WO2017221994A1 - Coreless motor - Google Patents

Coreless motor Download PDF

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Publication number
WO2017221994A1
WO2017221994A1 PCT/JP2017/022915 JP2017022915W WO2017221994A1 WO 2017221994 A1 WO2017221994 A1 WO 2017221994A1 JP 2017022915 W JP2017022915 W JP 2017022915W WO 2017221994 A1 WO2017221994 A1 WO 2017221994A1
Authority
WO
WIPO (PCT)
Prior art keywords
coreless motor
cylindrical
central axis
housing
unit
Prior art date
Application number
PCT/JP2017/022915
Other languages
French (fr)
Japanese (ja)
Inventor
白木学
当英和
山家淳志
Original Assignee
株式会社エムリンク
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from PCT/JP2017/013912 external-priority patent/WO2017221506A1/en
Application filed by 株式会社エムリンク filed Critical 株式会社エムリンク
Priority to CN201780036093.5A priority Critical patent/CN109314438A/en
Priority to CN202111559302.9A priority patent/CN114530984A/en
Priority to JP2017545419A priority patent/JP6278432B1/en
Priority to US16/309,299 priority patent/US20190319507A1/en
Priority to KR1020187033853A priority patent/KR102346059B1/en
Publication of WO2017221994A1 publication Critical patent/WO2017221994A1/en

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Classifications

    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/24—Devices for sensing torque, or actuated thereby
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K16/00—Machines with more than one rotor or stator
    • H02K16/02—Machines with one stator and two or more rotors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
    • H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
    • H02K21/22—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating around the armatures, e.g. flywheel magnetos
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/46—Fastening of windings on the stator or rotor structure
    • H02K3/47—Air-gap windings, i.e. iron-free windings
    • 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
    • H02K7/003—Couplings; Details of shafts
    • 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
    • H02K7/08—Structural association with bearings
    • H02K7/085—Structural association with bearings radially supporting the rotary shaft at only one end of the rotor
    • 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
    • H02K7/102—Structural association with clutches, brakes, gears, pulleys or mechanical starters with friction brakes
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K9/00—Arrangements for cooling or ventilating
    • H02K9/02—Arrangements for cooling or ventilating by ambient air flowing through the machine
    • H02K9/04—Arrangements for cooling or ventilating by ambient air flowing through the machine having means for generating a flow of cooling medium
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K9/00—Arrangements for cooling or ventilating
    • H02K9/02—Arrangements for cooling or ventilating by ambient air flowing through the machine
    • H02K9/04—Arrangements for cooling or ventilating by ambient air flowing through the machine having means for generating a flow of cooling medium
    • H02K9/06—Arrangements for cooling or ventilating by ambient air flowing through the machine having means for generating a flow of cooling medium with fans or impellers driven by the machine shaft
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2207/00—Specific aspects not provided for in the other groups of this subclass relating to arrangements for handling mechanical energy
    • H02K2207/03—Tubular motors, i.e. rotary motors mounted inside a tube, e.g. for blinds

