JP2013099191A - Electro-mechanical device, actuator using the same, motor, robot and robot hand - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique which reduces an electro-mechanical device in size.SOLUTION: An electro-mechanical device comprises: a central shaft 110; a rotor 121 having rotor magnets 123 disposed along an outer periphery of the central shaft 110 and an accommodating space which opens at least at one side of an axial direction of the central shaft 110 among the central shaft 110 and the rotor magnets 123; a stator 122 disposed on an outer periphery of the rotor 121; a rotational speed varying mechanism 130 which is disposed in the accommodating space and is integrally configured with the rotor 121; a load coupling portion 133 which is disposed inside the stator 122 and couples the rotational speed varying mechanism 130 and a rotational load to each other; and a cross roller bearing 137 provide between the stator 122 and the load coupling portion 133.

Description

  The present invention relates to an electromechanical device and an actuator, motor, robot, and robot hand using the same.

  As a power source for driving the joint part of the robot, a motor is usually used (Patent Document 1 below). The motor is generally used by being connected to a rotation mechanism such as a speed reducer that adjusts the rotation speed and torque of the motor. In order to reduce the size of a robot, it is desirable that an electromechanical device that converts electric power and power constituted by a motor and a rotating mechanism connected thereto be configured more compactly. Further, since the robot grabs and carries objects, the robot arm is subjected to a gravity load. Here, since the arm of the robot faces in various directions, it is desirable that the motor for the robot has a high rigidity capable of withstanding load loads in all directions. However, until now, it has been the actual situation that no sufficient ingenuity has been made to meet these requirements.

JP 2008-159847 A

  An object of the present invention is to provide a technique for reducing the size and increasing the rigidity of an electromechanical device.

  SUMMARY An advantage of some aspects of the invention is to solve at least a part of the problems described above, and the invention can be implemented as the following forms or application examples.

[Application Example 1]
An electromechanical device, comprising: a central axis; and a rotor magnet disposed along an outer periphery of the central axis; and opening between at least one axial direction of the central axis between the central axis and the rotor magnet. A rotor having a storage space, a stator disposed on the outer periphery of the rotor, a rotation speed conversion mechanism disposed in the storage space and configured integrally with the rotor, and disposed inside the stator, the rotation An electromechanical device comprising: a load connecting portion that connects a number conversion mechanism and a rotational load; and a cross roller bearing provided between the stator and the load connecting portion.
According to this electromechanical device, at least a part of the rotation speed conversion mechanism is housed in the housing space of the rotor, and the rotor that generates rotation and the rotation conversion mechanism that transmits the rotation are integrally configured, Since the cross roller bearing is provided between the stator and the load connecting portion, the electric machine generator can be reduced in size and increased in rigidity.

[Application Example 2]
The electromechanical device according to Application Example 1, wherein the central axis has a through hole extending in an axial direction of the central axis, and electricity for controlling rotation of the rotor is transmitted to the through hole. An electromechanical device in which a conducting wire is inserted.
According to this electromechanical device, since the conductive wire for controlling the rotation of the rotor is inserted into the center shaft, exposure of the conductive wire to the outside is suppressed, and the protective property and disposition property of the conductive wire are suppressed. Will improve. Moreover, it is suppressed that the designability of the apparatus by which an electromechanical apparatus is mounted falls by exposure of a conductive wire.

[Application Example 3]
The electromechanical device according to Application Example 2, wherein the load connecting portion includes a harness guide that guides the conductive wire.
According to this application example, since the load connecting portion has the harness guide, wear of the conductive wire can be suppressed.

[Application Example 4]
The electromechanical device according to any one of Application Examples 1 to 3, wherein the rotation speed conversion mechanism includes a sun gear disposed in a central portion of the rotation speed conversion mechanism, and the rotation speed conversion mechanism. A planetary gear having an outer gear disposed on an outer periphery, a planetary gear disposed between the sun gear and the outer gear, and a planetary carrier to which the planetary gear is connected, and the rotation The number conversion mechanism is an input unit in which one of the sun gear, the outer gear, and the planetary carrier is connected to or integrally formed with the rotor magnet, and one of the remaining two is connected to the stator. Alternatively, the electromechanical device is an integrally formed fixing portion, and the remaining one is an output portion connected to or integrally formed with the load connecting portion.
According to this electromechanical device, since the planetary gear and the rotor are integrally formed, the electromechanical device is reduced in size.

[Application Example 5]
The electromechanical device according to any one of Application Examples 1 to 3, wherein the rotation speed conversion mechanism includes a wave generator disposed in a central portion of the rotation speed conversion mechanism, and the rotation speed conversion mechanism. A harmonic drive mechanism ("Harmonic Drive" is a registered trademark) having a circular spline disposed on the outer periphery of the substrate and a flex spline disposed between the wave generator and the circular spline, and the rotational speed conversion The mechanism is an input unit in which one of three of the wave generator, the circular spline, and the flex spline is connected to or integrally formed with the rotor magnet, and one of the remaining two is connected to the stator. Or a fixed part integrally formed, and the remaining one is the load connection Parts to be connected or an output portion formed integrally, electromechanical device.
According to this electromechanical device, the harmonic drive (registered trademark) mechanism and the rotor are integrally configured, and thus the electromechanical device is reduced in size.

[Application Example 6]
The electromechanical device according to any one of Application Examples 1 to 3, wherein the rotation speed conversion mechanism has an epitocoloid parallel curve shape at an outer edge and the first hole formed in the center and the first hole. A curved plate having a plurality of second holes formed around one hole, an outer pin disposed to contact the epitocoloid parallel curve of the curved plate, and disposed in the second hole. A cyclomechanism having an inner pin and an eccentric body disposed in the first hole, wherein one of three of the eccentric body, the outer pin, and the inner pin is connected to or integrated with the rotor magnet. One of the remaining two is a fixed portion that is connected to or integrally formed with the stator, and the other is an output portion that is connected to or integrally formed with the load connecting portion. There is an electromechanical device.
According to this electromechanical device, the cyclomechanical mechanism and the rotor are integrally configured, so that the electromechanical device is reduced in size.

[Application Example 7]
The electromechanical device according to any one of Application Examples 1 to 6, further comprising an encoder formed integrally with the rotor.
According to this electromechanical device, since the encoder and the rotor are integrally formed, the electromechanical device is reduced in size.

[Application Example 8]
An actuator comprising the electromechanical device according to any one of Application Examples 1 to 7.
According to this actuator, since a miniaturized electromechanical device is used as a drive source, a more compact configuration can be achieved.

[Application Example 9]
A motor comprising a central axis and a rotor magnet disposed along an outer periphery of the central axis, and being opened between at least one axial direction of the central axis between the central axis and the rotor magnet A rotor having a space; and a stator disposed on an outer periphery of the rotor;
A rotation speed conversion mechanism disposed in the storage space and connected to the rotor, a load connection portion disposed inside the stator and connecting the rotation speed conversion mechanism and a rotation load, and the stator and the load connection And a cross roller bearing provided between the motor and the motor.
With this motor, the rotor and the rotating mechanism can be integrated in a more compact manner, and the motor can have high rigidity.

[Application Example 10]
It is a robot, Comprising: A base part and the drive part for moving the said base part, The said drive part contains the electromechanical device as described in any one of the application examples 1-7.

[Application Example 11]
A robot, comprising a base, a moving part that moves relative to the base, and a driving part that moves the moving part relative to the base, wherein the driving part includes application examples 1 to 7. A robot comprising the electromechanical device according to any one of the above.

[Application Example 12]
A robot hand, comprising a base, a gripping part disposed on the base and gripping an object, and a drive part for driving the gripping part and gripping the object against the gripping part; The robot drive including the actuator according to claim 8.

  The present invention can be realized in various forms, for example, in the form of an electromechanical device such as a motor or a power generation device, an actuator using the same, a robot, a robot arm, or a moving body. Can do.

