JP2013170593A - Bearing, motor device, and robotic system - Google Patents

Abstract

An object of the present invention is to reduce the relative fluctuation in the radial direction of a rotating shaft between a bearing and the rotating shaft.
A bearing includes a support portion having a first surface disposed in the vicinity of a peripheral surface of a rotating shaft, and a plurality of rolling portions disposed between the peripheral surface and the first surface. The support portion has a slit having an open end formed in the first surface, and the open end is non-parallel to the axial direction when viewed in a direction orthogonal to the axial direction of the rotating shaft. Have a different shape.
[Selection] Figure 1

Description

  The present invention relates to a bearing, a motor device, and a robot device.

  For example, a motor device is used as an actuator for driving a turning machine. (For example, refer patent document 1) As such a motor apparatus, the motor apparatus which can generate high torque, such as an electric motor and an ultrasonic motor, is known widely. Moreover, the motor device has a configuration including a drive unit that rotationally drives the rotation shaft and a bearing that rotatably supports the rotation shaft (see, for example, Patent Document 2).

  In such a motor device, for example, when a gap is formed between the bearing and the rotating shaft, or when the bearing is elastically deformed, the bearing and the rotating shaft are in the radial direction (radial direction) of the rotating shaft. It may move relative to. Such relative movement hinders stable driving of the motor device.

Japanese Patent Laid-Open No. 2-311237 JP-A-10-196649

  In recent years, motor devices that drive more precise parts such as the joint parts of humanoid robots have been demanded, and even with existing motors such as electric motors and ultrasonic motors, precise and high-precision driving such as torque controllability is required. There is a need for a configuration that can perform the above. Further, for example, in the motor device as described above, it is required to avoid a relative fluctuation in the radial direction of the rotating shaft between the bearing and the rotating shaft.

  However, in the configuration of the motor device as described above, for example, if the bearing rigidity is increased, the bearing rotational resistance increases, or if the bearing rotational resistance is decreased, the bearing rigidity decreases. There may be a case where a relative variation in the radial direction of the rotating shaft occurs between the rotating shaft and the rotating shaft.

  The aspect which concerns on this invention aims at providing the bearing, motor apparatus, and robot apparatus which can reduce the relative fluctuation | variation of the radial direction of the said rotating shaft between a bearing and a rotating shaft.

  A bearing according to an aspect of the present invention includes a support portion having a first surface disposed in the vicinity of the peripheral surface of the rotating shaft, and a plurality of rolling portions disposed between the peripheral surface and the first surface. And the support part has a slit having an open end formed in the first surface, and the open end is in a direction perpendicular to the axial direction of the rotating shaft with respect to the axial direction. And have a non-parallel shape.

  A bearing according to an aspect of the present invention includes a support portion having a first surface disposed in the vicinity of the peripheral surface of the rotating shaft, and a plurality of rolling portions disposed between the peripheral surface and the first surface. And the support portion has a slit having an open end formed on the first surface, and the open end is a first end that is both ends of the slit in the axial direction of the rotation shaft. A second end, and the first end and the second end are offset from each other in the circumferential direction.

  A bearing according to an aspect of the present invention includes a support portion having a first surface disposed in the vicinity of the peripheral surface of the rotating shaft, and a plurality of rolling portions disposed between the peripheral surface and the first surface. And the support part has a slit having an open end formed in the first surface, and the open end is in a direction perpendicular to the axial direction of the rotating shaft with respect to the axial direction. A first shape that is parallel to the axial direction and a second shape that is non-parallel to the axial direction, and the length of the first shape along the axial direction of the rotating shaft is the rolling part Short compared to that.

  The motor device according to one aspect of the present invention includes a drive unit that rotationally drives the rotating shaft and a bearing that rotatably supports the rotating shaft, and the bearing according to the above aspect is used as the bearing.

  Accordingly, the robot device according to one aspect of the present invention includes a rotating shaft member and a motor device that rotates the rotating shaft member, and the motor device according to the above aspect is used as the motor device.

  According to the aspect of the present invention, it is possible to reduce the relative variation in the radial direction of the rotary shaft between the bearing and the rotary shaft.

The figure which shows the structure of the motor apparatus which concerns on 1st embodiment of this invention. Sectional drawing which shows the structure of the motor apparatus which concerns on this embodiment. The figure which shows the structure of the bearing board | substrate of the motor apparatus which concerns on this embodiment. The perspective view which shows the structure of the bearing board | substrate of the motor apparatus which concerns on this embodiment. The figure which shows the structure of the bearing board | substrate of the motor apparatus which concerns on this embodiment. The figure which shows the structure of the drive substrate of the motor apparatus which concerns on this embodiment. The figure which shows the structure of the transmission board | substrate of the motor apparatus which concerns on this embodiment. The figure which shows the structure of a part of motor apparatus which concerns on this embodiment. The figure which shows the structure of a part of 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 operation | movement of the bearing board | substrate of the motor apparatus which concerns on this embodiment. The figure which shows operation | movement of the bearing board | substrate of the motor apparatus which concerns on this embodiment. The figure which shows the manufacturing process of the motor apparatus which concerns on this embodiment. The schematic diagram which shows the structure of the robot hand which concerns on 2nd embodiment of this invention. The figure which shows the other structure of the motor apparatus which concerns on this embodiment. The figure which shows the modification of the discontinuous part which concerns on this embodiment. The figure which shows the modification of the discontinuous part which concerns on this embodiment. The figure which shows the modification of the discontinuous part which concerns on this embodiment. The figure which shows the modification of the discontinuous part which concerns on this embodiment. The figure which shows the modification of the discontinuous part which concerns on this embodiment. The figure which shows the modification of the discontinuous part which concerns on this embodiment. The figure which shows the modification of the discontinuous part which concerns on this embodiment. The figure which shows the modification of the discontinuous part which concerns on this embodiment. The figure which shows the modification of the discontinuous part which concerns on this embodiment. The figure which shows the modification of the discontinuous part which concerns on this embodiment. The figure which shows the modification of the discontinuous part which concerns on this embodiment. The figure which shows the modification of the discontinuous part which concerns on this embodiment. The figure which shows the modification of the discontinuous part which concerns on this embodiment. The figure which shows the modification of the discontinuous part which concerns on this embodiment. The figure which shows the modification of the discontinuous part which concerns on this embodiment.

[First Embodiment]
Hereinafter, a first embodiment 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 a rotation shaft SF, a transmission board TS that transmits a rotational driving force to the rotation shaft SF, a driving board DS that generates a rotational driving force, and a transmission It has a bearing substrate HS that holds the substrate TS and the drive substrate DS, and a control device CONT that controls rotational drive by the drive substrate DS. The motor device MTR has a configuration in which a transmission board TS, a driving board DS, and a bearing board (bearing) HS are attached to a rotating shaft SF. The rotating shaft SF is formed in a cylindrical shape, for example.

  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. An axial direction of the rotation axis 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.

  For example, two drive substrates DS are stacked in a substantially central portion in the Z direction of the rotation axis SF. For example, two transmission boards TS are provided so as to overlap each other on both sides (+ Z side and −Z side) in the Z-axis direction with respect to the two drive boards DS. The two drive substrates DS and the four transmission substrates TS are in contact with each other in the Z-axis direction and are connected by a substrate positioning member AL (see FIG. 1).

