JP2013055778A - Motor device and robot device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce electric power consumption during driving.SOLUTION: A motor device includes: transmission parts hung on at least part of a rotor; driving parts having at least a plurality of capacitive driving elements and moving the transmission parts by the capacitive driving elements; a control part which makes the driving parts perform a driving operation for moving the transmission parts by generating a torque transmission state between the rotor and the transmission parts and a return operation for returning the transmission parts to a predetermined position by generating a torque non-transmission state between the rotor and the transmission parts; and a charge delivery part which supplies charges emitted by at least one of the plurality of capacitive driving elements to the capacitive driving elements.

Description

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

  A motor device is used as an actuator for driving a turning machine (see, for example, Patent Document 1). In recent years, many motor devices are used for joint portions of humanoid robots and the like, and there is a demand for motor devices with lower power consumption.

Japanese Patent Laid-Open No. 2-311237

  However, the motor device as described above may not be able to increase the use efficiency of the supplied power, and there is a problem that the power consumption increases in this case.

  The present invention has been made to solve the above-described problems, and an object thereof is to provide a motor device and a robot device that can reduce power consumption.

  One embodiment of the present invention includes a transmission unit that is hung on at least a part of a rotor, at least a plurality of capacitive drive elements, a drive unit that moves the transmission unit by the capacitive drive elements, and the rotation A driving operation for moving the transmission unit with a rotational force transmission state between a child and the transmission unit, and a non-rotational force transmission state between the rotor and the transmission unit to place the transmission unit at a predetermined position. A control unit that causes the drive unit to perform a return operation to return to the charge drive unit, and charge transfer that supplies the capacitive drive element with charges discharged to at least one of the plurality of capacitive drive elements. A motor device.

  In addition, an embodiment of the present invention includes a transmission unit that is hung on at least a part of a rotor, at least a capacitive drive element, a drive unit that moves the transmission unit by the capacitive drive element, and the rotation A driving operation for moving the transmission unit with a rotational force transmission state between a child and the transmission unit, and a non-rotational force transmission state between the rotor and the transmission unit to place the transmission unit at a predetermined position. And a control unit that causes the driving unit to perform a return operation to return to the capacitive element, discharges the electric charge from the capacitive driving element, accumulates the electric charge in the capacitive element, and supplies the electric charge accumulated in the capacitive element to the capacitive driving element And a charge transfer unit that performs the above operation.

  Moreover, one Embodiment of this invention is a robot apparatus characterized by providing said motor apparatus.

  According to the present invention, the motor device can reduce power consumption.

It is a block diagram which shows an example of a structure of the motor apparatus by the 1st Embodiment of this invention. It is a block diagram which shows an example of a structure of the rotor in this embodiment. It is sectional drawing which shows an example of a structure of the drive part in this embodiment. It is a block diagram which shows an example of the connection of the motor apparatus in this embodiment. It is a block diagram which shows an example of a structure of the control part in this embodiment. It is a block diagram which shows an example of a structure of the control part in this embodiment, and a charge transfer part. It is a graph which shows an example of the relationship between the contact angle of the transmission part and rotor based on Euler's principle in this embodiment, and transmission efficiency. It is a graph which shows an example of the voltage waveform supplied to the drive part in this embodiment. It is sectional drawing which shows an example of the drive preparation operation | movement of the drive part in this embodiment. It is sectional drawing which shows an example of the drive operation of the drive part in this embodiment. It is sectional drawing which shows an example of the reset operation | movement of the drive part in this embodiment. It is a graph which shows an example of the voltage waveform supplied to the several drive part in this embodiment. It is a flowchart which shows an example of operation | movement of the control part in this embodiment. It is a graph which shows an example of the voltage waveform which the control part in this embodiment outputs, and the voltage waveform supplied to a drive part. It is a block diagram which shows an example of a structure of the motor apparatus by the 2nd Embodiment of this invention. It is a block diagram which shows an example of a structure of the motor apparatus by the 3rd Embodiment of this invention. It is a block diagram which shows an example of a structure of a motor apparatus provided with the six electric charge transfer parts in this embodiment. It is a block diagram which shows an example of a structure of the motor apparatus by the 4th Embodiment of this invention. It is a block diagram which shows an example of a structure of the charge delivery part provided with the capacitive element in this embodiment. It is a block diagram which shows an example of a structure of the motor apparatus provided with two or more charge delivery parts provided with the capacitive element in this embodiment. It is a block diagram which shows an example of a structure of the robot apparatus by the 5th Embodiment of this invention.