Definitions

  • This invention relates to a coreless motor.
  • the present invention relates to a coreless motor in which various units such as a speed reducer and a brake are built in the coreless motor.
  • Patent Document 4 proposes a motor in which a planetary roller mechanism is disposed between a power shaft and a rotor disposed concentrically on the power shaft.
  • Patent Documents 1 to 5 are so-called iron core type motors.
  • proposals have been made to incorporate a unit such as a speed reducer inside the motor using such an iron core type motor.
  • the coreless motor which is a coreless motor
  • a unit such as a speed reducer
  • Patent Document 6 is an invention related to a coreless motor proposed by the present patent applicant.
  • a central axis serving as the center of rotation extends at the center in the radial direction, and cylindrical coils extending in the direction in which the central axis extends are arranged concentrically with respect to the central axis.
  • a rotor having a cylindrical inner yoke and a cylindrical outer yoke that sandwich the coils in the radial direction and forms a magnetic circuit therebetween is disposed concentrically with respect to the central axis. ing.
  • the coreless motor described in Patent Document 6 has a structure in which the central axis that is the center of rotation passes through the coreless motor. That is, the central axis passes through the cylindrical coil in the direction in which the central axis extends. Further, the central axis passes through the rotor including the inner yoke and the outer yoke in the direction in which the central axis extends.
  • the coreless motor described in Patent Document 6 has not been conceived of incorporating a unit such as a speed reducer inside the coreless motor.
  • a unit such as a speed reducer or a brake is coupled to the end of the rotating shaft in the coreless motor without increasing the length (size) in the direction in which the rotating shaft of the coreless motor extends.
  • the purpose is to propose a coreless motor in which the unit is built.
  • a space portion is provided in the direction in which the central axis extends, and units such as a speed reducer, a brake, a rotary encoder, a fan, a torque sensor, and an electric circuit are arranged in the space portion (space portion).
  • the central axis is terminated halfway.
  • a cylindrical coil disposed concentrically with respect to the central axis that is the center of rotation, and having an end surface on one side supported by the stator and extending in a direction in which the central axis extends;
  • the coil includes a cylindrical inner yoke and a cylindrical outer yoke that form a magnetic circuit between the coils in the radial direction, and are arranged concentrically with respect to the central axis.
  • a rotor supported by the central axis at a radial center side;
  • a cylindrical housing comprising a cylindrical portion disposed radially outside the outer yoke and having a housing rotatable with respect to the central axis;
  • a coreless motor comprising a unit coupled to an end of the central shaft in the coreless motor in a space in the coreless motor.
  • a cylindrical coil disposed concentrically with respect to the central axis that is the center of rotation, and having an end surface on one side supported by the stator and extending in a direction in which the central axis extends;
  • the coil includes a cylindrical inner yoke and a cylindrical outer yoke that form a magnetic circuit between the coils in the radial direction, and are arranged concentrically with respect to the central axis.
  • a rotor supported by the central axis at a radial center side;
  • a coreless motor comprising a cylindrical housing, the cylindrical housing having a cylindrical portion disposed outside the outer yoke in a radial direction, and the cylindrical portion rotating by rotation of the central axis.
  • a coreless motor comprising a unit coupled to an end of the central shaft in the coreless motor in a space in the coreless motor.
  • the space portion is formed by the central axis terminating in the middle of the cylindrical coil in the direction in which the central axis extends without penetrating the cylindrical coil in the direction in which the central axis extends.
  • the coreless motor according to any one of [1] to [5].
  • the space is formed by the central axis terminating in the middle of the inner yoke in the direction in which the central axis extends without passing through the inner yoke in the direction in which the central axis extends [1. ] To [5].
  • a unit such as a speed reducer or a brake is attached to the end of the rotation shaft in the coreless motor without increasing the length (size) in the direction in which the rotation shaft of the coreless motor extends. It is possible to provide a coreless motor in which the unit is incorporated.
  • Sectional drawing explaining the internal structure of one Embodiment of this invention Sectional drawing explaining the internal structure of other embodiment of this invention Sectional drawing explaining the internal structure of further another embodiment of this invention.
  • Sectional drawing explaining the example of another internal structure of embodiment shown in FIG. Sectional drawing explaining the internal structure of further another embodiment of this invention.
  • Sectional drawing explaining the example of another internal structure of embodiment shown in FIG. Sectional drawing explaining the internal structure of further another embodiment of this invention.
  • 7 is a conceptual diagram illustrating the mechanism of rotation transmission in the embodiment shown in FIG.
  • FIG. 7 is a conceptual diagram for explaining the form of arrangement of the sun gear, planetary gear, and carrier of the rotation transmission unit in the embodiment shown in FIG.
  • FIG. 7 is a cross-sectional view for explaining the internal structure of an example in which the unit arranged in the coreless motor is a one-stage reduction mechanism in the embodiment shown in FIG.
  • FIG. 10 is a conceptual diagram for explaining the rotation transmission mechanism of the embodiment shown in FIG. 7 is a cross-sectional view for explaining another internal structure example of the embodiment shown in FIG. 12 is a conceptual diagram for explaining the mechanism of rotation transmission in the embodiment shown in FIG. FIG.
  • FIG. 10 is a cross-sectional view for explaining the internal structure when the rotation transmission from the speed reduction mechanism built in the coreless motor to the housing uses the “wonder planet” mechanism in the embodiment shown in FIG. 14 is a conceptual diagram illustrating the mechanism of rotation transmission in the embodiment shown in FIG.
  • FIG. 1 The embodiment shown in FIG. 1 is an example in which a unit 13 is built in the coreless motor 1.
  • a unit 13 As the unit 13, a conventionally known speed reducer composed of a gear or the like can be employed.
  • the rotation axis 2 is a central axis that is the center of rotation.
  • the cylindrical coil 4 extends in the direction in which the rotary shaft 2 extends, is arranged concentrically with the rotary shaft 2, and the end surface on one side is supported by the stator 3. In the embodiment shown in FIG. 1, the left end face is supported by the stator 3.
  • the cylindrical coil 4 is an ironless core coil that can be energized.
  • a cylindrical structure is formed by a laminated structure of conductive metal sheets formed by overlapping a plurality of spaced linear portions and insulating layers in the longitudinal direction, which is the direction in which the rotating shaft 2 extends, in FIG. It is formed in a shape.
  • the thickness in the radial direction is, for example, 5 mm or less and has a predetermined rigidity.
  • Such a cylindrical coil is manufactured by, for example, a manufacturing method described in Japanese Patent No. 3,704,044.
  • the rotor 7 is concentrically arranged with respect to the rotating shaft 2 and is fixedly supported on the rotating shaft 2 on the center side in the radial direction.
  • the rotor 7 includes a cylindrical inner yoke 5 and a cylindrical outer yoke 6.
  • the cylindrical inner yoke 5 and the cylindrical outer yoke 6 sandwich the cylindrical coil 4 between each other in the radial direction and form a magnetic circuit therebetween.
  • a magnet 8 made of a permanent magnet or the like is provided on the inner peripheral surface of the outer yoke 6. Thereby, a doughnut-shaped magnetic field is formed between the inner yoke 5 and the outer yoke 6.
  • a structure in which the magnet 8 is provided on the outer peripheral surface of the inner yoke 5 may be employed.
  • the housing 9 has a cylindrical shape, and includes a cylindrical portion disposed on the outer side of the outer yoke 6 in the radial direction as shown in FIG. In the illustrated embodiment, one side (the left side in FIG. 1) that is the open side of the cylindrical portion of the housing 9 is fixed to the stator 3.
  • the housing 9 rotatably supports the rotary shaft 2 at the center in the radial direction.
  • the housing 9 includes a disk-like portion on the side facing one side fixed to the stator 3, that is, on the other side (right side in FIG. 1).
  • the cylindrical part 10 is provided in the center of the radial direction of the disk-shaped part.
  • the cylindrical portion 10 extends toward the stator 3 in the direction in which the rotating shaft 2 extends.
  • the rotating shaft 2 is rotatably supported by the housing 9 via bearings 11a and 11b at both ends of the cylindrical portion 10 in the direction in which the rotating shaft 2 extends.
  • the housing 9 has a structure that can rotate with respect to the rotating shaft 2.
  • the rotary shaft 2 is rotatably supported at the center side in the radial direction of the housing 9 at two locations spaced in the direction in which the rotary shaft 2 extends. Yes. Thereby, the rotation operation of the rotating shaft 2 to be described later can be stabilized.
  • the rotor 7 and the rotor 7 are supported by supplying a predetermined current to the coil 4.
  • the rotating shaft 2 is rotated.
  • the rotating shaft 2 terminates in the middle of the coil 4 in the direction in which the rotating shaft 2 extends without penetrating the cylindrical coil 4 in the direction in which the rotating shaft 2 extends. Thereby, a space 14 is formed in the coreless motor 1.
  • the unit 13 is coupled to the end 12 in the coreless motor 1 of the rotary shaft 2 in the space 14 in the coreless motor 1. Thus, the unit 13 is arranged in the space 14 in the coreless motor 1.
  • the coreless motor 1 includes a unit 13 coupled to the end 12 of the rotating shaft 2 in the coreless motor 1 in the space 14 in the coreless motor 1.
  • the unit 13 is a conventionally known speed reducer composed of a gear or the like.
  • the rotating shaft 2 terminates in the middle of the coil 4 in the direction in which the rotating shaft 2 extends without penetrating the cylindrical coil 4 constituting the coreless motor in the direction in which the rotating shaft 2 extends. Thereby, a space portion 14 is formed in the cylindrical coil 4 of the coreless motor 1.
  • a unit 13 is coupled to the end 12 of the rotating shaft 2, and the unit 13 is connected to the cylindrical coil 4 of the coreless motor 1.
  • the structure is arranged in the space 14.
  • the outer diameter of the unit 13 is smaller than the inner diameter of the inner yoke 5.
  • a space is formed inside the inner yoke 5, and the unit 13 is coupled to the end 12 of the rotating shaft 2 in the coreless motor 1 in this space.
  • the reduction gear composed of a gear or the like is connected to the rotation shaft 2 of the coreless motor without increasing the length of the coreless motor 1 in the rotation axis direction.
  • the unit 13 includes a portion 13b having an outer peripheral diameter larger than the inner peripheral diameter of the inner yoke 5 in the embodiment illustrated in FIG.
  • the outer peripheral diameter of the portion 13 a of the unit 13 on the side connected to the end 12 of the rotating shaft 2 is smaller than the inner peripheral diameter of the inner yoke 5.
  • the outer peripheral diameter of the unit 13 indicated by reference numeral 13 b is larger than the inner peripheral diameter of the inner yoke 5.
  • At least the outer peripheral diameter of the portion 13a on the side connected to the end 12 of the rotating shaft 2 of the unit 13 is smaller than the inner peripheral diameter of the inner yoke 5, and the end 12 of the rotating shaft 2 of the unit 13 is reached.
  • the outer peripheral diameter of the portion 13 b facing the side connected to the inner yoke 5 is larger than the inner peripheral diameter of the inner yoke 5.
  • FIG. 3 The embodiment shown in FIG. 3 is another example in which the unit 13 is built in the coreless motor 1. A brake can be adopted as the unit 13.
  • the rotary shaft 2 rotatably supported by the housing 9 extends to the outside of the housing 9 to become an output end 12b.
  • Other structures are the same as those described in the first embodiment with reference to FIG. Therefore, the same reference numerals as those used in the description of FIG. 1 are attached to portions common to the structure described in Embodiment 1, and the description thereof is omitted.
  • the rotating shaft 2 terminates in the middle of the inner yoke 5 in the direction in which the rotating shaft 2 extends without penetrating the cylindrical inner yoke 5 in the direction in which the rotating shaft 2 extends.
  • a space 14 is formed in the cylindrical inner yoke 5 of the coreless motor 1.
  • the unit 13 coupled to the end 12 in the coreless motor 1 of the rotating shaft 2 can be a brake.
  • the entire unit 13 constituting the brake is disposed inside the inner yoke 5.
  • a unit other than the unit 13 constituting the brake can be coupled to the distal end side 12a of the rotating shaft 2 protruding into the space portion 14a that is a space portion in the coreless motor 1.
  • FIG. 4 is an example of the embodiment in which the unit 15 is coupled to the distal end side 12a of the rotary shaft 2 protruding into the space portion 14a that is a space portion in the coreless motor 1 in the embodiment shown in FIG. It represents.
  • the unit 15 can be a rotary encoder, for example.
  • a plurality of units of unit 13 and unit 15 are built in the coreless motor 1.
  • both the unit 13 and the unit 15 have outer diameters smaller than the inner diameter of the inner yoke 5.
  • a space is formed inside the inner yoke 5, and the units 13 and 15 are coupled to the ends 12 and 12 a of the rotating shaft 2 in the coreless motor 1 in this space.
  • FIGS. 5 and 6 The embodiment shown in FIGS. 5 and 6 is another example in which a unit is built in the coreless motor 1. A fan can be adopted as the unit.
  • the rotary shaft 2 does not pass through the cylindrical inner yoke 5 in the direction in which the rotary shaft 2 extends. 2 terminates in the middle of the inner yoke 5 in the extending direction. As a result, a space is formed in the cylindrical inner yoke 5 of the coreless motor 1.
  • the rotating shaft 2 extends inside the cylindrical inner rotor 5 positioned inside the cylindrical coil 4 that is concentrically arranged with respect to the rotating shaft 2.
  • a space part (space part) 14 is provided in the direction, and a fan 18 is arranged in the space part (space part) 14.
  • the fan 18 is disposed outside the end edge of the inner yoke 5 in the direction in which the rotary shaft 2 extends.
  • the outer diameter of the fan 18 is smaller than the inner diameter of the inner yoke 5 as in the embodiment shown in FIG.
  • the rotor 7 and the rotary shaft 2 that supports the rotor 7 are supplied by supplying a predetermined current to the coil 4 under a magnetic field having a donut cross section formed between the inner yoke 5 and the outer yoke 6. Rotate.
  • the fan 18 is provided in a space portion (space portion) 14 formed in the direction in which the rotary shaft 2 extends inside the inner rotor 5. As the yoke 5 and the outer yoke 6) rotate, an air flow toward the inside of the coreless motor 1 is generated by the fan 18 as shown in FIG.
  • the fan 18 can be operated by supplying power to the fan 18 via a power line that supplies power to the fan 18.
  • the inside of the coreless motor 1 is air-cooled.
  • the rotation shaft 22 of the coreless motor extends between the fixed shafts 21a and 21b in the direction in which the fixed shafts 21a and 21b extend.
  • the cylindrical housing 36 is rotatably supported with respect to the fixed shafts 21a and 21b.
  • the cylindrical housing 36 rotates in the circumferential direction of the fixed shafts 21 a and 21 b as the rotary shaft 22 rotates.
  • the rotation shaft 22 is the central axis that is the center of rotation.
  • the unit built in the coreless motor 1 forms a mechanism for transmitting the rotation of the rotary shaft 22 to the housing 36.
  • the cylindrical housing 36 rotates in the circumferential direction of the fixed shafts 21a and 21b with the rotation of the rotating shaft 22 of the coreless motor.
  • a reduction mechanism is employed as the unit that is built in the coreless motor 1 and transmits the rotation of the rotary shaft 22 to the housing 36.
  • a rotating shaft 22 also includes a stator 31, a coil 30, a rotor 34, and a housing 36.
  • the cylindrical coil 30 extends in the direction in which the rotary shaft 22 extends, is disposed concentrically with the rotary shaft 22, and has one end face supported by the stator 31. In the embodiment shown in FIG. 7, the right end surface is supported by the stator 31.
  • the stator 31 has a cylindrical shape, and the inner side in the radial direction is fixed to the fixed shaft 21a on the right side in FIG.
  • the cylindrical stator 31 includes an outer cylindrical portion positioned on the outer side in the radial direction of the outer yoke 32 constituting the rotor 34, and a disc that is bent at the left end in FIG. 7 of the outer cylindrical portion and extends radially inward. And an inner cylindrical portion that is bent at the inner diameter end of the disk-shaped portion and extends toward the right side of FIG.
  • the cylindrical coil 30 is the ironless core coil that can be energized as described in the first embodiment.
  • the rotor 34 is concentrically arranged with respect to the rotating shaft 22 and is fixedly supported by the rotating shaft 22 on the center side in the radial direction.
  • the inner side in the radial direction is fixed to the rotating shaft 22 on the right side of the rotor 34.
  • the rotor 34 includes a cylindrical inner yoke 33 and a cylindrical outer yoke 32.
  • the cylindrical inner yoke 33 and the cylindrical outer yoke 32 sandwich the cylindrical coil 30 between each other in the radial direction, and form a magnetic circuit therebetween.
  • a magnet 35 made of a permanent magnet or the like is provided on the inner peripheral surface of the outer yoke 32. Thereby, a doughnut-shaped magnetic field is formed between the inner yoke 33 and the outer yoke 32.
  • the magnet 35 may be provided on the outer peripheral surface of the inner yoke 33.
  • the housing 36 has a cylindrical shape, and includes a cylindrical portion arranged outside the outer yoke 32 in the radial direction, as shown in FIG.
  • the cylindrical portion disposed outside the outer yoke of the housing 36 has a structure that covers the outer cylindrical portion of the stator 31 from the outside in the radial direction.
  • a right disc-like portion and a left disc-like portion extending inward in the radial direction are provided at both ends of the cylindrical portion of the housing 36, and the inner diameter sides of the left and right disc-like portions are fixed shafts 21a and 21b. Is supported rotatably.
  • the radially inner side of the right disk-shaped portion is rotatably mounted on the outer periphery on the right end side of the stator 31 fixed to the fixed shaft 21a via a bearing. Further, on the left side of the housing 36, the inner side in the radial direction of the left disk-shaped portion is rotatably mounted on the fixed shaft 21b via a bearing.
  • the radially inner portion of the right end of the stator 31 fixed to the fixed shaft 21a includes a cylindrical portion that extends toward the inner side of the coreless motor (left side in FIG. 7).
  • the cylindrical portion rotatably supports the end portion on the fixed shaft 21a side of the rotating shaft 22 via a bearing.
  • the rotary shaft 22 is located at two positions spaced apart by a predetermined distance in the direction in which the rotary shaft 22 extends with the position where the radially inner side of the rotor 34 is fixed to the rotary shaft 22 therebetween. Is rotatably supported on the center side of the stator 31 in the radial direction. Thereby, stabilization of the rotation of the rotating shaft 22 mentioned later can be aimed at.
  • a magnetic current having a donut-shaped cross section is formed between the inner yoke 33 and the outer yoke 32, and a predetermined current is supplied to the coil 30, so that the rotor 34 and the rotor The rotating shaft 22 that supports 34 rotates.
  • the rotating shaft 22 does not pass through the cylindrical coil 30 and the inner yoke 33 in the direction in which the rotating shaft 22 extends, but in the middle of the coil 30 and the inner yoke 33 in the direction in which the rotating shaft 22 extends. It is terminated.
  • a space portion is formed inside the cylindrical coil 30 and the inner yoke 33, and a unit coupled to the rotary shaft 22 is disposed in the space portion.
  • the unit disposed in the space inside the cylindrical coil 30 and the inner yoke 33 and coupled to the rotary shaft 22 is configured to rotate the rotary shaft 22 to the housing 36. It is a transmission mechanism.
  • this unit is a two-stage reduction mechanism that transmits the rotation of the rotating shaft 22 to the housing 36.
  • the housing 36 rotates in the circumferential direction of the fixed shafts 21a and 21b extending in the direction in which the rotary shaft 22 extends.
  • FIG. 9 shows an example of the form of arrangement of the sun gear, planetary gear, and carrier of the rotation transmission unit in the embodiment shown in FIGS.
  • the rotation of the high speed side sun gear 23 is transmitted to the low speed side input shaft 26 via the high speed side planetary gear 24 and the high speed side carrier 25.
  • the outer periphery on the left end side in FIG. 7 of the low speed side input shaft 26 is a low speed side sun gear 27.
  • the rotation of the low-speed sun gear 27 is performed via the low-speed planetary gear 28 and the low-speed carrier 29 and further between the low-speed carrier 29 and the radially inner end of the left disk-shaped portion of the housing 36. To the housing 36.
  • the left outer periphery of the rotating shaft 22 in FIG. 10 is a sun gear 27a.
  • the rotation of the sun gear 27a is transmitted to the housing 36 via the planetary gear 28a and the carrier 29a, and further via a carrier disposed between the carrier 29a and the radially inner end of the left disk-shaped portion of the housing 36. .
  • the low-speed carrier 29 that receives the revolving motion of the low-speed planetary gear 28 is directly connected to the radius of the left disk-shaped portion of the housing 36.
  • the structure is connected (coupled) to the inner end in the direction.
  • FIGS. 14 and 15 show a mechanism for transmitting the rotation of the rotary shaft 22 to the housing 36 via a speed reducer coupled to the rotary shaft 22 in a coreless motor in the embodiment shown in FIGS.
  • a mechanism called “wonder planet” is adopted.
  • a cylindrical portion extending in the right direction in FIG. 14 is formed at the radially inner end of the left disc-shaped portion of the housing 36.
  • An internal gear is rotatably attached to the inner peripheral wall of the cylindrical portion. Further, an internal gear is fixedly provided on the inner periphery of the inner cylindrical portion of the stator 31.
  • the planetary gear 28 a meshes with an internal gear fixedly provided on the inner periphery of the inner cylindrical portion of the stator 31 and an internal gear rotatably provided on the inner peripheral wall of the cylindrical portion of the housing 36.
  • the unit connected to was a speed reducer composed of a brake, a rotary encoder, a gear, and the like.
  • the unit coupled to the end of the rotating shaft in the coreless motor in the space in the coreless motor is not limited to these, and can be a torque sensor or an electric circuit. If the outer peripheral diameter is smaller than the inner peripheral diameter of the inner yoke, various units can be coupled to the end of the rotating shaft in the coreless motor in the space in the coreless motor.
  • Various units can be coupled to the end of the rotating shaft in the coreless motor to provide a coreless motor incorporating the unit.

