JPS63120944A - Differential actuator - Google Patents

Abstract

PURPOSE:To stabilize the operation, by arranging the rotary shaft and output shaft of two electrical rotary machines being controlled independently through frequency control on a same axis. CONSTITUTION:An output shaft 29 penetrates through rotary shafts 23, 14 of first and second motors 10, 11 and is supported in a casing 17 through bearings 18, 19. Rotation of the first motor 10 causes rotation of a first bevel gear 24 while the rotation of the second motor 11 causes rotation of the output shaft 14 and a second bevel gear 13, and the differential output is transmitted through an intermediate gear 25 and a differential device to an output shaft 29. Consequently, the rotary shaft and the output shaft of two electrical rotary machines can be arranged on a same axis, thereby a differential actuator can be made compact.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a differential actuator in the field of control or power electric devices.

[Conventional technology]

Conventional differential actuators are, for example,
This is shown in Japanese Patent No. 40940. FIG. 2 is a sectional view showing this conventional differential actuator, in which (1) is the main RR motor, (2) is the auxiliary variable M motor, (
3) is the first rotating shaft, (4) is the first bevel gear fixed to the shaft end of the first rotating shaft (3), (5) is the intermediate gear, and (6) is the outer periphery of the intermediate gear (5). The attached ring gear, (7) is the auxiliary gear that meshes with it, (8) is the output shaft gear that meshes with the intermediate gear (5), and (9) is the output shaft that is integrated with this output shaft gear (8). be.

Next, the operation will be explained.

The first bevel gear (4) fixed to the tip of the first rotating shaft (3)
is rotated at a speed N1 by the main electric motor 41 (11) and transmits power to the intermediate gear (5).
) is rotated by the auxiliary gear (7) that meshes with the ring-shaped bevel gear (6), so the speed is determined by the speed N2 of the auxiliary variable speed motor (2) that rotates the auxiliary gear (7) can be made variable.

Furthermore, the output shaft gear (8) and the output shaft (9) integrated therewith are rotated by the rotation and revolution of the intermediate gear (5).

Here, if the gear ratio of the auxiliary gear (7) to the ring-shaped bevel gear (0) is n: 1, the rotation speed of the output shaft (9) is N0.
Yes, N. For example, when n: 2, the rotational speed of the difference between N2 and Nyu is applied to the output shaft by 1'5. Here, the main electric motor (1) and the auxiliary variable speed electric motor (2) are usually inverter-controlled motors or III-type motors.

[Problem that the invention seeks to solve]

Conventional differential actuators are constructed as described above, and since the rotating shafts and output shafts of the two electric motors are not formed on one axis, each rotating shaft must be constructed with a separate casing for sliding purposes. Therefore, installation in area 81 is complicated.

Also, when the output shaft rotation speed is low, especially around 0 rotations,
The drawback was that the resolution of rotational speed was low.

This invention was made to solve the above-mentioned problems, and it is possible to easily obtain high resolution at low speeds around 0 rotations with an integrated casing, and also because the output shaft is at 0 rotations. The purpose of this invention is to obtain a differential actuator in which both of the two rotating electrical machines can rotate at high speed and stabilize the operation.

[Means for solving problems]

In order to achieve the above-mentioned object, the differential actuator according to the present invention has first and second rotating electrical machines that are independently driven to rotate by frequency control, and a differential output between the two rotating electrical machines. It is equipped with a differential gear U that outputs 9. Said x
The rJjJ device consists of a pair of opposing sun gears that are rotated by the rotational output of the rotary electric motor, a differential gear that meshes with both sun gears and can rotate and revolve in forward and reverse directions, and and a means for extracting the revolution of the moving gear as a differential output, and furthermore, the output shaft of the means and the rotating shafts of both rotating electric machines are coaxially arranged.

According to one embodiment of the present invention, the first rotating electrical machine is a synchronous machine, and the second rotating Ti machine is a pulse motor. According to another embodiment, the first rotating electrical machine is a synchronous machine, and the second rotating electrical machine is a servo motor. According to yet another embodiment, the rotation axis of the re-rotation astfl is a hollow tube, and the means is fixed midway between an output shaft passing through the hollow tube and the output shaft to freely rotate the differential gear. It includes a bearing device that supports the

[Effect]

In this invention, the rotating shafts and output shafts of the two rotating electrical machines are arranged on the same axis, so they can be housed in an integrated caning and look like a single actuator, and the machine Installation is easy, and since the two rotating electric machines are driven to rotate by frequency control, each can be controlled independently to obtain forward and reverse differential outputs.
Even when low-speed output close to zero is required, each of the two motors can rotate at high speed, so high-resolution differential rotation without vibration on the output shaft can be obtained.

[7A implementation example of the invention] Embodiments of the present invention will be described below with reference to the drawings.

In FIG. 1, (10) indicates a synchronous machine with a first motor, and (11) indicates a pulse motor with a second motor.

