JP2005176521A - Vibration-type drive unit, device equipped with the same, and assembling method for the vibration type drive unit - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To form at least either of first and second engagement parts into a shape that is inclined in the rotative direction with respect to the axial direction, thus allowing the other engagement part, to move along the the inclined shape, allowing the first and the second engagement parts to be easily engaged, and allowing a vibration-type drive unit to be assembled easily. <P>SOLUTION: The vibration-type drive unit is assembled with, alternately from the axial direction, a vibrating body (10) that is excited in vibration by an electromechanical energy converting element (12); a rotating body (1) that contacts with the vibrating body and is rotatively driven; and a transmission member (5) that transmits the rotational force of the rotating body to an output member (16). The vibration-type drive unit has a constitution, such that the rotational force of the rotating body is transmitted to the transmission member by the engagement of the first engagement part (1a), formed at the rotating body and the second engagement part (5a), formed at the transmission member in the rotative direction; and at least either of the first and the second engagement parts has the shape that is inclined in the rotative direction, with respect to the axial direction. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a vibration type driving device having a vibrating body whose vibration is excited by an electro-mechanical energy conversion element and a rotating body that is rotationally driven by the vibration of the vibrating body. Furthermore, the present invention relates to a device using the vibration type driving device and a method for assembling the vibration type driving device.

  In a vibration type driving device, it is a very important issue how to efficiently convert vibrations of only a few microns amplitude generated by a vibrating body into a practical movement of the rotating body on the friction surface with the rotating body. ing. This minimum condition is to maintain a uniform contact state in the entire circumference of the friction surface of the vibrating body and the rotating body in the rotary vibration type driving device.

  This is because, in a non-uniform contact state, uneven wear of the friction member provided on the friction surface causes the life of the apparatus, the friction transmission efficiency, noise generation, and wowing.

  For this reason, conventionally, the structure of the vibration type driving device has been devised so that the friction surface on the rotating body is in uniform contact with the friction surface on the vibration body (see, for example, Patent Document 1).

  As an example of this, as can be seen from FIG. 29 which is an exploded perspective view of a conventional vibration type driving device and FIG. 30 which is an external perspective view thereof, a rotational force transmission member fixed to an output shaft 116 by a locking screw 107. In some cases, two convex portions 105 a are provided on 105, and a concave portion 101 a that engages with the convex portion 105 a is provided on the rotating body 101, and a coil spring 106 is disposed between the rotational force transmitting member 105 and the rotating body 101.

  This vibration type driving device is provided with the rotating body 101 on both ends of the output shaft 116, and has a structure that is generally targeted in the vertical direction with respect to the approximate center of the output shaft 116.

  Here, when an alternating signal having a different phase is applied to the piezoelectric element 112 from the control circuit (not shown) via the flexible substrate 113, vibration is excited in the elastic member 110, and a traveling wave is generated on the surface of the vibration member side friction member 109. Occurs. The rotating body 101 rotates around the output shaft 116 by the frictional force between the vibrating body side friction member 109 and the rotating body side friction member 103.

  When the rotating body 110 rotates, the side surfaces of the two concave portions 101a provided in the rotating body 110 press the side surfaces of the two convex portions 105a of the rotational force transmitting member 105, so that only the rotational moment is applied to the rotational force transmitting member 105. give.

  By the way, it is difficult to finish the friction surface of the rotor-side friction member 103 completely perpendicular to the axis of the rotor 101. At the same time, it is difficult to make the axes of the vibrating body and the rotating body 101 coincide with each other.

  Therefore, if the rotating body 101 is directly fixed to the output shaft 116, a uniform contact state on the friction surface cannot be obtained. Further, in order to obtain the frictional force, a pressurizing mechanism for pressing the rotating body 101 against the vibrating body is required. Therefore, the rotating body 101 cannot be directly and firmly fixed to the output shaft 116 in that sense. .

  Therefore, with the structure shown in FIG. 29 described above, the rotating body 101 and the rotational force transmitting member 116 are not directly coupled, and the axis of the rotating body 101 is inclined with respect to the axial center of the rotating force transmitting member 116. To be able to. As a result, the end surfaces of the vibrating body side friction member 109 and the rotating body side friction member 103 come into uniform contact.

As shown in FIG. 30, the vibration type driving device described above may be used in a first case 118 and a second case 119. At this time, the vibrating body support plate 114 that supports the vibrating body is sandwiched and fixed between the first case and the second case. 117 is attached to the end of the output shaft 116.
JP-A-2002-359985 (paragraph numbers 0055 and 0056)

  However, in the vibration type driving device described above, the shape of the convex portion 105a of the rotational force transmitting member 105 is a rectangular parallelepiped shape, and the space formed by the concave portion 101a of the rotational body 101 is formed in a rectangular parallelepiped shape. Since the transmission member 105 always receives the repulsive force of the coil spring 106, it is difficult to engage the convex portion 105a and the concave portion 101a when assembling the vibration type driving device.

  Here, the assembly process of the conventional vibration type driving apparatus will be described with reference to FIG.

  First, one rotational force transmitting member 105 is press-fitted or inserted into the output shaft 116 and then fixed with a rotation-preventing screw 107 on the side surface. Next, one coil spring 106, one rotating body 101, a vibrating body (the elastic member 110 and the piezoelectric element 112), the other rotating body 101, and the other coil spring 106 are inserted into the output shaft 116 in this order.

  Finally, the other rotational force transmitting member 105 is inserted. At this time, the convex portion 105 a of the rotational force transmitting member 105 must not contact the end surface of the other rotating body 101. If the convex portion 105a presses the end of the rotating body 101, an excessive force is applied to the rotating body side friction member 103, and the friction member 103 may be plastically deformed. It is because the function of is not fulfilled.

  For this reason, before the convex part 105a and the rotating body 101 (rotating body located below FIG. 29) contact | connect, the insertion to the axial direction of the rotational force transmission member 105 is once stopped. Then, after grabbing the rotating body 101, the rotating part 101 is rotated by an external force while the end surface of the rotating body 101 is pressed against the protruding part 105 a, and the protruding part 105 a is moved to the recessed part 101 a of the rotating body 101. Adjust to position. Thereafter, the rotational force transmitting member 105 is slightly inserted again (moved in the assembling direction).

