CN110959247A - Wheel drive device - Google Patents

Wheel drive device Download PDF

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Publication number
CN110959247A
CN110959247A CN201880049404.6A CN201880049404A CN110959247A CN 110959247 A CN110959247 A CN 110959247A CN 201880049404 A CN201880049404 A CN 201880049404A CN 110959247 A CN110959247 A CN 110959247A
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CN
China
Prior art keywords
gear
stator
flexible
wheel drive
central axis
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Granted
Application number
CN201880049404.6A
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Chinese (zh)
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CN110959247B (en
Inventor
冈村晖久夫
井上仁
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Nidec Drive Technology Corp
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Nidec Shimpo Corp
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Publication of CN110959247A publication Critical patent/CN110959247A/en
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Publication of CN110959247B publication Critical patent/CN110959247B/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Retarders (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

The shaft extends in an axial direction of the central axis. The hub has a side surface portion, an inner cylindrical portion, and an outer cylindrical portion, and is rotatable relative to the shaft. The stator portion is provided coaxially with the hub portion so as to be non-rotatable, and is arranged in a ring shape between the inner cylinder portion and the outer cylinder portion in a radial direction, and has a coil. The rotor portion is disposed coaxially with the stator portion by a space between the stator portion and the side surface portion, and is rotatable about the central axis while holding a magnet receiving a magnetic force from the coil. The ring gear is disposed coaxially with the inner cylindrical portion and is fixed to the hub portion. The flexible gear is disposed so as to face the ring gear in the radial direction, is fixed to the stator portion, and partially meshes with the ring gear at a position between the inner cylinder portion and the stator portion. The wave generator is disposed on the opposite side of the ring gear with the flexible gear interposed therebetween in the radial direction.

Description

Wheel drive device
Technical Field
The present invention relates to a wheel driving device.
Background
Jp 2002-85474 a describes an electrically driven wheel in which a wheelchair is electrically driven. The electric drive wheel of this publication houses a flat motor and a speed reducer in a case provided in an axial center portion of the wheel. The housing has a stationary housing and a rotating housing. The flat motor is mounted to the stationary housing. The speed reducer has: a fixed internal tooth spline fixed to the fixed housing; a rotary internal tooth spline fixed to the rotary case; and a flexible external spline that meshes with the fixed internal spline and the rotating internal spline. When the output shaft of the flat motor rotates, the rotating internal spline rotates in accordance with the difference in the number of teeth between the rotating internal spline and the fixed internal spline by meshing with the flexible external spline, and the rotation is transmitted to the rotating case, whereby the wheel rotates. This can decelerate the rotation of the flat motor to drive the wheel.
Patent document 1: japanese laid-open patent publication No. 2002-85474
Disclosure of Invention
Problems to be solved by the invention
In the electrically driven wheel described in japanese patent application laid-open No. 2002-85474, a flat motor and a reduction gear are disposed in the axial direction of the wheel. Therefore, the electrically driven wheel of this publication is large in the axial direction. In addition, the wheelchair having the electrically driven wheels mounted thereon is increased in width. In this case, the wheelchair is difficult to handle, and may cause trouble in traveling.
In view of the above problems, an object of the present invention is to provide a wheel driving device that prevents an increase in the axial size.
Means for solving the problems
In an aspect of the present application, a wheel driving device of the following structure is provided. That is, the wheel driving device includes: the stator includes a shaft, a hub, a stator, a rotor, an annular ring gear, a flexible gear having a flexible cylindrical portion, and a wave generator. The shaft extends in an axial direction of the central axis. The hub is rotatable relative to the shaft, and includes: an annular side surface portion that circumferentially surrounds an end portion on one side of the shaft; an inner cylinder portion extending from an inner peripheral end of the side surface portion to the other axial side and surrounding the shaft in a circumferential direction; and an outer cylinder portion extending from an outer peripheral end portion of the side surface portion to the other axial side and surrounding the inner cylinder portion in a circumferential direction. The stator portion is provided coaxially with the hub portion and is not rotatable about the central axis, and is arranged in a ring shape between the inner cylinder portion and the outer cylinder portion in a radial direction, and has a plurality of coils in a circumferential direction. The rotor portion is disposed coaxially with the stator portion by a space between the stator portion and the side surface portion, and holds a magnet receiving magnetic force from the plurality of coils, and is rotatable about the central axis. The ring gear is disposed coaxially with the inner cylindrical portion and is fixed to one of the hub portion and the stator portion. The flexible gear is disposed so as to radially face the ring gear, is fixed to the other of the hub portion and the stator portion, and partially meshes with the ring gear at a position between the inner cylinder portion and the stator portion. The wave generator is disposed on the opposite side of the ring gear with the flexible gear interposed therebetween in the radial direction, and rotates with the rotation of the rotor portion to bend the flexible gear into a non-perfect circle. In the wheel drive device, the length of the flexible gear in the radial direction is displaced by the rotation of the wave generator, and the meshing position at which the flexible gear meshes with the ring gear changes in the circumferential direction around the central axis. The ring gear has a number of teeth different from a number of teeth of the flexible gear. The ring gear and the flexible gear relatively rotate at a rotational speed lower than that of the rotor portion.
Effects of the invention
According to an aspect of the present invention, the stator portion functioning as a motor that generates rotational torque, the wave generator functioning as a reduction gear that suppresses a generated rotational speed to be low, the flexible gear, and the ring gear are arranged in the radial direction. Therefore, the increase in the dimension of the wheel drive device in the axial direction can be suppressed. As a result, when the wheel drive device is mounted on, for example, a wheel of a wheelchair, the wheelchair can be prevented from being enlarged in the width direction.
Drawings
Fig. 1 is a sectional view of a wheel drive device according to embodiment 1.
Fig. 2 is a sectional view taken along line II-II in fig. 1.
Fig. 3 is a sectional view of the wheel drive device according to embodiment 2.
Fig. 4 is a sectional view of the wheel drive device according to embodiment 3.
Fig. 5 is a view of the wheel drive apparatus viewed from the other side in the axial direction.
Fig. 6 is a diagram showing a state in which the fixing portion and the holding portion are coupled.
Fig. 7 is a diagram showing a state where the connection between the fixing portion and the holding portion is released.
Fig. 8 is a view showing a state in which the fixed-part-side hole and the holding-part-side hole do not coincide with each other in the axial direction.
Fig. 9 is a sectional view of a wheel drive device according to embodiment 4.
Fig. 10 is a sectional view taken along line XX-XX in fig. 9.
Fig. 11 is a sectional view of a wheel drive device according to embodiment 5.
Fig. 12 is a sectional view of a wheel drive device according to embodiment 6.
Fig. 13 is a sectional view of a wheel drive device according to embodiment 7.
Fig. 14 is a sectional view of a wheel drive device according to embodiment 8.
Detailed Description
Hereinafter, exemplary embodiments of the present application will be described with reference to the drawings. In the present application, a direction parallel to the central axis of the wheel drive device is referred to as an "axial direction", a direction perpendicular to the central axis of the wheel drive device is referred to as a "radial direction", and a direction along an arc centered on the central axis of the wheel drive device is referred to as a "circumferential direction". The wheel driving device according to the present invention is described below with reference to a wheel provided in a wheelchair. The center axis of the wheel drive device coincides with a wheel shaft that axially supports the wheel. The shape and positional relationship of the respective parts will be described with the vehicle body side when the wheel drive device is incorporated into the wheel of the wheelchair being the axially inner side and the opposite side being the axially outer side. The definition of the direction is not intended to limit the direction in which the wheel driving device according to the present application is used.
In the present application, the "parallel direction" also includes a substantially parallel direction. In the present application, the term "vertical direction" also includes a substantially vertical direction.
< 1. embodiment 1 >
Fig. 1 is a sectional view of a wheel drive device 100 according to embodiment 1. Fig. 2 is a sectional view taken along line II-II in fig. 1. In fig. 2, the components located radially outward of the internal gear 8 described later are not shown.
The wheel drive apparatus 100 has a shaft 2. The shaft 2 is a cylindrical member disposed along the central axis 9. The shaft 2 is made of metal such as stainless steel. The shaft 2 may be the same as the wheel shaft of the wheelchair, or may be another member.
The wheel drive device 100 has a hub portion 3. The boss 3 has an inner tube portion 31, an outer tube portion 32, and a side surface portion 33. The inner cylinder portion 31 is a cylindrical member extending in the axial direction, and circumferentially surrounds the shaft. The outer tube portion 32 is a cylindrical member extending in the axial direction and having a larger diameter than the inner tube portion 31, and circumferentially surrounds the inner tube portion 31. The side surface portion 33 is a circular member extending in the radial direction, and is a connecting portion connecting axially outer 1 st end portions of the inner tube portion 31 and the outer tube portion 32.