  Part of the substrate positioning member AL protrudes in the + Z direction and the −Z direction of the coupling body, and the bearing substrate HS is coupled to the protruding portion. The connecting body of the driving board DS and the transmission board TS provided integrally as described above is sandwiched between a pair of bearing boards HS. The bearing substrate HS has a function as a stopper that holds the drive substrate DS and the transmission substrate TS so as not to be displaced in the Z-axis direction, as well as a function of rotatably supporting the rotation shaft SF.

  As shown in FIG. 2, the rotation shaft SF has a diameter-enlarged portion 11 in a portion surrounded by the transmission substrate TS, and a diameter-reduced portion 12 in a portion surrounded by the drive substrate DS. The diameter-expanded portion 11 is a portion whose diameter is larger than, for example, the portion of the rotating shaft SF supported by the bearing substrate HS. The diameter-reduced portion 12 is a portion whose diameter is smaller than, for example, the portion of the rotating shaft SF supported by the bearing substrate HS. The rotating shaft SF has a common rotating shaft (rotating axis) C in a portion including the enlarged diameter portion 11 and the reduced diameter portion 12.

The bearing substrate HS supports the rotating shaft SF so as to be rotatable via a rolling member (rolling portion) 15, for example. As shown in FIG. 1, the bearing substrate HS is configured to rotatably support the rotating shaft SF via a rolling member 15 between the outer peripheral surface SFa of the rotating shaft SF.
The rolling member 15 is formed in a cylindrical shape or a columnar shape, and a plurality of rolling members 15 are provided over one circumference of the outer circumferential surface SFa of the rotating shaft SF so that the axis thereof is parallel to the axial direction of the rotating shaft SF. In addition, the rolling member 15 may be arrange | positioned in the direction different from the axial direction of rotating shaft SF. The rolling member 15 is, for example, a roller member used for a needle bearing, a taper roller bearing or a cross roller bearing (eg, a cylindrical member or a cylindrical member), a ball member used for a ball bearing, or the like. .
Moreover, the rolling member 15 in this embodiment is arrange | positioned so that it may contact with both the surrounding surface of rotating shaft SF and the opposing surface (1st surface) 50a which opposes this surrounding surface with a line or a point. For example, when the rolling member 15 is in line contact with both the circumferential surface of the rotating shaft SF and the facing surface 50a facing the circumferential surface, the rolling member 15 with respect to the circumferential surface of the rotating shaft SF and the facing surface 50a Since the contact area is larger than that in the case of contact at a point, the bearing in this embodiment can obtain high rigidity.

3A and 3B are cross-sectional views showing a state in which the bearing substrate HS is cut along a plane parallel to the XY plane. FIG. 3B is a perspective view of FIG. 3A viewed from the Z-axis direction + side.
As illustrated in FIGS. 3A and 3B, the bearing substrate HS is formed in a plate shape using a metal material, a resin material, or the like. The bearing substrate HS has a central opening 50, a first opening 51, a second opening 52, and a third opening 53. The central opening 50 is formed in the central portion of the bearing substrate HS in the XY direction. The central opening 50 is a circular through hole formed in the Z direction so as to penetrate the bearing substrate HS. The central opening 50 is a portion that allows the rotation shaft SF to penetrate (the rotation shaft SF is inserted).

  The inner peripheral surface of the central opening 50 is disposed in the vicinity of the peripheral surface of the rotation shaft SF, and becomes a facing surface 50a that faces the peripheral surface of the rotation shaft SF. Moreover, the peripheral part of the center opening part 50 becomes a support part (rotary shaft support part) 61 which hold | maintains rotating shaft SF among the bearing board | substrates HS. Therefore, in the present embodiment, the support portion 61 is configured to be formed on a part of the bearing substrate HS that is a plate-like member. The support part 61 is formed in the dimension which can be elastically deformed, for example. In addition, the opposing surface 50a in this embodiment is formed in parallel with the surrounding surface of rotating shaft SF.

  The first opening 51, the second opening 52, and the third opening 53 are arranged at positions shifted by, for example, equal angles along the circumferential direction of the central opening 50. The first opening 51, the second opening 52, and the third opening 53 are each formed so as to penetrate the bearing substrate HS in the Z direction. The first opening 51 is formed so that the X direction is the longitudinal direction. The longitudinal dimension of the first opening 51 is substantially equal to the diameter of the central opening 50. The second opening 52 and the third opening 53 are each formed in a circle when viewed in the Z direction.

The facing surface 50a of the support portion 61 has at least one discontinuous portion (open end of the slit) 57a that is a discontinuous portion in the facing surface 50a. Further, at least a part of the at least one discontinuous portion 57a is formed in a direction different from the axial direction of the rotation axis SF (see, for example, FIG. 4 described later). Further, the support portion 61 includes at least a part of the discontinuous portion 57a, and extends from the central opening 50 in contact with the facing surface 50a (the surface on the radial direction inner side of the rotation axis SF in the support portion 61, the first surface) to the facing surface. The first gap region (first notch portion) formed up to the surface opposite to the surface 50a (the surface on the radially outer side of the rotation axis SF of the support portion 61, the surface in contact with the first opening 51, the second surface). , Slit) 57. The surface where the first notch is in contact with the facing surface 50a, that is, the first notch on the facing surface 50a becomes the discontinuous portion 57a.
The first cutout portion 57 is a portion of the support portion 61 from the central opening 50 to the first opening 51 (a portion of the support portion 61 along the first opening 51) and the first portion 61a. It is formed so as to be divided into two portions 61b. The first portion 61a and the second portion 61b are disposed to face each other with the first cutout portion 57 interposed therebetween. Further, the first portion 61a and the second portion 61b have at least a part of the facing surface 50a, and are disposed on the facing surface 50a with the discontinuous portion 57a interposed therebetween.
In addition, although the clearance gap area 57 in this embodiment is formed by notching the corresponding part of the support part 61, it may be formed by the member of the support part 61 isolate | separated, for example. For example, the gap region 57 in the present embodiment may be formed by arranging a plurality of members when the support portion 61 is configured by a plurality of members. In addition, the gap region 57 in the present embodiment is a through region that communicates with a predetermined portion, but at least a portion may be a groove region.

By providing the discontinuous portion 57 a or the first cutout portion 57, the support portion 61 is deformed via the discontinuous portion 57 a or the first cutout portion 57.
Further, for example, when the material of the bearing substrate HS is a metal material or a resin material as described above, the support portion 61 is easily elastically deformed.

  For example, the positional relationship (for example, distance) between the first portion 61a and the second portion 61b is adjusted by the adjusting portion AD including the bolt member (fastening member) BL and the bolt insertion portion 58. The bolt member BL is inserted from the bolt insertion portion 58 formed on the + X side of the bearing substrate HS toward the support portion 61 side. The bolt member BL fixes the first portion 61a and the second portion 61b so as to penetrate between the first portion 61a and the second portion 61b. By adjusting the fixing state by the bolt member BL, the distance between the first portion 61a and the second portion 61b can be adjusted.

