Clutch mechanism for servo motor

Abstract

To provide a clutch mechanism capable of switching to an operation target performing different outputs in one servo motor, that is, capable of switching outputs, such as two kinds of outputs that are high-speed rotation low torque and low-speed rotation high torque, without enlarging the servo motor.SOLUTION: A clutch mechanism 100 for a servo motor is composed of a clutch armature 20 that configures an electromagnetic clutch, a coupling part (on-time coupling part) 30 in an on-time output mechanism 40 to which the clutch armature 20 is coupled when energizing, and a coupling part (off-time coupling part) 50 in an off-time output mechanism 60 to which the clutch armature 20 is coupled when shutting off the energization. The output switching of the servo motor is carried out by the electromagnetic clutch.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a clutch mechanism for a servo motor, and more particularly to a clutch mechanism for a servo motor which can make the clutch mechanism compact when, for example, two widely different types of torque are to be extracted from the same output shaft of a single motor. [Background technology]

[0002] When high torque is required in a servo motor, the general method is to combine it with a reducer and obtain torque with double the reduction ratio by sacrificing the rotational speed (not being able to rotate at high speed). However, in the case of mechanisms that use ball screws, such as servo presses, there is an operating pattern in which the motor is rotated at high speed to perform positioning, and then pressure is immediately applied with high torque. However, while mechanisms that use reducers can output high torque, they are unable to output high speed rotations. Conversely, when outputting high speed rotations, it is impossible to output high torque by combining it with a reducer.

[0003] In other words, when using a reduction gear, the rotation speed must be sacrificed, making it impossible to achieve both high-speed rotation output and high-torque output. In other words, it has traditionally been impossible to use a reduction gear and produce two levels of torque, high and low, from a single motor, and from the same output shaft. Therefore, in order to achieve both high-speed rotation output and high-torque output, two types of motors (two motors) with complex mechanisms have been used.

[0004] As a potential fundamental solution to this problem, a patent application has already been filed for a method that uses a reducer and can be used in both low-speed, high-torque and high-speed, low-torque specifications (Patent Document 1, listed below). This document discloses a configuration for a reducer that can be used in both low-speed, high-torque and high-speed, low-torque specifications, which includes a reduction mechanism having multiple output members that reduces the rotational force of the motor shaft and outputs a first driving force to an output target, a speed-up mechanism that has a carrier connected to the multiple output members and increases the speed of the first driving force and outputs a second driving force to a differential case, and a clutch that connects the speed-up mechanism to the differential case and the reduction mechanism to the differential case in an intermittent manner. Furthermore, Patent Document 2 discloses a clutch mechanism that uses a grooved cam to move two engaging claws and switch the gears to be connected. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2014-052063 A "Reduction gear and motor torque transmission device equipped with the same" [Patent Document 2] Japanese Utility Model Publication No. 61-175628 "Clutch switching device" Summary of the Invention [Problem to be solved by the invention]

[0006] The technology disclosed in the above-mentioned document 1 is a configuration in which the reducer is equipped with a speed-up mechanism and a speed-down mechanism, and two types of output, high speed low torque and low speed high torque, are extracted by a clutch that selectively connects the speed-up mechanism or the speed-down mechanism to the differential case. In other words, it is a complicated configuration and method in which not only a speed-down mechanism but also a speed-up mechanism is provided to make a reducer, and it is not suitable for suppressing the increase in size of the entire device in which it is installed or for simplifying the combination mechanism in the combination of the motor and the reducer. Therefore, a simpler configuration and method is required that can also contribute to suppressing the increase in size of the entire device in which it is installed and simplifying the combination mechanism.

[0007] In addition, servo motors have traditionally been equipped with a non-excitation actuated brake to respond to emergency stops in the event of a power outage, etc. However, the installation of such a non-excitation actuated brake requires space, which is also disadvantageous in preventing the overall size of the device in which it is installed from increasing. If it were possible to obtain two types of output, high speed rotation and low torque, and low speed rotation and high torque, from one motor and a single output shaft, and if it were possible to eliminate the need for a non-excitation actuated brake, this would be advantageous in preventing the overall size of the device in which it is installed from increasing and simplifying the combined mechanism.