The inner cylinder 31 is pivotally supported by the shaft 2 via bearings 91 and 92. Thereby, the boss 3 can rotate about the shaft 2. A plurality of spokes 101 for supporting a rim, not shown, are provided on the outer peripheral surface of the outer tube portion 32. The hub 3 is rotated about the shaft 2, whereby the wheel of the wheelchair is rotated.
The wheel drive device 100 has a wave generator 4. The wave generator 4 has a cylindrical cam 41 and a flexible bearing 42. The cylindrical cam 41 is cylindrical and extends in the axial direction, and circumferentially surrounds the inner cylindrical portion 31. The cylindrical cam 41 has a large diameter portion 411 and a small diameter portion 412 having a smaller outer diameter than the large diameter portion 411. The large diameter portion 411 is located axially outward of the small diameter portion 412. The large diameter portion 411 is axially supported by the inner cylindrical portion 31 via the bearing 93 and the bearing 94. The inner circumferential surface of the small diameter portion 412 faces the inner cylindrical portion 31 with a gap therebetween. Thereby, the cylindrical cam 41 rotates relative to the inner cylindrical portion 31 about the central axis 9.
As shown in fig. 2, the outer peripheral surface of the small-diameter portion 412 is elliptical when viewed from the axial direction. The small diameter portion 412 is an example of the "non-circular cam" of the present application.
The flexible bearing 42 is disposed radially outward of the small diameter portion 412. The flexible bearing 42 has flexibility and is fitted along the elliptical outer peripheral surface of the small diameter portion 412. The flexible bearing 42 attached to the small diameter portion 412 is bent in an elliptical shape along the outer peripheral surface of the small diameter portion 412 when viewed in the axial direction.
The wheel drive apparatus 100 has a stator portion 5. The stator portion 5 is disposed between the inner cylinder portion 31 and the outer cylinder portion 32 on the radially outer side of the shaft 2. The stator portion 5 generates torque for rotating a rotor portion 6 described later. The stator portion 5 includes a stator core 51, a plurality of coils 52, and a fixing portion 53.
The fixed portion 53 is fixed so as not to be rotatable about the central axis 9. The fixing portion 53 holds the stator core 51 and the plurality of coils 52.
The stator core 51 is a laminated structure in which a plurality of annular magnetic bodies centered on the central axis 9 are laminated, and is fixed to the fixing portion 53. The stator core 51 has a plurality of teeth protruding radially outward. The wire is wound around the teeth to form a coil 52. The coil 52 is formed by winding a wire around a winding axis in the radial direction. That is, a radial magnetic flux is generated from the coil 52. The plurality of coils 52 are arranged in a ring shape around the central axis 9. The plurality of coils 52 is constituted by 3 coil groups. The 3 coil groups are for U-phase, V-phase and W-phase, respectively. Each coil group is constituted by 1 wire.
The wheel drive device 100 has a rotor portion 6. The rotor portion 6 is disposed radially outward of the shaft 2 and is rotatable about the shaft 2. The rotor portion 6 includes a rotor magnet 61 and a magnet support portion 62.
The magnet support 62 is a plate-like member that surrounds the shaft 2 and expands in the circumferential direction and the radial direction. The magnet support portion 62 is disposed between the side surface portion 33 of the boss portion 3 and the stator portion 5. Both ends of the magnet support portion 62 on the radial outer side and the inner side are expanded to the axial inner side. The radially outer end of the magnet support 62 is located between the outer cylinder 32 and the stator 5. The radially inner end of the magnet support portion 62 is fixed to the large diameter portion 411 of the cylindrical cam 41.
The rotor magnet 61 is provided on the inner peripheral surface of the radially outer end of the magnet support portion 62. Thereby, the rotor magnet 61 and the stator core 51 are opposed to each other in the radial direction. The rotor magnet 61 is formed in a circular ring shape centered on the center axis 9. The inner peripheral surface of the rotor magnet 61 is a magnetic pole surface in which N poles and S poles are alternately arranged along the circumferential direction. When a radial magnetic flux is generated from the coil 52, the radial magnetic flux interacts with the magnetic flux of the rotor magnet 61. Then, a torque for rotating the magnet support portion 62 around the central axis 9 is generated. Thereby, the rotor portion 6 rotates about the central axis 9 together with the cylindrical cam 41.
The wheel drive apparatus 100 has a flexible externally toothed gear (flexible gear) 7. The flexible externally toothed gear 7 is cylindrical surrounding the center axis 9, and is disposed radially outward of the flexible bearing 42 of the wave generator 4. The flexible externally toothed gear 7 is fitted to the flexible bearing 42. The flexible bearing 42 is deformed in an elliptical shape when viewed from the axial direction by the small diameter portion 412 of the wave generator 4. Accordingly, the flexible externally toothed gear 7 attached to the flexible bearing 42 also bends in an elliptical shape when viewed in the axial direction. A plurality of external teeth 71 are provided on the outer peripheral surface of the flexible externally toothed gear 7 at a constant pitch along the circumferential direction.
The axially outer end of the flexible externally toothed gear 7 expands radially outward. The axially outer end of the flexible externally toothed gear 7 is fixed to the fixing portion 53 of the stator portion 5. That is, the flexible externally toothed gear 7 cannot rotate about the shaft 2.
The wheel drive apparatus 100 has an internal gear (ring gear) 8. The internal gear 8 is cylindrical and is disposed between the stator 5 and the flexible externally toothed gear 7. The internal gear 8 is pivotally supported by the fixed portion 53 of the stator portion 5 via a cross roller bearing 95. The axially inner end of the internal gear 8 is connected to the inner cylindrical portion 31 of the hub 3 by a connecting portion 80. The internal gear 8 rotates together with the hub 3 about the central axis 9.
An inner tooth 81 that meshes with the flexible externally toothed gear 7 is provided on the inner peripheral surface of the internally toothed gear 8. The internal gear 8 is a perfect circle when viewed from the axial direction. The flexible externally toothed gear 7 deflected by the wave generator 4 is elliptical when viewed from the axial direction. The minor axis of the elliptical flexible externally toothed gear 7 is shorter than the inner diameter of the internally toothed gear 8, and the major axis of the flexible externally toothed gear 7 is substantially the same as the inner diameter of the internally toothed gear 8. Therefore, the external teeth 71 of the flexible externally toothed gear 7 mesh with the internal teeth 81 of the internal gear 8 at 2 in the circumferential direction.
In the wheel drive device 100 having this configuration, when the coil 52 is energized and radial magnetic flux is generated from the coil, the rotor portion 6 rotates by interaction with the magnetic flux of the rotor magnet 61. As the rotor portion 6 rotates, the cylindrical cam 41 of the wave generator 4 rotates. When the cylindrical cam 41 rotates, the length of the flexible externally toothed gear 7 in the radial direction is displaced in the circumferential direction. Thereby, the meshing position of the flexible externally toothed gear 7 and the internally toothed gear 8 is moved in the circumferential direction.
The external teeth 71 of the flexible externally toothed gear 7 and the internal teeth 81 of the internal gear 8 have different numbers of teeth. When the flexible externally toothed gear 7 and the internally toothed gear 8 rotate relative to each other, the internally toothed gear 8 rotates at a lower rotation speed than the rotor portion 6 due to the difference in the number of teeth. The hub 3 rotates together with the internal gear 8, and the wheel also rotates together with the hub 3. In this way, the wheel driving device 100 can rotate the wheel at a lower rotation speed than the rotor portion 6 when rotating the rotor portion 6. Thus, when the wheels of the wheelchair are electrically driven by the wheel driving device 100, the traveling speed of the wheelchair can be suppressed.
In the wheel driving device 100, the stator portion 5, the wave generator 4, the flexible externally toothed gear 7, and the internally toothed gear 8 are arranged in the radial direction. The stator portion 5 functions as a motor that generates rotational torque. The wave generator 4, the flexible externally toothed gear 7, and the internally toothed gear 8 function as a speed reducer that reduces the rotational speed generated by the motor. That is, in the wheel drive device 100, the motor and the reduction gear are arranged in the radial direction. Therefore, the increase in the axial size of the wheel drive device 100 is suppressed. As a result, when the wheel drive device 100 is mounted on, for example, a wheel of a wheelchair, the wheelchair can be prevented from being enlarged in the width direction.
Further, by disposing the stator portion 5 radially outward, the rotation radius of the rotor portion 6 increases. As a result, a larger rotational torque can be obtained.
