WO2015034066A1 - アクチュエータ - Google Patents
アクチュエータ Download PDFInfo
- Publication number
- WO2015034066A1 WO2015034066A1 PCT/JP2014/073563 JP2014073563W WO2015034066A1 WO 2015034066 A1 WO2015034066 A1 WO 2015034066A1 JP 2014073563 W JP2014073563 W JP 2014073563W WO 2015034066 A1 WO2015034066 A1 WO 2015034066A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- actuator
- output shaft
- motor
- rolling element
- screw shaft
- Prior art date
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
- F16H25/2204—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with balls
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/2025—Screw mechanisms with means to disengage the nut or screw from their counterpart; Means for connecting screw and nut for stopping reciprocating movement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/24—Elements essential to such mechanisms, e.g. screws, nuts
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- 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
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H2025/2062—Arrangements for driving the actuator
- F16H2025/2075—Coaxial drive motors
Definitions
- the present invention relates to an actuator, and more particularly to an actuator that uses the rotation of a motor as a driving force.
- an actuator that rotates a target member by rotation of the motor using a motor.
- a ball screw nut of a ball screw device is adopted as a target member, and a screw shaft screwed to the ball screw nut is moved in the axial direction, thereby constituting a rod type actuator that constitutes a linear actuator.
- Actuators are also known.
- the cover member that covers the screw shaft is attached to the end of the case in which the motor and the ball screw nut are housed.
- the axial dimension of the actuator increases due to the contact length of the cover member.
- the present invention has been made to solve the above-described problems, and an object of the present invention is to provide an actuator capable of reducing the size of the actuator both in the axial direction and in the radial direction of the motor.
- An actuator includes a motor having an output shaft, a motor housing in which the motor is accommodated, an outer ring, and an inner ring that is rotatably assembled to the outer ring, and rotatably supports a target member.
- the cross roller bearing since the cross roller bearing is adopted, the load in the axial direction and the rotational direction can be received by a single bearing, and the inner ring of the cross roller bearing is accompanied by the rotation of the target member and the output shaft. Therefore, the size of the actuator can be reduced by reducing the number of components.
- FIG. 2 is a sectional view taken along line AA in FIG. 1.
- FIG. 1 is a front view of an actuator according to the first embodiment of the present invention
- FIG. 2 is a cross-sectional view taken along line AA in FIG. 1
- FIG. 3 is according to the first embodiment of the present invention
- FIG. 4 is an exploded view of the actuator
- FIG. 4 is a cross-sectional view for explaining a state where the screw shaft is contracted.
- the actuator 1 includes a motor housing 11 in which a motor is housed, and a telescopic member 50 that covers a ball screw 40 described later.
- the motor 10 housed in the motor housing 11 includes a hollow output shaft 13a in which a through hole is formed along the axial direction, and a permanent magnet 13b arranged on the outer periphery of the output shaft 13a. And a stator coil 12 disposed with a predetermined gap along the circumferential direction with the rotor 13.
- the stator coil 12 is attached to the inner peripheral wall of the motor housing 11, and the proximal end side of the output shaft 13a is rotatably supported by a bearing 70 attached to the bottom of the motor housing 11.
- the distal end side of the output shaft 13a is defined as the left end side of the output shaft 13a in FIG. 2
- the proximal end side is defined as the right end side of the output shaft 13a.
- the front end side of the output shaft 13a has an outer ring 21 in which a V-shaped rolling surface is formed on the inner peripheral side, and a V-shaped rolling surface on the outer peripheral surface so as to face the rolling surface.
- the rolling surfaces of the outer ring 21 and the inner ring 22 so that the rotation axes of the inner ring 22 and the cylindrical roller 23 adjacent to the outer ring 21 intersect with each other.
- a cross roller bearing 20 having a plurality of rollers 23 arranged therebetween.
- a ball screw 40 as a target member is attached to the front end side of the output shaft 13a via a support body 30, and the ball screw nut 42 as a nut member rotates by the rotation of the motor 10, whereby the ball A screw shaft 41 screwed with the screw nut 42 is movable along the axial direction.