FIG. 4 is a diagram showing a configuration along the BB ′ cross section in FIG. 3A.
As shown in FIG. 4, the discontinuous portion 57a is formed in a direction different from the axial direction of the rotation axis SF in a direction view (eg, Y direction view) orthogonal to the axial direction (Z direction) of the rotation axis SF. ing. Note that at least a part of the discontinuous portion 57a in the present embodiment may be formed to be inclined with respect to the axial direction when viewed in a direction orthogonal to the axial direction of the rotational axis SF, or the axis of the rotational axis SF. You may form with a predetermined angle with respect to an axial direction in the direction view orthogonal to a direction. In other words, at least a part of the discontinuous portion 57a can have a shape that is inclined with respect to the axial direction when viewed in a direction orthogonal to the axial direction of the rotation axis SF, or is orthogonal to the axial direction of the rotation axis SF. It can have a shape having a predetermined angle with respect to the axial direction when viewed from the direction.
For example, the discontinuous part 57a in this embodiment should just be the structure by which at least one part is formed in the direction different from an axial direction among the said discontinuous parts 57a. In other words, in this embodiment, the open end (discontinuous portion) 57a of the slit (gap region, first cutout portion 57) 57 is relative to the axial direction in a direction perpendicular to the axial direction of the rotation axis SF. And have a non-parallel shape. In one example, as shown in FIG. 4, the open end 57a may have a shape that is inclined with respect to the axial direction when viewed in a direction orthogonal to the axial direction of the rotation axis SF. In another example, the open end 57a can have a shape orthogonal to the axial direction and / or a curved shape when viewed in a direction orthogonal to the axial direction of the rotation axis SF.
As shown in FIGS. 3A and 3B, the first notch 57 is formed along the normal direction of the facing surface 50a when the rotation axis SF is viewed in the rotation axis direction (Z direction view).
Note that the first cutout portion 57 may be formed in an arc shape when the rotation axis SF is viewed in the rotation axis direction (Z direction view). In other words, the first cutout portion 57 can have a linear shape or an arc shape when the rotation axis SF is viewed in the rotation axis direction (Z direction view). The discontinuous portion 57a is formed so as to follow the outer peripheral shape of the rotation shaft SF inserted into the central opening 50.
As shown in FIG. 4, the support portion 61 includes a first portion 61 a and a second portion 61 b that have a surface that contacts the first notch portion 57 (a surface constituting the first notch portion 57). As shown in FIG. 4, at least a part of the surface of the first portion 61 a that contacts the first notch 57 is inclined with respect to the axial direction of the rotation axis SF. Further, at least a part of the surface of the second portion 61b that is in contact with the first notch 57 is inclined with respect to the axial direction of the rotation axis SF.
The first notch 57 may be formed to be inclined with respect to the circumferential direction of the central opening 50 of the bearing substrate HS (that is, the circumferential direction of the rotation axis SF: the θZ direction).

  In FIG. 4, as an example, the first notch 57 extends across the center line α from the position on the + X side and + Z side to the position on the −X side and −Z side with respect to the center line α in the central opening 50. Is formed. Therefore, the first portion 61a and the second portion 61b divided by the first cutout portion 57 with a space therebetween are in a state where at least a part thereof overlaps when viewed in the Z direction.

  As shown in FIGS. 3A and 3B, the bearing substrate HS includes a first groove portion (first slit portion) 55 that connects the first opening 51 and the second opening 52, and the second opening 52 and the second opening 52. A second groove portion (second slit portion) 56 that connects the three openings 53 is provided. The first groove portion 55 and the second groove portion 56 are formed along the circumferential direction of the central opening 50.

A portion (second gap region (second notch portion) 54) from the first opening 51 to the third opening 53 via the first groove 55, the second opening 52, and the second groove 56 in order, When viewed in the Z direction, it is formed so as to have a shape of a part of an annulus along the circumferential direction of the central opening 50. That is, the second cutout portion 54 has a shape that at least partially surrounds the rotation axis SF. By forming the second cutout portion 54, a part of the support portion 61 is separated from the other portion of the bearing substrate HS. Accordingly, a part of the support portion 61 is easily elastically deformed. The second cutout portion 54 may be formed in an arc shape, a polygonal shape, a dogleg shape (V shape), or a U shape (U shape) as viewed in the Z direction. Absent. Note that at least part of the second cutout portion 54 may be formed in a straight line shape when viewed in the Z direction.
The second notch 54 is formed so as to follow the outer peripheral shape of the rotation shaft SF inserted into the central opening 50. In addition, although the 2nd clearance gap area 54 in this embodiment is formed by notching the corresponding part of the bearing board | substrate HS, you may form by the member of the support part 61 isolate | separated, for example. For example, when the support portion 61 is configured by a plurality of members, the second gap region 54 in the present embodiment may be formed by the arrangement of the plurality of members. Moreover, although the 2nd clearance gap area 54 in this embodiment is a penetration area | region connected to the predetermined part, at least one part may be a groove area | region.

Next, the configuration of the drive system of the motor device MTR will be described.
FIG. 5 is a plan view showing the configuration of the drive substrate DS.
The drive substrate DS is formed in a rectangular plate shape using a material such as stainless steel. The drive substrate DS has a support portion 47 at the end in the + Y direction in the drawing. A connection portion 46 is formed at the center of the support portion 47 in the X direction so as to extend in the −Y direction, and a drive base portion 45 is formed at the tip of the connection portion 46 in the −Y direction. The drive base portion 45 holds the drive portion AC.

  The drive unit AC includes drive elements 31 and 32 each including an electromechanical conversion element such as a piezo element. The drive element 31 and the drive element 32 are configured to expand and contract in the Y direction when a voltage is applied to the electromechanical conversion element. The control device CONT is connected to the drive unit AC and can supply a control signal to the drive unit AC. The drive unit AC may be configured to use a magnetostrictive element, an electromagnet, a VCM (voice coil motor), or the like.

  The driving elements 31 and 32 are held by the driving base portion 45 at positions away from the penetrating portion 40. The penetrating part 40 and the driving elements 31 and 32 are separated from each other through, for example, a connecting part 46. The drive elements 31 and 32 are disposed at target positions in the X direction with respect to the through portion 40. The drive elements 31 and 32 each have an end portion on the −Y side. Since the driving elements 31 and 32 are fixed in the Y direction at the −Y side end, the + Y side end moves in the Y direction when expanding and contracting. The + Y side end of the drive element 31 is connected (continuous) to the connection surface 41 a of the movable portion 41. Further, the + Y side end of the drive element 32 is connected (continuous) to the connection surface 42a of the movable part 42. When the drive elements 31 and 32 expand and contract, a pressing force is applied to the + Y side or a pulling force to the -Y side with respect to the connection surface 41a and the connection surface 42a.

  In the connection portion 46 of the drive substrate DS, a through portion 40 is formed substantially in the center as viewed in the Z direction. The through portion 40 is an opening formed in a substantially circular shape when viewed in the Z direction, and is formed through the front and back of the drive substrate DS. The reduced diameter portion 12 of the rotation shaft SF is inserted into the through portion 40. In addition to the through portion 40, for example, openings 30A to 30D and an opening 35 are formed in the drive substrate DS.

  The openings 30A to 30D are respectively provided at the four corners of the drive substrate DS, and each is formed in a circular shape, for example. The connecting member CN is inserted into the openings 30A to 30D. One opening 35 is disposed, for example, at each of four corners of the drive substrate DS. For example, a substrate positioning member AL is inserted into each opening 35.

  Of the four openings 35, for example, the opening 35C and the opening 35D disposed at two corners on the + Y side have protrusions toward the opening 30C and the opening 30D, respectively. The opening 35C has a cut portion that reaches the −X side, and the opening 35D has a cut portion that reaches the + X side.

