JP2012010519A - Motor device, method for driving rotor, and robot device - Google Patents

Abstract

A motor device capable of generating high torque is provided.
A rotor, a transmission unit hung on at least a part of the outer periphery of the rotor, a plurality of drive units connected to the transmission unit and moving the transmission unit according to an applied drive voltage, and rotation A second drive waveform having a first drive waveform having a first drive waveform corresponding to a holding force for transmitting a rotational force between the child and the transmission portion, and a second drive waveform corresponding to a drive force for moving the transmission portion. A voltage is applied to each of a plurality of drive units, and the transmission unit is set in a state in which the drive operation and the rotation force transmission state are eliminated while the transmission unit is moved a certain distance by setting the rotation force transmission state between the rotor and the transmission unit. A control unit that causes the drive unit to perform a return operation to return to the position.
[Selection] Figure 1

Description

  The present invention relates to a motor device, a rotor driving method, 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, motor devices that drive more precise parts such as the joint parts of humanoid robots have been demanded. Even in existing motors such as electric motors and ultrasonic motors, miniaturization and high torque controllability are required. There is a demand for a configuration that can perform accurate driving.

Japanese Patent Laid-Open No. 2-311237

  However, in an electric motor or an ultrasonic motor, it is necessary to attach a reduction gear in order to generate a high torque, so there is a limit to downsizing. In addition, in an ultrasonic motor, it is difficult to control torque.

  The present invention has been made in consideration of the above points, and an object of the present invention is to provide a motor device, a rotor driving method, and a robot device capable of generating high torque.

  According to the first aspect of the present invention, the rotor, the transmission unit hung on at least a part of the outer periphery of the rotor, and the transmission unit connected to the transmission unit and moving the transmission unit according to the applied drive voltage. A plurality of drive units, a first drive voltage having a first drive waveform corresponding to a holding force for setting a rotational force transmission state between the rotor and the transmission unit, and a second drive voltage corresponding to the drive force for moving the transmission unit Applying a second drive voltage having a drive waveform to each of the plurality of drive units, eliminating the drive operation and the rotational force transmission state in which the transmission unit is moved by a certain distance with the rotational force transmission state between the rotor and the transmission unit. In this state, a motor device is provided that includes a control unit that causes the drive unit to perform a return operation to return the transmission unit to a predetermined position.

  According to the second aspect of the present invention, a plurality of drive steps, with a plurality of drive units, moving the transmission unit a fixed distance between the rotor and the transmission unit hung on the rotor with a rotational force transmission state; And a return step for returning the transmission portion to a predetermined position in a state where the rotational force transmission state is canceled by the drive portion, and the drive step has a holding force for setting the rotational force transmission state between the rotor and the transmission portion. A rotor including applying a first driving voltage having a corresponding first driving waveform and a second driving voltage having a second driving waveform corresponding to a driving force for moving the transmission unit to each of the plurality of driving units. A driving method is provided.

  According to a third aspect of the present invention, a robot apparatus comprising a rotating shaft member and a motor device that rotates the rotating shaft member, wherein the motor apparatus of the first aspect of the present invention is used as the motor device. Is provided.

  ADVANTAGE OF THE INVENTION According to this invention, the small motor apparatus which can generate a high torque can be provided.

The figure which shows the structure of the motor apparatus which concerns on 1st Embodiment of this invention. The figure which shows the structure of the motor apparatus which concerns on this embodiment. 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 the drive voltage applied to the drive part which concerns on this embodiment. The figure which shows the drive voltage applied to the drive part which concerns on this embodiment. The figure which shows the drive voltage applied to each drive element which concerns on this embodiment. The figure which shows the drive voltage applied to the drive part which concerns on 2nd Embodiment. The figure which shows the drive voltage applied to the drive part which concerns on 2nd Embodiment. The figure which shows the drive voltage applied to the drive part which concerns on 3rd Embodiment. The figure which shows the drive voltage applied to the drive part which concerns on 3rd Embodiment. The figure which shows the drive voltage applied to each drive element which concerns on 3rd Embodiment. The front view of the rotor which concerns on 4th Embodiment. The schematic diagram which shows the structure of the robot hand which concerns on 5th Embodiment.

  Embodiments of a motor device, a rotor driving method, and a robot device according to the present invention will be described below with reference to FIGS.

(First embodiment)
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a schematic configuration diagram illustrating an example of a motor device MTR according to the present embodiment. FIG. 2 is a diagram showing a configuration along the AA ′ cross section in FIG. 1.
As shown in FIGS. 1 and 2, the motor device MTR includes base units BS and BS ′, transmission units BT and BT ′, AC ′, and a control unit CONT. The motor device MTR rotates the rotor SF using the drive units AC and AC ′ and the transmission units BT and BT ′. The rotor SF rotates around the central axis C as a rotation axis.

  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 rotation 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.