The wheel driving device 100 functions as a brake that stops the rotation of the wheel in a state where no rotational torque is generated from the stator portion 5, that is, in a state where no current is supplied to the coil 52. For example, when the wheel of the wheelchair rotates, a rotational force acts on the wheel, the hub 3, and the internal gear 8. At this time, the internal gear 8 meshes with the non-rotating flexible externally toothed gear 7, and therefore, the rotation of the internal gear 8 is suppressed. Therefore, the rotation of the wheel is also suppressed. Thus, for example, when the wheelchair approaches a slope, the wheels can be braked, and the wheelchair can be prevented from slipping down the slope.
In the present embodiment, the entire load acting on the wheel is received by the hub 3. Therefore, the load does not act on the driving device such as the motor and the speed reducer mounted inside the boss portion 3. Therefore, the weight increase that occurs when the wheel drive device 100 is configured in consideration of the strength can be prevented.
< 2 > embodiment mode 2
Hereinafter, a wheel driving device according to embodiment 2 will be described. In this example, the stator portion and the rotor portion have different structures from those of embodiment 1. The following description deals with differences from embodiment 1. Fig. 3 is a sectional view of the wheel drive device 100A according to embodiment 2. The stator portion 5A and the rotor portion 6A of the wheel driving device 100A are different from those of embodiment 1 in configuration, and the other configurations are the same as those of embodiment 1, and therefore, the description thereof is omitted.
The stator portion 5A includes a stator core 51A, a plurality of coils 52A, and a fixing portion 53A. The fixed portion 53A is fixed so as not to be rotatable about the central axis 9. The stator core 51A is fixed to the fixing portion 53A. The wire is wound around the teeth of the stator core 51A to form the coil 52A. In this example, the coil 52A is formed by winding a conductive wire around a winding axis along the axial direction. That is, an axial magnetic flux is generated from the coil 52A.
The flexible externally toothed gear (flexible gear) 7 is fixed to the fixing portion 53A. The internal gear (ring gear) 8 is connected to the fixed portion 53A via a cross roller bearing 95.
The rotor portion 6A has a rotor magnet 61A and a magnet support portion 62A.
The magnet support portion 62A is a plate-shaped member that surrounds the shaft 2 and is expanded in the circumferential direction and the radial direction. The magnet support portion 62A is disposed between the side surface portion 33 of the boss 3 and the stator portion 5. The magnet support portion 62A is fixed to the large diameter portion 411 of the cylindrical cam 41 so that its radially inner end portion is expanded inward in the axial direction. A rotor magnet 61A is provided at the outer end of the magnet support portion 62A in the radial direction. The rotor magnet 61A is axially opposed to the coil 52A of the stator portion 5A.
The rotor magnet 61A is formed in a circular ring shape centered on the center axis 9. The surface of the rotor magnet 61A facing the coil 52A is a magnetic pole surface in which N poles and S poles are alternately arranged along the circumferential direction. When the axial magnetic flux is generated from the coil 52A, the axial magnetic flux interacts with the magnetic flux of the rotor magnet 61A. Then, a torque for rotating the magnet support portion 62A about the center axis 9 is generated. Thereby, the rotor portion 6A rotates about the central axis 9 together with the cylindrical cam 41.
Even with this configuration, the wheel drive device 100A is configured to arrange the motor and the speed reducer in the radial direction. Therefore, the increase in the axial dimension of the wheel drive device 100A can be suppressed. As a result, when the wheel drive device 100 is mounted on, for example, a wheel of a wheelchair, the wheelchair can be prevented from being enlarged in the width direction.
In addition, while the rotor magnet 61 is disposed radially outward of the stator portion 5 in the wheel driving device 100 according to embodiment 1, the rotor magnet 61A and the stator portion 5A are disposed axially in the wheel driving device 100A according to the present embodiment. Therefore, in the present embodiment, the size in the radial direction can be suppressed as compared with embodiment 1.
In the present embodiment, the entire load acting on the wheel is received by the hub 3. Therefore, the load does not act on the driving device such as the motor and the speed reducer mounted inside the boss portion 3. Therefore, the weight increase that occurs when the wheel drive device 100A is configured in consideration of the strength can be prevented.
< 3 > embodiment mode 3
Hereinafter, a wheel driving device according to embodiment 3 will be described. In this example, the wheel drive device is different from embodiments 1 and 2 in that it has a clutch. Differences from embodiments 1 and 2 will be described below.
< 3.1 > relating to a wheel drive apparatus
Fig. 4 is a sectional view of a wheel drive device 100B according to embodiment 3. The stator portion 5B of the wheel driving device 100B is different from those of embodiments 1 and 2, and the other configurations are the same as those of embodiments 1 and 2, and the same reference numerals are given thereto, and the description thereof is omitted.
The stator portion 5B includes a stator core 51B, a plurality of coils 52B, a fixing portion 53B, and a gear holding portion 54. The stator core 51B and the coil 52B are the same as the stator core 51A and the coil 52A of embodiment 2.
The fixed portion 53B is fixed so as not to be rotatable about the central axis 9. The stator core 51B and the coil 52B are fixed to the fixing portion 53B.
The gear holding portion 54 holds the flexible externally toothed gear (flexible gear) 7. The internal gear (ring gear) 8 is connected to the gear holding portion 54 via a cross roller bearing 95.
The fixing portion 53B is provided with a fixing portion side hole 531 penetrating in the axial direction. The gear holding portion 54 is provided with a holding portion side hole 541 along the axial direction. The fixing portion side hole 531 and the holding portion side hole 541 overlap and communicate with each other in the axial direction. The insertion shaft 55 is inserted into the fixing portion side hole 531 and the holding portion side hole 541. The insertion shaft 55 is a connection portion that connects the fixing portion 53B and the gear holding portion 54. By coupling the fixed portion 53B and the gear holding portion 54, the flexible externally toothed gear 7 held by the gear holding portion 54 can be fixed to be non-rotatable.
When the insertion shaft 55 is pulled out of the holding portion side hole 541, the connection between the fixing portion 53B and the gear holding portion 54 is released. When the connection is released, the gear holding portion 54 can rotate about the central axis 9. Thereby, the flexible externally toothed gear 7 held by the gear holding portion 54 can also rotate about the center axis 9. In this case, the braking function described in embodiment 1 is released. The connection between the fixed portion 53B and the gear holding portion 54 is released, and when the flexible externally toothed gear 7 is able to rotate, the rotation of the internal gear 8 meshing with the flexible externally toothed gear 7 is no longer suppressed. That is, the braking of the wheels is released.
By coupling the fixed portion 53B and the gear holding portion 54 in this way, as described in embodiments 1 and 2, when the wheel driving device 100B rotates the rotor portion 6A, the wheel can be rotated at a lower rotation speed than the rotor portion 6A. That is, when the wheels of the wheelchair are electrically driven by the wheel driving device 100B, the traveling speed of the wheelchair can be suppressed low.
Further, by releasing the connection between the fixing portion 53B and the gear holding portion 54, the braking function of the wheel driving device 100B can be released. Thus, for example, the wheelchair can be pushed by hand without electrically driving the wheels of the wheelchair.
< 3.2 > relating to clutch mechanism
The wheel drive device 100B is provided with a clutch mechanism. The user of the wheelchair can connect and disconnect the fixing portion 53B of the stator portion 5B and the gear holding portion 54 by means of the clutch mechanism.
Fig. 5 is a view of wheel drive device 100B viewed from the axially inner side. Fig. 6 is a diagram showing a state in which the fixing portion 53B and the gear holding portion 54 are coupled. Fig. 7 is a diagram of a state in which the fixed portion 53B and the gear holding portion 54 are disconnected from each other. Fig. 6 and 7 are views corresponding to cross sections taken along line a-a of fig. 5.
The clutch mechanism 120 includes a switching lever 121, a plate spring 122, and a pressing portion 123.
The switching lever 121 is a long shaft-like member. The switching lever 121 is held so as to be swingable along the fixing portion 53B by a lever support portion 121A provided in the fixing portion 53B. The 1 st end portion side of the switching lever 121 is an operation portion to be gripped and operated by a user of the wheelchair. When the 1 st end of the switching lever 121 is moved about the lever support portion 121A as a fulcrum by the user of the wheelchair, the 2 nd end of the switching lever 121 moves to the opposite side of the 1 st end. The 2 nd end portion of the switching lever 121 moves between a coupling position (position shown in fig. 6) at which the fixing portion 53B and the gear holding portion 54 are coupled and a release position (position shown in fig. 7) at which the coupling between the fixing portion 53B and the gear holding portion 54 is released.
