JPS6367415A - Electric servomotor locking device - Google Patents
Electric servomotor locking deviceInfo
- Publication number
- JPS6367415A JPS6367415A JP20952086A JP20952086A JPS6367415A JP S6367415 A JPS6367415 A JP S6367415A JP 20952086 A JP20952086 A JP 20952086A JP 20952086 A JP20952086 A JP 20952086A JP S6367415 A JPS6367415 A JP S6367415A
- Authority
- JP
- Japan
- Prior art keywords
- motor
- gear
- nut
- electric
- locking device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 10
- 230000009467 reduction Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
- 238000007689 inspection Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000010248 power generation Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229910052761 rare earth metal Inorganic materials 0.000 description 1
- 150000002910 rare earth metals Chemical class 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
Landscapes
- Gear-Shifting Mechanisms (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Abstract] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
〔産業上の利用分野〕
水車のガイドベーン等、従来は油圧サーボで操作されて
いたが、油圧から電動サーボに移行しつつある。本発明
はこの電動サーボの信頼性を上げるための改良に関する
。[Detailed Description of the Invention] [Industrial Application Field] Guide vanes of water turbines and the like were conventionally operated by hydraulic servo, but there is a shift from hydraulic to electric servo. The present invention relates to improvements to increase the reliability of this electric servo.
最近の小水力発電所では建設コストや保守費用を低減す
るために、小形で低価格、且つ、制御性の良い電動サー
ボが多用されるようになってきている。電動サーボの特
長として、
（１）油圧式と同等以上の開閉速度及び応答性が得られ
る。In order to reduce construction costs and maintenance costs in recent small hydroelectric power plants, electric servos that are small, inexpensive, and have good controllability are increasingly being used. The features of electric servos are: (1) Opening/closing speed and responsiveness equivalent to or higher than hydraulic types can be obtained.
（２）開閉時間及び開閉モードを自由に選ぶことができ
る。(2) Opening/closing time and opening/closing mode can be freely selected.
（３）保守が簡素化できる。(3) Maintenance can be simplified.
、（４）寿命は油圧式と同等以上である。(4) The lifespan is equal to or longer than that of the hydraulic type.
（５）電気信号によってシステム的に制御できる。(5) Can be controlled systematically by electrical signals.
以上のような要求を満足するものとして従来。Conventional products that satisfy the above requirements.
第３図のような電動サーボが実用化されている。An electric servo as shown in Fig. 3 has been put into practical use.
第３回において電動機１．ボールネジを含む推力変換機
構２、その両者は減速索車３を介して駆動力が伝達され
る。減速歯車は通常二段になっている。推力に変換する
ボールネジは、ネジ４が減速歯車によって回転し、ナツ
ト５が直線的に移動し、ロットに固定された内筒６に推
力が伝達される。In the third session, electric motor 1. A driving force is transmitted to both of the thrust conversion mechanism 2 including a ball screw via a deceleration pulley 3. Reduction gears usually have two stages. In the ball screw that converts thrust into thrust, the screw 4 is rotated by a reduction gear, the nut 5 moves linearly, and the thrust is transmitted to an inner cylinder 6 fixed to the rod.
内筒６は外筒７によって支持されている。このように構
成が複雑で、力を伝達する経路が複雑であった。水車の
ガイドベーン駆動等に用いられる電動サーボは停止、ま
たは、それに近い運転状態が多い、停止と言っても電動
機には電流を流して、水中からの反力を支え、指令で与
えられた位置に保持するような運転をしている。従って
、水車側には絶えず反力の変動があり、一定指令位置の
近辺で小さな変化をくり返している。即ち、ボールネジ
や減速歯車には揺動負荷がかかることになり。Inner cylinder 6 is supported by outer cylinder 7. As described above, the structure was complicated, and the path for transmitting force was complicated. The electric servo used to drive the guide vanes of water turbines is often at or near a stop.Even when the motor is stopped, current flows through the motor to support the reaction force from the water and move it to the position given by the command. Drive like you're holding on. Therefore, there are constant fluctuations in the reaction force on the water turbine side, and small changes are repeated in the vicinity of a fixed command position. In other words, a swinging load is applied to the ball screw and reduction gear.