Abstract

The present invention provides a coreless motor in which a unit is coupled to the end of a rotating shaft within the coreless motor and the unit is incorporated without increasing the length in the direction in which the rotating shaft of the coreless motor extends. The coreless motor is provided with: a cylindrical coil that is arranged concentrically with a central shaft serving as the center of rotation, that extends in the direction in which the central shaft extends, and in which the end surface on one side of said cylindrical coil is supported by a stator; a cylindrical inner yoke and a cylindrical outer yoke that have the coil sandwiched therebetween in the radial direction and that form a magnetic circuit therebetween; a rotor that is arranged concentrically with the central shaft and that is supported on the central side thereof in the radial direction by the central shaft; and a housing that is cylindrical, said housing being either a housing that is provided with a cylindrical section arranged on the exterior of the outer yoke in the radial direction and that is capable of rotating with respect to the central shaft or a housing that is provided with a cylindrical section arranged on the exterior of the outer yoke in the radial direction and in which the cylindrical section is made to rotate by rotation of the central shaft. A unit coupled to the end of the rotating shaft within the coreless motor is provided to a space within the coreless motor.

Description

コアレスモータCoreless motor
　この発明はコアレスモータに関する。特に、コアレスモータの内部に減速機やブレーキなどの種々のユニットを内蔵したコアレスモータに関する。 This invention relates to a coreless motor. In particular, the present invention relates to a coreless motor in which various units such as a speed reducer and a brake are built in the coreless motor.
　モータの回転軸に駆動対象が取り付けられる側、すなわち、回転軸の出力側や、その反対側などに減速機やブレーキなどのユニットを取り付ける提案は従来から行われている。 The proposal which attaches units, such as a speed reducer and a brake, to the side by which a drive object is attached to the rotating shaft of a motor, ie, the output side of a rotating shaft, and the other side has been performed conventionally.
　例えば、特許文献４では、動力軸と、動力軸に同心円状に配置される回転子との間に遊星ローラ機構を配置するモータが提案されている。 For example, Patent Document 4 proposes a motor in which a planetary roller mechanism is disposed between a power shaft and a rotor disposed concentrically on the power shaft.
　特許文献１～５は、いわゆる鉄心タイプのモータである。このような鉄心タイプのモータでモータの内部に減速機などのユニットを内蔵する提案は従来から行われていた。 Patent Documents 1 to 5 are so-called iron core type motors. In the past, proposals have been made to incorporate a unit such as a speed reducer inside the motor using such an iron core type motor.
　一方、無鉄心タイプのモータであるコアレスモータにおいて、内部に減速機などのユニットを内蔵する提案は、従来、行われていなかった。 On the other hand, in the coreless motor, which is a coreless motor, no proposal has been made to incorporate a unit such as a speed reducer.
　これはコアレスモータの場合、小型化されているものが一般的であるので、モータの内部に減速機などのユニットを内蔵することがそもそも困難であるという事情によるものである。 This is due to the fact that it is difficult to incorporate a unit such as a speed reducer in the motor because a coreless motor is generally downsized.
　特許文献６は、本件特許出願人が提案したコアレスモータに関する発明である。半径方向の中心に回転の中心となる中心軸が伸びており、この中心軸が伸びる方向に伸びている円筒状のコイルが中心軸に対して同心円状に配置されている。前記コイルを半径方向で互いの間に挟み、互いの間に磁気回路を形成する円筒状のインナーヨークと円筒状のアウターヨークとを備えているロータが前記中心軸に対して同心円状に配置されている。 Patent Document 6 is an invention related to a coreless motor proposed by the present patent applicant. A central axis serving as the center of rotation extends at the center in the radial direction, and cylindrical coils extending in the direction in which the central axis extends are arranged concentrically with respect to the central axis. A rotor having a cylindrical inner yoke and a cylindrical outer yoke that sandwich the coils in the radial direction and forms a magnetic circuit therebetween is disposed concentrically with respect to the central axis. ing.
　特許文献６記載のコアレスモータは、回転の中心となる中心軸がコアレスモータ内を貫通している構造である。すなわち、中心軸は円筒状のコイルを中心軸が伸びる方向に貫通している。また、インナーヨークとアウターヨークとを備えているロータを中心軸が伸びる方向に前記中心軸が貫通している。 The coreless motor described in Patent Document 6 has a structure in which the central axis that is the center of rotation passes through the coreless motor. That is, the central axis passes through the cylindrical coil in the direction in which the central axis extends. Further, the central axis passes through the rotor including the inner yoke and the outer yoke in the direction in which the central axis extends.
　このような構造であることから、従来のコアレスモータと同様に、特許文献６記載のコアレスモータにおいても、コアレスモーのタ内部に減速機などのユニットを内蔵することは発想されていなかった。 Because of this structure, like the conventional coreless motor, the coreless motor described in Patent Document 6 has not been conceived of incorporating a unit such as a speed reducer inside the coreless motor.
ＷＯ２００６／１１４８８１WO2006 / 114881 特開２００８－２６３７４２号公報JP 2008-263742 A 特開２００９－３８８４４号公報JP 2009-38844 A 特開２００３－１４３８０５号公報JP 2003-143805 A 特開２０１０－２６３７６１号公報JP 2010-263761 A ＷＯ２０１５／１６２８２６WO2015 / 162826
　この発明は、コアレスモータの回転軸が伸びている方向の長さ（大きさ）を大きくすることなしに、当該コアレスモータ内における前記回転軸の端部に減速機やブレーキなどのユニットを結合させ、当該ユニットが内蔵されているコアレスモータを提案することを目的にしている。 In the present invention, a unit such as a speed reducer or a brake is coupled to the end of the rotating shaft in the coreless motor without increasing the length (size) in the direction in which the rotating shaft of the coreless motor extends. The purpose is to propose a coreless motor in which the unit is built.
　コアレスモータにおいて、回転の中心となる中心軸に対して同心円状に配置されて前記中心軸が伸びている方向に伸びている円筒状コイルの内側に位置する円筒状のインナーロータの内側で、前記中心軸が伸びる方向においてスペース部（空間部）を設け、当該スペース部（空間部）に、減速機、ブレーキ、ロータリーエンコーダ、ファン、トルクセンサー、電気回路などのユニットを配置した。 In the coreless motor, inside the cylindrical inner rotor located inside the cylindrical coil that is arranged concentrically with respect to the central axis that is the center of rotation and extends in the direction in which the central axis extends, A space portion (space portion) is provided in the direction in which the central axis extends, and units such as a speed reducer, a brake, a rotary encoder, a fan, a torque sensor, and an electric circuit are arranged in the space portion (space portion).
　すなわち、前記コアレスモータの内側において、回転の中心となる中心軸が伸びる方向に伸びている円筒状コイルや、円筒状のインナーヨークを前記中心軸が伸びる方向で貫通することがないように、前記中心軸を途中で終端させている。これによって、前記コアレスモータの内側で前記中心軸が伸びる方向において、例えば、前記インナーヨークの内側で前記中心軸が伸びる方向において、スペース部（空間部）を設け、当該スペース部（空間部）に、前記ユニットを配置した。 That is, inside the coreless motor, the cylindrical coil extending in the direction in which the central axis serving as the center of rotation extends and the cylindrical inner yoke are not penetrated in the direction in which the central axis extends. The central axis is terminated halfway. Thus, in the direction in which the central axis extends inside the coreless motor, for example, in the direction in which the central axis extends inside the inner yoke, a space portion (space portion) is provided, and the space portion (space portion) is provided. The unit was arranged.
［１］
　回転の中心となる中心軸に対して同心円状に配置され、一方の側の端面がステータに支持されていて前記中心軸が伸びる方向に伸びている円筒状のコイルと、
　前記コイルを半径方向で互いの間に挟み、互いの間に磁気回路を形成する円筒状のインナーヨークと円筒状のアウターヨークとを備えていて、前記中心軸に対して同心円状に配置され、半径方向の中心側で前記中心軸に支持されているロータと、
　円筒状のハウジングであって、半径方向で前記アウターヨークの外側に配置される円筒状部を備えていて前記中心軸に対して回転可能なハウジングとを備えているコアレスモータであって、
　当該コアレスモータ内における前記中心軸の端部に結合されるユニットを当該コアレスモータ内の空間部に備えている
　コアレスモータ。 [1]
A cylindrical coil disposed concentrically with respect to the central axis that is the center of rotation, and having an end surface on one side supported by the stator and extending in a direction in which the central axis extends;
The coil includes a cylindrical inner yoke and a cylindrical outer yoke that form a magnetic circuit between the coils in the radial direction, and are arranged concentrically with respect to the central axis. A rotor supported by the central axis at a radial center side;
A cylindrical housing, comprising a cylindrical portion disposed radially outside the outer yoke and having a housing rotatable with respect to the central axis;
A coreless motor comprising a unit coupled to an end of the central shaft in the coreless motor in a space in the coreless motor.
［２］
　前記中心軸の前記ユニットが結合される端部に対向する側が、前記中心軸が伸びる方向において間隔を空けている２か所で前記ハウジングの半径方向の中心側に回転可能に支承されていることで前記ハウジングが前記中心軸に対して回転可能になっている［１］のコアレスモータ。 [2]
The side of the central shaft facing the end to which the unit is coupled is rotatably supported on the radial central side of the housing at two locations spaced in the direction in which the central shaft extends. The coreless motor according to [1], wherein the housing is rotatable with respect to the central axis.
［３］
　回転の中心となる中心軸に対して同心円状に配置され、一方の側の端面がステータに支持されていて前記中心軸が伸びる方向に伸びている円筒状のコイルと、
　前記コイルを半径方向で互いの間に挟み、互いの間に磁気回路を形成する円筒状のインナーヨークと円筒状のアウターヨークとを備えていて、前記中心軸に対して同心円状に配置され、半径方向の中心側で前記中心軸に支持されているロータと、
　円筒状のハウジングであって、半径方向で前記アウターヨークの外側に配置される円筒状部を備えていて、前記中心軸の回転により前記円筒状部が回転するハウジングとを備えているコアレスモータであって、
　当該コアレスモータ内における前記中心軸の端部に結合されるユニットを当該コアレスモータ内の空間部に備えている
　コアレスモータ。 [3]
A cylindrical coil disposed concentrically with respect to the central axis that is the center of rotation, and having an end surface on one side supported by the stator and extending in a direction in which the central axis extends;
The coil includes a cylindrical inner yoke and a cylindrical outer yoke that form a magnetic circuit between the coils in the radial direction, and are arranged concentrically with respect to the central axis. A rotor supported by the central axis at a radial center side;
A coreless motor comprising a cylindrical housing, the cylindrical housing having a cylindrical portion disposed outside the outer yoke in a radial direction, and the cylindrical portion rotating by rotation of the central axis. There,
A coreless motor comprising a unit coupled to an end of the central shaft in the coreless motor in a space in the coreless motor.
［４］
　前記ユニットが前記中心軸の回転を前記ハウジングに伝える機構である［３］のコアレスモータ。 [4]
The coreless motor according to [3], wherein the unit is a mechanism that transmits the rotation of the central shaft to the housing.
［５］
　前記中心軸の前記ユニットが結合される端部に対向する側が、前記中心軸が伸びる方向において間隔を空けている２か所で、前記ステータの半径方向の中心側に回転可能に支承されている［３］又は［４］のコアレスモータ。 [5]
The side of the central shaft that faces the end to which the unit is coupled is rotatably supported at the radial central side of the stator at two locations spaced in the direction in which the central shaft extends. The coreless motor of [3] or [4].