  Base part BS is a part formed in plate shape using materials, such as stainless steel, for example. In the base part BS, the penetrating part 10 and the penetrating part 20 are formed. The through portion 10 is an opening formed in a substantially circular shape when viewed from the front, and is formed through the front and back of the base portion BS. A transmission part BT is arranged in the penetrating part 10, and the rotor SF is inserted therein.

  The transmission part BT has a first end part 21, a second end part 22 and a belt part 23. The first end 21 and the second end 22 are formed, for example, so as to extend in parallel to the −Y direction from the central portion of the penetrating portion 10 in the X direction. The first end portion 21 and the second end portion 22 are arranged with a reference position F on the outer periphery of the rotor SF interposed therebetween. In the present embodiment, for example, a case where the −Y side end portion of the rotor SF in FIG.

The belt portion 23 is formed in a belt shape, and is provided along the inner peripheral surface 10a of the penetrating portion 10, for example. The belt portion 23 is disposed so as to surround the rotor SF inserted into the penetrating portion 10.
In other words, the rotor SF is inserted into a space surrounded by the belt portion 23 in the through portion 10. The belt portion 23 is hung on at least a part of the rotor SF, for example.

  As shown in FIG. 1, the penetrating portion 20 is, for example, an opening formed in a substantially rectangular shape in front view so as to partially overlap the −Y side end portion of the penetrating portion 10, and penetrates the front and back of the base portion BS. Is formed. A drive unit AC is disposed in the through portion 20. The drive unit AC is supported by support members 33 and 34 provided on the inner peripheral surface of the penetrating unit 20.

  The drive unit AC includes drive elements 31 and 32 each including an electromechanical conversion element (electrostrictive element) such as a piezo element. 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.

  The drive element 31 is supported by a support member 33. The position of the end of the drive element 31 on the −X side in the figure is fixed. For this reason, the drive element 31 expands and contracts in the X direction, so that the position of the + X side end in the figure moves in the X direction. The end on the + X side of the drive element 31 is connected to the tip 33 a of the support member 33. The front end portion 33 a of the support member 33 is connected to the first end portion 21, for example. The support member 33 has, for example, an expandable portion 33b on the −X side with respect to the distal end portion 33a. The expansion / contraction part 33b expands / contracts so that the tip part 33a moves in accordance with the movement of the + X side end part of the drive element 31.

  The drive element 32 is supported by a support member 34. The position of the end portion on the + X side of the driving element 32 in the drawing is fixed. For this reason, the drive element 32 expands and contracts in the X direction, whereby the position of the end portion on the −X side in the drawing moves in the X direction. The end portion on the −X side of the drive element 31 is connected to the tip end portion 34 a of the support member 34. The front end portion 34 a of the support member 34 is connected to the second end portion 22, for example. The support member 34 has, for example, an expansion / contraction part 34b on the + X side of the tip part 34a. The expansion / contraction part 34b expands / contracts so that the tip end part 34a moves in accordance with the movement of the end of the drive element 32 on the −X side.

  The drive element 31 and the drive element 32 are provided at positions that sandwich the first end 21 and the second end 22. The distal end portion 33 a of the support member 33 is directed to the first end portion 21, and the distal end portion 34 a of the support member 34 is directed to the second end portion 22. Therefore, the distal end portion 33a and the distal end portion 34a are disposed to face each other.

  When the drive element 31 extends in the + X direction and the drive element 32 extends in the −X direction, the first end portion 21 and the second end portion 22 approach each other. 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 element 31 contracts in the −X direction and the drive element 32 contracts in the + X direction, the first end portion 21 and the second end portion 22 move away from each other. For this reason, the belt part 23 moves away from the rotor SF and relaxes.

  In the present embodiment, the base unit BS ′, the transmission unit BT ′, and the drive unit AC ′ (drive element) having the same configuration as the base unit BS, the transmission unit BT, and the drive unit AC (drive elements 31 and 32) described above. 31 ′, 32 ′). As shown in FIG. 2, the base part BS ′, the transmission part BT ′, and the drive part AC ′ (drive elements 31 ′ and 32 ′) are composed of the base part BS, the transmission part BT, and the drive part AC (drive elements 31 and 32). ) With a gap on the −Z side, and as shown in FIG.

Next, the driving operation of the rotor SF will be described.
The principle of driving the rotor SF in the motor device MTR according to this embodiment will be described. When the rotor SF is driven, an effective tension is generated in the transmission portions BT and BT ′ wound around the rotor SF, and torque is transmitted to the rotor SF by the effective tension.
Since the drive operations of the transmission units BT and BT ′ by the drive units AC and AC ′ are the same, the drive operation of the transmission unit BT by the drive unit AC is typically described below.

