JP2012200050A - Motor device and robot apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a motor device and a robot apparatus that can output high torque.SOLUTION: The motor device includes: a rotatably provided rotor; a driving vibration section that has a first vibration section capable of linear vibration and converts a vibration direction of the first vibration section to an axial direction of the rotor to generate a torsional vibration; a transmitting vibration section that has a second vibration section capable of vibration in a predetermined direction and switches between a torque transmission state and a torque transmission cancel state between the rotor and the driving vibration section by way of vibration of the second vibration section; and a control section for controlling the first vibration section and the second vibration section such that the torsional vibration is transmitted to the rotor.

Description

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

  For example, as a motor device such as an ultrasonic motor, a composite vibration type ultrasonic motor device combining a longitudinal vibration mode and a torsional vibration mode is known (for example, see Patent Document 1). In this motor device, a stator having a power source vibrator (torsional vibrator) and a power transmission vibrator (longitudinal vibrator), and a rotor for extracting rotational output are in contact via a friction surface. It has become.

  Further, for example, in order to increase the output torque of the motor device, it is necessary to increase the frictional force, and it is preferable to use a material having a friction coefficient as large as possible for the friction surface. On the other hand, a material having a large coefficient of friction has a problem that the wear is great and the life of the motor is shortened. Therefore, a technique has been proposed in which a large torque is achieved by increasing the spring force for pressurizing the friction surface.

JP-A-5-22965

  However, in order to generate the frictional force intermittently, the inertial force determined by the product of the mass of the rotor and the longitudinal vibration acceleration needs to exceed the pressure applied by the spring. In order to satisfy these conditions, it is necessary to enlarge the longitudinal vibrator and make the rotor heavier, so that there is a problem that the entire motor becomes large.

  In view of the circumstances as described above, an object of the present invention is to provide a motor device and a robot device capable of outputting high torque.

  According to the first aspect of the present invention, the rotor includes a rotatable rotor and a first vibrating portion that vibrates in a linear direction, and the vibration direction of the first vibrating portion is a direction around the axis of the rotor. A driving vibration unit that generates torsional vibration by converting to a second vibration unit that vibrates in a predetermined direction, and a rotational force transmission state between the rotor and the driving vibration unit by vibration of the second vibration unit; A motor device is provided that includes a transmission vibration unit that switches a rotational force transmission state release, and a control unit that controls the first vibration unit and the second vibration unit so that torsional vibration is transmitted to the rotor.

  According to the second aspect of the present invention, a shaft member provided rotatably and a motor device that rotates the shaft member are provided, and the motor device according to the first aspect of the present invention is used as the motor device. The robot apparatus characterized by being provided is provided.

  According to the aspect of the present invention, it is possible to provide a motor device and a robot device capable of outputting high torque.

The figure which shows the structure of the motor apparatus which concerns on 1st embodiment of this invention. The figure which shows the structure of the drive vibration part which concerns on this embodiment. The figure which shows the mode of a vibration of the drive vibration part which concerns on this embodiment. The graph which shows the electrical signal supplied to the vibration part for a drive from the control part, and the vibration part for a transmission. The figure which shows the structure of the motor apparatus which concerns on 2nd embodiment of this invention. The figure which shows the structure of the drive vibration part which concerns on this embodiment. The figure which shows the mode of a vibration of the drive vibration part which concerns on this embodiment. The figure which shows the structure of the motor apparatus which concerns on 3rd embodiment of this invention. The figure which shows the structure of a part of motor apparatus which concerns on this embodiment. The 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 figure which shows the structure of the drive vibration part which concerns on this embodiment. The figure which shows the structure of a part of drive vibration part which concerns on this embodiment. The figure which shows the structure of a part of drive vibration part which concerns on this embodiment. The figure which shows the structure of a part of drive vibration part which concerns on this embodiment. The figure which shows the structure of a part of drive vibration part which concerns on this embodiment. The figure which shows the structure of a part of robot apparatus which concerns on 4th embodiment of this invention.

  Hereinafter, although 1st Embodiment of the motor apparatus which concerns on this invention is described, referring drawings, this invention is not limited to this. In the following description, 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. In the present embodiment, the rotation axis direction of the motor device (and the direction parallel to the rotation axis direction) is the Z-axis direction, the predetermined direction in the horizontal plane orthogonal to the Z-axis direction is the X-axis direction, and the X-axis in the horizontal plane A direction orthogonal to the direction is defined as a Y-axis direction. The rotation direction of the motor device, that is, the rotation direction around the Z axis is defined as the θZ direction.

FIG. 1 is a perspective view illustrating a configuration of a motor device 100 according to the present embodiment.
As illustrated in FIG. 1, the motor device 100 includes a rotor 2, a driving vibration unit 3, a transmission vibration unit 4, a holding unit 5, and a control unit CONT. In the motor device 100, the rotor 2, the driving vibration unit 3, and the transmission vibration unit 4 are held by the holding unit 5 in a line in the Z direction. The rotor 2 and the driving vibration unit 3 are each formed in a cylindrical shape.