［６］
　前記中心軸が前記円筒状コイルを前記中心軸が伸びる方向に貫通することなしに、前記中心軸が伸びる方向における前記円筒状コイルの途中で終端していることで前記空間部が形成されている［１］乃至［５］のいずれかのコアレスモータ。 [6]
The space portion is formed by the central axis terminating in the middle of the cylindrical coil in the direction in which the central axis extends without penetrating the cylindrical coil in the direction in which the central axis extends. The coreless motor according to any one of [1] to [5].
［７］
　前記中心軸が前記インナーヨークを前記中心軸が伸びる方向に貫通することなしに、前記中心軸が伸びる方向における前記インナーヨークの途中で終端していることで前記空間部が形成されている［１］乃至［５］のいずれかのコアレスモータ。 [7]
The space is formed by the central axis terminating in the middle of the inner yoke in the direction in which the central axis extends without passing through the inner yoke in the direction in which the central axis extends [1. ] To [5].
［８］
　前記ユニットの外周径が前記インナーヨークの内周径よりも小さい［１］乃至［７］のいずれかのコアレスモータ。 [8]
The coreless motor according to any one of [1] to [7], wherein an outer peripheral diameter of the unit is smaller than an inner peripheral diameter of the inner yoke.
［９］
　前記ユニットは、前記ユニットの前記中心軸の端部に接続される側に対向する側に前記インナーヨークの内周径より大きな外周径を有する部分を備えている［１］乃至［８］のいずれかのコアレスモータ。 [9]
Any one of [1] to [8], wherein the unit includes a portion having an outer peripheral diameter larger than an inner peripheral diameter of the inner yoke on a side facing the side connected to the end of the central axis of the unit. Coreless motor.
　この発明によれば、コアレスモータの回転軸が伸びている方向の長さ（大きさ）を大きくすることなしに、当該コアレスモータ内における前記回転軸の端部に減速機やブレーキなどのユニットを結合させ、当該ユニットが内蔵されているコアレスモータを提供することができる。 According to the present invention, a unit such as a speed reducer or a brake is attached to the end of the rotation shaft in the coreless motor without increasing the length (size) in the direction in which the rotation shaft of the coreless motor extends. It is possible to provide a coreless motor in which the unit is incorporated.
本発明の一実施形態の内部構造を説明する断面図Sectional drawing explaining the internal structure of one Embodiment of this invention 本発明の他の実施形態の内部構造を説明する断面図Sectional drawing explaining the internal structure of other embodiment of this invention 本発明の更に他の実施形態の内部構造を説明する断面図Sectional drawing explaining the internal structure of further another embodiment of this invention. 図３図示の実施形態の他の内部構造例を説明する断面図Sectional drawing explaining the example of another internal structure of embodiment shown in FIG. 本発明の更に他の実施形態の内部構造を説明する断面図Sectional drawing explaining the internal structure of further another embodiment of this invention. 図５図示の実施形態の他の内部構造例を説明する断面図Sectional drawing explaining the example of another internal structure of embodiment shown in FIG. 本発明の更に他の実施形態の内部構造を説明する断面図Sectional drawing explaining the internal structure of further another embodiment of this invention. 図７図示の実施形態の回転伝達の機構を説明する概念図7 is a conceptual diagram illustrating the mechanism of rotation transmission in the embodiment shown in FIG. 図７図示の実施形態における回転伝達部のサンギア、遊星ギア、キャリアの配備形態を説明する概念図であって、（ａ）は高速側回転伝達部を側面から見て切断箇所を説明する図、（ｂ）は高速側回転伝達部の断面図、（ｃ）は低速側回転伝達部を側面から見て切断箇所を説明する図、（ｄ）は低速側回転伝達部の断面図FIG. 7 is a conceptual diagram for explaining the form of arrangement of the sun gear, planetary gear, and carrier of the rotation transmission unit in the embodiment shown in FIG. (B) is a cross-sectional view of the high-speed side rotation transmission unit, (c) is a diagram for explaining a cut portion when the low-speed side rotation transmission unit is viewed from the side, and (d) is a cross-sectional view of the low-speed side rotation transmission unit. 図７図示の実施形態において、コアレスモータ内に配備されているユニットが一段階減速機構になった例の内部構造を説明する断面図FIG. 7 is a cross-sectional view for explaining the internal structure of an example in which the unit arranged in the coreless motor is a one-stage reduction mechanism in the embodiment shown in FIG. 図１０図示の実施形態の回転伝達の機構を説明する概念図FIG. 10 is a conceptual diagram for explaining the rotation transmission mechanism of the embodiment shown in FIG. 図７図示の実施形態の他の内部構造例を説明する断面図7 is a cross-sectional view for explaining another internal structure example of the embodiment shown in FIG. 図１２図示の実施形態の回転伝達の機構を説明する概念図12 is a conceptual diagram for explaining the mechanism of rotation transmission in the embodiment shown in FIG. 図１０図示の実施形態においてコアレスモータに内蔵されている減速機構からハウジングへの回転伝達が「不思議遊星」機構を用いる場合の内部構造を説明する断面図FIG. 10 is a cross-sectional view for explaining the internal structure when the rotation transmission from the speed reduction mechanism built in the coreless motor to the housing uses the “wonder planet” mechanism in the embodiment shown in FIG. 図１４図示の実施形態の回転伝達の機構を説明する概念図14 is a conceptual diagram illustrating the mechanism of rotation transmission in the embodiment shown in FIG.
発明の実施の形態BEST MODE FOR CARRYING OUT THE INVENTION
（実施の形態１）
　図１図示の実施形態は、コアレスモータ１の内部にユニット１３が内蔵されている一例である。ユニット１３としては、ギアなどから構成される従来公知の減速機を採用することができる。 (Embodiment 1)
The embodiment shown in FIG. 1 is an example in which a unit 13 is built in the coreless motor 1. As the unit 13, a conventionally known speed reducer composed of a gear or the like can be employed.
　図１図示のコアレスモータ１は、回転軸２、ステータ３、コイル４、ロータ７、ハウジング９を備えている。回転軸２が回転の中心となる中心軸である。 1 includes a rotating shaft 2, a stator 3, a coil 4, a rotor 7, and a housing 9. The coreless motor 1 shown in FIG. The rotation axis 2 is a central axis that is the center of rotation.
　円筒状のコイル４は、回転軸２が伸びている方向に伸びていて、回転軸２に対して同心円状に配置され、一方の側の端面がステータ３に支持されている。図１図示の実施形態では左側の端面がステータ３に支持されている。 The cylindrical coil 4 extends in the direction in which the rotary shaft 2 extends, is arranged concentrically with the rotary shaft 2, and the end surface on one side is supported by the stator 3. In the embodiment shown in FIG. 1, the left end face is supported by the stator 3.
　　円筒状のコイル４は通電可能な無鉄心コイルである。図示の実施形態では、図１中、回転軸２が伸びる方向である長手方向に複数の離間された線状部と絶縁層を介して重畳により形成される導電性金属シートの積層体構造によって円筒状に形成されている。半径方向における厚みは、例えば、５ｍｍ以下で、所定の剛性を備えている。このような円筒状のコイルは、例えば、日本国特許第３７０４０４４号に記載されている製造方法によって製造される。 The cylindrical coil 4 is an ironless core coil that can be energized. In the illustrated embodiment, a cylindrical structure is formed by a laminated structure of conductive metal sheets formed by overlapping a plurality of spaced linear portions and insulating layers in the longitudinal direction, which is the direction in which the rotating shaft 2 extends, in FIG. It is formed in a shape. The thickness in the radial direction is, for example, 5 mm or less and has a predetermined rigidity. Such a cylindrical coil is manufactured by, for example, a manufacturing method described in Japanese Patent No. 3,704,044.
　ロータ７は、回転軸２に対して同心円状に配置されていて、半径方向の中心側で回転軸２に固定的に支持されている。 The rotor 7 is concentrically arranged with respect to the rotating shaft 2 and is fixedly supported on the rotating shaft 2 on the center side in the radial direction.
　ロータ７は、円筒状のインナーヨーク５と円筒状のアウターヨーク６とを備えている。円筒状のインナーヨーク５と円筒状のアウターヨーク６は、円筒状のコイル４を半径方向で互いの間に挟み、互いの間に磁気回路を形成している。 The rotor 7 includes a cylindrical inner yoke 5 and a cylindrical outer yoke 6. The cylindrical inner yoke 5 and the cylindrical outer yoke 6 sandwich the cylindrical coil 4 between each other in the radial direction and form a magnetic circuit therebetween.
　図１図示の実施形態では、アウターヨーク６の内周面に永久磁石などからなるマグネット８が配備されている。これによって、インナーヨーク５とアウターヨーク６との間に断面ドーナッツ状の磁界が形成されている。 In the embodiment shown in FIG. 1, a magnet 8 made of a permanent magnet or the like is provided on the inner peripheral surface of the outer yoke 6. Thereby, a doughnut-shaped magnetic field is formed between the inner yoke 5 and the outer yoke 6.
　図示の実施形態に替えて、インナーヨーク５の外周面にマグネット８を配備する構造にすることもできる。 Instead of the illustrated embodiment, a structure in which the magnet 8 is provided on the outer peripheral surface of the inner yoke 5 may be employed.
　ハウジング９は、円筒状で、図１図示のように、半径方向でアウターヨーク６の外側に配置される円筒状部を備えている。図示の実施形態では、ハウジング９の円筒状部の開口している側である一方の側（図１の左側）がステータ３に固定されている。 The housing 9 has a cylindrical shape, and includes a cylindrical portion disposed on the outer side of the outer yoke 6 in the radial direction as shown in FIG. In the illustrated embodiment, one side (the left side in FIG. 1) that is the open side of the cylindrical portion of the housing 9 is fixed to the stator 3.
　ハウジング９は、半径方向の中心で回転軸２を回転自在に支承している。図１の実施形態では、ハウジング９は、ステータ３に固定されている一方の側に対向する側、すなわち、他方の側（図１の右側）に円板状部を備えている。そして、その円板状部の半径方向の中心に筒状部１０を備えている。筒状部１０は、回転軸２が伸びる方向でステータ３の方向に向かって伸びている。回転軸２は、筒状部１０の回転軸２が伸びている方向の両端側でそれぞれ軸受１１ａ、１１ｂを介して回転可能にハウジング９に支持されている。 The housing 9 rotatably supports the rotary shaft 2 at the center in the radial direction. In the embodiment of FIG. 1, the housing 9 includes a disk-like portion on the side facing one side fixed to the stator 3, that is, on the other side (right side in FIG. 1). And the cylindrical part 10 is provided in the center of the radial direction of the disk-shaped part. The cylindrical portion 10 extends toward the stator 3 in the direction in which the rotating shaft 2 extends. The rotating shaft 2 is rotatably supported by the housing 9 via bearings 11a and 11b at both ends of the cylindrical portion 10 in the direction in which the rotating shaft 2 extends.
　これによって、ハウジング９は回転軸２に対して回転可能な構造になっている。 Thus, the housing 9 has a structure that can rotate with respect to the rotating shaft 2.
　また、上述し、図１に示したように、回転軸２が伸びる方向において間隔を空けている２か所で、ハウジング９の半径方向の中心側に、回転軸２が回転可能に支承されている。これによって、後述する回転軸２の回転動作を安定化させることができる。 Further, as described above and shown in FIG. 1, the rotary shaft 2 is rotatably supported at the center side in the radial direction of the housing 9 at two locations spaced in the direction in which the rotary shaft 2 extends. Yes. Thereby, the rotation operation of the rotating shaft 2 to be described later can be stabilized.
　上述したように、インナーヨーク５とアウターヨーク６との間に断面ドーナッツ状の磁界が形成されている下で、コイル４に所定の電流を供給することによりロータ７及び、ロータ７を支持している回転軸２が回転する。 As described above, under the formation of a donut-shaped magnetic field between the inner yoke 5 and the outer yoke 6, the rotor 7 and the rotor 7 are supported by supplying a predetermined current to the coil 4. The rotating shaft 2 is rotated.
　この実施形態では、回転軸２は、円筒状のコイル４を回転軸２が伸びる方向に貫通することなしに、回転軸２が伸びる方向におけるコイル４の途中で終端している。これによって、コアレスモータ１内に空間部１４が形成されている。 In this embodiment, the rotating shaft 2 terminates in the middle of the coil 4 in the direction in which the rotating shaft 2 extends without penetrating the cylindrical coil 4 in the direction in which the rotating shaft 2 extends. Thereby, a space 14 is formed in the coreless motor 1.