  When the tension T1 on the first end 21 side and the tension T2 on the second end 22 side of the transmission part BT wound around the rotor SF satisfy the following [Equation 1] according to Euler's friction belt theory, the transmission part A frictional force is generated between the BT and the rotor SF, and the transmission unit BT moves together with the rotor SF in a state where the slip does not occur with respect to the rotor SF (rotational force transmission state). By this movement, torque is transmitted to the rotor SF. However, in [Equation 1], μ is an apparent friction coefficient between the transmission unit BT and the rotor SF, and θ is an effective winding angle of the transmission unit 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 part of T1 on the right side of [Formula 2] depends on the friction coefficient μ between the transmission part BT and the rotor SF and the effective winding angle θ of the transmission part BT, respectively. 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 transmission unit BT and the rotor SF increases.

  In this way, 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 transmission unit 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 such a principle, as shown in FIG. 4, the control unit CONT firstly drives the drive element 31 so that the first end 21 moves in the + X direction and the second end 22 moves in the −X direction. And the drive element 32 is deformed. By this operation, a tension T1 is generated on the first end 21 side of the transmission part BT, and a tension T2 is generated on the second end 22 side of the transmission part BT. Therefore, an effective tension (T1-T2) that is a holding force in which the rotational force is transmitted is generated in the transmission unit BT.

  The control unit CONT maintains the state where the effective tension is generated in the transmission unit BT, and the first end 21 of the transmission unit BT moves in the −X direction as illustrated in FIG. 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 transmission unit BT moves in a state where a frictional force is generated between the transmission unit BT and the rotor SF, and the rotor SF rotates in the θZ direction (arrow direction) along with the movement.

  In the present embodiment, the friction coefficient μ between the transmission unit BT and the rotor SF is, for example, 0.3, and the transmission unit BT is wound around the rotor SF almost once (360 °). Therefore, referring to the graph of FIG. 3, a force of about 85% of the tension T1 of the drive element 31 is transmitted to the rotor SF as a torque.

  After the control part CONT moves the first end part 21 and the second end part 22 by a predetermined distance, as shown in FIG. 6, the second end part 22 returns to the driving start position (predetermined position). And only the drive element 32 is deformed so that the first end 21 does not move. By this operation, the second end portion 22 moves in the + X direction, and the winding of the transmission portion BT becomes loose. That is, the effective tension (holding force with respect to the rotor SF) added to the transmission unit BT is released. In this state, no frictional force is generated between the transmission part BT and the rotor SF, and the rotor SF continues to rotate in the direction of the arrow due to inertia.

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

  When it is just before the first end 21 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 T2 is generated on the second end 22 side and the tension T1 is generated on the first end 21 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 added effective tension to transmission part BT at the time of a drive start.

  After the effective tension is applied to the transmission part BT, the control part CONT deforms the drive element 31 so that the first end 21 of the transmission part BT moves in the −X direction, and the second end 22 becomes −X. The drive element 32 is deformed so as to move in the direction (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 transmission unit BT moves in a state where a frictional force is generated between the transmission unit BT and the rotor SF, and the rotor SF rotates in the θZ direction along with the movement.

Thereafter, the control unit CONT releases again the effective tension added to the transmission unit BT.
After releasing the effective tension, the control unit CONT moves the first end 21 and the second end 22 of the transmission unit 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, a drive voltage applied to the drive unit AC when performing the drive operation and the return operation using the two transmission units BT and BT ′ will be described.
In the present embodiment, a first driving voltage that generates a holding force that causes a rotational force transmission state between the rotor SF and the transmission units BT and BT ′ and a driving force that moves the transmission units BT and BT ′ are generated. The second drive voltage is individually set, and the drive voltage based on the set first drive voltage and second drive voltage is applied to the drive units AC and AC ′.

  FIG. 8 shows drive voltages applied to the drive units AC and AC ′ when the holding units BT and BT ′ alternately generate the holding force (hereinafter simply referred to as holding force) in the rotational force transmission state. FIG. FIG. 8 shows the drive waveform (first drive waveform) EH1 of the drive voltage applied to the drive unit AC when the holding force is generated in the transmission unit BT, and the drive when the holding force is generated in the transmission unit BT ′. A drive waveform (first drive waveform) EH2 of the drive voltage applied to the section AC ′ is shown. In FIG. 8, time t0 to t4 is a drive section for mainly driving the transmission section BT (hereinafter referred to as a first main drive section), and time t4 to t8 is a drive section for driving the transmission section BT ′ (hereinafter referred to as “first drive section”). These driving sections are repeated while the holding force is generated.

  For example, the driving waveform EH1 includes the first waveform portion EH11 of the voltage Vf that generates a holding force by the transmission unit BT alone at times t1 to t3, and the transmission unit BT at t3 to t5 before and after time t0 to t1 and time t4, for example. , BT ′, a second waveform portion EH12 that generates a holding force and a third waveform portion EH13 of zero voltage that does not generate a holding force. Similarly, the drive waveform EH2 includes, for example, the first waveform portion EH21 of the voltage Vf that generates a holding force by the transmission unit BT ′ alone at times t5 to t7, and, for example, times t7 to t5 before and after times t8 to t8. A second waveform portion EH22 that generates a holding force in cooperation with the transmission portions BT and BT ′ at t9 and a third waveform portion EH23 of zero voltage that does not generate a holding force are provided.