- the support 30 includes a shaft attachment portion 31 that fits on the distal end side of the output shaft 13a, and a diameter expansion portion 32 that extends in the radial direction from the end portion of the shaft attachment portion 31, and the diameter expansion portion.
- a concave portion 32a is formed at the tip of 32 along the outer periphery of the enlarged diameter portion.
- the ball screw 40 has a screw shaft 41 in which a spiral rolling element rolling surface 41a formed at a predetermined lead angle is formed on the outer peripheral surface, and a through hole through which the screw shaft 41 is inserted in the axial direction. Between the ball screw nut 42 in which the loaded rolling element rolling surface 42a facing the rolling element rolling surface 41a is formed on the inner peripheral surface of the through hole, and between the rolling element rolling surface 41a and the loaded rolling element rolling surface 42a. A plurality of rolling elements 43 that roll. Note that the cross-sectional shapes of the rolling element rolling surface 41 a and the loaded rolling element rolling surface 42 a are formed into a single arc having a slightly larger curvature than the diameter of the rolling element 43, a so-called circular arc shape.
- the rolling element 43 rolls on a rolling element rolling path composed of the rolling element rolling surface 41a and the loaded rolling element rolling surface 42a while applying a load, and rolls from the starting point to the end point of the rolling element rolling path.
- the running rolling element 43 is returned to the starting point of the rolling element rolling path by the rolling element return path formed in the return member 42c attached to the ball screw nut 42 and is infinitely circulated.
- the ball screw nut 42 is formed so that a flange 42b for attaching the ball screw nut 42 to the output shaft 13a is expanded in the radial direction, and is supported rotatably by the cross roller bearing 20.
- the outer ring 21 of the cross roller bearing 20 is assembled to a receiving seat 11 a formed at the end of the motor housing 11 and fixed so as to be sandwiched between the lid 14 and the motor housing 11.
- the motor housing 11 and the lid body 14 are fastened and fixed by fastening bolts 11b as shown in FIG. 3, and the fastening bolts 11b are respectively formed at the corners of the motor housing 11 to thereby form an annular outer ring 21.
- the fastening bolt 11b are arranged so as not to interfere with each other.
- the inner ring 22 is sandwiched between the concave portion 32a of the support 30 and the flange portion 42b of the ball screw nut 42 and is rotatably assembled to the outer ring 21.
- the support 30 and the flange 42b of the ball screw nut 42 are fastened and fixed by a bolt 33 between the support 30 and the flange 42b via a predetermined gap.
- the output shaft 13a and the ball screw nut 42 are rotatably supported by the cross roller bearing 20, the axial direction, the radial direction and the output shaft 13a and the ball screw nut 42 are Each load in the circumferential direction can be applied, and the size of the actuator 1 can be reduced by reducing the number of components.
- the inner ring 22 is sandwiched between the concave portion 32a of the support 30 and the flange portion 42b of the ball screw nut 42, the smaller diameter cross roller bearing 20 is adopted without considering the diameter of the ball screw nut 42.
- the ball screw nut 42 is protruded and assembled to the outside of the motor housing 11 through a hole 14a formed in the lid body 14, and as shown in FIG. Is covered with the elastic member 50.
- the axial dimension of the motor housing 11 can be designed to be small.
- the ball screw nut 42 and the inner ring 22 are assembled to each other by bolts 33 along the axial direction from one of the motor housing 11 in the axial direction (the upper side in FIG. 3).
- the bolt 33 can be attached / detached without having to remove other members when the bolt 33 is attached / detached.
- the bolt 33 can be easily attached and detached, and the ball screw 40 can be easily replaced.
- the expansion / contraction member 50 is a cylindrical member formed in a bellows shape, and one end is attached to the motor housing 11 and the other end is attached to the tip of the screw shaft 41.
- the expansion / contraction member 50 expands / contracts with the movement of the screw shaft 41, thereby preventing dust from entering the actuator 1 and exposing the ball screw nut 42 to the outside.
- an anchoring means 60 for preventing the inner peripheral surface of the output shaft 13 a and the rolling element rolling surface 41 a formed on the outer peripheral surface of the screw shaft 41 from contacting is attached to the proximal end side of the screw shaft 41. It has been.