  Next, while grasping and rotating the rotating body 101 (rotating body located above FIG. 29), the concave portion 101a of the rotating body 101 is fitted into the convex portion 105a of the rotational force transmitting member 105, and the repulsive force of the coil spring 106 is applied. On the contrary, the rotational force transmitting member 105 is inserted to the final position in the axial direction.

  As described above, the assembly of the vibration type driving device requires a considerably complicated process.

  The present invention includes a vibrating body in which vibration is excited by an electromechanical energy conversion element, a rotating body that is rotationally driven in contact with the vibrating body, and a transmission member that transmits the rotational force of the rotating body to an output member. Is a vibration type drive device assembled to each other in the axial direction, and a first engagement portion provided on the rotating body and a second engagement portion provided on the transmission member are engaged in the rotation direction. By combining, the rotational force of the rotating body is transmitted to the transmission member, and at least one of the first and second engaging portions has a shape inclined in the rotational direction with respect to the axial direction. It is characterized by.

  The vibration type drive device of the present invention can be provided in a device using this as a drive source.

  According to the present invention, by forming at least one of the first and second engaging portions into a shape inclined in the rotational direction with respect to the axial direction, the other engaging portion is moved along the inclined shape. It can be moved, the first and second engaging portions can be easily engaged, and the vibration type driving device can be easily assembled.

  By periodically providing the first engaging portion in the circumferential direction of the rotating body and periodically providing the second engaging portion in the circumferential direction of the transmitting member, the rotating body and the transmitting member are placed in a predetermined phase. It is not necessary to engage the first and second engaging portions in accordance with the relationship.

  By providing at least one of the first and second engaging portions at both ends in the rotational direction of the convex portion, and reducing the rotational width of the convex portion from the root side toward the tip side, the convex portion Can be easily incorporated.

  At least one of the first and second engaging portions is provided at both ends of the concave portion in the rotational direction, and the rotational width of the concave portion is increased from the bottom side of the concave portion toward the opening side, thereby incorporating the concave portion. It can be done easily.

  When the elastic member is sandwiched between the first engagement portion and the second engagement portion, the first and second engagement portions can be slowly engaged by elastically deforming the elastic member. In addition, the rotating body and the transmission member can be easily positioned.

  By making the number of one of the first engaging portion and the second engaging portion larger than the number of the other, only the other engaging portion is engaged with one of the one engaging portions. The rotating body and the transmission member can be easily assembled.

  The height in one axial direction of the first engaging portion and the second engaging portion is increased toward the rotation center, and the other height in the axial direction is decreased toward the rotation center. Thus, the first and second engaging portions can be easily engaged, and the axes of the rotating body and the transmission member can be made to coincide.

  A portion on the output member side of the transmission member is made of metal, and a portion on the side where the second engaging portion is provided is made of resin, so that vibration in the rotating body is made of resin. It can be attenuated by the engaging portion, and it is possible to suppress the generation of noise due to the vibration in the rotating body being transmitted to the output member via the transmission member.

  By generating a pressing force that presses the rotating body and the vibrating body with the transmission member, there is no need to separately provide a member for generating the pressing force, and the size and cost can be reduced by reducing the number of parts. Can do.

  The rotating body is provided with convex portions having first engaging portions at both ends in the rotation direction, and the convex portions are brought into contact with the vibrating body so as to receive a driving force from the vibrating body, thereby reducing the number of parts. Is possible.

  One of the first and second engaging portions is a first convex portion provided at both ends of the rotational direction, and two convex portions disposed on both sides of the first convex portion in the rotational direction, Each of the first and second engaging portions is provided with two second convex portions provided on the first convex portion side, and the first convex portions are provided in the two second convex portions. The second convex portion is disposed between the root-side portions, the root-side portion of the second convex portion has a first rotation direction width, and the tip-side portion has a second rotation direction width larger than the first rotation direction width. The shape can be reduced from the width in the rotational direction toward the tip. Thus, for example, when an urging member for urging the rotating body to the vibrating body is disposed between the rotator and the transmission member, the urging force of the urging member is used to make the first protrusion The portion can be brought into contact with a portion of the second convex portion having a width in the second rotational direction.

  On the other hand, when assembling the vibration type driving device of the present invention, the first and second engaging portions are reliably engaged by assembling while vibrating the vibrating body, and the rotating body and the transmission member are axially moved. Can be assembled at an optimal position.

  Further, by assembling the rotating body by rotating the vibrating body by vibration of the vibrating body, the first and second engaging portions can be eliminated without the influence of the frictional force between the rotating body and the vibrating body when the rotating body and the transmission member are assembled. Can be easily engaged.

  Based on the output signal of the electromechanical energy conversion element, the rotating body and the transmission member are moved to a specific position in the axial direction. An excessive load can be prevented and these members can be assembled at an optimum position in the axial direction. The same effect can also be obtained by assembling the transmission member to the output member with a force determined based on the reaction force generated when the transmission member is assembled to the output member.

  Examples of the present invention will be described below.

  FIG. 1 is an exploded perspective view of a vibration type driving apparatus that is Embodiment 1 of the present invention. The vibration type driving device of the present embodiment has a vibrating body and a rotating body arranged on both sides of the output shaft 16 and has a substantially target structure in the vertical direction with respect to the axial center of the output shaft 16.

  In the present embodiment, an uneven portion (first engaging portion) 1 a is formed on one end surface of the rotating body 1, and an uneven portion (first engaging portion) engaged with the uneven portion 1 a on one end surface of the rotational force transmitting member 5. 2 engaging portion) 5a is formed.

  Here, the basic configuration and characteristics of the vibration type driving device of this embodiment are disclosed in detail in Japanese Patent Application Laid-Open No. 11-046486, Japanese Patent Application Laid-Open No. 2000-308375, and the like. The parts and mechanism will be briefly described.

  First, as can be seen from the cross-sectional view of the vibration type driving device of FIG. 3, the vibration type driving device is a rotary type, and has a central vibrating body (elastic body 10 and piezoelectric element 12) and both end faces of the vibrating body. The two rotary bodies 1 that are in pressure contact are the main components.

  In FIG. 3, the exterior of the vibration type drive device is composed of cases 18 and 19, and the cases 18 and 19 are provided with case bearings 17 to which the output shaft 16 is engaged.

  Two rotational force transmission members 5 are connected to the output shaft 16 that penetrates the center of the vibrating body. Therefore, the output shaft 16 generates a total rotational torque generated by each of the two rotating bodies 1. Thereby, a high motor output can be obtained as compared with the case of using one rotating body.