[First Embodiment]
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a schematic configuration diagram illustrating an example of a motor device MTR according to the first embodiment of the present invention.

[Configuration of Motor Device MTR]
As shown in FIG. 1, the motor device MTR includes a rotor SF, a plurality of transmission units BT, a plurality of drive units AC, a support member BS, a control unit 50, and a charge transfer unit 60. . In the motor device MTR, the rotor SF and the plurality of drive units AC are supported by the support member BS, and the transmission unit BT connected to the plurality of drive units AC is hung on the rotor SF. It is the composition which is.
Further, the motor device MTR of the present embodiment includes a drive unit AC of each phase including a U phase, a V phase, and a W phase along the rotation axis direction of the rotor SF. That is, the motor device MTR of the present embodiment includes a U-phase drive unit ACU, a V-phase drive unit ACV, and a W-phase drive unit ACW as the drive unit AC. The U-phase drive unit ACU includes a U-phase transmission unit BTU as the transmission unit BT. Similarly, the V-phase drive unit ACV includes a V-phase transmission unit BTV, and the W-phase drive unit ACW includes a W-phase transmission unit BTW. In the following description, when there is no need to indicate a specific driving unit, it is simply referred to as a driving unit AC. Moreover, in the following description, when it is not necessary to show a specific transmission part, it only describes as transmission part BT.

  Further, for example, the U-phase drive unit ACU, the V-phase drive unit ACV, and the W-phase drive unit ACW are displaced at equal angles in the circumferential direction of the rotor SF, specifically 120 °. They are arranged at different positions. For example, the transmission parts BT are arranged with the same width (dimension in the rotation axis direction) along the rotation axis direction of the rotor SF.

FIG. 2 is a diagram illustrating a configuration of the rotor SF.
As shown in the figure, the rotor SF is formed in a solid cylindrical shape, and has a shaft portion 11 and a diameter-expanded portion 12. The shaft portion 11 is rotatably supported by a bearing portion 41 (see FIG. 1) of the support member BS via, for example, a bearing mechanism (not shown). The enlarged diameter portion 12 is a portion formed with a larger diameter than the shaft portion 11. The shaft portion 11 and the enlarged diameter portion 12 are formed so as to have a common rotating shaft. The surface of the enlarged diameter portion 12 becomes a peripheral surface (eg, outer peripheral surface) on which the transmission portion BT is hung. The rotor SF is made of a conductive material such as aluminum. For example, the rotor SF may be formed in a hollow shape such as a cylindrical shape. In addition, transmission part BT may be comprised so that it may be hung on the internal peripheral surface which is a peripheral surface of rotor SF.

[Configuration of Drive Unit AC]
The configuration of the drive unit ACU will be described. Note that the drive unit ACV and the drive unit ACW have the same configuration as the drive unit ACU, and thus description thereof is omitted. Hereinafter, in the description of each drawing, an XYZ orthogonal coordinate system is set, and the positional relationship of each member will be described with reference to this XYZ orthogonal coordinate system.

FIG. 3 is a plan view showing the configuration of the drive unit ACU.
The drive unit ACU is formed in a rectangular plate shape using, for example, a material such as stainless steel, and the through portion 10 is formed in a substantially central portion as viewed in the Z direction as a hole through which the rotor SF passes in the Z axis direction. ing. The drive unit ACU includes a transmission unit BTU. The drive unit ACU includes an electrostrictive element (piezoelectric element) 32AU and an electrostrictive element (piezoelectric element) 32BU. In the following description, when there is no need to indicate a specific driving element, it is simply referred to as an electrostrictive element 32.