The rotating shafts (23) and (14) of both mokes are made of hollow tubes, and the output shaft (29) passes through this and connects to the casing (1).
7) is supported by bearings (18) and (19). 1st
A first bevel gear (24) is attached to the rotating shaft (23), a second bevel gear (13) is attached to the second rotating shaft (14), and the bevel gears constitute sun gears of the same shape that are arranged facing each other. are doing.

The intermediate gear (25) that meshes with both sun gears (24) (131) is a planetary gear that rotates and revolves in accordance with the rotation of both sun gears (24) (13).
It's a gear. (12) is an intermediate shaft connecting the upper and lower middle ntM wheels (25), and is fixed to the output shaft (29). (
Bearings 12a) allow the intermediate gear (25) to freely rotate, and are provided at both ends of the intermediate shaft (12).

(15) is a first driver that drives the first motor (10), and (16) is a second driver that drives the Na2 motor. The FltB vehicle (24) whose rotating shaft (23) is rotated by the first motor (lO) and is fixed to the tip thereof
is rotated at a rotation speed N1. -Power tube 2 motor (11
) causes its output shaft (14) and second bevel gear (13) to rotate at a rotation speed N2. Here, the first bevel gear (24
), a second bevel gear (13), and an intermediate gear (25).
The differential output of the motor (11) is transmitted to the output shaft (29) integrated with the intermediate shaft (12) by the revolution of the intermediate gear (25).

At this time, the rotation speed N0 of the output shaft (29) is N0=&(N
It is s + N. Therefore, when N1 and N2 are in the same direction, the output shaft (29) rotates at the sum of their rotation speeds, and when N and N2 are in opposite directions, the output shaft (29) rotates at the difference between them, which is 4. As a result, a wide range of variable speeds from -Making (N □ 10 NK) to 0 to Making (N □ 10 Ng) are obtained. If the first motor (10) is a synchronous motor and the second motor (11) is a pulse motor, the output shaft (29) can be rotated at extremely low speed and with ci resolution by reversing the rotation directions of both motors. I can do it. The first motor (10) is connected to the first driver (
15) For example, in a configuration in which the second motor (11) is driven at a certain constant frequency by an inverter and the frequency of the second motor (11) is controlled by a second driver such as a stepper, for example, if the number of rotations of N2 is made slower than the number of rotations of N1 by I PPS. , the output shaft (29) is the step angle (θ゛) of the pulse motor.
It can be rotated at a speed of θ/720 (rpS) corresponding to a station of 1, and the pulse smoke can be driven in a high input pulse frequency range, resulting in low vibration. Furthermore, the first
The rotation speed of the motor (10) is set higher than the rotation speed of the second motor (11), and more load is applied to the first motor (10).
It also has the effect of compensating for the decrease in torque when the input pulse frequency of the pulse motor increases.

Further, in the above embodiment, a pulse motor is used as the second motor (11), but the same effect can be achieved by using a servo motor.

〔Effect of the invention〕

According to this invention, as explained above, by arranging the rotating shafts and output shafts of two rotating electric machines on the same axis, it is possible to store them all in a single casing and treat them as a single actuator in appearance. This makes it possible to easily install it on machines. In addition, since the two rotating electric machines are driven to rotate by frequency control, they can be controlled independently, and not only can forward and reverse differential outputs be obtained (even when differential output at low speeds close to 0 is required). Since both rotating electric machines can be rotated at high speed, there is an effect of high separation capacity without vibration.

[Brief explanation of the drawing]

FIG. 1 is a side sectional view of a differential actuator according to an embodiment of the present invention, and FIG. 2 is a configuration diagram of a conventional device. In the figure, lO: first motor, 11; second motor, 1
2: Intermediate shaft, 12a: Bearing, 13: Second bevel gear, 14:
2nd rotating shaft, 15: first driver, 16: second driver, 17: casing, 18: bearing, 19: bearing, 23:
1st rotating shaft, 24: 2nd bevel gear, 25: intermediate gear, 29
: Output shaft. The same symbol indicates the same or equivalent part.

Claims (1)

[Claims] 1. A first rotary motor which is independently driven to rotate by frequency control.
and a second rotating electrical machine, and a differential device that takes out differential outputs of both rotating electrical machines, and the differential device includes a pair of opposing sun gears that are rotated by the rotational outputs of the rotating electrical machines, respectively. , a differential gear that meshes with both sun gears and can rotate and revolve in forward and reverse directions, and means for extracting the revolution of the differential gear as a differential output, further comprising an output shaft of said means and a differential gear that can rotate and revolve in forward and reverse directions. A differential actuator characterized in that a rotating shaft of a rotating electrical machine is coaxially arranged. 2. The differential actuator according to claim 1, wherein the first rotating electric machine is a synchronous machine and the second rotating electric machine is a pulse motor. 3. The differential actuator according to claim 1, wherein the first rotating electrical machine is a synchronous machine and the second rotating electrical machine is a servo motor. 4. The rotating shafts of both rotating electric machines are formed of hollow tubes, and the means includes an output shaft passing through the hollow tube, and a bearing fixed to the middle of the output shaft to rotatably support the differential gear. The differential actuator according to claim 1, characterized in that the differential actuator comprises a device.