  Next, the configuration of the vibrator will be described with reference to an exploded perspective view of the vibrator shown in FIG.

  This vibrating body is assembled as follows. After the vibrating body bearing 11 is inserted into the inner diameter part of the two elastic bodies 10, the piezoelectric element 12, the vibrating body support plate 14 and the flexible wiring board 13 are sandwiched between the elastic bodies 10, and the above configuration is achieved by the hollow bolt 15. Fix the parts together.

  By applying the alternating signal to the piezoelectric element 12, bending vibration in the axial direction is generated in the vibrating body, and the amplitude at both ends of the vibrating body is expanded by the constricted portion 10 a provided in the elastic body 10.

  A friction member 3 is fixed to the rotating body 1 by adhesion. Further, as shown in FIG. 1, the rotator 1 is integrally formed with an uneven portion 1 a. In this way, when the concave and convex portion 1a is integrally molded, one means is to select a molding method that is relatively easy to mold a three-dimensional shape, such as a die casting molding method or a powder sintering molding method. is there.

  Furthermore, it is desirable to be able to attenuate unnecessary vibration that may transmit vibration of the vibrating body to the rotating body 1 through contact between the uneven portion 1a and the uneven portion 5a. For this reason, it is also conceivable to use a material having a high vibration damping capability such as resin or rubber for the contact portions of the concavo-convex portions 1a and 5a.

  Further, in order to reduce the meshing backlash between the concavo-convex portion 1a of the rotating body 1 and the concavo-convex portion 5a of the rotational force transmitting member 5, a material having a slight elasticity is used for the concavo-convex portion 1a and / or the concavo-convex portion 5a. It is possible to give elasticity by devising.

  A recess formed in the center of the rotating body 1 houses a coil spring 6 for pressing the friction member 3 fixed to the rotating body 1 against the friction member 9 on the vibrating body side. The coil spring 6 is disposed between the rotational force transmitting member 5 and the rotating body 1 in a state compressed to some extent.

  A plurality of concavo-convex portions 1 a extending radially from the rotation center axis are provided on one end surface of the rotating body 1. On the other hand, a plurality of uneven portions 5 a are also provided on one end surface of the rotational force transmitting member 5 corresponding to the plurality of uneven portions 1 a provided on the rotating body 1.

  The rotational force transmission member 5 is press-fitted into the output shaft 16 and rotates integrally with the output shaft 16. The rotating body 1 and the rotational force transmitting member 5 are configured to mesh with each other via the concavo-convex portions 1a and 5a and rotate integrally.

  FIG. 1 is an exploded perspective view of the vibration type driving device of the present embodiment.

  In the same figure, one end surface of the rotating body 1 is formed with a convex portion 1a having a narrowed tip, and a concave portion 1a having a narrow bottom is formed between them in the circumferential direction of the rotating body 1. Has been. The rotational force transmission member 5 is also provided with 36 concave portions 5 a and convex portions 5 a in the circumferential direction of the rotational force transmission member 5.

  Next, an assembling method of the vibration type driving apparatus of this embodiment will be described with reference to FIG.

  First, one rotational force transmission member 5 (rotational force transmission member located on the lower side in FIG. 4) is press-fitted into the output shaft 16. At this time, the length of the output shaft 16 that protrudes from the opposite side of the rotational force transmitting member 5 to the side where the concavo-convex portion 5a is formed is made shorter than the final length in advance.

  Next, the rotational force transmitting member 5 in which the output shaft 16 is press-fitted is set up on the assembly jig base 20 having a recess. The length of the output shaft 16 extending from both ends (rotational force transmitting member 5) of the vibration type driving device is determined by the depth dimension of the recess of the assembly jig base 20.

  At this time, the end of the output shaft 16 does not hit the bottom of the recess of the assembly jig base 20. When all the parts are press-fitted into the output shaft 16, the upper end of the output shaft 16 is finally pushed in the direction indicated by the arrow in FIG. 4 to determine the positions of the output shaft 16 and each part.

  The output shaft 16 that is inverted with respect to the assembly jig base 20 includes a coil spring 6, a rotating body 1 with the friction member 3 bonded and fixed, a pre-assembled vibrating body, a rotating body 1 with the friction member 3 bonded, and a coil spring 66. Insert in order.

  Here, the force for press-fitting was generated using a hydraulic press machine (not shown). The assembly jig table 20 is placed on the lower bolster surface of the hydraulic press machine, and the components are erected in a state where each component is inserted into the output shaft 16 as described above.

  The bolster is a table installed in a press machine. Generally, the lower bolster is fixed, and the upper bolster is movable up and down. The surface of the lower bolster and the surface of the upper bolster are parallel to each other.

  Next, the rotational force transmitting member 5 fitted with a gap in the inner diameter portion of the push-in jig 21 is placed on the upper end portion of the output shaft 16, and the upper bolster is lowered to slightly press-fit the output shaft 16. deep.

  The output shaft 16 needs to be finally press-fitted to a predetermined position. As a method for press-fitting the output shaft 16 to this final position, there are several methods as described below.

  The first method is a method in which an interval at which the lower bolster and the upper bolster are closest to each other is determined in advance. The bottom dead center is determined by a metal block or the like provided inside a die set (not shown). With this method, instead of using a press machine, the output shaft 16 can be press-fitted with a vise, although the working efficiency is low.

  If the variation in the axial dimension of each part inserted into the output shaft 16 is small, press fitting can be performed by a simple operation by using this method.

  Here, when approaching the bottom dead center, the vicinity of the tip of the convex portion 5 a of the rotational force transmitting member 5 comes into contact with the vicinity of the tip of the convex portion 1 a of the rotating body 1. In the embodiment, as described above, the convex portions 1a and 5a are thin on the tip side and have a mountain-shaped cross-sectional shape.

  Thus, when the rotational force transmitting member 5 and the rotating body 1 are brought close to each other in the axial direction by press-fitting operation, the concave and convex portions 1a and 5a are automatically engaged with each other. There is no need for relative positioning in the direction of rotation of the body.

  When the press-fitting further proceeds, the axial force acts on the rotating body 1 as a component force in the rotating direction of the rotating body 1 due to the inclined surfaces of the uneven portions 5a and 1a. Thereby, even if the uneven portions 1a and 5a are not in positions where they are engaged with each other from the beginning of press-fitting, the rotating body 1 slides on the contact surface between the uneven portions 1a and 5a due to the component force in the rotational direction acting on the rotating body 1. As a result, the concavo-convex portions 1a and 5a are engaged with each other. Thus, the rotating body 1 determines its position while rotating.