  The transmission part BTU has a belt part 23, a first end part 21 and a second end part 22. The belt portion 23 is formed in a band shape having a width in the Z-axis direction, for example, along the wall portion 10a formed by the penetrating portion 10, and has a thickness that can be elastically deformed, for example. The belt portion 23 is disposed so as to surround the outer periphery of the rotor SF inserted into the penetrating portion 10. In other words, the rotor SF is inserted into a space surrounded by the belt portion 23 in the through portion 10. The belt portion 23 can be hooked on at least a part of the rotor SF, for example.

The electrostrictive element 32 is an electromechanical conversion element such as a piezo element. The electromechanical conversion element expands and contracts when a voltage is applied. In addition, the electromechanical conversion element in the present embodiment is a capacitive drive element (capacitive drive element) that can vibrate, expand and contract, for example.
The electrostrictive element (capacitive drive element) 32 AU is supported by the support portion 33. In the electrostrictive element 32AU, the position of the end portion on the −X side shown in FIG. For this reason, the electrostrictive element 32AU expands and contracts in the X-axis direction, so that the position of the + X side end in the figure moves in the X-axis direction. The end on the + X side of the electrostrictive element 32 AU is connected to the tip 33 a of the support 33. The front end portion 33 a of the support portion 33 is connected to the first end portion 21, for example. The support portion 33 has, for example, an expandable portion 33b on the −X side with respect to the tip end portion 33a. The expansion / contraction part 33b expands and contracts so that the tip end part 33a moves in accordance with the movement of the + X side end of the electrostrictive element 32AU.

  The electrostrictive element (capacitive drive element) 32BU is supported by the support portion 34. In the electrostrictive element 32BU, the position of the end on the + X side shown in FIG. For this reason, the electrostrictive element 32BU expands and contracts in the X-axis direction, so that the position of the end portion on the −X side in the drawing moves in the X-axis direction. The end portion on the −X side of the electrostrictive element 32BU is connected to the tip end portion 34a of the support portion 34. The tip end portion 34 a of the support portion 34 is connected to the second end portion 22, for example. The support part 34 has, for example, an expandable part 34b on the + X side with respect to the tip part 34a. The expansion / contraction part 34b expands / contracts so that the tip end part 34a moves in accordance with the movement of the −X side end part of the electrostrictive element 32BU.

  Thus, the electrostrictive element 32AU and the electrostrictive element 32BU expand and contract in the X-axis direction when a voltage is applied. When the electrostrictive element 32AU extends in the + X direction, the first end portion 21 moves in the + X direction together with the tip end portion 33a, and the belt portion 23 moves. Similarly, when the electrostrictive element 32BU extends in the −X direction, the second end portion 22 moves in the −X direction together with the tip end portion 34a, and the belt portion 23 moves. The electrostrictive element 32AU and the electrostrictive element 32BU are respectively connected to an output unit 57 provided in the control unit 50 as will be described later, and are transmitted by expanding and contracting based on a voltage waveform output from the control unit 50. Move part BTU.