[0008] So far, we have discussed the problems and issues involved in obtaining two types of output from a servo motor. Generally, the clutches used in conventional FA control whether a specific operating object is connected or disconnected (neutral), thereby determining whether or not the operating object will generate an output. In other words, one clutch mechanism is required for each operating object that generates an output. If a single servo motor is required to perform clutch intermittent action for multiple operating objects, the servo motor will inevitably become larger, which does not meet the demand for compactness. There is a demand for a clutch mechanism that does not hinder the compactness of servo motors, and that contributes to compactness.

[0009] The problem that the present invention aims to solve is to provide a clutch mechanism that can eliminate the problems of the conventional technology, and can switch between two different outputs, for example high speed rotation and low torque, and low speed rotation and high torque, from a single servo motor, without increasing the size of the servo motor, i.e., can perform output switching. [Means for solving the problem]

[0010] As a result of studying the above problems, the inventors of the present application found that the problems could be solved by providing separate connecting parts on the ON side and OFF side of the clutch armature, and completed the present invention based on this. That is, the invention claimed in this application, or at least the invention disclosed therein, as a means for solving the above problems is as follows.

[0011] [1] The following reducers are used: <g>A clutch mechanism for switching the output of a servomotor having a paradox planetary gear mechanism having the configuration described in claim 1 by an electromagnetic clutch, the clutch mechanism comprising:< / g> The electromagnetic clutch is constituted by a clutch armature, a coupling portion (hereinafter referred to as the "ON-time coupling portion") in an output mechanism (hereinafter referred to as the "ON-time output mechanism") to which the clutch armature is coupled when current is applied (hereinafter referred to as the "ON-time"), and a coupling portion (hereinafter referred to as the "OFF-time coupling portion") in an output mechanism (hereinafter referred to as the "OFF-time output mechanism") to which the clutch armature is coupled when current is cut off (hereinafter referred to as the "OFF-time"). and is disposed in the space between the servo motor body and the reducer. When the clutch armature fixes the first internal gear, a low-speed rotation and a high torque are output, and when the clutch armature fixes the carrier, a high-speed rotation and a low torque are output. A clutch mechanism for a servo motor, comprising: <g> The paradox planetary gear mechanism consists of a sun gear that rotates integrally with the motor shaft, planetary gears that revolve around the sun gear while rotating on their own axis, a first internal gear that meshes with the planetary gears and is acted upon by the clutch armature, a second internal gear that meshes with the planetary gears, has a different number of teeth from the first internal gear, and rotates integrally with the output shaft, and a carrier that houses the planetary gears and is acted upon by the clutch armature.< / g> [2] The clutch mechanism for a servo motor according to [1], characterized in that the connecting structure connecting the clutch armature and each of the connecting portions is a meshing structure provided on both of them. [3] The clutch mechanism for a servo motor according to [1], characterized in that the connecting structure connecting the clutch armature and each of the connecting portions is a friction structure provided on both of them. [4] A clutch mechanism for a servo motor as described in either [2] or [3], characterized in that the connecting structure of the clutch armature is different for the ON-time connecting portion and the OFF-time connecting portion.

[0012] [5] A clutch mechanism for a servo motor according to any one of [1], [2], [3], and [4], characterized in that the ON-time output mechanism and the OFF-time output mechanism output their respective outputs from a same output shaft. [ 6 〕 The above First internal gear is an OFF-state coupling site, and the carrier is an ON-state coupling site, [1], [2], [3], and [4] , or [5] The servo motor clutch mechanism according to claim 1 . [ 7 the planetary gear is a two-stage planetary gear in which a first planetary gear meshing with the first internal gear and a second planetary gear meshing with the second internal gear are integrally formed, 〔1〕、〔2〕、〔3〕、〔4〕、〔5〕、〔6〕 2. The servo motor clutch mechanism according to claim 1 , [ 8 〕 This is a non-excitation operation type. During a power outage, the motor shaft is connected to the reducer and is subjected to the reduction in speed. Characterized in that 〔1〕、〔2〕、〔3〕、〔4〕、〔5〕、〔6〕、〔7〕 2. The servo motor clutch mechanism according to claim 1 , Effect of the Invention

[0013] Since the servo motor clutch mechanism of the present invention is configured as described above, it is possible to switch between two different outputs, for example high speed rotation and low torque and low speed rotation and high torque, in other words, to perform output switching in a single servo motor, without increasing the size of the servo motor. In other words, two different types of motor output can be obtained from the same output shaft by using only one clutch mechanism. Naturally, it can be made more compact than a case in which two clutch mechanisms are used.

