Patent Grant
10731739
The present invention relates to an electric actuator.
In recent years, electrification of automobiles has been promoted for power saving and reduction in fuel consumption. For example, a system for operating an automatic transmission, a brake, and a steering wheel of an automobile with use of power of an electric motor (motor) has been developed and brought to the market. As an electric actuator for use in such a system, there has been known an electric actuator employing a screw mechanism as a motion conversion mechanism configured to convert a rotary motion of a motor into a linear motion to output the motion (for example, see Patent Literature 1). In this case, a screw shaft forming the screw mechanism forms an output member (output shaft) of the electric actuator.
The electric actuator described in Patent Literature 1 includes a planetary gear speed reducer as a speed reducer, and a rotary motion (output) of a motor is reduced in speed by the planetary gear speed reducer, and then is transmitted to a nut member of a screw mechanism.
Incidentally, when a speed reducer such as a planetary gear speed reducer is provided in the electric actuator, the motor can be downsized, and thus there is an advantage in that a weight and a size of the entire electric actuator can be reduced. On the contrary, cost may increase due to complication of a power transmission system configured to transmit the rotary motion of the motor to the nut member. Therefore, an electric actuator without a speed reducer may be employed in, for example, an application in which a high torque is not required to operate an object to be operated. Thus, as the electric actuator, various types different in specifications of respective components need to be prepared in accordance with the application and the like. However, when a large number of dedicated components are designed for the respective types, an increase in cost cannot be avoided. Therefore, series production of (various types of) the electric actuator with standardized components is considered.
When the motor and a screw device (ball screw device), which are core components of the electric actuator, can be particularly standardized in consideration of the series production of the electric actuator, the standardization is advantageous for the cost reduction of the electric actuator. However, in the electric actuator described in Patent Literature 1, the nut member of the screw device functions also as an output member of the planetary gear speed reducer. Accordingly, specifications of the screw device (in particular, the nut member) need to be changed depending on whether or not the speed reducer is provided. Therefore, there is a risk in that the cost of the electric actuator cannot sufficiently be reduced.
The present invention has been made in view of the above-mentioned problem, and therefore has a main object to provide an electric actuator in which core components such as a motor and a screw device can be standardized, to thereby prevent cost for achieving series production of (various types of) the electric actuator from increasing as much as possible.
The present invention has been made in order to solve the above-mentioned problem, and according to one embodiment of the present invention, there is provided an electric actuator, comprising: a motor part configured to drive upon receiving supply of power; and a motion conversion mechanism part configured to convert a rotary motion of the motor part into a linear motion to output the linear motion, wherein the motion conversion mechanism part comprises: a screw shaft arranged coaxially with a rotation center of a rotor of the motor part; and a nut member rotatably fitted to an outer periphery of the screw shaft, wherein the screw shaft performs a linear motion in an axial direction along with a rotation of the nut member, wherein the rotor comprises a hollow rotary shaft having the nut member arranged on an inner periphery thereof, and wherein a rotary motion of the rotor is transmitted to the nut member through an intermediate member arranged between an inner peripheral surface of the hollow rotary shaft and an outer peripheral surface of the nut member.
With such a configuration, the rotary motion of the motor part (rotor) can be transmitted to the nut member to thereby cause the screw shaft (output shaft of the electric actuator) to perform the linear motion only through change of fixing forms of the intermediate member to the hollow rotary shaft and the nut member and change of a shape of the intermediate member and the like. Therefore, both in a case in which a speed reducer configured to reduce the speed of the rotation of the rotor to output the rotation is provided in the motion conversion mechanism part, and a case in which the speed reducer is not provided in the motion conversion mechanism part, at least standardized motor part and screw device comprising the screw shaft and the nut member can be used. With this, the series production of the electric actuator can be achieved without causing an increase in cost.
The present invention is applicable, for example, to: (1) an electric actuator, wherein a speed reducer configured to reduce a speed of the rotation of the rotor and output the rotation is provided in the motion conversion mechanism part, and the intermediate member is formed of an output member of the speed reducer, and wherein an outer peripheral surface of the output member (intermediate member) is opposed to an inner peripheral surface of the hollow rotary shaft through a radial gap, and an inner peripheral surface of the output member is fixed to the outer peripheral surface of the nut member; or
(2) an electric actuator, wherein an outer peripheral surface of the intermediate member is fixed to an inner peripheral surface of the hollow rotary shaft, and an inner peripheral surface of the intermediate member is fixed to the outer peripheral surface of the nut member (electric actuator without a speed reducer).