[Configuration of each part connection]
The motor device MTR of the present embodiment connects the electrostrictive element 32AU included in the drive unit ACU and the electrostrictive element 32AV included in the drive unit ACV to the charge transfer unit 60, thereby connecting the electrostrictive element 32AU to the electrostrictive element 32AV. The charge can be transferred to Hereinafter, the connection configuration of each unit included in the motor device MTR will be described with reference to FIGS.
FIG. 4 is a diagram illustrating a connection configuration of the drive unit AC, the control unit 50, and the charge transfer unit 60. As described above, the motor apparatus MTR of the present embodiment includes the U-phase drive unit ACU, the V-phase drive unit ACV, and the W-phase drive unit ACW. As shown in FIG. 4, the drive unit ACU includes a transmission unit BTU, a pair of electrostrictive elements 32AU, and an electrostrictive element 32BU. The drive unit ACV includes a transmission unit BTV, a pair of electrostrictive elements 32AV, and an electrostrictive element 32BV. The drive unit ACW includes a transmission unit BTW, a pair of electrostrictive elements 32AW, and an electrostrictive element 32BW.
The electrostrictive element 32AU and the electrostrictive element 32AV are connected to the control unit 50 and the charge transfer unit 60. Further, the electrostrictive element 32BU, the electrostrictive element 32BV, the electrostrictive element 32AW, and the electrostrictive element 32BW are connected to the control unit 50.
Hereinafter, configurations of the control unit 50 and the charge transfer unit 60 will be described.

[Configuration of Control Unit 50]
First, the configuration of the control unit 50 will be described.
FIG. 5 is a diagram illustrating a configuration of the control unit 50.
The control unit 50 includes an acquisition unit 51, a comparison unit 52, a calculation unit 53, a reading unit 54, a storage unit 55, a generation unit 56, an output unit 57, and a detection unit 58.
In the storage unit 55, driving conditions for driving each electrostrictive element 32 and switching timing information as timing information for switching a switching unit 651 described later are associated with the operation amount for driving each electrostrictive element 32, and Stored in advance. In the present embodiment, the driving condition is, for example, the driving voltage and driving time of the electrostrictive element 32. In the present embodiment, the operation amount includes, for example, the speed at which the electrostrictive element 32 of the drive unit AC is driven and the cycle at which the electrostrictive element 32 is driven.
The acquisition unit 51 acquires a control target value from the host device. In the present embodiment, the target value is, for example, the angular velocity of the rotor SF. The acquisition unit 51 acquires, for example, the target angular velocity of the rotor SF as a target value from the host device. Note that the target value may be the position of the rotor SF (eg, rotational position, etc.).
The detection unit 58 detects the drive state of the drive unit AC. In the present embodiment, the detection unit 58 includes an encoder 581 that detects the angular velocity of the rotor SF. As the rotor SF rotates, the encoder 581 outputs two pulse waves having a frequency proportional to the angular velocity of the rotor SF and having different pulse phases. The phase difference between these two pulse waves varies depending on the rotation direction of the rotor SF. That is, the detection unit 58 detects the rotation speed of the rotor SF and the rotation direction of the rotor SF based on the two pulse waves output from the encoder 581.

For example, the comparison unit 52 compares the target value acquired by the acquisition unit 51 with the detection value detected by the detection unit 58. In the present embodiment, the comparison unit 52 compares, for example, the acquired target angular velocity of the rotor SF with the detected angular velocity of the rotor SF, and compares the target angular velocity of the rotor SF and the angular velocity of the rotor SF. The difference is obtained as a comparison result.
The calculation unit 53 calculates the operation amount of the drive unit AC based on the result compared by the comparison unit 52. In the present embodiment, the calculation unit 53 calculates, for example, the operation direction and the operation speed of each electrostrictive element 32 based on the difference between the acquired target angular velocity of the rotor SF and the detected angular velocity of the rotor SF. Calculated as the operation amount of the drive unit AC.
The reading unit 54 uses, as a driving condition for driving each electrostrictive element 32, a driving condition associated with the calculated operation amount of the driving unit AC among the plurality of driving conditions stored in the storage unit 55. read out. By reading the driving condition, the driving voltage and driving time of each electrostrictive element 32 are read. In addition, the reading unit 54 switches the switching unit 651 with switching timing information associated with the calculated operation amount of the driving unit AC among the plurality of switching timing information stored in the storage unit 55. Read as information.
The generating unit 56 generates a voltage waveform for driving each driving element based on the read driving voltage and driving time of each electrostrictive element 32, and switches the switching unit based on the read switching timing information. A control signal for switching 651 is generated.

