JP2019030145A - Actuator device - Google Patents

Abstract

To provide an actuator device capable of further reducing the size.SOLUTION: An actuator device 1 comprises: a motor 3 as a driving source; and a case 2 housing the motor 3 in an inner side. The motor 3 comprises: a rotor 13 rotatably supported; and a stator 15 having a plurality of teeth 14 arranged in a peripheral direction on an external side of a radial direction of the rotor 13. In the stator 15, a peripheral direction range θ in which a motor coil 24 is not wound to the teeth 14 is set. The actuator device 1 is constructed that an inner housing component 70 housed in the inner side of the case 2 with the motor 3 is overlapped and arranged to the radial direction and an axial direction of the motor 3 while setting the peripheral direction range θ of the stator 15 in which the motor coil 24 is not wound to the teeth 14 as an overlapping region α.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an actuator device.

  Generally, an actuator device for a vehicle has a configuration in which a motor serving as a drive source is accommodated in a case. For example, the actuator device described in Patent Document 1 houses a speed reduction mechanism in a case together with a motor. Specifically, in the actuator device of this conventional example, the speed reduction mechanism includes a pinion gear that rotates integrally with the motor shaft, and first and second gear members that reduce the rotation of the pinion gear. The first and second gear members have a rotation axis parallel to the motor shaft. Furthermore, the first gear member includes a large-diameter gear portion and a small-diameter gear portion that rotate coaxially. Then, the first gear member is engaged with the pinion gear to form a first reduction gear, and the second gear member is engaged with the smaller gear of the first gear member to form a second gear. It is the structure which forms the deceleration part of eyes.

  That is, by adopting such a configuration, the first gear member is arranged at a position where the large-diameter gear portion overlaps the motor in the radial direction when viewed from the axial direction of the motor. Further, the second gear member is disposed at a position overlapping with the large-diameter gear portion in the radial direction when viewed from the axial direction of the first gear member. Further, in this actuator device, the small-diameter portion of the first gear member and the second gear member are arranged on the outside of the motor in the radial direction of the motor, that is, when viewed from the radial direction of the motor. It is arranged at a position overlapping the main body in the axial direction. Thus, the actuator device is configured to be miniaturized.

JP 2006-322424 A

  However, technical development is constantly in progress for all components in a vehicle. And downsizing of the apparatus is one of the important issues. For this reason, creation of a new technique that can further reduce the size of the actuator device as described above has been demanded.

  The present invention has been made to solve the above-described problems, and an object thereof is to provide an actuator device that can be further miniaturized.

  An actuator device that solves the above problems includes a motor that is a drive source and a case that accommodates the motor inside, and the motor is configured to rotate around a rotor rotatably supported on a radially outer side of the rotor. A stator having a plurality of teeth arranged side by side in a direction, and a circumferential range in which a motor coil is not wound around the teeth is set in the stator, and With the circumferential range of the stator around which the motor coil is not wound being an overlapping region, the case-accommodating parts accommodated inside the case together with the motor are arranged overlapping in the radial and axial directions of the motor. .

  According to the above configuration, by setting the circumferential direction range in which the motor coil is not wound around the teeth to the stator, at least the teeth are wound in the accommodation space in the case originally occupied by the motor. A space corresponding to the motor coil (and the insulator) can be secured. Then, by using this space as an overlapping region and arranging the housing components in the case so as to overlap in the radial direction and the axial direction of the motor, the size can be effectively reduced.

  Further, even in the circumferential range of the stator where the motor coil is not wound around such teeth, the magnetic balance is suitably maintained over the entire circumference of the stator by leaving the teeth where the motor coil is not wound. be able to. As a result, it is possible to reduce the vibration by suppressing the torque ripple, and at the same time, ensure the high silence.

  In the actuator device that solves the above-described problem, the stator includes a notch portion in which a circumferential range in which the motor coil is not wound around the teeth is partially cut in the axial direction, and the inside of the notch portion. It is preferable that the housing part is disposed in the case.