[0014] According to the servo motor clutch mechanism of the present invention, for example, two types of output, low torque at high speed and high torque at low speed, can be obtained from one motor and a single output shaft while suppressing the size of the servo motor as a whole. In addition, the present invention also realizes an emergency stop mechanism that does not use a non-excitation actuated brake, making it possible to eliminate the need to install a non-excitation actuated brake.

[0015] As mentioned above, in the past, it was not possible to obtain two types of torque, with or without a reducer, from a single motor and from the same output shaft, so two types of motors involving complex mechanisms were prepared. With the present invention, it is possible to realize a single motor that can variably utilize two types of torque, with or without a reducer, and furthermore, by eliminating the need for a non-excitation operating brake, it is possible to greatly simplify the system.

[0016] The technology disclosed in the above-mentioned Document 1 uses a reducer equipped with a speed-up mechanism and a speed-down mechanism, and two types of output are extracted by a clutch that selectively connects either the speed-up mechanism or the speed-down mechanism to the differential case, which is different from the present invention. Also, the technology disclosed in the above-mentioned Document 2 is a clutch mechanism technology that uses a grooved cam to move two engaging pawls and switch the connected gear, which is different from the present invention that is premised on a clutch mechanism that attracts the armature by energizing a coil. [Brief description of the drawings]

[0017] [Figure 1] 1 is a conceptual cross-sectional view showing the basic configuration and operation of a clutch mechanism for a servo motor according to the present invention (when energized). [Figure 1-2] 1 is a conceptual cross-sectional view showing the basic configuration and operation of a clutch mechanism for a servo motor according to the present invention (when current is cut off). FIG. [Diagram 2] 1 is a cross-sectional view illustrating a main portion of an example of a clutch mechanism for a servo motor according to the present invention that has an interlocking structure; [Diagram 3] 1 is a side sectional view illustrating the configuration and operation of a variable torque motor using a servo motor clutch mechanism according to the present invention (high torque mode). FIG. [Figure 4] 1 is a side sectional view illustrating the configuration and operation of a variable torque motor using a servo motor clutch mechanism according to the present invention (high speed rotation mode). FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] The present invention will now be described in detail with reference to the drawings. 1 and 1-2 are conceptual cross-sectional views showing the basic configuration and operation of the servo motor clutch mechanism of the present invention (when energized and when de-energized, respectively). As shown in these figures, the servo motor clutch mechanism 100 is a clutch mechanism that switches the output of a servo motor by an electromagnetic clutch, and is mainly composed of a clutch armature 20 constituting an electromagnetic clutch, a coupling portion (ON-time coupling portion) 30 in an output mechanism (ON-time output mechanism) 40 to which the clutch armature 20 is coupled when energized (ON), and a coupling portion (OFF-time coupling portion) 50 in an output mechanism (OFF-time output mechanism) 60 to which the clutch armature 20 is coupled when de-energized (OFF).

[0019] In the present servo motor clutch mechanism 100 having such a configuration, when the servo motor is in the ON state, as shown in Fig. 1, the clutch armature 20 is connected to the ON-state connecting portion 30, thereby connecting the clutch armature 20 to the ON-state output mechanism 40, and the ON-state output mechanism 40 is actuated. On the other hand, when the servo motor is in the OFF state, as shown in Fig. 1-2, the clutch armature 20 is connected to the OFF-state connecting portion 50, thereby connecting the clutch armature 20 to the OFF-state output mechanism 60, and the OFF-state output mechanism 60 is actuated. In this way, according to the clutch mechanism 100 of the present invention, the electromagnetic clutch is switched between ON and OFF states, thereby switching the mechanism that outputs the output, rather than switching ON / OFF of a predetermined output as in the conventional case. In other words, the output of the servo motor is switched between the ON-state output mechanism 40 and the OFF-state output mechanism 60.