The plate spring 122 is a band-shaped member. The 1 st end in the longitudinal direction of the plate spring 122 is fixed to the fixing portion 53B. The plate spring 122 is flexed into a posture in which the position of the 2 nd end portion is separated from the fixing portion 53B in a state in which the 1 st end portion is fixed. The 2 nd end of the plate spring 122 is pressed, and when the pressing force disappears after moving toward the fixing portion 53B, the 2 nd end returns to the initial position by the restoring force of the plate spring 122.
A notch 122A is provided at the 2 nd end of the plate spring 122. The cutout 122A axially overlaps the fixing-section-side hole 531 of the fixing section 53B. The cutout 122A holds the head 55A of the insertion shaft 55 inserted into the fixing portion side hole 531.
The pressing portion 123 presses the 2 nd end portion of the switching lever 121 toward the fixing portion 53B, and allows the 2 nd end portion to move along the fixing portion 53B.
When the 2 nd end portion of the switching lever 121 is moved to the connection position, as shown in fig. 6, the 2 nd end portion of the plate spring 122 is pressed toward the fixing portion 53B by the 2 nd end portion of the switching lever 121. At this time, when the fixing-portion-side hole 531 of the fixing portion 53B and the holding-portion-side hole 541 of the gear holding portion 54 axially coincide, the insertion shaft 55 held at the 2 nd end portion of the plate spring 122 receives the pressing force of the plate spring 122 on the head portion 55A, and is also inserted into the holding-portion-side hole 541. The fixing portion 53B is coupled to the gear holding portion 54.
In addition, when the fixing portion-side hole 531 and the holding portion-side hole 541 do not coincide in the axial direction, the insertion shaft 55 is not inserted into the holding portion-side hole 541 even if the head portion 55A is pressed. Fig. 8 is a view showing a state in which the fixed-part-side holes 531 and the holding-part-side holes 541 do not coincide in the axial direction. Even in this case, when the gear holding portion 54 rotates about the central axis 9 and the fixed portion side hole 531 and the holding portion side hole 541 axially coincide with each other, the insertion shaft 55 is inserted into the holding portion side hole 541 by the pressing force of the leaf spring 122.
When the 2 nd end portion of the switching lever 121 moves to the release position, the pressing by the 2 nd end portion of the switching lever 121 is released, and as shown in fig. 7, the 2 nd end portion of the plate spring 122 is separated from the fixing portion 53B by the restoring force. Thereby, the insertion shaft 55 held at the 2 nd end portion of the plate spring 122 is pulled out from the holding portion side hole 541 of the gear holding portion 54. Then, the fixed portion 53B and the gear holding portion 54 are disconnected from each other. That is, the braking of the wheels is released.
< 4 > embodiment mode 4
Hereinafter, the wheel driving device 200 according to embodiment 4 will be described. Fig. 9 is a sectional view of a wheel drive device 200 according to embodiment 4. Fig. 10 is a sectional view taken along line XX-XX in fig. 9. In fig. 10, a member located radially outward of an inner cylindrical portion 271 of the rotor portion 207, which will be described later, is not illustrated.
The wheel drive apparatus 200 has a shaft 202. The shaft 202 is a cylindrical member disposed along a central axis 209. The shaft 202 is made of metal such as stainless steel. The shaft 202 may be the same part as the wheel shaft of the wheelchair or may be a separate part.
The wheel drive device 200 has a hub portion 203. The boss 203 has an inner tube 231, an outer tube 232, and a side surface 233. The side surface portion 233 surrounds the shaft 202 and is an annular portion when viewed from the axial direction. The inner tube 231 is a cylindrical portion extending in the axial direction. The inner tube 231 extends in the axial direction from the inner peripheral end of the side surface 233 and circumferentially surrounds the shaft 202. The outer tube 232 extends in the axial direction and is a cylindrical portion having a larger diameter than the inner tube 231. The outer tube 232 extends in the axial direction from the outer peripheral end of the side surface 233 and circumferentially surrounds the inner tube 231.
The inner tube 231 is pivotally supported by the shaft 202 via a bearing 291 and a bearing 292. The inner cylinder 231 supports a fixing portion 263 to be described later via a cross roller bearing 293. Thereby, the boss portion 203 can rotate about the central axis 209 with respect to the shaft 202 and the fixed portion 263. A plurality of spokes 201 for supporting a rim, not shown, are provided on the outer peripheral surface of the outer tube portion 232. The hub 203 rotates about the shaft 202, and thereby the wheel of the wheelchair rotates.
The wheel drive apparatus 200 has an externally toothed gear (ring gear) 204. The external gear 204 is cylindrical surrounding the central axis 209. The external gear 204 is provided on the outer peripheral surface of the inner tube 231 and rotates integrally with the boss 203 about the central axis 209. A plurality of external teeth 241 are provided on the outer peripheral surface of the external gear 204 at a fixed pitch in the circumferential direction.
The wheel drive device 200 has a flexible internally toothed gear (flexible gear) 205. The flexible internally toothed gear 205 has a cylindrical portion 251 and a flange portion 252. The cylindrical portion 251 is a cylindrical portion extending in the axial direction so as to surround the central axis 209. The cylindrical portion 251 is disposed radially outward of the external gear 204. The flange portion 252 is a portion extending radially outward from an axially inner end of the cylindrical portion 251. The flange portion 252 of the flexible internally toothed gear 205 is supported by a fixing portion 263 described later. Thereby, the flexible internally toothed gear 205 cannot rotate about the central axis 209.
A plurality of internal teeth 253 are provided at a fixed pitch in the circumferential direction on the inner circumferential surface on the axially outer side of the cylindrical portion 251 of the flexible internally toothed gear 205. The cylindrical portion 251 is deformed in an elliptical shape when viewed from the axial direction by a wave generator 208 described later. Accordingly, internal teeth 253 partially mesh with external teeth 241.
The wheel drive apparatus 200 has a stator portion 206. The stator portion 206 is disposed between the outer cylindrical portion 232 of the hub portion 203 and the cylindrical portion 251 of the flexible internally toothed gear 205. The stator 206 generates torque for rotating a rotor 207 described later. The stator portion 206 includes a stator core 261, a plurality of coils 262, and a fixing portion 263.
The fixed portion 263 is fixed so as not to be rotatable about the central axis 209. The fixing portion 263 holds the stator core 261 and the plurality of coils 262.
Stator core 261 is a laminated structure in which a plurality of annular magnetic bodies centered on central axis 209 are laminated, and is fixed to fixing portion 263. The stator core 261 has a plurality of teeth protruding radially outward. The coil 262 is formed by winding a wire around the teeth. The coil 262 is formed by winding a wire around a winding axis in the radial direction. That is, a radial magnetic flux is generated from the coil 262. The plurality of coils 262 are arranged in a ring shape around the central axis 209. The plurality of coils 262 is constituted by 3 coil groups. The 3 coil groups are for U phase, V phase and W phase, respectively. Each coil set is made up of 1 wire.
The wheel drive device 200 has a rotor portion 207. The rotor portion 207 holds a magnet 270 that receives magnetic force from the plurality of coils 262, and the rotor portion 207 rotates about the central axis 209. The rotor portion 207 has an inner cylindrical portion 271, an outer cylindrical portion 272, and a coupling portion 273.
The inner cylindrical portion 271 is a cylindrical portion that surrounds the central axis 209 and extends in the radial direction between the stator portion 206 and a wave generator 208, which will be described later, in the axial direction. The outer cylindrical portion 272 is a cylindrical portion that surrounds the central axis 209 and extends in the axial direction at a position radially outward of the stator core 261 of the stator portion 206. The coupling portion 273 is a plate-shaped portion disposed between the side surface portion 233 of the boss 203 and the stator portion 206 and expanding in the circumferential direction and the radial direction. The connection portion 273 connects the axially outer ends of the inner cylinder portion 271 and the outer cylinder portion 272.
A part of the side surface 233 of the boss 203 protrudes axially inward. A bearing 294 is disposed radially outward of the portion. Further, a bearing 295 is disposed radially outward of a part of the fixed portion 263. The rotor portion 207 is supported by the boss 203 and the fixing portion 263 by the inner cylindrical portion 271 being fitted to the outer circumferential surfaces of the bearing 294 and the bearing 295. The rotor portion 207 is rotatable about the central axis 209 with respect to the boss portion 203 and the fixed portion 263 by a bearing 294 and a bearing 295.