The second waveform portions EH12 and EH22 are set such that the voltage smoothly changes between the voltage Vf and the voltage zero in the set time range. Further, in the time range in which the second waveform portions EH12 and EH22 are set, the sum of the voltages of the second waveform portions EH12 and EH22 changes so as to maintain the voltage Vf.
Therefore, the sum of the drive voltage based on the drive waveform EH1 and the drive voltage based on the drive waveform EH2 becomes a drive voltage having a drive waveform EHT in which a constant voltage Vf continues as shown in FIG. For this reason, even when the holding force is alternately generated by the transmission parts BT and BT ′, a constant holding force that does not fluctuate can be maintained.

  Further, FIG. 9 is applied to the drive units AC and AC ′ when the drive units BT and BT ′ alternately generate a drive force for moving the transfer units BT and BT ′ (hereinafter simply referred to as drive force). It is a figure which shows the drive voltage to perform. FIG. 9 shows a drive waveform (second drive waveform) ED1 of a drive voltage applied to the drive unit AC when the drive force is generated in the transmission unit BT, and a drive unit when the drive force is generated in the transmission unit BT ′. A drive waveform (second drive waveform) ED2 of the drive voltage applied to AC ′ is shown. In FIG. 9, as described above, the driving force (torque) set from the voltage zero to the rotor SF, with the times t0 to t4 as the first main driving section and the times t4 to t8 as the second main driving section, respectively. These driving sections are repeated while the driving force is generated up to the voltage Vd corresponding to.

  For example, the drive waveform ED2 starts to change in voltage from time t3 before time t4, and the jerk, acceleration, and speed of the rotor SF due to movement of the transmission unit BT in the first main drive section are changed from time t3 to time t5. Is provided with a first run-up waveform portion ED21 that has a driving voltage that matches the jerk, acceleration, and speed of the transmission portion BT ′. Further, the drive waveform ED2 is a voltage that smoothly decelerates between time t7 and time t9 before and after time t8 from the state in which the jerk, acceleration, and speed of the transmission unit BT ′ and the rotor SF match. Is provided with a second run-up waveform portion ED22. Thereby, it is possible to eliminate the occurrence of a disturbance when the transmission unit BT ′ is separated from the rotor SF. The drive waveform ED2 smoothly changes to the voltage zero, which is the next main drive start position, between times t9 and t10.

  On the other hand, the drive waveform ED1 will be described with respect to the time corresponding to the voltage change of the drive waveform ED2. For example, the voltage change starts at time t7 to t9, and the jerk, acceleration, and speed of the transmission unit BT by time t9. Is provided with a first run-up waveform portion ED11 that serves as a driving voltage that smoothly accelerates to coincide with the jerk, acceleration, and speed of the rotor SF caused by the movement of the transmission portion BT ′. In addition, the drive waveform ED1 has a voltage that smoothly decelerates, for example, between times t3 and t5 before and after time t4 from a state in which the jerk, acceleration, and speed of the transmission unit BT and the rotor SF match. A second running waveform portion ED12 that changes is provided. Thereby, it is possible to eliminate the occurrence of disturbance when the transmission unit BT is separated from the rotor SF. The drive waveform ED1 smoothly changes to the voltage zero, which is the next main drive start position, between times t5 and t6.

  Therefore, the driving voltage based on the driving waveform ED1 and the driving voltage based on the driving waveform ED2 are transmitted while maintaining the continuous driving waveform EDT with the voltage Vd corresponding to the driving force (torque) set in the rotor SF as the maximum value. Even when the driving force is alternately generated by the portions BT and BT ′, a constant driving force that does not cause a disturbance can be maintained, which can contribute to noise reduction.

  The sum of the drive voltages of the drive waveforms EH1 and ED1 set above becomes the sum of the drive voltages applied to the drive unit AC, and the sum of the drive waveforms EH2 and ED2 becomes the sum of the drive voltages applied to the drive unit AC '. The drive unit AC includes drive elements 31 and 32, and the sum of the drive voltages applied to the drive elements 31 and 32 is the sum of the drive voltages of the drive waveforms EH1 and ED1. The drive unit AC 'includes drive elements 31' and 32 ', and the sum of the drive voltages applied to the drive elements 31' and 32 'is the sum of the drive voltages EH2 and ED2.