- the anti-vibration means 60 is a resin collar formed with a diameter slightly larger than that of the screw shaft 41, and is the case where the proximal end of the screw shaft 41 is shaken in the radial direction and the circumferential direction during the axial movement.
- the inner peripheral surface of the output shaft 13a and the anti-vibration means 60 are in contact with each other to prevent the rolling element rolling surface 41a from being damaged and the dust from adhering to the rolling element rolling surface 41a. Since the diameter can be designed to be large, the rigidity of the ball screw 40 can be ensured.
- FIG. 5 is a front view of an actuator according to the second embodiment of the present invention
- FIG. 6 is a side view of the actuator according to the second embodiment of the present invention
- FIG. -B is a cross-sectional view.
- the actuator 2 has a turntable 80 attached as a target member.
- the turntable 80 includes a disk-like turntable main body 80 and a turntable shaft 82 extending in the axial direction from the turntable main body 81 as shown in FIG. 7.
- the turntable 80 employs the same mounting method as that of the actuator 1 according to the first embodiment described above, and the outer ring 21 of the cross roller bearing 20 is attached to a receiving seat 11a formed at the end of the motor housing 11. It is assembled and fixed so as to be sandwiched between the lid 14 and the motor housing 11.
- the motor housing 11 and the lid body 14 are fastened and fixed by fastening bolts 11b as shown in FIG. 6, and the fastening bolts 11b are respectively formed at the corners of the motor housing 11 to thereby form an annular outer ring 21.
- the fastening bolt 11b are arranged so as not to interfere with each other.
- the inner ring 22 is sandwiched between the recess 32 a of the support 30 and the turntable body 81 and is rotatably assembled to the outer ring 21.
- the support 30 and the turntable 80 are fastened and fixed by a bolt 33 between the support 30 and the turntable main body 81 via a predetermined gap.
- the turntable 80 is assembled so as to protrude to the outside of the motor housing 11 through a hole 14a formed in the lid body 14. Further, the turntable 80 and the inner ring 22 are assembled to each other by bolts 33 along the axial direction from one of the motor housing 11 in the axial direction (left side in FIG. 7). With this configuration, for example, when it is desired to change the turntable 80 in order to change the table diameter, the bolt 33 can be attached and detached without having to remove other members when the bolt 33 is attached or detached. 33 can be easily attached and detached, and the turntable 80 can be easily replaced.
- FIG. 8 is a cross-sectional view of an actuator according to the third embodiment of the present invention
- FIG. 9 is an enlarged view of a portion C in FIG.
- the actuator 3 according to the present embodiment uses the motor 10 having a solid output shaft 13a, and is arranged so that the output shaft 13a and the screw shaft 41 are substantially parallel to each other. Yes.
- the actuator 3 according to this embodiment uses the solid motor 10 for the output shaft 13a, an inexpensive motor can be used, and the cost can be suppressed.
- the screw shaft 41 is assembled so as to be able to advance and retreat in the axial direction as the ball screw nut 42 rotates. In a so-called most contracted state where the screw shaft 41 moves to the proximal end side, the screw shaft 41 is These are arranged so as to protrude to the motor 10 side.
- a gear 35 is attached to the output shaft 13 a, and the gear 35 meshes with a rotary gear 36 as a support disposed concentrically with the screw shaft 41.
- the rotating gear 36 is arranged so that the inner ring 22 of the cross roller bearing is sandwiched between the ball screw nut 42 and the rotating gear 36, and the rotation of the motor 10 is transmitted to the ball screw nut 42.
- the rotation gear 36 has a through hole 36a through which the screw shaft 41 can be inserted, and prevents the rotation gear 36 and the screw shaft 41 from interfering when the screw shaft 41 moves to the proximal end side. is doing.
- the gear 35 and the rotating gear 36 are so-called helical gears whose tooth surfaces are inclined with respect to the rotating shaft. With this configuration, the noise of the motor 10 is increased due to the synergistic effect of the adoption of the cross roller bearing 20. And smoothness of meshing between the gear 35 and the rotating gear 36 are realized.
- the ball screw nut 42, the inner ring 22 and the rotating gear 36 are assembled to each other by a bolt 33 along the axial direction from one of the motor housing 11 in the axial direction (left side in FIG. 9).