Schematic which shows the structure of the robot arm in 1st Example. Schematic which shows the structure of the robot arm as a reference example. The schematic sectional drawing which shows the internal structure of the motive power generator of 1st Example. 1 is a schematic exploded sectional view showing an internal configuration of a power generation device according to a first embodiment. The schematic diagram for demonstrating the mechanism in which a rotational drive force is transmitted inside the motive power generator of 1st Example. Explanatory drawing which shows the structure of a cross roller bearing. Schematic which shows the structure of the motive power generator as another structural example of 1st Example. Schematic which shows the structure of the motive power generator as another structural example of 1st Example. Schematic which shows the structure of the motive power generator as another structural example of 1st Example. Schematic which shows the structure of the motive power generator as another structural example of 1st Example. Schematic which shows the structure of the motive power generator as another structural example of 1st Example. Schematic which shows the structure of the motive power generator as another structural example of 1st Example. The schematic sectional drawing which shows the internal structure of the motive power generator of 2nd Example. The schematic exploded sectional view which shows the internal structure of the motive power generator of 2nd Example. The schematic diagram for demonstrating the mechanism in which rotational drive force is transmitted in the two-stage planetary gear of the power generator of 2nd Example. The schematic sectional drawing which shows the internal structure of the motive power generator of 3rd Example. The general | schematic exploded sectional view which shows the internal structure of the motive power generator of 3rd Example. The schematic diagram for demonstrating the mechanism in which rotational driving force is transmitted inside the motive power generator of 3rd Example. The schematic sectional drawing which shows the internal structure of the motive power generator of 4th Example. The general | schematic exploded sectional view which shows the internal structure of the motive power generator of 4th Example. The schematic diagram for demonstrating the mechanism in which rotational driving force is transmitted inside the motive power generator of 4th Example. The schematic sectional drawing which shows the structure of the motive power generator of 5th Example. Schematic which illustrates the kind of rotating shaft attached to the motive power generator of 5th Example. It is a schematic sectional drawing which shows the internal structure of the motive power generator 100E as 6th Example of this invention. It is a general | schematic exploded sectional view which decomposes | disassembles and shows each structure part of the motive power generator 100E. It is explanatory drawing which shows a cyclomechanism typically. It is the schematic which shows the structure of the motive power generator 100F as a modification of a 6th Example. It is the schematic which shows the structure of the motive power generator 100G as a 7th Example. It is explanatory drawing which shows the structure of a permanent magnet and an electromagnetic coil group. It is the schematic which shows the structure of the motive power generator 100H as an 8th Example. It is explanatory drawing which shows an example of a structure of an encoder. It is explanatory drawing which shows the modification of a structure of an encoder.

A. First embodiment:
FIGS. 1A and 1B are schematic views showing the configuration of a robot arm 10 (also referred to as “robot hand”) as an embodiment of the present invention. FIG. 1A is a schematic diagram showing a deformation mode of the robot arm 10, in which the robot arm 10 before deformation and the robot arm 10 after deformation are illustrated. In FIG. 1A, three-dimensional arrows x, y, and z that are orthogonal to each other are shown.

  The robot arm 10 includes four base portions 11 to 14. The four base portions 11 to 14 are connected to each other in series via the first to third joint portions J1 to J3, respectively. Hereinafter, in the robot arm 10, the first base portion 11 side is referred to as “rear end side”, and the fourth base portion 14 side is referred to as “front end side”.

  The robot arm 10 is deformed into a curved shape as a whole by changing the connection angle of the base portions 11 to 14 by the rotation of the joint portions J1 to J3. FIG. 1A shows a state after the robot arm 10 is deformed, in a state where the robot arm 10 is curved toward the upper side of the drawing.

  FIG. 1B is a schematic cross-sectional view showing the internal configuration of the robot arm 10. In FIG. 1B, three-dimensional arrows x, y, and z are shown so as to correspond to FIG. The interiors of the base portions 11 to 14 are hollow, and a power generation device 100 that is a power source of the joint portions J1 to J3 and two bevel gears (bevel gears) 21 to which driving force from the power generation device 100 is transmitted. , 22 are accommodated. Below, the structure of the 1st joint part J1 which connects the 1st and 2nd base | substrate parts 11 and 12 is demonstrated. The configurations of the second joint portion J2 that connects the second and third base portions 12 and 13 and the third joint portion J3 that connects the third and fourth base portions 13 and 14 are as follows. Since it is the same as the structure of the joint part J1, the description is abbreviate | omitted.

  The power generation device 100 has a motor that generates a rotational driving force by an electromagnetic force. A detailed internal configuration of the power generation device 100 will be described later. The power generation device 100 is disposed on the distal end side of the first base portion 11 and is connected to the rotation shaft of the first bevel gear 21. The first bevel gear 21 is arranged so that the rotation shaft passes through the boundary between the first and second base portions 11 and 12, and the gear portion (gear portion) provided at the tip of the rotation shaft is the second. It is arranged in the base part 12.

  The second bevel gear 22 is fixed to the inner wall surface of the second base portion 12 so that the gear portion is connected to the gear portion of the first bevel gear 21 on the rear end side of the second base portion 12. It is attached. The first bevel gear 21 is rotated by the rotational driving force transmitted from the power generation device 100. Due to the rotation of the first bevel gear 21, the second bevel gear 22 rotates and the second base portion 12 rotates.

  By the way, inside the robot arm 10, a conductive wire bundle 25, which is a bundle of conductive wires for transmitting power and control signals to each power generation device 100, is inserted. Specifically, the conductive wire bundle 25 is inserted into the first base portion 11 from the rear end side, and a part of the conductive wires branches to connect the power generation device 100 in the first base portion 11. Connected to the part. The remaining conductive wire bundle 25 passes through a through hole (described later) that passes through the center of the power generation device 100 and a through hole (not shown) that passes through the central axis of the first bevel gear 21, and passes through the second hole. It extends to the base portion 12.

  The conductive wire bundle 25 is similarly disposed in the second base portion 12. That is, a part of the conductive wire bundle 25 inserted into the second base portion 12 is connected to the power generation device 100, and the rest passes through the power generation device 100 and the first bevel gear 21, 3 through the base portion 13. Then, the conductive wire bundle 25 inserted through the third base portion 13 is connected to the power generation device 100.

  2A and 2B are schematic views showing a robot arm 10cf as a reference example of this embodiment. 2A and 2B are substantially the same as FIGS. 1A and 1B except that the conductive wire bundle 25 is wired outside the power generation device 100 and the first bevel gear 21. .

  In the robot arm 10cf of this reference example, the conductive wire bundle 25 is exposed to the outside at each joint portion J1 to J3. Therefore, along with the deformation of the robot arm 10cf, there is a possibility that the conductive wire bundle 25 is deteriorated by being sandwiched between the base portions 11 to 14 in each joint portion J1 to J3. Further, since the conductive wire bundle 25 is exposed to the outside, the design of the robot arm 10cf may be deteriorated. However, since the robot arm 10 of the present embodiment is not exposed to the outside of the conductive wire bundle 25, occurrence of such a problem is suppressed.

  FIG. 3 is a schematic cross-sectional view showing the internal configuration of the power generation device 100, and FIG. 4 is a schematic exploded cross-sectional view showing the components of the power generation device 100 in an exploded manner. 3 and 4, the rotation axis of the first bevel gear 21 connected to the power generation device 100 is illustrated by a broken line. The power generation device 100 includes a central shaft 110, a motor unit 120, and a rotation mechanism unit 130 (also referred to as “rotational speed conversion mechanism unit”).

  As will be described later, the motor unit 120 and the rotation mechanism unit 130 are disposed so as to be fitted and integrated with each other, and the central shaft 110 passes through the centers of the integrated motor unit 120 and the rotation mechanism unit 130. Are arranged as follows. The central shaft 110 has a through hole 111 extending in the axial direction, and the conductive wire bundle 25 (harness) is inserted through the through hole 111.

  The motor unit 120 includes a rotor 121 and a casing 122 that functions as a stator. The motor unit 120 has a radial gap type configuration as described below. The main body of the rotor 121 has a substantially disk shape, and permanent magnets 123 (rotor magnets) are arranged in a cylindrical shape on the outer peripheral surface of the side wall of the main body. The direction of the magnetic flux of the permanent magnet 123 is the radial direction. A magnet back yoke 125 for improving the magnetic efficiency is arranged on the back surface of the permanent magnet 123 (the surface on the side wall of the rotor 121).

  The rotor 121 has a through hole 1211 through which the central shaft 110 is inserted at the center. A bearing portion 112 is disposed between the inner wall surface of the through hole 1211 and the outer peripheral surface of the central shaft 110 so that the rotor 121 can rotate around the central shaft 110. The bearing portion 112 can be constituted by, for example, a ball bearing.

  A concave portion 1212 formed as a substantially annular groove centering on the through hole 1211 is provided on the surface of the rotor 121 facing the rotation mechanism portion 130. The inside of the recess 1212 serves as a storage space for storing at least a part of the rotation mechanism unit 130. Gear teeth 121t are formed on the outer wall surface (the recess 1212 side) of the substantially cylindrical partition wall 1213 that separates the through hole 1211 and the recess 1212. Hereinafter, the partition wall 1213 having the gear teeth 121t provided in the center of the rotor 121 is referred to as “rotor gear 1213”. As will be described later, the rotor gear 1213 in this embodiment functions as a sun gear of a planetary gear.

  The casing 122 is a substantially cylindrical hollow container whose surface on the side facing the rotation mechanism unit 130 is opened, and accommodates the rotor 121 and at least a part of the rotation mechanism unit 130. The casing 122 may be made of a resin material such as carbon fiber reinforced plastics (CFRP). As a result, the power generation device 100 can be reduced in weight.

  A through hole 1221 for inserting the central shaft 110 is formed at the center of the bottom surface of the casing 122. The central shaft 110 and the casing 122 are fixedly attached to each other. A bearing ring 113 for improving the holding ability of the central shaft 110 is attached to the outside of the casing 122 in the direction along the central shaft 110.