The magnet 270 is supported by the inner circumferential surface of the outer cylindrical portion 272. The magnet 270 is radially opposed to the stator core 261. The magnet 270 is formed in a circular ring shape centered on the central axis 209. The inner circumferential surface of the magnet 270 is a magnetic pole surface in which N poles and S poles are alternately arranged along the circumferential direction. When the radial magnetic flux is generated from the coil 262, the radial magnetic flux interacts with the magnetic flux of the magnet 270. Then, a torque for rotating the rotor portion 207 around the central axis 209 is generated. Thereby, the rotor portion 207 rotates around the central axis 209.
The wheel drive apparatus 200 has a wave generator 208. The wave generator 208 has a cylindrical cam 281 and a flexible bearing 282. The cylindrical cam 281 is cylindrical extending in the axial direction. The cylindrical cam 281 is supported radially inward of the inner cylindrical portion 271 of the rotor portion 207. The cylindrical cam 281 rotates integrally with the rotor portion 207 around the center axis 209.
As shown in fig. 10, the outer diameter of the cylinder cam 281 is a perfect circle. The inner diameter of the cylindrical cam 281 is a non-perfect circle that differs depending on the position in the circumferential direction.
The flexible bearing 282 is disposed between the cylindrical cam 281 and the flexible internally toothed gear 205. The outer peripheral surface of the flexible bearing 282 is in close contact with the inner peripheral surface of the cylindrical cam 281. The flexible bearing 282 has flexibility. Therefore, the flexible bearing 282 exhibits elliptical deflection along the inner peripheral surface of the cylindrical cam 281 as viewed in the axial direction in accordance with the rotation of the cylindrical cam 281. Similarly, the flexible internally toothed gear 205 is also deformed in an elliptical shape when viewed from the axial direction in accordance with the rotation of the cylindrical cam 281 by the flexible bearing 282.
The external gear (ring gear) 204 is a perfect circle when viewed from the axial direction. The internal teeth of the flexible internally toothed gear 205 that flexes in an elliptical shape on the minor axis mesh with the external teeth of the externally toothed gear 204. Further, the internal teeth of the flexible internally toothed gear 205 that flexes in an elliptical shape on the major axis do not mesh with the external teeth of the externally toothed gear 204. Therefore, when the flexible internally-toothed gear 205 is flexed in an elliptical shape, the internal teeth 253 of the flexible internally-toothed gear 205 mesh with the external teeth 241 of the externally-toothed gear 204 at 2 in the circumferential direction.
In the wheel drive device 200 having this configuration, when the coil 262 is energized and a magnetic flux in the radial direction is generated from the coil 262, the rotor portion 207 is rotated by interaction with the magnetic flux of the magnet 270. As the rotor portion 207 rotates, the cylindrical cam 281 of the wave generator 208 rotates. When the cylindrical cam 281 rotates, the length of the flexible internally toothed gear 205 in the radial direction is displaced in the circumferential direction. Thereby, the meshing position of the flexible internally-toothed gear 205 and the externally-toothed gear 204 is moved in the circumferential direction.
The internal teeth 253 of the flexible internally-toothed gear 205 have a different number of teeth from the external teeth 241 of the externally-toothed gear 204. When the flexible internally-toothed gear 205 and the externally-toothed gear 204 rotate relative to each other, the externally-toothed gear 204 rotates at a lower rotation speed than the rotor portion 207 due to the difference in the number of teeth. The hub portion 203 rotates together with the external gear 204, and the wheel also rotates together with the hub portion 203. Thus, when the wheel driving device 200 rotates the rotor portion 207, the wheel can be rotated at a lower rotation speed than the rotor portion 207. Thus, when the wheels of the wheelchair are electrically driven by the wheel driving device 200, the traveling speed of the wheelchair can be suppressed.
In the wheel drive device 200, the stator portion 206, the wave generator 208, the flexible internal gear 205, and the external gear 204 are arranged so as to be aligned in the radial direction. The stator portion 206 functions as a motor that generates rotational torque. The wave generator 208, the flexible internally-toothed gear 205, and the externally-toothed gear 204 function as a speed reducer that reduces the rotational speed generated by the motor. That is, in the wheel driving device 200, the motor and the reduction gear are arranged in the radial direction. Therefore, the increase in the axial size of the wheel drive device 200 is suppressed. As a result, when the wheel drive device 200 is mounted on, for example, a wheel of a wheelchair, the wheelchair can be prevented from being enlarged in the width direction.
Further, by disposing the stator portion 206 radially outward, the rotation radius of the rotor portion 207 increases. As a result, a larger rotational torque can be obtained.
The wheel driving device 200 functions as a brake that stops the rotation of the wheel in a state where no rotational torque is generated from the stator portion 206, that is, in a state where no current is supplied to the coil 262. For example, when the wheel of the wheelchair rotates, the hub 203 and the external gear 204 rotate together with the wheel. At this time, the external gear 204 meshes with the non-rotatable flexible internal gear 205, and therefore, the rotation of the external gear 204 is suppressed. Therefore, the rotation of the wheel is also suppressed. Thus, for example, when the wheelchair approaches a slope, the wheels are braked, and the wheelchair can be prevented from slipping down the slope.
In the present embodiment, the entire load applied to the wheel is received by the boss portion 203. Therefore, a load does not act on a driving device such as a motor and a speed reducer mounted inside the boss portion 203. Therefore, the weight increase that occurs when the wheel drive device 200 is configured in consideration of the strength can be prevented.
< 5. embodiment 5 >
Hereinafter, a wheel driving device according to embodiment 5 will be described. In this example, the structure of the stator portion and the rotor portion is different from embodiment 4. The following description deals with differences from embodiment 4.
Fig. 11 is a sectional view of a wheel drive device 200A according to embodiment 5. The stator portion 206A and the rotor portion 207A of the wheel driving device 200A are different in configuration from those of embodiment 4, and are the same in configuration as embodiment 4, and therefore, the description thereof is omitted.
The stator portion 206A includes a stator core 261A, a plurality of coils 262A, and a fixing portion 263A. The fixed portion 263A is fixed in a non-rotatable manner. Stator core 261 is fixed to fixing portion 263A. The stator core 261A has teeth around which a wire is wound to form a coil 262A. In this example, the coil 262A is formed by winding a wire around a winding axis along the axial direction. That is, an axial magnetic flux is generated from the coil 262A.
Rotor portion 207A has inner cylindrical portion 271 and flange portion 274. The rotor portion 207A of this example does not have the outer cylindrical portion 272 of embodiment 4. The flange portion 274 is disposed between the side surface portion 233 of the hub 203 and the stator portion 206A. The flange portion 274 is a portion that extends radially outward from the axially outer end of the inner cylindrical portion 271 and is annular when viewed axially.
The magnet 270A is formed in a circular ring shape centered on the central axis 209. The magnet 270A is supported by the flange 274 and axially faces the stator core 261A. The surface of the magnet 270A facing the coil 262A is a magnetic pole surface in which N poles and S poles are alternately arranged along the circumferential direction. When the axial magnetic flux is generated from the coil 262A, the axial magnetic flux interacts with the magnetic flux of the magnet 270A. Then, a torque for rotating the rotor portion 207A around the central axis 209 is generated. Thereby, the rotor portion 207A rotates about the central axis 209 together with the cylindrical cam 281.
Even with this configuration, the wheel drive device 200A has a structure in which the motor and the reduction gear are arranged in the radial direction. Therefore, the size of the wheel drive device 200A in the axial direction can be suppressed from increasing. As a result, when the wheel drive device 200A is mounted on, for example, a wheel of a wheelchair, it is possible to suppress the wheelchair from becoming large in the width direction.
In the wheel driving device 200 according to embodiment 4, the magnet 270 is disposed radially outward of the stator portion 206. In contrast, in the wheel driving device 200A of the present embodiment, the magnet 270A and the stator 206A are arranged in the axial direction. Therefore, in the present embodiment, the size in the radial direction can be suppressed as compared with embodiment 4.
< 6. embodiment 6 >
Hereinafter, a wheel driving device according to embodiment 6 will be described. In this example, the structure of the stator portion and the rotor portion is different from embodiment 4. The following description deals with differences from embodiment 4.
Fig. 12 is a sectional view of a wheel drive device 200B according to embodiment 6. The stator portion 206B and the rotor portion 207B of the wheel driving device 200B are different from those of embodiment 4, and the other configurations are the same as those of embodiment 4, and therefore, the description thereof is omitted.
The stator portion 206B includes a stator core 261B, a plurality of coils 262B, and a fixing portion 263B. The fixed portion 263B is fixed to be non-rotatable. Stator core 261B is fixed to fixing portion 263B. The stator core 261B has teeth around which a wire is wound to form a coil 262B. As in embodiment 4, the coil 262B is formed by winding a wire around a winding axis extending in the radial direction. That is, a radial magnetic flux is generated from the coil 262B.