  As shown in FIG. 4 described above, the output unit 57 is connected to the electrostrictive element 32AU, the electrostrictive element 32BU, the electrostrictive element 32AV, the electrostrictive element 32BV, the electrostrictive element 32AW, and the electrostrictive element 32BW. Has been. The output unit 57 is connected to the switching unit 651 of the charge discharge unit 65 provided in the charge transfer unit 60 described later.

[Configuration of Charge Delivery Unit 60]
Next, the configuration of the charge transfer unit 60 will be described.
FIG. 6 is a diagram illustrating a configuration of the charge transfer unit 60 and the output unit 57 of the control unit 50.
The output unit 57 includes a number of amplification units 571 and diodes 572 corresponding to the electrostrictive elements 32. The amplifying unit 571 amplifies the voltage waveform generated by the generating unit 56. The diode 572 supplies the voltage waveform amplified by the amplifying unit 571 to the electrostrictive element 32 and prevents current from flowing from the electrostrictive element 32 to the amplifying unit 571. The output unit 57 outputs the generated voltage waveform from the amplification unit 571 to each electrostrictive element 32 included in each drive unit AC via the diode 572, and switches the switching unit 651 included in the charge transfer unit 60. The control signal is output to the switching unit 651.
The charge transfer unit 60 includes a transformer unit 63, a charge discharge unit 65, and a charge supply unit 66.
The transformer unit 63 includes a primary side winding (primary side) 63A and a secondary side winding (secondary side) 63B. The primary winding 63A and the secondary winding 63B are magnetically coupled by mutual inductance. One end of the primary winding 63 </ b> A is connected to one end of a U-phase electrostrictive element (first electrostrictive element) 32 </ b> AU and a diode 572 </ b> AU of the output unit 57. The other end of the primary winding 63 </ b> A is connected to the charge discharge portion 65. One end of the secondary winding 63B is connected to one end of a V-phase electrostrictive element (second electrostrictive element) 32AV and the diode 572AV of the output unit 57. The other end of the secondary winding 63 </ b> B is connected to the charge supply unit 66. The transformer 63 converts the energy generated by discharging the charge accumulated in the U-phase electrostrictive element 32AU into an electromotive force for supplying the charge to the V-phase electrostrictive element 32AV. In other words, the transformer unit 63 generates an electromotive force corresponding to the electric charge flowing in the primary winding 63A between both terminals of the secondary winding 63B according to the magnitude of the mutual inductance, so that the secondary side Charge is supplied to the circuit connected to the winding 63B.

The charge discharging unit 65 includes a switching unit 651 that discharges the charge accumulated in the electrostrictive element 32AU based on a control signal output from the control unit 50.
The switching unit 651 is, for example, a semiconductor switch, and an output unit is provided between the first terminal TM1 connected to the electrostrictive element 32AU and the second terminal TM2 connected to the primary winding 63A. The control terminal TM3 connected to 57 is turned on or off by the voltage of the control terminal TM3. When the control signal output from the control unit 50 is a voltage higher than a threshold voltage, for example, the voltage Von, the switching unit 651 of the present embodiment switches between the first terminal TM1 and the second terminal TM2. Make it conductive. On the other hand, when the control signal output from the control unit 50 is a voltage lower than the threshold voltage, for example, the voltage Voff, the switching unit 651 does not conduct between the first terminal TM1 and the second terminal TM2. Let it be in a state.

The charge supply unit 66 includes, for example, a diode 661 that allows current to flow only in one direction.
The diode 661 allows a current to flow only from the first terminal TM4 connected to the electrostrictive element 32AV to the second terminal TM5 connected to the secondary winding 63B.

