JP5620959B2 - Drive device and servo motor device - Google Patents

Description

  The present invention relates to a servo motor device used for control of a steered body, and more particularly, an output shaft of a servo motor device that transmits an output of a motor to a movable part of a steered body, and a drive including a servo motor device and a servo horn. It relates to the device.

  Conventionally, a radio control system for remotely controlling a steered object at a remote location has a small direct current motor (hereinafter simply referred to as a motor) as a drive source as an actuator for driving and controlling the steered object according to the instructions of the pilot. Servo motor device is used.

FIG. 10 is a view schematically showing a cross section of an example of a drive device including the servo motor device and the servo horn.
The servo motor device 20 has a substantially rectangular parallelepiped housing 21. A motor 22 and a plurality of reduction gears (gears) 23 are housed in the housing 21. The motor 22 is determined according to the size and characteristics of the target output, such as a brush motor, a coreless motor, or a brushless motor. The rotation of the motor output shaft is transmitted to the output shaft 24 of the servo motor device via a plurality of gears 23.

In the housing 21 of the servo motor device 20, there is a potentiometer 25 constituted by a variable resistor or a resolver for detecting the rotation angle of the output shaft 24, and the output shaft 24 according to an input signal to the servo motor device 20. A drive circuit 26 for generating a drive signal for controlling the rotation angle is housed.
The potentiometer 25 is linked to the output shaft, and the output voltage changes according to the rotation angle of the output shaft 24, and outputs the output voltage to the drive circuit 26 as angle information of the output shaft 24. The drive circuit 26 generates a drive signal so that the difference between the angle information from the potentiometer and the input signal becomes zero, and outputs the drive signal to the motor 22 to control the rotation angle of the output shaft 24.

A member called a servo horn 27 is coupled to the output shaft 24 of the servo motor device 20 by a screw 28. A linkage mechanism (not shown) for transmitting the rotational motion of the output shaft 24 of the servo motor device 20 to the movable part of the steered body is attached to the servo horn 27. For the linkage mechanism, a wire, a rod, an adjuster, a piano wire or the like is used depending on the purpose.
The servo horn 27 has various shapes depending on the purpose, and includes a disk shape and a cross shape.

Although not shown, the output shaft 24 of the servo motor device 20 is provided with serrations along the rotation direction. Serration is unevenness with a certain period. In addition, the servo horn 27 has a fitting portion 27 a that fits with the serration of the output shaft 24.
The fitting portion 27a can be freely attached to any angular position of the output shaft 24. Thus, the pilot can attach the servo horn at an arbitrary angular position of the output shaft in accordance with the size, movable range and linkage mechanism of the steered body.
In this specification, the servo horn attached to the output shaft of the servo motor device at an arbitrary angular position is referred to as a conventional servo horn.

Apart from the above utilization method, in a robot using a servo motor device, there is a case where it is moved to a movable part accurately by a predetermined angle from a neutral position which is a neutral position of the output shaft of the servo motor device.
In such a case, it is desirable that the servo horn can be attached at a unique position so that the relationship between the neutral position of the output shaft and the angle of attachment of the servo horn to the output shaft is determined on a one-to-one basis.

Various configurations have been devised to attach the servo horn to a unique position. For example, Patent Document 1 discloses a configuration in which a scale is provided on a housing around an output shaft in a servo motor device.
By using the scale, the servo horn can be attached so as to match a specific angular position of the output shaft.

Patent Document 2 discloses a configuration for changing the shape of the output shaft of the servo motor device.
The shape of the output shaft is a prism, and a protrusion is provided on one of the side surfaces of the prism. The servo horn has a fitting hole that matches the shape of the output shaft. As a result, the output shaft and the servo horn cannot be attached except in a unique position.

Shokai 58-153894 JP2008-206671

  When a scale is provided on the housing of the servo motor device as in Patent Document 1, it is easy to attach the servo horn so that the neutral position of the output shaft can be understood, but both the output shaft and the servo horn are configured as before. There was still an assembly error due to misreading of the scale.

