JP2012010518A - Fixing unit for drive part, fixing method for drive part, motor unit, and robot device - Google Patents

Abstract

A driving unit fixing unit, a driving unit fixing method, a motor device, and a robot device capable of stably fixing a position-adjustable driving unit.
A drive unit that includes a holding member that holds the drive unit and is connected to an external mechanism, a base unit that fixes the holding member, and an adjustment unit that can adjust the position of the drive unit with respect to the external mechanism. It is a fixed unit. The holding member has a fixing portion fixed to the base portion, and the adjusting portion is configured to be able to adjust the position of the driving portion by contacting the fixing portion.
[Selection] Figure 2

Description

  The present invention relates to a driving unit fixing unit, a driving unit fixing method, a motor device, and a robot apparatus.

  For example, a motor device is used as an actuator for driving a turning machine. As such a motor device, a motor device capable of generating a high torque, such as an electric motor or an ultrasonic motor, is widely known. In recent years, there has been a demand for a motor device that drives a more precise portion such as a joint portion of a humanoid robot. As such a motor device, there is one using an electromechanical conversion element as a drive unit for driving a rotor (see, for example, Patent Document 1).

  By the way, when performing the precise driving as described above, it is necessary to incorporate the electromechanical conversion element in a state of being positioned at a predetermined position in the motor device. For example, Patent Documents 1 and 2 disclose a method for adjusting the position of an electromechanical transducer in an inchworm structure. Therefore, in the motor device, a configuration in which an adjustment unit that can adjust the mounting position of the electromechanical transducer is provided.

U.S. Pat. No. 7,045,932 International Publication No. 01/15308

However, since there is a case where the adjustment unit has a backlash structurally, the electromechanical conversion element cannot be stably fixed in the motor device, and the motor may not be driven accurately. is there.
In view of the circumstances as described above, an object of the present invention is to provide a driving unit fixing unit, a driving unit fixing method, a motor device, and a robot device capable of stably fixing a position-adjustable driving unit. There is.

  According to the first aspect of the present invention, the holding member that holds the driving unit and is connected to the external mechanism, the base unit that fixes the holding member, and the position of the driving unit with respect to the external mechanism can be adjusted. An adjustment portion, and the holding member has a fixing portion fixed to the base portion, and the adjustment portion is configured to be capable of adjusting the position of the driving portion by contacting the fixing portion. A fixed unit of the drive is provided.

  According to the second aspect of the present invention, the drive unit that is held by the holding member and transmits the driving force to the external mechanism via the holding member is aligned with the external mechanism to the base unit. A fixing method of a driving unit to be fixed, the temporary fixing step of temporarily fixing the holding member to the base unit, and the external mechanism of the driving unit held by the holding member using a position adjusting screw Provided is a driving unit fixing method including a position adjusting step for adjusting a position, and a main fixing step for permanently fixing the holding member to the base portion after the position adjusting step.

  According to the third aspect of the present invention, the rotor, the transmission portion that is hung on at least a part of the outer periphery of the rotor, and the transmission portion between the rotor and the transmission portion as a rotational force transmission state. And a drive unit that returns the transmission unit to a predetermined position in a state in which the rotational force transmission state is eliminated, and the drive unit is disposed in the fixed unit of the first aspect. A motor device is provided.

  According to a fourth aspect of the present invention, there is provided a robot apparatus comprising: a rotary shaft member; and a motor device that rotates the rotary shaft member, wherein the motor device of the third aspect is used as the motor device. Provided.

  ADVANTAGE OF THE INVENTION According to this invention, the fixing | fixed unit of the drive part which can fix the drive part which can adjust a position stably can be provided.

The figure which shows the structure of the motor apparatus which concerns on 1st Embodiment. The figure which shows the principal part structure of the drive part fixing unit which the motor apparatus which concerns on this embodiment contains. The graph which shows the characteristic of the motor apparatus which concerns on this embodiment. The figure which shows operation | movement of the motor apparatus which concerns on this embodiment. The figure which shows operation | movement of the motor apparatus which concerns on this embodiment. The figure which shows operation | movement of the motor apparatus which concerns on this embodiment. The figure which shows operation | movement of the motor apparatus which concerns on this embodiment. The figure which shows operation | movement of the motor apparatus which concerns on this embodiment. The figure which shows operation | movement of the motor apparatus which concerns on this embodiment. The figure which shows operation | movement of the motor apparatus which concerns on this embodiment. The figure which shows operation | movement of the motor apparatus which concerns on 2nd Embodiment of this invention. The figure which shows operation | movement of the motor apparatus which concerns on this embodiment. The figure which shows operation | movement of the motor apparatus which concerns on this embodiment. The figure which shows operation | movement of the motor apparatus which concerns on this embodiment. The figure which shows operation | movement of the motor apparatus which concerns on this embodiment. The figure which shows operation | movement of the motor apparatus which concerns on this embodiment. The figure which shows operation | movement of the motor apparatus which concerns on this embodiment. The figure which shows operation | movement of the motor apparatus which concerns on this embodiment. The figure which shows the structure of the motor apparatus which concerns on 3rd Embodiment of this invention. The figure which shows the structure of a part of motor apparatus which concerns on this embodiment. The schematic diagram which shows the structure of the robot hand which concerns on 4th Embodiment of this invention.

