JPH077908A - Structure of stepping motor in which crown gear is mounted on magnetic core - Google Patents

Abstract

PURPOSE:To extract revolution of low speed and high torque from at output shaft by the working of disc gears in the swing motion of swing discs by successively exciting annularly mounted electromagnets by a driver circuit and swinging the discs by succssively attracting the swing discs to the electromagnets. CONSTITUTION:A rotatable receiving shaft 2 is installed at one center of a swing disc 1 while a receiving shaft 4, to which a universal joint 3 is provided, is attached at the central section of the swing disc 1 on the reverse side to the receiving shaft 2. One receiving shaft 2 is fixed onto a bearing section 8 mounted at the central section of a frame body 6, the other shaft 4 is fitted rotatably to a bearing section 7 installed at the central section of a frame body 5, and electromagnets 9, 10 are disposed annularly on the left and right frame bodies 5, 6 symmetrically. The swing discs 1 are arranged at the central sections of the electromagnets 9 and the electromagnets 10, crown gears 12 are mounted on the magnetic cores of one electromagnets 10, anmd crown gears 13 having a number-of-teeth difference are installed to the peripheral sections 12 of the outer circumferences of the swing discs 1 oppositely faced to the crown gears 12, thus forming the structure of a stepping motor 14.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention makes an oscillating disk oscillate like an oscillating disk by sequentially adsorbing the oscillating disk to an electromagnet that is sequentially excited by a drive circuit, The present invention relates to a stop motor that extracts low-speed rotation having high torque from an output shaft by the action of a crown gear on an oscillating disk and a crown gear on a magnetic core having a difference in the number of teeth. The step motor according to the present invention is most suitable for machine tools that require low-speed rotation by computer numerical control such as various industrial robots, office equipment NC and MC, and also for machine tools that require ultra-low-speed rotation. You can use this motor directly without using a speed reducer,
It is used in a wide range of fields.

[0002]

2. Description of the Related Art Conventionally, a step motor of this type has been
There is one as shown in FIG. The motor a attracts the oscillating disc b by the action of the magnetic force of the input electromagnet e,
As a result, as shown in FIG. 2, a crown gear c having a tooth profile and a gear d provided on the frame side corresponding thereto mesh with each other on the outer peripheral portion b ₂ of the swing disk b while the swing disk b swings. continue. At this time, the oscillating disk b only has an arcuate oscillating motion due to the attraction force by the magnetic force, and no rotational motion occurs. Then, the crown gear f inside the portion near the center of the swing disk b,
Corresponding crown gear h provided at end j of output shaft g
Means that the oscillating disc b meshes with each other by the oscillating motion of the oscillating disc b, and the rotational motion of the output shaft g is caused by the difference in the number of teeth between the inner crown gear f and the gear h. Therefore, one swinging motion of the swinging disc b causes the output shaft to rotate by the difference in the number of teeth of one or two teeth of the crown gear f and the crown gear h on the inside.

[0003]

(1) As shown in FIG. 1, in this step motor, the swing disk b is used.
A smooth oscillating motion is performed by the crown gear c provided around the outer circumference of the and the corresponding crown gear d provided on the frame body side. Further, a crown gear f and a crown gear h that provide rotation to the output shaft are provided inside thereof. Therefore, since two kinds of gears, that is, the crown gears c and d that mesh with each other by the swinging motion and the crown gears f and h that cause the rotating motion to the output shaft, are provided, the structure is complicated and the price becomes high. ing. (2) A difference in the number of teeth between the crown gear f and the crown gear h on the inside shown in FIG. 1 causes a rotational motion on the output shaft. However, since the crown gears f and h are inside, the pitch diameter is Since the tooth is small and the step angle of the tooth is determined as shown in FIG. 2, it is inevitable that a large number of teeth cannot be taken, it is restricted to obtain low speed and high torque, the rotation speed becomes fast, and the true value of the low speed rotation motor is obtained. Can't exert. (3) Further, if the number of teeth is not large, not only it becomes difficult to position the step angle with high accuracy, but also the teeth are severely worn, causing damage, and the life of the equipment is shortened. (4) Crown gears c and d for the purpose of only meshing by swinging motion, and crown gears f for causing rotation on the g axis,
Since h must be provided, the number of gears increases,
The structure is complicated and the assembly is laborious, and the work cost is high. The present invention has as its object to solve each of the problems described in the above (1) to (4).