In the case of (1), a planetary gear speed reducer may preferably be employed as the speed reducer, and the present invention can preferably be applied to any one of a planetary gear speed reducer of a single-stage speed reduction type and a planetary gear speed reducer of a multi-stage speed reduction type.
The hollow rotary shaft may be rotatably supported by rolling bearings arranged at two positions apart from each other in the axial direction. In this case, when the hollow rotary shaft comprises an inner raceway surface of one of the two rolling bearings, the hollow rotary shaft and the rotor can be downsized in the axial direction. As a result, an electric actuator downsized in the axial direction, and excellent in mountability with respect to a device to be used can be achieved.
In the case in which the inner raceway surface is formed on the hollow rotary shaft, when the inner raceway surface is arranged within an axial width of the nut member, the electric actuator can be further downsized in the axial direction.
In the above-mentioned configuration, the nut member can be fitted to an outer periphery of the screw shaft through intermediation of a plurality of balls. In other words, as the screw device forming the motion conversion mechanism part, a so-called ball screw device may be employed. With such a configuration, operability of the screw shaft and the output shaft of the electric actuator can be improved.
The electric actuator having the above-mentioned configuration may further comprise: a housing, which comprises a plurality of members coupled to one another in the axial direction, and is configured to accommodate the motor part and the motion conversion mechanism part; and a terminal part configured to hold a power supply circuit, the power supply circuit being configured to supply the power to the motor part. In this case, when the terminal part is sandwiched by the members forming the housing from both sides in the axial direction, ease of assembly of the electric actuator can be improved.
The terminal part may have, in an outer peripheral portion thereof, an opening portion for allowing a lead line connected to the power supply circuit to be drawn out to a radially outer side of the housing. With such a configuration, for example, there can easily be achieved an electric actuator that comprises a plurality of electric actuators arranged in series (arrayed in the axial direction) and each having a screw shaft, and is capable of causing the respective screw shafts to individually perform a linear motion. Such an electric actuator can be mounted to a device to be used with two or more objects to be operated, for example, can be mounted to a dual clutch transmission (DCT) being one type of automatic transmissions, thereby being capable of contributing to reduction in weight and size of a device to be used as a whole, including the electric actuator.
As described above, according to one embodiment of the present invention, it is possible to provide the electric actuator in which the core components such as the motor and the screw device can be standardized, to thereby prevent the cost for achieving the series production of (various types of) the electric actuator from increasing as much as possible.
Now, description is made of embodiments of the present invention with reference to the drawings.
As illustrated in
The housing 2 is formed of a plurality of members coupled to one another in an axial direction in a state of being coaxially arranged. The housing 2 in this embodiment is formed of a coupled body comprising a casing 20 having a tubular shape, the cover 29, and a terminal main body 50. The casing 20 has an end portion on one side in the axial direction (right side of the drawing sheet in
The motor part A is formed of a motor 25 of a radial gap type (specifically, a three-phase brushless motor having a U-phase, a V-phase, and a W-phase) comprising a stator 23 fixed to the casing 20 and a rotor 24 arranged so as to be opposed to an inner periphery of the stator 23 through a radial gap. The stator 23 comprises a bobbin 23b and a coil 23c. The bobbin 23b for insulation is mounted to a stator core 23a. The coil 23c is wound around the bobbin 23b. The rotor 24 comprises a rotor core 24a, a permanent magnet 24b being a rotor magnet mounted to an outer periphery of the rotor core 24a, and a rotor inner 26 having a hollow shape and being a hollow rotary shaft having the rotor core 24a mounted to an outer periphery thereof.