  According to the said structure, the larger space used as the duplication area | region of the components accommodated in a case can be formed in a motor. As a result, the size can be reduced more effectively.

In the actuator device that solves the above-described problem, it is preferable that the housing part is a gear member that transmits a rotational output of the motor.
That is, the gear member that transmits the rotational output of the motor is disposed in the vicinity of the motor. Therefore, according to the said structure, size reduction can be achieved more effectively.

In the actuator device that solves the above-described problem, it is preferable that the rotation shaft of the gear member is provided so as to penetrate the teeth around which the motor coil is not wound in the axial direction.
According to the said structure, it is larger and the gear member can be arrange | positioned overlapping with a motor. Thus, the size can be reduced.

  In the actuator device that solves the above-described problem, it is preferable that a circumferential range of the stator that is an overlapping region of the housing-containing components includes a plurality of the teeth around which the motor coil is not wound.

According to the above configuration, a larger in-case housing component can be disposed overlapping the motor.
In the actuator device that solves the above problem, the rotor is preferably a magnet rotor including a permanent magnet.

  That is, when the rotor rotating inside the stator is a magnet rotor, cogging torque based on the magnetic attractive force of the permanent magnet provided on the rotor becomes a problem. However, even in the circumferential range of the stator where the motor coil is not wound around the teeth, the magnetic attractive force generated by the permanent magnet of the rotor over the entire circumference of the stator by leaving the teeth where the motor coil is not wound. The balance can be suitably maintained. As a result, the cogging torque can be suppressed to a low level to reduce vibrations, and high silence can be ensured. Therefore, by applying each of the above configurations to a motor having such a magnet rotor, it is possible to reduce the size while securing excellent motor characteristics.

  In the actuator device that solves the above-described problem, it is preferable that a plurality of circumferential ranges in which the motor coil is not wound around the teeth are set in the stator in a point-symmetric manner around the rotation axis of the rotor.

  That is, by setting a plurality of circumferential ranges in which the motor coil is not wound around the teeth with respect to the stator in a point-symmetric manner, a plurality of spaces serving as overlapping regions of the in-case housing components can be secured. Therefore, according to the above configuration, the size can be reduced more effectively. Moreover, the magnetic balance of the stator can be suitably maintained by ensuring the symmetry of the stator. In addition to this, it is possible to reduce the manufacturing cost and improve the assemblability.

  According to the present invention, further miniaturization can be achieved.

The perspective view of an actuator apparatus. The top view of an actuator apparatus. Sectional drawing of an actuator apparatus (III-III cross section in FIG. 2). The perspective view of an actuator device (without a cover member). The top view of the 1st and 2nd gear member which comprises the motor accommodated inside a case and a reduction gear. The perspective view of a stator (stator core). The graph which shows the torque characteristic (torque ripple) of a motor. Comparison graph of torque ripple. The graph which shows the torque characteristic (cogging torque) of a motor. Comparison graph of cogging torque. Comparison graph of restraint torque. Sectional drawing which shows the actuator apparatus of another example. The top view which shows the motor (stator) of another example. Sectional drawing which shows the motor (stator) of another example (XIV-XIV cross section in FIG. 13).

Hereinafter, an embodiment of an actuator device using a motor as a drive source will be described with reference to the drawings.
As shown in FIGS. 1 to 4, the actuator device 1 of this embodiment includes a motor 3 serving as a driving source and a rotational speed reducing and transmitting the rotational output of the motor 3 in a flat, substantially box-shaped case 2. It is formed by accommodating the mechanism 4. Thus, for example, it is used for a vehicle door (slide door, flip-up back door, etc.), a sunroof driving device, or the like.

  More specifically, in the actuator device 1 of the present embodiment, the case 2 includes a base member 7 having a substantially flat outer shape, and a cover member that is assembled to the base member 7 so as to cover the flat surface portion 7s of the base member 7. 8 and. The motor 3 is configured such that the motor shaft 12 is rotatably supported by bearing portions 11 a and 11 b provided on the base member 7 and the cover member 8.

