JP2010246177A - Driving unit - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a flat driving unit that can be thinned. <P>SOLUTION: The driving unit 10 includes a rotor vehicle 40, including disk-like rotors 41a, 41b, 41c that are pivoted to a rotating shaft 43 and have different outer diameters; a plate-like vibrating body 130, subjected to in-plane vibration by applying an AC voltage to rotate the rotor vehicle 40; a vibrating body energization member 70 for allowing the vibrating body 130, to abut against the outer-periphery side of one of the rotors 41a, 41b, 41c by fixed energizing force; a control circuit section 60 for performing drive control of the vibrating body 130; and a casing comprising first and second machine casings 20, 30 for storing the rotor vehicle 40, the vibrating body 130, the vibrating body energizing member 70, and the control circuit section 60. One among a plurality of rotors is selected for allowing the vibrating body 130 to be abutted against, thus changing the rotational speed of the rotor vehicle 40. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a drive device that rotates a rotor by vibration of a vibrating body.

2. Description of the Related Art Conventionally, a drive device that extracts a rotational force is generally a drive device that uses an electromagnetic motor as a drive source and is combined with a reduction gear or a speed increase gear.

In recent years, an ultrasonic motor that rotates a rotor using an ultrasonic motor has been developed for such a drive device. Such an ultrasonic motor includes a first piezoelectric element that applies axial vibration to the rotor and a second piezoelectric element that applies vibration in the tangential direction.
The rotor is rotated by simultaneously vibrating the piezoelectric element and the second piezoelectric element (see, for example, Patent Document 1).

In addition, a drive device has been proposed in which a plate-like vibrating body that performs in-plane vibration is brought into contact with the outer peripheral side surface of the rotor and the rotor is rotated by vibration of the vibrating body (see, for example, Patent Document 2).

Japanese Patent Laid-Open No. 5-207764 Japanese Patent Laid-Open No. 2005-73465

A conventional drive device using an electromagnetic motor has a reduction gear or a speed-up gear, and is difficult to reduce in size. Moreover, in addition to generating electromagnetic noise during driving, it has a problem that it may be affected by external electromagnetic noise.

The drive device of Patent Document 1 has a complicated structure with a large number of component parts, has a cylindrical shape and is difficult to reduce in size, and has a problem that space efficiency is poor with respect to attachment to other devices. .

In addition, the driving device of Patent Document 2 can be thinned and is not affected by electromagnetic noise. However, since the rotor rotational speed of this driving device is uniquely determined by the vibration frequency of the vibrating body and the outer diameter of the rotor, it is required to be able to select the rotational speed of the rotor for general use as the driving device. .

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

Application Example 1 A drive device according to this application example includes a disk-like rotor that is fixed to a rotating shaft, a plate-like vibrating body that rotates in an in-plane manner by applying an alternating voltage, and the rotor. A vibrating body urging member for bringing the vibrating body into contact with an outer peripheral side surface of the rotor with a constant urging force, a control circuit unit that controls driving of the vibrating body, the rotor, the vibrating body, and the vibration A body urging member, a housing that houses the control circuit unit, and a transmission shaft that projects outward from the housing and transmits the rotation of the rotor, are provided. To do.

Since the drive device according to this application example rotates the rotor by the vibration of the vibrating body, it does not generate electromagnetic noise or be affected by external electromagnetic noise.

In addition, the drive device according to this application example includes a rotor, a vibrating body, a vibrating body biasing member, a control circuit unit, and a housing for housing these components. The number of components is small, the structure is simple, and the thickness and size are reduced. Can be realized.

Although described in detail in the embodiment, the rotor is rotated by the frictional force of the contact portion with the vibrating body. Therefore, since the vibrating body is brought into contact with the rotor with a constant biasing force by using the vibrating body biasing member, the rotor can be rotated at a stable rotational speed.

Furthermore, by projecting the transmission shaft to the outside of the housing, the rotational force (that is, power) of the rotor can be taken out of the housing, and power transmission to other devices can be easily performed.

Application Example 2 The drive device according to the application example described above preferably includes a plurality of the rotors having different outer diameters, and the vibrating body is brought into contact with any of the rotors.

When the vibration frequency of the vibrating body is constant, the rotational speed of the rotor is determined by the outer diameter of the rotor. Accordingly, a plurality of rotors having different outer diameters are provided on the same axis, and a rotor having a desired rotational speed is realized by selecting a rotor outer diameter corresponding to the desired rotational speed and contacting the vibrating body. be able to.

Application Example 3 In the driving device according to the application example described above, it is preferable that the plurality of rotors are sequentially stacked from a small outer diameter to a large outer diameter from the bottom surface direction of the housing.

With this configuration, some of the components other than the rotor can be placed on the bottom of the chassis so as to intersect the lower part of the rotor with a large outer diameter, allowing efficient use of space and compactness. It is effective for conversion.

Application Example 4 In the driving device according to the application example described above, it is preferable that a spacer is provided that matches the contact position in the thickness direction between the selected rotor of the plurality of rotors and the vibrating body.

In this way, by preparing a spacer with a thickness corresponding to the rotor position, it is possible to easily match the contact position in the thickness direction between the rotor and the vibrator without changing other components. Can do.

Application Example 5 In the driving device according to the application example described above, it is preferable that the vibrating body urging member can be disposed by moving a position in a plane direction according to the outer diameter of each of the plurality of rotors.

In this way, it is possible to use a common oscillating member urging member for each of the plurality of rotor outer diameters and to urge a certain urging force corresponding to each of the rotor outer diameters.

Application Example 6 In the drive device according to the application example described above, it is preferable that the transmission shaft is common to the rotation shaft of the rotor.

By making the transmission shaft for taking out power to the outside and the rotating shaft of the rotor in common, no other transmission elements are required, and a drive device with a simple configuration can be realized.