　そして、コアレスモータ１内の空間部１４において、回転軸２のコアレスモータ１内の端部１２にユニット１３が結合されている。こうして、ユニット１３はコアレスモータ１内の空間部１４に配置されている。 The unit 13 is coupled to the end 12 in the coreless motor 1 of the rotary shaft 2 in the space 14 in the coreless motor 1. Thus, the unit 13 is arranged in the space 14 in the coreless motor 1.
　すなわち、コアレスモータ１は、コアレスモータ１内における回転軸２の端部１２に結合されるユニット１３をコアレスモータ１内の空間部１４に備えている。 That is, the coreless motor 1 includes a unit 13 coupled to the end 12 of the rotating shaft 2 in the coreless motor 1 in the space 14 in the coreless motor 1.
　図１図示の実施形態では、ユニット１３はギアなどから構成される従来公知の減速機である。 In the embodiment shown in FIG. 1, the unit 13 is a conventionally known speed reducer composed of a gear or the like.
　従来、コアレスモータの回転軸にギアなどから構成される減速機を接続したギアドモータを構成する場合、回転軸の伸びる方向で、コアレスモータ１の外側に減速機を接続していた。このため、コアレスモータの回転軸方向の長さが取り付ける減速機の分だけ長くなっていた。 Conventionally, when configuring a geared motor in which a reduction gear composed of gears or the like is connected to the rotation shaft of the coreless motor, the reduction gear is connected to the outside of the coreless motor 1 in the direction in which the rotation shaft extends. For this reason, the length of the rotational axis direction of the coreless motor is increased by the amount of the speed reducer to which the coreless motor is attached.
　この実施形態では、回転軸２がコアレスモータを構成する円筒状のコイル４を回転軸２が伸びる方向に貫通することなしに、回転軸２が伸びる方向におけるコイル４の途中で終端している。これによって、コアレスモータ１の円筒状のコイル４内に空間部１４が形成されている。 In this embodiment, the rotating shaft 2 terminates in the middle of the coil 4 in the direction in which the rotating shaft 2 extends without penetrating the cylindrical coil 4 constituting the coreless motor in the direction in which the rotating shaft 2 extends. Thereby, a space portion 14 is formed in the cylindrical coil 4 of the coreless motor 1.
　このコアレスモータ１の円筒状のコイル４内に形成されている空間部１４において、回転軸２の端部１２にユニット１３を結合し、このユニット１３がコアレスモータ１の円筒状のコイル４内の空間部１４に配置される構造にした。 In a space portion 14 formed in the cylindrical coil 4 of the coreless motor 1, a unit 13 is coupled to the end 12 of the rotating shaft 2, and the unit 13 is connected to the cylindrical coil 4 of the coreless motor 1. The structure is arranged in the space 14.
　そこで、コアレスモータ１の回転軸方向の長さを大きくすることなく、コアレスモータの回転軸にギアなどから構成される減速機を接続することができる。 Therefore, without reducing the length of the coreless motor 1 in the direction of the rotation axis, it is possible to connect a reduction gear composed of a gear or the like to the rotation axis of the coreless motor.
　この実施形態では、図１図示のように、ユニット１３の外周径の大きさは、インナーヨーク５の内周径よりも小さくなっている。 In this embodiment, as shown in FIG. 1, the outer diameter of the unit 13 is smaller than the inner diameter of the inner yoke 5.
　すなわち、この実施形態では、インナーヨーク５の内側に空間部が形成されていて、この空間部で、ユニット１３が、コアレスモータ１内における回転軸２の端部１２に結合されている。 That is, in this embodiment, a space is formed inside the inner yoke 5, and the unit 13 is coupled to the end 12 of the rotating shaft 2 in the coreless motor 1 in this space.
　これにより、コアレスモータ１の回転軸方向の長さを大きくすることなく、コアレスモータの回転軸２にギアなどから構成される減速機を接続している。 Thus, the reduction gear composed of a gear or the like is connected to the rotation shaft 2 of the coreless motor without increasing the length of the coreless motor 1 in the rotation axis direction.
　図２の実施形態は、図１図示の実施形態において、ユニット１３が、インナーヨーク５の内周径よりも大きな外周径を有する部分１３ｂを備えている実施形態を表すものである。 2 represents an embodiment in which the unit 13 includes a portion 13b having an outer peripheral diameter larger than the inner peripheral diameter of the inner yoke 5 in the embodiment illustrated in FIG.
　ユニット１３の、回転軸２の端部１２に接続される側の部分１３ａの外周径は、インナーヨーク５の内周径より小さい。一方、ユニット１３の、符号１３ｂで示されている部分の外周径は、インナーヨーク５の内周径よりも大きくなっている。 The outer peripheral diameter of the portion 13 a of the unit 13 on the side connected to the end 12 of the rotating shaft 2 is smaller than the inner peripheral diameter of the inner yoke 5. On the other hand, the outer peripheral diameter of the unit 13 indicated by reference numeral 13 b is larger than the inner peripheral diameter of the inner yoke 5.
　すなわち、ユニット１３の、少なくとも、回転軸２の端部１２に接続される側の部分１３ａの外周径がインナーヨーク５の内周径より小さくなっていて、ユニット１３の回転軸２の端部１２に接続される側に対向する側の部分１３ｂの外周径がインナーヨーク５の内周径より大きくなっている。 That is, at least the outer peripheral diameter of the portion 13a on the side connected to the end 12 of the rotating shaft 2 of the unit 13 is smaller than the inner peripheral diameter of the inner yoke 5, and the end 12 of the rotating shaft 2 of the unit 13 is reached. The outer peripheral diameter of the portion 13 b facing the side connected to the inner yoke 5 is larger than the inner peripheral diameter of the inner yoke 5.
　図２図示の実施形態も、コアレスモータ１内における回転軸２の端部１２に結合されるユニット１３をコアレスモータ１内の空間部１４に備えている構造である。 2 is also a structure in which a unit 13 coupled to the end 12 of the rotating shaft 2 in the coreless motor 1 is provided in the space 14 in the coreless motor 1.
　これによって、コアレスモータ１の回転軸方向の長さを大きくすることなく、コアレスモータの回転軸２にギアなどから構成される減速機を接続する点は図１図示の実施形態と同様である。 This is the same as the embodiment shown in FIG. 1 in that the speed reducer composed of a gear or the like is connected to the rotation shaft 2 of the coreless motor 1 without increasing the length of the coreless motor 1 in the rotation axis direction.
　その他の点は、図１を用いて上述したものと同様である。そこで、上述した構造と共通する部分には図１に用いたものと同一の符号をつけて説明を省略する。 Other points are the same as those described above with reference to FIG. Therefore, the same reference numerals as those used in FIG.
（実施の形態２）
　図３図示の実施形態は、コアレスモータ１の内部にユニット１３が内蔵されている他の例である。ユニット１３としては、ブレーキを採用することができる。 (Embodiment 2)
The embodiment shown in FIG. 3 is another example in which the unit 13 is built in the coreless motor 1. A brake can be adopted as the unit 13.
　図３図示の実施形態ではハウジング９に回転自在に支持されている回転軸２がハウジング９の外部にまで伸びて出力端１２ｂになっている。その他の構造は図１を用いて実施の形態１で説明したものと同様である。そこで、実施の形態１で説明した構造と共通する部分には、図１の説明に使用したものと同一の符号をつけてその説明を省略する。 In the embodiment shown in FIG. 3, the rotary shaft 2 rotatably supported by the housing 9 extends to the outside of the housing 9 to become an output end 12b. Other structures are the same as those described in the first embodiment with reference to FIG. Therefore, the same reference numerals as those used in the description of FIG. 1 are attached to portions common to the structure described in Embodiment 1, and the description thereof is omitted.
　図３図示の実施形態では、回転軸２は、円筒状のインナーヨーク５を回転軸２が伸びる方向に貫通することなしに、回転軸２が伸びる方向におけるインナーヨーク５の途中で終端している。これによって、コアレスモータ１の円筒状のインナーヨーク５内に空間部１４が形成されている。 In the embodiment shown in FIG. 3, the rotating shaft 2 terminates in the middle of the inner yoke 5 in the direction in which the rotating shaft 2 extends without penetrating the cylindrical inner yoke 5 in the direction in which the rotating shaft 2 extends. . Thus, a space 14 is formed in the cylindrical inner yoke 5 of the coreless motor 1.
　この実施形態で回転軸２のコアレスモータ１内の端部１２に結合されているユニット１３はブレーキにすることができる。 In this embodiment, the unit 13 coupled to the end 12 in the coreless motor 1 of the rotating shaft 2 can be a brake.
　この実施形態では、ブレーキを構成するユニット１３の全体がインナーヨーク５の内側に配置されている。 In this embodiment, the entire unit 13 constituting the brake is disposed inside the inner yoke 5.
　コアレスモータ１内の空間部である空間部１４ａに突出する回転軸２の先端側１２ａには、ブレーキを構成するユニット１３以外の他のユニットを結合することができる。 A unit other than the unit 13 constituting the brake can be coupled to the distal end side 12a of the rotating shaft 2 protruding into the space portion 14a that is a space portion in the coreless motor 1.
　図４図示の実施形態は図３図示の実施形態において、コアレスモータ１内の空間部である空間部１４ａに突出する回転軸２の先端側１２ａにユニット１５が結合されている実施形態の一例を表すものである。 The embodiment shown in FIG. 4 is an example of the embodiment in which the unit 15 is coupled to the distal end side 12a of the rotary shaft 2 protruding into the space portion 14a that is a space portion in the coreless motor 1 in the embodiment shown in FIG. It represents.
　ユニット１５は、例えば、ロータリーエンコーダとすることができる。 The unit 15 can be a rotary encoder, for example.
　図４図示の実施形態では、コアレスモータ１の内部にユニット１３と、ユニット１５という複数のユニットが内蔵されることになる。 In the embodiment shown in FIG. 4, a plurality of units of unit 13 and unit 15 are built in the coreless motor 1.
　また、図４図示の実施形態では、ユニット１３も、ユニット１５もその外周径がインナーヨーク５の内周径より小さいものになっている。 Further, in the embodiment shown in FIG. 4, both the unit 13 and the unit 15 have outer diameters smaller than the inner diameter of the inner yoke 5.
　この実施形態でも、インナーヨーク５の内側に空間部が形成されていて、この空間部で、ユニット１３、１５が、コアレスモータ１内における回転軸２の端部１２、１２ａに結合されている。 Also in this embodiment, a space is formed inside the inner yoke 5, and the units 13 and 15 are coupled to the ends 12 and 12 a of the rotating shaft 2 in the coreless motor 1 in this space.
（実施の形態３）
　図５、図６図示の実施形態は、コアレスモータ１の内部にユニットが内蔵されている他の例である。ユニットとしては、ファンを採用することができる。 (Embodiment 3)
The embodiment shown in FIGS. 5 and 6 is another example in which a unit is built in the coreless motor 1. A fan can be adopted as the unit.
　図５、図６図示の実施形態でも、図３、図４図示の実施形態と同じく、回転軸２は、円筒状のインナーヨーク５を回転軸２が伸びる方向に貫通することなしに、回転軸２が伸びる方向におけるインナーヨーク５の途中で終端している。これによって、コアレスモータ１の円筒状のインナーヨーク５内に空間部が形成されている。 In the embodiment shown in FIGS. 5 and 6, as in the embodiment shown in FIGS. 3 and 4, the rotary shaft 2 does not pass through the cylindrical inner yoke 5 in the direction in which the rotary shaft 2 extends. 2 terminates in the middle of the inner yoke 5 in the extending direction. As a result, a space is formed in the cylindrical inner yoke 5 of the coreless motor 1.
　図５図示の実施形態では、コアレスモータ１において、回転軸２に対して同心円状に配置される円筒状のコイル４の内側に位置する円筒状のインナーロータ５の内側で、回転軸２が伸びる方向においてスペース部（空間部）１４を設け、スペース部（空間部）１４に、ファン１８を配置している。 In the embodiment shown in FIG. 5, in the coreless motor 1, the rotating shaft 2 extends inside the cylindrical inner rotor 5 positioned inside the cylindrical coil 4 that is concentrically arranged with respect to the rotating shaft 2. A space part (space part) 14 is provided in the direction, and a fan 18 is arranged in the space part (space part) 14.
　図６図示の実施形態は、ファン１８を、回転軸２が伸びる方向で、インナーヨーク５の端縁よりも外側に配置したものである。ファン１８の外周径の大きさは、図５図示の実施形態と同じく、インナーヨーク５の内径の大きさよりも小さい。 In the embodiment shown in FIG. 6, the fan 18 is disposed outside the end edge of the inner yoke 5 in the direction in which the rotary shaft 2 extends. The outer diameter of the fan 18 is smaller than the inner diameter of the inner yoke 5 as in the embodiment shown in FIG.