[0020] 2 is a cross-sectional explanatory diagram showing the main part of an example of a clutch mechanism for a servo motor according to the present invention having an interlocking structure. As shown in the figure, the clutch mechanism for a servo motor can have an interlocking structure in which the clutch armature 25 and each of the interlocking parts, i.e., the ON-time interlocking part 35 and the OFF-time interlocking part 55, have interlocking structures that interlock the clutch armature 25 and each of the interlocking parts, i.e., the ON-time interlocking part 35 and the OFF-time interlocking part 55. In other words, the interlocking part of the clutch armature 25 with the ON-time interlocking part 35 can be configured to interlock with the ON-time interlocking part 35, while the interlocking part with the OFF-time interlocking part 55 can be configured to interlock with the OFF-time interlocking part 55.

[0021] Therefore, as shown in the drawing, the coupling structure of the clutch armature 25 may be different between the ON-time coupling portion 35 and the OFF-time coupling portion 55. For example, the clutch armature 25 may be configured to have a meshing structure on each side suitable for the output mechanism to be coupled, such as a high-torque output mechanism or an output mechanism in which smooth coupling is important.

[0022] In the illustrated example, (a) shows the action of the clutch armature 25 when it is ON, and (b) shows the action when it is OFF. When it is ON, the clutch armature 25 meshes with and is connected to the ON-time connecting portion 35, thereby connecting it to an ON-time output mechanism (not shown), and the ON-time output mechanism operates. On the other hand, when it is OFF, the clutch armature 25 meshes with and is connected to the OFF-time connecting portion 55, thereby connecting it to the OFF-time output mechanism (not shown), and the OFF-time output mechanism operates.

[0023] In the servo motor clutch mechanism of the present invention, the connecting structure that connects the clutch armature to each connecting portion may be a friction structure that both of them have. Also, the ON-time output mechanism and the OFF-time output mechanism may be configured to output their respective outputs from the same output shaft. As such an example, a variable torque motor using the servo motor clutch mechanism of the present invention will be described.

[0024] 3 and 4 are explanatory side sectional views showing the configuration and operation of a variable torque motor using the servo motor clutch mechanism of the present invention, with FIG. 1 showing the high torque mode and FIG. 2 showing the high speed rotation mode. As shown in these figures, the servo motor clutch mechanism 10 in the variable torque motor 10 is <g>The clutch mechanism 1 is provided between a motor body 9 and a reducer 2 in a servomotor equipped with a paradox planetary gear mechanism 2 having the configuration described above. <g>The sun gear 3 rotates integrally with the motor shaft 8, the planetary gear 4 rotates around the sun gear 3 while revolving around it, and the planetary gear 4 meshes with the planetary gear 4 and is acted upon by the clutch armature 1w. First internal gear 6 and meshes with planetary gear 4. First internal gear has a different number of teeth and rotates together with the output shaft. Second internal gear 5 and a carrier 7 which houses the planetary gear 4 and is acted upon by the clutch armature 1w.

[0025] And the clutch armature 1w (the clutch action part that transmits and cuts off the clutch action target) First internal gear 6 When the carrier 7 is fixed, a low-speed rotation and high torque are output, and when the carrier 7 is fixed, a high-speed rotation and low torque are output. In other words, this variable torque motor 10 can extract two types of torque from the same output shaft by means of the servo motor clutch mechanism 1 and the reducer 2 which is the target of the clutch action performed by the servo motor clutch mechanism 1.

[0026] In the variable torque motor 10 having such a configuration, the clutch armature 1w of the servo motor clutch mechanism 1 is as shown in FIG. First internal gear 6 Move in the direction and connect to it, which First internal gear 6 When the planetary gear 4 is fixed and stopped, the carrier 7 that houses the planetary gear 4 is open, and therefore First internal gear 6 The planetary gear 4, which is engaged with the sun gear 3, rotates on its axis and revolves around the sun gear 3, which rotates in synchronization with the motor shaft 8. The rotation of the planetary gear 4 is First internal gear 6 The number of teeth is different from Second internal gear 5 The rotation of the motor shaft 8 is transmitted to the paradox planetary gear mechanism 2 and is output to the output shaft 11 that rotates integrally therewith. In other words, the rotation of the motor shaft 8 is slowed down by the effective deceleration action of the paradox planetary gear mechanism 2, and a low-speed, high-torque output is thereby output to the output shaft 11.