  At this time, since the slopes of the concavo-convex portions 1a and 5a are in close contact with each other, a state without a gap (backlash) in the rotation direction is obtained. When the frictional force between the frictional member 3 integrated with the rotating body 1 and the frictional member 9 on the vibrating body side is large, the apex angle of the mountain shape in the uneven portions 1a and 5a may be reduced. This is because the ratio of the above component force for rotation increases.

  When the amount of press-fitting is insufficient, rotation of the rotating body 1 and the rotational force transmitting member 5 occurs. This backlash also exists in the conventional example, and this reduces the stop positioning accuracy of the vibration type driving device. This can be a problem as described below.

  Compared with a normal electromagnetic motor, the vibration type driving device has characteristics of low speed and high torque. Because of this feature, a reduction mechanism such as a gear with backlash can be omitted. That is, excellent positioning accuracy can be realized by direct driving of the driven member.

  However, even if direct driving can be realized, high-precision positioning cannot be realized if there is a gap play corresponding to the backlash of the gear inside the vibration type driving device. If the press-fitting amount is too large, the friction member 3 may be strongly pressed by the friction member 9 on the vibrating body side and deformed.

  The second method as a method for press-fitting the output shaft 16 to the final position is a method in which the maximum force generated by the hydraulic press machine is determined in advance by a relief valve or the like. This is a method aimed at minimizing the above-mentioned play.

  That is, when the inclined surfaces of the concavo-convex portions 1a and 5a are in contact with each other, an axial reaction force is generated in addition to the above-described component force that rotates the rotating body 1. Furthermore, the engagement of the uneven portions 1a and 5a increases, and the above-described axial reaction force increases at the moment when the tip of the convex portion in one of the uneven portions 1a and 5a contacts both slopes of the other recessed portion. The force generated with this reaction force applied may be set as the maximum limit value.

  A third method as a method for press-fitting the output shaft 16 to the final position is a method using a voltage generated by a piezoelectric element that is one of the components of the vibrating body at the time of press-fitting. This voltage is detected and the force applied during press-fitting is controlled. Since a highly responsive electrical signal is detected and controlled, the positioning accuracy of the rotating body 1 is improved as compared with the second method using hydraulic pressure.

  In this method, the force generated by the generated voltage can be calculated by determining the position of the upper bolster of the press machine and the descending speed at that time in advance.

  The optimum press-fitting position is determined by any of the methods described above. Furthermore, an optimum press-fitting position with less play can be obtained by applying the following device when the concave and convex portions 1a and 5a are brought into contact in the press-fitting process.

  In other words, it is better to apply power to the piezoelectric element 12 of the vibrating body to generate vibration in the vibrating body. Thereby, since the frictional force on the friction surface between the rotational force transmitting member 5 and the rotating body 1 is reduced, the rotating body 1 can be easily rotated even if the rotational component force applied to the rotating body 1 is small. Can do.

  Further, when the assembly jig 20 and the push-in jig 21 are provided with bearings 22 and 23 that receive axial force as shown in FIG. 5, the rotational force transmitting member 5 can be easily rotated. Here, the rotational force transmission member 5 on the upper side in FIG. 5 and the output shaft 16 are fitted into a gap, and finally the rotational force transmission member 5 is fixed to the output shaft 16 by the rotation-preventing screw 7.

  Next, a second embodiment of the present invention will be described with reference to FIGS. FIG. 6 and FIG. 7A are enlarged views showing contact portions of the rotational force transmission member 5 and the rotating body 1 in the vibration type driving apparatus of the present embodiment. In the embodiment described below, only characteristic portions will be described, and the other configurations are the same as the configurations described in the first embodiment, and thus description thereof will be omitted.

  In this embodiment, an elastic member (elastic sheet 8) such as rubber is sandwiched between the rotational force transmitting member 5 and the rotating body 1, and then the concave and convex portions 5a and 1a are engaged with each other. With such a configuration, since the pressing force does not increase suddenly at the time of press-fitting, it is possible to easily determine an optimal press-fitting position with a small gap play.

  In order to achieve optimum meshing, it is desirable to detect the pressure input when assembling the vibration type driving device as described above. That is, it is preferable to stop the assembly when a certain force necessary to deform the elastic sheet 8 is applied after the elastic sheet 8 contacts the rotating body 1 and the rotational force transmitting member 5.

  By adjusting the pressure input described above, there is no gap play, and the force applied to the friction surfaces of the rotating body 1 and the vibrating body can be maintained at a constant value. FIG. 7A shows a part of the rotating body assembled in this way.

It should be noted that there is no gap play by changing the slope angle of the mountain-shaped cross section in the concavo-convex portions 1a and 5a, or by changing the cross-sectional shape to a convex arc shape or a concave arc shape as shown in FIG. It is also possible to ensure an optimal press-fit state.
In addition, the shape of the convex portions in the concavo-convex portions 1a and 5a only needs to increase once in width from the tip portion toward the base end portion. For example, as shown in FIG. It can be formed such that the width gradually increases toward the end, or can be formed so that the once increased cross-sectional area is decreased (or constant) again toward the base end as shown in FIG. .

  Thus, by setting the shape of the uneven portions 1a and 5a, the uneven portions 1a and 5a can be easily engaged.

  Next, a vibration type driving apparatus that is Embodiment 3 of the present invention will be described with reference to FIG.

  The difference between the present embodiment and the first embodiment is that two convex portions 5 a are formed on the rotational force transmitting member 5. The end surface of the rotational force transmitting member 5 where the convex portion 5a is formed has a flat area other than the region where the convex portion 5a is formed.

  The rotating body 1 is formed with a plurality (36 places) of uneven portions 1 a formed in the circumferential direction, and the two convex portions 5 a of the rotational force transmitting member 5 are a plurality of uneven portions 1 a of the rotating body 1. It engages with any one of the recesses.

  If the convex portion 5a has sufficient strength and rigidity, it is only necessary to form the two convex portions 5a on the rotational force transmitting member 5 as in this embodiment. In this embodiment, unlike the configuration in which the concave and convex portions 1a and 5a are engaged as in the first embodiment, even if there is an accumulated pitch error of the concave and convex portions 1a, the engagement state of the convex portions 5a and the concave and convex portions 1a is affected. There is no feature.