  More specifically, as shown in FIGS. 3 to 5, the motor 3 of the present embodiment is arranged side by side in the circumferential direction on the rotor 13 that rotates integrally with the motor shaft 12 and on the radially outer side of the rotor 13. And a stator 15 having a plurality of teeth 14.

  Specifically, the rotor 13 of this embodiment includes a rotor core 16 fixed to the motor shaft 12. A ring magnet 17 is fixed to the outer periphery of the rotor core 16. Thus, the rotor 13 of this embodiment has a configuration as a so-called SPM type magnet rotor 20 in which the permanent magnet 18 is provided on the outer periphery thereof.

  Further, the stator 15 of the present embodiment includes an outer ring portion 21 having a substantially annular outer shape. Furthermore, each tooth 14 extends radially inward from the outer ring portion 21. And the stator 15 of this embodiment is the structure by which the stator core 22 is formed in the aspect in which each teeth 14 surround the radial direction outer side of the rotor 13 by this.

  Further, a motor coil 24 is wound around each of these teeth 14 via an insulator 23. The motor 3 of the present embodiment is configured as a brushless motor 25 in which the rotor 13 is rotated by energization of the motor coil 24.

  As shown in FIG. 3, the actuator device 1 of this embodiment includes a pinion gear 30 that rotates integrally with the motor shaft 12. The speed reduction mechanism 4 of this embodiment is configured to output the rotation output of the motor 3 by the first gear member 31 that meshes with the pinion gear 30 and the second gear member 32 that meshes with the second gear member 32. It is configured to decelerate and transmit.

  More specifically, in the actuator device 1 according to the present embodiment, the first and second gear members 31 and 32 have rotation axes L1 and L2 parallel to the motor shaft 12 serving as the rotation axis L0 of the rotor 13, respectively. ing. The first gear member 31 includes a large-diameter gear portion 31a and a small-diameter gear portion 31b that rotate coaxially. In the speed reduction mechanism 4 of the present embodiment, the large-diameter gear portion 31a of the first gear member 31 is engaged with the pinion gear 30 to form a first speed reduction portion, and the second gear member 32 is the first gear member 32. The second reduction gear is formed by meshing with the small-diameter gear portion 31b of the gear member 31.

  Specifically, the actuator device 1 of the present embodiment, like the motor shaft 12, is a support that is rotatably supported by bearing portions 42 a and 42 b provided on the base member 7 and the cover member 8 constituting the case 2. A shaft 43 is provided. The first gear member 31 is configured to rotate integrally with the support shaft 43 by being fixed to the support shaft 43.

  The second gear member 32 includes a cylindrical portion 44 that penetrates the central portion in the thickness direction (vertical direction in FIG. 3). The actuator device 1 of the present embodiment is configured to accommodate the second gear member 32 inside the case 2 in a state where the cylindrical portion 44 forms the rotation axis L2.

  Specifically, the case 2 of the present embodiment includes a substantially circular hole 45 provided in the cover member 8 (see FIGS. 1 and 2). Further, the cover member 8 is provided with a wrap-around portion 46 extending from the peripheral wall portion 8a along the flat surface portion 7s of the base member 7. Further, the wraparound portion 46 has a support hole 47 that faces a position that becomes the center of the hole 45. Then, the second gear member 32 is inserted into the support hole 47 in the axial direction end portion (the base end 44b located on the lower side in FIG. 3) of the cylindrical portion 44, so that the cylindrical portion In a state where the shaft 44 forms the rotation axis L2, it is configured to be rotatably accommodated in the case 2.

  In the actuator device 1 according to the present embodiment, the second gear member 32 has an annular part 48 having a larger diameter than the cylindrical part 44 surrounding the distal end 44 a side of the cylindrical part 44. Further, the second gear member 32 is accommodated in the case 2 with the annular portion 48 and the tip 44 a of the cylindrical portion 44 exposed from the hole 45 provided in the cover member 8. . The actuator device 1 according to the present embodiment is configured to output the rotation of the motor 3 decelerated by the speed reduction mechanism 4 with the distal end 44 a side of the cylindrical portion 44 as the output unit 50.