In FIG. 10, the drive waveform EB11 of the drive voltage applied to the drive element 31, the drive waveform EB12 of the drive voltage applied to the drive element 32, the drive waveform EB21 of the drive voltage applied to the drive element 31 ′, and the drive element 32 ′ are applied. The drive waveform EB22 of the drive voltage to be shown is shown.
The drive element 31 is applied with a drive voltage (third drive voltage) having a drive waveform (third drive waveform) EB11 that is a combination of the drive waveform obtained by halving the drive voltage of the drive waveform EH1 and the drive waveform ED1. Further, the drive element 32 has an intermediate point (for example, (t4-t0) / 2) between the drive waveform obtained by halving the drive voltage of the drive waveform EH1 and the first main drive section to which the drive force is applied in the drive waveform ED1. ) At the center position, a drive voltage (fourth drive voltage) having a drive waveform (fourth drive waveform) combined with a drive waveform obtained by inverting the drive waveform ED1 is applied.

Similarly, the drive element 31 ′ includes a drive waveform (third drive waveform) EB21 in which a drive waveform obtained by halving the drive voltage of the drive waveform EH2 and the drive waveform ED2 (third drive waveform) EB21. Apply. In addition, the drive element 32 ′ includes a drive waveform obtained by halving the drive voltage of the drive waveform EH2 and an intermediate point (eg, (t8−t4) / A driving voltage (fourth driving voltage) having a driving waveform (fourth driving waveform) combined with a driving waveform obtained by inverting the driving waveform ED2 is applied with 2) as the center position.
As a result, the rotor SF is stably maintained with the driving force corresponding to the voltage Vd while maintaining the rotational force transmission state between the rotor SF and the transmission parts BT and BT ′ with the holding force corresponding to the voltage Vf. Can be rotationally driven.

  Thus, according to the present embodiment, the drive units AC and AC ′ are caused to perform the drive operation and the return operation in a state where the transmission units BT and BT ′ are hung on at least a part of the rotor SF. Even if a reduction gear or the like is not attached, and even the small drive units AC and AC ′, high torque can be applied to the rotor SF. Thereby, the small motor apparatus MTR which can generate a high torque can be obtained. Further, the rotor SF can be rotated with high efficiency even with the small drive units AC and AC '.

  Further, according to the present embodiment, even when a plurality of transmission units BT and BT ′ are used, the rotational force transmission state between the rotor SF and the transmission units BT and BT ′ is maintained with a stable holding force. In addition, the rotor SF can be rotationally driven with a stable driving force without causing disturbance.

(Second Embodiment)
Next, a second embodiment of the motor device MTR will be described with reference to FIGS. 11 and 12.
Although the first embodiment has been described using an example in which the holding force and the driving force are set to constant values, the second embodiment describes a case where the holding force and the driving force vary.

FIG. 11 is a diagram illustrating a drive waveform EHT in which the drive voltage corresponding to the holding force varies with time. FIG. 12 is a diagram showing a drive waveform EDT in which the drive voltage corresponding to the drive force varies with time.
For example, when the required holding force fluctuates, the rate of change of the drive voltage for each time obtained from the drive waveform EHT shown in FIG. 11 with respect to the drive voltage Vf corresponding to the maximum holding force described above is calculated. The drive waveforms EH1 and EH2 corresponding to the changing holding force can be obtained by multiplying the drive voltages of the drive waveforms EH1 and EH2 shown in FIG.

On the other hand, when the required torque (necessary driving force) fluctuates, the rate of change of the driving voltage for each time obtained from the driving waveform EDT shown in FIG. 12 with respect to the driving voltage Vd corresponding to the maximum driving force described above is calculated. Then, the drive waveforms ED1 and ED2 corresponding to the varying drive force can be obtained by multiplying the drive voltages of the drive waveforms ED1 and ED2 shown in FIG.
Then, from the obtained drive waveforms EH1 and EH2 and the drive waveforms ED1 and ED2, drive waveforms of drive voltages applied to the drive elements 31, 32, 31 ′, and 32 ′ are obtained using the method described above, and the obtained drive is obtained. A drive voltage may be applied according to the waveform and time.

  As described above, in the present embodiment, even when a plurality of transmission units BT and BT ′ are used and the torque required for the rotor SF varies, the rotor SF and the transmission units BT and BT ′ can be stably held. The rotor SF can be kept rotating, and the rotor SF can be rotationally driven with a stable driving force without causing disturbance.

(Third embodiment)
Next, a third embodiment of the motor device MTR will be described with reference to FIGS.
In the first embodiment, the case where two transmission units BT and BT ′ are used is illustrated, but in the third embodiment, a case where three transmission units BT1 to BT3 and driving units AC1 to AC3 are used will be described.

  In the first embodiment, the main drive section of each of the transmission units BT and BT ′ is 1/2 of one cycle (time t0 to t4 for the transmission unit BT and time t4 to t8 for the transmission unit BT ′). However, in 2nd Embodiment, the main drive area of each transmission part BT1-BT3 is each set to 2/3 of 1 period.