Application Example 7 The drive device according to the application example described above preferably includes a speed reduction mechanism or a speed increase mechanism between the rotor and the transmission shaft.
Here, as the speed reduction mechanism and the speed increasing mechanism, for example, a speed reducing gear or a speed increasing gear can be adopted.

In this way, it is possible to provide driving devices having different transmission shaft rotational speeds in a state where the vibration frequency of the vibrating body and the rotor outer diameter are constant. When the reduction gear is used, the rotational speed of the transmission shaft can be reduced and the rotational torque of the transmission shaft can be increased. Further, when the speed increasing gear is used, the rotation speed of the transmission shaft can be increased.

Application Example 8 In the driving device according to the application example, the vibrating body includes a piezoelectric element and a plurality of electrodes provided on the piezoelectric element, and the plurality of electrodes are connected in two states by a connection switching unit. It is preferable to switch the vibration direction of the vibrating body by switching and to switch the rotation direction of the rotor.
Here, as the connection switching means, for example, a two-state switching switch can be employed.

The vibrating body is excited by the expansion and contraction of the piezoelectric element. Therefore, by selectively connecting a plurality of electrodes provided on the piezoelectric element, the expansion / contraction direction of the piezoelectric element is changed, thereby changing the vibration direction of the vibrating body. By switching the vibration direction of the vibrating body, the rotation direction of the rotor can be easily changed, and a drive device capable of forward and reverse rotation can be realized.

FIG. 3 is a plan view illustrating a configuration of the drive device according to the first embodiment. FIG. 3 is a cross-sectional view showing the relationship between the rotor and the vibrating body according to the first embodiment. FIG. 3 is a partial cross-sectional view illustrating a vibrating body holding structure according to the first embodiment. FIG. 3 is a partial cross-sectional view illustrating a contact portion between the rotor and the vibrating body according to the first embodiment. FIG. 3 is a partial cross-sectional view illustrating a vibrating body urging member according to the first embodiment. FIG. 3 is a perspective view illustrating a configuration of a vibrating body according to the first embodiment. FIG. 3 is an explanatory diagram schematically showing the operation of the vibrating body according to the first embodiment. FIG. 6 is a plan view showing a drive device according to a second embodiment. FIG. 6 is a partial cross-sectional view illustrating a drive device according to Example 1 of Embodiment 2. FIG. 9 is a partial cross-sectional view illustrating a relationship between a rotor and a vibrating body of a drive device according to Example 2 of Embodiment 2. FIG. 9 is a partial cross-sectional view illustrating a structure for fixing a vibrating body urging member according to Example 2 of Embodiment 2. FIG. 9 is a partial cross-sectional view illustrating a relationship between a rotor and a vibrating body of a drive device according to Example 3 of Embodiment 2. FIG. 9 is a partial cross-sectional view illustrating a structure for fixing a vibrating body urging member according to Example 3 of Embodiment 2. FIG. 6 is a plan view of a drive device according to Example 1 of Embodiment 3. FIG. 9 is a partial cross-sectional view of a drive device according to Example 1 of Embodiment 3. Sectional drawing which shows the drive device which concerns on Example 2 of Embodiment 3. FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
Note that the drawings referred to in the following description are schematic views in which the vertical and horizontal scales of members or portions are different from actual ones for convenience of illustration.
(Embodiment 1)

1 is a plan view showing a configuration of a drive device according to Embodiment 1, FIG. 2 is a cross-sectional view showing a relationship between a rotor and a vibrating body, FIG. 3 is a partial cross-sectional view showing a holding structure of the vibrating body, and FIG. 4 is a rotor. FIG. 5 is a partial cross-sectional view showing a vibrating body urging member.

First, the configuration of the driving apparatus 10 will be described with reference to FIG. The drive device 10 has a constant urging force applied to a rotor wheel 40 having a disk-like rotor 41, a plate-like vibrating body 130, and a protrusion 133a formed at an end of the vibrating body 130 on the outer peripheral side surface of the rotor 41. It comprises a vibrating body urging member 70 to be brought into contact with, a control circuit unit 60 for controlling the driving of the vibrating body 130, and a first machine casing 20 and a second machine casing 30 as housings for housing them. . Note that FIG.
A state in which the machine casing 30 is seen through is shown.

The rotor wheel 40, the vibrating body 130, the vibrating body urging member 70, and the control circuit unit 60 are distributed on the bottom surface 22 of the first machine casing 20. The vibrating body 130 is held by the vibrating body holding member 50.

Next, the relationship between the rotor 41 and the vibrating body 130 will be described with reference to FIGS. 1 and 2.
The rotor wheel 40 is configured such that a disk-shaped rotor 41 is fixed to a rotating shaft 43 and is supported by a bearing 97 provided on the first machine casing 20 and a bearing 96 provided on the second machine casing 30. Yes.

In the vibrating body 130, the protruding portion 133 a is in contact with the outer peripheral side surface of the rotor 41 in a state where the arm portion 133 b is fixed to the vibrating body fixing shafts 55 and 56 on the vibrating body holding member 50. The holding structure of the vibrating body 130 will be described later with reference to FIG.

The control circuit unit 60 is connected and fixed to the surface of a circuit board 62 (not shown in plan view) fixed to the bottom surface 22 of the first machine casing 20.

The control circuit unit 60 includes a voltage control circuit, an oscillation circuit, and the like (both not shown). The voltage control circuit is connected to the power supply lead 61 and controls the stabilization of the supply voltage from the external power supply. The oscillation circuit is connected to a plurality of electrodes (see FIG. 6) of the vibrating body 130.

The rotor wheel 40, the vibrating body 130, the vibrating body urging member 70, and the control circuit unit 60 are accommodated in a space 21 formed by the first machine casing 20 and the second machine casing 30. The second machine casing 30 is a lid member and is fixed by a fixing screw 92 so as to be in close contact with the edge 23 of the first machine casing 20 (
5), the driving device 10 is completed.