  The rotor 2 is disposed substantially at the center in the Z direction of the motor device 100, and is formed in an annular shape in plan view. A gear 2 a is formed on the outer peripheral surface of the rotor 2. The gear 2a is connected to an external mechanism.

  The transmission vibration part 4 is disposed on the −Z side of the rotor 2. Each of the transmission vibration parts 4 has one or a plurality of (for example, stacked) longitudinal vibration elements 41. As the longitudinal vibration element 41, an electromechanical conversion element that vibrates when a voltage is applied is used. The longitudinal vibration element 41 is formed so as to vibrate in the rotation axis direction (Z direction) of the rotor 2.

  The surface on the −Z side of the transmission vibration portion 4 is bonded to the surface on the + Z side (vibration surface 3a) of the driving vibration portion 3 via an adhesive (not shown), for example. Further, the surface on the + Z side of the transmission vibration part 4 is bonded to a friction plate (first insertion member) 6 via an adhesive (not shown). Therefore, the transmission vibration part 4 is formed integrally with the drive vibration part 3 and the friction plate 6. The friction plate 6 is formed in a cylindrical shape and is in contact with the surface on the −Z side of the rotor 2.

  The holding part 5 includes a base 50, a head part 51, a shaft part 52, and a pressing part (pressing mechanism) 53. The base 50 is formed in a plate shape whose outer shape is rectangular. The shaft portion 52 is fixed to the base 50, and the outer shape is formed in a bolt shape. The head portion 51 has an outer shape formed in a nut shape and is screwed to the shaft portion 52. The head portion 51 is disposed at the end portion on the + Z side of the shaft portion 52 and supports the rotor 2 from the + Z side. The shaft portion 52 is provided from the base 50 to the head portion 51 so as to penetrate the driving vibration portion 3, the transmission vibration portion 4, the friction plate 6, and the rotor 2 in the + Z direction.

  The pressing portion 53 is disposed between the head portion 51 and the rotor 2. The pressing unit 53 applies a force in the −Z direction from the head unit 51 to the rotor 2. By pressing the rotor 2 to the −Z side by the pressing portion 53, the frictional force generated between the −Z side surface of the rotor 2 and the + Z side surface of the friction plate 6 can be increased. ing.

The drive vibration unit 3 includes a drive substrate 30 disposed on the base 50.
FIG. 2 is a cross-sectional view illustrating the configuration of the driving vibration unit 3.
As shown in FIG. 2, the drive substrate 30 is formed in a rectangular shape when viewed in the Z direction. A circular through hole 30a is formed in the center of the drive substrate 30 in the XY direction when viewed in the Z direction. A shaft portion 52 is disposed in the through hole 30a. Therefore, the center in the XY direction of the drive substrate 30 is provided on the central axis of rotation of the rotor 2. The through hole 30 a is formed so as to have a diameter substantially equal to the diameter of the shaft portion 52. Further, the inner peripheral surface of the through hole 30a and the outer peripheral surface of the shaft portion 52 are formed as smooth surfaces so that friction is suppressed.

  A first vibration part, conversion parts 37 and 38, and a movable part 39 are formed on the drive substrate 30. In addition, the first vibration unit in the present embodiment includes a vibration unit 31 and a vibration unit 32. The vibration part 31 is disposed at one corner of the drive substrate 30, and the vibration part 32 is disposed at a corner opposite to the one corner. The drive substrate 30 is provided with a base portion 30b. The vibration unit 31, the vibration unit 32, the conversion unit 37, the conversion unit 38, the movable unit 39, and the base unit 30b are separated by gaps 30c and 30d.

  The vibration unit 31 includes a torsional vibration element 33 and a housing 35. The torsional vibration element 33 is accommodated in the housing 35. The torsional vibration element 33 is formed so as to vibrate parallel to a linear direction (eg, X direction). As the torsional vibration element 33, an electromechanical conversion element that vibrates when a voltage is applied between the electrode 33a and the electrode 33b (for example, a piezoelectric element such as a piezoelectric element) is used. As the torsional vibration element 33, for example, a sliding mode piezoelectric element is used.

  The vibration part 32 includes a torsional vibration element 34 and a housing 36. The torsional vibration element 34 is accommodated in the housing 36. The torsional vibration element 34 is formed to vibrate parallel to the X direction. The torsional vibration element 34 is the same element as the torsional vibration element 33, that is, an electromechanical conversion element that vibrates when a voltage is applied between the electrode 34a and the electrode 34b (for example, a piezoelectric element such as a piezoelectric element). Etc.) are used.

  The vibration part 31 and the vibration part 32 are arranged at positions that are axially symmetric with respect to the center part of the through hole 30 a of the drive substrate 30. Therefore, the vibration part 31 and the vibration part 32 are disposed at positions symmetrical with respect to the rotation axis of the rotor 2.