バツクラツシによって歯車やボールネジの寿命が短くな
る欠点があった。しかし、ボールネジのバックラッシュ
は非常に小さいので一般的にあまり問題とはならず、歯
車の方が問題となる。歯車もバックラツシを小さくする
ことは可能であるが、かみ合いがきつくなり、トルクの
伝達効率が悪くなるので、特に、減速歯車の信頼性が問
題となっていた。また、従来例ではネジを回転させ、ナ
ツト部に内筒６を固着して出力軸としており部品点数が
多くなっている欠点があった。There was a drawback that the lifespan of the gears and ball screws was shortened due to the backlash. However, the backlash of ball screws is so small that it generally does not pose much of a problem, but it is more of a problem for gears. Although it is possible to reduce the backlash of gears, the meshing becomes tight and the torque transmission efficiency deteriorates, so the reliability of reduction gears in particular has become a problem. Further, in the conventional example, the output shaft is formed by rotating a screw and fixing the inner cylinder 6 to the nut portion, which has the disadvantage of increasing the number of parts.
更に、水力発電設備用に於っては水車内部点検の為に歯
動サーボモータを任意の位置に固定し誤操作による開閉
動作を防止する必要があるため電磁ブレーキ８でロック
したり手動開閉機構９のハンドル（駆動軸）をロックし
電動サーボモータ１０の駆動軸のロックを行なっている
がこれでは手動操作機構やブレーキに異常発生時点検、
調整時には用をなさない欠点があった。Furthermore, for hydroelectric power generation equipment, it is necessary to fix the toothed servo motor in a desired position to prevent opening/closing operations due to erroneous operation in order to inspect the inside of the water turbine. The handle (drive shaft) of the electric servo motor 10 is locked and the drive shaft of the electric servo motor 10 is locked.
There was a drawback that made it useless during adjustment.
常時使用状態で局部摩耗の発生する様な機構を少なくし
長寿命、高信頼性の確保と保守の簡素化を図る事を目的
とした電動サーボモータにおいて水車設備内部点検の為
にガイドベーンを任意開度に保持する場合、従来技術で
は凸ツク装置の入念的な誤操作防止、又は、電磁ブレー
キや電動機に不具合発生時の分解１点検を必要とする場
合等に対してのガイドベーンロックには考慮されておら
ずこの様な場合には水力発電設備の全停（導水管抜水処
置等）を必要とする問題があった。Optional guide vanes are available for internal inspection of water turbine equipment in electric servo motors that aim to reduce the mechanism that causes local wear under constant use, ensure long life, high reliability, and simplify maintenance. When holding the open position, conventional technology requires careful consideration to prevent erroneous operation of the convex locking device, or to lock the guide vane in cases where a disassembly and inspection is required when a malfunction occurs in the electromagnetic brake or electric motor. However, in such cases, there was a problem in that the entire hydroelectric power generation facility had to be shut down (drainage of water pipes, etc.).
本発明の目的は上記不具合を解決することにある。An object of the present invention is to solve the above-mentioned problems.
従来の減速歯車装置を無くし電動機で直接ボールネジの
ナツトを回転させて小型化、軽量化を図る電動機に於い
て、ボールナツト固定軸の軸端に取付けた制御機器増速
用歯車を用いてこれに噛み合うラックを備える事により
ガイドベーンサーボモータ任意の位置で電動サーボモー
タ操作軸を直接ロック可能としこの問題の解決を図る。In an electric motor that aims to be smaller and lighter by eliminating the conventional reduction gear device and directly rotating the nut of the ball screw with the electric motor, a control device speed-up gear attached to the shaft end of the ball nut fixed shaft is used to mesh with this. By providing a rack, the electric servo motor operating shaft can be directly locked at any position on the guide vane servo motor, thereby solving this problem.
第１図に本発明の基本構成を示す。１１は永久磁石界磁
のブラシレス電動機であり、特に、一般の電動機よりは
極数が多く、電動機の中心部の穴を大きくしてボールネ
ジを通すことを可能にしている。１８が電動機の固定子
、１９は回転子磁極で、永久磁石である。ボールネジ２
０のナツト２１は回転子ヨーク１２に直接固着され、ナ
ツト２１が回転すればボールネジ２０が軸方向に移動し
。FIG. 1 shows the basic configuration of the present invention. Reference numeral 11 denotes a brushless motor with a permanent magnet field, and in particular, the number of poles is larger than that of a general motor, and the hole in the center of the motor is enlarged to allow a ball screw to pass through. 18 is a stator of the electric motor, and 19 is a rotor magnetic pole, which is a permanent magnet. ball screw 2
The nut 21 of No. 0 is fixed directly to the rotor yoke 12, and when the nut 21 rotates, the ball screw 20 moves in the axial direction.