(First embodiment)
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
FIG. 1A is a schematic configuration diagram illustrating an example of a motor device MTR according to the present embodiment. FIG.1 (b) is a figure which shows the structure along the AA 'cross section in Fig.1 (a). FIG. 2 is a diagram showing a main configuration of the drive unit fixing unit 100 included in the motor device MTR.

  Hereinafter, in the description of each drawing, an XYZ orthogonal coordinate system is set, and the positional relationship of each member will be described with reference to this XYZ orthogonal coordinate system. A cylindrical axis direction of the rotor SF is defined as a Z-axis direction, and orthogonal directions on a plane perpendicular to the Z-axis direction are defined as an X-axis direction and a Y-axis direction, respectively. Further, the rotation (inclination) directions around the X axis, the Y axis, and the Z axis are the θX, θY, and θZ directions, respectively.

  As shown in FIGS. 1A and 1B, the motor device MTR includes a drive unit AC, a drive unit fixing unit 100 that fixes and holds the drive unit AC at a predetermined position, a rotor SF, and a contact. It has the member BT and the control part CONT. The motor device MTR rotates the rotor SF using the drive unit AC fixed and held at a predetermined position by the drive unit fixing unit 100 under the control of the control unit CONT and the contact member BT to which the drive unit AC is connected. In this configuration, the rotation of the rotor SF is adjusted.

  The rotor SF is formed in a columnar shape, for example, and is rotatably supported by, for example, a bearing device (not shown). The bearing device is supported by, for example, the base portion BS. The rotor SF rotates in the θZ direction about the central axis C as a rotation axis.

  The drive unit AC includes drive elements 31 and 32. As the driving elements 31 and 32, for example, electromechanical conversion elements such as piezoelectric elements are used. The drive element 31 and the drive element 32 are configured to expand and contract in the X direction when a voltage is applied to the electromechanical conversion element. The control unit CONT is connected to the drive unit AC, and can supply a control signal to the drive unit AC.

  As shown in FIG. 2, the driving unit fixing unit 100 includes a base unit BS, a holding member 130 that is fixed to the base unit BS and holds the driving unit AC, and a position adjusting unit 140. Base part BS is a part formed in plate shape using materials, such as stainless steel, for example, and supports rotor SF, drive part AC, contact member BT, and control part CONT other than holding member 130. Yes. In this embodiment, an example of a plate shape will be described, but other shapes such as a housing may be used.

  The holding member 130 includes a main body portion 131 that holds the drive elements 31 and 32 and a fixing portion 132, and is fixed to the base portion BS via the fixing portion 132 by, for example, screws. A fixing screw hole 136 for inserting the screw 135 is formed in the fixing part 132, and the fixing screw hole 136 has a long hole shape.

  The position adjustment unit 140 is for adjusting the position of the drive unit AC with respect to the contact member BT. The position adjustment unit 140 is mainly configured by a position adjustment screw 137 that abuts on the fixing unit 132. The position adjusting screw 137 is detachable from the fixing portion 132. For example, an opening 130A for holding the holding member 130 is formed in the base portion BS, and the position adjusting screw 137 can come into contact with the fixing portion 132 through the opening 130A.

  A gap S is provided between the main body 131 and the drive elements 31 and 32, and a wedge member 138 is inserted into the gap S. Accordingly, the drive elements 31 and 32 are configured to be sandwiched between the main body 131 in a state where a high pressure is applied. As a result, the drive elements 31 and 32 are held with no backlash relative to the main body 131.

  Further, the main body 131 has a pressurizing spring portion 134 that applies a constant pressurizing force when the drive elements 31 and 32 are expanded and contracted. As a result, the drive elements 31 and 32 have a constant expansion / contraction width, and a constant drive force can be transmitted to the contact member BT as will be described later.

  The holding member 130 has a connection portion 133 connected to a contact member BT described later, and has a first swinging portion 141 between the connection portion 133 and the main body portion 131. The first swing portion 141 is formed so that the thickness in the Y direction is thinner than other portions, for example, and the main body 131 of the holding member 130 can swing with respect to the contact member BT. . In addition, the holding member 130 has a second swinging part 142 provided between the main body part 131 and the fixing part 132. The second oscillating part 142 is formed so that the thickness in the Y direction is thinner than other parts, for example, and the main body part 131 can oscillate with respect to the fixed part 132.

  As a result, the holding member 130 is connected to the contact member BT, and the holding member 130 is connected to the contact member BT while being flexible and free from backlash. Therefore, the driving force of the drive elements 31 and 32 can be transmitted to the contact member BT satisfactorily. For example, at least the holding member 130 and the pressurizing spring portion 134 have an integrated structure.

  As described above, the positions of the drive elements 31 and 32 on the + X side are fixed to a predetermined position by the base portion BS via the holding member 130. For this reason, when the drive elements 31 and 32 expand and contract in the X direction, the position in the X direction of the end portion on the −X side changes along with the expansion and contraction. As described above, in the present embodiment, since the position adjustment unit 140 having a structural backlash is not disposed between the fixing unit 132 and the driving elements 31 and 32, the driving elements 31 and 32 are stably and accurately fixed. can do.

  The contact member BT has a first end portion 21, a second end portion 22, and a belt portion 23. The first end portion 21 is connected to a first swing portion 141 provided at an end portion on the −X side of the holding member 130 that holds the drive element 31. Similarly, the second end portion 22 is connected to a first swinging portion 141 provided at an end portion on the −X side of the holding member 130 that holds the drive element 32.