The rotor portion 207B is a cylindrical portion that surrounds the central axis 209 and extends in the radial direction between the stator portion 206B and the wave generator 208 in the axial direction. Rotor portion 207B is fitted to the outer peripheral surfaces of bearing 294 and bearing 295. The rotor portion 207B is rotatable about the central axis 209 with respect to the boss portion 203 and the fixed portion 263B via the bearing 294 and the bearing 295. The rotor portion 207B holds the wave generator 208 radially inside. The rotor portion 207B holds the magnet 270B radially outward.
The magnet 270B is disposed radially inward of the stator portion 206B. The magnet 270B is radially opposed to the stator core 261B. The magnet 270B has a circular ring shape centered on the central axis 209. The outer peripheral surface of the magnet 270B is a magnetic pole surface in which N poles and S poles are alternately arranged along the circumferential direction. When a radial magnetic flux is generated from the coil 262B, the radial magnetic flux interacts with the magnetic flux of the magnet 270B. Then, a torque for rotating the rotor portion 207B around the central axis 209 is generated. Thereby, the rotor portion 207B rotates around the central axis 209.
Even with this configuration, the wheel drive device 200B has a structure in which the motor and the reduction gear are arranged in the radial direction. Therefore, the size of the wheel drive device 200B in the axial direction can be suppressed from increasing. As a result, when the wheel drive device 200B is mounted on, for example, a wheel of a wheelchair, it is possible to suppress the wheelchair from becoming large in the width direction.
In the present embodiment, the entire load applied to the wheel is received by the boss portion 203. Therefore, a load does not act on a driving device such as a motor and a speed reducer mounted inside the boss portion 203. Therefore, the weight increase that occurs when the wheel drive device 200B is configured in consideration of the strength can be prevented.
< 7. embodiment 7 >
Hereinafter, a wheel driving device according to embodiment 7 will be described. In the following description, the same reference numerals are given to the same functional and structural components as those in the above-described embodiment, and redundant description is omitted.
Fig. 13 is a sectional view of a wheel drive device 300 according to embodiment 7. As shown in fig. 13, the wheel drive device 300 has a shaft 202 and a hub portion 203. The boss 203 has an inner tube 231, an outer tube 232, and a side surface 233. The inner tube 231 is supported by the shaft 202 via a bearing 291 and a bearing 292. Further, an inner peripheral end of the fixed body 363 is connected to the other end of the shaft 202 via a flat washer or the like. Thereby, the boss 203 can rotate about the central axis 209 with respect to the shaft 202 and the fixed body 363. A plurality of spokes 201 are provided on the outer peripheral surface of the outer tube portion 232. The outer peripheral end of the fixing body 363 is in contact with the inner peripheral surface of the outer cylindrical portion 232 of the hub 203 via the dust cover 364.
The wheel drive device 300 has an externally toothed gear (ring gear) 204 surrounding a central axis 209. The external gear 204 rotates integrally with the hub portion 203 around the central axis 209.
The wheel drive device 300 has a cup-shaped flexible internally toothed gear (flexible gear) 305. The flexible internally toothed gear 305 has a cylindrical portion 351 and a bottom portion 352. The cylindrical portion 351 is a cylindrical portion extending in the axial direction around the central axis 209. The cylindrical portion 351 is disposed radially outward of the external gear 204. The bottom portion 352 is a portion that extends radially inward from the axially inner end of the cylindrical portion 251. The bottom portion 352 of the flexible internally toothed gear 305 can be combined with the fixed body 363. Specifically, the bottom portion 352 is coupled to the fixed body 363 by inserting the clutch member 301 into a through hole penetrating the fixed body 363 and the bottom portion 352 at an end portion (inner peripheral edge portion) on the inner diameter side of the fixed body 363. The state of the clutch member 301 at this time is represented as "engaged" in fig. 13. Thereby, the flexible internally toothed gear 305 is not rotatable about the central axis 209.
On the other hand, when the clutch member 301 is removed from the through hole penetrating the fixed body 363 and the bottom portion 352, the flexible internally toothed gear 305 is rotatable with respect to the fixed body 363. The state of the clutch member 301 at this time is represented as "off" in fig. 13. In this case, the flexible internally toothed gear 305 and the hub portion 203 rotate together with the rotor portion 207.
A plurality of internal teeth 253 are provided at a constant pitch along the circumferential direction on the inner circumferential surface on the outer side in the axial direction of the cylindrical portion 351 of the flexible internally toothed gear 305. The cylindrical portion 351 is deformed in an elliptical shape when viewed from the axial direction by the wave generator 208. Accordingly, the internal teeth 253 of the flexible internally-toothed gear 305 partially mesh with the external teeth 241 of the externally-toothed gear 204.
The wheel drive apparatus 300 has a stator portion 306. The stator portion 306 is disposed between the outer cylinder portion 232 of the hub portion 203 and the cylindrical portion 351 of the flexible internally toothed gear 305. The stator portion 306 generates torque for rotating the rotor portion 207. The stator portion 306 has a stator core 261, a plurality of coils 262, and a fixed body 363.
The fixing body 363 is an annular member. As described above, the fixed body 363 is fixed so as not to be rotatable about the central axis 209. The fixed body 363 holds the stator core 261 and the plurality of coils 262.
The wheel drive device 300 has a rotor portion 207. The rotor portion 207 holds the magnet 270 and rotates about the central axis 209. The rotor portion 207 has an inner cylindrical portion 271, an outer cylindrical portion 272, and a coupling portion 273. The rotor portion 207 is supported rotatably with respect to the boss 203 and the fixed body 363 by fitting the inner cylindrical portion 271 to the outer circumferential surfaces of the bearing 294 and the bearing 295.
The magnet 270 is supported by the inner circumferential surface of the outer cylindrical portion 272. When a radial magnetic flux is generated from the coil 262, the magnetic flux interacts with the magnetic flux of the magnet 270. Thereby, the rotor portion 207 rotates around the central axis 209.
The wheel drive device 300 has a wave generator 208. The wave generator 208 has a cylindrical cam 281 and a flexible bearing 282. In accordance with the rotation of the cylindrical cam 281, the flexible bearing 282 has an elliptical flexure along the inner peripheral surface of the cylindrical cam 281 when viewed in the axial direction. Further, the flexible internally toothed gear 305 also flexes in an elliptical shape when viewed from the axial direction in accordance with the rotation of the cylindrical cam 281 via the flexible bearing 282. When the flexible internally-toothed gear 305 is flexed in an elliptical shape, the internal teeth 253 of the flexible internally-toothed gear 305 mesh with the external teeth 241 of the external-toothed gear 204 at 2 in the circumferential direction. The internal teeth 253 of the flexible internally-toothed gear 305 have a different number of teeth from the external teeth 241 of the externally-toothed gear 204. When the flexible internally-toothed gear 305 and the externally-toothed gear 204 rotate relative to each other, the externally-toothed gear 204 rotates at a lower rotation speed than the rotor portion 207 due to the difference in the number of teeth. The hub portion 203 rotates together with the external gear 204, and the wheel also rotates together with the hub portion 203.
In the wheel drive device 300, with the above-described configuration, when the rotor portion 207 is rotated, the wheel can be rotated at a lower rotation speed than the rotor portion 207. Thus, when the wheels of the wheelchair are electrically driven by the wheel driving device 300, the traveling speed of the wheelchair can be suppressed.
Even in the wheel drive device 300, the stator portion 206, the wave generator 208, the flexible internally-toothed gear 305, and the externally-toothed gear 204 are arranged so as to be aligned in the radial direction. Therefore, the increase in the axial size of the wheel drive device 300 is suppressed.
By thus turning the clutch member 301 to the ON state, when the wheel driving device 300 rotates the rotor portion 207, the wheel can be rotated at a lower rotation speed than the rotor portion 207. That is, when the wheels of the wheelchair are electrically driven by the wheel driving device 300, the traveling speed of the wheelchair can be suppressed to be low.
Further, the brake function of the wheel drive device 300 can be released by turning the clutch member 301 OFF. Thus, for example, the wheelchair can be pushed by hand without electrically driving the wheels of the wheelchair.
In the present embodiment, the entire load applied to the wheel is received by the boss portion 203. Therefore, a load does not act on a driving device such as a motor and a speed reducer mounted inside the boss portion 203. Therefore, the weight of the wheel drive device 300 can be prevented from being increased in consideration of the strength.
< 8 > embodiment mode 8
Hereinafter, a wheel driving device according to embodiment 8 will be described. In the following description, the same reference numerals are given to the same functional and structural components as those described in the above embodiments, and redundant description is omitted.