  Next, a fourth embodiment of the present invention will be described with reference to FIGS. 9 and 10. FIG. 9 is an exploded perspective view of the vibration type driving device in the present embodiment. FIG. 10 is an enlarged view of a part of the vibration type driving apparatus of the present embodiment.

In the present embodiment, the end face on the rotating body 1 side of the rotational force transmitting member 5 is formed in a conical shape, and on this end face, convex portions 5a are formed at three positions in the circumferential direction (angle range of 120 degrees). Is formed. On the other hand, the end surface of the rotating body 1 on the side of the rotational force transmitting member 5 is configured to face the end surface of the rotational force transmitting member (in a mortar shape), and an uneven portion 1a is formed on this surface. Yes. A spacer 31 is disposed between the rotational force transmitting member 5 and the case bearing 17. A flange 31 is provided on the outer periphery of the friction material 3.
In the first and second embodiments described above, the rotational force transmitting member 5 and the rotating body 1 are formed with cylindrical fitting portions that engage with each other as shown in FIG. The degree of coaxiality was determined by the combination. However, in the present embodiment, as shown in FIG. 10, the fitting portion as described above is not formed in the rotational force transmitting member 5 and the rotating body 1.

  In the present embodiment, the axial centers of the rotational force transmitting member 5 and the rotating body 1 can be matched by reliably bringing the three convex portions 5a into contact with the concave portions in the concave and convex portion 1a. Since the end faces of the rotational force transmitting member 5 and the rotating body 1 facing each other are formed in a mortar shape, the rotating body 1 moves not only in the rotation direction but also in the radial direction until the three convex portions 5a come into contact with each other. Yes (see FIG. 10).

  Next, a vibration type driving apparatus that is Embodiment 5 of the present invention will be described with reference to FIG. FIG. 11 is an external perspective view of the rotational force transmitting member and the rotating body.

  A pin 5 a extending in the axial direction is fixed to the end face of the rotational force transmitting member 5 by caulking. The pin 5b is formed in a cylindrical shape, and its tip is formed in a conical shape.

  On the other hand, the rotating body 1 is made of zinc die casting, and a plurality (18 places) of holes 1b extending in the axial direction are formed in the circumferential direction.

  Since the tip of the pin 5b is thin (the width is reduced), even if the rotational force transmitting member 5 and the rotating body 1 are not aligned, the rotational force transmitting member 5 is simply pushed down in the axial direction. The tip of the pin 5b enters into any one of the plurality of holes 1b.

  Next, a vibration type driving apparatus that is Embodiment 6 of the present invention will be described with reference to FIGS. FIG. 12 is an external perspective view of the rotational force transmitting member 5 and the rotating body 1, and FIG. 13 is an enlarged view showing a part of the vibration type driving device of the present embodiment.

A convex portion 5 c extending in the axial direction is formed on one end surface of the rotational force transmitting member 5.
A plate-like member 2 having a plurality of holes 2 a provided in the circumferential direction is attached to one end surface of the rotating body 1. At the time of press-fitting, the convex portion 5c is engaged with any one of the plurality of hole portions 2a.

  In this embodiment, the rotational force transmitting member 5 and the plate-like member 2 are manufactured by a rationalized processing method. That is, the rotational force transmission member 5 is manufactured by sheet metal pressing. The convex portion 5a is integrally formed by projecting by burring.

  The plate-like member 2 is manufactured by sheet metal pressing. The hole 2a is formed by two-stage drawing. The rotating body 1 is pressed into the plate-like member 2 and integrated.

  The plate-like member 2 is obtained by simply stamping a general rolled steel material into an annular shape, and provides daily corrosion resistance by a simple chemical conversion treatment. The plate-like member 2 may be formed by punching stainless steel into an annular shape by fine blanking.

  As shown in FIG. 13, the friction member 3 is provided with a stepped portion 3a by two-stage drawing. And this level | step-difference part 3a is contact | abutted to the corner | angular part of the rotary body 1, and it is trying to mutually align with an axial direction.

  Next, a vibration type driving apparatus that is Embodiment 7 of the present invention will be described with reference to FIG. FIG. 14 shows a cross-sectional view of a part of the vibration type driving apparatus of the present embodiment. The present embodiment is a modification of the sixth embodiment.

  A claw member 5 a is press-fitted into the rotational force transmission member 5. The claw member 5a is made of resin, and is formed into a shape shown in FIG. 14 by injection molding the resin. The convex portion formed on the claw member 5 a is engaged with any one of the plurality of hole portions 2 a formed on the plate-like member 2. In addition, the number of the convex parts in the nail | claw member 5a can be set suitably. Further, as shown in the figure, the convex portion is formed so as to become thinner (so that the width becomes narrower) from the base end side to the tip end side.

  In the present embodiment, in the engaged state between the convex portion of the claw member 5a and the hole portion 2a of the plate-like member 2, one side, that is, the convex portion is formed of resin, and therefore vibration generated in the rotating body 1 is generated. It is difficult to transmit to the output shaft 16, and the generation of noise can be suppressed.

  Next, a vibration type driving apparatus that is Embodiment 8 of the present invention will be described with reference to FIG. This embodiment is also a modification of the seventh embodiment. Here, FIG. 15 is a cross-sectional view of a part of the vibration type driving apparatus of the present embodiment.

  The convex portion of the claw member 5a is formed to have a constant width from the proximal end side to the distal end side. Further, the plate-like member 2 press-fitted into the rotating body 1 is formed with a concave portion into which the convex portion of the claw member 5a is fitted, and this concave portion has a mortar shape (side surface of the concave portion is inclined by burring). ). Here, since the side surface of the concave portion of the plate-like member is inclined, the convex portion of the claw member 5a can be smoothly inserted into the concave portion.

  The claw member 5a is molded by resin injection molding, and a brass rotational force transmitting member 5 punched out by press working is press-fitted into the center thereof. This is because when the resin member is directly press-fitted into the output shaft, the coupling reliability is low.

  If the press-fitting of the metal and the resin is set at the outer peripheral portion, when the same torque transmission is performed, the force acting in the circumferential direction at the press-fitted portion is reduced, and the reliability of the coupling is increased.