[0004]

SUMMARY OF THE INVENTION The present invention has been made in view of the above, and is provided with a rotatable receiving shaft at one center of the swing disk and the swing disk on the opposite side thereof. A bearing shaft provided with a universal joint is provided at the center of the frame, one of the bearing shafts is fixed to the bearing part provided at the center of the frame, and the other shaft is rotated to the bearing part provided at the center of the frame. A plurality of electromagnets are installed in a ring shape so as to be movably fitted to each other on the left and right frame bodies so as to be bilaterally symmetric, and a oscillating disk is arranged in the central portion between the electromagnets. A step motor, characterized in that a crown gear is provided on the core, and a crown gear having a tooth difference is provided on the outer peripheral portion of the oscillating disc opposite to the core gear. A crown gear with a difference in the number of teeth is provided around the outer circumference. Accordingly, without requiring a gear for the output separately, the universal joint is provided on the rear surface of the swing disc, so as to obtain a rotational output to the receiving shaft for engaging the said universal joint, the structure is simple. In addition, since the oscillating gear has a large annular diameter, the step angle is fine, the number of teeth is provided by high-performance positioning, and rotation at an ultra-low speed can be obtained, which is extremely useful.

[0005]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 3 is a partially cutaway vertical cross-sectional view showing a main part of the present invention, in which a rotatable receiving shaft 2 is provided at one center of a swing disk 1 and the center of the swing disk 1 on the opposite side is provided. A bearing shaft 4 provided with a universal joint 3 is provided in order to eliminate swinging of the disc 1 in a part and to cause a rotary motion of the shaft 4, and one of the bearing shafts 2 is a bearing provided in a central part of the frame body 6. The shaft 4 is fixed to the portion 8, and the other shaft 4 is rotatably fitted to the bearing portion 7 provided in the central portion of the frame body 5. Further, a plurality of electromagnets 9 and 10 (12 electromagnets in the embodiment of the present invention) are annularly arranged so as to be symmetrical with respect to the left and right frame bodies 5 and 6, and the electromagnet 9 is (9 ₁ , 9 ₂ , 9 _3). , 9 ₄ ,
9 ₅ , 9 ₆ , 9 ₇ , 9 ₈ , 9 ₉ , 9 ₁₀ , 9 ₁₁ , 9 ₁₂ ),
The electromagnet 10 is (10 ₁ , 10 ₂ , 10 ₃ , 10 ₄ , 10
_5, 10 _6, 10 _7, 10 _8, 10 _9, 10 _10, 1
0 ₁₁ , 10 ₁₂ ), and the oscillating disk 1 having a crown gear on one side as shown in the partially cutaway plan view of FIG. 6 is arranged in the central portion between the electromagnet 9 and the electromagnet 10. 4 and FIG.
As shown in, the crown gear 12 provided on the magnetic core 11 of one of the electromagnets 10, in which the one formed by providing a crown gear 13 having a number of teeth difference periphery periphery 1 ₂ of the opposite swinging disk 1 is there.

Next, the operation of the embodiment of the present invention will be described. In FIG. 3, a plurality of electromagnets are annularly arranged side by side in a symmetrical 5 and 6 frame body, and a plurality of electromagnets 9 (12 electromagnets in the embodiment of the present invention) are respectively provided as shown in FIGS. 5 and 6. (9 ₁ , 9 ₂ , 9 ₃ , 9 ₄ , 9 ₅ , 9 ₆ , 9 ₇ ,
9 ₈ , 9 ₉ , 9 ₁₀ , 9 ₁₁ , 9 ₁₂ ), the electromagnet 10 is (10
₁ , 10 ₂ , 10 ₃ , 10 _4, 10 ₅ , 10 ₆ , 10
_{7 to} 10 _{8 to} 10 ₉ to 10 _{10 to} 10 ₁₁ to 10 ₁₂ ) to 18
Symmetrically with 0 degrees, for example, electromagnets 9 ₁ , 10 ₇ , 9 ₂ , 10 ₈
By sequentially distributing power to 9 ₃ , 10 ₉ , and so on, the oscillating disk 1 between the electromagnets 9 and 10 has the respective electromagnets 9 ₁ , 10 ₇ , 9 ₂ , 10 ₈ and 9 ₃ , 10
Since the suction is always performed symmetrically on a diagonal line with ₉ and the suction and the pressing act simultaneously at the suction points, the crown gear 12 and the crown gear 13 are strong and steadily mesh with each other.