The rotation shaft 43 of the rotor 41 protrudes outside through the first machine casing 20. Therefore, in this embodiment, the rotating shaft 43 is a transmission shaft for taking out rotational force (power) outside. FIG.
FIG. 2 illustrates an example when the drive device 10 is attached to another device. here,
The structure is configured such that the fixing device 91 can be attached to the drive device mounting member 110 of the device.

The rotating shaft 43 is formed with a connecting portion 44 that is partially cut with a flat surface, so that the rotational force can be transmitted to a gear or the like. In addition, as a shape of a connection part, it is good also considering the cross-sectional shape perpendicular | vertical to an axial direction as a polygon or a knurled shape.

Next, the holding structure for the vibrating body will be described with reference to FIGS. The vibrating body 130 includes
A pair of arm portions 133b are provided so as to project. The vibrating body 130 is press-fitted and fixed to the vibrating body holding member 50 by vibrating body fixing shafts 55 and 56 at the tip of the arm portion 133b.

The vibrating body fixing shaft 55 does not protrude from the vibrating body holding member 50. Further, the vibrating body fixing shaft 56 is press-fitted into the vibrating body holding member 50 to fix the vibrating body 130, and the rotating shaft portion 57 at the distal end penetrates the vibrating body holding member 50 and protrudes into the first machine casing 20. Established. Here, the rotation shaft portion 5
7 is rotatable with respect to the first machine casing 20. Therefore, the vibrating body 130 has the vibrating body holding member 50.
At the same time, in a state of being fixed to the vibrating body holding member 50, the rotary shaft portion 57 can be rotated about the rotation shaft.

Next, a contact portion between the rotor 41 and the vibrating body 130 will be described with reference to FIG. A groove 42 is formed on the outer peripheral side surface of the rotor 41. The groove 42 has a substantially arc shape when viewed from the front as shown. This arc-shaped portion is a contact surface with the vibrating body (protrusion 133a).

The protrusion 133 a is disposed at approximately the center of the thickness of the rotor 41. And the protrusion 133
a contacts the center of the contact surface of the groove 42 in the cross-sectional direction. In addition, it is more preferable that the total thickness of the vibrating body 130 is smaller than the thickness of the rotor 41.

Next, the structure of the vibrating body urging member will be described with reference to FIGS. As shown in FIG. 1, the vibrating body urging member 70 includes a fixing portion 71, a spring portion 72 that is continuous with the fixing portion 71, and an urging portion 73 that is formed at the tip of the spring portion 72. .

The vibration member urging member 70 is regulated in position by a guide shaft 75 planted in the first machine frame 20 at the fixing portion 71 and fixed to the bottom surface 22 of the first machine frame 20 by a fixing screw 93. . The spring portion 72 has a curved beam shape and can be bent in the plane direction, and a biased portion 73 that is bent and raised is formed at the tip portion. The urging unit 73 has a vibrating body fixing shaft 55.
The height is set so as to be in contact with the outer peripheral side surface.

Next, the operation of the vibrating body urging member 70 will be described with reference to FIG. In the state in which the vibrating body urging member 70 is fixed to the first machine casing 20, the urging portion 73 abuts on the vibrating body fixing shaft 55.
At this time, since the shape is set so that the spring portion 72 bends, the urging portion 73 has the spring portion 72.
The vibrating body fixing shaft 55 is pushed by the elastic force.

Here, the vibrating body 130 is rotated counterclockwise about the rotation shaft portion 57 as a rotation axis while being fixed to the vibrating body holding member 50. Thus, the vibrating body 130 (protrusion 133a) is urged to the outer peripheral side surface of the rotor 41 (the contact surface of the groove 42) with a constant urging force.

Next, driving of the driving device 10 according to the present embodiment will be described. First, the vibrating body 130
The structure and operation will be described with reference to FIGS.
FIG. 6 is a perspective view showing the configuration of the vibrating body. As shown in FIG. 6, the vibrating body 130 has a substantially rectangular thin plate shape. The vibrating body 130 has a plate-like piezoelectric element 1 on the surface of the reinforcing plate 133.
34, electrodes 131a, 131b, 131c, 131d, 131e on the surface of the piezoelectric element 134
Are closely formed.

A plate-like piezoelectric element 135 is in close contact with the back surface of the reinforcing plate 133, and an electrode 132 is in close contact with the surface of the piezoelectric element 135. The electrode 131a is formed over the entire length direction at the center in the width direction of the piezoelectric element 134, and the electrodes 131b and 131c are formed diagonally across the electrode 131a. Further, the electrodes 131d and 131e are disposed and formed so as to face the electrodes 131b and 131c in a diagonal direction across the electrode 131a.

Although not shown, the electrode 132 has electrodes 131a, 131b, 1 sandwiching the reinforcing plate 133 therebetween.
It is formed so as to be plane-symmetric with respect to 31c, 131d, and 131e. Electrode 1
31a and 132 may be omitted.

The material of the piezoelectric elements 134 and 135 is not particularly limited, and lead zirconate titanate (PZ
T), crystal, lithium niobate, barium titanate, lead titanate, lead metaniobate, polyvinylidene fluoride, lead zinc niobate, lead scandium niobate and the like can be used.

The reinforcing plate 133 functions as a common electrode for the piezoelectric elements 134 and 135 and the vibrating body 1.
30 has a function to reinforce the entire body 30, and prevents the vibrating body 130 from being damaged by over-amplitude or external force. Although it does not specifically limit as a material of the reinforcement board 133, For example, it is desirable that they are metal materials, such as stainless steel, aluminum or an aluminum alloy, titanium or a titanium alloy, copper or a copper-type alloy.

The piezoelectric elements 134 and 135 are preferably thicker than the reinforcing plate 133. Thereby, the vibrating body 130 can be vibrated with higher efficiency.

A protrusion 133 a is integrally formed at the longitudinal end of the reinforcing plate 133. In addition,
The protrusion 133a is formed in a substantially semicircular shape at the center of the reinforcing plate 133 (center line G: see FIG. 7).