[0027] On the other hand, as shown in FIG. 4, when the clutch armature 1w of the servo motor clutch mechanism 1 moves toward the carrier 7 and connects with it, thereby fixing the carrier 7, the clutch armature 1w meshes with the planetary gear 4. First internal gear 6 is open, and therefore First internal gear 6 The planetary gear 4, which is engaged with the motor shaft 8, rotates on the spot in accordance with the sun gear 3, which rotates in synchronization with the motor shaft 8, because the carrier 7 is fixed. Second internal gear 5 The rotation of the motor shaft 8 is transmitted to the paradox planetary gear mechanism 2 and output to the output shaft 11 which rotates integrally therewith. In other words, the rotation of the motor shaft 8 is not slowed down by the paradox planetary gear mechanism 2, but is output to the output shaft 11 which rotates integrally therewith as a simple planetary gear mechanism. In other words, the rotation of the motor shaft 8 is transmitted without being subjected to an effective speed reduction action by the paradox planetary gear mechanism 2, and as a result, a high-speed rotation, low-torque output is output to the output shaft 11. The output shaft 11 rotates at high speed together with the motor shaft 8.

[0028] In this manner, in the variable torque motor 10, the operation of the servo motor clutch mechanism 1 is selected, i.e. First internal gear 6 Depending on whether the motor 9 is operated so as to fix the paradox planetary gear mechanism 2 or the carrier 7, a rotation output can be obtained in a low-speed rotation, high-torque mode in the former case, and in a high-speed rotation, low-torque mode in the latter case. In other words, the reducer 2 can produce two types of torque from the same output shaft. Therefore, when a high-speed rotation output is required, the motor 9 is not connected to the paradox planetary gear mechanism 2, and the low-reduction ratio output of the motor body 9 is used as a simple planetary gear mechanism, while when a high torque output is required, the motor 9 is connected to the paradox planetary gear mechanism 2 to obtain torque with a high reduction ratio.

[0029] As shown in each figure, the servo motor clutch mechanism 1 of the variable torque motor 10 has a clutch armature 1w that is released. First internal gear 6 The carriers 7 may be fixed to each other by suction. First internal gear 6 is the OFF-time coupling portion, and the carrier 7 is the ON-time coupling portion. First internal gear 6 When the servo motor clutch mechanism 1 is in the attraction state, the carrier 7 is fixed (released) and the reducer 2 is effectively operated, and the above-mentioned operation in the low-speed rotation high-torque mode is performed. First internal gear 6 The reduction in speed of the reducer 2 is disabled, and the reduction in speed is performed in the high speed rotation, low torque mode described above. Note that the case where the release-attraction and fixed target patterns of the servo motor clutch mechanism 1 are reversed is also within the scope of the present invention.

[0030] The planetary gear 4 of the paradox planetary gear mechanism 2, which is the reducer of the variable torque motor 10, is Second internal gear 5 a first planetary gear which meshes with the First internal gear 6 In other words, the sun gear 3 rotates the second planetary gear 4b, which rotates the first planetary gear 4a, which is an integral part of the sun gear 3. Second internal gear 5 rotates.

[0031] Furthermore, the servomotor clutch mechanism 1 of the variable torque motor 10 of the present invention can be of the non-excitation operation type. Conventionally, a non-excitation operation brake has generally been used to respond to an emergency stop during high speed rotation due to a power outage or the like. However, by making the electromagnetic clutch 1 of the present variable torque motor 10 of the non-excitation operation type, the servomotor clutch mechanism 1 is released in the event of a power outage, and the clutch armature 1w is First internal gear 6 The motor shaft 8 of the motor body 9 is fixed in place by contacting it with the gearbox 2, and the motor shaft 8 of the motor body 9 is connected to the reducer 2. That is, the rotation of the motor shaft 8 is slowed down by the reducer 2, and it can be stopped by using the motor cogging torque. The stopping torque of the output shaft 11 is equal to the reduction ratio multiplied by the motor cogging torque.