  The first end 21 and the second end 22 are arranged with a reference position F (see FIG. 1B) on the outer periphery of the rotor SF interposed therebetween. In the present embodiment, the case where the + X side end of the rotor SF is set as the reference position F will be described as an example. The first end portion 21 and the second end portion 22 are arranged at symmetrical positions with respect to the reference position F.

  The belt portion 23 is a portion that is formed in, for example, a belt shape and is hung on at least a part of the rotor SF. The belt portion 23 is connected to, for example, the first end portion 21 and the second end portion 22, and is wound around, for example, the −X side of the rotor SF.

  When the driving elements 31 and 32 are contracted, the first end 21 and the second end 22 move in the + X direction. For this reason, the belt portion 23 is wound around the rotor SF, and tension is applied to the belt portion 23. When the drive elements 31 and 32 extend, the first end 21 and the second end 22 move in the −X direction. For this reason, the belt part 23 moves away from the rotor SF and relaxes.

Next, the operation of the motor device MTR will be described.
In the motor device MTR according to the present embodiment, the principle of applying torque to the rotor SF will be described. When driving the rotor SF, an effective tension is generated in the contact member BT wound around the rotor SF, and torque is transmitted to the rotor SF by the effective tension.

  According to Euler's friction belt theory, the tension (T1) on the first end portion 21 side and the tension (T2) on the second end portion 22 side of the contact member BT wound around the rotor SF satisfy the following [Equation 1]. At this time, a frictional force is generated between the contact member BT and the rotor SF, and the contact member BT moves together with the rotor SF in a state in which the contact member BT does not slip with respect to the rotor SF (contact state). By this movement, torque is transmitted to the rotor SF. In [Equation 1], μ is an apparent coefficient of friction between the contact member BT and the rotor SF, and θ is an effective winding angle of the contact member BT.

  At this time, the effective tension contributing to torque transmission is represented by (T1-T2). When the effective tension (T1-T2) is obtained based on the above [Equation 1], [Equation 2] is obtained. [Equation 2] is an expression representing an effective tension using T1.

From the above [Equation 2], it can be seen that the torque transmitted to the rotor SF is uniquely determined by the tension T1 of the drive element 31. The coefficient portion of T1 on the right side of [Expression 2] depends on the friction coefficient μ between the contact member BT and the rotor SF and the effective winding angle θ of the contact member BT.
FIG. 3 is a graph showing the relationship between the effective winding angle θ and the value of the coefficient portion when the friction coefficient μ is changed. The horizontal axis of the graph indicates the effective winding angle θ, and the vertical axis of the graph indicates the value of the coefficient portion.

  As shown in FIG. 3, for example, when the friction coefficient μ is 0.3, the value of the coefficient portion is 0.8 or more when the effective winding angle θ is 300 ° or more. From this, when the friction coefficient μ is 0.3, by setting the effective winding angle θ to 300 ° or more, a force of 80% or more of the tension T1 by the drive element 31 contributes to the torque of the rotor SF. I understand that. In addition to the winding angle, it is estimated from the graph of FIG. 3 that, for example, the value of the coefficient portion increases as the friction coefficient between the contact member BT and the rotor SF increases.

  Thus, the magnitude of the torque is uniquely determined by the tension T1 of the drive element 31, and it can be seen that it is independent of, for example, the moving distance of the contact member BT. Therefore, for example, the piezo element used for the drive element 31 and the drive element 32 can give a force of several hundred newtons or more even if it is a small element of about several millimeters, and therefore gives a very large rotational force. Can do.

  Based on this principle, as shown in FIG. 4, the control unit CONT first sets the drive element 31 and the drive element 32 so that the first end 21 and the second end 22 move in the + X direction, respectively. Deform. By this operation, a tension T1 is generated on the first end portion 21 side of the contact member BT, and a tension T2 is generated on the second end portion 22 side of the contact member BT. Accordingly, an effective tension (T1-T2) is generated in the contact member BT.

  As shown in FIG. 5, the control unit CONT maintains the state in which the effective tension is generated in the contact member BT so that the first end 21 of the contact member BT moves in the −X direction. The drive element 31 and the drive element 32 are deformed so that the two end portions 22 move in the + X direction (drive operation). In this operation, the control unit CONT makes the moving distance of the first end 21 and the moving distance of the second end 22 equal. By this operation, the contact member BT moves in a state where a frictional force is generated between the contact member BT and the rotor SF, and the rotor SF rotates in the θZ direction along with the movement.

  The controller CONT moves the first end 21 and the second end 22 by a predetermined distance and then moves the second end 22 so that the first end 21 does not move as shown in FIG. Only the drive element 32 is deformed so that the valve returns to the drive start position (predetermined position). By this operation, the second end portion 22 moves in the −X direction, and the contact member BT is loosely wound. That is, the effective tension applied to the contact member BT is released. In this state, no frictional force is generated between the contact member BT and the rotor SF, and the rotor SF continues to rotate due to inertia.

  After loosening the winding of the contact member BT, the controller CONT deforms the drive element 31 so that the first end 21 returns to the drive start position (predetermined position) as shown in FIG. By this operation, the first end portion 21 of the contact member BT returns to the driving start position (predetermined position) while the winding of the contact member BT is loose, that is, the effective tension is not generated (return operation). .