  As shown in FIGS. 3 to 5, in the actuator device 1 of the present embodiment, the stator 15 of the motor 3 is set with a circumferential range θ in which the motor coil 24 is not wound around the teeth 14. Yes. Then, the actuator device 1 of the present embodiment has the first and second constituting the speed reduction mechanism 4 with the circumferential range θ of the stator 15 around which the motor coil 24 is not wound around the tooth 14 as an overlapping region α. The gear members 31 and 32 are configured to overlap with each other in the radial direction and the axial direction of the motor 3 (left and right direction and vertical direction in FIG. 3).

  More specifically, as shown in FIG. 5, the stator 15 of the present embodiment includes twelve teeth 14 a to 14 l that are arranged at substantially equal intervals in the circumferential direction. Further, in the stator 15, the motor coil 24 is wound around fourth to twelfth teeth 14 d to 14 l that are continuous in the circumferential direction. As a result, the stator 15 has a “circumferential range θ in which the motor coil 24 is not wound around the teeth 14” in a form including the first to third teeth 14 a to 14 c. .

  The motor 3 of the present embodiment rotates by supplying three-phase (U, V, W) driving power. The stator 15 according to the present embodiment sequentially has the motor coils 24 (24u, 24v, 24w) corresponding to the respective phases of the drive power sequentially with respect to the teeth 14 (14d to 14l) arranged in the circumferential direction. It is configured to be wound.

  As shown in FIGS. 3 and 6, the stator 15 of the present embodiment has a notch portion in which a circumferential range θ in which the motor coil 24 is not wound around the tooth 14 is partially cut in the axial direction. 60 is formed. In other words, the stator 15 includes the teeth 14 (14a to 14c) around which the motor coil 24 is not wound and a portion 21x of the outer ring portion 21 positioned on the radially outer side of the teeth 14 (14a to 14c). The thin portion 61 is thin in the direction. That is, the axial length h1 of the stator core 22 in the circumferential range θ in which the motor coil 24 is not wound around the teeth 14 is shorter (thinner) than the axial length h0 of the other portions (h1 < h0). The actuator device 1 according to the present embodiment includes a first reduction mechanism 4 that constitutes the speed reduction mechanism 4 inside a notch 60 provided in a circumferential range θ in which the motor coil 24 is not wound around the tooth 14. The second gear members 31 and 32 are arranged.

  Specifically, in the stator 15 of the present embodiment, the teeth 14 (14a to 14c) around which the motor coil 24 is not wound pass through each of the teeth 14 (14a to 14c) in the axial direction. A hole 62 is provided. Further, the support shaft 43 that forms the rotation axis L1 of the first gear member 31 is inserted through a through hole 62 provided in the first tooth 14a. Thus, the actuator device 1 of the present embodiment thereby has a small-diameter gear portion 31b of the first gear member 31 that rotates integrally with the support shaft 43, and a second gear member 32 that meshes with the small-diameter gear portion 31b. The gear portion 32 a is arranged inside the notch portion 60 provided in the stator 15.

Next, output characteristics of the motor 3 in the actuator device 1 of the present embodiment configured as described above will be described.
In the graphs of FIGS. 7 and 9 to be described below, a waveform w1 indicated by a solid line indicates the torque characteristics of the motor 3 of this embodiment (partially cut away). In each figure, a waveform w2 indicated by a broken line indicates the torque characteristics of a motor having a normal shape (not shown) in which a motor coil is wound around each tooth over the entire circumference of the stator. And in each figure, the waveform w3 shown with a dashed-two dotted line sets the circumferential direction range of the stator where a motor coil is not wound with respect to the teeth, and the stator is notched completely in the circumferential range. The torque characteristics of the motor of the comparative example (complete cutout, shape without the first to third teeth 14a to 14c) are shown.