  On the inner peripheral surface of the casing 122, the electromagnetic coil 124 is arranged in a cylindrical shape so as to face the permanent magnet 123 of the rotor 121 with a gap. That is, in the motor unit 120, the electromagnetic coil 124 functions as a stator, and rotates the rotor 121 about the central axis 110. A coil back yoke 128 for improving the magnetic efficiency is disposed between the electromagnetic coil 124 and the casing 122.

  A position detection unit 126 that detects the position of the permanent magnet 123 and a rotation control circuit 127 for controlling the rotation of the rotor 121 are provided on the bottom surface of the casing 122. The position detection unit 126 is configured by, for example, a Hall element, and is disposed so as to correspond to the position of the orbit of the permanent magnet 123. The position detection unit 126 is connected to the rotation control circuit 127 via a signal line. The position detector 126 preferably has a temperature compensation function.

  A conductive wire branched from the conductive wire bundle 25 is connected to the rotation control circuit 127. The rotation control circuit 127 is electrically connected to the electromagnetic coil 124. The rotation control circuit 127 transmits a detection signal output from the position detection unit 126 to a control unit (not shown) that controls driving of the power generation device 100. The rotation control circuit 127 supplies electric power to the electromagnetic coil 124 according to a control signal from the control unit to generate a magnetic field, and rotates the rotor 121.

  In this embodiment, the rotation mechanism unit 130 constitutes a planetary gear having the rotor gear 1213 of the rotor 121 as a sun gear, and functions as a speed reducer. The rotation mechanism unit 130 includes a gear fixing unit 131, a planetary gear 132, and a load connection unit 133. The number of planetary gears 132 is N (N is an integer equal to or greater than 2), and the planetary gears 132 are arranged at N-fold rotationally symmetrical positions around the central axis 110. In FIGS. 3 and 4, two planetary gears 132 are shown for convenience. The planetary gear 132 has a rotating shaft 132s and gear teeth 132t.

  The gear fixing portion 131 includes an outer gear 1311 that is a substantially annular gear having gear teeth 131 t provided on the inner wall surface, and a flange portion 1312 that protrudes from the outer periphery of the outer gear 1311. The gear fixing portion 131 is fixedly attached to the motor portion 120 by fastening the collar portion 1312 and the side wall end surface of the casing 122 of the motor portion 120 with fixing bolts 114. The outer gear 1311 functions as an outer gear of the planetary gear.

  The outer gear 1311 of the gear fixing portion 131 is accommodated in the recess 1212 of the rotor 121. Further, N planetary gears 132 are arranged at substantially equal intervals along the outer periphery of the rotor gear 1213 between the inner peripheral surface of the outer gear 1311 and the outer peripheral surface of the rotor gear 1213. The gear teeth 132t of the planetary gear 132, the gear teeth 131t of the outer gear 1311, and the gear teeth 121t of the rotor gear 1213 are engaged with each other, so that these three types of gears 1213, 132, and 1311 are connected.

  The load connection portion 133 is connected to the rotating shaft 132s of the planetary gear 132, and is a substantially cylindrical member that functions as a planetary carrier. In other words, the load connecting portion 133 converts the revolution motion of the planetary gear 132 into the rotational motion of the load connecting portion 133 itself. A through hole 1331 is provided in the center of the bottom surface of the load connection portion 133. In the present embodiment, the rotation mechanism 130 side (the left side in the drawing) of the central shaft 110 is formed so short that only a part of the central shaft 110 overlaps the through-hole 1331. A bearing ring 113 for improving the holding performance of the central shaft 110 is tightened.

  Here, a substantially circular opening 1313 communicating with the inner circumferential space of the outer gear 1311 is formed at the center of the gear fixing portion 131, and the load connecting portion 133 is disposed in the opening 1313. . In the present embodiment, a cross roller bearing 137 is disposed between the opening 1313 and the load connecting portion 133. The cross roller bearing 137 includes an outer ring 1371, an inner ring 1372, and a cylindrical roller 1373. The configuration of the cross roller bearing 137 will be described later. The outer ring 1371 of the cross roller bearing 137 is fixed to the gear fixing portion 131 by a perforated disk member 1374 and a fixing bolt 114. The inner ring 1372 of the cross roller bearing 137 is fixed to the load connecting portion 133 by a perforated disk member 1375 and a fixing bolt 114. A spacer 1376 is provided between the inner ring 1372 of the cross roller bearing 137 and the perforated disk member 1375. The fixing bolt 114 also fixes the rotation shaft of the first bevel gear 21. The perforated disk member 1375 has a harness guide 1375a at the center thereof, and the conductive wire bundle 25 penetrates the harness guide 1375a. Since the harness guide 1375a rotates together with the load connecting portion 133, by providing the harness guide 1375a, a structure in which the conductive wire bundle 25 (harness) and the central shaft 110 are not rubbed and wear is small can be realized. The perforated disk member 1375 may have a configuration without the harness guide 1375a as long as the perforated disk member 1375 has a through hole through which the conductive wire bundle 25 passes. A shaft for rotatably holding the rotation shaft 132s of the planetary gear 132 housed in the recess 1212 of the rotor 121 on the bottom surface of the load connecting portion 133 on the motor portion 120 side (the right side in FIG. 3 and FIG. 4). A hole 1332 is formed.

  FIG. 5A is a schematic diagram for explaining a mechanism in which the rotational driving force is transmitted inside the power generation device 100. FIG. 5A schematically shows the rotor gear 1213, the three planetary gears 132, the outer gear 1311, and the load connecting portion 133 when the power generation device 100 is viewed along the axial direction of the central shaft 110. It is shown schematically. In FIG. 5, the gear teeth (121t, 132t, 131t) of each gear (rotor gear 1213, planetary gear 132, outer gear 1311) are not shown for convenience. For convenience, the number of planetary gears 132 is three.

  Here, in the power generation device 100, it is assumed that the rotor gear 1213, which is a sun gear, rotates in the direction illustrated by the dashed-dotted arrow as the rotor 121 rotates. As described above, since the outer gear 1311 is fixedly arranged, each planetary gear 132 rotates in the direction illustrated by the solid line arrow about its own rotation shaft 132s as the rotor gear 1213 rotates ("autorotation"). , While rotating around the rotor gear 1213 in a direction indicated by a two-dot chain line arrow (also referred to as “revolution”). As the planetary gears 132 rotate, the load connecting portion 133 rotates, and the first bevel gear 21 (hereinafter simply referred to as “load”) connected to the load connecting portion 133 (see FIG. 1) rotates.

  FIG. 5B is an explanatory diagram illustrating a configuration of a cross roller bearing. The cross roller bearing 137 includes an outer ring 1371, an inner ring 1372, and a cylindrical roller 1373. The outer ring 1371 and the inner ring 1372 have 90 ° V-grooves 1371a and 1372a, respectively. Cylindrical rollers 1373 have a cylindrical shape with the same diameter and height, and are alternately arranged at 90 ° in the V-grooves 1371a and 1372a. By adopting such a configuration, the contact between the outer ring 1371, the inner ring 1372, and the cylindrical roller 1373 is not a point but a line, so that a strong rotational force can be transmitted and a large load can be endured. Become. For example, it is possible to realize high rigidity that is strong in any direction of the bending force (bending moment load) of the shaft and the axial thrust force (load in the longitudinal direction of the shaft).

  By the way, in a normal motor, in order to improve the responsiveness of the motor, it is preferable to reduce the diameter of the rotor, reduce its inertia (motor inertia), and improve the inertia characteristics. On the other hand, in the motor unit 120 of the present embodiment, the diameter of the rotor 121 is enlarged to the extent that the rotation mechanism unit 130 can be accommodated, and the motor inertia is increased. However, even if the inventor of the present invention increases the diameter of the rotor 121 and increases the motor inertia as in the present embodiment, a decrease in transient response to the control of the power generation device 100 is suppressed. I found out. The reason for this is as follows.

  That is, in the power generation device 100 of the present embodiment, the torque generated in the motor unit 120 is increased as the diameter of the rotor 121 is increased, and the rotation is performed when the rotation of the rotor 121 is started and when the rotation direction is switched. The torque transmitted to the mechanism unit 130 is increased. Therefore, in the power generation device 100, the rotation mechanism unit 130 can immediately follow the change in the rotation of the motor unit 120, and a decrease in transient response of the power generation device 100 is suppressed. In other words, in the power generation device 100, the decrease in the inertia characteristic in the motor unit 120 is compensated by the improvement in the torque characteristic accompanying the increase in the diameter of the rotor 121.

  As described above, in the power generation device 100 according to the present embodiment, the sun gear is integrally provided in the rotor 121, and the planetary gear 132 and the outer gear 1311 are accommodated in the recess 1212 provided in the rotor 121. . That is, the power generation device 100 has a configuration in which a motor and a planetary gear that is a speed reducer are integrated in a compact manner. By using this power generation device 100, the robot arm 10 is reduced in size and weight. It is possible to

  Further, in the power generation device 100 of this embodiment, the conductive wire bundle 25 for controlling the rotational drive of the rotor 121 is inserted into the center shaft 110. Therefore, by using this power generation device 100, the disposition of the conductive wire bundle 25 is improved. In addition, the conductive wire bundle 25 can be prevented from being exposed to the outside, the deterioration of the conductive wire bundle 25 accompanying the driving of the robot arm 10 can be suppressed, and the design of the robot arm 10 can be improved. Moreover, the power generation device 100 of the present embodiment includes a harness guide 1375a, and the conductive wire bundle 25 penetrates the harness guide 1375a. Since the harness guide 1375a rotates together with the load connecting portion 133, by providing the harness guide 1375a, a structure in which the conductive wire bundle 25 (harness) and the central shaft 110 are not rubbed and wear is small can be realized.