In addition, a pair of arm portions 133b are provided on both sides of the center of the reinforcing plate 133 in the length direction, and a fixed portion 133c is formed at the tip of the arm portion 133b. In the vibrating body 130, the fixing portion 133c is fixed to the vibrating body holding member 50 using the vibrating body fixing shafts 55 and 56 (FIG. 3).
,reference). That is, the vibrating body 130 is supported by the arm portion 133b. Thereby, the vibrating body 130 can freely vibrate in the plane and vibrates with a relatively large amplitude.
Note that the electrode 131b and the electrode 131c, and the electrode 131d and the electrode 131e are electrically connected to each other.

Next, the operation of the vibrating body 130 will be described with reference to FIGS.
As shown in FIG. 6, when an AC voltage is applied between the electrodes 131a, 131b, and 131c and the reinforcing plate 133, the piezoelectric element 134 in the lower surface area of the electrode 131a expands and contracts in the longitudinal direction as indicated by an arrow X, Perform longitudinal vibration.

The piezoelectric elements 134 in the lower surface range of the electrodes 131b and 131c also expand and contract in the longitudinal direction, but are arranged in the diagonal direction of the piezoelectric elements 134, so that in-plane bending vibration as indicated by the arrow Y is generated. Do. FIG. 6 shows a case where no voltage is applied to the electrodes 131d and 131e.

In the piezoelectric element 135 as well, a similar alternating voltage is applied to the electrode 132 (formed symmetrically with the electrodes 131a, 131b, and 131c).

Accordingly, the vibrating body 130 mainly vibrates longitudinally in the longitudinal direction, but resonates longitudinal vibration and bending vibration, and causes the protrusion 133a to elliptically vibrate. Hereinafter, this point will be described.

FIG. 7 is an explanatory view schematically showing the action of the vibrating body.
As shown in FIG. 7, when the vibrating body 130 rotates the rotor 41, the protrusion 133 a
Receives a reaction force f from the rotor 41. Therefore, the vibrating body 130 is deformed and vibrated so as to bend in the in-plane direction by the reaction force f. FIG. 7 exaggerates the deformation of the vibrating body 130.

By appropriately selecting the frequency of the applied voltage and the shape / size of the vibrating body 130, the frequency of the flexural vibration and the frequency of the longitudinal vibration resonate, the amplitude increases, and the protrusion 133a is As indicated by the arrow r, it is displaced along an ellipse (elliptical vibration).

As a result, the protrusion 133a is expanded and the rotor 4 is rotated at one amplitude of the vibrating body 130.
When 1 is sent in the rotation direction, the protrusion 133a is pressed against the rotor 41 with a strong force. Further, when the protrusion 133a contracts and returns, the frictional force with the rotor 41 can be reduced or eliminated, and therefore the vibration of the vibrating body 130 can be converted with high efficiency by the rotational motion of the rotor 41.

In the vibrating body 130, the protrusion 133 a is biased to the outer peripheral side surface of the rotor 41 by the elastic force of the vibrating body biasing member 70. Therefore, when the AC voltage as described above is applied to the piezoelectric elements 134 and 135 to vibrate the vibrating body 130, the rotor 41 rotates in the clockwise direction (arrow R direction).

That is, a large frictional force is applied between the protrusion 133a and the contact portion of the rotor 41 by the radial component B1 of the vibration displacement B of the protrusion 133a, and the rotor 41 rotates the clock 41 by the circumferential component B2 of the vibration displacement B. Rotate around.

The frequency applied to the piezoelectric elements 134 and 135 is not particularly limited, but is preferably approximately the same as the resonance frequency of vibration (longitudinal vibration) of the vibrating body 130. Accordingly, the vibrating body 130
And the rotor 41 can be rotationally driven with high efficiency and high torque.

Therefore, according to the above-described embodiment, the vibrating body 1 accompanying expansion and contraction of the piezoelectric elements 134 and 135 is performed.
Since the rotor 41 (that is, the rotor wheel 40) is rotated by the vibration of 30, the electromagnetic noise is not generated and is not affected by the external electromagnetic noise.

The drive device 10 includes a rotor wheel 40, a vibrating body 130, a vibrating body urging member 70, a control circuit unit 60, and a housing (first machine casing 20 and second machine casing 30) for storing them. The number of parts is small, the structure is simple, and it is possible to reduce the thickness and size.

Specifically, the outer diameter of the rotor 41 is 4 mm, the thickness is 0.4 mm, and the planar size of the vibrating body is 2
When set to mm x 7 mm, the planar size of the drive device is 15 mm x 15 mm and the thickness is 1.5 mm.
A box-type drive device having a size of approximately no protrusion from the housing can be realized.

Further, the rotor 41 is rotated by the friction of the contact portion with the vibrating body 130. Therefore, the rotor 41 can be rotated at a stable rotational speed by pressing the vibrating body 130 against the rotor 41 with a constant biasing force by the vibrating body biasing member 70.

In addition, by sharing the tip of the rotating shaft 43 of the rotor 41 and the transmission shaft for extracting power to the outside, no other transmission elements are required, and a drive device with a simple configuration can be realized.

In addition, a part of the rotating shaft 43 (transmission shaft) is projected outside the housing, so that the rotor 41
The rotational force (that is, power) can be taken out of the housing, and the connection to the rotation transmission mechanism of other devices can be easily performed. Furthermore, if the first machine casing 20 and the second machine casing 30 are made of plastic, the weight can be reduced.
(Embodiment 2)

Next, a driving apparatus according to Embodiment 2 will be described with reference to the drawings. Embodiment 2
The rotor vehicle has a plurality of rotors having different outer diameters from the rotation shaft, and selects any one of the plurality of rotors to contact a vibrating body to obtain a plurality of rotation speeds. A description will be given centering on differences from the first embodiment. In addition, the same code | symbol is attached | subjected and demonstrated to the component which has the same function.