  As shown in FIGS. 7 and 8, the torque variation (torque ripple amount) is larger when the notch-shaped stator is used (waveform w3) than when the normal-shaped stator is used (waveform w2). Become. However, even in the circumferential range θ in which the motor coil 24 is not wound around the tooth 14, by adopting the stator 15 of the present embodiment in which the tooth 14 and the outer ring portion 21 (21 x) are left (waveform w <b> 1). Such an increase in torque fluctuation can be suppressed. This is considered to be because the magnetic balance is suitably maintained over the entire circumference of the stator 15 by leaving the teeth 14 (14a to 14c) around which the motor coil 24 is not wound.

  Further, as shown in FIGS. 9 and 10, the cogging torque also has a “partially-notched (all-round connection) structure” in comparison with the case where a completely-notched stator is used (waveform w3). The adopted stator 15 (waveform w1) of the present embodiment can keep the cogging torque small. And this is because the balance of the magnetic attraction force generated by the permanent magnet 18 of the rotor 13 is suitably maintained by arranging the teeth 14 facing the rotor 13 over the entire circumference of the stator 15. It is considered a thing.

  And even if it is a case where the stator 15 by which the circumferential direction range (theta) in which the motor coil 24 is not wound with respect to the teeth 14 was used for the graph of FIG. 11, about the fall of the output of the motor torque, it is the minimum. It shows that it is possible to keep it to the limit. The “restraint torque ratio” shown in the figure is a comparison of the magnitude of torque detected in a state where the rotation of the motor shaft 12 (rotor 13) is restrained.

As described above, according to the present embodiment, the following effects can be obtained.
(1) The actuator device 1 includes a motor 3 as a drive source, a speed reduction mechanism 4 that transmits the rotational output of the motor 3 at a reduced speed, a case 2 that accommodates the motor 3 and the speed reduction mechanism 4 inside, Is provided. The motor 3 includes a rotor 13 that is rotatably supported and a stator 15 that has a plurality of teeth 14 that are arranged in the circumferential direction on the radially outer side of the rotor 13. The speed reduction mechanism 4 includes first and second gear members 31 and 32. Further, a circumferential range θ in which the motor coil 24 is not wound around the teeth 14 is set in the stator 15. The actuator device 1 uses the circumferential range θ of the stator 15 around which the motor coil 24 is not wound around the tooth 14 as the overlapping region α, and the first and second gear members 31 and 32 are connected to the motor 3. It is the structure arrange | positioned overlapping in radial direction and an axial direction.

  According to the above configuration, by setting the circumferential range θ in which the motor coil 24 is not wound around the tooth 14 in the stator 15, at least the housing space in the case 2 originally occupied by the motor 3 has at least the A space corresponding to the motor coil 24 (and the insulator 22) wound around the teeth 14 can be secured. And this space is made into the overlap area | region (alpha), and each gear member 31, 32 as the housing | casing accommodation component 70 accommodated inside the case 2 with the motor 3 is arrange | positioned overlapping in the radial direction and axial direction of the motor 3. Thus, the size can be effectively reduced.

  In particular, the first and second gear members 31 and 32 constituting the speed reduction mechanism 4 by transmitting the rotation output of the motor 3 are arranged in the vicinity of the motor 3. Therefore, the size of the actuator device 1 can be reduced more effectively by arranging these gear members 31 and 32 overlapping the motor 3.

  Further, even in the circumferential range θ of the stator 15 where the motor coil 24 is not wound around the teeth 14, by leaving the teeth 14 (14 a to 14 c) where the motor coil 24 is not wound, the stator 15 The magnetic balance can be suitably maintained over the entire circumference. As a result, it is possible to suppress the torque ripple and reduce the vibration, and to secure the high silence.

  (2) The stator 15 includes an outer ring portion 21 that connects the teeth 14 over the entire circumference. Thereby, the magnetic balance of the stator 15 can be maintained more suitably. Further, high rigidity can be ensured over the entire circumference of the stator 15. Thereby, good resonance characteristics can be realized.

  (3) The stator 15 includes a notch 60 in which a circumferential range θ in which the motor coil 24 is not wound around the tooth 14 is partially cut in the axial direction. And each gear member 31 and 32 as the housing | casing accommodation component 70 is arrange | positioned inside this notch part 60. As shown in FIG.