  In addition, the power generation device 100 according to this embodiment includes a cross roller bearing 137 between the opening 1313 and the load connection portion 133. Therefore, the power generation device 100 of this embodiment can withstand a large load. Furthermore, high rigidity can be realized in any of the bending force of the shaft (bending moment load), the radial force of the shaft (radial load), and the axial thrust force (load in the longitudinal direction of the shaft). It becomes possible.

B. Other configuration examples of the first embodiment:
FIG. 6A is a schematic diagram illustrating a configuration of a power generation device 100a as another configuration example of the first embodiment. The configuration example shown in FIG. 6A is substantially the same as the configuration example shown in FIG. 3 except that the brush seal portion 140 is provided on the recess 1212 side (right side of the drawing) of the cross roller bearing 137 of the rotation mechanism portion 130a. is there. The brush seal portion 140 is provided between the side surface of the load connection portion 133 and the inner peripheral surface of the opening portion 1313 of the gear fixing portion 131, and suppresses entry of dust into the power generation device 100. As a result, deterioration of the power generation device 100 is suppressed.

  FIG. 6B is a schematic diagram illustrating a configuration of a power generation device 100b as another configuration example of the first embodiment. The configuration example shown in FIG. 6B is substantially the same as the configuration example shown in FIG. 6A except that a rubber seal portion 141 is provided in the rotation mechanism portion 130b instead of the brush seal portion 140. The rubber seal portion 141 is provided between the side surface of the load connection portion 133 and the inner peripheral surface of the opening portion 1313 of the gear fixing portion 131, and hermetically seals the power generation device 100. Thereby, the rotation loss of the gear and the rotor in the power generation device 100 due to the airflow can be reduced.

  FIG. 7A is a schematic diagram illustrating a configuration of a power generation device 100c as another configuration example of the first embodiment. The configuration example illustrated in FIG. 7A is substantially the same as the configuration example illustrated in FIG. 3 except that the heat exchange fins 142 are provided in the casing 122. The heat exchange fin 142 is provided on the outer surface of the casing 122 of the motor unit 120. Thereby, the heat generated by the coil current in the electromagnetic coil 124 can be efficiently cooled, and the output torque of the motor unit 120 can be increased. The heat exchange fin 142 and the coil back yoke 128 for the electromagnetic coil 124 may be arranged so as to be in direct contact with each other. Thereby, the heat dissipation effect with respect to the heat_generation | fever of the electromagnetic coil 124 can be improved. Instead of the heat exchange fins 142, a refrigerant jacket may be attached to the outer periphery of the casing 122. The configuration of the rotation mechanism unit 130 is the same as the configuration shown in FIG.

  FIG. 7B is a schematic diagram illustrating a configuration of a power generation device 100d as another configuration example of the first embodiment. In the configuration example illustrated in FIG. 7B, a casing 144 is added to the casing 122. This configuration example is different from the rotation control circuit 127 arranged in the casing 122 except that a control unit 143, a communication unit 143c, and a driver circuit 143d are provided inside the casing 144. 3 is almost the same as the configuration example shown in FIG. The control unit 143 is configured by a microcomputer having a central processing unit and a main storage device, and controls the communication unit 143c and the driver circuit 143d. The communication unit 143c executes command communication with the outside. The driver circuit 143d controls the current that flows through the electromagnetic coil 124 in accordance with a command from the control unit 143. That is, in this configuration example, the power generation device 100d is driven according to a command command transmitted from the outside by the control unit 143, the communication unit 143c, and the driver circuit 143d that are integrally provided in the power generation device 100d. Can do. The configuration of the rotation mechanism unit 130 is the same as the configuration shown in FIG.

  FIGS. 8A and 8B are schematic views illustrating the configuration of power generation devices 100e and 100f as another configuration example of the present embodiment. The configuration examples shown in FIGS. 8A and 8B are provided with load connection portions 133e1 and 133e2 or load connection portions 133f1 and 133f2 that are divided into two instead of the load connection portion 133, and the rotation shaft of the first bevel gear 21. 3 is substantially the same as the configuration example shown in FIG. 3 except that the broken line indicating is omitted. The power generation devices 100e and 100f in the configuration example of FIGS. 8A and 8B are used for actuators and manipulators having a configuration different from that of the robot arm 10, unlike the power generation device 100 of the first embodiment.

  In the configuration example shown in FIG. 8A, the load connection portion is divided into two load connection portions 133e1 and 133e2, and the load connection portion 133e2 is a spur gear provided with gear teeth 133t on the side wall surface protruding from the gear fixing portion 131. The configuration is the same as that of the load connection portion 133 (FIG. 3) of the first embodiment except that the configuration is integrated with the first embodiment. That is, in this configuration example, the load connecting portion 133e1 functions as a planetary carrier and also functions as a gear that transmits a rotational driving force to the load connecting portion 133e2 external load. Further, when the load connecting portion 133e2 is fixed to the load connecting portion 133e1 by the fixing bolt 114, the inner ring 1372 of the cross roller bearing 137 is fixed via the spacer 1376.

  The configuration example shown in FIG. 8B is the same as the configuration example of FIG. 8A except that the load connection portion is divided into two, load connection portions 133e1, 133e2, and the load connection portion 133f2 is configured integrally with the bevel gear. It is the composition. As described above, the load connecting portion 133f2 can be configured integrally with various types of gears.

C. Second embodiment:
9 and 10 are schematic views showing the configuration of a power generating apparatus 100A as a second embodiment of the present invention. FIG. 9 is a schematic cross-sectional view showing the internal configuration of the power generating device 100A, and FIG. 10 is a schematic exploded cross-sectional view showing the components of the power generating device 100A in an exploded manner. This power generation device 100A has a configuration in which a reduction gear with two stages of planetary gears and a motor are integrated, and the following points are the power generation device 100 of the first embodiment (FIGS. 3 and 4). And different.

  The power generation device 100A of the second embodiment has a rotation mechanism portion 130A. The gear fixing portion 131A of the rotation mechanism portion 130A is provided with first and second outer gears 1311a and 1311b that are provided in parallel with each other in the axial direction of the central shaft 110. The first and second outer gears 1311a and 1311b are both housed in the recess 1212 of the rotor 121 when the gear fixing portion 131A is fixedly attached to the casing 122.

  The first outer gear 1311a is connected to the rotor gear 1213 via the first planetary gear 132a. That is, the rotor gear 1213 functions as a sun gear in the first stage planetary gear. The first planetary gear 132a is rotatably attached to the planetary carrier 135.

  The planetary carrier 135 is a rotating member in which a cylindrical front stage portion 1351 having a relatively large diameter and a cylindrical rear stage portion 1352 having a relatively small diameter are connected. The front stage 1351 of the planetary carrier 135 is disposed between the first and second outer gears 1311a and 1311b, and a shaft hole 1354 for holding the rotating shaft 132s of the first planetary gear 132a is formed on the bottom surface thereof. Is provided. The rear stage portion 1352 has gear teeth 135t formed on the side wall surface and is disposed in the inner circumferential space of the second outer gear 1311b.

  Note that a through hole 1353 for inserting the central shaft 110 is provided in the center of the planetary carrier 135 so as to penetrate both the front stage part 1351 and the rear stage part 1352. Between the through hole 1353 and the central shaft 110, a bearing portion 112 for allowing the planetary carrier 135 to rotate is disposed. In addition, a spacer 115 is appropriately disposed between the bearing portions 112.

  A second planetary gear 132b is disposed between the rear stage portion 1352 of the planetary carrier 135 and the second outer gear 1311b. That is, the rear stage 1352 functions as a sun gear in the second stage planetary gear. The second planetary gear 132b is rotatably attached to a load connection portion 133 that functions as a planetary carrier.

  A cross roller bearing 137 is provided between the load connecting portion 133 and the gear fixing portion 131A. A perforated disk member 1375 having a harness guide 1375a is fixed to the load connecting portion 133 by a fixing bolt 114. This is the same as the configuration example shown in FIG.

  FIGS. 11A and 11B are schematic views similar to FIG. 5 for explaining a mechanism for transmitting the rotational driving force in the two-stage planetary gear of the power generating device 100A. FIG. 11A shows a first-stage planetary gear constituted by a rotor gear 1213, a first planetary gear 132a, a first outer gear 1311a, and a front stage portion 1351 of the planetary carrier 135. Has been. In the first-stage planetary gear, as the rotor gear 1213 rotates, the first planetary gear 132 a rotates around the rotation shaft 132 s and rotates around the outer periphery of the rotor gear 1213. As the first planetary gear 132a rotates, the front stage 1351 of the planetary carrier 135 rotates.