  If it is just before the 1st end part 21 returns to a drive start position, the control part CONT will deform the drive element 31, and will move the 1st end part 21 to + X direction. By this operation, the tension T1 is generated on the first end 21 side and the tension T2 is generated on the second end 22 side almost simultaneously with the return of the first end 21 to the driving start position. Thereby, it will be in the state similar to the state (state of FIG. 4) which applied effective tension to contact member BT at the time of a drive start.

  After the effective tension is applied to the contact member BT, the controller CONT deforms the drive element 31 so that the first end 21 of the contact member BT moves in the + X direction, and the second end 22 moves in the + X direction. The drive element 32 is deformed so as to move (drive operation). At this time, the moving distance of the first end 21 and the moving distance of the second end 22 are made equal. By this operation, the contact member BT moves in a state where a frictional force is generated between the contact member BT and the rotor SF, and the rotor SF rotates in the θ direction along with the movement.

  Thereafter, the control unit CONT releases the effective tension applied to the contact member BT again. After releasing the effective tension, the controller CONT moves the first end 21 and the second end 22 of the contact member BT so as to return to the start position (return operation). In this way, the control unit CONT causes the drive unit AC to repeatedly perform the drive operation and the return operation, whereby the rotor SF continues to rotate in the θZ direction.

Next, an operation for adjusting the rotation of the rotor SF using the motor device MTR will be described.
In the state where the rotor SF is rotated in the θZ direction by the drive operation and the return operation, the control unit CONT has the first end portion 21 and the second end portion 22 in the + X direction, respectively, for example, as shown in FIG. The drive element 31 and the drive element 32 are deformed so as to move.

  By this operation, the belt portion 23 of the contact member BT contacts the rotor SF, and a tension T1 is generated on the first end portion 21 side of the belt portion 23, and on the second end portion 22 side of the contact member BT. A tension T2 is generated. Accordingly, an effective tension (T1-T2) is generated in the contact member BT. In this state, a frictional force is generated between the belt portion 23 and the rotor SF in a direction opposite to the rotation direction of the rotor SF. The rotation of the rotor SF is restricted by the frictional force.

  In this state, the control unit CONT maintains the state in which the effective tension is generated in the contact member BT, and as shown in FIG. 9, the first end 21 of the contact member BT moves in the + X direction. In addition, the driving element 31 and the driving element 32 are deformed so that the second end 22 moves in the −X direction.

  In this operation, the control part CONT makes the movement distance of the first end part 21 equal to the movement distance of the second end part 22, for example. By this operation, the contact member BT moves in a direction opposite to the rotation direction of the rotor SF in a state where a frictional force is generated between the contact member BT and the rotor SF. For this reason, the rotation of the rotor SF is further restricted.

  Thereafter, the control unit CONT deforms only the drive element 31 so that the second end portion 22 does not move and the first end portion 21 returns to the start position (predetermined position). By this operation, the first end portion 21 moves in the −X direction, and the contact member BT is loosely wound. That is, the effective tension applied to the contact member BT is released. In this state, no frictional force is generated between the contact member BT and the rotor SF, and the rotation of the rotor SF is not restricted. For this reason, the rotor SF continues to rotate due to inertia.

  After loosening the winding of the contact member BT, the control unit CONT deforms the drive element 32 so that the second end 22 returns to the drive start position (predetermined position). By this operation, the second end portion 22 of the contact member BT returns to the driving start position (predetermined position) while the winding of the contact member BT is loose, that is, the effective tension is not generated (return operation). .

  When it is just before the second end 22 is returned to the drive start position, the control unit CONT deforms the drive element 32 and moves the second end 22 in the + X direction. By this operation, the tension T1 is generated on the first end 21 side and the tension T2 is generated on the second end 22 side almost simultaneously with the return of the second end 22 to the drive start position. Thereby, it will be in the state similar to the state (state of FIG. 4) which applied effective tension to contact member BT at the time of a drive start. By repeating this operation, the rotation of the rotor SF is adjusted.

  Further, as shown in FIG. 10, when the rotation of the rotor SF is stopped, the control unit CONT brings the belt portion 23 and the rotor SF into contact with each other and maintains the contact state. Thus, the drive element 31 and the drive element 32 are deformed. In this case, the rotation of the rotor SF is restricted by the static friction force acting between the belt portion 23 and the rotor SF. When rotating the rotor SF, the controller CONT deforms the drive elements 31 and 32 so that the contact state is eliminated. This operation eliminates the restriction on the rotation of the rotor SF. Thereafter, the control unit CONT performs a driving operation by the motor device MTR.

  As described above, according to the present embodiment, the driving unit AC is caused to perform the driving operation and the returning operation in a state in which the contact member BT is hung on at least a part of the rotor SF. Thus, the torque is uniquely determined by one tension applied to the contact member BT. Therefore, it is possible to add a high torque to the rotor SF even with a small drive unit AC. Thereby, the small motor apparatus MTR which can generate a high torque can be obtained. Further, even with a small drive unit AC, the rotor SF can be rotated with high efficiency.

  Further, according to the present embodiment, when rotating the rotor SF, the contact member BT is moved a certain distance between the rotor SF and the contact member BT, and the torque transmission state is canceled. A drive unit AC for returning the contact member BT to a predetermined position and adjusting the movement of the contact member BT in a contact state in which the rotor SF and the contact member BT are in contact when the rotor SF is not rotated; Therefore, the rotation of the rotor SF can be stopped or the stopped state can be maintained without providing a brake mechanism separately (brake means). Thereby, the enlargement of the motor device MTR can be avoided.