  The housing 35 has a support part 35a, an adhesive part 35b, and a connection part 35c. The support portion 35 a is connected to the base portion 30 b and supports the −X side end portion 33 c of the torsional vibration element 33. The support portion 35a fixes the position of the end portion 33c of the torsional vibration element 33 in the X direction. The bonding portion 35 b bonds and fixes the support portion 35 a and the end portion 33 c of the torsional vibration element 33. For this reason, in the torsional vibration element 33, the end portion 33d on the + X side moves in the + X direction and the −X direction. The connection part 35 c is connected to the movable part 39.

  The housing 36 includes a support portion 36a, an adhesive portion 36b, and a connection portion 36c. The support portion 36a is connected to the base portion 30b, and supports the + X side end portion 34c of the torsional vibration element 34. The support portion 35a fixes the position of the end portion 34c of the torsional vibration element 34 in the X direction. The bonding portion 36b bonds and fixes the support portion 36a and the end portion 34c of the torsional vibration element 34. For this reason, in the torsional vibration element 34, the end portion 34d on the -X side moves in the -X direction and the + X direction. The connection part 36 c is connected to the movable part 39.

  The conversion part 37 is formed in a flexure shape between the connection part 35 c and the movable part 39. The conversion portion 37 and the end portion 33d of the torsional vibration element 33 are arranged on a straight line parallel to the X direction. Accordingly, the force due to the expansion and contraction of the torsional vibration element 33 acts as a force in a direction parallel to the X direction on the conversion unit 37. The conversion part 37 is formed with a smaller dimension in the Y direction than the other parts of the connection part 35 c and the movable part 39. That is, it is formed in a shape constricted in the Y direction. For this reason, the conversion part 37 can be elastically deformed in the Y direction.

  The conversion part 38 is formed in a flexure shape between the connection part 36 c and the movable part 39. The conversion portion 38 and the end portion 34d of the torsional vibration element 34 are arranged on a straight line parallel to the X direction. Accordingly, the force due to the expansion and contraction of the torsional vibration element 34 acts as a force in a direction parallel to the X direction on the conversion unit 38. The conversion part 38 is formed to have a smaller dimension in the Y direction than the other parts of the connection part 36 c and the movable part 39. That is, it is formed in a shape constricted in the Y direction. For this reason, the conversion unit 38 can be elastically deformed in the Y direction.

  The conversion part 37 and the conversion part 38 are disposed at positions that are axially symmetric with respect to the central part of the through hole 30a. Therefore, the conversion unit 37 and the conversion unit 38 are arranged at positions that are axially symmetric with respect to the rotation axis of the rotor 2.

  The movable portion 39 is provided in the center of the drive substrate 30 in the X direction and the Y direction. The movable portion 39 surrounds the periphery of the shaft portion 52. The + Y side end 39 a of the movable part 39 is connected to the connection part 35 c via the conversion part 37. In the movable portion 39, the end portion 39 b on the −Y side of the movable portion 39 is connected to the connection portion 36 c via the conversion portion 38. The movable part 39, the conversion part 37 and the conversion part 38 are a part of the drive substrate 30. For this reason, these movable part 39, the conversion part 37, and the conversion part 38 are formed by one member. The surface of the movable portion 39 on the + Z side is bonded to the longitudinal vibration element (second vibration portion) 41 of the transmission vibration portion 4.

  In the above configuration, when the torsional vibration element 33 of the vibration part 31 extends in the + X direction, the connection part 35c moves through the gap 30c in the + X direction. By this movement, a force in the + X direction acts on the conversion unit 37 via the connection unit 35c, and the + Y side end 39a of the movable unit 39 is pushed to the + X side. On the other hand, since the movable portion 39 is restricted from moving in the X direction and the Y direction by the shaft portion 52, the + Y side end portion 39 a of the movable portion 39 rotates clockwise along the outer periphery of the shaft portion 52 in the −Z direction view. Try to move on. At this time, in this embodiment, since the conversion unit 37 provided between the connection unit 35c and the movable unit 39 is deformed to the −Y side, the + Y side end 39a of the movable unit 39 is a timepiece as viewed in the −Z direction. It becomes easy to move around.

  Similarly, when the torsional vibration element 34 of the vibration part 32 extends in the −X direction, the connection part 36c moves through the gap 30d in the −X direction. Due to this movement, a force in the −X direction acts on the conversion portion 38 via the connection portion 36c, and the end portion 39b on the −Y side of the movable portion 39 is pushed to the −X side. On the other hand, since the movable portion 39 is restricted from moving in the X direction and the Y direction by the shaft portion 52, the end portion 39 b on the −Y side of the movable portion 39 is watched in the −Z direction view along the outer periphery of the shaft portion 52. Try to move around. At this time, in this embodiment, since the conversion unit 38 provided between the connection unit 36c and the movable unit 39 is deformed to the + Y side, the −Y side end 39b of the movable unit 39 is a timepiece in the −Z direction view. It becomes easy to move around.