  In addition, as described in Patent Document 2, by making the fitting part between the output shaft of the servo motor device and the servo horn special, the mounting position of the servo horn can be prevented, but the dedicated servo horn is dedicated to the dedicated servo motor device. It will be in the state where only is attached. Therefore, the conventional servo horn cannot be used for the servo motor device.

  An object of the present invention is to prevent assembly errors and to attach a servo horn to a unique position on the output shaft of a servo motor device. Furthermore, it is an object to allow a conventional servo horn to be attached to the output shaft of the servo motor device.

  In order to solve the above-described problems, a servo motor device according to claim 1 of the present invention is a servo motor device having an output shaft that rotates within a predetermined angular range, and has a sawtooth shape on a surface parallel to the rotation shaft of the output shaft. The serrated portion is provided with irregularities with a constant period along the rotation direction of the output shaft, and the missing tooth portion extends from the rotation shaft to the concave portion of the serrated portion in the rotation direction of the output shaft. It is characterized by being formed inside a circle formed by tying along.

  According to a second aspect of the present invention, there is provided a servo motor device having an output shaft that rotates within a predetermined angle range, and a servo horn that is fitted to the output shaft and connects with a movable part of a steered body. The servo motor device includes a serrated portion and a notched portion on a surface parallel to the rotation axis of the output shaft, and the serrated portion is provided with irregularities having a constant period along the rotation direction of the output shaft. The toothless part is formed on the inner side of the circle formed by connecting the concave part of the serrated part from the rotating shaft along the rotation direction of the output shaft, and the servo horn is unique to the serrated part and the missing tooth part. It has the fitting part which agree | coincides in the position of this.

  A servo motor device according to a third aspect of the present invention is the servo motor device according to the first aspect, wherein a plurality of the toothless portions are provided on a surface parallel to the rotation axis of the output shaft.

  A servo motor device according to a fourth aspect of the present invention is the servo motor device according to the first aspect, further comprising a missing tooth position display portion that indicates the missing tooth portion on a surface orthogonal to the rotation axis of the output shaft. Features.

  A servo motor device according to a fifth aspect of the present invention is the servo motor device according to the first aspect, characterized in that the servo motor device has a reference position display section that indicates a neutral position on a surface orthogonal to the rotation axis of the output shaft.

  The drive device according to claim 6 of the present invention is the drive device according to claim 2, wherein the servo horn is integrated with a frame constituting the steered body.

  The servo motor device according to claim 1 can be freely selected between a servo horn that can be uniquely attached to the output shaft and a conventional servo horn that can be attached to any angle position by devising the shape of the output shaft. It became possible to use.

  In the drive device according to the second aspect, since the servo horn can be uniquely attached to the output shaft of the servo motor device, the driven body can be controlled by driving the servo motor by a predetermined angle from the neutral position. Further, since the servo horn cannot be attached to the servo motor device other than the unique position, an assembly error can be prevented.

  The servo motor device according to the third aspect, like the servo motor device according to the first aspect, freely uses a servo horn that can be uniquely attached and a conventional servo horn that is attached at an arbitrary angular position. be able to.

Since the servo motor device according to the fourth aspect includes a missing tooth position display portion that indicates the position of the missing tooth portion in addition to the shape of the output shaft, the servo horn can be attached more easily.
Further, since the servo motor device according to the fifth aspect has the reference position display portion indicating the neutral position, the conventional servo horn can be attached with the neutral position as a reference.

  In the drive device according to the sixth aspect, since the servo horn is integrated with the frame of the steered body, the number of parts can be reduced.