Fig. 14 is a sectional view of a wheel drive device 400 according to embodiment 8. As shown in fig. 14, the wheel drive apparatus 400 has a shaft 202 and a hub portion 203. The boss 203 has an inner tube 231, an outer tube 232, and a side surface 233. The inner tube 231 is supported by the shaft 202 via a bearing 291 and a bearing 292. An inner peripheral end of the cover 463 is connected to an axially inner end of the shaft 202. The outer peripheral end of the cover 463 is fixed to the flange portion 404a of the internal gear 404 by a fastening member 498. The oil seal 499 contacts the outer peripheral surface of the flange portion 404a and the inner peripheral surface of the outer cylindrical portion 232 of the hub portion 203. Thus, the boss 203 can rotate about the central axis 209 with respect to the shaft 202 and the cover 463.
The wheel drive apparatus 400 has a stator portion 406. The stator portion 406 is disposed between the outer cylinder portion 232 and the inner cylinder portion 231 of the boss portion 203. The stator portion 406 generates torque for rotating the rotor portion 407. The stator portion 406 has a stator core 261 and a plurality of coils 262.
The wheel drive apparatus 400 has an internal gear (ring gear) 408 surrounding the center axis 209. The outer peripheral surface of the internal gear 404 is coupled to the inner peripheral surface of the stator core 261. Specifically, the internal gear 404 has a flange portion 404a that extends radially outward. The flange portion 404a is fixed in contact with the stator core 261 in the axial direction. With this structure, the internal gear 404 is not rotatable with respect to the central axis 209. A plurality of internal teeth 253 are provided at a fixed pitch on the inner peripheral surface of the internal gear 404.
The wheel drive apparatus 400 has a cup-shaped flexible externally toothed gear (flexible gear) 405. The flexible externally toothed gear 405 has a cylindrical portion 451 and a bottom portion 452. The cylindrical portion 451 is a cylindrical portion extending in the axial direction, surrounding the central axis 209. The cylindrical portion 451 is disposed radially inward of the internal gear 404. The bottom portion 452 is a portion extending radially inward from an axially inner end of the cylindrical portion 451. The bottom portion 452 of the flexible externally toothed gear 405 is coupled to the axially inner end portion of the inner cylindrical portion 231 of the hub portion 203.
More specifically, in a state where the bottom portion 452 is in contact with the axially inner end portion of the inner cylinder portion 231 and the partition member 459 is in contact with the axially inner end portion of the inner cylinder portion 231, the partition member 459 and the bottom portion 452 are fastened together by a fastening member 497 such as a bolt to the axially inner end portion of the inner cylinder portion 231. The partition member 459 is a substantially disk-shaped member, and its outer peripheral end portion is bent outward in the axial direction. An oil seal 471 is provided between the outer peripheral end of the partition member 459 and the internal gear 404. A plurality of external teeth 241 are provided at a fixed pitch on the outer peripheral surface of the cylindrical portion 451 of the flexible externally toothed gear 405.
The cover 463 is an annular member. As described above, the cover 463 is fixed to the axially inner side of the central axis 209 so as not to be rotatable about the central axis 209. The cover 463 holds the stator core 261 and the plurality of coils 262 by means of the internal gear 404.
The wheel drive apparatus 400 has a rotor portion 407. The rotor portion 407 holds the magnet 270 and rotates about the central axis 209. The rotor portion 407 has an inner cylindrical portion 271, an outer cylindrical portion 272, and a coupling portion 273. The rotor portion 407 has an inner peripheral end portion bent inward in the axial direction. An annular partition member 469 is fixed to an outer edge of an inner peripheral end portion of the rotor portion 407. An oil seal 492 is present between the outer peripheral surface of the partition member 469 and the inner peripheral surface of the internal gear 404. The inner peripheral end of the rotor portion 407 is connected to the inner cylindrical portion 231 of the hub portion 203 via a wave generator 408, a bearing 93, and a bearing 94, which will be described later. Thereby, the rotor portion 407 is supported rotatably with respect to the boss portion 203.
The magnet 270 is supported on the inner circumferential surface of the outer cylindrical portion 272. When a radial magnetic flux is generated from the coil 262, the magnetic flux interacts with the magnetic flux of the magnet 270. Thereby, the rotor portion 407 rotates about the central axis 209.
The wheel drive apparatus 400 has a wave generator 408. The wave generator 408 has a cylindrical cam 481 and a flexible bearing 482. The flexible bearing 482 exhibits elliptical flexure along the outer peripheral surface of the cylindrical cam 481 when viewed in the axial direction in accordance with the rotation of the cylindrical cam 481. Further, the flexible externally toothed gear 405 also flexes in an elliptical shape when viewed from the axial direction in accordance with the rotation of the cylindrical cam 481 by the flexible bearing 482. When the flexible externally-toothed gear 405 is flexed in an elliptical shape, the external teeth 241 of the flexible externally-toothed gear 405 mesh with the internal teeth 253 of the internal gear 404 at 2 in the circumferential direction. The external teeth 241 of the flexible externally toothed gear 405 and the internal teeth 253 of the internal gear 404 have different numbers of teeth. When the flexible externally toothed gear 405 and the internally toothed gear 404 rotate relative to each other, the flexible externally toothed gear 405 rotates at a lower rotation speed than the rotor portion 407 due to the difference in the number of teeth. The hub portion 203 rotates together with the flexible externally toothed gear 405, and the wheel also rotates together with the hub portion 203.
In the wheel driving device 400, with the above-described configuration, when the rotor portion 407 is rotated, the wheel can be rotated at a lower rotation speed than the rotor portion 407. Thus, when the wheels of the wheelchair are electrically driven by the wheel driving device 400, the traveling speed of the wheelchair can be suppressed.
In the present embodiment, the entire load applied to the wheel is received by the boss portion 203. Therefore, a load does not act on a driving device such as a motor and a speed reducer mounted inside the boss portion 203. Therefore, the weight of the wheel drive device 400 can be prevented from being increased in consideration of the strength.
In the wheel drive device 400, the region where the meshing portion between the external teeth 241 of the flexible externally toothed gear 405 and the internal teeth 253 of the internally toothed gear 404 is disposed is separated from the region where the stator core 261 and the magnet 270 are disposed by the partition member 459 and the partition member 469. This can prevent the grease for lubrication supplied to the meshing portion between the external teeth 241 of the flexible externally toothed gear 405 and the internal teeth 253 of the internal gear 404 from entering the region where the stator core 261 and the magnets 270 are arranged.
< 9. variation
The embodiments of the present invention have been described above, but the present invention is not limited to the above embodiments.
In the above-described embodiments, the wheel driving apparatus has been described as an apparatus for driving the wheels of a wheelchair, but the present invention is not limited to a wheelchair. The spokes 101(201) for supporting the rim are provided on the outer peripheral surface of the hub portion 3(203), but the hub portion 3(203) may be directly connected to the rim of the wheel. For example, an inner tube may be attached to the outer circumferential surface of the boss 203.
The detailed shape of the wheel drive device may be different from the shape shown in the drawings of the present application. In addition, the elements described in the above embodiments or modifications may be appropriately combined to the extent that no contradiction occurs. For example, in the wheel driving device 400 according to embodiment 8, the layout of the magnets 270 and the stator cores 261 may be changed to that according to embodiment 5.
Industrial applicability of the invention
The present application may be applied to a wheel drive apparatus.
Description of the reference symbols
2: shaft
3: hub part
4: wave generator
5. 5A, 5B: stator part
6. 6A: rotor part
7: flexible external gear (Flexible gear)
8: internal gear (Gear ring)
9: central axis
31: inner tube part
32: outer cylinder part
33: side surface part
41: cylinder cam
42: flexible bearing
51. 51A, 51B: stator core
52. 52A, 52B: coil
53. 53A, 53B: fixing part
54: gear holding part
55: insertion shaft
61. 61A: rotor magnet
62. 62A: magnet support
71: external tooth
80: connecting part
81: internal tooth
91. 92, 93, 94: bearing assembly
95: crossed roller bearing
100. 100A, 100B: wheel drive device
101: spoke
120: clutch mechanism
121: switching rod
121A: rod support
122: plate spring
122A: incision
123: pressing part
411: large diameter part
412: small diameter part
531: side hole of fixing part
541: a holding part side hole.