  In FIG. 11A, the rotation direction of the rotor gear 1213 is illustrated by a one-dot chain line arrow, and the rotation direction of the first planetary gear 132a is illustrated by a solid line arrow. The direction of the circular movement of the first planetary gear 132a, that is, the direction of rotation of the planetary carrier 135 is indicated by a two-dot chain line arrow.

  In FIG. 11B, the second stage planetary gear constituted by the rear stage part 1352 of the planetary carrier 135, the second planetary gear 132b, the second outer gear 1311b, and the load connection part 133 is shown. It is shown in the figure. In the second stage planetary gear, the second stage gear 132b rotates around its own rotation axis 132s as the second stage part 1352 of the planetary carrier 135 rotates, and the rear stage part 1352 of the planetary carrier 135. Move around the circumference of the. As the second planetary gear 132 b rotates, the load connecting portion 133 rotates, and the rotational driving force is transmitted to the external load connected to the load connecting portion 133.

  In FIG. 11B, the rotation direction of the rear stage portion 1352 of the planetary carrier 135 is indicated by a two-dot chain line arrow, and the rotation direction of the second planetary gear 132b is indicated by a solid line arrow. Further, the direction of the circular movement of the second planetary gear 132b, that is, the rotational direction of the load connecting portion 133 is indicated by a dashed arrow.

  As described above, the power generation device 100A of the second embodiment is reduced in size by accommodating the two-stage planetary gear in the recess 1212 of the rotor 121 as a reduction gear capable of outputting a rotational driving force with higher torque. ing. If this power generation device 100A is applied to the robot arm 10 (FIG. 1), the first to third joint portions J1 to J3 can be rotated with a higher torque than in the first embodiment. In power generation device 100A, a planetary gear having a larger number of stages may be configured.

D. Third embodiment:
12 and 13 are schematic views showing the configuration of a power generation device 100B as a third embodiment of the present invention. FIG. 12 is a schematic cross-sectional view showing the internal configuration of the power generation device 100B, and FIG. 13 is a schematic exploded cross-sectional view showing the components of the power generation device 100B in an exploded manner. The power generation device 100B has a configuration in which a planetary gear functioning as a speed increaser and a motor are integrated, and transmits a rotational driving force to the bevel gear 21. The bevel gear 21 becomes an external load. The power generation device 100B differs from the power generation device 100 (FIGS. 3 and 4) of the first embodiment in the following points.

  The motor unit 120B of the third embodiment includes a rotor 121B. In the rotor 121B, the gear teeth 121t on the outer surface of the partition wall 1213 provided at the center are omitted, and the gear teeth 121tB are provided on the inner peripheral surface of the side wall of the rotor 121B. The configuration is the same as the configuration of the rotor 121. In the power generation device 100B of the third embodiment, the rotor 121B functions as an outer gear.

  The rotation mechanism unit 130B of the power generation device 100B includes a sun gear 136. The sun gear 136 is a substantially cylindrical member provided with a through hole 1361 for inserting the central shaft 110 in the center, and gear teeth 136t are formed on the side wall surface. The through-hole 1361 has a front stage part 1361a that can accommodate the central partition wall 1213 of the rotor 121B while leaving a gap, and a rear stage part 1361b that is fixedly connected to the central shaft 110.

  The planetary gear 132 is disposed in the recess 1212 of the rotor 121B, and connects the sun gear 136 and the rotor 121B that is an outer gear. The planetary gear 132 is rotatably attached to a load connecting portion 133 that functions as a planetary carrier. A rotating shaft of the bevel gear 21 (shown by a two-dot broken line) is attached to the load connecting portion 133 by a fixing bolt 114.

  FIG. 14 is a schematic diagram similar to FIG. 11 for explaining a mechanism for transmitting the rotational driving force inside the power generation device 100B. Since the sun gear 136 is fixed to the center shaft 110, the planetary gear 132 rotates about its own rotation shaft 132s and moves around the outer periphery of the sun gear 136 along with the rotation of the rotor 121B as the outer gear. To do. As the planetary gear 132 rotates, the load connecting portion 133 that is a planetary carrier rotates.

  In FIG. 14, the rotation direction of the rotor 121 </ b> B is illustrated by a one-dot chain line arrow, and the rotation direction of the planetary gear 132 is illustrated by a solid line arrow. Further, in FIG. 14, the direction of the circular movement of the planetary gear 132, that is, the rotation direction of the load connecting portion 133 is indicated by a two-dot chain line arrow.

  As described above, in the power generation device 100B of the third embodiment, the planetary gear functioning as a speed increaser is accommodated in the recess 1212 of the rotor 121B of the motor unit 120 and is miniaturized. Therefore, if this power generation device 100B is used, an actuator or manipulator that requires high-speed rotational driving force can be configured more compactly.

  In the first embodiment, the planetary gear functions as a speed reducer, and in the third embodiment, the planetary gear functions as a speed increaser. In the planetary gear, one of three of a sun gear (SG), an outer gear (OG), and a planetary carrier (PC) is used as an input unit (provided integrally with or connected to the rotor 121), and the remaining 2 One of the two is used as an output section (provided or connected to the load connecting section 133), and the other one is used as a fixed section (provided or connected to the stator (casing 122)). (Yes) In the planetary gear, the planetary gear is reduced or increased depending on whether the sun gear (SG), outer gear (OG), or planetary carrier (PC) is assigned to the input unit, the fixed unit, or the output unit. It can be decided to use as. In other words, the input unit, the fixed unit, and the output unit are determined depending on whether the planetary gear is used as a speed reducer or a speed increaser. Further, the reduction ratio (speed increase ratio) at that time can be determined by the number of teeth of the sun gear (SG) and the outer gear (OG).

When the number of teeth of the sun gear is Za and the number of teeth of the outer gear is Zc, the reduction ratio in each state and the rotation direction of the output unit with respect to the rotation direction of the input unit are shown as follows.
SG OG PC Reduction ratio Increase / decrease Rotation direction Input part Fixed part Output part Za / (Za + Zc) Deceleration Same direction Fixed part Input part Output part Zc / (Za + Zc) Deceleration Same direction Fixed part Output part Input part (Za + Zc) / Zc Increase speed Same direction Output unit Fixed unit Input unit (Za + Zc) / Za Speed increase Same direction Input unit Output unit Fixed unit -Za / Zc Deceleration reverse direction Output unit Input unit Fixed unit -Zc / Za Speed increase Reverse direction

E. Fourth embodiment:
15 and 16 are schematic views showing the configuration of a power generating device 100C as a third embodiment of the present invention. FIG. 15 is a schematic cross-sectional view showing the internal configuration of the power generating device 100C, and FIG. 16 is a schematic exploded cross-sectional view showing the components of the power generating device 100C in an exploded manner. The power generation device 100 </ b> C has a configuration in which a harmonic drive mechanism (“Harmonic Drive” is a registered trademark) and a motor are integrated, and transmits rotational driving force to the bevel gear 21. The power generation device 100C is different from the power generation device 100 (FIGS. 3 and 4) of the first embodiment in the following points. In addition, the point which has the cross roller bearing 137 is the same as that of the power generator 100 of 1st Example.

  In this power generation device 100C, a wave generator 160 that constitutes a harmonic drive mechanism, a flex spline 162, and a circular spline 165 are accommodated in the recess 1212 of the rotor 121 as the rotation mechanism portion 130C. The wave generator 160 is a member having a substantially elliptic cylinder shape whose bottom surface has a substantially oval shape.

  The wave generator 160 is provided with a through hole 1601 penetrating in the central axis direction (left and right direction in the drawing), and gear teeth 160 t are formed on the inner wall surface of the through hole 1601. The wave generator 160 is fastened to the rotor 121 by the fastening bolt FB in a state where the rotor gear 1213 is received in the through hole 1601 in a fitting manner. As a result, the wave generator 160 rotates as the rotor 121 rotates.

  By the way, at both ends of the wave generator 160, flanges 1602 projecting in the outer peripheral direction are provided. The flange 1602 is for preventing the flex spline 162 disposed on the outer periphery of the wave generator 160 from dropping off. In FIG. 16, a state in which one flange 1602 is separated for the attachment of the flex spline 162 is illustrated. The separated collar portion 1602 is fixed by the fastening bolt FB after the flex spline 162 is disposed.

  The flex spline 162 is an annular member having a deflection that can be deformed in accordance with the rotation of the wave generator 160, and gear teeth 162t are formed on the outer peripheral surface thereof. A bearing 161 for smooth rotation of the wave generator 160 is disposed on the inner peripheral surface of the flex spline 162.

  The circular spline 165 is housed in the concave portion 1212 of the rotor 121, and the front stage portion 1651 that houses the flex spline 162 and the rear stage portion 1652 through which the central shaft 110 is inserted and the rotation shaft of the bevel gear 21 is connected. And have. The front stage portion 1651 has gear teeth 165t that mesh with the gear teeth 162t of the flex spline 162 on the inner peripheral surface. A bearing portion 112 for allowing the circular spline 165 to rotate is disposed between the rear stage portion 1652 and the central shaft 110.