It is the figure which showed the external appearance of the servomotor apparatus of this invention. It is the figure which took out and showed the output shaft of the servomotor apparatus of this invention from the housing | casing. It is the figure which showed the servo horn which has a fitting part fitted with the servo motor apparatus of this invention in a unique position. It is the figure which showed the conventional servo horn. It is the schematic diagram of the drive device which attached the servo horn which has a fitting part fitted to the servomotor apparatus which concerns on this invention in a unique position. It is the figure which showed the output shaft of other embodiment of the servomotor apparatus which concerns on this invention. It is the figure which showed the output shaft of other embodiment of the servomotor apparatus which concerns on this invention. It is the figure which showed the output shaft of other embodiment of the servomotor apparatus which concerns on this invention. It is the figure which showed the flame | frame which has a fitting part which the servomotor apparatus of this invention and the servomotor apparatus of this invention fit in a unique position. It is sectional drawing which showed the structure in the housing | casing of the conventional servomotor apparatus.

[Example 1]
FIG. 1 is an external view of a housing 2 of a servo motor device 1 according to the present invention.
In this figure, the inside of the housing 2 of the servo motor device 1 is the same as that of the conventional servo motor device, and the description thereof is omitted.

FIG. 2 is a view in which the output shaft 3 of the servo motor device 1 is taken out from the housing 2 and a part of the shape is omitted.
A serrated portion 4 and a missing tooth portion 5 are provided on a surface of the output shaft 3 parallel to the rotation shaft 3a. Further, the serrated portion 4 is provided with serrations along the rotation direction of the output shaft 3.

The relationship between the sawtooth portion 4 and the missing tooth portion 5 will be described. Here, a circle formed by connecting the concave portions of the serrations of the serrated portion 4 along the rotation direction of the output shaft is referred to as a root circle 4 a of the serrated portion 4. A surface parallel to the rotation axis of the output shaft 3 of the missing tooth portion 5 is defined as an outermost surface 5 a of the missing tooth portion 5.
The length of the output shaft from the rotary shaft 3a to the outermost surface 5a is shorter than the length from the rotary shaft 3a to the root circle 4a. That is, the missing tooth portion 5 is formed inside the root circle 4a. Thereby, when it is going to attach the conventional servo horn to the output shaft 3, it can attach without the missing tooth part 5 and the fitting part of the conventional servo horn contacting.

FIG. 3 shows the servo horn 6 attached to the output shaft.
The disk-type servo horn 6 is viewed from the direction toward the servo motor device side when attached to the output shaft of the servo motor device.

  The servo horn 6 is provided with a fitting portion 7 which is fitted at a unique position with the output shaft of the servo motor device. The fitting portion 7 is provided with a concavo-convex portion 7a that fits with the serrated portion of the output shaft of the servo motor device, and a convex portion 7b that fits with the missing tooth portion. Since the convex portion 7b cannot be fitted to the sawtooth portion of the output shaft, the servo horn can be attached to a unique position of the output shaft.

FIG. 4 shows a conventional servo horn 16.
The servo horn 16 of FIG. 4 is also viewed from the direction toward the servo motor device side when attached to the output shaft of the servo motor device, similarly to the servo horn 6 of FIG.

  The servo horn 16 is fixed to the output shaft by fitting the output shaft of the servo motor device with the fitting portion 17 of the servo horn 16. The fitting portion 16 of the servo horn 17 is provided with a concavo-convex portion 17a that is a periodic concavo-convex portion that fits with the serrated portion of the output shaft of the servo motor device, over the entire circumference.

Since the tooth missing portion of the output shaft of the servo motor device is formed inside the root circle of the serrated portion, the outermost surface of the tooth missing portion and the concavo-convex portion 17a do not come into contact with each other, and any output shaft arbitrary A servo horn 16 can be attached to the angular position.
Thus, both the conventional servo horn and the dedicated servo horn can be attached to the servo device of the present invention.