As illustrated in
As illustrated in
As illustrated in
The ball screw device 31 comprises the screw shaft 33, a nut member 32, and deflectors 35. The screw shaft 33 is arranged coaxially with a rotation center of the rotor 24, and forms an output member of the electric actuator 1. The nut member 32 is rotatably fitted to an outer periphery of the screw shaft 33 through intermediation of a plurality of balls 34, and is arranged on an inner periphery of the rotor inner 26. The deflectors 35 serve as circulation members. Between a spiral groove 32a formed in an inner peripheral surface of the nut member 32 and a spiral groove 33a formed in an outer peripheral surface of the screw shaft 33, the plurality of balls 34 are loaded, and the deflectors 35 are incorporated. With such a configuration, when the screw shaft 33 performs a linear motion in the axial direction along with the rotation of the nut member 32, the balls 34 circulate between the spiral grooves 32a and 33a.
The screw shaft 33 is formed into a hollow shape with a hole portion (in this embodiment, a through hole that is opened in end surfaces on both sides in the axial direction) 33b extending in the axial direction, and the inner member 36 is received in the hole portion 33b. The inner member 36 is made of a resin material such as PPS, and integrally comprises a circular solid portion 36a, a flange portion 36b, and a cylinder portion 36c. The circular solid portion 36a is formed in an end portion of the inner member 36 on the one side in the axial direction. The flange portion 36b is formed in an end portion of the inner member 36 on the another side in the axial direction. The cylinder portion 36c connects the circular solid portion 36a and the flange portion 36b to each other.
The inner member 36 received in the hole portion 33b of the screw shaft 33 is coupled and fixed to the screw shaft 33 in such a manner that a pin 37 is fitted so as to penetrate through the circular solid portion 36a and the screw shaft 33 in a radial direction. Both end portions of the pin 37 project toward a radially outer side from the outer peripheral surface of the screw shaft 33, and guide collars 38 are externally fitted to the projecting portions so as to be rotatable. The guide collars 38 are made of a resin material such as PPS, and are fitted to guide grooves 20b (also see
As illustrated in
As illustrated in
As illustrated in
As illustrated in
When the planetary gear carrier 43 and the nut member 32 are coupled to each other in a torque transmittable manner through the press-fitting of the inner peripheral surface 43b of the cylindrical portion 43a to the outer peripheral surface 32b of the nut member 32 in this way, ease of coupling operation at the time of assembly is excellent, and stable torque transmission can be performed with respect to high torque after reduction in speed. Moreover, the rotor inner 26 and the sun gear 41 are coupled to each other in a torque transmittable manner through the press-fitting of the sun gear 41 to the step-portion inner peripheral surface 26c of the rotor inner 26. Thus, the ease of coupling operation at the time of assembly is excellent also in terms of this point. Even when such a coupling structure is employed, the sun gear 41 is only required to rotate together with the rotor inner 26 before reduction in speed, and hence the torque transmission performance required between the sun gear 41 and the rotor inner 26 can be sufficiently secured. Further, the rotor inner 26 and the sun gear 41 are coupled to each other at a position directly below the rolling bearing 27 configured to support the rotor inner 26. Thus, the rotation accuracy of the sun gear 41 is also excellent.
With the planetary gear speed reducer 10 having the configuration described above, the rotary motion of the rotor 24 (rotor inner 26) of the motor 25 is reduced in speed and transmitted to the nut member 32. With this action, rotation torque can be increased. Thus, the motor 25 having a small size can be employed.
As illustrated in
As illustrated in
With a spring force of the compression coil spring 48 provided in such a manner, the screw shaft 33 is always urged toward the original point side. With such a configuration, for example, when drive power is not properly supplied to the motor part A (motor 25), the screw shaft 33 is automatically returned to the original point, thereby being capable of reducing as much as possible the risk of causing an adverse influence on the operation of the object to be operated (not shown). Moreover, when the compression coil spring 48 is provided in the above-mentioned mode, a preload can be applied to the nut member 32 in the axial direction. With this, a response lag caused by an operating internal clearance generally formed between the nut member 32 and the screw shaft 33 is eliminated, thereby being capable of increasing the operability of the output member of the electric actuator 1 comprising the screw shaft 33 and the actuator head 39 (operation part C).