  FIG. 17 is a schematic view similar to FIG. 14 for explaining a mechanism for transmitting the rotational driving force inside the power generation device 100C. In FIG. 17, the illustration of the bearing 161 provided inside the flex spline 162 is omitted. In the power generation device 100C, the wave generator 160 rotates (illustrated by a solid line arrow) as the rotor gear 1213 rotates (illustrated by a one-dot chain line arrow).

  In the oval direction, the wave generator 160 presses the flex spline 162 toward the circular spline 165 to bring the flex spline 162 and the circular spline 165 into contact with each other. As a result, in the oval direction of the wave generator 160, the gear teeth 162t (not shown) of the flex spline 162 and the gear teeth 165t (not shown) of the circular spline 165 mesh with each other. Note that the flex spline 162 and the circular spline 165 are not in contact with each other in the short circle direction of the wave generator 160.

  The rotation of the wave generator 160 is transmitted to the circular spline 165 by the connection of the flex spline 162 and the circular spline 165 in the elliptical direction of the wave generator 160. In FIG. 17, the rotational direction of the circular spline 165 is indicated by a two-dot chain line arrow.

  Since the harmonic drive mechanism can generally omit backlash, it can transmit rotation with high accuracy. In the power generation device 100 </ b> C of the third embodiment, the rotation mechanism portion 130 </ b> C constituting the harmonic drive mechanism is integrally accommodated in the recess 1212 of the rotor 121. Therefore, according to the power generation device 100C, it is possible to configure an actuator or manipulator that is compact and has high operation accuracy.

  In the harmonic drive mechanism, as in the planetary gear, one of the wave generator 160, the flex spline 162, and the circular spline 165 is used as an input unit, and one of the remaining two is used as a fixed unit. One may be used as the output unit. Thereby, the harmonic drive mechanism can be used as a speed reducer or a speed increaser. Further, a diaphragm may be connected to the flex spline 162 so that a diaphragm input unit, a fixed unit, and an output unit may be used instead of the flex spline 162.

F. Example 5:
FIG. 18 is a schematic cross-sectional view showing a configuration of a power generating device 100D as a fifth embodiment of the present invention. The configuration illustrated in FIG. 18 is substantially the same as the configuration illustrated in FIG. 3 except that a rotation shaft 170 is provided instead of the rotation mechanism unit 130. In this power generation device 100 </ b> D, a rotating shaft 170 is replaceably attached to a rotor gear 1213 of a rotor 121.

  The rotating shaft 170 has a through hole 171 that passes through the central shaft 110 in the axial direction. Gear teeth are provided on the inner wall surface of the through-hole 171 on the rotor 121 side so that the rotor gear 1213 can be accommodated. In addition, a bearing portion 112, a bearing ring 113, and a spacer 115 are disposed on the opposite side of the through hole 171 from the rotor 121. With this configuration, the rotating shaft 170 rotates together with the rotor 121.

  19A to 19C are schematic views illustrating types of rotating shafts attached to the rotor 121 instead of the rotating shaft 170 in the power generation device 100D. The rotating shaft 170a in FIG. 19A is provided with linear gear teeth 170ta on the outer surface on the front end side (left side in the drawing), and functions as a spur gear (spur gear). A rotating shaft 170b in FIG. 19B is provided with gear teeth 170tb extending spirally on the tip side, and functions as a screw gear (spiral gear). The rotating shaft 170c in FIG. 19C is provided with tapered gear teeth 170tc on the tip side and functions as a bevel gear.

  As described above, in the power generation device 100D of the fifth embodiment, the various rotating shafts 170 and 170a to 170c are attached to the rotor 121 of the motor unit 120 in a replaceable manner. Therefore, the power generator 100D has improved versatility. A part of the rotating shafts 170 and 170 a to 170 c used in the power generation device 100 </ b> D is accommodated in the recess 1212 of the rotor 121. That is, the power generation device 100D is downsized accordingly.

G. Sixth embodiment:
20 and 21 are schematic views showing the configuration of a power generating device 100E as a sixth embodiment of the present invention. FIG. 20 is a schematic cross-sectional view showing an internal configuration of the power generation device 100E, and FIG. 21 is a schematic exploded cross-sectional view showing the components of the power generation device 100E in an exploded manner. The power generation device 100E has a configuration in which a cyclo mechanism and a motor are integrated, and transmits a rotational driving force to the load connection portion 133E. The power generating device 100E is different from the power generating device 100 (FIGS. 3 and 4) of the first embodiment in the following points. That is, the power generation device 100E includes a cyclo mechanism as the rotation mechanism portion 130E in the recess 1212 of the rotor 121. In addition, the point which has the cross roller bearing 137 is the same as that of the power generator 100 of 1st Example.

  FIG. 22 is an explanatory view schematically showing a cyclo mechanism. The cyclo mechanism includes eccentric bodies 180 and 185, a curved plate 181, an outer pin 182, an inner pin 183, and a bearing 1814. The curved plate 181 has a substantially disk shape, has a center hole 1810 at the center, and has eight inner pin holes 1811 around the center hole 1810. The inner pin holes 1811 are arranged at intervals of 45 degrees on the circumference. The outer periphery of the curved plate 181 has an epitocoloid parallel line shape. In the present embodiment, the number of peaks of the epitocoloid parallel line shape is nine, and when rotated by 40 degrees, the epitocoloid parallel line shape overlaps. In this embodiment, as shown in FIG. 20, the cyclo mechanism is provided with two curved plates 181 which are shifted by 180 degrees. As a result, the epitocoloid parallel line-shaped convex portion of one curved plate 181 is located in the concave portion of the other curved plate 181 having an epitocoloid parallel line shape. In FIG. 22, only one curved plate 181 is shown because it is difficult to see the drawing.

  The outer pin 182 is a member having a substantially circular shape on the curved plate 181 side. The outer pin 182 may be a cylindrical bar. In the present embodiment, there are ten outer pins 182, which are arranged at equal intervals of 36 degrees (= 360 degrees / 10 pieces) on the circumference. Further, the outer pin 182 is disposed so as to be in contact with the outer periphery of the curved plate 181. Here, when the outer pin 1821 out of the outer pins 182 is in contact with the apex of the convex part of the epitocoloid parallel line shape of the curved plate 181, the outer pin 1822 at the symmetrical position of the outer pin 1821 is It is in contact with the bottom of the parallel line-shaped recess. 20 and 21, the outer pin 1822 and the curved plate 181 are illustrated as contact with each other as unevenness of gear teeth.

  The inner pin 183 is a cylindrical bar. The inner pins 183 have the same number (eight) as the number of inner pin holes 1811, and are arranged at equal intervals of 45 degrees (= 360 degrees / 8) on the circumference. The inner pin 183 is thinner than the inner pin hole 1811, and the inner pin 183 is inserted into the inner pin hole 1811. The circumference where the inner pin 183 is arranged and the circumference where the inner pin hole 1811 is arranged are the same size.

  The eccentric bodies 180 and 185 each have a cylindrical shape. The center 1801 of the eccentric body 180 is shifted from the rotation center 1802 of the eccentric body 180. The center 1851 of the eccentric body 185 is offset from the rotation center 1852 of the eccentric body 185. The rotation center 1802 of the eccentric body 180 and the rotation center 1852 of the eccentric body 185 are the same point (axis). The rotational center 1802 of the eccentric body 180 (the rotational center 1852 of the eccentric body 185) is located at the center of gravity of the center 1801 of the eccentric body 180 and the center 1851 of the eccentric body 185. The thicknesses of the eccentric bodies 180 and 185 are formed thinner than the size of the center hole 1810 and are inserted into the center hole 1810. Between the center hole 1810 and the eccentric bodies 180 and 185, a bearing 1814 for smoothing the contact between the center hole 1810 and the eccentric bodies 180 and 185 is disposed. The eccentric bodies 180 and 185 are in contact with a bearing 1814 disposed in the center hole 1810 on the side opposite to the rotation centers 1802 and 1852 when viewed from the center 1801. These points are called contact points 1803 and 1853.

  Returning to FIG. 20, the connection relationship of the cyclo mechanism in the sixth embodiment will be described. In the sixth embodiment, the eccentric bodies 180 and 185 are formed integrally with the rotor 121. The outer pin 182 is formed integrally with the stator (casing 122). The inner pin 183 is formed integrally with the load connection portion 133. That is, the eccentric body 180 is an input part, the outer pin 182 is a fixed part, and the inner pin 183 is an output part.

