JPH0461460U

JPH0461460U -

Info

Publication number: JPH0461460U
Application number: JP10380490U
Authority: JP
Priority date: 1990-10-01
Filing date: 1990-10-01
Publication date: 1992-05-26
Anticipated expiration: 2005-10-01
Also published as: JPH0811035Y2

Description

[Brief explanation of the drawing]

第１図は本考案の実施例を示す側断面図、第２
図は第２の実施例を示す側断面図、第３図は第３
の実施例を示す側断面図、第４図はモータ部の正
断面図、第５図は第４の実施例を示す側断面図、
第６図ａ，ｂ、第７図ａ，ｂ第８図ａはブレーキ
の他の実施例を示す正断面図、第８図ｂはブレー
キの他の実施例を示す側断面図、第９図ａ，ｂ、
第１０図ａ，ｂはブレーキの他の実施例を示す正
断面図、第１１図はブレーキの他の実施例を示す
側断面図、第１２図ａ，ｂ，ｃはブレーキトルク
ＴＢとコギングトルクＴ_ｅとの関係を説明する説
明図、第１３図は従来例を示す側断面図である。１……ハーモニツク減速機、１３……出力軸、
１５……フレツクススプライン、１７……ウエー
ブヅジエネレータ、２……モータ、２１……モー
タ軸、２２……フレーム、２５……固定子、２６
……永久磁石、２７……回転子、２８……モータ
ヨーク、３……ブレーキ、３１……中空ヨーク、
３２……フランジ、３３……固定側永久磁石、３
３′……固定側インダクタ、３４……回転側イン
ダクタ、３４′……回転側永久磁石、３５……回
転ヨーク、４……回転検出器、５……ポールセン
サ、６……ブラケツト。 Fig. 1 is a side sectional view showing an embodiment of the present invention;
The figure is a side sectional view showing the second embodiment, and FIG.
FIG. 4 is a front sectional view of the motor section, FIG. 5 is a side sectional view showing the fourth embodiment,
Figure 6 a, b, Figure 7 a, b Figure 8 a is a front sectional view showing another embodiment of the brake, Figure 8 b is a side sectional view showing another embodiment of the brake, Figure 9 a, b,
Fig. 10 a, b is a front sectional view showing another embodiment of the brake, Fig. 11 is a side sectional view showing another embodiment of the brake, and Fig. 12 a, b, c are brake torque TB and cogging torque. _FIG . 13 is a side sectional view showing a conventional example. 1... Harmonic reducer, 13... Output shaft,
15... Flex spline, 17... Wave gear generator, 2... Motor, 21... Motor shaft, 22... Frame, 25... Stator, 26
... Permanent magnet, 27 ... Rotor, 28 ... Motor yoke, 3 ... Brake, 31 ... Hollow yoke,
32...Flange, 33...Fixed side permanent magnet, 3
3'... Fixed side inductor, 34... Rotating side inductor, 34'... Rotating side permanent magnet, 35... Rotating yoke, 4... Rotation detector, 5... Pole sensor, 6... Bracket.

Claims

[Claims for Utility Model Registration] 1. A harmonic reducer consisting of a flex spline, a wave generator, and a circular spline, a motor shaft for rotationally driving the wave generator, a rotor consisting of a permanent magnet, and a rotating magnetic field. A brake that generates braking force between a motor including a stator with a winding that generates braking force, a rotating part that includes a braked member fixed on the motor shaft, and a fixed part that includes a braking member; In the servo actuator, the servo actuator includes a rotation detecting section including a rotating section having a detected object fixed on the motor shaft and a fixing device having a detecting object, wherein the brake is connected to a flange section of the flex spline. A fixed part of the brake is made up of a permanent magnet on the fixed side fixed to the inside of a cup-shaped hollow yoke that extends in the axial direction from a flange fixed to the frame of the harmonic reducer, and a rotating part of the brake is made up of an inductor on the rotating side. Consisting of
A servo actuator characterized by electromagnetic braking between a fixed permanent magnet and a rotating inductor. 2. The servo actuator according to claim 1 or 2, wherein a fixed portion of the rotation detector is fixed inside the hollow yoke. 3. The servo actuator according to claim 1 or 2, wherein the stator of the motor is fixed inside the hollow yoke. 4. The servo actuator according to claim 1 or 2, wherein the brake is inserted inside a cup-shaped rotating yoke to which the permanent magnet is fixed on the outer periphery. 5. The brake is provided with a number of pole pairs corresponding to the number of poles of the motor inside the hollow yoke, and fixed permanent magnets or magnetic materials are fixed at equal intervals in the circumferential direction so that adjacent magnetic poles are different poles. and a rotating inductor or rotating permanent magnet fixed to the motor shaft so as to face the fixed permanent magnet or the fixed inductor with a gap in between. The servo actuator according to any one of the preceding items. 6. The servo actuator according to claim 1, wherein the radius of curvature of the permanent magnet or inductor of the brake fixed to the motor shaft is smaller than the radius of a concentric circle. 7. Claims 1 to 5, wherein the circumferential cross section of the inductor on the rotating side or stationary side of the brake is formed into a boat shape by combining two sine waves having a phase difference of 180 degrees.
The servo actuator according to any one of the preceding items. 8. The servo actuator according to any one of claims 1 to 5, wherein the stationary side or rotating side permanent magnet is magnetized so that the magnetic flux density changes by the 180° phase of a sine wave in the circumferential direction. Yueta. 9. The servo actuator according to any one of claims 1 to 4, wherein the braked member of the brake is a disk, and the braking member is an electromagnetic attraction type friction brake provided with a lining.