Details of the cover 29 are described with reference to
Next, with reference to
The terminal part D (terminal main body 50) collectively holds electrical components such as a power supply circuit for supplying drive power to the motor 25, and various sensors described later. The power supply circuit is formed by connecting the coil 23c of the stator 23 to terminals 51a of the bus bar 51 for respective phases of a U-phase, a V-phase, and a W-phase as illustrated in
Two types of sensors are mounted to the electric actuator 1 of this embodiment. Those two types of sensors are held on the terminal part D. As illustrated in, for example,
As illustrated in
As illustrated in
Although detailed illustration is omitted, a signal line of the rotation angle detection sensor 53 and a signal line of the stroke detection sensor 55 are each drawn out to the radially outer side of the housing 2 through the opening portion 50c (see
A procedure of assembling the electric actuator 1 having the above-mentioned configuration is briefly described. First, as illustrated in
With reference to
When the rotor 24 rotates based on the control signal transmitted from the controller 81, the rotary motion is transmitted to the motion conversion mechanism part B. Specifically, when the rotor 24 rotates, the sun gear 41 of the planetary gear speed reducer 10 coupled to the rotor inner 26 rotates. Along with this rotation, the planetary gears 42 revolve, and the planetary gear carrier 43 rotates. With this, the rotary motion of the rotor 24 is transmitted to the nut member 32 coupled to the cylindrical portion 43a of the planetary gear carrier 43. At this time, the revolving motion of the planetary gears 42 reduces the rotation number of the rotor 24, thereby increasing rotation torque transmitted to the nut member 32.
When the nut member 32 rotates upon receiving the rotary motion of the rotor 24, the screw shaft 33 performs the linear motion toward the one side in the axial direction (advances) while being stopped in rotation. At this time, the screw shaft 33 advances to a position based on the control signal of the controller 81, and the actuator head 39 fixed to the end portion of the screw shaft 33 on the one side in the axial direction operates (applies pressure to) an object to be operated (not shown).
An axial position (amount of displacement in the axial direction) of the screw shaft 33 is detected by the stroke detection sensor 55 as illustrated in
In the above-mentioned electric actuator 1, the rotor 24 of the motor part A (motor 25) comprises the rotor inner 26 serving as the hollow rotary shaft and having the nut member 32 arranged on the inner periphery thereof, and the rotary motion of the rotor 24 is transmitted to the nut member 32 through (the cylindrical portion 43a of) the planetary gear carrier 43 serving as the intermediate member Z arranged between the inner peripheral surface of the rotor inner 26 and the outer peripheral surface 32b of the nut member 32. With such a configuration, there can be achieved the electric actuator 1 in various forms capable of transmitting the rotary motion of the motor part A (rotor 24) to the nut member 32 to thereby cause the screw shaft 33 to perform the linear motion only through change of the fixing forms of the intermediate member Z to the rotor inner 26 and the nut member 32 and change of the shape of the intermediate member Z and the like.
In other words, for example, even in an electric actuator 1′ without the speed reducer as illustrated in
Further, in the electric actuator 1 described above, the nut member 32 of the ball screw device 31 forming the motion conversion mechanism part B is arranged on the inner periphery of the rotor 24 (the rotor inner 26 serving as the hollow rotary shaft), and is coupled in a torque transmittable manner to the planetary gear carrier 43, which is the output member of the planetary gear speed reducer 10. With this configuration, such a structure that the rotor 24 of the motor part A and the nut member 32 overlap each other in the radial direction is provided. Thus, an axial dimension L (see
Moreover, through a combination of the downsizing of the motor 25 achieved by employing the planetary gear speed reducer 10 and the overlap structure in the radial direction of the rotor inner 26, the cylindrical portion 43a of the planetary gear carrier 43, and the nut member 32, a radial dimension M (see
Moreover, the hole portion 33b is formed to be opened in the both end surfaces of the screw shaft 33 in the axial direction, and the stroke detection sensor 55 configured to detect the amount of displacement of the screw shaft 33 in the axial direction is arranged in the hole portion 33b. With such a configuration, unlike the electric actuator described in Patent Literature 1, it is not required that an installation space of the stroke detection sensor 55 be independently secured, for example, on the outer side in the axial direction of the motor part A. Thus, the electric actuator 1 excellent in operation accuracy of the screw shaft 33 while being compact in the axial direction can be achieved.