  According to the above configuration, a larger space can be formed in the motor 3 that becomes the overlapping region α of the in-case housing component 70. Thereby, the size of the actuator device 1 can be further reduced.

  (4) The through-hole 62 which penetrates the teeth 14 to an axial direction is provided in the teeth 14 (14a-14c) where the motor coil 24 is not wound. And the spindle 43 which forms the rotating shaft L1 of the 1st gear member 31 is penetrated by the through-hole 62 provided in the 1st teeth 14a.

  According to the above configuration, the first gear member 31 is larger and can be disposed overlapping the motor 3. And thereby, the size of the actuator apparatus 1 can be reduced more effectively.

  (5) A plurality of (three) teeth 14 (14a to 14c) around which the motor coil 24 is not wound are included in the circumferential direction range θ of the stator 15 that is the overlapping region α of the in-case housing component 70. As a result, a larger in-case housing component 70 can be disposed overlapping the motor 3.

(6) As the rotor 13, a magnet rotor 20 including a permanent magnet 18 is used.
That is, when the rotor 13 rotating inside the stator 15 is the magnet rotor 20, cogging torque based on the magnetic attractive force of the permanent magnet 18 provided on the rotor 13 becomes a problem. However, even in the circumferential range θ of the stator 15 where the motor coil 24 is not wound around the teeth 14, the teeth 14 (14 a to 14 c) where the motor coil 24 is not wound are left, so that the entire circumference of the stator 15 is left. Thus, the balance of the magnetic attractive force generated by the permanent magnet 18 of the rotor 13 can be suitably maintained. As a result, the cogging torque can be suppressed to a low level to reduce vibrations, and high silence can be ensured. Therefore, by applying the configurations (1) to (5) to the motor 3 having such a magnet rotor 20, it is possible to reduce the size while securing excellent motor characteristics.

  (7) The motor 3 is a brushless motor 25 that rotates by supplying three-phase driving power (U, V, W), and the stator 15 includes motor coils 24 ( 24u, 24v, 24w) has a configuration in which the teeth 14 (14d to 14l) arranged in the circumferential direction are sequentially wound.

  In other words, the brushless motor 25 to which three-phase driving power is supplied has teeth 14 that are multiples of “3” as many as the number of phases of the driving power. Therefore, according to the above configuration, the three teeth 14 arranged in the circumferential direction around which the motor coils 24 (24u, 24v, 24w) corresponding to the respective phases of the driving power are wound are used as a set. The circumferential direction range θ of the stator 15 around which the motor coil 24 is not wound can be set. And thereby, the larger in-case accommodation component 70 can be easily overlapped with the motor 3.

In addition, you may change the said embodiment as follows.
In the above-described embodiment, the first and second gear members 31 and 32 constituting the speed reduction mechanism 4 are arranged in the overlapping region α set in the motor 3 as the in-case housing component 70. However, the present invention is not limited to this, and the circumferential direction range θ of the stator 15 in which the motor coil 24 is not wound around the teeth 14 is defined as an overlapping region α, and the motor 3 is arranged in the radial direction and the axial direction. If so, the in-case housing component 70 is not necessarily a gear member (31, 32) for transmitting the rotational output of the motor 3 as described above.

  For example, as in the actuator device 1B shown in FIG. 12, in the configuration in which the electronic circuit board 71 is housed together with the motor 3 inside the case 2B, the electronic component 72 (or the electronic circuit board 71 mounted on the electronic circuit board 71). The structure which arrange | positions itself in the overlap area | region (alpha) (inside of the notch part 60 formed in the stator 15) set to the motor 3 may be sufficient. Even with such a configuration, the size of the actuator device 1 can be effectively reduced.

  In addition, the gear member disposed in the overlapping region α set in the motor 3 as the in-case housing component 70 does not necessarily form the speed reduction mechanism 4. Further, the number and arrangement thereof may be arbitrarily changed.