  Accordingly, when the torsional vibration element 33 extends in the + X direction and the torsional vibration element 34 extends in the −X direction, the movable portion 39 is viewed from the −Z direction around the shaft portion 52 as shown in FIG. It will be in the state rotated clockwise. The movable portion 39 rotates until the + Y side end portion 39a moves through the gap 30c and comes into contact with the base portion 30b, and the −Y side end portion 39b moves through the gap 30d and comes into contact with the base portion 30b. In the movable portion 39, the movement in the θZ direction by the + Y side end portion 39a and the movement in the θZ direction by the −Y side end portion 39b are smoothly performed. Therefore, the strong rotation in the θZ direction by the rotation of the movable portion 39. Power is obtained. Thus, the conversion units 37 and 38 have a function of converting the vibration in the X direction into the θZ direction.

  Returning to FIG. 1, the control unit CONT is electrically connected to the driving vibration unit 3 and the transmission vibration unit 4. The control unit CONT supplies an electric signal to the driving vibration unit 3 and the transmission vibration unit 4 and controls each vibration. The control part CONT controls the driving vibration part 3 and the transmission vibration part 4 so that the vibration due to the displacement of the driving vibration part 3 and the transmission vibration part 4 is transmitted to the rotor 2 as a rotational movement in the θZ direction. .

  FIG. 4 is a graph showing electrical signals supplied to the driving vibration unit 3 and the transmission vibration unit 4 by the control unit CONT. FIG. 4A is a graph for the driving vibration unit 3, and FIG. 4B is a graph for the transmission vibration unit 4. The vertical axis of each graph indicates the magnitude of the voltage of the electric signal, and the horizontal axis indicates time.

  As shown in FIG. 4A, in the driving vibration section 3, when the voltage value is set to a positive value, the torsional vibration elements 33 and 34 are expanded, and the movable section 39 is viewed in the + Z direction of FIG. Rotate around. As the voltage value is increased, the amount of rotation of the movable portion 39 is increased. Further, when the voltage value of the driving vibration unit 3 is a negative value, the torsional vibration elements 33 and 34 contract, and the movable unit 39 rotates counterclockwise as viewed in the + Z direction of FIG. As the voltage value is decreased (the absolute value is increased), the amount of rotation of the movable portion 39 is increased.

  As shown in FIG. 4B, the transmission vibration unit 4 expands in the Z direction as the voltage value increases, and contracts in the Z direction as the voltage value decreases. The friction plate 6 is moved to the + Z side by extending the transmission vibration portion 4, and the friction plate 6 is moved to the −Z side by contracting the transmission vibration portion 4. The rotor 2 and the friction plate 6 are in contact with each other in a state where the transmission vibration part 4 is extended. When the rotor 2 and the friction plate 6 are in contact with each other, the rotor 2 and the driving vibration unit 3 are in a rotational force transmission state, and the vibration of the driving vibration unit 3 is in a state in which the vibration can be transmitted to the rotor 2. The rotor 2 and the friction plate 6 come into contact with each other to be in a pressed state, whereby the rotor 2 and the driving vibration unit 3 are in a state of transmitting a rotational force, and the vibration of the driving vibration unit 3 is applied to the rotor 2. You may make it the structure which can be transmitted.

  Further, the rotor 2 and the friction plate 6 are separated from each other in a state where the transmission vibration portion 4 is contracted. When the rotor 2 and the friction plate 6 are separated from each other, the rotational force transmission state between the rotor 2 and the driving vibration unit 3 is released, and the vibration of the driving vibration unit 3 is not transmitted to the rotor 2. In addition, by releasing the pressing state of the rotor 2 and the friction plate 6, the rotational force transmission state between the rotor 2 and the driving vibration unit 3 is released, and the vibration of the driving vibration unit 3 causes the rotor 2 to vibrate. It is good also as a structure which will be in the state which is not transmitted to.

  As shown in FIGS. 4A and 4B, in the present embodiment, the control unit CONT causes the phase of the driving vibration unit 3 and the phase of the transmission vibration unit 4 to be 90 ° (π / 2). ) It is controlled to shift. As a result, vibration having a large moving distance from the state in which the torsional vibration elements 33 and 34 of the driving vibration unit 3 are most contracted to the state in which they are most expanded is transmitted to the rotor 2.