FIG. 13 is a diagram illustrating driving voltages applied to the driving units AC1 to AC3 when the holding forces are sequentially generated by the transmission units BT1 to BT3.
As shown in FIG. 13, the drive waveform EH1 of the drive voltage applied to the drive unit AC1 when the holding force is generated in the transmission unit BT1 is, for example, from time t0 to t8 when time t0 to t12 is one cycle. Is generated as a main drive section. Further, the drive waveform EH2 of the drive voltage applied to the drive unit AC2 when generating the holding force in the transmission unit BT2 is a voltage with the time t4 to t12 as the main drive section, for example, when the time t0 to t12 is one cycle. Vf is generated. The drive waveform EH3 of the drive voltage applied to the drive unit AC3 when the holding force is generated in the transmission unit BT3 is, for example, from time t0 to t4 and from time t8 to t12 when the time t0 to t12 is one cycle. Is generated as a main drive section.

  The drive waveforms EH1 to EH3 are the same as those in the first embodiment before and after the start time and end time of each main drive section (time t0 to t1, t3 to t5, t7 to t9, t11 to t13, etc.). In addition, a first run-up waveform section or a second run-up waveform section that generates a voltage Vf corresponding to the holding force in cooperation with the drive waveforms of other transmission sections serving as the end time and start time of the main drive section is provided. .

  Therefore, the sum of the drive voltages by the drive waveforms EH1 to EH3 becomes a drive voltage having a drive waveform EHT in which a constant voltage 2Vf continues as shown in FIG. Therefore, even when the holding force is sequentially generated by the transmission units BT1 to BT3, compared with the case shown in the first embodiment, it is possible to maintain a constant and double holding force that does not vary.

  FIG. 14 is a diagram illustrating driving voltages applied to the driving units AC1 to AC3 when the driving units BT1 to BT3 sequentially generate driving force. As shown in FIG. 14, the drive waveform ED1 of the drive voltage applied to the drive unit AC1 when the drive force is generated in the transmission unit BT1 is, for example, from time t0 to t8 when the time t0 to t12 is one cycle. Is the main drive section. Further, the drive waveform ED2 of the drive voltage applied to the drive unit AC2 when the drive force is generated in the transmission unit BT2 is, for example, when the time t0 to t12 is one cycle, and the time t4 to t12 is the main drive section. . The drive voltage ED3 of the drive voltage applied to the drive unit AC3 when generating the drive force in the transmission unit BT3 is, for example, from time t8 to t12 and time t0 to t4, where time t0 to t12 is one cycle. The main drive section.

  The maximum value of the driving voltage by the driving waveforms ED1 to ED3 is a driving voltage having a driving waveform EDT in which a constant voltage Vd corresponding to the driving force (torque) set in the rotor SF is continuous. Each drive waveform ED1 to ED3 is smooth so as to coincide with the jerk, acceleration, and speed of the rotor SF before and after the start time and end time of each main drive section, as in the first embodiment. A first run-up waveform portion or a second run-up waveform portion serving as a driving voltage for acceleration or deceleration is provided.

  Accordingly, the driving voltages ED1 to ED3 are sequentially transmitted by the transmission units BT1 to BT3 while maintaining the continuous driving waveform EDT with the voltage Vd corresponding to the driving force (torque) set to the rotor SF as a maximum value. Even when the driving force is generated, a constant driving force that does not cause disturbance can be maintained, which can contribute to noise reduction.

  FIG. 15 shows drive waveforms EB11 to EB12, EB21 to EB22, and EB31 to EB32 of the drive voltage applied to each of the pair of drive elements in the drive units AC1 to AC3. Also in the present embodiment, one of the pair of drive elements in each of the drive units AC1 to AC3 has a drive waveform (a drive waveform in which the drive waveforms EH1 to EH3 are halved and the drive waveforms ED1 to ED3 combined). Third drive waveform) A drive voltage (third drive voltage) including EB11, EB21, and EB31 is applied. In addition, the other of the pair of drive elements in each of the drive units AC1 to AC3 has a drive waveform obtained by halving the drive voltage of the drive waveforms EH1 to EH3 and a main drive section for applying a drive force in each of the drive waveforms ED1 to ED3. A drive voltage (fourth drive voltage) having a drive waveform (fourth drive waveform) combined with a drive waveform obtained by inverting the drive waveforms ED1 to ED3 with the intermediate point of the center as the center position may be applied.

As described above, in this embodiment, even when the three transmission units BT1 to BT3 and the drive units AC1 to AC3 are used, the rotational force is transmitted between the rotor SF and the transmission units BT1 to BT3 with a stable holding force. The state can be maintained, and the rotor SF can be rotationally driven with a stable driving force without causing disturbance.
In the present embodiment, the configuration using the three transmission units BT1 to BT3 and the drive units AC1 to AC3 is exemplified. However, even in the configuration using four or more transmission units BT1 to BT3 and the drive units AC1 to AC3, Needless to say, similar actions and effects can be obtained.

(Fourth embodiment)
Next, 4th Embodiment of this invention is described with reference to Fig.16 (a)-(c).
In the present embodiment, since the configuration of the rotor SF is different from that of the first to third embodiments, the rotor SF will be described below.