　その他の構造は、図１を用いて実施の形態１で説明したものと同様である。そこで、実施の形態１で説明した構造と共通する部分には、図１の説明に使用したものと同一の符号をつけてその説明を省略する。 Other structures are the same as those described in Embodiment 1 with reference to FIG. Therefore, the same reference numerals as those used in the description of FIG. 1 are attached to portions common to the structure described in Embodiment 1, and the description thereof is omitted.
　インナーヨーク５とアウターヨーク６との間に断面ドーナッツ状の磁界が形成されている下で、コイル４に所定の電流を供給することによりロータ７及び、ロータ７を支持している回転軸２が回転する。 The rotor 7 and the rotary shaft 2 that supports the rotor 7 are supplied by supplying a predetermined current to the coil 4 under a magnetic field having a donut cross section formed between the inner yoke 5 and the outer yoke 6. Rotate.
　図５図示の実施形態ではインナーロータ５の内側で回転軸２が伸びる方向に形成されているスペース部（空間部）１４にファン１８が配備されていることから、回転軸２、ロータ７（インナーヨーク５、アウターヨーク６）の回転に応じて、ファン１８により、図７図示のようにコアレスモータ１の内部に向かう空気流が生起される。 In the embodiment shown in FIG. 5, the fan 18 is provided in a space portion (space portion) 14 formed in the direction in which the rotary shaft 2 extends inside the inner rotor 5. As the yoke 5 and the outer yoke 6) rotate, an air flow toward the inside of the coreless motor 1 is generated by the fan 18 as shown in FIG.
　また、図５、図６では図示を省略しているが、ファン１８へ電力を供給する電力線を介してファン１８へ電力供給してファン１８を稼働させることができる。 Although not shown in FIGS. 5 and 6, the fan 18 can be operated by supplying power to the fan 18 via a power line that supplies power to the fan 18.
　これらによって、コアレスモータ１の内部が空冷される。 By these, the inside of the coreless motor 1 is air-cooled.
（実施の形態４）
　図７、図８を用いて本発明の他の実施形態を説明する。 (Embodiment 4)
Another embodiment of the present invention will be described with reference to FIGS.
　図７、８図示の実施形態では、コアレスモータの回転軸２２は、固定軸２１ａ、２１ｂの間で、固定軸２１ａ、２１ｂが伸びている方向に伸びている。円筒状のハウジング３６は、固定軸２１ａ、２１ｂに対して回転可能に支承されている。そして、円筒状のハウジング３６が、回転軸２２の回転に伴って、固定軸２１ａ、２１ｂの周方向に回転するものである。 7 and 8, the rotation shaft 22 of the coreless motor extends between the fixed shafts 21a and 21b in the direction in which the fixed shafts 21a and 21b extend. The cylindrical housing 36 is rotatably supported with respect to the fixed shafts 21a and 21b. The cylindrical housing 36 rotates in the circumferential direction of the fixed shafts 21 a and 21 b as the rotary shaft 22 rotates.
　この実施形態でも、回転軸２２が回転の中心となる中心軸である。 Also in this embodiment, the rotation shaft 22 is the central axis that is the center of rotation.
　コアレスモータ１の内部に内蔵されているユニットが回転軸２２の回転をハウジング３６に伝える機構を形成している。これによって、円筒状のハウジング３６が、コアレスモータの回転軸２２の回転に伴って固定軸２１ａ、２１ｂの周方向に回転する。 The unit built in the coreless motor 1 forms a mechanism for transmitting the rotation of the rotary shaft 22 to the housing 36. Thereby, the cylindrical housing 36 rotates in the circumferential direction of the fixed shafts 21a and 21b with the rotation of the rotating shaft 22 of the coreless motor.
　コアレスモータ１の内部に内蔵されていて、回転軸２２の回転をハウジング３６に伝えるユニットとしては、例えば、減速機構が採用される。 As the unit that is built in the coreless motor 1 and transmits the rotation of the rotary shaft 22 to the housing 36, for example, a reduction mechanism is employed.
　図７図示のコアレスモータも、回転軸２２、ステータ３１、コイル３０、ロータ３４、ハウジング３６を備えている。 7 also includes a rotating shaft 22, a stator 31, a coil 30, a rotor 34, and a housing 36.
　円筒状のコイル３０は、回転軸２２が伸びている方向に伸びていて、回転軸２２に対して同心円状に配置され、一方の側の端面がステータ３１に支持されている。図７図示の実施形態では右側の端面がステータ３１に支持されている。 The cylindrical coil 30 extends in the direction in which the rotary shaft 22 extends, is disposed concentrically with the rotary shaft 22, and has one end face supported by the stator 31. In the embodiment shown in FIG. 7, the right end surface is supported by the stator 31.
　ステータ３１は、円筒状で、図７中、右側において、その半径方向の内側が固定軸２１ａに固定されている。 The stator 31 has a cylindrical shape, and the inner side in the radial direction is fixed to the fixed shaft 21a on the right side in FIG.
　円筒状のステータ３１は、ロータ３４を構成するアウターヨーク３２の半径方向で外側に位置する外側円筒状部と、外側円筒状部の図７の左側端において屈曲して半径方向内側に伸びる円板状部と、円板状部の内径端で屈曲して図７の右側に向かって伸びる内側円筒状部を備えている。 The cylindrical stator 31 includes an outer cylindrical portion positioned on the outer side in the radial direction of the outer yoke 32 constituting the rotor 34, and a disc that is bent at the left end in FIG. 7 of the outer cylindrical portion and extends radially inward. And an inner cylindrical portion that is bent at the inner diameter end of the disk-shaped portion and extends toward the right side of FIG.
　円筒状のコイル３０は実施の形態１で説明した通電可能な無鉄心コイルである。 The cylindrical coil 30 is the ironless core coil that can be energized as described in the first embodiment.
　ロータ３４は、回転軸２２に対して同心円状に配置されていて、半径方向の中心側で回転軸２２に固定的に支持されている。図示の実施形態では、ロータ３４の右側において、その半径方向の内側が回転軸２２に固定されている。 The rotor 34 is concentrically arranged with respect to the rotating shaft 22 and is fixedly supported by the rotating shaft 22 on the center side in the radial direction. In the illustrated embodiment, the inner side in the radial direction is fixed to the rotating shaft 22 on the right side of the rotor 34.
　実施の形態１と同様に、ロータ３４は、円筒状のインナーヨーク３３と円筒状のアウターヨーク３２とを備えている。円筒状のインナーヨーク３３と円筒状のアウターヨーク３２は、円筒状のコイル３０を半径方向で互いの間に挟み、互いの間に磁気回路を形成している。 As in the first embodiment, the rotor 34 includes a cylindrical inner yoke 33 and a cylindrical outer yoke 32. The cylindrical inner yoke 33 and the cylindrical outer yoke 32 sandwich the cylindrical coil 30 between each other in the radial direction, and form a magnetic circuit therebetween.
　図７図示の実施形態では、アウターヨーク３２の内周面に永久磁石などからなるマグネット３５が配備されている。これによって、インナーヨーク３３とアウターヨーク３２との間に断面ドーナッツ状の磁界が形成されている。 7, a magnet 35 made of a permanent magnet or the like is provided on the inner peripheral surface of the outer yoke 32. Thereby, a doughnut-shaped magnetic field is formed between the inner yoke 33 and the outer yoke 32.
　実施の形態１と同様に、図示の実施形態に替えて、インナーヨーク３３の外周面にマグネット３５を配備する構造にすることもできる。 As in the first embodiment, instead of the illustrated embodiment, the magnet 35 may be provided on the outer peripheral surface of the inner yoke 33.
　ハウジング３６は、円筒状で、図７図示のように、半径方向でアウターヨーク３２の外側に配置される円筒状部を備えている。図７図示の実施形態では、ハウジング３６のアウターヨークの外側に配置される円筒状部は、ステータ３１の外側円筒状部を半径方向の外側から覆う構造になっている。 The housing 36 has a cylindrical shape, and includes a cylindrical portion arranged outside the outer yoke 32 in the radial direction, as shown in FIG. In the embodiment shown in FIG. 7, the cylindrical portion disposed outside the outer yoke of the housing 36 has a structure that covers the outer cylindrical portion of the stator 31 from the outside in the radial direction.
　ハウジング３６の円筒状部の両端にそれぞれ半径方向内側に向かって伸びる右側円板状部、左側円板状部が備えられており、この左右の円板状部の内径側は固定軸２１ａ、２１ｂに対して回転可能に支承されている。 A right disc-like portion and a left disc-like portion extending inward in the radial direction are provided at both ends of the cylindrical portion of the housing 36, and the inner diameter sides of the left and right disc-like portions are fixed shafts 21a and 21b. Is supported rotatably.
　図示の実施形態では、ハウジング３６の右側において、右側円板状部の半径方向の内側がベアリングを介して固定軸２１ａに固定されているステータ３１の右端側外周に回転可能に装着されている。また、ハウジング３６の左において、左側円板状部の半径方向の内側がベアリングを介して固定軸２１ｂに回転可能に装着されている。 In the illustrated embodiment, on the right side of the housing 36, the radially inner side of the right disk-shaped portion is rotatably mounted on the outer periphery on the right end side of the stator 31 fixed to the fixed shaft 21a via a bearing. Further, on the left side of the housing 36, the inner side in the radial direction of the left disk-shaped portion is rotatably mounted on the fixed shaft 21b via a bearing.
　固定軸２１ａに固定されているステータ３１の右端の半径方向内側部は、コアレスモータの内側（図７における左側）に向かって伸びる筒状部を備えている。この筒状部がベアリングを介して回転軸２２の固定軸２１ａ側の端部を回転可能に支承している。 The radially inner portion of the right end of the stator 31 fixed to the fixed shaft 21a includes a cylindrical portion that extends toward the inner side of the coreless motor (left side in FIG. 7). The cylindrical portion rotatably supports the end portion on the fixed shaft 21a side of the rotating shaft 22 via a bearing.
　回転軸２２が伸びる方向において、ロータ３４の半径方向内側が回転軸２２に固定されている位置よりも図７中の左側において、ステータ３１の内側筒状部の内径側によって、ベアリングを介して、回転軸２２が回転可能に支承されている。 In the direction in which the rotating shaft 22 extends, on the inner diameter side of the inner cylindrical portion of the stator 31 on the left side in FIG. 7 from the position where the radially inner side of the rotor 34 is fixed to the rotating shaft 22, The rotating shaft 22 is rotatably supported.
　ロータ３４の半径方向内側が回転軸２２に固定されている位置を間に挟んで、回転軸２２が伸びている方向で所定の間隔をあけた２か所で、上述したように、回転軸２２は、ステータ３１の半径方向の中心側に回転可能に支承されている。これにより、後述する回転軸２２の回転の安定化を図ることができる。 As described above, the rotary shaft 22 is located at two positions spaced apart by a predetermined distance in the direction in which the rotary shaft 22 extends with the position where the radially inner side of the rotor 34 is fixed to the rotary shaft 22 therebetween. Is rotatably supported on the center side of the stator 31 in the radial direction. Thereby, stabilization of the rotation of the rotating shaft 22 mentioned later can be aimed at.
　実施の形態１～３と同様に、インナーヨーク３３とアウターヨーク３２との間に断面ドーナッツ状の磁界が形成されている下で、コイル３０に所定の電流を供給することによりロータ３４及び、ロータ３４を支持している回転軸２２が回転する。 As in the first to third embodiments, a magnetic current having a donut-shaped cross section is formed between the inner yoke 33 and the outer yoke 32, and a predetermined current is supplied to the coil 30, so that the rotor 34 and the rotor The rotating shaft 22 that supports 34 rotates.
　この実施形態でも、回転軸２２は、円筒状のコイル３０及び、インナーヨーク３３を回転軸２２が伸びる方向に貫通することなしに、回転軸２２が伸びる方向におけるコイル３０、インナーヨーク３３の途中で終端している。 In this embodiment as well, the rotating shaft 22 does not pass through the cylindrical coil 30 and the inner yoke 33 in the direction in which the rotating shaft 22 extends, but in the middle of the coil 30 and the inner yoke 33 in the direction in which the rotating shaft 22 extends. It is terminated.
　これによって、円筒状のコイル３０、インナーヨーク３３の内側に空間部を形成し、回転軸２２に結合されるユニットがこの空間部に配置されている。 Thus, a space portion is formed inside the cylindrical coil 30 and the inner yoke 33, and a unit coupled to the rotary shaft 22 is disposed in the space portion.
　図７、図８図示の実施形態では、円筒状のコイル３０、インナーヨーク３３の内側に空間部に配置されていて、回転軸２２に結合されるユニットは、回転軸２２の回転をハウジング３６に伝える機構になっている。 In the embodiment shown in FIGS. 7 and 8, the unit disposed in the space inside the cylindrical coil 30 and the inner yoke 33 and coupled to the rotary shaft 22 is configured to rotate the rotary shaft 22 to the housing 36. It is a transmission mechanism.
　図７、図８図示の実施形態では、このユニットは、回転軸２２の回転をハウジング３６に伝える二段階の減速機構である。 7 and 8, this unit is a two-stage reduction mechanism that transmits the rotation of the rotating shaft 22 to the housing 36.