Further, in the present invention, since the crown gear is provided on the magnetic core 11, the crown gear provided on the rocking disc 1 is strongly attracted by the strong magnetic force to the rocking disc 1 made of a magnetic material. 13 and the crown gear 12 provided on the magnetic core 11 rock while steadily meshing with each other. Such a steady meshing prevents wear of the crown gear and keeps the life of the equipment. The output shaft 4 provided on the universal joint 3 is swung by one swing of the swing disk 1.
Is the difference in the number of teeth between the crown gear 12 and the crown gear 13, usually the difference in the number of teeth between 1 and 2, but since the rotation is made by the difference in the number of teeth, the rotation of the output shaft is extremely low speed and high torque. is there.

According to the present invention, the outer peripheral portion 1 ₁ of the swing disk 1 is
Since the crown gear 12 is provided in the crown gear, the circumference is much larger than that of the conventional one, the steps of the teeth can be made finer, the positioning can be performed with high precision, and a strong static torque can be obtained. Since it has a large number of teeth of 9 and 10, it is an epoch-making low-speed, high-torque motor that can obtain a very smooth and powerful rotating force at the output shaft.

[0009]

The present invention has been made as described above in detail, and is provided for each of a plurality of electromagnets which are symmetrically arranged side by side in a ring shape.
The oscillating plate having electromagnets between the electromagnets is sequentially attracted by 0-degree symmetry, and the oscillating plate provided between the electromagnets is attracted to the respective electromagnets, and the crown gears provided on the plate and the crown gears provided on the magnetic core are provided. Oscillate while meshing with and the output shaft provided on the universal joint by one swing of the rocker
It rotates by the difference in the number of teeth between the crown gears. In particular, in this invention, since teeth are provided on the outer periphery of the rocking plate, the step of the shaft can be made fine, high-accuracy positioning is possible, a strong static torque can be obtained, and the output shaft has an extremely low speed, In addition, strong rotation can be obtained. Since this type of model has a relatively simple structure, it can be manufactured easily and can be provided at a low cost. This step motor is an epoch-making invention as described above.

[Brief description of drawings]

FIG. 1 is a central cross-sectional view of a conventional swing disk type step motor of this type.

FIG. 2 is a partially cutaway perspective view of a swing disk according to FIG.

FIG. 3 is a partially cutaway vertical sectional view of an embodiment of the present invention.

FIG. 4 is an enlarged sectional view of a portion having annular teeth on the magnetic core of the electromagnet in FIG.

5 is a side view taken along the line AA of FIG. 3 showing the arrangement of the electromagnets and the state of the annular teeth on the magnetic core of the electromagnets.

FIG. 6 is a side view taken along the line BB showing the arrangement state of the electromagnets in FIG.

FIG. 7 is a partially cutaway side view of the swing disk shown in FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 rocking disk 2 rotatable receiving shaft 3 universal joint 4 receiving shaft provided with universal joint 3 5 frame body 6 frame body 7 bearing portion 9 electromagnet 10 electromagnet 11 magnetic core 12 crown gear 13 crown gear 13 having a tooth difference 14 Step motor

Claims (1)

[Claims] 1. A rotatable receiving shaft 2 is provided at the center of one side of a swing disc 1, and a receiving shaft 4 provided with a universal joint 3 is provided at the center of the swing disc 1 on the opposite side thereof. One of the receiving shafts 2 is fixed to a bearing portion 8 provided in the central portion of the frame body 6, and the other shaft 4 is rotatably fitted to a bearing portion 7 provided in the central portion of the frame body 5, and Frame 5,6
A plurality of electromagnets 9 and 10 are respectively installed in a ring so as to be bilaterally symmetric with each other, and the oscillating disk 1 is arranged in the central portion between the electromagnets 9 and 10, and on the magnetic core 11 of one electromagnet 10. the crown wheel 12 is provided, and wherein this by providing the crown wheel 13 having a number of teeth difference periphery periphery 1 ₂ of the opposite swinging disk 1, the structure of the stepping motor 14.