an axis located on the opposite side to the second sun gear 26. A bottom wall 27a is provided at the end in the direction, and the bottomed cylinder is formed. Further, a support plate 37 for locking the bearing 36 in the axial direction is fixed to the end portion of the second internal gear 27 located on the second sun gear 26 side via a bolt 38.

  Next, the wheel 104 has a first layer member 41 formed along the outer periphery of the second internal gear 27 and a second layer that is more elastic than the first layer member 41 and covers the outer periphery of the first layer member 41. It is comprised by the layer member 42. FIG.

  The first layer member 41 is formed such that an end portion is bent toward the inner diameter side, and is fixed to the second internal gear 27 via a bolt 43. The first layer member 41 is formed of a steel material (for example, chromium molybdenum steel) having excellent compressive strength and impact strength.

  The second layer member 42 is made of chloroprene rubber and is integrally formed on the outer periphery of the first layer member 41.

  Next, the drive device 1 configured as described above operates as follows when the rotational driving force of the drive motor 101 is transmitted.

  First, the first sun gear 21 rotates integrally with the rotary shaft 4, and the first planetary gear 24 revolves along the periphery of the first sun gear 21 and rotates around the first connecting pin 24. Then, the first carrier 25 rotates with the revolution of the first planetary gear 24.

  Next, the second sun gear 26 rotates integrally with the first carrier 25, and the second planetary gear 28 rotates around the second connecting pin 29 as an axis. As the second planetary gear 28 is rotated, the second internal gear 27 and the wheel 104 are rotated.

  Below, the effect of the drive device 1 of the Example which has the said structure is described.

  According to the configuration of the drive device 1 described in the present embodiment, the drive motor 101 is disposed along the housing 7 having the cylindrical portion 7a extending in the axial direction and the outer periphery of the cylindrical portion 7a. A stator 2, a rotor 3 disposed along the outer periphery of the stator 2, a rotating shaft 4 that is rotatably inserted into the cylindrical portion 7 a and extends outward from both ends of the cylindrical portion 7 a; The rotor 3 is provided with a diameter-reducing portion 8 that protrudes toward the speed reducer 103 from the stator 2 and the cylindrical portion 7a and is reduced in diameter, and one end of the rotating shaft 4 is inserted into the reduced-diameter portion 8 and joined. At the same time, it protrudes from the reduced diameter portion 8 and is connected to the speed reducer 103, and the other end of the rotating shaft 4 protrudes from the cylindrical portion 7a and is connected to the electromagnetic brake 102. The power transmission between the electromagnetic brakes 102 can be performed with high accuracy, and It is possible to improve the torque.

  That is, according to the drive device 1 of the present embodiment, the drive motor 101 is configured as an outer rotor type, and the rotation of the rotor 3 is transmitted to the speed reducer 103 and the electromagnetic brake 102 via the common rotating shaft 4. As compared with the inner rotor type, the output torque of the drive motor 101 can be improved, and the rotation of the drive motor 101 can be transmitted more accurately than when transmitted to the speed reducer 103 and the electromagnetic brake 102 via a plurality of rotation shafts.

  Further, in the drive device of this embodiment, the speed reducer 103 is a planetary gear speed reducer, and the shaft portion of the first sun gear 23 is formed integrally with the rotary shaft 4, so that the rotation of the drive motor 101 is accurate. It can be transmitted to the speed reducer 103 well.

  Further, in the driving device of the present embodiment, the first carrier 25 is provided with an insertion hole 25c through which the reduced diameter portion 8 is inserted, and the reduced diameter portion 8 is rotatably engaged with the insertion hole 25c via the bearing 33. By combining, the axial centers of the rotor 3 and the first carrier 25 can be accurately aligned, and the rotation of the rotor 3 can be accurately transmitted to the first carrier 25 via the planetary gear reduction mechanism.

  As mentioned above, although one Example of this invention was described, this invention is not limited to the said Example, It can take various aspects.

It is sectional drawing showing the structure of the drive device of one Example of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Drive device, 2 ... Stator, 3 ... Rotor, 4 ... Rotating shaft, 5 ... Speed detector, 6 ... Permanent magnet, 7 ... Housing, 7a ... Cylindrical part, 7b ... Insertion hole, 8 ... Reduced diameter part, DESCRIPTION OF SYMBOLS 9 ... Excitation coil 10, 33, 34, 35, 36 ... Bearing, 11 ... Yoke (electromagnet), 12 ... Hub, 13 ... Disc brake, 14 ... Amateur (brake board), 15 ... Side plate, 16 ... Cover, 21 ... 1st sun gear, 22 ... 1st internal gear, 23 ... 1st planetary gear, 24 ... 1st connection pin, 25 ... 1st carrier, 25a ... Opening part, 25b ... Cylindrical part, 25c ... Insertion hole, 26 ... second sun gear, 27 ... second internal gear, 27a ... bottom wall, 28 ... second planetary gear, 29 ... second connecting pin, 30 ... second carrier, 30a ... opening, 30b ... cylindrical portion, 31 ... Sealing member, 32 ... Case, 32c ... Insertion hole, 37 ... Support Plate, 38,39,43 ... bolt, 41 ... first layer member, 42 ... second layer member 101 ... driving motor, 102 ... electromagnetic brake 103 ... reduction gear, 104 ... wheel.

Claims (3)

In the drive device integrally including a drive motor, a reduction gear that decelerates the rotation of the drive motor, and an electromagnetic brake that brakes the rotation of the drive motor in the axial direction,
The drive motor is
A housing having a cylindrical portion extending in the axial direction;
A stator disposed along the outer periphery of the tubular portion;
A rotor disposed along an outer periphery of the stator;
A rotating shaft that is rotatably inserted into the tubular portion and extends outward from both ends of the tubular portion;
With
The rotor includes a reduced diameter portion that protrudes toward the speed reducer from the stator and the cylindrical portion and reduces the diameter,
One end of the rotating shaft is inserted and joined to the reduced diameter portion, and protrudes from the reduced diameter portion and is connected to the speed reducer. The other end of the rotating shaft protrudes from the cylindrical portion and Connected to the electromagnetic brake,
A drive device characterized by that. The speed reducer is
Case and
A sun gear that rotates in response to the rotation of the drive motor;
An internal gear disposed with a gap along the circumference of the sun gear;
A planetary gear meshing with the internal gear and the sun gear;
A carrier that rotatably supports the planetary gear;
Composed by
The shaft portion of the sun gear is formed integrally with the rotating shaft,
The drive device according to claim 1. The carrier is provided with an insertion hole for inserting the reduced diameter portion,
The reduced diameter portion is rotatably engaged with the insertion hole via a bearing,
The drive device according to claim 2, wherein:

Images