  In addition, according to the present embodiment, as described above, the drive element 31 is configured by adopting a structure in which the position adjusting unit 140 having a structural backlash is not disposed between the fixed part 132 and the drive elements 31 and 32. , 32 can be stably attached to the base portion BS in a state where there is no backlash (or a state where the backlash is reduced), and the expansion / contraction force of the drive elements 31, 32 can be satisfactorily transmitted to the rotor SF. And the rotor SF can be efficiently rotated.

(Second embodiment)
Next, a second embodiment of the present invention will be described.
The present embodiment is different from the first embodiment in that the elastic deformation of the contact member BT and the contact member BT is used during the drive operation and rotation adjustment operation of the motor device MTR. Therefore, the configuration of the motor device MTR can be the same as that of the first embodiment except that the contact member BT of the motor device MTR can be elastically deformed.

In this embodiment, the spring constant of the contact member BT is k. Here, according to Euler's friction belt theory, the holding force TC of the rotor SF is set as shown in the following [Equation 3]. The holding force TC is a force necessary to start the stationary rotor SF. When the target tension on the first end 21 side is T _1e , the target tension on the second end 22 side is T _2e , and the target effective tension is T _goal , the following [Equation 4] and [Equation 5] are satisfied. .

  Hereinafter, the driving operation of the rotor SF will be mainly described with reference to FIGS. In the present embodiment, the configuration of the motor device is schematically shown for easy understanding. In the following description, the first end 21 and the second end of the contact member BT such that the contact member BT is wound around the rotor SF without applying tension to the contact member BT. Each position of the portion 22 is set to an origin position 0. Therefore, in a state where both the first end portion 21 and the second end portion 22 of the contact member BT are disposed at the origin position 0, no frictional force is generated between the contact member BT and the rotor SF.

<Drive operation>
First, as shown in FIG. 11, the control unit CONT drives the driving element 31 so that the first end 21 of the contact member BT moves in the + X direction (for example, the direction approaching the base BS) from the origin position 0 by X1. Deform. The control part CONT contact member second end portion 22 of the BT only X ₂ from the origin position 0 + X direction (e.g., toward the base portion BS) deforms the driving element 32 to move. This state is the initial state of the driving operation. At this time, X ₁ and X ₂ satisfy the following [Equation 6].

From this state, as shown in FIG. 12, the control unit CONT deforms the driving element 31 so that the tension T ₁ on the first end 21 side of the contact member BT becomes the target tension T _1e . the part 21 only [Delta] X ₁ + X direction (e.g., toward the base portion BS) is moved to. In addition, the control unit CONT deforms the drive element 32 so that the second end 22 is moved by ΔX _{2 in the} −X direction (for example, the base portion) so that the tension T2 on the second end 22 side becomes the target tension T _2e. Move in a direction away from the BS). By this operation, torque is transmitted from the contact member BT to the rotor SF. At this time, the relationship of [Equation 7] is established between ΔX ₁ and ΔX ₂ .

When torque is transmitted from the contact member BT to the rotor SF, the rotor SF rotates and the elastic deformation of the contact member BT becomes the same state as the initial state. As shown in FIG. 13, the order and the first end portion 21 side of the tension T1 of the contact member BT and the second end portion 22 side of the tension T2 becomes the holding force T _C balances. At this time, since the effective tension changes approximately linearly from T _goal to zero, the effective effective tension applied to the contact member BT is T _goal / 2. Further, the torque transmitted to the rotor SF by the contact member BT becomes zero.

<Return operation>
Next, as shown in FIG. 15, the control unit CONT moves the first end portion 21 to the origin position 0 and the second end portion 22 from the origin position 0 to the −X side (for example, away from the base portion BS). The driving element 31 and the driving element 32 are simultaneously deformed so as to move in the direction). By deforming the the drive element 31 and drive element 32 for example simultaneously with equal amount of deformation, the contact member BT becomes loosen only 2ΔX _1. As a result, a gap is generated between the contact member BT and the rotor SF. The rotor SF is in an inertial rotation state without receiving a frictional force by the contact member BT.

  While the gap is generated between the contact member BT and the rotor SF, as shown in FIG. 15, the controller CONT does not move the first end 21, and only the second end 22 is the origin position. The drive element 32 is deformed so as to return to zero. By this operation, both the first end portion 21 and the second end portion 22 return to the origin position 0. Even in this state, the rotor SF is in an inertial rotation state without receiving a frictional force by the contact member BT. Thus, in the return operation, the first end 21 and the second end 22 are moved to the origin position 0 in a state where the rotor SF is rotated without giving resistance to the rotor SF due to frictional force.

<Drive operation (inertia rotation state)>
The controller CONT detects the outer peripheral speed v of the rotor SF by a detector provided in the rotor SF. The control unit CONT determines the moving distance between the first end 21 and the second end 22 based on the detection result. In the driving operation in the state where the rotor SF is stationary, the initial position of the _first end 21 is X ₁ and the initial position of the second end 22 is X ₂ (= X ₁ ). In order to apply the target effective tension similar to the above to the contact member BT in a state where the rotor SF is inertially rotated, the same environment as the stationary state of the rotor SF is required. That is, it is necessary to make the relative speed between the outer periphery of the rotor SF and the contact member BT zero. For this reason, in determining the initial position of the first end 21 and the initial position of the second end 22, it is necessary to consider the moving distance per predetermined time of the outer periphery of the rotor SF. As an example, the initial position of the first end 21 is set as X ₁ + vΔt, and the initial position of the second end 22 is set as X ₂ −vΔt. Here, examples of Δt include a sampling time of the control unit CONT.