  For this reason, for example, the movable part 41 is supported by the support part 47 by the support part 43 between the opening part 35C and the opening part 30C. Similarly, the movable part 42 is supported by the support part 47 by the support part 44 between the opening part 35D and the opening part 30D. With this configuration, the movable portion 41 can rotate in the θZ direction around the support portion 43, and the movable portion 42 can rotate in the θZ direction around the support portion 44.

FIG. 6 is a plan view showing the configuration of the transmission board TS.
The transmission substrate TS is formed in a rectangular plate shape using a material such as stainless steel. The transmission substrate TS is formed with a through portion 10 substantially in the center as viewed in the Z direction. The through portion 10 is an opening formed in a substantially circular shape when viewed in the Z direction, and is formed through the front and back of the transmission board TS. An enlarged diameter portion 11 of the rotation shaft SF is inserted into the through portion 10. In addition to the through-hole 10, for example, openings 20 </ b> A to 20 </ b> D, a transmission part BT, connection parts 24 </ b> A and 24 </ b> B, and an opening 25 are formed in the transmission board TS.

  The openings 20A to 20D are respectively provided at the four corners of the transmission substrate TS, and each is formed in a circular shape, for example. The connecting member CN is inserted into the openings 20A to 20D. For example, the same connecting member CN is inserted into the opening 20A and the opening 30A of the drive substrate DS. The same connecting member CN is inserted into the opening 20B and the opening 30B of the drive substrate DS.

The transmission part (transmission member) BT has a belt part (transmission member) 23, a first end part (moving part) 21, and a second end part (moving part) 22.
The belt portion 23 is formed in, for example, a belt shape along the wall portion (inner peripheral portion) 10a formed by the penetrating portion 10 and has a thickness that can be elastically deformed, for example. The belt portion 23 is disposed so as to surround the rotation shaft SF inserted into the penetrating portion 10. In other words, the rotation shaft SF is inserted into a space surrounded by the belt portion 23 in the through portion 10. For example, the belt portion 23 can be hung on at least a part of a peripheral surface (eg, outer peripheral surface, inner peripheral surface) of the rotation shaft SF.

  The belt portion 23 is formed with a plurality of cut portions 23a. The notch 23a is formed in the outer peripheral surface (surface facing the inner peripheral part 10a) of the belt part 23 like the groove | channel which makes Z direction a longitudinal direction, for example. The cut portions 23a are formed, for example, at substantially equal intervals over the entire length (the entire circumference) of the belt portion 23 in the longitudinal direction (the direction along the inner peripheral portion 10a). The cut portion 23a promotes deformation or movement of the belt portion 23 in the circumferential direction of the rotation shaft SF.

The first end portion 21 of the belt portion 23 is connected to the opening portion 20A via a connection portion 24A. The connecting portion 24A extends in the + X direction with respect to the opening 20A, further extends in the + Y direction at a position on the −X side of the central portion in the X direction of the transmission substrate TS, and is connected to the first end portion 21. Yes.
The second end portion 22 of the belt portion 23 is connected to the opening portion 20B via the connection portion 24B.
The connecting portion 24B extends in the −X direction with respect to the opening 20B, and further extends in the + Y direction at a position on the + X side of the central portion in the X direction of the transmission board TS, and is connected to the second end portion 22. Yes.

  The first end portion 21 and the second end portion 22 are disposed with a reference position F on the outer periphery of the rotation axis SF interposed therebetween. In the present embodiment, for example, the end portion of the rotation axis SF in FIG. The openings 20A and 20B are provided at positions sandwiching the first end 21, the second end 22 and the reference position F, respectively. For this reason, the connecting member CN is connected to the transmission board TS at a position sandwiching the first end 21, the second end 22 and the reference position F.

  The openings 20C and 20D are formed to have a larger diameter than the openings 20A and 20B. For this reason, the connecting member CN inserted into the openings 20C and 20D can move within the openings 20C and 20D without applying a pressing force to the transmission board TS. For example, one opening 25 is arranged at each of four corners of the transmission board TS. For example, a substrate positioning member AL is inserted into each opening 25.

  In the driving substrate DS shown in FIG. 5, when the driving elements 31 and 32 are deformed in the extending direction, the + Y side ends of the driving elements 31 and 32 are moved to the + Y side, and the connection surfaces 41a and 42a are pressed in the + Y direction. The With this pressing force, the movable portion 41 rotates about the support portion 43 in the θZ direction (counterclockwise direction in FIG. 5), and the position of the opening 30A provided in the movable portion 41 moves in the + X direction. . Therefore, the connecting member CN inserted into the opening 30A moves in the + X direction. Further, the movable part 42 rotates about the support part 44 in the θZ direction (clockwise direction in FIG. 5), and the position of the opening 30B provided in the movable part 42 moves in the −X direction. Therefore, the connecting member CN inserted into the opening 30B moves in the −X direction.

  When the driving elements 31 and 32 are deformed in the contracting direction, the + Y side end portions of the driving elements 31 and 32 are moved to the −Y side, and the connection surfaces 41a and 42a are attracted in the −Y direction. Due to this attractive force, the movable portion 41 rotates about the support portion 43 in the θZ direction (clockwise direction in FIG. 5), and the position of the opening 30A provided in the movable portion 41 moves in the −X direction. To do. Therefore, the connecting member CN inserted into the opening 30A moves in the −X direction. Further, the movable part 42 rotates about the support part 44 in the θZ direction (counterclockwise direction in FIG. 5), and the position of the opening 30B provided in the movable part 42 moves in the + X direction. Therefore, the connecting member CN inserted into the opening 30B moves in the + X direction.

  In the transmission board TS shown in FIG. 6, for example, when the connecting member CN inserted into the opening 20A moves in the + X direction, the connecting portion 24A is pushed by the connecting member CN and moves in the + X direction. When the connecting portion 24A moves in the + X direction, the first end portion 21 moves in the + X direction along with the movement. When the connecting member CN inserted into the opening 20A moves in the −X direction, the connecting portion 24A is pulled by the connecting member CN and moves in the −X direction. When the connecting portion 24A moves in the −X direction, the first end portion 21 moves in the −X direction along with the movement.

For example, when the connecting member CN inserted into the opening 20B moves in the −X direction, the connecting portion 24B is pushed by the connecting member CN and moves in the −X direction. When the connecting portion 24B moves in the −X direction, the second end portion 22 moves in the −X direction along with the movement.
Further, when the connecting member CN inserted into the opening 20B moves in the + X direction, the connecting portion 24B is pulled by the connecting member CN and moves in the + X direction. When the connecting portion 24B moves in the + X direction, the second end portion 22 moves in the + X direction along with the movement.

  Therefore, for example, when the drive elements 31 and 32 extend together, the first end 21 and the second end 22 approach each other. For this reason, the belt portion 23 is wound around the rotation shaft SF (the enlarged diameter portion 11), and tension is applied to the belt portion 23. For example, when the drive elements 31 and 32 are both contracted, the first end 21 and the second end 22 are moved away. For this reason, the belt part 23 leaves | separates from the rotating shaft SF, and relaxes.

  The expansion and contraction of the drive elements 31 and 32 of the drive substrate DS is transmitted to the connection portions 24A and 24B of the transmission substrate TS via the movable portions 41 and 42 and the connecting member CN, and the first end portion 21 and the second end portion 22 are transmitted. It is transmitted to the belt portion 23 as a driving force to be moved. As described above, the drive board DS and the transmission board TS are coupled so that the driving force by the drive unit AC is transmitted to the transmission unit BT and acts.