  Further, in the configuration of the present embodiment, by providing uneven portions such as knurls, serrations or splines on the outer peripheral portion of the rotational force transmission member 5, the members (the rotational force transmission member 5 and the claw member 5a) rotate relatively. Can be prevented (the same applies to the above-described seventh embodiment).

Next, a vibration type driving apparatus that is Embodiment 9 of the present invention will be described with reference to FIGS. FIG. 16 is an external perspective view of the rotating body and the rotational force transmitting member in the vibration type driving apparatus of the present embodiment. FIG. 17 is a cross-sectional view of a part of the vibration type driving device of this embodiment.
The plate-like member 2 is formed by pressing with a two-stage drawing. In the region on the outer side in the circumferential direction of the plate-like member 2, a wavy uneven portion is formed. Since this portion is a portion where the flange portion shrinks and wrinkles are likely to occur, it can be easily formed by drawing. The plate member 2 is press-fitted into the rotating body 1.

  On the other hand, a convex portion 5a extending substantially outward in the radial direction is integrally formed on the outer periphery of the rotational force transmitting member 5 by pressing. A plurality of through-hole portions 5 d extending in the circumferential direction are formed in the radially inner region of the rotational force transmitting member 5.

  In this embodiment, a coil spring is not used as in the above-described embodiment, and the rotational force transmission member 5 has a function as a coil spring. That is, the outer peripheral side region (including the convex portion 5a) of the rotational force transmitting member 5 is inclined with respect to the rotational axis, and the rotational force transmitting member 5 is incorporated into the plate-like member 2 (rotating body 1). The urging force toward the vibrating body (elastic member 10) can be applied to the rotating body 1.

  In addition, by forming the through-hole portion 5d, it is possible to automatically correct the fall of the rotational force transmitting member 5 with respect to the output shaft 16. In this way, the tilt of the rotational force transmission member 5 with respect to the output shaft 16 is corrected, and the rotational body 1 is biased by the rotational force transmission member 5, so that the frictional surfaces of the rotational body 1 and the vibration body (elastic member 10) are faced. It is possible to prevent the occurrence of pressure unevenness and at the same time ensure the rigidity in the rotational direction.

Next, a vibration type driving apparatus that is Embodiment 10 of the present invention will be described with reference to FIGS. Here, FIG. 18 is an external perspective view of the rotational force transmitting member and the rotating body, and FIG. 19 is a cross-sectional view of a part of the vibration type driving device of the present embodiment.

  On the outer periphery of the rotational force transmitting member 5, a convex portion 5a extending outward in the radial direction is formed. Moreover, the area | region (including the convex part 5a) of the outer peripheral side of the rotational force transmission member 5 inclines to the rotary body 1 side.

  A plate-like member 2 is disposed on the end face of the rotating body 1 on the side of the rotational force transmitting member 5. On the outer periphery of the plate-like member 2, a convex portion 2b extending outward in the radial direction is formed. Moreover, the area | region (including the convex part 2b) of the outer peripheral side of the plate-shaped member 2 inclines to the rotational force transmission member 5 side.

  The rotational force transmission member 5 and the plate-like member 2 described above have a very simple shape manufactured by pressing.

  One of the convex portions 5a of the rotational force transmitting member 5 and the convex portion 2b of the plate-like member 2 fits between the other convex portions, so that the rotational force transmitting member 5 and the plate-like member 2 are mutually connected. It comes to mesh. Thereby, the rotational force of the rotating body 1 is transmitted to the rotational force transmitting member 5. Here, since the convex part 5a and the convex part 2b are thin at the front end side, the rotational force transmitting member 5 and the plate-like member can be easily engaged.

  Next, a vibration type driving apparatus that is Embodiment 11 of the present invention will be described with reference to FIGS. 20 and 21. FIG. Here, FIG. 20 is an external perspective view of the rotational force transmitting member and the rotating body, and FIG. 21 is a partial cross-sectional view of the vibration type driving device of the present embodiment.

  On the outer periphery of the rotational force transmitting member 5, a plurality of convex portions 5a extending toward the rotating body 1 (axial direction) are formed. Further, the rotational force transmitting member 5 is formed with a plurality of grooves 5d extending in the circumferential direction. This rotational force transmitting member 5 is formed by press working.

  One end side of the friction member 3 is formed so as to extend radially outward from the outer peripheral surface of the rotating body 1, and a plurality of convex portions 3 b are formed in this region. The friction member 3 is formed by press working.

  A portion of the rotational force transmitting member 5 that engages with the output shaft 16 is formed so as to extend toward the rotating body 1 as shown in FIG. Thereby, compared with the case where it forms so that the part engaged with the output shaft 16 may extend on the opposite side to the rotary body 1, the magnitude | size in the axial direction of a vibration type drive device can be made small.

  Here, since the end (not shown) of the output shaft 16 is chamfered (inclined surface, see FIG. 3), the rotational force transmitting member 5 can be easily inserted into the output shaft 16.

  In the above configuration, one of the convex portions 5a of the rotational force transmitting member 5 and the convex portion 3b of the friction member 3 fits between the other convex portions, whereby the rotational force transmitting member 5 and the friction member 3 are inserted. Are engaged with each other.

  In a state where the rotational force transmitting member 5 is incorporated into the output shaft 16, the rotational force transmitting member 5 urges the friction member 3 toward the elastic member 10 via the engaging action of the convex portion 5a and the convex portion 3b. It has become.

  In this embodiment, since the rotational force transmitting member 5 is engaged with the friction member 3, the number of parts can be reduced and the size and cost can be reduced. That is, in Example 9 and the like, the rotational force transmission member 5 is engaged with the plate-like member 2 different from the friction member 3, but in this example, the plate-like member 2 is not necessary, so the number of parts is reduced. Can be reduced.

  Further, the meshing portion of the rotational force transmission member 5 and the friction member 3 can be brought closer to the friction surface of the friction member 3 in the rotational axis direction, and the generation point of the urging force by the rotational force transmission member 5 can be determined as the friction surface. Therefore, unevenness in the surface pressure of the friction surface can be suppressed.

  Next, a vibration type driving apparatus that is Embodiment 12 of the present invention will be described with reference to FIGS. Here, FIG. 22 is an external perspective view of the rotational force transmitting member and the rotating body, and FIG. 23 is an enlarged view of a connecting portion of the rotational force transmitting member and the rotating body.

  On the outer periphery of the rotational force transmitting member 5, a convex portion (first convex portion) 5a extending outward in the radial direction is formed. Moreover, the area | region of the outer peripheral side of the rotational force transmission member 5 inclines to the rotary body 1 side. This rotational force transmission member 5 is formed by press working.