  The operation when the cyclo mechanism is connected as shown in FIG. 20 will be described with reference to FIG. When the rotor 121 (FIG. 20) rotates, the eccentric body 180 also rotates. At this time, the eccentric body 180 rotates around the rotation center 1802. For example, it is assumed that the eccentric body 180 rotates clockwise as shown in FIG. At this time, the position of the contact point 1803 also rotates clockwise. Then, the curved plate 181 receives a force from the eccentric body 180 through the bearing 1814, revolves counterclockwise along the circumference where the outer pin 182 is disposed, and rotates. When the curved plate 181 rotates, the position of the inner pin hole 1811 revolves. When the inner pin hole 1811 revolves, the inner pin 183 pushes the inner pin 183, so that the inner pin 183 revolves along the circumference where the inner pin 183 is disposed. In this embodiment, when the eccentric body 180 rotates once, the curved plate 181 rotates 1/9. For example, assuming that the number of protrusions of the epitocoloid parallel line shape of the curved plate 181 is n and the number of outer pins is (n + 1), when the eccentric body 180 makes one revolution, the curved plate 181 rotates 1 / n. Therefore, a very large reduction ratio can be obtained. Further, since the sliding contact is converted into the rolling contact by the outer pin 182, the mechanical loss is very small, and extremely high gear efficiency can be obtained.

  FIG. 23 is a schematic diagram illustrating a configuration of a power generation device 100F as a modification of the sixth embodiment. In the power generation device 100E shown in FIG. 20, the eccentric body 180 is provided integrally with the rotor 121 to be an input portion, the outer pin 182 is integrally provided to the stator (casing 122) to be a fixed portion, and the inner pin 183 is loaded. By providing it integrally with the connecting portion 133, the output portion is provided. In this power generation device 100F, the inner pin 183 is changed to a fixed portion by being provided integrally with the stator (casing 122), and the outer pin 182 is changed to the output portion by being provided integrally with the load connecting portion 133. Even if comprised in this way, a reduction gear can be comprised.

  In the cyclo mechanism, one of the outer pin 182 and the inner pin 183 is used as an input unit, the other as a fixed unit, and the eccentric body 180 as an output unit, so that it can function as a speed increaser. Thus, in the cyclomechanism, one of the eccentric body 180, the outer pin 182 and the inner pin 183 is an input unit, one of the remaining two is a fixed unit, and the remaining one is an output unit. Thus, the cyclo mechanism can function as a speed reducer or a speed increaser.

  In the present embodiment, the cyclo mechanism includes two curved plates 181, but the number of curved plates 181 may be one or three or more. For example, when there are m curved plates 181, the curved plates 181 are arranged so as to be shifted by 360 / m degrees. At this time, the eccentric bodies 180 have the same number m as the curved plates 181 and have a shape in which m cylinders are connected. The line segment connecting the center 1801 of each cylinder and the rotation center 1802 is shifted by 360 / m degrees, and the rotation center 1802 is located at the center of gravity of the center 1801 of each cylinder.

H. Seventh Example:
FIG. 24 is a schematic diagram showing a configuration of a power generation device 100G as a seventh embodiment. In the power generation device 100 described in the first embodiment, the motor unit 120 is configured by a radial gap type motor. However, in the power generation device 100G of the seventh example, the motor unit 120G is an axial gap type motor. It differs in that it is configured. The motor unit 120G includes a permanent magnet 123 and an electromagnetic coil group 1240.

  FIG. 25 is an explanatory diagram showing a configuration of a permanent magnet and an electromagnetic coil group. FIG. 25A is an explanatory diagram showing a configuration of a permanent magnet. The permanent magnet 123 is configured by arranging a plurality of sector-shaped permanent magnets 1231 in a disk shape. The direction of the magnetic flux of each permanent magnet 1231 is the normal direction of the disk shape. There are two permanent magnets 123 and sandwich the electromagnetic coil group 1240.

  FIG. 25B is an explanatory diagram illustrating a part of a cross-sectional view of the electromagnetic coil group. The electromagnetic coil group 1240 includes an A-phase electromagnetic coil 1240A, a B-phase electromagnetic coil 1240B, and a circuit board 1241. The circuit board 1241 is disposed so as to be sandwiched between the A-phase electromagnetic coil 1240A and the B-phase electromagnetic coil 1240B. The A-phase electromagnetic coil 1240A and the B-phase electromagnetic coil 1240B are arranged so as to face the permanent magnet 123, respectively.

  FIG. 25C is an explanatory diagram showing a part of a plan view of the A-phase electromagnetic coil. FIG. 25D is an explanatory diagram showing a part of a plan view of the B-phase electromagnetic coil. Since the A-phase electromagnetic coil 1240A and the B-phase electromagnetic coil 1240B have the same structure, the A-phase electromagnetic coil 1240A will be described as an example. The A-phase electromagnetic coil 1240A includes a plurality of electromagnetic coils 1242A. Each electromagnetic coil 1242A is wound in a fan shape and arranged in a disk shape. The electromagnetic coil 1242A and the B-phase electromagnetic coil 1242B are arranged so as to be shifted by an electrical angle of π / 2. A magnetic sensor 126B for detecting the magnetic flux of the permanent magnet 123 is disposed in one of the electromagnetic coils 1242A. The output of the magnetic sensor 126B is used to drive and control the electromagnetic coil 1242A. Similarly, a magnetic sensor 126A for detecting the magnetic flux of the permanent magnet 123 is disposed in one of the electromagnetic coils 1242B, and the output of the magnetic sensor 126A is used to drive and control the electromagnetic coil 1242B. It is done.

  As described above, the power generation device can use an axial gap type motor in addition to the radial gap type motor as the motor unit. In the power generation device 100G of the seventh embodiment, a planetary gear is used as the rotation mechanism unit 130G. However, a harmonic drive mechanism or a cyclo mechanism may be employed instead of the planetary gear.

I. Eighth Embodiment FIG. 26 is a schematic diagram showing a configuration of a power generation device 100H as an eighth embodiment. FIG. 27 is an explanatory diagram showing an example of the configuration of the encoder. The power generator 100H of the eighth embodiment includes an encoder 190 in addition to the power generator 100 of the first embodiment. The encoder 190 includes a light emitting unit 191, a light receiving unit 192, a reflecting plate 193, and an encoder circuit 194. The light emitting unit 191, the light receiving unit 192, and the encoder circuit 194 are arranged in the stator (casing 122), and the reflection plate 193 is arranged in the rotor 121. The light emitted from the light emitting unit 191 is reflected by the reflecting plate 193 and detected by the light receiving unit 192. Here, the encoder 190 is provided with a plurality of rows of reflecting plates 193 along the circumference in the rotation direction, and the reflected light from the reflecting plates 193 in each row indicates a binary number. Is configured to increase or decrease. By configuring the reflector 193 in this way, the encoder circuit 194 can accurately determine the rotational position of the rotor 121.

  FIG. 28 is an explanatory diagram showing a modification of the configuration of the encoder. In this modification, the encoder 190 includes a light emitting unit 191, a light receiving unit 192, and a hole 195. The light emitting unit 191 and the light receiving unit 192 are disposed on the stator (casing 122). Here, the light emitting unit 191 and the light receiving unit 192 sandwich the rotor 121. A hole 195 is formed between the light emitting unit 191 and the light receiving unit 192 of the rotor 121. The holes 195 are provided in a plurality of rows along the circumference in the rotation direction of the rotor 121, similarly to the reflector 193, and the light transmitted through the holes 195 in each row indicates a binary number. The binary number is increased or decreased one by one. Thus, a transmissive encoder may be used instead of a reflective encoder. In the case of a transmissive encoder, the hole 195 may be filled with a light transmissive material instead of the hole 195 in order to maintain the strength of the rotor 121. In the eighth embodiment shown in FIG. 27 or a modification of the eighth embodiment shown in FIG. 28, a two-phase encoder can be realized by providing two sets of light emitting portions 191 and light receiving portions 192. Good. When realizing this two-phase encoder, the output of each encoder is preferably a phase difference different from an integer multiple of π in electrical angle. This is because when the output of each encoder is an integer multiple of π in electrical angle, it may be difficult to detect the rotation direction from the output of the encoder. In the eighth embodiment shown in FIG. 27, the reflecting plate 193 is used. However, instead of the reflecting plate 193, a refracting material that refracts light may be used.

J. Variations:
The present invention is not limited to the above-described examples and embodiments, and can be implemented in various modes without departing from the gist thereof. For example, the following modifications are possible.

J1. Modification 1:
In the first embodiment, the power generation device 100 is used as a power source for the joint portions J1 to J3 of the robot arm 10. However, the power generation device 100 of the first embodiment and the power generation devices 100A to 100H of other embodiments may be used for power sources of other actuators and manipulators, or power sources of moving bodies. .

J2. Modification 2:
In the above embodiment, the power generation devices 100, 100A to H transmit the rotational driving force generated by the motor unit 120 to the external load. However, the power generation devices 100 and 100A to H may function as a power generation device that causes the motor unit 120 to generate electric power by a rotational driving force transmitted from an external load. Thus, the present invention is not limited to a power generation device that generates power using electromagnetic force, but can be applied to an electromechanical device that converts power and power using a rotor, a stator, and a rotation mechanism. It is.