From this state, as shown in FIG. 16, the control unit CONT deforms the drive element 31 so that the tension T1 on the first end 21 side of the contact member BT becomes the target tension _T1e. 21 only [Delta] X ₁ + X direction (e.g., toward the base portion BS) is moved to. The control part CONT to deform the drive element 32, as the tension T2 of the second end portion 22 side becomes the target tension T2e the second end 22 by [Delta] X ₂ + X direction (e.g., the base unit BS Move in the direction of approach). By this operation, torque is transmitted from the contact member BT to the rotor SF. The first end portion 21 at this time is relative to the origin position 0 X1 + vΔt + ΔX ₁ only the + X direction (e.g., toward the base portion BS) in a state of being moved to. At this time, the second end portion 22 is moved in the −X direction (for example, the direction away from the base portion BS) by X ₂ −vΔt−ΔX _{1 with} respect to the origin position.

<Return operation>
Thereafter, the controller CONT is driven so that the first end 21 moves to the origin position 0 and the second end 22 moves in the + X direction (for example, the direction approaching the base BS) from the origin position 0. While the element 31 and the driving element 32 are simultaneously deformed and a gap is generated between the contact member BT and the rotor SF, only the second end 22 is moved to the original position without moving the first end 21. The drive element 32 is deformed so as to return to zero. By this operation, both the first end portion 21 and the second end portion 22 return to the origin position 0. The return operation can be performed as the same operation regardless of the rotation speed of the rotor SF.

Thereafter, the rotor SF can be made by repeating the driving operation and the returning operation. In the case where the rotor SF is in the inertial rotation state, as long as the value of the X1 + vΔt + ΔX ₁ does not exceed the maximum deformation amount of the driving element 31, by repeating the driving operation and the return operation, to transmit torque to the rotor SF You can continue.

Next, the rotation adjustment operation of the motor device MTR in the present embodiment will be described.
For example, in a state where the rotor SF is rotated by the driving operation, the control unit CONT has the first end portion 21 of the contact member BT in the + X direction (for example, base ₁₎ from the origin position 0 by X1 as shown in FIG. The drive element 31 is deformed so as to move in a direction approaching the part BS. Further, the control unit CONT deforms the drive element 32 so that the second end portion 22 of the contact member BT moves in the + X direction (for example, a direction approaching the base portion BS) from the origin position 0 by X2. At this time, since the belt portion 23 of the contact member BT comes into contact with the rotor SF, a frictional force is generated between the rotor SF and the belt portion 23. The rotation of the rotor SF is restricted by the frictional force.

From this state, for example, as shown in FIG. 18, the control unit CONT deforms the drive element 31 so that the tension T1 on the first end 21 side of the contact member BT becomes the target tension _T1e . the part 21 only [Delta] X ₁ -X direction (e.g., direction away from the base unit BS) is moved to. Further, the control unit CONT deforms the driving element 32 so that the second end 22 is moved by ΔX _{2 in the} + X direction (for example, the base unit BS) so that the tension T2 on the second end 22 side becomes the target tension T _2e. In the direction of approaching). By this operation, torque is transmitted from the contact member BT to the rotor SF. Since torque is transmitted in a direction opposite to the rotation direction of the rotor SF, the rotation of the rotor SF is restricted. Further, the control unit CONT causes the return operation to be the same as the above-described return operation.

Next, torque control in the driving operation of the rotor SF of this embodiment will be described.
The effective torque Ne in the present embodiment includes a time t _all required for one cycle of the driving operation and the return operation, a time t _e from the start of transmission of the effective tension until the rotor SF enters an inertia state, and a target effective tension T. _goal and depends on the radius R of the rotor SF. As an example, it is shown by the following [Equation 8].

As shown in [Equation 8], there are three parameters for controlling the effective torque Ne, t _all , te, and T _goal . The time “tall” for one cycle of the driving operation and the return operation may be set constant in performing the driving control of the rotor SF. Therefore, the effective torque Ne can be changed by changing two values of t _e and T _goal. You may control.

  Thus, according to this embodiment, the effective deformation of the contact member BT is transmitted to the rotor SF by making the relative speed between the outer periphery of the rotor SF and the contact member BT zero using the elastic deformation of the contact member BT. The rotor SF can be dynamically rotated while accelerating or decelerating by repeatedly performing the driving operation to perform and the returning operation to simultaneously move the first end portion 21 and the second end portion 22 inward. Further, even with a small drive unit AC, the rotor SF can be rotated with high efficiency.

  Further, according to the present embodiment, a high brake torque can be generated even with a small drive unit AC (brake means). Further, by repeatedly performing the drive operation and the return operation while utilizing the elastic deformation of the contact member BT, the brake torque can be dynamically applied to the rotor SF (brake means).

  In addition, according to the present embodiment, as described above, the position adjustment unit 140 having a structural backlash is not disposed between the fixed portion 132 and the drive elements 31 and 32, and thus the drive elements 31 and 32 have no backlash. It is stably attached to the base part BS in a state (or a state in which the backlash is reduced). Therefore, the expansion / contraction force of the drive elements 31 and 32 can be satisfactorily transmitted to the rotor SF, and the rotor SF can be efficiently rotated.