FIG. 8 is a plan view showing the driving apparatus according to the second embodiment. In addition, FIG. 8 represents the state which saw through the 2nd machine casing, and has also illustrated Example 1-Example 3 demonstrated hereafter.
(Example 1 of Embodiment 2)

FIG. 9 is a partial cross-sectional view illustrating the drive device according to the first embodiment. 8 and 9, the rotor wheel 40 includes three rotors 41 a, 41 b, 41 c and a rotating shaft 43. Each of the three rotors is sequentially stacked from the small outer diameter to the larger one from the bottom surface 22 direction of the first machine casing 20 which is a part of the casing. In the present embodiment, the outer diameter of each rotor is set to satisfy 41a <41b <41c, and the rotors 41a, 41b, and 41c are fixed to the rotary shaft 43 in this order from the bottom surface 22 of the first machine casing 20. .

In the first embodiment, the vibrating body 130 is in contact with the rotor 41a having the smallest outer diameter. A protrusion 133a (133a-1 in the drawing) of the vibrating body 130 is in contact with the outer peripheral side surface of the rotor 41a. Here, the shape of the vibrating body 130 and the vibrating body holding member 50 and the fixing structure are the same as those of the first embodiment (see FIGS. 1 and 3), and the outer periphery of the rotors 41a, 41b, and 41c includes the first embodiment. The groove | channel 42 (refer FIG. 4) similar to is formed.

Each part of the vibrating body urging member 70 (70-1 in the drawing) has a similar function to that of the first embodiment, although the shape is different in order to effectively use the space. Specifically, the vibrating body urging member 70 includes a fixing portion 71, a spring portion 72 continuous with the fixing portion 71, and an urging portion 73 (73-1 in the drawing) formed at the tip of the spring portion 72. It is configured.

The fixing structure of the vibrating body urging member 70 is the same as that of the first embodiment (see FIG. 5) and will not be described. However, in the fixing portion 71, a guide shaft 75 (75 in the figure) planted in the first machine casing 20 is used. -1), and the position is restricted to the first machine casing 20 by a fixing screw 93 (93-1 in the drawing).

Then, the urging portion 73 (73-1 in the drawing) of the oscillating member urging member 70 is pushed by the vibrating body fixing shaft 55 (55-1 in the drawing), and the vibrating body 130 is moved to the vibrating body fixing shaft 56 (56- in the drawing). 1) is rotated about the rotating shaft and biased to the rotor 41a.
That is, it can be said that Example 1 has the same configuration as that of Embodiment 1 described above.

As shown in the figure, a part of the control circuit unit 60 is disposed at a position intersecting with the lower portion of the rotor 41c. However, this arrangement affects the thickness of the drive device 10. There is no, and space can be used effectively, contributing to downsizing.
(Example 2 of Embodiment 2)

FIG. 10 is a partial cross-sectional view illustrating the relationship between the rotor and the vibrating body of the driving apparatus according to the second embodiment. This will be described with reference to FIGS. The second embodiment exemplifies a state in which a protrusion 133a (133a-2 in the drawing) of the vibrating body 130 is brought into contact with a rotor 41b having an intermediate rotor outer diameter. Since the configuration of the vibrating body 130 and the vibrating body holding member 50 and the fixing structure thereof are the same as those in the first embodiment, the description thereof is omitted.

In the second embodiment, a spacer 100 for aligning the contact position in the thickness direction between the rotor 41b selected from the plurality of rotors and the vibrating body 130 is provided. By providing the spacer 100, the contact height between the rotor 41b and the vibrating body 130 is adjusted.

The spacer 100 is a plate member, and the plane position with respect to the rotor is accurately regulated by two guide shafts 95, and is fixed to the first machine casing 20 by two fixing screws 94 (FIG. 1).
1).

Further, since the outer diameter of the rotor has a relationship of 41a <41b, the vibrating body 130 is moved by an amount corresponding to the difference in diameter in order to obtain the same urging force as in the first embodiment. Specifically, the vibrating body 13
0 is moved together with the vibrating body holding member 50 on a straight line in which the center line G of the vibrating body 130 is directed in the direction of the rotation center P of the rotor. Therefore, the vibrating body urging member 70 (shown in FIG. 70-2) is also the vibrating body 13
By translating the same distance in the same direction as 0, the rotor urging force of the vibrating body 130 can be made the same as in the first embodiment.

The vibrating body 130 and the vibrating body holding member 50 can be used in common with the first embodiment. The vibrating body 130 and the vibrating body holding member 50 are placed on the upper surface of the spacer 100 and fixed to the spacer 100 on the vibrating body fixing shaft 56 (56-2 in the drawing). . At this time, the vibrating body 130 and the vibrating body holding member 50 are rotatable with respect to the vibrating body fixing shaft 56 (rotating shaft portion 57).

Next, the vibrating body urging member will be described.
FIG. 11 is a partial cross-sectional view illustrating the fixing structure of the vibrating body urging member. 8 and 11, the vibrating body urging member 70 according to the present embodiment can be used in common with the above-described first embodiment, and the urging portion 73 ( 73-2 in the figure is in contact with the side surface of the vibrating body fixing shaft 55 (55-2 in the figure).

The position is regulated by a guide shaft 75 (75-2 in the figure) planted in the first machine frame 20, and is fixed to the first machine frame 20 by a fixing screw 93 (93-2 in the figure).
Subsequently, Example 3 of the present embodiment will be described with reference to the drawings.
(Example 3 of Embodiment 2)

FIG. 12 is a partial cross-sectional view illustrating the relationship between the rotor and the vibrating body of the driving apparatus according to the third embodiment. In the third embodiment, the protrusion 133a of the vibrating body 130 is added to the rotor 41c having the largest outer diameter.
This is a state in which (shown 133a-3) is in contact. This will be described with reference to FIGS. Since the configuration of the vibrating body 130 and the vibrating body holding member 50 and the fixing structure thereof are the same as those in the first embodiment, the description thereof is omitted.