  As described above, according to the present embodiment, the rotor 2 that is rotatably provided and the torsional vibration elements 33 and 34 that vibrate in the linear direction are provided. The vibration direction of the torsional vibration elements 33 and 34 is Drive vibration unit 3 that generates torsional vibrations by converting the direction of the rotor 2 around the axis of the rotor 2 and a longitudinal vibration element 41 that vibrates in the Z direction. 2 and the transmission vibration part 4 for switching the torque transmission state between the driving vibration part 3 and the torque transmission state release, the torsional vibration elements 33 and 34 and the longitudinal vibration so that the torsional vibration is transmitted to the rotor 2. Since the control unit CONT that controls the element 41 is provided, a strong driving force can be supplied in the direction around the axis of the rotor 2. Thereby, it is possible to provide a small motor device 100 capable of outputting high torque. Further, according to the present embodiment, it is possible to provide the motor device 100 having a simple configuration at low cost.

[Second Embodiment]
Next, a second embodiment of the present invention will be described.
FIG. 5 is a perspective view showing a configuration of the motor device 200 according to the present embodiment. As shown in FIG. 5, the motor device 200 according to the present embodiment is different from the first embodiment in the configuration of the driving vibration unit 203, and therefore, the difference will be mainly described. The configuration other than the driving vibration unit 203 can be the same as that of the first embodiment. Hereinafter, the same components as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted or simplified.

FIG. 6 is a cross-sectional view illustrating the configuration of the driving vibration unit 203.
As shown in FIGS. 5 and 6, the base 250 of the holding unit 205 is formed in a circular shape when viewed in the Z direction. The center of the base 250 is provided on the central axis of the shaft portion 52. The driving vibration unit 203 includes, for example, three vibration units (first vibration units) 231 disposed on the base 250.

  Each vibrating portion 231 is arranged at a position shifted by 120 ° in the circumferential direction of the base 250. Each vibration part 231 has a torsional vibration element 233 fixed on the base 250. The torsional vibration element 233 is deformed so as to be inclined in the tangential direction of the base 250 from the −Z side end portion toward the + Z side end portion. For example, each torsional vibration element 233 is deformed so as to be inclined in a linear direction along the counterclockwise direction when viewed in the −Z direction.

  A moving unit 235 is provided on the torsional vibration element 233. The moving part 235 can move integrally with the movement of the surface on the + Z side of the torsional vibration element 233. The moving unit 235 is connected to the movable unit 239 via the conversion unit 237. The conversion unit 237 is formed in a flexure shape similarly to the first embodiment, and is formed to be elastically deformable in the X direction and the Y direction. The conversion unit 237 is disposed on the + Z side of the torsional vibration element 233. Therefore, the conversion unit 237 is disposed at a position shifted from the deformation direction of the torsional vibration element 233.

  The movable part 239 is provided in the center of the base 250 in the X direction and the Y direction. The movable part 239 surrounds the periphery of the shaft part 52. The movable part 239 is formed in a substantially triangular shape when viewed in the Z direction. The three vertices of the movable part 239 are connected to the moving parts 235 via the three converting parts 237, respectively. The movable part 239 has a surface on the + Z side bonded to the longitudinal vibration element 41 of the transmission vibration part 4.

FIG. 7 is a diagram showing a state in which each torsional vibration element 233 is deformed from the state shown in FIG. 6 in the linear direction along the counterclockwise direction when viewed in the −Z direction.
As shown in FIG. 7, each torsional vibration element 233 is deformed in a linear direction along the counterclockwise direction when viewed in the −Z direction, so that the moving portion 235 is integrated with the surface on the + Z side of the torsional vibration element 233. Move on. For example, in the vibration unit 231 disposed on the upper side in FIG. 7 among the three vibration units 231, the moving unit 235 moves in the −X direction, and the conversion unit 237 is pulled in the −X direction along with the movement. Move to.

  By this movement, one corner 239a of the movable part 239 is pulled to the −X side. On the other hand, since the movement of the movable portion 239 is restricted in the X direction and the Y direction by the shaft portion 52, the corner portion 239a of the movable portion 239 moves counterclockwise along the outer periphery of the shaft portion 52 as viewed in the -Z direction. try to. At this time, in the present embodiment, since the conversion portion 237 is elastically deformed to the −Y side, the corner portion 239a of the movable portion 239 is easily moved counterclockwise when viewed in the −Z direction. The same applies to the other corner portions 239b and 239c of the movable portion 239.

  Therefore, when each torsional vibration element 233 is deformed, as shown in FIG. 7, the movable portion 239 is rotated counterclockwise around the shaft portion 52 as viewed in the −Z direction. As described above, in the movable portion 239, the corner portions 239a to 239c smoothly move in the θZ direction, and thus a strong rotational force in the θZ direction is obtained by the rotation of the movable portion 239. As a result, it is possible to provide a small motor device 200 that can output high torque. Further, according to the present embodiment, it is possible to provide a motor device 200 having a simple configuration at low cost.