Moreover, the end portion of the rotor inner 26 being a hollow rotary shaft on the one side in the axial direction is rotatably supported by the rolling bearing 27 arranged close to the end portion of the rotor core 24a on the one side in the axial direction, and the end portion of the rotor inner 26 on the another side in the axial direction is rotatably supported by the rolling bearing 30 arranged close to the end portion of the rotor core 24a on the another side in the axial direction. With such a structure, the rotor inner 26 can be downsized in the axial direction. In addition, in combination with the structure in which the rolling bearing 27 is arranged within an axial width of the nut member 32, the electric actuator 1 can be further downsized in the axial direction.
Further, as long as the rotation of the rotor 24 is balanced, it is only required that the rolling bearings 27 and 30 configured to support the rotor inner 26 be capable of supporting a radial load as small as the own weight of the rotor 24. In this case, it is not required that the rotor inner 26 integrally having the inner raceway surface 27a of the rolling bearing 27 be made of a material having a high strength. A required strength can be secured even when the rotor inner 26 is made of, for example, an inexpensive soft steel material for which thermal treatment such as quenching and tempering is omitted. In particular, in the electric actuator 1 of this embodiment, the rotary motion of the motor 25 is transmitted to the nut member 32 through the planetary gear speed reducer 10. Thus, the radial load is not generated. Moreover, the reaction force (thrust load) generated along with the linear motion of the screw shaft 33 is directly supported by the needle roller bearing 47 arranged adjacent to the nut member 32 on the another side in the axial direction. Thus, it is only required that the rolling bearing 27 have a function of positioning in the radial direction, and hence the above-mentioned material specification is sufficient for the rotor inner 26 integrally having the inner raceway surface 27a of the rolling bearing 27. With this configuration, the electric actuator 1 can be reduced in cost.
Moreover, as described above, when the needle roller bearing 47 is configured to directly support the thrust load acting on the nut member 32, the action of the moment load on the ball screw device 31 (motion conversion mechanism part B) and on the rotor 24 of the motor part A can be suppressed effectively. In particular, when the needle roller bearing 47 is arranged within the range in the axial direction between the rolling bearings 27 and 30 as in this embodiment, the effect of suppressing the moment load can be enhanced. When the moment load can be suppressed in this way, operation accuracy and durability life of the output member of the electric actuator 1 can be improved as well as the needle roller bearing 47 having a smaller size can be used.
The needle roller bearing 47 is arranged near a center portion in the axial direction between both of the rolling bearings 27 and 30 in this embodiment, and the effect of suppressing the moment load can thus be further enhanced in this case. Therefore, the downsizing of the needle roller bearing 47 can be further promoted. As a result, for example, the needle roller bearing 47 and the thrust receiving ring 46 having extremely small sizes can be employed. Consequently, the dimension in the axial direction of the electric actuator 1 can be prevented from increasing as much as possible.
Further, there is employed a sandwich structure of collectively holding electrical components such as the power supply circuit, the rotation angle detection sensor 53, and the stroke detection sensor 55 with the terminal main body 50 and sandwiching the terminal main body 50 (terminal part D) between the casing 20 and the cover 29 in the axial direction. Therefore, the ease of assembly is excellent. Further, with the sandwich structure described above and the structure in which the lead line of the power supply circuit and the signal line of the sensor can be drawn out to the radially outer side of the housing 2, there can be achieved an electric actuator comprising two electric actuators 1 (each comprising the motor part A, the motion conversion mechanism part B, and the terminal part D formed into a unit) arrayed in the axial direction and being capable of individually operating two objects to be operated while having a compact configuration as a whole.