連結金具３０およびリンク３１を介してゲートシャフト
アーム３２を回動させゲートシャフト３３を回動させる
ゲートシャフトの回動は水車用ガイドベーンを開閉操作
するように推力を伝達する。The rotation of the gate shaft, which rotates the gate shaft arm 32 and rotates the gate shaft 33 via the connecting fitting 30 and the link 31, transmits thrust to open and close the guide vanes for the water turbine.
図中の破線は駆動力の伝達経路を示す。The broken line in the figure indicates the transmission path of the driving force.
一般にガイドベーンを駆動するためのストロークは約３
００［１前後と比較的短く、それに対して水車本体と電
動サーボとの位置は、配置の都合上あまり近接させるこ
とができなくて、かなり長い出力軸が必要となる。実際
にネジ部として必要なのは、ストローク長さとナツト部
の長さに、ある程度余裕を持った長さで良く、その先の
部分１３は表面が滑らかな丸棒として一体に安価にでき
る。Generally, the stroke to drive the guide vane is approximately 3
It is relatively short at around 0.00 [1], but the water turbine itself and the electric servo cannot be placed very close to each other due to the arrangement, so a fairly long output shaft is required. What is actually required for the threaded part is a length with some margin between the stroke length and the length of the nut part, and the part 13 beyond that can be made into a round bar with a smooth surface at a low cost.
出力軸の一端はボールネジのナツトで支持しているが他
端は出力軸の滑らかな部分を利用して外筒１７と軸度１
４によって支持する。このようにすることによって第３
図に示した従来例における内筒６を省線することができ
る。ま九従来のようにナツトが移動する訳ではないので
外ＷＪ７自体も強度上必要とする以上に太くしなくても
良い。One end of the output shaft is supported by a ball screw nut, and the other end is connected to the outer cylinder 17 using the smooth part of the output shaft.
Supported by 4. By doing this, the third
The inner cylinder 6 in the conventional example shown in the figure can be omitted. Also, since the nut does not move like in the conventional case, the outer WJ 7 itself does not have to be thicker than necessary for strength.
以上のように従来のネジを回転駆動する方法から本発明
のようにナツトを回転駆動し、ネジは回転せず軸方向に
出入りする構造にして、できるだけ小形軽量にするため
には、第１図のようにナツト２１−を電動機回転子ヨー
ク１２の内径側に直接取付ける必要がある。このために
電動機回転子ヨーク内径を大きくすることが必要になる
。一般に、このような要求に応えるためには、電動機の
極数を多くして１極当りの必要磁束量を少くしてヨーク
１２の厚さを小さく、又磁石も希土類を用いて磁石厚さ
を小さくした永久磁石界磁のブラシレスモータが良い、
また、軸受１５は例えば、テーパローラ一対で回転方向
と左右両方向の推力を同時に支持する。他端の軸受１６
は普通のボールベアリングで半径方向の荷重のみを受け
る。又軸の伸縮を考慮して軸方向にはスライドできるよ
うにする。第１図の破線で示すように力の伝達は最終的
には外筒１７から基礎２２で支持されることになる。一
般に、電動機は枠の両端にブラケットを取付けて軸受を
支持するのが普通であるが、従来例のように、第３図の
減速歯車を設ける方法では軸方向の力は電動機にかから
ないからブラケット支持でも良かった。しかし本案のよ
うに電ａ機自身で推力を受ける構造ではブラケットのた
わみ剛性が問題となって強度的に問題となる。そこで本
発明ではブラケットを省略し、軸受１５．１６を直接外
筒枠７で支持する構造とした。このような構造にすると
軸受１５，１６は径の大きなものを用いることになり周
速が大となって寿命の問題が発生する。しかし、本発明
で考えているような用途では、一般に、回転数は高くな
い。また、回転数が高くてもその高速回転の持続時間と
頻度は少ない、特に問題とはならない。As described above, in order to make the nut as small and lightweight as possible by rotating the nut as in the present invention instead of the conventional method of rotationally driving the screw, the screw does not rotate but moves in and out in the axial direction. It is necessary to directly attach the nut 21- to the inner diameter side of the motor rotor yoke 12 as shown in FIG. For this reason, it is necessary to increase the inner diameter of the motor rotor yoke. Generally, in order to meet such demands, the number of poles of the motor is increased to reduce the amount of magnetic flux required per pole, the thickness of the yoke 12 is reduced, and the thickness of the magnet is reduced by using rare earth metals. A brushless motor with a small permanent magnet field is better.