  A plurality of convex portions (second convex portions) 2 b extending in the axial direction are formed in the circumferential direction of the plate-like member 2. As shown in FIG. 23, the width of the convex portion 2b is constant on the proximal end side, and once increases toward the distal end side, it decreases.

  The rotational force transmitting member 5 is attached to the plate-like member 2 (rotating body 1) by this convex portion 5a being fitted between the convex portions 2b adjacent in the circumferential direction and coming into contact with the slope of the convex portion 2b. (See FIG. 23). Here, the convex part 5a is incorporated in the recessed part located in every other circumferential direction among several recessed parts formed of the convex part 2b adjacent in the circumferential direction. This is to secure a space for the convex portion 2b to escape (deform) in the circumferential direction when the convex portion 5a is incorporated into the concave portion.

  That is, the convex portion 2b of the plate-like member 2 is spread outward in the radial direction, and the convex portion 5a of the rotational force transmitting member 5 is incorporated between the convex portions 2b adjacent in the circumferential direction. Returning to the position, the rotational force transmitting member 5 receives the urging force of the coil spring 6, so that the convex portion 5a comes into contact with the slope on the proximal end side of the convex portion 2b.

  With such a configuration, the rotational force transmission member 5 and the plate are pressed while taking advantage of the coil spring 6 that presses the vicinity of the central portion of the rotating body 1 to reduce the pressurization unevenness between the rotating body 1 and the vibrating body. The engagement play between the two-shaped members 2 (rotating body 1) can be eliminated.

  Next, a vibration type driving apparatus that is Embodiment 13 of the present invention will be described with reference to FIGS. Here, FIG. 24 is an external perspective view of the rotational force transmitting member and the rotating body, and FIG. 25 is an enlarged view of a region A indicated by a dotted line in FIG.

  The plate-like member 2 fixed to the upper end surface of the rotator 1 is formed with a plurality of through-hole portions 2a in this circumferential direction. Between the through-hole parts 2a adjacent to each other in the circumferential direction in the plate-like member 2, a convex part 2b protruding to the rotational force transmitting member 5 side is formed. This convex part 2b is obtained by bending the plate-like member 2, and has slopes extending in the respective directions of the adjacent through-hole parts 2a from the apex.

The rotational force transmitting member 5 is formed with a convex portion 5a at a symmetrical position with respect to the rotational center. As shown in FIG. 25, the convex portion 5a is formed by shearing a part of the rotational force transmitting member 5 made of a metal plate, and protrudes toward the plate-like member 2 (rotating body 1). Since the center of the projecting shape of the convex portion 5a is projected particularly high, the convex portion 5a has a thin tip, and the base end of the convex portion 5a is connected to another region of the rotational force transmitting member 5. And the rigidity of the convex part 5a can be made high.
When the rotational force transmitting member 5 and the rotating body 1 are attached to the output shaft and the rotational force transmitting member 5 and the rotating body 1 are not in a predetermined phase relationship, the convex portion 5 a is the convex portion 2 b of the plate-like member 2. It moves along the inclined surface of and is guided by the through-hole part 2a. This eliminates the need for troublesome assembly operations such as assembling the vibration type driving device in accordance with a predetermined phase relationship between the rotational force transmitting member and the rotating body as in the prior art.

  Next, a vibration type driving apparatus which is Embodiment 14 of the present invention will be described with reference to FIG. FIG. 26 is a cross-sectional view of the vibration type driving device of the present embodiment.

In Examples 7 and 8, a portion made of resin is provided on the rotational force transmitting member side, but in this example, a portion made of resin is provided on the rotating body side.
In this embodiment, the rotating body 1 is formed by drawing. A member 2 formed by resin injection molding is fixed to the rotating body 1. The member 2 has an uneven portion that meshes with the rotational force transmitting member 5. Here, by forming the member 2 with resin, it is possible to prevent the vibration of the rotating body 1 from being transmitted to the output shaft 16 and to suppress the generation of noise.

  Next, a printer apparatus provided with the vibration type driving apparatus of the above-described embodiment will be described. 27 and 28 are a front view and a side view of the printer device, respectively. A paper feeding unit provided in the printer apparatus is a unit for conveying paper used in a printer, a copying machine, or the like.

  Utilizing the fact that a high torque can be obtained when the vibration type driving device is used, the output shaft of the driving device is directly connected to the roller.

  When using a vibration-type drive device, the motor output is not decelerated by the gear mechanism as in the case of using an ordinary electromagnetic motor, which reduces variations in stop position accuracy due to gear backlash and gear drive noise. It is possible to configure a highly accurate and quiet paper feeding unit. In addition, since the vibration type driving device has a short start-up time, it is suitable for the case where the paper is frequently stopped and moved as in printing with a printer device.

  In the paper feeding unit of this embodiment, both ends of the roller 24 are supported by two roller bearings 28. On the other hand, the output shaft 16 of the vibration type driving device is press-fitted into one end of the roller 24. Note that the opposite side of the vibration type driving device is not fixed. The paper 27 is conveyed by rollers 24 and 29.

  The printer device includes a carriage 26 on which an ink tank is mounted, and this reciprocates along the roller 25. During this time, ink is ejected from fine ejection ports of the ink tank and printed on the paper. This fine discharge port is clogged with ink in some cases, and this clogging is eliminated by a kind of pump called a recovery unit.

The recovery unit is provided at the end of the roller through which the paper 27 does not pass. This is because the recovery operation cannot be performed if there is a sheet between the recovery unit and the fine discharge port.
In the printer device of this embodiment, the vibration type driving device is mounted at the place where the recovery unit is arranged. Conventionally, the vibration type driving device is simply replaced in the place where the roller originally existed, so that space saving is realized as compared with the conventional case.

  The support plate 14 only needs to receive a reaction force of torsion. As shown in FIG. 28, a part of the support plate 14 has an arc shape. The support plate 14 can fix the vibration type driving device at a predetermined position with two fixing screws while rotating the vibrating body.