Claims (19)

1. A wheel driving device, which is attached to a wheel, includes:
a shaft extending in an axial direction of the central axis;
a hub portion that is rotatable relative to the shaft, the hub portion including: an annular side surface portion that circumferentially surrounds an end portion on one side of the shaft; an inner cylinder portion extending from an inner peripheral end of the side surface portion to the other axial side and surrounding the shaft in a circumferential direction; and an outer cylinder portion extending from an outer peripheral end portion of the side surface portion to the other axial side and surrounding the inner cylinder portion in a circumferential direction;
a stator portion that is provided coaxially with the hub portion and is not rotatable with respect to the central axis, and that is disposed between the inner cylinder portion and the outer cylinder portion in a ring shape in a radial direction, the stator portion having a plurality of coils in a circumferential direction;
a rotor portion that is rotatable about the central axis, is disposed coaxially with the stator portion by utilizing a space between the stator portion and the side surface portion, and holds a magnet that receives magnetic force from the plurality of coils;
an annular ring gear disposed coaxially with the inner cylindrical portion and fixed to one of the hub portion and the stator portion;
a flexible gear that is disposed so as to radially face the ring gear, is fixed to the other of the hub portion and the stator portion, and includes a flexible cylindrical portion that partially meshes with the ring gear at a position between the inner cylindrical portion and the stator portion; and
a wave generator disposed on the opposite side of the ring gear with the flexible gear interposed therebetween in the radial direction, and configured to rotate with rotation of the rotor portion to cause the flexible gear to flex into a non-perfect circular shape,
a length of the flexible gear in a radial direction is displaced by rotation of the wave generator, a meshing position where the flexible gear meshes with the ring gear is changed in a circumferential direction centering on the central axis,
the ring gear has a number of teeth different from the number of teeth of the flexible gear,
the ring gear and the flexible gear relatively rotate at a rotational speed lower than that of the rotor portion.
2. The wheel drive apparatus according to claim 1,
the wave generator circumferentially surrounds the inner cylindrical portion and is connected to a radially inner end of the rotor portion,
the flexible gear has a plurality of external teeth, surrounds the inner cylindrical portion in a circumferential direction on a radially outer side of the wave generator, and has an end portion on one side in an axial direction fixed to the stator portion,
the ring gear has a plurality of internal teeth, and is disposed between the stator portion and the flexible gear, and is connected to the other end portion of the inner cylinder portion in the axial direction.
3. The wheel drive apparatus according to claim 2,
each of the plurality of coils is configured such that a wire is wound around an axis extending in a radial direction,
the magnet is disposed radially outward of the stator portion.
4. The wheel drive apparatus according to claim 2,
each of the plurality of coils is configured such that a conductive wire is wound around an axis extending in the axial direction,
the magnet is disposed between the stator portion and the connecting portion in the axial direction.
5. The wheel drive apparatus according to any one of claims 2 to 4,
the stator portion includes:
a fixed portion fixed to the shaft so as not to be rotatable about the central axis;
a holding portion that holds the flexible gear; and
and a coupling portion that releasably couples the holding portion and the fixing portion.
6. The wheel drive apparatus according to claim 5,
the fixing part is provided with a fixing part side hole which penetrates through along the axial direction,
the holding portion has a holding portion side hole that axially overlaps with the fixing portion side hole and communicates with the fixing portion side hole,
the coupling portion has an insertion shaft extending in an axial direction, inserted into the fixing portion side hole and the holding portion side hole.
7. The wheel drive apparatus according to any one of claims 2 to 6,
the wave generator has:
a non-circular cam having a diameter that varies depending on a position in a circumferential direction and that rotates about the central axis with respect to the shaft; and
a flexible bearing disposed between the flexible gear and the non-circular cam,
the flexible bearing is deformed in correspondence with the rotation of the non-circular cam,
the flexible gear is deformed in correspondence with rotation of the non-circular cam by means of the flexible bearing.
8. The wheel drive apparatus according to claim 1,
the ring gear has a plurality of external teeth, the ring gear is fixed to the outer peripheral surface of the inner cylinder portion,
the flexible gear has a plurality of internal teeth, the flexible gear is disposed so as not to be rotatable about the central axis on a radially outer side of the ring gear,
the wave generator is held by the rotor portion radially outside the flexible gear.
9. The wheel drive apparatus according to claim 8,
each of the plurality of coils is configured such that a wire is wound around an axis extending in a radial direction,
the rotor portion has:
an inner cylindrical portion surrounding the central axis and extending in an axial direction between the stator portion and the wave generator in a radial direction; and an outer cylindrical portion surrounding the central axis and extending in an axial direction on a radially outer side of the stator portion,
the wave generator is supported by an inner circumferential surface of the inner cylindrical portion,
the magnet is supported by an inner circumferential surface of the outer cylindrical portion.
10. The wheel drive apparatus according to claim 8,
each of the plurality of coils is configured such that a conductive wire is wound around an axis extending in the axial direction,
the rotor portion has:
an inner cylindrical portion surrounding the central axis and extending in an axial direction between the stator portion and the wave generator in a radial direction; and a flange portion extending radially outward from the inner cylindrical portion,
the wave generator is supported by an inner circumferential surface of the inner cylindrical portion,
the magnet is supported by the flange portion and axially faces the stator portion.
11. The wheel drive apparatus according to claim 8,
each of the plurality of coils is configured such that a wire is wound around an axis extending in a radial direction,
the rotor portion surrounds the central axis, is cylindrical, extends in the radial direction between the stator portion and the wave generator in the axial direction, holds the wave generator on an inner circumferential surface, and holds the magnet on an outer circumferential surface,
the magnet is disposed radially inward of the stator portion.
12. The wheel drive apparatus according to any one of claims 8 to 11,
the stator portion has a fixed portion that is not rotatable about the central axis with respect to the shaft,
the flexible gear is held by the fixing portion.
13. The wheel drive apparatus according to any one of claims 8 to 12,
the wave generator has:
a cam having an outer diameter that is a perfect circle and an inner diameter that is a non-perfect circle that differs depending on a position in a circumferential direction, the cam rotating about the central axis with respect to the shaft; and
a flexible bearing disposed between the flexible gear and the cam,
the flexible bearing is deformed in correspondence with the rotation of the cam,
the flexible gear is deformed in correspondence with rotation of the cam by means of the flexible bearing.
14. The wheel drive apparatus according to claim 1,
the ring gear has a plurality of external teeth, the ring gear is fixed to the outer peripheral surface of the inner cylindrical portion,
the flexible gear has a plurality of internal teeth, an end portion of the flexible gear on the other side in the axial direction is fixed so as not to be rotatable with respect to the stator portion,
the wave generator is held by the rotor portion radially outside the flexible gear.
15. The wheel drive apparatus according to claim 14,
each of the plurality of coils is configured such that a wire is wound around an axis extending in a radial direction,
the rotor portion has: an inner cylindrical portion surrounding the central axis and extending in an axial direction between the stator portion and the wave generator in a radial direction; and an outer cylindrical portion surrounding the central axis and extending in an axial direction on a radially outer side of the stator portion,
the wave generator is supported by an inner circumferential surface of the inner cylindrical portion,
the magnet is supported by an inner circumferential surface of the outer cylindrical portion.
16. The wheel drive apparatus according to claim 15,
the wheel driving device further includes a fixed body including:
a cylindrical portion extending in an axial direction in a cylindrical shape, an inner peripheral surface of the stator portion being fixed to an outer peripheral surface of the cylindrical portion; and
a connecting portion extending radially inward from the other end of the cylindrical portion and having an inner peripheral end connected to the shaft,
the other axial end of the flexible gear is engageable with a radially inner end of the connecting portion of the fixed body.
17. The wheel drive apparatus according to claim 1,
the flexible gear has a plurality of external teeth, the flexible gear is fixed to the other end in the axial direction of the inner cylinder portion,
the ring gear having a plurality of internal teeth, the ring gear being disposed radially outward of the flexible gear so as not to be rotatable about the central axis,
the wave generator is held to the rotor radially inside the flexible gear.
18. The wheel drive apparatus according to claim 17,
each of the plurality of coils is configured such that a wire is wound around an axis extending in a radial direction,
the rotor portion has: an inner cylindrical portion surrounding the central axis and extending in an axial direction between the stator portion and the wave generator in a radial direction; and an outer cylindrical portion surrounding the central axis and extending in an axial direction on a radially outer side of the stator portion,
the wave generator is supported by an inner circumferential surface of the inner cylindrical portion,
the magnet is supported by an inner circumferential surface of the outer cylindrical portion.
19. The wheel drive apparatus according to claim 17,
the plurality of coils are each configured such that a lead wire is wound around an axis line extending in the axial direction, and the magnet is disposed between the stator portion and the connection portion in the axial direction.
CN201880049404.6A 2017-07-31 2018-07-30 Wheel drive device Active CN110959247B (en)

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