FIG. 5 is a schematic diagram showing a state where the servo horn 6 is attached to the servo motor device 1.
The servo horn 6 is schematically shown so that the sawtooth portion 4 and the missing tooth portion 5 of the servo motor device 1 and the fitting portion 7 of the servo horn 6 can be seen so that the attached state can be easily understood.
Since the sawtooth portion 4, the toothless portion 5 and the fitting portion 7 are fixed at unique positions, they cannot be attached to other than the attachment positions shown in the figure, and an attachment error can be prevented.

[Example 2]
FIG. 6 is a view in which the output shaft 13 of a servo motor device according to another embodiment of the present invention is taken out of the housing and part of the shape is omitted. Since the configuration of the servo motor device other than the output shaft 13 is the same as that of the first embodiment, the description thereof is omitted.
The output shaft 13 of the servo motor device is provided with a plurality of serrated portions 14a, 14b and a missing tooth portion 15.
The output shaft 13 can be fitted with a dedicated servo horn having a fitting portion that is fitted at a unique position (not shown) to constitute a drive device.

At this time, if the serrated portions 14a and 14b and the missing tooth portion 15 are divided equally, the mounting position of the servo horn cannot be determined uniquely even with a dedicated servo horn, so that the servo horn can be uniquely mounted. The parts 14a and 14b and the missing tooth part 15 must be provided.
For example, as in the example of FIG. 6, if the sawtooth portions are arranged asymmetrically with respect to the rotation axis so that the number of recesses and protrusions of the sawtooth portion 14 a is different from the number of recesses and protrusions of the other sawtooth portions 14 b. Servo horn can be mounted at a unique position.
Also in this form, the missing tooth part 15 is formed inside the root circle of the serrated parts 14a and 14b. Therefore, both a dedicated servo horn and a conventional servo horn can be attached.

[Example 3]
FIG. 7 is a view showing an output shaft 30 of a servo motor device according to another embodiment of the present invention taken out of the casing and with a part of the shape omitted. Since the configuration of the servo motor device other than the output shaft 30 is the same as that of the first embodiment, the description thereof is omitted.
The output shaft 30 is provided with a missing tooth position display portion indicating the missing tooth portion 32 as a mark 33. The provision of the mark 33 makes it easier to attach the servo horn. As in the other embodiments, the servo motor device of this embodiment and the servo horn attached to the output shaft 30 at a unique position constitute a drive device.

The mark 33 is provided so that the upper surface portion of the missing tooth portion 32 is recessed in order to emphasize the missing tooth portion 32 with respect to the upper surface 31 of the output shaft 30.
In addition to this, a part of the upper surface of the missing tooth portion 32 may be recessed, or a seal or the like may be attached to the upper surface 31 as a mark. Furthermore, a mark may be provided around the output shaft 30 of the housing of the servo motor device.

[Example 4]
FIG. 8 is a view in which the output shaft 34 of a servo motor apparatus according to another embodiment of the present invention is taken out of the housing and a part of the shape is omitted. Since the configuration of the servo motor device other than the output shaft 34 is the same as that of the first embodiment, the description thereof is omitted.
A reference position display portion is provided as a mark 35 on the output shaft 34 so that the neutral position can be seen. Since the mark 35 is provided at the neutral position, the conventional servo horn can be attached based on the neutral position of the output shaft 34.
Similarly to the other embodiments, the servo motor device of the present embodiment and the servo horn attached to the output shaft 34 at a unique position constitute a drive device.

In FIG. 8, the mark 35 is provided so as to form a recess in the upper surface 36 of the output shaft 34.
In addition to this, as in the third embodiment, a seal may be attached to the upper surface 36 of the output shaft 34 as a mark. Further, a mark may be provided around the output shaft 34 of the housing of the servo motor device.

[Example 5]
FIG. 9 is a diagram showing a servo motor device 1 and a servo horn 37 according to another embodiment of the present invention. The description of the same configuration as in the other embodiments is omitted.
The servo horn 37 is fixed to the output shaft of the servo motor device 1 by a screw 38.
In the present embodiment, the servo horn 37 is integrated with a frame constituting the appearance of a controlled body such as a robot.