As shown in FIG. 16 (a), a plurality of disk-like protrusions 50 are provided in the direction of the rotation axis on the outer peripheral surface (surface) of the rotor SF with a gap having a width to which the transmission parts BT1 to BT3 are fitted. (Here four) are provided. And contact member BT1-BT3 is guided by the protrusion part 50, and is wound around the outer peripheral surface of rotor SF.
Other configurations are the same as in the above embodiment.

  In the rotor SF configured as described above, since the contact members BT1 to BT3 are guided by the protruding portion 50, even when the rotor SF rotates, the position in the rotation axis direction does not shift, and the rotational torque is increased. It becomes possible to stably apply to the rotor SF. Moreover, in the rotor SF of this embodiment, since heat dissipation is promoted from the protrusion 50, the rotor SF functions as a cooling device CL, and even when heat is generated due to friction between the contact members BT1 to BT3, etc. Therefore, it is possible to avoid the rotational torque caused by the frictional heat from acting on the rotor SF.

Further, as the cooling device CL provided in the rotor SF, in addition to the protrusion 50 described above, as shown in FIG. 16B, a plurality of (here, 3) formed around the rotation axis on the outer surface of the rotor SF. The groove portion 50a may be formed.
In this configuration, the groove portion 50a increases the surface area of the rotor SF to increase the heat dissipation efficiency, and a gap is formed between the rotor SF and the contact member BT1 so that heat is exhausted. it can. Further, in this configuration, since the friction powder generated by the friction between the rotor SF and the contact member BT1 can be discharged through the groove portion 50a, the friction force is generated by the friction powder existing between the rotor SF and the contact member BT1. It can suppress that the torque given to rotor SF fluctuates and fluctuates.

Furthermore, as a cooling device CL provided in the rotor SF, as shown in FIG. 16C, the rotor SF has a cylindrical hollow structure, and a through hole 50b penetrating the outer peripheral surface and the hollow portion is provided. Also good.
In this configuration, similarly to the configuration shown in FIG. 16B, the frictional heat and the friction powder can be discharged to the hollow portion through the through hole 50b. Furthermore, in this configuration, scattering of the friction powder can be suppressed, and torque fluctuation of the rotor SF due to the friction powder can be suppressed.

(Fifth embodiment)
Next, a fifth embodiment of the present invention will be described.
FIG. 17 is a diagram illustrating a configuration of a part (tip 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.

  As described above, the preferred embodiments according to the present invention have been described with reference to the accompanying drawings, but the present invention is not limited to the examples. Various shapes, combinations, and the like of the constituent members shown in the above-described examples are examples, and various modifications can be made based on design requirements and the like without departing from the gist of the present invention.

  For example, in the above-described embodiment, the configuration in which the base portions BS and BS ′ are formed in a rectangular shape when viewed from the front is described as an example. However, the present invention is not limited to this, and other shapes may be used. 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.

  Moreover, although the transmission part BT, BT ', BT1-BT3 was described in the said embodiment as an example, it was not restricted to this, For example, you may form in linear form and a chain | strand shape. Absent.

  In the above-described embodiment, the configuration in which the drive unit AC that moves the transmission unit BT includes an electrostrictive element is described as an example. However, the configuration is not limited thereto. For example, the drive unit is replaced with an electrostrictive element. A configuration using other actuators such as a magnetostrictive element, an electromagnet, and a VCM (voice coil motor) may also be used. For example, when a magnetostrictive element is used, the thrust can be increased. When an electromagnet is used, high thrust and long stroke drive are possible. When VCM is used, long stroke driving is possible, and torque control becomes easy.

In addition, the motor device MTR of the above embodiment is provided with various sensors for measuring the holding force and the driving force with respect to the rotor SF, and the holding force (the driving waveform corresponding to the holding force is provided based on the measurement result of this sensor. The driving voltage) and the driving force (the driving voltage having a driving waveform corresponding to the driving force) may be changed.
For example, an encoder that measures information related to the rotation of the rotor SF is provided as a slip amount measuring device, and the rotor SF is based on the drive voltage input to the drive unit AC (drive elements 31, 32) and the measurement result of the encoder. It is good also as a structure which measures the relative slip amount of the transmission part BT. In this case, the control unit CONT may perform feedback control of the magnitude of the drive voltage corresponding to the holding force so that the measured slip amount becomes zero.

  Further, a configuration in which a torque measuring device that measures the torque of the rotor SF is provided and the control device CONT feedback-controls the magnitude of the driving voltage corresponding to the driving force based on the measurement result of the torque measuring device can be suitably employed. .