J3. Modification 3:
In the above embodiment, all or part of the rotating mechanism such as the planetary gear, the harmonic drive mechanism, or the cyclo mechanism is accommodated in the recess 1212 of the rotor 121. That is, when viewed in a direction perpendicular to the central axis 110, the rotor 121 and the rotation mechanism are configured to overlap all or a part. However, the recess 1212 of the rotor 121 may accommodate all or part of the other rotation mechanism. For example, the recess 1212 of the rotor 121 may accommodate a rotation mechanism that transmits the rotation of the rotor 121 using the rotation of a chain or a belt.

J4. Modification 4:
In the above embodiment, the conductive wire bundle 25 is inserted through the through hole 111 of the central shaft 110. However, the through hole 111 of the central shaft 110 may be omitted, and the conductive wire bundle 25 may be disposed outside the power generation devices 100 and 100A to 100H.

J5. Modification 5:
In the above-described embodiment, the rotor 121 has the concave portion 1212 formed as a substantially annular groove as an accommodation space for accommodating the rotation mechanism. However, the rotor 121 may have a space having another configuration as an accommodation space for accommodating the rotation mechanism. For example, the rotor 121 may be configured to have a cage-shaped skeleton having a cylindrical shape, and a space surrounded by the skeleton may be used as a housing space for the rotation mechanism.

J6. Modification 6
In the first embodiment, the fourth base portion 14 rotates relative to the third base portion 13 around the joint portion J3. A fifth base portion that does not move relative to the base portion 13 may be provided, and a grip portion that grips an object may be formed by the fourth base portion 14 and the fifth base portion. That is, a gripping portion for gripping an object is provided at the tip of the robot arm, and the power generation device 100 of the first embodiment and the power generation devices 100A to 100H of other embodiments are used for driving the gripping portion. Good. Moreover, you may use the power generator 100 of 1st Example, and the power generators 100A-100H of another Example as a motor and a drive part which move the robot arm 10 whole.

  In the above embodiments, the bevel gear 21 is described as being connected to the load connecting portion 133, but an external load may be connected to the load connecting portion 133, and the shape of the external load is not limited to the bevel gear 21.

DESCRIPTION OF SYMBOLS 10,10cf ... Robot arm 11 ... 1st base | substrate part 12 ... 2nd base | substrate part 13 ... 3rd base | substrate part 14 ... 4th base | substrate part 21 ... 1st bevel gear 22 ... 2nd bevel gear 25 ... Conductive wire bundle DESCRIPTION OF SYMBOLS 100,100A-100H, 100a-100e ... Power generator 110 ... Center shaft 111 ... Through-hole 112 ... Bearing part 113 ... Bearing ring 114 ... Fixing bolt 115 ... Spacer 120, 120B, 120G ... Motor part 121, 121B ... Rotor 1211 ... Through hole 1212 ... Recess 1213 ... Partition (rotor gear)
121t, 121tB ... Gear teeth 122 ... Casing 1221 ... Through-hole 123 ... Permanent magnet 124 ... Electromagnetic coil 125 ... Magnet back yoke 126 ... Position detection unit 127 ... Rotation control circuit 128 ... Coil back yoke 130, 130A, 130B ... Rotation mechanism unit 131, 131A ... Gear fixing portion 1311 ... Outer gear 1311a, 1311b ... First and second outer gear 1312 ... Gutter 1313 ... Opening portion 131t ... Gear teeth 132 ... Planetary gears 132a, 132b ... First and second Planetary gear 132s ... Rotating shaft 132t ... Gear teeth 133, 133e ... Load connection 1331 ... Through hole 1332 ... Shaft hole 133t ... Gear tooth 135 ... Planetary carrier 1351 ... Pre-stage part 1352 ... Rear stage part 1353 ... Through hole 1354 ... Shaft Hole 135t… Gi Teeth 136 ... Sun gear 1361 ... Through hole 1361a ... Front stage part 1361b ... Rear stage part 136t ... Gear teeth 137 ... Cross roller bearing 1371 ... Outer ring 1372 ... Inner ring 1373 ... Cylindrical roller 1374, 1375 ... Perforated disk member 1375a ... Harness guide 140 ... Brush Seal part 141 ... Rubber seal part 142 ... Heat exchange fin 143 ... Control part 143c ... Communication part 143d ... Driver circuit 144 ... Casing 160 ... Wave generator 1601 ... Through-hole 1602 ... Rift part 160t ... Gear tooth 161 ... Bearing 162 ... Flex spline 162t ... Gear teeth 165 ... Circular spline 1651 ... Front stage 1652 ... Rear stage 165t ... Gear teeth 170, 170a to 170c ... Rotating shaft 170ta, 170tb, 170tc ... Gear teeth 71 ... Through-hole 180, 185 ... Eccentric body 181 ... Curved plate 182, 1821, 1822 ... Outer pin 183 ... Inner pin 190 ... Encoder 191 ... Light emitting part 192 ... Light receiving part 193 ... Reflecting plate 194 ... Encoder circuit 195 ... Hole 1801, 1851: Center 1802, 1852 ... Center of rotation 1803 ... Contact point 1810 ... Center hole 1811 ... Inner pin hole 1814 ... Bearing FB ... Fastening bolt J1-J3 ... First to third joints

Claims (12)

An electromechanical device,
A central axis;
A rotor magnet disposed along an outer periphery of the central axis, and a rotor having a storage space opened at least in one axial direction of the central axis between the central axis and the rotor magnet;
A stator disposed on the outer periphery of the rotor;
A rotational speed conversion mechanism disposed in the storage space and configured integrally with the rotor;
A load connecting portion disposed inside the stator and connecting the rotational speed conversion mechanism and a rotational load;
A cross roller bearing provided between the stator and the load connection;
An electromechanical device comprising: The electromechanical device according to claim 1,
The central axis has a through hole extending in the axial direction of the central axis,
An electromechanical device, wherein a conductive wire for transmitting electricity for controlling rotation of the rotor is inserted into the through hole. The electromechanical device according to claim 2,
The load connecting portion is an electromechanical device having a harness guide for guiding the conductive wire. The electromechanical device according to any one of claims 1 to 3,
The rotational speed conversion mechanism is
A sun gear disposed at the center of the rotational speed conversion mechanism;
An outer gear disposed on the outer periphery of the rotation speed conversion mechanism;
A planetary gear disposed between the sun gear and the outer gear;
A planetary gear having a planetary carrier to which the planetary gear is connected,
The rotational speed conversion mechanism is an input unit in which one of the sun gear, the outer gear, and the planetary carrier is connected to or integrally formed with the rotor magnet, and one of the remaining two is the stator. An electromechanical device that is a fixed portion that is connected or integrally formed with the load connection portion, and the remaining one is an output portion that is connected or integrally formed with the load connection portion. The electromechanical device according to any one of claims 1 to 3,
The rotational speed conversion mechanism is
A wave generator disposed in the center of the rotational speed conversion mechanism;
A circular spline disposed on the outer periphery of the rotational speed conversion mechanism;
A harmonic spline having a flex spline disposed between the wave generator and the circular spline (“Harmonic Drive” is a registered trademark);
The rotation speed conversion mechanism is an input unit in which one of the wave generator, the circular spline, and the flex spline is connected to or integrally formed with the rotor magnet, and one of the remaining two is An electromechanical device that is a fixed portion that is connected or integrally formed with the stator, and the remaining one is an output portion that is connected or integrally formed with the load connecting portion. The electromechanical device according to any one of claims 1 to 3,
The rotational speed conversion mechanism is
A curved plate having a first hole formed in the center with an epitocoloid parallel curve shape at the outer edge and a plurality of second holes formed around the first hole;
An outer pin arranged to contact the epitocoloid parallel curve of the curved plate;
An inner pin disposed in the second hole;
A cyclomechanism having an eccentric body disposed in the first hole,
One of three of the eccentric body, the outer pin, and the inner pin is an input portion that is connected to or integrally formed with the rotor magnet, and one of the remaining two is connected or integrally formed with the stator. An electromechanical device that is a fixed portion and the remaining one is an output portion that is connected to or integrally formed with the load connecting portion. The electromechanical device according to any one of claims 1 to 6, further comprising:
An electromechanical device comprising an encoder formed integrally with a rotor. An actuator,
An actuator comprising the electromechanical device according to any one of claims 1 to 7. A motor,
A central axis;
A rotor magnet disposed along an outer periphery of the central axis, and a rotor having a storage space opened at least in one axial direction of the central axis between the central axis and the rotor magnet;
A stator disposed on the outer periphery of the rotor;
A rotational speed conversion mechanism disposed in the storage space and connected to the rotor;
A load connecting portion disposed inside the stator and connecting the rotational speed conversion mechanism and a rotational load;
A cross roller bearing provided between the stator and the load connection;
Equipped with a motor. A robot,
The base,
A driving unit for moving the base;
With
The said drive part is a robot containing the electromechanical device as described in any one of Claims 1-7. A robot,
The base,
A moving part that moves relative to the base;
A driving unit that moves the moving unit relative to the base;
With
The said drive part is a robot containing the electromechanical device as described in any one of Claims 1-7. A robot hand,
The base,
A gripping part disposed on the base and gripping an object;
A driving unit that drives the gripping unit to grip the object with respect to the gripping unit;
With
The robot drive including the actuator according to claim 8.

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