[Third embodiment]
Next, a third embodiment of the present invention will be described.
FIG. 8 is a schematic diagram illustrating an overall configuration of the motor device 300 according to the present embodiment.
As shown in FIG. 8, the motor device 300 includes a rotor 302, a driving vibration unit 303, a transmission vibration unit 304, a holding unit 305, and a control unit CONT. The holding part 305 includes a base part 351, a bearing part 352, and a casing part 353. A driving vibration part 303 is fixed to the base part 351. The rotor 302 is rotatably supported by the bearing portion 352. The casing portion 353 accommodates a part of the rotor 302, the driving vibration portion 303, and the transmission vibration portion 304.

FIG. 9 shows a configuration in which the holding unit 305 is removed from the motor device 300.
As shown in FIG. 9, the rotor 302, the transmission vibration unit 304, and the drive vibration unit 303 are formed in a columnar shape or a cylindrical shape, and are arranged in this order in the −Z direction. .

  The control unit CONT is electrically connected to the driving vibration unit 303 and the transmission vibration unit 304. The control unit CONT supplies electric signals to the driving vibration unit 303 and the transmission vibration unit 304 to control each vibration. The control unit CONT controls the driving vibration unit 303 and the transmission vibration unit 304 so that vibration due to the displacement of the driving vibration unit 303 and the transmission vibration unit 304 is transmitted to the rotor 302 as a rotational motion in the θZ direction. .

FIG. 10 is a perspective view showing the configuration of the rotor 302.
As shown in FIG. 10, the rotor 302 has a rotating shaft 321, a rotating plate 322, and a belt portion 323. The rotating shaft 321 is formed in a columnar shape, and is a portion protruding from the bearing portion 352 to the outside of the casing portion 353. For example, a gear (not shown) is attached to the rotating shaft 321.

  The rotating plate 322 is formed in a disc shape and is formed integrally with the rotating shaft 321. The rotating plate 322 is provided so that the center of the rotating plate 322 is located on the center axis of the rotating shaft 321. The rotating plate 322 has a recess 322b on a surface 322a opposite to the rotating shaft 321. The recess 322b is disposed at the center of the rotating plate 322.

  The belt portion 323 is arranged in a cylindrical shape along the outer periphery of the rotating plate 322. The belt portion 323 is fixed to the rotating plate 322 and is provided to be rotatable integrally with the rotating plate 322.

FIG. 11A and FIG. 11B are cross-sectional views illustrating configurations of the rotor 302 and the transmission vibration unit 304.
As shown in FIGS. 11A and 11B, the transmission vibration unit 304 includes semi-cylindrical members 341 and 342 having a shape in which one cylinder is cut into two on a plane passing through the central axis. ing. The semi-cylindrical member 341 is formed with an arc portion 341a. The semi-cylindrical member 342 is formed with an arc portion 342a. The curvatures of the arc portions 341a and 342a are formed to be equal to the curvature of the inner periphery of the belt portion 323.

  The semi-cylindrical members 341 and 342 have opposing surfaces 341b and 342b facing each other. A concave portion 341c is formed in the facing surface 341b. A recess 342c is formed in the facing surface 342b. A piezoelectric vibrator (second vibrating portion) 343 is disposed in a space formed by the concave portion 341c and the concave portion 342c. The piezoelectric vibrator 343 expands and contracts in a linear direction (for example, the Y direction in the figure) by applying a voltage. Both ends in the Y direction of the piezoelectric vibrator 343 are bonded to the semi-cylindrical members 341 and 342. The semi-cylindrical members 341 and 342 are arranged with the piezoelectric vibrator 343 sandwiched in the expansion / contraction direction of the piezoelectric vibrator 343.

  The + Z side of the semi-cylindrical members 341 and 342 is positioned with the rotating plate 322 by the spherical member 325. The + Z side end of the spherical member 325 is fitted into the recess 322 b of the rotating plate 322. An end portion on the −Z side of the spherical member 325 is sandwiched between the semi-cylindrical member 341 and the semi-cylindrical member 342. The surface of the spherical member 325 and the recess 322b are formed on a smooth surface that hardly generates friction. Further, on the −Z side of the semi-cylindrical members 341 and 342, a fitting portion 345 connected to the driving vibration portion 303 is provided. The transmission vibration part 304 and the driving vibration part 303 are fixed via a fitting part 345.

  FIG. 11A shows a state where the piezoelectric vibrator 343 is contracted. In this case, the arc portion 341 a of the semi-cylindrical member 341 and the arc portion 342 a of the semi-cylindrical member 342 are arranged at positions separated from the belt portion 323. For this reason, the rotor 302 and the transmission vibration unit 304 are separated.

  FIG. 11B shows a state where the piezoelectric vibrator 343 is extended. In this case, the arc portion 341a of the semi-cylindrical member 341 and the arc portion 342a of the semi-cylindrical member 342 are pressed by the peripheral surface (eg, inner peripheral surface) of the belt portion 323. For this reason, a frictional force is generated between the inner periphery of the belt portion 323 and the semi-cylindrical members 341 and 342. When frictional force is generated between the two, a state (rotational force transmission state) is established in which the rotational force can be transmitted between the rotor 302 and the driving vibration unit 303. As described above, the piezoelectric vibrator 343 is vibrated in a direction parallel to the rotation surface of the rotor 302, whereby the rotational force can be efficiently transmitted between the rotor 302 and the driving vibration unit 303. .