  FIG. 7A is a diagram illustrating a partial configuration of the motor device MTR of the present embodiment. FIG. 7B is a diagram showing a configuration along a CC ′ section in FIG. 7A. In the present embodiment, as shown in FIG. 7A, two transmission boards TS are provided for one drive board DS, and the two transmission boards TS are arranged so as to sandwich the drive board DS in the Z-axis direction. It has become.

In this embodiment, for example, as shown in FIGS. 1, 2, and 7B, two sets of the drive board DS and the two transmission boards TS are provided, and the directions in the Y direction of each set are opposite. ing.
In addition, each set is arranged so as to be shifted in the Z-axis direction by the thickness (dimension in the Z-axis direction) of one transmission board TS or driving board DS. For this reason, the driving substrates DS of each set come into contact with each other, the transmission substrates TS arranged on the + Z side with respect to the driving substrate DS come into contact with each other, and the transmission arranged on the −Z side with respect to the driving substrate DS. The substrates TS are in contact with each other.
That is, a set of the driving board DS and the two transmission boards TS and a set of another driving board DS and the two transmission boards TS interpolate (fill) the gap of the thickness of one board described above. To be arranged.

  In this case, as shown in FIG. 7B, the connecting member CN passing through the openings 20A and 30A in one set passes through the openings 20C and 30C in the other set. Similarly, the connecting member CN passing through the openings 20B and 30B in one set passes through the openings 20D and 30D in the other set. In the configuration of the present embodiment, the openings 20C and 30C and the openings 20D and 30D are formed to have larger diameters than the openings 20A and 30A and the openings 20B and 30B, respectively. It is provided to be movable inside. For this reason, drive operations in different groups do not interfere with each other.

Next, the driving operation of the rotating shaft SF will be described.
In the motor device MTR according to the present embodiment, the principle of driving the rotation shaft SF will be described. When driving the rotating shaft SF, an effective tension is generated in the transmission portion BT wound around the rotating shaft SF, and torque is transmitted to the rotating shaft SF by the effective tension.

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 rotation shaft 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 rotation shaft SF, and the transmission unit BT moves together with the rotation shaft SF in a state where the slip does not occur with respect to the rotation shaft SF (rotation force transmission state). By this movement, torque is transmitted to the rotating shaft SF. However, in [Equation 1], μ is an apparent friction coefficient between the transmission unit BT and the rotation shaft 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 rotating shaft 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 rotation shaft SF and the effective winding angle θ of the transmission part BT, respectively. FIG. 8 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. 8, 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 rotating shaft SF. I understand that. In addition to the winding angle, it is estimated from the graph of FIG. 8 that, for example, the value of the coefficient portion increases as the friction coefficient between the transmission unit BT and the rotation shaft 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, for example, the magnitude of the torque is substantially unrelated to 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. 9, the control device (control unit) CONT first has the first end portion (moving portion) 21 in the + X direction and the second end portion (moving portion) 22 The drive element 31 and the drive element 32 are deformed so as to move in the −X direction. By this operation, a tension T1 is generated on the first end (moving part) 21 side of the transmission part (transmission member) BT, and on the second end (moving part) 22 side of the transmission part (transmission member) BT. A tension T2 is generated. Therefore, an effective tension (T1-T2) is generated in the transmission part BT.

  The control device CONT maintains the state in which the effective tension is generated in the transmission unit BT, and the second end 21 of the transmission unit BT moves in the + X direction as shown in FIG. The drive element 31 and the drive element 32 are deformed so that the end 22 moves in the + X direction (drive operation). In this operation, the control device CONT makes the moving distance of the first end 21 equal to the moving distance of the second end 22. By this operation, the transmission unit BT moves in a state where a frictional force is generated between the transmission unit BT and the rotation shaft SF, and the rotation shaft SF rotates in the θZ direction along with the movement.

  In the present embodiment, the friction coefficient μ between the transmission unit BT and the rotation shaft SF is, for example, 0.3, and the transmission unit BT is substantially wound around the rotation shaft SF by one rotation (360 °). Therefore, referring to the graph of FIG. 8, a force of about 85% of the tension T1 of the drive element 31 is transmitted to the rotating shaft SF as torque.

  The controller CONT moves the first end 21 and the second end 22 by a predetermined distance, and then returns the first end 21 to the drive start position (predetermined position) as shown in FIG. And only the drive element 31 is deformed so that the second end 22 does not move. By this operation, the first end portion 21 moves in the −X direction, and the winding of the transmission portion BT becomes loose. That is, the effective tension applied to the transmission part BT is released. In this state, no frictional force is generated between the transmission unit BT and the rotation shaft SF, and the rotation shaft SF continues to rotate due to inertia.

  After loosening the winding of the transmission portion BT, the control device CONT deforms the drive element 32 so that the second end portion 22 returns to the drive start position (predetermined position) as shown in FIG. By this operation, the second end portion 22 of the transmission unit BT returns to the drive start position (predetermined position) while the winding of the transmission unit BT is loose, that is, no effective tension is generated (return operation). .

  Immediately before the second end 22 is returned to the drive start position, the control device CONT deforms the drive element 31 and moves the first end 21 in the + X direction. By this operation, the tension T1 is generated on the first end 21 side and the tension T2 is generated on the second end 22 side substantially simultaneously with the return of the second end 22 to the driving start position. Thereby, it will be in the state similar to the state (state of FIG. 9) which applied 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 device 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 in the + X direction. The drive element 32 is deformed so as to move (drive operation). At this time, the moving distance of the first end 21 and the moving distance of the second end 22 are made equal. By this operation, the transmission unit BT moves in a state where a frictional force is generated between the transmission unit BT and the rotation shaft SF, and the rotation shaft SF rotates in the θZ direction along with the movement.

  Thereafter, the control device CONT releases the effective tension added to the transmission unit BT again. After the effective tension is released as shown in FIG. 11, the control device CONT moves the first end 21 and the second end 22 of the transmission part BT so as to return to the start position (return operation). In this way, the control device CONT causes the drive unit AC to repeatedly perform the drive operation and the return operation, so that the rotation shaft SF continues to rotate in the θZ direction.

  FIGS. 13A and 13B are diagrams illustrating a state in which the support portion 61 is elastically deformed in a state where the rotation shaft SF is mounted on the bearing substrate HS with the rolling member 15 interposed therebetween. When performing the above-described driving operation, as shown in FIG. 13A, the support portion 61 is elastically deformed so that the first portion 61a and the second portion 61b open outward in the radial direction of the rotation shaft SF.