  The servo horn is usually connected to the movable part of the steered body via a linkage mechanism. However, as in this embodiment, the servo motor device is directly attached so that the frame itself serves as the servo horn and the movable part. May be.

As described above, configurations other than the embodiments described above may be implemented by combining the embodiments described above.
Moreover, about Example 3 and Example 4, you may provide a scale on the upper surface of an output shaft or the periphery of the output shaft of the housing | casing of a servomotor apparatus so that it may serve as a missing tooth part position display part and a reference position display part. In addition to the scale, letters and numbers may be provided so that it can be understood which part of the scale indicates the missing tooth portion and the neutral position. Further, the missing tooth portion and the neutral position may be simultaneously recognized by a scale.

Further, in the embodiment described so far, the missing tooth portion of the output shaft of the servo motor device is shaped to be a part of a cylinder centering on the rotating shaft of the output shaft. The shape is not limited to this.
Any shape may be employed as long as the length from the rotation shaft of the output shaft to the outermost surface of the missing tooth portion is shorter than the length from the rotation shaft of the output shaft to the root circle of the serrated portion. That is, it is only necessary that the missing tooth portion is formed inside the root circle of the serrated portion.

For example, serrations may be provided on the outermost surface of the missing tooth portion. Here, a circle formed by connecting the convex portions of the serration of the missing tooth portion along the rotation direction of the output shaft is defined as a tip circle of the missing tooth portion. At this time, the length from the rotation shaft of the output shaft to the tip circle of the missing tooth portion is set to be equal to or shorter than the length from the rotation shaft of the output shaft to the root circle of the sawtooth portion. Thus, a conventional servo horn can be attached.
Further, the missing tooth portion may be shaped like a part of a prism. Also in this case, the missing tooth portion is formed below the length from the rotating shaft to the root circle of the serrated portion. Thus, a conventional servo horn can be attached.

DESCRIPTION OF SYMBOLS 1 ... Servo motor apparatus 2 ... Housing | casing 3 ... Output shaft 3a ... Rotating shaft 4 ... Sawtooth-shaped part 4a ... Tooth root circle 5 ... Missing tooth part 5a ... Outer surface 6 ... Servo horn 7 ... Fitting part

Claims (6)

In a servo motor device having an output shaft that rotates within a predetermined angular range,
Provided with a serrated portion and a toothless portion on a surface parallel to the rotation axis of the output shaft,
The serrated portion is provided with irregularities having a constant period along the rotation direction of the output shaft,
The servo motor device according to claim 1, wherein the toothless portion is formed inside a circle formed by connecting a concave portion of the sawtooth portion along the rotation direction of the output shaft from the rotation shaft. A servo motor device having an output shaft rotating within a predetermined angle range;
In a drive device comprising a servo horn that fits to the output shaft and connects with the movable part of the steered body,
The servo motor device includes a serrated portion and a missing tooth portion on a surface parallel to the rotation axis of the output shaft,
The serrated portion is provided with irregularities having a constant period along the rotation direction of the output shaft,
The missing tooth portion is formed inside a circle formed by connecting the concave portion of the serrated portion along the rotation direction of the output shaft from the rotation shaft,
The servo horn has a fitting portion that matches the serrated portion and the missing tooth portion at a unique position.   The servo motor device according to claim 1, wherein a plurality of the toothless portions are provided on a surface parallel to the rotation shaft of the output shaft.   2. The servo motor device according to claim 1, further comprising a missing tooth position display portion that indicates the missing tooth portion on a surface orthogonal to a rotation axis of the output shaft.   The servo motor device according to claim 1, further comprising a reference position display unit that indicates a neutral position of the output shaft on a surface orthogonal to the rotation shaft of the output shaft.   The drive device according to claim 2, wherein the servo horn is integral with a frame constituting the steered body.

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