  Note that the inner periphery of the belt portion 323 and the arc portions 341a and 342a may be formed so that, for example, a friction coefficient is increased so that a frictional force is easily generated. Moreover, the structure by which unevenness | corrugation was provided in the inner periphery of the belt part 323, and the circular arc parts 341a and 342a may be sufficient.

  From the rotational force transmission state shown in FIG. 11 (b), the rotational force transmission state is canceled by setting the rotor 302 and the transmitting vibration portion 304 to be separated as shown in FIG. 11 (a). Can do. The control unit CONT switches between a rotational force transmission state and a state in which the rotational force transmission state is released.

  FIG. 12 is a perspective view illustrating a configuration of the driving vibration unit 303. FIG. 13 is a diagram illustrating a configuration on the −Z side of the AA ′ cross section in the driving vibration unit 303 illustrated in FIG. 12. FIG. 14 is a diagram illustrating a configuration on the −Z side of the BB ′ cross section in the driving vibration unit 303 illustrated in FIG. 12. FIG. 15 is a diagram illustrating a configuration on the −Z side of the CC ′ cross section in the driving vibration unit 303 illustrated in FIG. 12. FIG. 16 is a diagram illustrating a configuration on the + Y side of the DD ′ cross section in the driving vibration unit 303 illustrated in FIG. 12.

As illustrated in FIGS. 12 to 16, the driving vibration unit 303 includes a columnar member 330.
A circular through hole 330a is formed in the center of the cylindrical member 330 in the XY direction when viewed in the Z direction. The fitting portion 345 (see FIGS. 11A and 11B) of the transmission vibration portion 304 is fixed to the through hole 330a in a state where the fitting portion 345 is fitted.

  The columnar member 330 is formed with a vibration part (first vibration part) 331, a conversion part 337, and a movable part 339. The vibration part 331 and the conversion part 337 have an axisymmetric configuration with respect to the center of the through hole 330a. Therefore, the conversion unit 337 has an axisymmetric configuration with respect to the rotation axis of the rotor 302. Hereinafter, the −Y side vibration unit 331 and the conversion unit 337 in the drawing will be described as a representative.

    The vibration unit 331 includes a torsional vibration element 333 and a housing 335. The torsional vibration element 333 is accommodated in the housing 335. The torsional vibration element 333 is formed so as to vibrate parallel to a linear direction (eg, X direction). As the torsional vibration element 333, an electromechanical conversion element that vibrates when a voltage is applied (for example, a piezoelectric element such as a piezoelectric element) is used. As the torsional vibration element 333, for example, a sliding mode piezoelectric element is used.

  The housing 35 includes a support portion 335a, a connection portion 335b, and a moving portion 335c. The support portion 335 a supports the −X side end portion of the torsional vibration element 333. The support portion 335a restricts the movement of the end portion on the −X side of the torsional vibration element 333 in the X direction. Therefore, the torsional vibration element 333 is provided so as to be expandable and contractible only on the + X side. The connection unit 335b connects the moving unit 335c and the movable unit 339.

  The moving part 335c and the connecting part 335b are connected by connecting parts 335e and 335f formed in a flexure shape (see FIGS. 14 to 16). The moving part 335c is connected to the + X side end of the torsional vibration element 333. The moving unit 335c linearly moves in the X direction as the torsional vibration element 333 expands and contracts.

  The conversion part 337 is formed in a flexure shape between the connection part 335 b and the movable part 339. The conversion unit 337 includes a first conversion unit 337 a disposed on the + Z side of the torsional vibration element 333 and a second conversion unit 337 b disposed on the −Z side of the torsional vibration element 333. The 1st conversion part 337a is arrange | positioned at the + Z side of said connection part 335e, and is connected to the said connection part 335e. Moreover, the 2nd conversion part 337b is arrange | positioned at -Z side of said connection part 335f, and is connected to the said connection part 335f.

  In the above configuration, when the torsional vibration element 333 of the vibration unit 331 extends in the + X direction, the moving unit 335c moves in the + X direction. By this movement, the connecting portion 335b is pulled and moved in the + X direction via the connecting portions 335e and 335f. As the connecting portion 335b moves in the + X direction, a force in the + X direction acts on the first conversion portion 337a and the second conversion portion 337b, respectively, and the −Y side end of the movable portion 339 is pushed to the + X side. It is. On the other hand, since the movable portion 339 is restricted from moving in the X direction and the Y direction by the fitting portion 345, the −Y side end portion of the movable portion 339 is viewed along the outer periphery of the fitting portion 345 in the −Z direction view. Try to move clockwise. At this time, since the conversion unit 337 is elastically deformed to the + Y side, the −Y side end of the movable unit 339 is easily moved clockwise in the −Z direction view.