Description is now made of the detailed structures of the electric actuator 1′ illustrated in
The electric actuator 1′ illustrated in
The electric actuator 1′ illustrated in
The electric actuator 1″ illustrated in
The first-stage speed reduction part 10A comprises the ring gear 40, the sun gear 41, the plurality of planetary gears 42, a planetary gear carrier 43A, and the planetary gear holders 44. The ring gear 40 is fixed to the inner peripheral surface of the casing 20. The sun gear 41 is fixed to the rotor inner 26. The planetary gears 42 mesh with the ring gear 40 and the sun gear 41. The planetary gear carrier 43A and the planetary gear holders 44 rotatably hold the planetary gears 42. Moreover, the second-stage speed reduction part 10B comprises a ring gear 12, a part (gear portion) of the planetary gear carrier 43A, a plurality of planetary gears 13, planetary gear holders 14, and a planetary gear carrier 15. The ring gear 12 is fixed to the inner peripheral surface of the casing 20. The part of the planetary gear carrier 43A functions as a sun gear. The planetary gears 13 mesh with the ring gear 12 and the gear portion of the planetary gear carrier 43A. The planetary gear holders 14 and the planetary gear carrier 15 rotatably hold the planetary gears 13. The planetary gear carrier 15 comprises a cylindrical portion 15a interposed between the inner peripheral surface 26d of the rotor inner 26 and the outer peripheral surface 32b of the nut member 32. An outer peripheral surface of the cylindrical portion 15a is opposed to the inner peripheral surface 26d of the rotor inner 26 (and an inner peripheral surface of the sun gear 41 and an inner peripheral surface of the planetary gear carrier 43A) through a radial gap. An inner peripheral surface of the cylindrical portion 15a is fixed to the outer peripheral surface 32b of the nut member 32. Therefore, in this embodiment, (the cylindrical portion 15a of) the planetary gear carrier 15 functions as the intermediate member Z, and the rotary motion of the rotor 24 is transmitted to the nut member 32 through the cylindrical portion 15a of the planetary gear speed reducer 10.
The electric actuator 1″ illustrated in
In the above, description is made of the electric actuators 1, 1′, 1″ according to the embodiments of the present invention. However, the present invention is not limited to the embodiments described above.
For example, in the above-mentioned embodiments, the nut member 32 is rotatably fitted to the outer periphery of the screw shaft 33 through intermediation of the plurality of balls 34 (the ball screw device 31 is employed for the motion conversion mechanism part B), but the present invention can be applied to the electric actuator employing a screw device in which the balls 34 and the deflectors 35 are omitted for the motion conversion mechanism part B. However, in consideration of operability and the like of the screw shaft 33, it is preferred that the ball screw device 31 be employed for the motion conversion mechanism part B.
Further, as the thrust bearing to be arranged adjacent to the nut member 32 on the another side in the axial direction, a rolling bearing other than the needle roller bearing 47, for example, a cylindrical roller bearing can be employed. However, in consideration of ability to support the thrust load and the axial dimension of the bearing, the needle roller bearing 47 is preferred.
Moreover, in the above-mentioned embodiment, the compression coil spring 48 having the function of, for example, always urging the screw shaft 33 toward the original point side is provided. However, it is only required that the compression coil spring 48 be provided as needed, and it is not always required that the compression coil spring 48 be provided.
Moreover, in the above-mentioned embodiment, the stroke detection sensor 55 is used. However, it is only required that the stroke detection sensor 55 be used as needed, and the stroke detection sensor 55 may be omitted in accordance with a device to be used.
With reference to
The operation pressure of the screw shaft 33 (actuator head 39) is detected by the pressure sensor 83 provided externally, and is subjected to feedback control. Therefore, when the electric actuator 1 that does not use the stroke detection sensor 55 is applied to, for example, a brake-by-wire system, a hydraulic pressure of a brake can be reliably controlled.
As described above, when the stroke detection sensor 55 is not used, a solid screw shaft may be employed as the screw shaft 33, and the inner member 36 may be omitted. When the solid screw shaft 33 is used and the compression coil spring 48 is used, a screw shaft comprising a flange portion on an end portion thereof on the another side in the axial direction is employed as the screw shaft 33.
The present invention is not limited to the above-mentioned embodiments. As a matter of course, the present invention may be carried out in various modes without departing from the spirit of the present invention. The scope of the present invention is defined in claims, and encompasses equivalents described in claims and all changes within the scope of claims.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2016-065782 | Mar 2016 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2017/010711 | 3/16/2017 | WO | 00 |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2017/169855 | 10/5/2017 | WO | A |
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| Number | Date | Country | |
|---|---|---|---|
| 20190072163 A1 | Mar 2019 | US |