　減速機構を介して回転軸２２の回転がハウジング３６に伝えられることで、ハウジング３６は、回転軸２２が伸びる方向で伸びている固定軸２１ａ、２１ｂの周方向に回転する。 When the rotation of the rotary shaft 22 is transmitted to the housing 36 via the speed reduction mechanism, the housing 36 rotates in the circumferential direction of the fixed shafts 21a and 21b extending in the direction in which the rotary shaft 22 extends.
　図９に、図７、図８図示の実施形態における回転伝達部のサンギア、遊星ギア、キャリアの配備形態の一例を示した。 FIG. 9 shows an example of the form of arrangement of the sun gear, planetary gear, and carrier of the rotation transmission unit in the embodiment shown in FIGS.
　なお、図７～図９では、ステータ３１の内側筒状部の内周面に形成されているインターナルギア、等の図示は省略し、サンギア、遊星ギア、キャリア、等の配置、結合形態を概略で図示している。 7 to 9, illustration of internal gears and the like formed on the inner peripheral surface of the inner cylindrical portion of the stator 31 is omitted, and the arrangement and connection form of sun gears, planetary gears, carriers, etc. are schematically shown. This is shown in the figure.
　図７、図８図示の実施形態では、回転軸２２の図７における左端側外周が高速側サンギア２３になっている。高速側サンギア２３の回転は高速側遊星ギア２４、高速側キャリア２５を介して低速側入力軸２６に伝えられる。低速側入力軸２６の図７における左端側外周が低速側サンギア２７になっている。低速側サンギア２７の回転は低速側遊星ギア２８、低速側キャリア２９を介して、更に、低速側キャリア２９とハウジング３６の左側円板状部の半径方向内側端との間に配備されているキャリアを介してハウジング３６に伝えられる。 In the embodiment shown in FIGS. 7 and 8, the outer periphery on the left end side in FIG. The rotation of the high speed side sun gear 23 is transmitted to the low speed side input shaft 26 via the high speed side planetary gear 24 and the high speed side carrier 25. The outer periphery on the left end side in FIG. 7 of the low speed side input shaft 26 is a low speed side sun gear 27. The rotation of the low-speed sun gear 27 is performed via the low-speed planetary gear 28 and the low-speed carrier 29 and further between the low-speed carrier 29 and the radially inner end of the left disk-shaped portion of the housing 36. To the housing 36.
　すなわち、図８図示のように、（１）ロータ３４から回転軸２２、（２）回転軸２２の左端側に形成されている高速側サンギアから高速側遊星ギア、（３）高速側速側遊星ギアから高速側キャリア、（４）高速側キャリアから低速側入力軸、（５）低速側入力軸の左端側に形成されている低速側サンギアから低速側遊星ギア、（６）低速側遊星ギアから低速側キャリア、（７）低速側キャリアから低速側キャリアとハウジングとの間に配備されているキャリアを介してハウジングへ回転が伝えられることになる。 That is, as shown in FIG. 8, (1) from the rotor 34 to the rotary shaft 22, (2) from the high-speed sun gear formed on the left end side of the rotary shaft 22, to the high-speed planetary gear, (3) high-speed side planet From the gear to the high speed side carrier, (4) From the high speed side carrier to the low speed side input shaft, (5) From the low speed side sun gear formed on the left end side of the low speed side input shaft to the low speed side planetary gear, (6) From the low speed side planetary gear (7) The rotation is transmitted from the low-speed carrier to the housing through the carrier arranged between the low-speed carrier and the housing.
　図７～図９図示の実施形態では、ロータ３４及び回転軸２２の回転を二段階で減速してハウジング３６の回転に伝達していた。 7 to 9, the rotation of the rotor 34 and the rotary shaft 22 is decelerated in two stages and transmitted to the rotation of the housing 36.
　図１０、図１１図示の実施形態は、一段階の減速で、ロータ３４及び回転軸２２の回転をハウジング３６の回転に伝達する場合の一例を表すものである。 10 and 11 show an example in which the rotation of the rotor 34 and the rotating shaft 22 is transmitted to the rotation of the housing 36 by one-stage deceleration.
　回転軸２２の図１０における左端側外周がサンギア２７ａになっている。サンギア２７ａの回転は遊星ギア２８ａ、キャリア２９ａを介して、更に、キャリア２９ａとハウジング３６の左側円板状部の半径方向内側端との間に配備されているキャリアを介してハウジング３６に伝えられる。 The left outer periphery of the rotating shaft 22 in FIG. 10 is a sun gear 27a. The rotation of the sun gear 27a is transmitted to the housing 36 via the planetary gear 28a and the carrier 29a, and further via a carrier disposed between the carrier 29a and the radially inner end of the left disk-shaped portion of the housing 36. .
　すなわち、図１１図示のように、（１）ロータ３４から回転軸２２、（２）回転軸２２の左端側に形成されているサンギアから遊星ギア、（３）遊星ギアからキャリア、（４）キャリアから当該キャリアとハウジングとの間に配備されているキャリアを介してハウジングへ回転が伝えられることになる。 11, (1) the rotor 34 to the rotary shaft 22, (2) the sun gear formed on the left end side of the rotary shaft 22, the planetary gear, (3) the planetary gear to the carrier, and (4) the carrier. Then, the rotation is transmitted to the housing through the carrier arranged between the carrier and the housing.
　図１２、図１３図示の実施形態は、図７、図８図示の実施形態において、低速側遊星ギア２８の公転運動を受ける低速側キャリア２９が、直接、ハウジング３６の左側円板状部の半径方向内側端に連結（結合）されている構造にしたものである。 In the embodiment shown in FIGS. 12 and 13, in the embodiment shown in FIGS. 7 and 8, the low-speed carrier 29 that receives the revolving motion of the low-speed planetary gear 28 is directly connected to the radius of the left disk-shaped portion of the housing 36. The structure is connected (coupled) to the inner end in the direction.
　図１３図示のように、（１）ロータ３４から回転軸２２へ回転運動が伝えられ、（２）低速側入力軸の左端側に形成されている低速側サンギアから低速側遊星ギア、（３）低速側遊星ギアから低速側キャリアに連結（結合）されているハウジングへ回転が伝えられることになる。 As shown in FIG. 13, (1) rotational motion is transmitted from the rotor 34 to the rotary shaft 22, and (2) a low-speed planetary gear from a low-speed sun gear formed on the left end side of the low-speed input shaft. The rotation is transmitted from the low-speed planetary gear to the housing connected (coupled) to the low-speed carrier.
　図１４、図１５は、図１０、図１１図示の実施形態において、回転軸２２にコアレスモータ内で結合されている減速機を介した回転軸２２の回転をハウジング３６に伝える機構に、いわゆる「不思議遊星」と呼ばれる機構を採用したものである。 FIGS. 14 and 15 show a mechanism for transmitting the rotation of the rotary shaft 22 to the housing 36 via a speed reducer coupled to the rotary shaft 22 in a coreless motor in the embodiment shown in FIGS. A mechanism called “wonder planet” is adopted.
　ハウジング３６の左側円板状部の半径方向内側端に図１４中、右側方向に向かって伸びる筒状部が形成されている。この筒状部の内周壁に回転可能にインターナルギアが取り付けられている。また、ステータ３１の内側円筒状部の内周にインターナルギアが固定的に配備されている、
　遊星ギア２８ａは、ステータ３１の内側円筒状部の内周に固定的に配備されているインターナルギア及び、ハウジング３６の前記筒状部の内周壁に回転可能に配備されているインターナルギアに噛みあう。 A cylindrical portion extending in the right direction in FIG. 14 is formed at the radially inner end of the left disc-shaped portion of the housing 36. An internal gear is rotatably attached to the inner peripheral wall of the cylindrical portion. Further, an internal gear is fixedly provided on the inner periphery of the inner cylindrical portion of the stator 31.
The planetary gear 28 a meshes with an internal gear fixedly provided on the inner periphery of the inner cylindrical portion of the stator 31 and an internal gear rotatably provided on the inner peripheral wall of the cylindrical portion of the housing 36. .
　図１５図示のように、（１）ロータ３４から回転軸２２、（２）回転軸２２の左端側に形成されているサンギアから遊星ギア、（３）遊星ギアからハウジング３６の筒状部へ回転が伝えられることになる。 As shown in FIG. 15, (1) the rotor 34 rotates to the rotating shaft 22, (2) the sun gear formed on the left end side of the rotating shaft 22 rotates from the planetary gear, and (3) the planetary gear rotates to the cylindrical portion of the housing 36. Will be conveyed.
　この構造によれば、回転軸２２が図１０、図１１図示の実施形態の場合と同じ回転速度であっても、ハウジング３６の回転は、図１０、図１１図示の実施形態の場合に比較して、遅い、ゆっくりしたものになる。 According to this structure, even if the rotating shaft 22 has the same rotational speed as that of the embodiment shown in FIGS. 10 and 11, the rotation of the housing 36 is compared with the case of the embodiment shown in FIGS. Slow and slow.
　以上、添付図面を参照して本発明の実施形態を説明したが、本発明は上述した実施形態に限定されることなく、特許請求の範囲の記載から把握される技術的範囲において種々に変更可能である。 As mentioned above, although embodiment of this invention was described with reference to the accompanying drawing, this invention is not limited to embodiment mentioned above, In the technical range grasped | ascertained from description of a claim, it can change variously It is.
　例えば、上述した実施形態では、コアレスモータ１内の空間部、具体的にはインナーヨーク５の半径方向で内側に形成されている空間部において、コアレスモータ１内における回転軸２、２２の端部に結合されるユニットはブレーキ、ロータリーエンコーダや、ギアなどから構成される減速機であった。 For example, in the above-described embodiment, the end portions of the rotary shafts 2 and 22 in the coreless motor 1 in the space portion in the coreless motor 1, specifically, in the space portion formed inward in the radial direction of the inner yoke 5. The unit connected to was a speed reducer composed of a brake, a rotary encoder, a gear, and the like.
　コアレスモータ内の空間部においてコアレスモータ内における回転軸の端部に結合されるユニットはこれらに限られず、トルクセンサーや、電気回路にすることもできる。外周径がインナーヨークの内周径より小さいものであれば、種々のユニットをコアレスモータ内の空間部においてコアレスモータ内における回転軸の端部に結合することができる。 The unit coupled to the end of the rotating shaft in the coreless motor in the space in the coreless motor is not limited to these, and can be a torque sensor or an electric circuit. If the outer peripheral diameter is smaller than the inner peripheral diameter of the inner yoke, various units can be coupled to the end of the rotating shaft in the coreless motor in the space in the coreless motor.
　そして、コアレスモータ内の空間部においてコアレスモータ内における回転軸の端部にユニットを結合することで、コアレスモータの回転軸が伸びている方向の長さ（大きさ）を大きくすることなしに、コアレスモータ内における回転軸の端部に種々のユニットを結合させ、当該ユニットが内蔵されているコアレスモータを提供することができる。 And by connecting the unit to the end of the rotation shaft in the coreless motor in the space in the coreless motor, without increasing the length (size) in the direction in which the rotation shaft of the coreless motor extends, Various units can be coupled to the end of the rotating shaft in the coreless motor to provide a coreless motor incorporating the unit.
１　　コアレスモータ
２　　回転軸
３　　ステータ
４　　円筒状のコイル
５　　インナーヨーク
６　　アウターヨーク
７　　ロータ
８　　マグネット
９　　ハウジング
１０　筒状部
１１ａ、１１ｂ　軸受
１２　コアレスモータ内における回転軸の端部
１２ａ　コアレスモータ内における回転軸の先端側
１３　　コアレスモータに内蔵されるユニット
１４、１４ａ　コアレスモータ内の空間部
１５　　コアレスモータに内蔵される他のユニット
２１ａ、２１ｂ　固定軸
２２　回転軸
２３　高速側サンギア
２４　高速側遊星ギア
２５　高速側キャリア
２６　低速側入力軸
２７　低速側サンギア
２７ａ　サンギア
２８　低速側遊星ギア
２８ａ　遊星ギア
２９　低速側キャリア
２９ａ　キャリア
３０　コイル
３１　ステータ
３２　アウターヨーク
３３　インナーヨーク
３４　ロータ
３５　マグネット
３６　ハウジング DESCRIPTION OF SYMBOLS 1 Coreless motor 2 Rotating shaft 3 Stator 4 Cylindrical coil 5 Inner yoke 6 Outer yoke 7 Rotor 8 Magnet 9 Housing 10 Cylindrical part 11a, 11b Bearing 12 End part 12a of the rotating shaft in a coreless motor Rotating shaft in a coreless motor Front end side 13 Units 14 and 14a built in the coreless motor Space 15 in the coreless motor Other units 21a and 21b built in the coreless motor Fixed shaft 22 Rotating shaft 23 High speed side sun gear 24 High speed side planetary gear 25 High speed side Carrier 26 Low speed side input shaft 27 Low speed side sun gear 27a Sun gear 28 Low speed side planetary gear 28a Planetary gear 29 Low speed side carrier 29a Carrier 30 Coil 31 Stator 32 Outer yoke 33 Inner yoke 34 Rotor 35 Magnet 36 Housing