  In the above-described embodiment, the first gear member 31 disposed in the overlapping region α set in the motor 3 as the in-case housing component 70 is fixed to the support shaft 43 extending in parallel with the motor shaft 12. It rotates integrally with the support shaft 43. The support shaft 43 forming the rotation axis L1 of the first gear member 31 is inserted into a through hole 62 provided in the tooth 14 (14a) around which the motor coil 24 is not wound.

  However, the present invention is not limited thereto, and the support shaft is fixed to the teeth 14 around which the motor coil 24 is not wound so as to penetrate the teeth 14 in the axial direction. And the structure by which a gear member is rotatably connected with respect to this spindle may be sufficient.

  In the above embodiment, the stator 15 has twelve teeth 14a to 14l arranged at equal intervals in the circumferential direction. The “circumferential range θ in which the motor coil 24 is not wound around the tooth 14” is set to include the first to third teeth 14a to 14c. However, the present invention is not limited thereto, and the number of teeth 14 included in the circumferential range θ in which the motor coil 24 is not wound around the teeth 14 may be arbitrarily changed. Further, the total number of teeth 14 may be arbitrarily changed. The number of “circumferential range θ in which the motor coil 24 is not wound around the teeth 14” set in the stator 15 may also be arbitrarily changed.

  For example, in the stator 15C of the motor 3C shown in FIG. 13 and FIG. 14, the motor coil 24 includes fourth to sixth teeth 14d to 14f and tenth to twelfth teeth 14j to 14th continuous in the circumferential direction. It is wound around 14l. As a result, the stator 15C has a motor coil 24 for the two teeth 14 including the first to third teeth 14a to 14c and the seventh to ninth teeth 14g to 14i, respectively. A circumferential range θ (θ1, θ2) ”that is not wound is set.

  That is, in the stator 15C of this other example, the first and second circumferential ranges θ1 and θ2 in which the motor coil 24 is not wound around the tooth 14 are set at two positions separated by 180 ° in the circumferential direction. Yes. Further, in these “first and second circumferential ranges θ1, θ2 in which the motor coil 24 is not wound around the teeth 14”, the notch portions 60 similar to the stator 15 of the first embodiment are respectively provided. Is formed. As a result, a larger space serving as the overlapping region α of the in-case housing component 70 is secured, and symmetry (point symmetry) about the motor shaft 12 serving as the rotation axis L0 of the rotor 13 is secured. It is configured.

  In other words, the size of the actuator device 1 can be reduced more effectively by setting a plurality of spaces to be the overlapping region α of the in-case housing component 70. Further, by ensuring the symmetry of the stator 15C, the magnetic balance of the stator 15 can be more suitably maintained. In addition to this, it is possible to reduce the manufacturing cost and improve the assemblability.

  In the above embodiment, the stator 15 is provided with the notch 60 in which the circumferential range θ in which the motor coil 24 is not wound around the tooth 14 is partially cut in the axial direction. Then, the first and second gear members 31 and 32 serving as the in-case housing component 70 are disposed inside the notch 60.

  However, the present invention is not limited to this, and the in-case housing component 70 can be arranged so as to overlap in the radial direction and the axial direction of the motor 3 with the circumferential range θ in which the motor coil 24 is not wound around the teeth 14 as an overlapping region α. If so, the stator 15 may not necessarily include the notch portion 60 as described above. In other words, the space of the portion excluding the motor coil 24 (and the insulator 22) that should be wound around the tooth 14 may be used as the overlapping region α of the in-case housing component 70. Even with such a configuration, the size of the actuator device 1 can be reduced.

  In the above embodiment, the motor 3 has a configuration as a brushless motor that rotates by supplying three-phase (U, V, W) driving power. The rotor 13 has a configuration as a magnet rotor 20 including a permanent magnet 18. However, the present invention is not limited to this, and the rotor 13 may not necessarily be the magnet rotor 20. For example, the present invention may be applied to a reluctance motor in which a plurality of salient poles are provided on the rotor 13 or a winding type or cage type induction motor.