For example, in the present embodiment, since the first cutout portion 57, the second opening portion 52, and the third opening portion 53 are provided in the support portion 61, the support portion 61 includes the first cutout portion 57, the first cutout portion 57, and the second cutout portion 57. The second opening 52 and the third opening 53 are deformed substantially in a triangular shape with the apexes as the apexes. Thus, the elastic force in the radial direction is generated from the support portion 61 to the center of the rotation shaft SF through the rolling member 15 by elastically deforming the support portion 61 that holds the rotation shaft SF. This elastic force can suppress the formation of a gap between the support portion 61 and the rolling member 15 and the rotation shaft SF. In addition, the said elastic force can be adjusted by adjusting the positional relationship of the 1st part 61a and the 2nd part 61b with the volt | bolt member BL.
As shown in FIG. 13B, in the configuration of the present embodiment, the first portion 61a and the second portion 61b are in a state where at least a portion thereof overlaps when viewed in the Z-axis direction. Therefore, even when the rolling member 15 moves in the discontinuous portion 57a, the rolling member 15 has at least one of the surface including the first portion 61a and the surface including the second portion 61b in the facing surface 50a. It is the structure which contacts. Further, since the discontinuous portion 57a is formed in an oblique direction (a direction inclined with respect to the rotation axis of the rotation axis SF) in the Y direction, following the outer peripheral surface SFa of the rotation axis SF, the rolling member 15 is There is substantially no entry into the first notch 57, and the formation of a gap between the support 61 and the rolling member 15 and the rotation shaft SF is reduced.
In the present embodiment, at least a part of the at least one discontinuous portion 57a is formed in a direction different from the axial direction of the rotation axis SF, and therefore the rotation axis SF between the bearing and the rotation axis SF. The relative fluctuation in the radial direction can be reduced.
In the present embodiment, since at least a part of the at least one discontinuous portion 57a is formed in a direction different from the axial direction of the rotation axis SF, the smooth rotation of the rotation axis SF is not hindered. The rotation shaft SF can be rotatably supported.

  Further, as shown in FIGS. 13A and 13B, the bearing in the present embodiment is formed by opposing the portion of the first portion 61 a that faces the second portion 61 b by deforming the support portion 61 into a substantially triangular shape. Since the end portion 61ae on the side of the surface 50a is not in contact with the rolling member 15, the rotation shaft SF can be rotatably supported without hindering smooth rotation of the rotation shaft SF. Similarly, in the bearing in the present embodiment, the end portion 61be on the facing surface 50a side of the portion facing the first portion 61a in the second portion 61b is formed by deforming the support portion 61 into a substantially triangular shape. Since it becomes the structure which does not contact the rolling member 15, the said rotating shaft SF can be supported rotatably, without preventing the smoothness of rotation of rotating shaft SF.

  As described above, the bearing according to the present embodiment is configured so that the rolling member 15 does not enter the first cutout portion 57 when the rolling member 15 passes through the first cutout portion 57. The rolling member 15 can be smoothly moved via the surface including the first portion 61a and the surface including the second portion 61b. For this reason, the rotating shaft SF can be rotatably supported without hindering smooth rotation of the rotating shaft SF. Further, as described above, the bearing in the present embodiment can reduce the rotational resistance of the rotating shaft SF, and can increase the radial rigidity of the rotating shaft SF. In the bearing of the present embodiment, the number of the discontinuous portions 57a, the first cutout portions 57, and the second cutout portions 54 described above is an arbitrary number (eg, one or more). It doesn't matter. In addition, the bearing in the present embodiment may have a configuration including a plurality of adjusting portions AD as described above.

Next, a method for manufacturing the motor device MTR will be described.
When manufacturing the motor device MTR, first, the transmission substrates TS, the drive substrates DS, and the bearing substrates HS are formed. For example, as shown in FIG. 14, a plurality of substrates S are stacked, and the plurality of substrates S are collectively cut and formed. For example, a voltage is applied to a metal linear member L such as a wire to be discharged, and a plurality of substrates S are cut like a saw while moving the wire and the substrates S relative to each other. . This cutting process is performed for each of the formation of the transmission substrate TS, the formation of the drive substrate DS, and the formation of the bearing substrate HS, for example. In addition, since the 1st opening part 51 which has a longitudinal direction in the X direction is formed in the bearing board | substrate HS, it becomes useful when letting the linear member L pass.

  In addition to the above, a mold for the transmission substrate TS, the drive substrate DS, and the bearing substrate HS may be prepared and formed by casting. Moreover, you may make it form by extrusion molding using the pressing die of the transmission board | substrate TS, the drive board | substrate DS, and the bearing board | substrate HS. Further, the transmission substrate TS, the drive substrate DS, and the bearing substrate HS may be formed by patterning using a photolithography method. After forming the transmission substrate TS, the drive substrate DS, and the bearing substrate HS, the drive unit AC is attached to the drive base portion 45 of the drive substrate DS, the transmission substrate TS and the drive substrate DS are connected as described above, and the bearing substrate HS. Is connected to complete the motor device MTR.

  As described above, according to the present embodiment, the discontinuous portion 57a is formed on the first cutout portion 57 and a part of the facing surface 50a, which has the facing surface 50a facing the outer peripheral surface SFa of the rotation shaft SF. A plurality of rolling members 15 sandwiched between the support portion 61, the outer peripheral surface SFa, and the opposing surface 50a and arranged in parallel to the rotation axis SF, and at least a part of the support portion 61 is elastically deformed toward the outer peripheral surface SFa. As described above, since the support member 61 includes the bolt member BL that adjusts the positional relationship between the first portion 61a and the second portion 61b that are disposed with the first notch 57 interposed therebetween, the rotation shaft SF is provided. The support portion 61 can be elastically deformed in a state in which is held.

  For this reason, the elastic force in the radial direction can be generated from the support portion 61 through the rolling member 15 toward the center of the rotation axis SF. This elastic force can suppress the formation of a gap between the support portion 61 and the rolling member 15 and the rotation shaft SF. Thereby, even if it is a small structure, it becomes possible to suppress the relative fluctuation | variation of the radial direction of the said rotating shaft SF between the bearing board | substrate HS and the rotating shaft SF.

  In addition, according to the present embodiment, the driving substrate DS and the transmission substrate TS that rotationally drive the rotation shaft SF, and the bearing substrate HS that rotatably supports the rotation shaft SF are provided, and the transmission substrate TS is an outer periphery of the rotation shaft SF. A transmission unit BT hung on at least a part of the surface SFa, a drive substrate DS having a drive unit AC connected to the transmission unit BT and moving the transmission unit BT, the rotation shaft SF and the transmission unit BT; A control device CONT for causing the drive unit AC to perform a drive operation for moving the transmission unit BT by a certain distance with a rotation force transmission state between them and a return operation for returning the transmission unit BT to a predetermined position in a state in which the transmission state of the rotational force is eliminated Furthermore, since it is provided, it is possible to provide a high-performance and small motor device MTR in which vibration in the radial direction of the rotation shaft SF is suppressed.

[Second Embodiment]
Next, a second embodiment of the present invention will be described.
FIG. 15 is a diagram illustrating a configuration of a part (tip of a finger portion) of a robot apparatus RBT including the motor apparatus MTR described in the first embodiment.

  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.

  As described above, 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 101 can be directly rotated even in a configuration that does not use a speed reducer. Can do. Furthermore, in this embodiment, since the drive device ACT has a configuration in which vibrations in the radial direction of the rotating shaft are suppressed, stable operation is possible.

The technical scope of the present invention is not limited to the above-described embodiment, and appropriate modifications can be made without departing from the spirit of the present invention.
For example, in addition to the above configuration, as illustrated in FIG. 16, a configuration may be provided in which a movement restricting unit 80 that restricts the movement of the rotation axis SF in the Z direction is provided. Further, for example, the movement restricting portions 80 and 81 may be arranged at positions where the bearing substrate HS is sandwiched in the Z direction.