In the third embodiment, a spacer 101 for aligning the contact position in the thickness direction between the rotor 41c selected from the plurality of rotors and the vibrating body 130 is provided. By providing the spacer 101, the contact height between the rotor 41c and the vibrating body 130 is adjusted.

The spacer 101 is a plate member that differs only in thickness from the spacer 100 of the second embodiment. Like the second embodiment, the spacer 101 accurately regulates the planar position with respect to the rotor by the two guide shafts 95. Is fixed to the first machine casing 20 by a fixing screw 94 (see also FIG. 13).

Further, since the outer diameter of the rotor has a relationship of 41a <41b <41c, the vibrating body 130 is moved by an amount corresponding to the difference in diameter in order to obtain the same urging force as in the first embodiment. Specifically, the vibrating body 130 is moved together with the vibrating body holding member 50 on a straight line in which the center line G of the vibrating body 130 is directed in the direction of the rotation center P of the rotor. Therefore, the vibrator urging member 70 (70-3 in the figure) is also translated by the same distance in the same direction as the vibrator 130, so that the rotor urging force of the vibrator 130 is the same as that in the first embodiment. it can.

The vibrating body 130 and the vibrating body holding member 50 can be used in common with the first embodiment. The vibrating body 130 and the vibrating body holding member 50 are mounted on the upper surface of the spacer 101 and fixed to the spacer 101 on the vibrating body fixing shaft 56 (56-3 in the drawing). . At this time, the vibrating body 130 and the vibrating body holding member 50 are rotatable with respect to the vibrating body fixing shaft 56 (rotating shaft portion 57).

Next, the vibrating body urging member will be described.
FIG. 13 is a partial cross-sectional view illustrating the fixing structure of the vibrating body urging member. 8 and 13, the vibrating body urging member 70 according to the present embodiment can be used in common with the above-described first and second embodiments and is attached to the upper surface of the spacer 101. Force unit 73 (73 shown in the figure)
-3) is in contact with the side surface of the vibrating body fixing shaft 55 (55-3 in the drawing).

The position is regulated by a guide shaft 75 (75-3 in the figure) planted in the first machine frame 20, and is fixed to the first machine frame 20 by a fixing screw 93 (93-3 in the figure).

In the second embodiment described above, there are three rotors 41a, 41b, and 41c having different outer diameters, and any one of the rotors is selected and rotated by the vibrating body 130. Here, when the outer diameter of the rotor 41a is 4 mm, the outer diameter of the rotor 41b is 6 mm, and the outer diameter of the rotor 41c is 8 mm, the rotor 41 has a constant vibration frequency.
The rotational speed of c = (4/8) × the rotational speed of the rotor 41a = (6/8) × the rotational speed of the rotor 41b.

The size of the driving device 10 according to the second embodiment is slightly larger than the size of the first embodiment because it is composed of three rotors having different outer diameters, but the plane size is 2
It is possible to make it 0 mm × 20 mm and a thickness of about 2.3 mm.

Therefore, in the driving apparatus 10 according to the second embodiment, the rotor wheel 40 includes the rotating shaft 43 and the plurality of rotors 41a, 41b, and 41c having different outer diameters, and the rotors 41a, 41b, and 41 are included.
In this configuration, the vibrating body 130 is brought into contact with any one of c.

When the vibration frequency of the vibrating body 130 is constant, the rotational speed of the rotor is determined by the outer diameter of the rotor. Therefore, a plurality of rotors having different outer diameters are provided on the same rotation shaft, and a drive device 10 having a desired rotation speed is realized by selecting a rotor corresponding to the desired rotation speed and contacting the vibrating body 130. Can do.

Since the vibration frequency of the vibrating body is adjusted to the resonance frequency of the longitudinal vibration of the vibrating body, it also affects the configuration of the oscillation circuit, so it is difficult to change it easily. Therefore, it is an effective means as a driving device that the rotational speed of the rotor can be changed by changing the outer diameter of the rotor.

In the rotor wheel 40, a plurality of rotors 41a, 41b, and 41c are sequentially stacked from the bottom surface 22 direction of the first machine casing 20 from the smallest outer diameter to the largest one. With such a configuration, a part of the components other than the rotor (for example, the control circuit unit 60) can be disposed so as to intersect with the lower part of the rotor having a large outer diameter, so that the space can be used efficiently. It is effective for miniaturization.

In addition, a plurality of rotors 41a, spacers 100 (or spacers 101) are provided.
The contact position in the thickness direction between the rotor selected from 41b and 41c and the vibrating body 130 is matched. Specifically, in the case of the rotor 41a, no spacer is required, and the rotor 41
In the case of b, the spacer 100, in the case of the rotor 41c, the spacer 101, etc.
It is only necessary to use spacers having the same planar shape but different thicknesses. This makes it possible to easily match the contact positions in the thickness direction between the rotor and the vibrator without changing other components.

Further, the vibrating body urging member 70 is configured to be disposed at a position moved by a difference in diameter corresponding to the outer diameter of each of the plurality of rotors 41a, 41b, 41c. Therefore,
A common oscillating member urging member is used for a plurality of rotor outer diameters, and a constant urging force can be urged corresponding to each rotor outer diameter.

Furthermore, the transmission shaft for taking out the rotational force (driving force) outside the drive device 10 is a common shaft with the rotational shaft 43 of the rotor wheel 40, so that no other transmission elements are required, and driving with a simple configuration is possible. A device can be realized.

As described above, according to the present embodiment, the flat and small driving device that can adjust the height and the planar position of the vibrating body 130 and the vibrating body biasing member 70 by the spacer and can be switched to a plurality of rotor rotational speeds. 10 can be provided.