Claims (9)

  1. 　回転の中心となる中心軸に対して同心円状に配置され、一方の側の端面がステータに支持されていて前記中心軸が伸びる方向に伸びている円筒状のコイルと、
    　前記コイルを半径方向で互いの間に挟み、互いの間に磁気回路を形成する円筒状のインナーヨークと円筒状のアウターヨークとを備えていて、前記中心軸に対して同心円状に配置され、半径方向の中心側で前記中心軸に支持されているロータと、
    　円筒状のハウジングであって、半径方向で前記アウターヨークの外側に配置される円筒状部を備えていて前記中心軸に対して回転可能なハウジングとを備えているコアレスモータであって、
    　当該コアレスモータ内における前記中心軸の端部に結合されるユニットを当該コアレスモータ内の空間部に備えている
    　コアレスモータ。     A cylindrical coil disposed concentrically with respect to the central axis that is the center of rotation, and having an end surface on one side supported by the stator and extending in a direction in which the central axis extends;
    The coil includes a cylindrical inner yoke and a cylindrical outer yoke that form a magnetic circuit between the coils in the radial direction, and are arranged concentrically with respect to the central axis. A rotor supported by the central axis at a radial center side;
    A cylindrical housing, comprising a cylindrical portion disposed radially outside the outer yoke and having a housing rotatable with respect to the central axis;
    A coreless motor comprising a unit coupled to an end of the central shaft in the coreless motor in a space in the coreless motor.
  2. 　前記中心軸の前記ユニットが結合される端部に対向する側が、前記中心軸が伸びる方向において間隔を空けている２か所で前記ハウジングの半径方向の中心側に回転可能に支承されていることで前記ハウジングが前記中心軸に対して回転可能になっている請求項１記載のコアレスモータ。 The side of the central shaft facing the end to which the unit is coupled is rotatably supported on the radial central side of the housing at two locations spaced in the direction in which the central shaft extends. The coreless motor according to claim 1, wherein the housing is rotatable with respect to the central axis.
  3. 　回転の中心となる中心軸に対して同心円状に配置され、一方の側の端面がステータに支持されていて前記中心軸が伸びる方向に伸びている円筒状のコイルと、
    　前記コイルを半径方向で互いの間に挟み、互いの間に磁気回路を形成する円筒状のインナーヨークと円筒状のアウターヨークとを備えていて、前記中心軸に対して同心円状に配置され、半径方向の中心側で前記中心軸に支持されているロータと、
    　円筒状のハウジングであって、半径方向で前記アウターヨークの外側に配置される円筒状部を備えていて、前記中心軸の回転により前記円筒状部が回転するハウジングとを備えているコアレスモータであって、
    　当該コアレスモータ内における前記中心軸の端部に結合されるユニットを当該コアレスモータ内の空間部に備えている
    　コアレスモータ。     A cylindrical coil disposed concentrically with respect to the central axis that is the center of rotation, and having an end surface on one side supported by the stator and extending in a direction in which the central axis extends;
    The coil includes a cylindrical inner yoke and a cylindrical outer yoke that form a magnetic circuit between the coils in the radial direction, and are arranged concentrically with respect to the central axis. A rotor supported by the central axis at a radial center side;
    A coreless motor comprising a cylindrical housing, the cylindrical housing having a cylindrical portion disposed outside the outer yoke in a radial direction, and the cylindrical portion rotating by rotation of the central axis. There,
    A coreless motor comprising a unit coupled to an end of the central shaft in the coreless motor in a space in the coreless motor.
  4. 　前記ユニットが前記中心軸の回転を前記ハウジングに伝える機構である請求項３記載のコアレスモータ。 The coreless motor according to claim 3, wherein the unit is a mechanism for transmitting rotation of the central shaft to the housing.
  5. 　前記中心軸の前記ユニットが結合される端部に対向する側が、前記中心軸が伸びる方向において間隔を空けている２か所で、前記ステータの半径方向の中心側に回転可能に支承されている請求項３又は４記載のコアレスモータ。 The side of the central shaft that faces the end to which the unit is coupled is rotatably supported at the radial central side of the stator at two locations spaced in the direction in which the central shaft extends. The coreless motor according to claim 3 or 4.
  6. 　前記中心軸が前記円筒状コイルを前記中心軸が伸びる方向に貫通することなしに、前記中心軸が伸びる方向における前記円筒状コイルの途中で終端していることで前記空間部が形成されている請求項１乃至５のいずれか一項に記載のコアレスモータ。 The space portion is formed by the central axis terminating in the middle of the cylindrical coil in the direction in which the central axis extends without penetrating the cylindrical coil in the direction in which the central axis extends. The coreless motor according to any one of claims 1 to 5.
  7. 　前記中心軸が前記インナーヨークを前記中心軸が伸びる方向に貫通することなしに、前記中心軸が伸びる方向における前記インナーヨークの途中で終端していることで前記空間部が形成されている請求項１乃至請求項５のいずれか一項に記載のコアレスモータ。 The space portion is formed by the central axis terminating in the middle of the inner yoke in a direction in which the central axis extends without penetrating the inner yoke in a direction in which the central axis extends. The coreless motor according to any one of claims 1 to 5.
  8. 　前記ユニットの外周径が前記インナーヨークの内周径よりも小さい請求項１乃至請求項７のいずれか一項に記載のコアレスモータ。 The coreless motor according to any one of claims 1 to 7, wherein an outer peripheral diameter of the unit is smaller than an inner peripheral diameter of the inner yoke.
  9. 　前記ユニットは、前記ユニットの前記中心軸の端部に接続される側に対向する側に前記インナーヨークの内周径より大きな外周径を有する部分を備えている請求項１乃至請求項８のいずれか一項に記載のコアレスモータ。 The said unit is provided with the part which has an outer peripheral diameter larger than the inner peripheral diameter of the said inner yoke in the side facing the side connected to the edge part of the said central axis of the said unit. A coreless motor according to claim 1.
PCT/JP2017/022915 2016-06-21 2017-06-21 Coreless motor WO2017221994A1 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
CN201780036093.5A CN109314438A (en) 2016-06-21 2017-06-21 Motors having no iron core
CN202111559302.9A CN114530984A (en) 2016-06-21 2017-06-21 Coreless motor
JP2017545419A JP6278432B1 (en) 2016-06-21 2017-06-21 Coreless motor
US16/309,299 US20190319507A1 (en) 2016-06-21 2017-06-21 Coreless motor
KR1020187033853A KR102346059B1 (en) 2016-06-21 2017-06-21 coreless motor

Applications Claiming Priority (4)

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JP2016-122276 2016-06-21
JP2016122276 2016-06-21
PCT/JP2017/013912 WO2017221506A1 (en) 2016-06-21 2017-04-03 Coreless motor
JPPCT/JP2017/013912 2017-04-03

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