Next, technical ideas that can be grasped from the above embodiments will be described together with effects.
(A) The actuator includes an outer ring portion that connects the teeth over the entire circumference of the stator.

  According to the said structure, the magnetic balance of a stator can be maintained more suitably. Further, high rigidity can be ensured over the entire circumference of the stator. Thereby, good resonance characteristics can be realized.

  (B) The motor is a brushless motor that rotates by supplying three-phase driving power, and the stator includes the teeth arranged in the circumferential direction in which the motor coils corresponding to the phases of the driving power are arranged. An actuator device characterized by having a configuration in which the coil is sequentially wound around.

  That is, a brushless motor to which three-phase (U, V, W) driving power is supplied has multiple teeth of “3” for the number of phases of the driving power in its stator. Therefore, according to the above configuration, the three teeth arranged in the circumferential direction around which each motor coil corresponding to each phase of the driving power is set as a set, and the stator circumferential direction in which the motor coil is not wound around the teeth. A range can be set. As a result, a larger in-case housing component can be easily placed overlapping the motor.

  DESCRIPTION OF SYMBOLS 1,1B ... Actuator apparatus, 2, 2B ... Case, 3, 3C ... Motor, 4 ... Deceleration mechanism, 7 ... Base member, 8 ... Cover member, 11a, 11b ... Bearing part, 12 ... Motor shaft, 13 ... Rotor, 14 (14a to l) ... Teeth, 15, 15C ... Stator, 16 ... Rotor core, 17 ... Ring magnet, 18 ... Permanent magnet, 20 ... Magnet rotor, 21 ... Outer ring part, 21x ... Part, 22 ... Stator core, 23 ... Insulator, 24 ... motor coil, 25 ... brushless motor, 30 ... pinion gear, 31 ... first gear member (gear member), 31a ... large diameter gear portion, 31b ... small diameter gear portion, 32 ... second gear member (gear) Member), 32a ... gear part, 42a, 42b ... bearing part, 43 ... support shaft, 44 ... cylindrical part, 44a ... tip, 45 ... hole part, 46 ... around part, 47 Support hole, 48 ... annular part, 50 ... output part, 60 ... notch part, 61 ... thin wall part, 62 ... through hole, 70 ... accommodated part in case, 71 ... electronic circuit board, 72 ... electronic part, θ ... Circumferential range, θ1, θ2, second circumferential range, α, overlapping region, h0, h1, axial length, L0, L1, L2, rotational axis, w1-w3, waveform.

Claims (7)

A motor as a drive source;
A case for accommodating the motor inside,
The motor is
A rotor supported rotatably,
A stator having a plurality of teeth arranged side by side in the circumferential direction on the radially outer side of the rotor,
The stator has a circumferential range in which a motor coil is not wound around the teeth, and
The in-case housing components housed inside the case together with the motor overlap in the radial direction and the axial direction of the motor, with the circumferential range of the stator where the motor coil is not wound around the teeth being an overlapping region. Actuator device. The actuator device according to claim 1,
The stator includes a notch portion in which a circumferential range in which the motor coil is not wound around the teeth is partially cut in the axial direction, and the case housing component is disposed inside the notch portion. An actuator device. In the actuator device according to claim 1 or 2,
The housing case component is a gear member that transmits the rotational output of the motor;
An actuator device characterized by the above. The actuator device according to claim 3, wherein
The actuator device according to claim 1, wherein a rotation shaft of the gear member is provided so as to penetrate the teeth around which the motor coil is not wound in the axial direction. In the actuator device according to any one of claims 1 to 4,
The circumferential range of the stator, which is an overlapping region of the in-case housing components, includes a plurality of teeth on which the motor coil is not wound,
An actuator device characterized by the above. In the actuator device according to any one of claims 1 to 5,
The rotor is a magnet rotor having a permanent magnet;
An actuator device characterized by the above. In the actuator device according to any one of claims 1 to 6,
In the stator, a plurality of circumferential ranges in which the motor coil is not wound around the teeth are set symmetrically about the rotation axis of the rotor,
An actuator device characterized by the above.