Further, the bearing 15 simultaneously supports thrust in both the rotational direction and the left and right directions using, for example, a pair of tapered rollers. Bearing 16 at the other end
is a normal ball bearing that only receives loads in the radial direction. Also, considering the expansion and contraction of the shaft, it should be possible to slide in the axial direction. As shown by the broken line in FIG. 1, the force is ultimately transmitted from the outer cylinder 17 to the foundation 22. Generally, electric motors have brackets attached to both ends of the frame to support the bearings, but in the conventional method of providing a reduction gear as shown in Figure 3, the axial force is not applied to the electric motor, so brackets are supported. But it was good. However, in a structure in which the electric machine itself receives thrust as in the present proposal, the bending rigidity of the bracket becomes a problem, which poses a problem in terms of strength. Therefore, in the present invention, the bracket is omitted and the bearings 15 and 16 are directly supported by the outer cylinder frame 7. If such a structure is adopted, bearings 15 and 16 having large diameters will be used, which will increase the circumferential speed and cause a problem with the service life. However, in applications such as those contemplated by the present invention, the rotational speed is generally not high. Furthermore, even if the rotational speed is high, the duration and frequency of the high-speed rotation is small and does not pose a particular problem.
以上の構成の電動サーボモータに於て停止位置保持用電
磁ブレーキ８や手動ハンドル２９及び非常閉鎖用エアー
モータ等は、出力軸２０よりも高速化した軸に取付ける
方が操作力が小さくて済み操作もしやすい。また、フィ
ードバック制御のための駆動軸位置検出用エンコーダ３
０は出力軸２０に直結するとボールネジがあるために中
心孔が大きな特殊なエンコーダとなり入手が困難となる
そのため、固定子の一端に特別に歯車２６を設けこの歯
車を介して電磁ブレーキ８．エンコーダ３０、手動操作
用ハンドル２９及び非常閉鎖用エアーモータ等を取付け
る。更に、本発明はこの歯車に噛み合うラック２２を歯
車装置を安全に保護するケース１７に取付けることによ
り、電動サーボモータの任意の開度において、ストロー
クをロックする事が可能となる。In the electric servo motor with the above configuration, the electromagnetic brake 8 for holding the stop position, the manual handle 29, the air motor for emergency closing, etc. can be mounted on a shaft that has a higher speed than the output shaft 20 because the operating force is smaller and the operation is easier. It's easy too. In addition, an encoder 3 for detecting the drive shaft position for feedback control
If 0 is directly connected to the output shaft 20, it will be a special encoder with a large center hole due to the ball screw, making it difficult to obtain. Therefore, a gear 26 is specially provided at one end of the stator, and the electromagnetic brake 8. Attach the encoder 30, manual operation handle 29, emergency closing air motor, etc. Further, in the present invention, by attaching the rack 22 that meshes with the gear to the case 17 that safely protects the gear device, it is possible to lock the stroke at any opening of the electric servo motor.
本方式により電磁ブレーキやロータリーエンコーダ、手
動操作機構のトラブルに対しても確実に水車用ガイドベ
ーンをロックした状態で点検、保修が可能となる。This method makes it possible to reliably inspect and maintain the water turbine guide vane in a locked state, even in the event of trouble with the electromagnetic brake, rotary encoder, or manual operation mechanism.
第２図に本発明のロック装置の取付図を示すロック用ラ
ック２２は常時は第２図（ｂ）のように保持されており
ロック時は第２図（ｃ）のようになる。このため歯車２
６は回転を阻害される、従って、第１図ボールナツトに
は回転せず現状位置保持となり１３駆動軸はガイドベー
ン開閉操作用ゲートシャフト３３を任意の開度に保持出
来る一方、電磁ブレーキ８やロータリーエンコーダ３０
及び手動操作機構２９の保守点検はこの状態でも作業実
施可能である。FIG. 2 shows an installation diagram of the locking device of the present invention. The locking rack 22 is normally held as shown in FIG. 2(b), and when locked, it is as shown in FIG. 2(c). For this reason, gear 2
6 is prevented from rotating. Therefore, the ball nut in Fig. 1 does not rotate and maintains its current position. The drive shaft 13 can hold the gate shaft 33 for opening and closing the guide vane at any desired opening, while the electromagnetic brake 8 and rotary encoder 30
Maintenance and inspection of the manual operation mechanism 29 can also be carried out in this state.