Further, as the motor device MTR, a transmission member that is hung on at least a part of the peripheral surface of the rotation shaft SF, a drive element that is connected to the transmission member and moves the transmission member, and between the rotation shaft SF and the transmission member. And a control unit that causes the drive element to perform a drive operation for moving the transmission member by a certain distance as the rotational force transmission state and a return operation for returning the transmission member to a predetermined position in a state in which the rotational force transmission state is canceled. The configuration is not limited to the above, and a different configuration may be used.
In addition, the rotation axis SF in the present embodiment may have a hollow configuration such as a cylindrical shape or a solid (non-hollow structure) such as a columnar shape. . In addition, when the rotor SF is formed in a hollow shape, the rotation shaft SF in the present embodiment has a configuration in which both ends in the axial direction of the rotor SF are penetrated, for example, the rotor SF is formed in a cylindrical shape. You can also
In addition, for example, the rotational axis SF in the present embodiment may be configured such that both ends of the rotor SF in the axial direction are not penetrated and only one of them is opened. The rotating shaft SF in the present embodiment may be configured such that both ends in the axial direction of the rotor SF are closed.
In addition, the rotation shaft SF in the present embodiment may be configured to have a hollow inside while appropriately arranging a partition or the like inside the rotor SF.
Further, the rotation shaft SF in the present embodiment may be configured to form a groove on the peripheral surface of the rotor SF.
For example, when the rotor SF is formed hollow, the rotation shaft SF in the present embodiment is provided with a plurality of holes in the groove 71 formed on the surface of the rotor SF, and the inside and outside of the rotor SF are A configuration in which the holes communicate with each other may be used.
In addition, for example, in the case of the configuration in which the rotation shaft SF is formed hollow, the motor device MTR in the present embodiment is configured such that the above-described facing surface 50a is disposed facing the inner peripheral surface of the rotation shaft SF. Also good. In such a case, for example, the rolling member 15 of the present embodiment is disposed between the above-described inner peripheral surface and an opposing surface that faces the inner peripheral surface.

Further, the bearing substrate (bearing) HS in this embodiment includes at least one discontinuous portion 57a. Here, in this embodiment, the contact area with respect to the opposing surface 50a of the rolling member 15 in this discontinuous part 57a is 50 with respect to the contact area with respect to the opposing surface 50a of the rolling member 15 other than this discontinuous part 57a. % Or more, or 90% or more. However, the ratio of the contact area may be changed depending on the width of the facing surface 50a and the width and shape of the discontinuous portion 57a.
For example, the width of the opposing surface 50a (eg, the width in the Z direction in FIG. 4) is 8 mm, the width of the discontinuous portion 57a (eg, the width in the X direction in FIG. 4) is 0.5 mm, and the axis of the rolling member 15 When the angle of the discontinuous portion 57a with respect to the direction is θ, the angle θ of the discontinuous portion 57a formed on the facing surface 50a is (0.5 / sin θ) / when the ratio of the contact area is 50% or more. From 8 = 50%, it becomes about 7 ° or more. Further, when the ratio of the contact area is 90% or more, the angle θ of the discontinuous portion 57a formed on the facing surface 50a is about 39 ° or more. However, considering the ease of processing the discontinuous portion 57a, the angle θ of the discontinuous portion 57a may be 2 ° or more. In consideration of the processing accuracy of the discontinuous portion 57a, the angle θ of the discontinuous portion 57a may be 10 ° or more and 60 ° or less.
As described above, in the present embodiment, the angle θ of the discontinuous portion 57a is configured to be 2 ° to 60 °, 7 ° to 60 °, or 39 ° to 60 °. However, the upper limit value of the angle θ of the discontinuous portion 57a is not limited to 60 ° or less, but may be equal to or less than an angle that does not cover the entire circumference of the facing surface 50a.
In addition, at least a part of the discontinuous portion 57a in the present embodiment may be formed in a direction different from the axial direction of the rotation axis SF.
For example, the area of at least a part of the discontinuous portion 57a formed in a direction different from the axial direction of the rotation axis SF is 50% or more, or 90% or more with respect to the entire area of the discontinuous portion 57a. May be. At this time, the angle θ of at least a part of the discontinuous portion 57a with respect to the rolling member 15 is not particularly limited, and may be 90 °, for example.

  Moreover, if the discontinuous part 57a in this embodiment has the shape of the discontinuous part 57a which satisfy | fills the ratio of the said contact area, in the direction view orthogonal to the axial direction of rotating shaft SF, it is single. It may not be a straight line segment. Further, for example, if the discontinuous portion 57a in the present embodiment has a shape that can smoothly change the force (for example, pressure) applied in the radial direction of the rotation axis SF on the facing surface 50a, the discontinuous portion 57a rotates. When viewed in a direction orthogonal to the axial direction of the axis SF, it may not be a single straight line segment. 17A to 17O show modified examples of the shape of the discontinuous portion (open end of the slit) 57a. Here, the mirror images of FIGS. 17A to 17O can also be included in the modification of the discontinuous portion 57a.

For example, the discontinuous portion (open end of the slit) 57a is perpendicular to the axial direction of the rotational axis SF (for example, viewed in the Y direction) (for example, viewed in the Y direction). , A shape extending in the X direction (third shape FE3) may be included (for example, FIGS. 17A to 17C), and a curved shape (fourth shape FE4) may be included (for example, FIGS. 17H and 17I). ).
In addition, for example, the discontinuous portion (open end of the slit) 57a has a shape parallel to the axial direction of the rotation axis SF in a direction orthogonal to the axial direction of the rotation axis SF (for example, viewed in the Y direction). (First shape FE1), a shape including at least two of the shape inclined with respect to the axial direction of the rotation axis SF (second shape FE2), the third shape (FE3), and the fourth shape (FE3). (For example, FIGS. 17D, 17E, and 17M).
Further, for example, the discontinuous portion (open end of the slit) 57a is in the second shape FE2, the third shape FE3, in a direction view (for example, in the Y direction view) orthogonal to the axial direction of the rotation axis SF, In addition, it may have a shape including at least one of the fourth shapes FE4 and the first shape FE1 (for example, FIGS. 17J and 17L).

  For example, even if the first end SE1 and the second end SE2 that are both ends of the discontinuous portion (open end of the slit) 57a in the axial direction of the rotation axis SF are at the same position in the circumferential direction of the rotation axis SF. Well (for example, FIG. 17A), it may be in a position shifted from each other in the circumferential direction of the rotation axis SF (for example, FIG. 17B).

The discontinuous portion 57a in the present embodiment has a staircase shape (for example, FIGS. 17B and 17C) having at least one step when viewed in a direction orthogonal to the axial direction of the rotation axis SF (for example, viewed in the Y direction), zigzag (For example, FIG. 17G) or a comb shape (FIG. 17A) having at least one unevenness in the X direction.
The discontinuous portion 57a in the present embodiment may be formed in a staircase shape (for example, FIG. 17N) constituted by a plurality of arcs (curves) or a comb shape (for example, FIG. 17O).

  At least one discontinuous portion (open end of the slit) 57a in the present embodiment has a shape including at least one of the second shape FE2, the third shape FE3, and the fourth shape FE4 and the first shape FE1. The length of the first shape FE1 along the axial direction of the rotation axis SF is shorter than that of the rolling member (rolling portion) 15.