  Therefore, when the torsional vibration element 333 extends in the + X direction, the movable portion 339 rotates clockwise as viewed in the −Z direction. As described above, the converting unit 337 converts the vibration in the X direction into the θZ direction, whereby a strong rotational force in the θZ direction is obtained. As a result, it is possible to provide a small motor device 300 that can output high torque. Further, according to the present embodiment, it is possible to provide the motor device 300 having a simple configuration at a low cost.

[Fourth embodiment]
Next, a fourth embodiment of the present invention will be described.
FIG. 17 is a diagram illustrating a configuration of a part (tip of a finger portion of a hand robot) of a robot apparatus RBT including the motor apparatuses 100 to 300 described in the first embodiment to the third embodiment as an example.

  As shown in FIG. 17, the robot apparatus RBT includes a terminal node portion 101, a middle node portion 102, and a joint portion 103, and the terminal 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 motor device ACT. The motor apparatus ACT can use the motor apparatuses 100 to 300 described in the above embodiment. The motor device ACT is provided in the housing 102a. A rotation shaft member 104a is attached to the motor 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. Note that a configuration in which a gear is directly formed on the rotating shaft member 104a may be employed.

In the robot apparatus RBT configured as described above, the rotation shaft member 104a is rotated by driving the motor apparatus 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 motor device ACT capable of outputting a small and high-torque rotation, for example, the end node 101 can be directly rotated without using a speed reducer. In addition, the motor device ACT in the present embodiment may be configured to be driven in resonance or may be configured to be driven in non-resonance. In the present embodiment, since the motor device ACT is configured to be driven non-resonantly, most of the light can be configured with a light material such as resin.

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 the above-described embodiment, the configuration using the torsional vibration element 33 as the driving vibration unit 3 has been described as an example. However, the configuration is not limited thereto, and for example, the tangential direction of the rotation of the rotor 2 A plurality of lateral effect vibrators that vibrate in the (linear direction) may be arranged in the circumferential direction.

  Moreover, in the said embodiment, although demonstrated as an example the structure formed in the flexure shape as the conversion parts 37, 38, 237, 337, it is not restricted to this. For example, an elastic member such as a leaf spring may be used as the conversion units 37, 38, 237, and 337.

  CONT ... Control unit RBT ... Robot device ACT, 100, 200, 300 ... Motor device 2, 202, 302 ... Rotor 3, 203, 303 ... Drive vibration unit 4, 204, 304 ... Transmission vibration unit 30 ... Drive substrate 31, 32, 231, 331... Vibrating part 33, 34, 233, 333... Vibrating element 37, 38, 237, 337... Converting part 39, 239, 339. Part 337b ... second conversion part

Claims (11)

A rotor provided rotatably,
A first vibration section that vibrates in a linear direction, and a driving vibration section that generates a torsional vibration by converting the vibration direction of the first vibration section to a direction around the axis of the rotor;
A transmission vibration part that has a second vibration part that vibrates in a predetermined direction, and that switches between a rotational force transmission state and a rotational force transmission state release between the rotor and the driving vibration part by vibration of the second vibration part;
A motor device comprising: a control unit that controls the first vibration unit and the second vibration unit so that the torsional vibration is transmitted to the rotor. The driving vibration part is:
A movable part that vibrates by the torsional vibration;
The motor device according to claim 1, further comprising: a conversion unit that connects the first vibration unit and the movable unit and is capable of converting the vibration direction. The motor device according to claim 2, wherein the transmission vibration part includes a connection part connected to the second vibration part and connected to the movable part. A plurality of the conversion units are provided,
4. The motor device according to claim 2, wherein the plurality of conversion units are arranged at axially symmetric positions with respect to a rotation axis of the rotor. The motor device according to any one of claims 2 to 4, wherein the movable portion and the conversion portion are respectively provided on a base member formed of a single member. The motor device according to claim 5, wherein the base member is formed in a columnar shape. The motor device according to any one of claims 1 to 6, wherein the control unit vibrates the first vibration unit and the second vibration unit with a phase difference of 90 ° from each other. The motor device according to any one of claims 1 to 7, wherein a vibration direction of the first vibration unit is a tangential direction around the axis. The motor device according to any one of claims 1 to 8, wherein a vibration direction of the second vibration unit is a rotation axis direction of the rotor or a direction parallel to a rotation surface of the rotor. The rotor has a belt portion,
The transmission vibration part is formed to switch the rotational force transmission state and the rotational force transmission state release between the second vibration part and the belt part. A motor device according to claim 1. A shaft member rotatably provided;
A motor device for rotating the shaft member,
The motor apparatus as described in any one of Claims 1-10 is used as the said motor apparatus. The robot apparatus characterized by the above-mentioned.

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