更に駆動軸を直接ロックする事により電磁ブレーキ、電
動機、電動操作機構の保守点検、調整をも独立とて可能
とする事が出来るメリットがある。Furthermore, by directly locking the drive shaft, there is the advantage that maintenance, inspection, and adjustment of the electromagnetic brake, electric motor, and electric operating mechanism can be carried out independently.
本発明によれば高速側で操作されるため、操作力が小さ
く機器を小型化出来て操作も容易となる、かつ、高信頼
性が得られる。According to the present invention, since the device is operated at high speed, the operating force is small, the device can be downsized, and the device can be easily operated, and high reliability can be obtained.
第１図は本発明の一実施例の電動サーボの機構図、第２
図は本発明の側面図及びロック装置詳細図、第３図は従
来例の電動サーボの機成図である。
１１・・・プラスレス電動機。
ρ、・、６、代理人 弁理士 小川勝男 ′・、 ノ
寒Ｚ図
＜１）
百 ３ 図Fig. 1 is a mechanical diagram of an electric servo according to an embodiment of the present invention;
The figures are a side view and a detailed view of the locking device of the present invention, and FIG. 3 is a mechanical diagram of a conventional electric servo. 11...Plusless electric motor.
ρ,・,6, Agent Patent Attorney Katsuo Ogawa ′・, Nokan Z Diagram <1) 100 3 Diagram
Claims (1)
多数の磁極と、それを支え、磁路となるヨークから成る
回転子を設えるブラシレスモータ方式の電動サーボモー
タにおいて、 その回転力を軸方向推力に変換するボールネジ及びナッ
トを前記電動機の内側に直接組込み、前記ナットを回転
させることによつて軸方向推力を得る構造とし、電動機
軸の一端に増速用の歯車を設け、前記歯車によつて操作
に必要な機器類を取付けるようにし、前記歯車に噛み合
うラックを備え、このラックを往復動させ歯車と噛み合
せることにより電動機軸を任意の位置に固定出来る様に
した事を特徴とする電動サーボモータロック装置。[Claims] 1. A brushless motor type electric servo motor equipped with a stator frame, a motor stator, a relatively large number of magnetic poles consisting of permanent magnets, and a rotor consisting of a yoke that supports the magnetic poles and serves as a magnetic path. A ball screw and a nut for converting the rotational force into axial thrust are directly installed inside the electric motor, and the axial thrust is obtained by rotating the nut, and one end of the motor shaft is equipped with a speed increasing A gear is provided, equipment necessary for operation is attached to the gear, and a rack that meshes with the gear is provided, and by reciprocating this rack and meshing with the gear, the motor shaft can be fixed at an arbitrary position. An electric servo motor locking device characterized by:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20952086A JPS6367415A (en) | 1986-09-08 | 1986-09-08 | Electric servomotor locking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20952086A JPS6367415A (en) | 1986-09-08 | 1986-09-08 | Electric servomotor locking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6367415A true JPS6367415A (en) | 1988-03-26 |
Family
ID=16574151
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP20952086A Pending JPS6367415A (en) | 1986-09-08 | 1986-09-08 | Electric servomotor locking device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6367415A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5433473A (en) * | 1977-07-14 | 1979-03-12 | Gram Brdr As | Device of treating article with elevator for transporting carpettlike transporting stand in vertical direction |
| JPS5824551B2 (en) * | 1976-07-02 | 1983-05-21 | 株式会社日阪製作所 | Centralized liquid volume control device for multiple fiber processing machines |
| JPS58207563A (en) * | 1982-03-15 | 1983-12-03 | カ−ネイ・アンド・トレツカ−・コ−ポレ−シヨン | Ball nut device |
| JPS6122189A (en) * | 1984-07-06 | 1986-01-30 | 瀧川 精一 | Fixing device for ceramic fiber lining |
-
1986
- 1986-09-08 JP JP20952086A patent/JPS6367415A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5824551B2 (en) * | 1976-07-02 | 1983-05-21 | 株式会社日阪製作所 | Centralized liquid volume control device for multiple fiber processing machines |
| JPS5433473A (en) * | 1977-07-14 | 1979-03-12 | Gram Brdr As | Device of treating article with elevator for transporting carpettlike transporting stand in vertical direction |
| JPS58207563A (en) * | 1982-03-15 | 1983-12-03 | カ−ネイ・アンド・トレツカ−・コ−ポレ−シヨン | Ball nut device |
| JPS6122189A (en) * | 1984-07-06 | 1986-01-30 | 瀧川 精一 | Fixing device for ceramic fiber lining |
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