  The bearing in the present embodiment includes a rotary shaft support portion (support portion 61) having a first surface (opposing surface 50a) disposed in the vicinity of the peripheral surface SFa of the rotary shaft SF, and the peripheral surface SFa and the first surface (opposite surface). A plurality of rolling members (rolling portions) 15 disposed between the first surface (opposing surface 50a) and at least one discontinuous portion (open end of the slit) 57a. The at least one discontinuous portion (open end of the slit) 57a is parallel to the axial direction of the rotation axis SF in a direction perpendicular to the axial direction of the rotation axis SF (for example, viewed in the Y direction). 1 shape SE1 and a shape including a shape non-parallel to the axial direction of the rotation axis SF (the second shape FE2, the third shape FE3, or the fourth shape FE4 described above), and the axis of the rotation axis SF The length of the first shape FE1 along the direction is that of the rolling member (rolling portion) 15. Shorter than.

Further, the gap region (slit) 57 in the present embodiment is a single plane parallel to the radial direction of the rotation axis SF when viewed in the Z direction, but does not hinder the elastic deformation of the support portion 61 and the above contact. The shape of the gap region 57 is not limited as long as the shape of the discontinuous portion 57a satisfies the area ratio.
For example, the gap region (slit) 57 in the present embodiment may be a plane inclined from the radial direction of the rotation axis SF when viewed in the Z direction, or a plane obtained by twisting a single plane around the Y axis. , May have a plurality of surfaces, and at least a part may be a curved surface.

  In addition to the driving substrate DS and the transmission substrate TS, other types of motor devices such as an electric motor and an ultrasonic motor may be used as the driving unit described above.

  In the above embodiment, the configuration in which the rolling member 15 is provided independently in the circumferential direction of the rotation shaft SF has been described as an example. However, the present invention is not limited to this. For example, the plurality of rolling members 15 in the above embodiment may have a configuration including a rolling unit such as a needle cage that does not change the relative position between the plurality of rolling members 15.

MTR ... Motor device CONT ... Control device SF ... Rotating shaft TS ... Transmission substrate DS ... Drive substrate HS ... Bearing substrate SFa ... Outer peripheral surface BL ... Bolt member RBT ... Robot device ACT ... Drive device 15 ... Rolling member (rolling part) DESCRIPTION OF SYMBOLS 50 ... Center opening part 50a ... Opposite surface (1st surface) 51 ... 1st opening part 52 ... 2nd opening part 53 ... 3rd opening part 54 ... 2nd notch part 55 ... 1st groove part 56 ... 2nd groove part 57 ... first cutout portion 57a ... discontinuous portion (open end of slit) 58 ... bolt insertion portion 61 ... support portion (rotating shaft support portion) 61a ... first portion 61b ... second portion 80, 81 ... movement restricting portion

Claims (25)

A support portion having a first surface disposed in the vicinity of the peripheral surface of the rotation shaft;
A plurality of rolling portions disposed between the peripheral surface and the first surface;
With
The support part has a slit having an open end formed in the first surface,
The open end has a shape that is non-parallel to the axial direction when viewed in a direction orthogonal to the axial direction of the rotating shaft.
A bearing characterized by that. The open end has a shape that is inclined with respect to the axial direction when viewed in a direction orthogonal to the axial direction.
The bearing according to claim 1. The first surface is parallel to the peripheral surface.
The bearing according to claim 1 or 2, wherein An adjustment unit for adjusting the gap of the slit;
The bearing according to any one of claims 1 to 3, wherein the bearing is provided. The adjustment unit includes a fastening member that tightens the support unit with respect to the rotation shaft through the slit.
The bearing according to claim 4. The support portion has a second surface on which another open end of the slit is formed.
The bearing according to any one of claims 1 to 5, wherein the bearing is provided. The support portion has a gap region that leads to a space that the second surface faces.
The bearing according to claim 6. The gap region has a shape that at least partially surrounds the rotating shaft,
The bearing according to any one of claims 1 to 7, wherein the bearing is provided. The rolling part has a rotation axis parallel to the axial direction of the rotation axis.
The bearing according to any one of claims 1 to 8, wherein the bearing is provided. The open end has a shape orthogonal to the axial direction when viewed in a direction orthogonal to the axial direction of the rotating shaft.
The bearing according to any one of claims 1 to 9, wherein the bearing is provided. The open end has a curved shape when viewed in a direction orthogonal to the axial direction of the rotating shaft.
The bearing according to any one of claims 1 to 10, wherein: The open end has a first shape that is parallel to the axial direction, a second shape that is inclined with respect to the axial direction, and a direction that is inclined with respect to the axial direction when viewed in a direction orthogonal to the axial direction of the rotating shaft. Having a shape including at least two of a third shape orthogonal and a fourth shape curved;
The bearing according to any one of claims 1 to 11, wherein the bearing is provided. The open end has a shape including at least one of the second shape, the third shape, and the fourth shape, and the first shape,
The length of the first shape along the axial direction of the rotating shaft is shorter than that of the rolling part,
The bearing according to claim 12. The open end has a first end and a second end that are both ends of the slit in the axial direction of the rotating shaft,
The first end and the second end have the same position in the circumferential direction,
The bearing according to any one of claims 1 to 13, wherein the bearing is provided. The open end has a first end and a second end that are both ends of the slit in the axial direction of the rotating shaft,
The first end and the second end have positions shifted from each other in the circumferential direction.
The bearing according to any one of claims 1 to 13, wherein the bearing is provided. The slit has another open end having at least one of a linear shape and a non-linear shape when viewed in the axial direction of the rotating shaft.
The bearing according to any one of claims 1 to 15, wherein the bearing is any one of the above. The plurality of rolling portions are arranged over one circumference of the peripheral surface,
The bearing according to any one of Claims 1 to 16, wherein: The support part is at least a part of a plate-shaped member.
The bearing according to any one of claims 1 to 17, wherein the bearing is provided. A movement restricting portion for restricting movement of the support portion in the axial direction of the rotating shaft;
The bearing according to any one of claims 1 to 18, wherein the bearing is one of the following. The rolling part contacts both the peripheral surface and the facing surface.
The bearing according to any one of Claims 1 to 19, wherein: A support portion having a first surface disposed in the vicinity of the peripheral surface of the rotation shaft;
A plurality of rolling portions disposed between the peripheral surface and the first surface;
With
The support part has a slit having an open end formed in the first surface,
The open end has a first end and a second end that are both ends of the slit in the axial direction of the rotating shaft,
The first end and the second end have positions shifted from each other in the circumferential direction.
A bearing characterized by that. A support portion having a first surface disposed in the vicinity of the peripheral surface of the rotation shaft;
A plurality of rolling portions disposed between the peripheral surface and the first surface;
With
The support part has a slit having an open end formed in the first surface,
The open end has a shape including a first shape parallel to the axial direction and a second shape non-parallel to the axial direction when viewed in a direction orthogonal to the axial direction of the rotating shaft. ,
The length of the first shape along the axial direction of the rotating shaft is shorter than that of the rolling part,
A bearing characterized by that. A drive unit for rotationally driving the rotary shaft;
A bearing that rotatably supports the rotating shaft,
The motor device according to any one of claims 1 to 22, wherein the bearing is used as the bearing. The drive unit includes a transmission member that is hung on at least a part of a peripheral surface of the rotation shaft, and a drive element that is connected to the transmission member and moves the transmission member.
A driving operation in which the transmission member is moved a certain distance with the rotational shaft and the transmission member being in a rotational force transmission state, and a return operation in which the transmission member is returned to a predetermined position with the rotational force transmission state being canceled. The motor device according to claim 23, further comprising a control unit that causes the drive element to perform. A rotating shaft member;
A motor device for rotating the rotating shaft member,
25. A robot apparatus in which the motor apparatus according to claim 23 or 24 is used as the motor apparatus.

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