FIG. 3 is an exploded perspective view of the vibration type driving device showing the first embodiment. FIG. 3 is an exploded perspective view of a vibrating body according to the first embodiment. FIG. 3 is a cross-sectional view of the vibration type driving device according to the first embodiment. FIG. 3 is an assembly explanatory diagram of the vibration type driving device according to the first embodiment. FIG. 6 is another assembly explanatory diagram of the vibration type driving device according to the first embodiment. The figure which shows the state before the assembly | attachment of the rotary body in Example 2, and a rotational force transmission member. FIG. 6 is a diagram showing a portion of a rotating body in Example 2. FIG. 6 is an exploded perspective view of a vibration type driving device in Embodiment 3. FIG. 9 is an exploded perspective view of a vibration type driving device in Embodiment 4. Sectional drawing of the rotary body part in Example 4. FIG. FIG. 10 is an external perspective view of a rotating body and a rotational force transmission member in Embodiment 5. FIG. 10 is an external perspective view of a rotating body and a rotational force transmission member in Embodiment 6. Sectional drawing of the rotary body part in Example 6. FIG. Sectional drawing of the rotary body part in Example 7. FIG. Sectional drawing of the rotary body part in Example 8. FIG. FIG. 10 is an external perspective view of a rotating body and a rotational force transmission member in Embodiment 9. Sectional drawing of the rotary body part in Example 9. FIG. The external appearance perspective view of the rotary body and rotational force transmission member in Example 10. FIG. Sectional drawing of the rotary body part in Example 10. FIG. The external appearance perspective view of the rotary body and rotational force transmission member in Example 11. FIG. Sectional drawing of the rotary body part in Example 11. FIG. The external appearance perspective view of the rotary body and rotational force transmission member in Example 12. FIG. The enlarged view of the uneven | corrugated | grooved part of the rotary body part in Example 12. FIG. 14 is an external perspective view of a rotating body and a rotational force transmission member in Embodiment 13. FIG. The enlarged view of the rotational force transmission member in Example 13. FIG. Sectional drawing of the vibration type drive device in Example 14. FIG. FIG. 18 is a front view of a printer apparatus according to a fifteenth embodiment. FIG. 17 is a side view of the printer device according to the fifteenth embodiment. The disassembled perspective view of the vibration type drive device of a prior art example. The external appearance perspective view of the vibration type drive device of a prior art example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1,101 Rotating body 1a, 101a Uneven part 2 Plate-like member 3, 103 Friction member 4 Recessed or convex member 5 on rotational force transmission member 5,105 Rotating force transmission member 5a, 105a Uneven part 6,106 Coil spring 7, 107 Anti-rotation Screw 8 Elastic sheet 9, 109 Friction member 10, 110 Elastic member 11 Bearing 12, 112 Piezoelectric element 13, 113 Flexible substrate 14, 114 Vibrating body support plate 15 Hollow bolt 16, 116 Output shaft 17, 117 Case bearing 18, 118 Case 19, 119 Case 20 Assembly jig base 21 Pushing jigs 22, 23 Bearing for assembly jig 24 Roller 25 Carriage guide 26 Carriage 27 Paper 28 Roller bearing 29 Roller 30 箍 31 Spacer

Claims (17)

An oscillating body in which vibration is excited by an electro-mechanical energy conversion element, a rotator that is rotationally driven in contact with the oscillating body, and a transmission member that transmits the rotational force of the rotator to an output member are axially provided. A vibration type driving device assembled to each other,
A rotational force of the rotating body is transmitted to the transmission member by engaging a first engaging portion provided on the rotating body and a second engaging portion provided on the transmitting member in a rotating direction. Having a structure
At least one of the first and second engaging portions has a shape inclined in the rotational direction with respect to the axial direction.   The vibration-type drive device according to claim 1, wherein the first engagement portion is periodically provided in a circumferential direction of the rotating body.   The vibration type driving device according to claim 1, wherein the second engagement portion is periodically provided in a circumferential direction of the transmission member. At least one of the first and second engaging portions is provided at both ends in the rotation direction of the convex portion,
4. The vibration type driving device according to claim 1, wherein a width of the convex portion in a rotation direction decreases from a base side to a tip side of the convex portion. At least one of the first and second engaging portions is provided at both ends of the recess in the rotational direction,
4. The vibration type driving device according to claim 1, wherein the width of the concave portion in the rotation direction increases from the bottom side to the opening side of the concave portion. 5.   6. The vibration type driving device according to claim 1, wherein an elastic member is sandwiched between the first engaging portion and the second engaging portion.   7. The vibration type driving device according to claim 1, wherein one of the first engaging portion and the second engaging portion is greater in number than the other. 8.   The height in the axial direction of one of the first engaging portion and the second engaging portion increases toward the rotation center, and the other height in the axial direction increases toward the rotation center. The vibration type driving device according to claim 1, wherein the vibration type driving device is reduced.   The portion on the output member side of the transmission member is made of metal, and the portion on the side where the second engaging portion is provided is made of resin. The vibration type driving device according to any one of the above.   10. The vibration type driving device according to claim 1, wherein the transmission member generates a pressing force that presses the rotating body and the vibrating body. The rotating body is provided with convex portions having the first engaging portions at both ends in the rotation direction,
11. The vibration type driving device according to claim 1, wherein the convex portion receives the driving force from the vibrating body in contact with the vibrating body. One of the first and second engaging portions, a first convex portion provided at both ends in the rotational direction;
Two convex portions arranged on both sides of the first convex portion in the rotation direction, and the other of the first and second engaging portions is provided on the first convex portion side, respectively. Two second protrusions,
The first convex portion is disposed between the root side portions of the two second convex portions,
The root side portion of the second convex portion has a first rotation direction width, and the tip side portion has a rotation direction width larger than the first rotation direction width from the second rotation direction width to the tip. 4. The vibration type driving device according to claim 1, wherein the vibration type driving device has a shape that decreases toward the bottom.   An apparatus using the vibration type driving apparatus, comprising the vibration type driving apparatus according to claim 1. A method for assembling the vibration type driving device according to any one of claims 1 to 12,
A method for assembling a vibration type driving apparatus, wherein the vibration body is assembled while vibrating.   The method for assembling the vibration type driving device according to claim 14, wherein the assembly is performed while rotating the rotating body by vibration of the vibrating body.   The assembly of the vibration type driving device according to claim 14 or 15, wherein the rotating body and the transmission member are moved to a specific position in the axial direction based on an output signal of the electro-mechanical energy conversion element. Method. 16. The vibration type driving device according to claim 14, wherein the transmission member is assembled to the output member by a force determined based on a reaction force generated when the transmission member is assembled to the output member. Assembly method.