(Third embodiment)
Next, a third embodiment of the present invention will be described.
FIG. 19 is a diagram illustrating a configuration of the motor device MTR according to the present embodiment. In the motor device MTR according to the present embodiment, the configuration of the holding member 130 of the drive unit fixing unit 100 is different from that of the above embodiment. In the present embodiment, the holding member 130 includes the displacement magnifying mechanism 50. About another structure, it is the same structure as the motor apparatus MTR shown in 1st embodiment, for example.

  FIG. 20 is a diagram illustrating a configuration of the displacement magnifying mechanism 50. 20 shows the displacement magnifying mechanism 50 provided on the second end 22 side of the contact member BT. However, the displacement magnifying mechanism 50 having the same configuration is also provided on the first end 21 side of the contact member BT. Is provided.

  As shown in FIG. 20, the displacement magnifying mechanism 50 has an attachment portion 52 and a displacement transmission portion 53. The attachment portion 52 is attached to the surface on the −X side of the base portion BS. In addition, the drive element 32 held by the holding member 130 is connected to the displacement transmitting portion 53. The holding member 130 is connected to the displacement transmitting portion 53, and the fixing portion 132 of the holding member 130 is fixed to the base portion BS. Further, for example, at least the holding member 130, the pressurizing spring part 134, and the displacement transmitting part 53 have an integrated structure.

  The displacement transmission parts 53 are respectively arranged so as to sandwich the drive element 32 between the base part BS. The displacement transmission unit 53 is connected to the −X side end of each holding member 130 via the first swinging unit 141. In the displacement transmitting portion 53, for example, one end portion 53b in the Y direction is connected to the mounting portion 52. For example, the first end portion 21 and the second end portion 22 of the contact member BT are connected to the other end portion 53a of the displacement transmitting portion 53 in the Y direction.

  The connection portion 54 between the mounting portion 52 and the displacement transmission portion 53 is formed so that the thickness in the Y direction is thinner than other portions, for example, like the first swing portion 141 and the second swing portion 142. Yes. For example, when the drive element 32 expands and contracts and the distal end portion 56 in the −X direction is displaced in the X direction, the displacement transmitting portion 53 rotates in the θZ direction with the connection portion 54 as a fulcrum.

Therefore, as shown in FIG. 20, when the distance between the connecting portion 54 and the tip portion 56 is S1, the distance between the connecting portion 54 and the end portion 53a is S2, and the displacement of the tip portion 56 in the X direction is L1. The displacement L2 in the X direction of the end portion 53a is
L2 = L1 · (S2 / S1)
It becomes.

  In the present embodiment, since S2> S1, the displacement L2 at the end portion 53a is larger than the displacement L1 of the distal end portion 56. As a result of the displacement of the distal end portion 56 being enlarged and transmitted to the end portion 53a, the amount of movement of the first end portion 21 and the second end portion 22 connected to the end portion 53a is enlarged. The displacement enlarging mechanism 50 in the present embodiment enlarges the amount of movement of the contact member BT based on the drive amount (expansion / contraction amount) of the drive element 32 and transmits it to the contact member BT.

  The displacement of the tip 56 may be, for example, about 0.1% with respect to the dimension of the drive element 32 in the X direction, and this value may be, for example, several microns. According to the present embodiment, the rotor SF can be rotated with high accuracy by enlarging the displacement of the drive element 32 based on the lever principle. The drive element 31 is also connected to the first end 21 side of the contact member BT via a similar displacement enlarging mechanism 50, and the rotor SF can be accurately rotated by enlarging the displacement according to the principle of leverage. Can be made.

  According to the present embodiment, as described above, since the drive elements 31 and 32 are stably attached to the base portion BS in a state where there is no backlash (or a state where backlash is reduced), The expansion / contraction force of the drive elements 31, 32 can be transmitted well, and the rotor SF can be efficiently rotated.

(Fourth embodiment)
Next, a fourth embodiment of the present invention will be described.
FIG. 21 is a diagram illustrating a configuration of a part (for example, a joint of a finger portion) of a robot apparatus RBT including the motor apparatus MTR according to any of the above embodiments.

  As shown in the figure, the robot apparatus RBT includes a distal node portion 101, a middle node portion 102, and a joint portion 103, and the distal node portion 101 and the middle node portion 102 are connected via the joint portion 103. It has become. The joint portion 103 is provided with a shaft support portion 103a and a shaft portion 103b. The shaft support portion 103 a is fixed to the middle joint portion 102. The shaft portion 103b is supported in a state of being fixed by the shaft support portion 103a.

  The end node portion 101 includes a connecting portion 101a and a gear 101b. The shaft portion 103b of the joint portion 103 is penetrated through the connecting portion 101a, and the end node portion 101 is rotatable with the shaft portion 103b as a rotation axis. The gear 101b is a bevel gear fixed to the connecting portion 101a. The connecting portion 101a rotates integrally with the gear 101b.

  The middle joint portion 102 includes a housing 102a and a driving device ACT. As the drive device ACT, the motor device MTR described in the above embodiment can be used. The driving device ACT is provided in the housing 102a. A rotating shaft member 104a is attached to the driving device ACT. A gear 104b is provided at the tip of the rotating shaft member 104a. The gear 104b is a bevel gear fixed to the rotating shaft member 104a. The gear 104b is in mesh with the gear 101b.