  50 ... Projection, AC, AC '... Drive, BT, BT' ... Transmission, CL ... Cooling device, EB11, EB12, EB21, EB22 ... Drive waveform (third drive waveform), ED1, ED2 ... Drive waveform ( Second driving waveform), ED21 ... first running waveform portion, ED22 ... second running waveform portion, EH1, EH2 ... driving waveform (first driving waveform), EH11, EH21 ... first waveform portion, EH12, EH22 ... second Waveform part, CONT ... control part, MTR ... motor device, RBT ... robot device, SF ... rotor

Claims (20)

A rotor,
A transmission section hung on at least a part of the outer periphery of the rotor;
A plurality of drive units connected to the transmission unit and moving the transmission unit according to an applied drive voltage;
A first drive voltage having a first drive waveform corresponding to a holding force that makes a rotational force transmission state between the rotor and the transmission portion, and a second drive waveform corresponding to a drive force that moves the transmission portion. A second driving voltage provided to each of the plurality of driving units to drive the transmitting unit between the rotor and the transmitting unit in the rotational force transmitting state and to move the transmitting unit by a certain distance, and to transmit the rotational force A control unit that causes the drive unit to perform a return operation to return the transmission unit to a predetermined position in a state in which the state is canceled;
A motor device comprising: The motor device according to claim 1,
The first drive waveform is caused to cooperate with a first waveform portion that generates the holding force in the first transmission portion, and the first transmission portion and the second transmission portion among the plurality of transmission portions. A motor device comprising: a second corrugated portion that generates the holding force. The motor apparatus according to claim 1 or 2,
The second driving waveform is obtained when the driving force is switched from the first transmission unit to the second transmission unit among the plurality of transmission units. A motor device, comprising: a first run-up waveform section having a driving voltage that matches the jerk, acceleration, and speed of the second transmission section to the jerk, acceleration, and speed. The motor device according to claim 3, wherein
In the second driving waveform, when the application of the driving force is switched from the plurality of transmitting units to the second transmitting unit, the sum of the driving voltage corresponding to the first running waveform unit corresponds to the driving force. A motor device comprising a second run-up waveform portion that serves as a driving voltage. The motor apparatus as described in any one of Claim 1 to 4 WHEREIN:
The drive unit is provided in a pair with the transmission unit,
The control unit causes one of the drive units to apply a third drive voltage having a third drive waveform that combines the drive waveform obtained by halving the drive voltage of the first drive waveform and the second drive waveform,
The second drive waveform is centered on the other half of the drive unit, with a drive waveform obtained by halving the drive voltage of the first drive waveform and an intermediate point between the sections of the second drive waveform to which the drive force is applied. A motor device characterized by applying a fourth drive voltage having a fourth drive waveform combined with a drive waveform obtained by inverting the drive waveform. In the motor apparatus as described in any one of Claim 1 to 5,
The controller is configured to apply the first drive waveform that changes the holding force based on predetermined information. In the motor device according to any one of claims 1 to 6,
The control unit applies the second driving waveform that changes the driving force based on predetermined information. The motor device according to claim 6 or 7,
A slip amount measuring device for measuring a relative slip amount between the rotor and the transmission unit;
The motor device characterized in that the predetermined information is a measurement result of the measuring device. The motor device according to claim 6 or 7,
A torque measuring device for measuring the torque of the rotor;
The motor device characterized in that the predetermined information is a measurement result of the torque measuring device. In the motor apparatus as described in any one of Claim 1 to 9,
The drive unit is a motor device having an electrostrictive element. The motor device according to any one of claims 1 to 10,
The said transmission part is a motor apparatus currently formed in any shape among linear, strip | belt shape, and chain | strand shape. The motor device according to any one of claims 1 to 11,
The transmission unit is a motor device formed to be elastically deformable. The motor device according to any one of claims 1 to 12,
The rotor is a motor device having a cooling device for cooling the transmission unit. The motor device according to claim 13,
The cooling device is a motor device having a protrusion provided on a surface of the rotor. The motor device according to claim 14, wherein
The said protrusion part is a motor apparatus provided in the position which guides the said transmission part. The motor device according to any one of claims 13 to 15,
The cooling device is a motor device having a groove provided on a surface of the rotor. The motor device according to any one of claims 1 to 16,
The rotor is a motor device formed hollow. The motor device according to claim 17, wherein
The drive unit is provided for each of the plurality of transmission units,
The plurality of drive units are arranged at positions shifted in the rotation direction of the rotor. A driving step of moving the transmission unit by a certain distance with a plurality of driving units as a rotational force transmission state between the rotor and the transmission unit hung on the rotor;
A return step of returning the transmission unit to a predetermined position in a state in which the rotational force transmission state is canceled by the plurality of driving units;
The driving step corresponds to a first driving voltage having a first driving waveform corresponding to a holding force for transmitting a rotational force between the rotor and the transmission unit, and a driving force for moving the transmission unit. A method for driving a rotor, comprising applying a second drive voltage having a second drive waveform to each of the plurality of drive units. A rotating shaft member;
A motor device for rotating the rotating shaft member;
With
The robot apparatus in which the motor apparatus according to any one of claims 1 to 18 is used as the motor apparatus.

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