- the bolt 33 can be attached / detached without having to remove other members when the bolt 33 is attached / detached.
- the bolt 33 can be easily attached and detached, and the ball screw 40 can be easily replaced.
- the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the present invention.
- the rolling element rolling surface and the loaded rolling element rolling surface are formed in a circular arc shape.
- a so-called gothic arch that combines two arcs is used. You may form in a shape.
- the ball screw nut 42 used for the ball screw 40 which screwed together the screw shaft 41 as a nut member via the some rolling element 43 was applied was demonstrated, You may apply the nut member used for what is called a slide screw without the rolling element 43 interposed.
- the actuator 1 which concerns on 1st Embodiment demonstrated the case where the cylindrical member formed in the shape of a bellows was applied as an expansion-contraction member
- the expansion-contraction member will be what form if it can expand-contract in an axial direction.
- the structure in which the proximal end side of the screw shaft 41 is exposed has been described.
- the proximal end side of the screw shaft 41 is separately covered with a cover member or the like. You may comprise so that it may cover.
- the anti-vibration means 60 may be attached to the proximal end side of the screw shaft 41. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Transmission Devices (AREA)
Abstract
Description
図1は、本発明の第1の実施形態に係るアクチュエータの正面図であり、図2は、図1におけるA-A断面図であり、図3は、本発明の第1の実施形態に係るアクチュエータの分解図であり、図4は、ねじ軸が縮んだ状態を説明するための断面図である。
以上説明した第1の実施形態に係るアクチュエータ1では、対象部材がボールねじナット42であった場合について説明を行った。次に説明する第2の実施形態のアクチュエータは、第1の実施形態とは異なる形態を有する実施例について説明を行うものである。なお、上述した第1の実施形態の場合と同一又は類似する部材については、同一符号を付して説明を省略する。
以上説明した第1及び第2の実施形態に係るアクチュエータ1,2では、出力軸13aと支持体30とが同軸に配置された場合について説明を行った。次に説明する第3の実施形態のアクチュエータは、第1及び第2の実施形態とは異なる形態を有する実施例について説明を行うものである。なお、上述した第1及び第2の実施形態の場合と同一又は類似する部材については、同一符号を付して説明を省略する。
支持体, 40 ボールねじ, 41 ねじ軸, 41a 転動体転走面, 42 ボールねじナット, 42a 負荷転動体転走面, 43 転動体, 50
伸縮部材, 60 振止手段。
Claims (8)
- 出力軸を有するモータと、
前記モータが収納されるモータ筺体と、
外輪と、前記外輪に対して回転可能に組み付けられる内輪を有すると共に、対象部材を回転可能に支持するクロスローラベアリングと、を有して前記対象部材を回転せしめるアクチュエータであって、
前記外輪は、前記モータ筺体に取付けられ、
前記内輪は、前記出力軸の回転に伴って回転する支持体と、前記支持体に固定される前記対象部材とによって挟持されていることを特徴とするアクチュエータ。 - 請求項1に記載のアクチュエータにおいて、
前記対象部材は、前記出力軸の回転に伴って回転するナット部材であって、
前記ナット部材に螺合するねじ軸とを備えることを特徴とするアクチュエータ。 - 請求項2に記載のアクチュエータにおいて、
前記ねじ軸は、長手方向に沿って形成されら螺旋状の転動体転走溝を有し、
前記ナット部材は、前記ねじ軸が挿通可能に形成されると共に、内周面に前記転動体転走面と対向する負荷転動体転走面を有する貫通孔が形成され、
前記転動体転走面及び前記負荷転動体転走面の間に複数の転動体が配列され、
前記ナット部材は、前記モータ筺体から突出して配置されていることを特徴とするアクチュエータ。 - 請求項2又は3に記載のアクチュエータにおいて、
前記ナット部材は、一方端が前記モータ筺体に取付けられ、他方端が前記ねじ軸に取付けられた伸縮部材によって覆われていることを特徴とするアクチュエータ。 - 請求項2から4のいずれか1項に記載のアクチュエータにおいて、
前記ねじ軸は、前記モータ側の基端に振止手段を備えることを特徴とするアクチュエータ。 - 請求項2から5のいずれか1項に記載のアクチュエータにおいて、