In the robot apparatus RBT configured as described above, the rotation shaft member 104a is rotated by the drive of the drive device ACT, and the gear 104b is rotated integrally with the rotation shaft member 104a.
The rotation of the gear 104b is transmitted to the gear 101b meshed with the gear 104b, and the gear 101b rotates. As the gear 101b rotates, the connecting portion 101a also rotates, whereby the end node portion 101 rotates about the shaft portion 103b.

  Thus, according to the present embodiment, by mounting the drive device ACT capable of outputting low-speed and high-torque rotation, for example, the end node portion 101 can be directly rotated without using a speed reducer. Furthermore, in this embodiment, since the drive device ACT is configured to be driven non-resonantly, most of the configuration can be configured with a lightweight material such as resin. Further, since the motor device MTR used as the drive device ACT has a configuration in which the drive elements 31 and 32 are stably attached to the base portion BS in a state where there is no backlash (or a state where the backlash is reduced), the rotating shaft member The expansion / contraction force of the drive elements 31 and 32 can be satisfactorily transmitted to 104a, and the rotating shaft member 104a can be efficiently rotated.

  In the above embodiment, the configuration in which the fixing portion 132 of the driving unit fixing unit 100 is fixed in the opening portion 130A formed in the base portion BS has been described as an example. However, the present invention is not limited to this. It may be a shape. For example, a configuration in which the fixing portion 132 is fixed to a pedestal portion formed so as to protrude from the surface of the base portion BS, or the drive elements 31 and 32 held by the holding member 130 are inclined with respect to the base portion BS The fixing part 132 may be fixed to the base part BS so that

  Moreover, although the said embodiment demonstrated and demonstrated the structure in which base part BS was formed in the rectangle by the front view, it is not restricted to this, Other shapes may be sufficient. For example, it may be a circle or an ellipse, or may be another polygon such as a trapezoid, a parallelogram, a diamond, a triangle, a pentagon, or a hexagon.

  Further, as the shape of the belt portion 23, in the above-described embodiment, the belt portion 23 formed in a belt shape has been described as an example. However, the shape is not limited to this, and other shapes such as a linear shape and a chain shape are exemplified. It does not matter.

MTR ... motor device, BS ... base portion, BT ... contact member, AC ... drive portion, CONT ... control portion, SF ... rotor, C ... center axis, F ... reference position, RBT ... robot device, ACT ... drive device, DESCRIPTION OF SYMBOLS 21 ... 1st end part, 22 ... 2nd end part, 23 ... Belt part, 31 ... Drive element, 32 ... Drive element, 50 ... Displacement expansion mechanism, 100 ... Drive part fixing unit, 130 ... Holding member, 132 ... Fixed 134: Pressurizing spring part, 137 ... Position adjusting screw, 138 ... Wedge member, 140 ... Adjusting part, 141 ... First swing part, 142 ... Second swing part

Claims (11)

A holding member that holds the drive unit and is connected to an external mechanism;
A base portion for fixing the holding member;
An adjustment unit capable of adjusting the position of the drive unit with respect to the external mechanism,
The holding member has a fixing portion fixed to the base portion,
The adjustment unit is a fixed unit of the drive unit configured to be able to adjust the position of the drive unit by contacting the fixed unit.   The drive unit fixing unit according to claim 1, wherein the holding member includes a first swinging portion that is connected to the external mechanism and allows the holding member to swing.   The driving unit fixing unit according to claim 1, wherein the holding member includes a second swinging portion that is connected to the fixing portion and allows the holding member to swing.   The fixed unit of the drive unit according to any one of claims 1 to 3, wherein the adjustment unit includes a position adjustment member that can be attached to and detached from the holding member.   The driving unit fixing unit according to any one of claims 1 to 4, wherein the holding member includes a pressurizing unit that applies a pressure to the driving unit when the driving unit expands and contracts.   The drive unit fixing unit according to claim 1, wherein the holding member includes an enlargement mechanism that enlarges an amount of movement of the drive unit and transmits the enlarged amount to the external mechanism.   The drive unit fixing unit according to any one of claims 1 to 6, wherein the drive unit includes an electromechanical conversion element.   The fixed unit of the drive unit according to claim 7, further comprising a wedge member disposed in a gap between the electromechanical conversion element and the holding member. A driving unit fixing method in which a driving unit that is held by a holding member and that transmits a driving force to an external mechanism through the holding member is fixed to the base unit in a state of being aligned with the external mechanism,
A temporary fixing step of temporarily fixing the holding member to the base portion;
A position adjustment step of adjusting the position of the drive unit held by the holding member with respect to the external mechanism using a position adjustment screw;
A fixing method of the driving unit comprising: a main fixing step of fixing the holding member to the base portion after the position adjusting step. A rotor,
A transmission portion hung on at least a part of the outer periphery of the rotor;
A drive unit that moves the transmission unit a fixed distance with the rotational force transmission state between the rotor and the transmission unit, and returns the transmission unit to a predetermined position in a state in which the rotational force transmission state is canceled; Prepared,
The said drive part is a motor apparatus arrange | positioned at the fixed unit as described in any one of Claims 1-8. A rotating shaft member;
A motor device for rotating the rotating shaft member,
A robot apparatus in which the motor apparatus according to claim 10 is used as the motor apparatus.

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