[0032] Therefore, the variable torque motor 10 can be stopped in an emergency without using a non-excitation actuated brake, and in addition to any of the above configurations, the absence of a non-excitation actuated brake can be added as a feature. Note that if the clutch is of the non-excitation actuated type, the clutch will be attracted during a power outage, etc. First internal gear 6 In this case, the stopping torque of the output shaft 11 is only the motor cogging torque. [Industrial Applicability]

[0033] According to the servo motor clutch mechanism of the present invention, it is possible to switch between two different outputs, such as high speed rotation low torque and low speed rotation high torque, in one servo motor without increasing the size of the servo motor. Therefore, this invention has high industrial applicability in the fields of motor manufacturing and use, including industrial motors, and all related fields. [Explanation of symbols]

[0034] 1...Servomotor clutch mechanism 1w…Clutch armature (clutch action part) 2...Reduction gear (paradoxical planetary gear mechanism) 3…Sun gear 4...Planetary gear (two-stage planetary gear) 5…Second internal gear 6…First internal gear 7. Career 8…Motor shaft 9…Motor body 10...Variable torque motor 11...Output shaft 12...Variable torque structure 20, 25…Clutch armature 30, 35…Connection part when ON 40…Output mechanism when ON 50, 55…Connection part when OFF 60…Output mechanism when OFF 70…Coil 80…Motor shaft 100...Servomotor clutch mechanism Rs...Resolver (rotation detector)< / g> < / g>

Claims

1. A clutch mechanism that switches the output of a servomotor equipped with a paradox planetary gear mechanism having the configuration described in <G> below as a reducer, using an electromagnetic clutch, The clutch mechanism includes: A clutch armature that constitutes an electromagnetic clutch; a coupling portion (hereinafter referred to as an "ON-time coupling portion") in an output mechanism (hereinafter referred to as an "ON-time output mechanism") to which the clutch armature is coupled when electricity is applied (hereinafter referred to as an "ON-time"); and and a coupling portion (hereinafter referred to as the "OFF-time coupling portion") in an output mechanism (hereinafter referred to as the "OFF-time output mechanism") to which the clutch armature is coupled when the current is cut off (hereinafter referred to as the "OFF-time"). The servo motor is disposed in a space between the servo motor body and the reducer. When the clutch armature fixes the first internal gear, a low speed rotation and a high torque are output, and when the clutch armature fixes the carrier, a high speed rotation and a low torque are output. A clutch mechanism for a servo motor, comprising: <G> The paradoxical planetary gear mechanism is a sun gear that rotates together with the motor shaft, a planetary gear that revolves around the sun gear while rotating on its axis; a first internal gear meshing with the planetary gear and acted upon by the clutch armature; a second internal gear which meshes with the planetary gear, has a number of teeth different from that of the first internal gear, and rotates integrally with the output shaft; and a carrier which houses the planetary gear and is acted upon by the clutch armature.

2. 2. The clutch mechanism for a servo motor according to claim 1, wherein a connecting structure for connecting said clutch armature to each of said connecting portions is a meshing structure provided on both of said clutch armature and each of said connecting portions.

3. 2. The clutch mechanism for a servo motor according to claim 1, wherein a connecting structure for connecting said clutch armature to each of said connecting portions is a friction structure provided on both of said clutch armature and said connecting portions.

4. 4. The clutch mechanism for a servo motor according to claim 2, wherein the connecting structure of the clutch armature for the ON-time connecting portion is different from that for the OFF-time connecting portion.

5. 5. A clutch mechanism for a servo motor according to claim 1, 2, 3 or 4, wherein said ON-time output mechanism and said OFF-time output mechanism output their respective outputs from a same output shaft.

6. 6. A clutch mechanism for a servo motor according to claim 1, wherein the first internal gear is an OFF-time connecting portion, and the carrier is an ON-time connecting portion.

7. The clutch mechanism for a servo motor according to any one of claims 1, 2, 3, 4, 5 and 6, characterized in that the planetary gear is a two-stage planetary gear in which a first planetary gear meshing with the first internal gear and a second planetary gear meshing with the second internal gear are integrally formed.

8. 8. A servo motor clutch mechanism according to claim 1, 2, 3, 4, 5, 6 or 7, which is of a non-excitation operation type, whereby, in the event of a power failure, the motor shaft is connected to the reducer and is subjected to the deceleration effect thereof.

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