前記出力軸は、中空に形成されると共に、前記ねじ軸が出力軸に挿通配置されることを特徴とするアクチュエータ。 - 請求項4又は5に記載のアクチュエータにおいて、
前記支持体は、前記出力軸に取り付けられた歯車に噛み合うと共に、前記対象部材と共に前記内輪を挟持する回転歯車であることを特徴とするアクチュエータ。 - 請求項1から7のいずれか1項に記載のアクチュエータにおいて、
前記対象部材は、前記出力軸の軸方向に沿って着脱可能に組み付けられることを特徴とするアクチュエータ。
Priority Applications (3)
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CN201480048945.9A CN105518344B (zh) | 2013-09-05 | 2014-09-05 | 致动器 |
DE112014004089.4T DE112014004089T5 (de) | 2013-09-05 | 2014-09-05 | Stellglied |
US14/914,376 US10465776B2 (en) | 2013-09-05 | 2014-09-05 | Actuator with cross-roller bearing |
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JP2013-184378 | 2013-09-05 | ||
JP2013184378 | 2013-09-05 | ||
JP2014-181223 | 2014-09-05 | ||
JP2014181223A JP6636690B2 (ja) | 2013-09-05 | 2014-09-05 | アクチュエータ |
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US (1) | US10465776B2 (ja) |
JP (1) | JP6636690B2 (ja) |
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Cited By (2)
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JP2015086931A (ja) * | 2013-10-30 | 2015-05-07 | オリエンタルモーター株式会社 | リニアアクチュエータ |
JP2020205745A (ja) * | 2016-04-13 | 2020-12-24 | ジェネシス ロボティクス アンド モーション テクノロジーズ カナダ アンリミテッド ライアビリティ カンパニー | 半径方向内側スラスト軸受及び半径方向外側スラスト軸受を備える軸方向磁束電気機械 |
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CN111900826B (zh) * | 2020-08-06 | 2022-07-15 | 珠海格力电器股份有限公司 | 一种轴伸可伸缩的电机 |
EP4237725A1 (en) * | 2020-12-04 | 2023-09-06 | Safe Isolations LLC | Activation system for pipeline plug |
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2014
- 2014-09-05 DE DE112014004089.4T patent/DE112014004089T5/de active Pending
- 2014-09-05 JP JP2014181223A patent/JP6636690B2/ja active Active
- 2014-09-05 US US14/914,376 patent/US10465776B2/en active Active
- 2014-09-05 WO PCT/JP2014/073563 patent/WO2015034066A1/ja active Application Filing
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JP2005073320A (ja) * | 2003-08-28 | 2005-03-17 | Nsk Ltd | モータ内蔵形ボールねじ装置 |
JP2008185043A (ja) * | 2007-01-26 | 2008-08-14 | Toyota Motor Corp | 直動アクチュエータ |
JP2010069995A (ja) * | 2008-09-17 | 2010-04-02 | Jtekt Corp | 電動パワーステアリング装置 |
WO2013008539A1 (ja) * | 2011-07-13 | 2013-01-17 | 株式会社アイエイアイ | アクチュエータ |
JP3174891U (ja) * | 2012-01-31 | 2012-04-12 | ケーエスエス株式会社 | 電動リニアアクチュエータ |
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JP2015086931A (ja) * | 2013-10-30 | 2015-05-07 | オリエンタルモーター株式会社 | リニアアクチュエータ |
JP2020205745A (ja) * | 2016-04-13 | 2020-12-24 | ジェネシス ロボティクス アンド モーション テクノロジーズ カナダ アンリミテッド ライアビリティ カンパニー | 半径方向内側スラスト軸受及び半径方向外側スラスト軸受を備える軸方向磁束電気機械 |
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JP6636690B2 (ja) | 2020-01-29 |
DE112014004089T5 (de) | 2016-05-25 |
US10465776B2 (en) | 2019-11-05 |
JP2015072065A (ja) | 2015-04-16 |
US20160208894A1 (en) | 2016-07-21 |
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