In the present embodiment, the drive device having three rotors having different outer diameters has been described as an example. However, the number of rotors is not limited to this, and may be two or three or more.
Further, the arrangement order of the rotor on the rotating shaft can be arranged in an arbitrary order without sequentially arranging the rotor outer diameter from small to large.
(Embodiment 3)

Next, a driving apparatus according to Embodiment 3 will be described with reference to the drawings. Embodiment 3
A reduction mechanism or a speed increase mechanism is provided between the rotor vehicle and the transmission shaft.
The third embodiment can be adapted to the structure of the first and second embodiments described above except for the configuration related to the speed reduction mechanism and the speed increase mechanism. The first embodiment will be described as an example.
(Example 1 of Embodiment 3)

FIG. 14 is a plan view of the drive device according to Example 1 of the present embodiment, and FIG. 15 is a partial cross-sectional view, which is an example using a reduction gear as a reduction mechanism. The description will focus on the differences from the first embodiment. 14 and 15, the rotor wheel 40 is composed of a rotating shaft 45 and a rotor 41. A pinion 45 a is formed on the rotating shaft 45.

In the rotor wheel 40, a pinion 45 a protrudes through the through hole 31 of the first machine casing 20, and the bearing 97 and the second provided on the third machine casing 36 provided on the back side of the first machine casing 20. Machine frame 30
Is supported by a bearing 96 provided on the shaft. The through hole 31 is the first embodiment (see FIG. 2).
The bearing 97 shown in FIG. 5 can be opened by removing it from the first machine casing 20.

Further, a driving wheel 102 is provided adjacent to the rotor wheel 40. The driving car 102
A drive axle 104 and a drive gear 103 that is fixed to the drive axle 104 are configured.
The shaft is supported by a bearing 99 provided on the first machine casing 20 and a bearing 98 provided on the third machine casing 36.

The pinion 45a and the drive gear 103 mesh with each other to transmit the rotational force of the rotor 41 to the drive wheel 102. The drive axle 104 is formed with a connecting portion 105 that is partially cut with a flat surface and protrudes from the third machine casing 36. The drive axle 104 is a transmission shaft serving as a connecting portion for transmitting rotational force from the drive device 10 to a transmission mechanism such as an external gear. In addition, as a shape of a connection part, a polygonal shape or a knurled shape may be sufficient as cross-sectional shape.
The third machine casing 36 is fixed to the peripheral portion of the first machine casing 20 by a fixing screw (not shown).

Here, if the pitch circle diameter of the drive gear 103 is tripled with respect to the pitch circle diameter of the pinion 45a, the rotational speed of the drive wheel 102 is reduced to 1/3 of the rotational speed of the rotor 41.
The reduction ratio between the pinion 45a and the drive gear 103 can be set arbitrarily. Moreover, it can be set as the structure which provides a some reduction gear between the rotor 41 and the drive vehicle 102. FIG.
(Example 2 of Embodiment 3)

Subsequently, an embodiment using a speed increasing gear between the rotor and the transmission shaft will be described with reference to the drawings.
FIG. 16 is a cross-sectional view illustrating the driving apparatus according to the second embodiment. The description will focus on the differences from the first embodiment. In FIG. 16, the rotor wheel 40 includes a rotating shaft 45, a rotor 41, and a rotor gear 46.

The rotor gear 46 is fixed to the rotating shaft 45 by a step portion of the rotating shaft 45 and an E ring 47 (or C ring). The E ring 47 is fitted in a groove 45b formed at a position between the stepped portion of the rotating shaft 45 and the thickness separation of the rotor gear 46, thereby restricting the position of the rotor gear 46 in the axial direction.

Further, the rotating shaft 45 and the rotor gear 46 are provided with irregularities that fit together, and the rotating shaft 45 and the rotor gear 46 rotate integrally by fitting the rotor gear 46 to the rotating shaft 45. . The rotating shaft 45 and the rotor gear 46 are detachable in the axial direction. That is, it can be detached by attaching or removing the E ring 47 to the rotating shaft 45.

The rotor wheel 40 is pivotally supported by a bearing 96 provided on the second machine casing 30 and a bearing 97 provided on the third machine casing 36.

Further, a driving wheel 102 is provided adjacent to the rotor wheel 40. The driving car 102
The driving axle 104 and a pinion 106 formed on the driving axle 104 are configured.
The shaft is supported by bearings 98 provided on the first machine casing 20 and the third machine casing 36.

The rotor gear 46 and the pinion 106 mesh with each other to transmit the rotational force of the rotor 41 to the drive wheel 102. The drive axle 104 is formed with a connecting portion 105 that is partially cut with a flat surface and protrudes from the third machine casing 36. Therefore, the drive axle 104 is a transmission shaft that serves as a connecting portion for transmitting rotational force from the drive device 10 to a transmission mechanism such as an external gear. In addition, as a shape of a connection part, a polygonal shape or a knurled shape may be sufficient as cross-sectional shape.

Here, the pitch circle diameter of the pinion 106 is assumed to be equal to the pitch circle diameter of the rotor gear 46 (
If it is 1/3) times, the rotational speed of the drive wheel 102 will be three times faster than the rotational speed of the rotor 41.
The speed increasing ratio between the rotor gear 46 and the pinion 106 can be set arbitrarily. Further, a structure in which a plurality of speed increasing gears are provided between the rotor gear 46 and the pinion 106 can be employed.

According to the present embodiment, it is possible to provide the drive device 10 having different transmission shaft (drive axle 104) rotation speeds in a state where the vibration frequency of the vibrating body 130 and the rotor outer diameter are constant. When the reduction gear is used, the rotational speed of the transmission shaft can be reduced and the rotational torque of the transmission shaft can be increased. Further, when the speed increasing gear is used, the rotation speed of the transmission shaft can be increased.

Compared with the first embodiment, the thickness is increased by adding the drive vehicle 102 and the third machine casing 36, but the plane size is 15 mm × 15 mm, which is the same as the first embodiment, and the thickness is about 2.5 mm. A small driving device can be realized.
(Embodiment 4)

Next, a driving apparatus according to Embodiment 4 will be described with reference to FIGS. The fourth embodiment is characterized in that the rotation direction of the rotor is switched by switching the vibration direction of the vibrating body by connection switching means for selectively connecting a plurality of electrodes provided on the surface of the piezoelectric element in two states.

As shown in FIG. 6, the electrodes 131a, 131b, 131c,
131d and 131e are formed. Electrode 131b and electrode 131c, electrode 131d and 1
31e is electrically connected to each other. And connection switching means 80 for switching the connection of each electrode is provided.

In the present embodiment, the connection switching means 80 is exemplified by a two-state switching switch. The terminal 81 connected to the AC power source (specifically, the oscillation circuit of the control circuit unit 60) is used as a common terminal, and the switch 85, 86. The switch 85 can switch the connection with the terminals 82 and 83, and the switch 86 can switch the connection with the terminals 83 and 84.

The electrode 131a is connected to the terminal 83, the electrode 131b is connected to the terminal 82, and the electrode 131e.
Is connected to a terminal 84.

As described in the first embodiment, when the switch 85 is connected to the terminals 82 and 83,
An AC voltage is applied between the electrodes 131a, 131b, and 131c and the reinforcing plate 133. Then, the piezoelectric element 134 in the lower surface range of the electrode 131a expands and contracts in the longitudinal direction as indicated by an arrow X, and performs longitudinal vibration.

The piezoelectric elements 134 in the lower surface range of the electrodes 131b and 131c also expand and contract in the longitudinal direction, but are arranged in the diagonal direction of the piezoelectric elements 134, so that in-plane bending vibration as indicated by the arrow Y is generated. Do.

In such a state, as shown in the first embodiment (see FIG. 7), the rotor 41 rotates in the R direction in the drawing by the vibration of the vibrating body 130.

Next, the switch 86 is connected to the terminals 83 and 84 by the connection switching means 80. At this time, the connection between the switch 85 and the terminals 82 and 83 is disconnected. In such a state, the electrodes 131a,
An alternating voltage is applied between 131d and 131e and the reinforcing plate 133. Then, the electrode 13
The piezoelectric element 134 in the lower surface range 1a expands and contracts in the longitudinal direction as indicated by an arrow X, and performs longitudinal vibration.

The piezoelectric elements 134 in the lower surface range of the electrodes 131d and 131e also expand and contract in the longitudinal direction, but are arranged in the diagonal direction of the piezoelectric elements 134, so that in-plane bending vibration as indicated by the arrow y is generated. Do. At this time, the case where no voltage is applied to the electrodes 131b and 131c is shown.

In such a state, the rotor 41 rotates in the direction opposite to the direction (counterclockwise) as shown in the first embodiment (see FIG. 7) by the vibration of the vibrating body 130.

The vibrating body 130 is excited by expansion and contraction of the piezoelectric element. Therefore, the electrodes 131a, 3
By selectively connecting the connections 1b and 131c and the electrodes 131a, 131d, and 131e, the vibration direction is changed by changing the expansion / contraction direction of the piezoelectric element 134 (including the piezoelectric element 135). Thus, by switching the vibration direction of the vibrating body 130, the rotation direction can be easily changed, and the drive device 10 capable of forward and reverse rotation can be realized.

Note that the forward rotation and reverse rotation of the rotor 41 can be switched at any time by providing an operation member outside the housing. Alternatively, it is possible to provide a timer and perform normal rotation first and reverse rotation after a predetermined time has elapsed, or normal rotation and reverse rotation can be repeated at regular time intervals.

The drive device of the present invention can be reduced in thickness and size, and can be used as a drive source for precision equipment.Because it does not generate electromagnetic noise and is not affected by electromagnetic noise, it is combined with communication equipment, It has high convenience for use as a medical device.

DESCRIPTION OF SYMBOLS 10 ... Drive device, 20 ... 1st machine frame, 30 ... 2nd machine frame, 40 ... Rotor wheel, 41a, 41
b, 41c ... rotor, 43 ... rotating shaft, 60 ... control circuit part, 70 ... vibrating body biasing member, 13
0 ... Vibrating body.

Claims (8)

A disk-shaped rotor fixed to the rotating shaft;
A plate-like vibrating body that rotates in an in-plane vibration by applying an alternating voltage; and
A vibrating body urging member that abuts the vibrating body on an outer peripheral side surface of the rotor with a constant urging force;
A control circuit unit for controlling the driving of the vibrating body;
A housing that houses the rotor, the vibrating body, the vibrating body biasing member, and the control circuit unit;
A transmission shaft that projects outward from the housing and transmits the rotation of the rotor;
A drive device comprising: The drive device according to claim 1,
A drive device comprising a plurality of rotors having different outer diameters, wherein the vibrating body is brought into contact with any one of the rotors. The drive device according to claim 2, wherein
The drive device according to claim 1, wherein the plurality of rotors are sequentially stacked from a small outer diameter to a large outer diameter from the bottom surface direction of the housing. The drive device according to claim 2 or claim 3,
A drive device comprising a spacer for aligning a contact position in a thickness direction between the selected rotor of the plurality of rotors and the vibrating body. In the drive device according to any one of claims 2 to 4,
The driving device according to claim 1, wherein the vibrating body urging member can be disposed by moving a position in a plane direction according to an outer diameter of each of the plurality of rotors. The drive device according to claim 1,
The drive device according to claim 1, wherein the transmission shaft is common to a rotation shaft of the rotor. The drive device according to claim 1,
A drive device comprising a speed reduction mechanism or a speed increase mechanism between the rotor and the transmission shaft. The drive device according to claim 1,
The vibrator has a piezoelectric element and a plurality of electrodes provided on the piezoelectric element,
A drive device characterized by switching the vibration direction of the vibrating body and switching the rotation direction of the rotor by switching the connection of the plurality of electrodes into two states by a connection switching means.

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