With the above-described configuration, the control unit 50 sets the control signal to the voltage Voff and outputs it from the output unit 57 to make the switching unit 651 nonconductive, and from the amplification unit 571AU to the electrostrictive element 32AU through the diode 572AU. To supply charge. Thereby, the control unit 50 expands the electrostrictive element 32AU. Next, the control unit 50 sets the control signal to the voltage Von and outputs it from the output unit 57, and makes the switching unit 651 conductive. At this time, the control unit 50 prevents the charge from flowing from the electrostrictive element 32AU into the amplification unit 571 by the diode 572AU. In this way, the control unit 50 supplies the charge accumulated in the electrostrictive element 32AU to the primary winding 63A. As a result, an electromotive force corresponding to the mutual inductance is generated in the secondary winding 63B, and the electric charge is supplied to the electrostrictive element 32AV via the diode 661. In this way, the control unit 50 supplies a charge corresponding to the charge accumulated in the electrostrictive element 32AU to the electrostrictive element 32AV via the transformer unit 63. Further, the control unit 50 transmits the electric charge corresponding to the energy lost due to the loss of the transformer unit 63 among the energy stored in the electrostrictive element 32AU from the amplifying unit 571AV through the diode 572AV. This is supplied to the element 32AV. At this time, the charge discharge unit 65 prevents the charge from flowing from the amplification unit 571AV into the secondary winding 63B via the diode 572AV by the diode 661.
In this way, the control unit 50 and the charge transfer unit 60 supply the electric charge corresponding to the electric charge accumulated in the electrostrictive element 32AU to the electrostrictive element 32AV, contract the electrostrictive element 32AU, and The strain element 32AV is extended.

[Driving principle of rotor SF]
Next, the principle by which the motor device MTR of this embodiment drives the rotor SF will be described. When driving the rotor SF, the U-phase drive unit AC generates an effective tension in the U-phase transmission unit BTU wound around the rotor SF, and transmits torque to the rotor SF by the effective tension. . Since both the V phase and the W phase have the same configuration as the U phase, description thereof is omitted.

  When the tension T1 on the first end 21 side and the tension T2 on the second end 22 side of the transmission unit BTU wound around the rotor SF satisfy the following expression (1) according to Euler's friction belt theory, the transmission unit A frictional force is generated between the BTU and the rotor SF, and the transmission unit BTU moves to rotate the rotor SF. Torque is transmitted to the rotor SF by the movement of the transmission unit BTU. However, in Formula (1), (micro | micron | mu) is an apparent friction coefficient between the transmission part BTU and the rotor SF, (theta) is an effective winding angle of the transmission part BTU.

  At this time, the effective tension contributing to torque transmission is represented by (T1-T2). When the effective tension (T1-T2) is obtained based on the above formula (1), the following formula (2) is obtained. Equation (2) is an equation representing effective tension using T1.

From the above equation (2), it can be seen that the torque transmitted to the rotor SF is uniquely determined by the tension T1 of the transmission unit BTU. The coefficient portion of T1 on the right side of Expression (2) depends on the friction coefficient μ between the transmission unit BTU and the rotor SF and the effective winding angle θ of the transmission unit BTU.
FIG. 7 is a graph showing the relationship between the effective winding angle θ and the value of the coefficient portion when the friction coefficient μ is changed. The horizontal axis of the graph indicates the effective winding angle θ, and the vertical axis of the graph indicates the value of the coefficient portion.

  As shown in FIG. 7, for example, when the friction coefficient μ is 0.3, the value of the coefficient portion is about 0.8 or more when the effective winding angle θ is 300 degrees or more. Therefore, when the friction coefficient μ is 0.3, the effective winding angle θ is set to 300 degrees or more, so that a force of about 80% or more of the tension T1 by the transmission unit BTU contributes to the torque of the rotor SF. I understand that

In this way, the magnitude of the torque is uniquely determined by the tension T1 of the transmission unit BTU, and it can be seen that it is irrelevant to the moving distance of the transmission unit BTU, for example.
Based on the principle described above, the control unit 50 deforms the electrostrictive element 32AU and the electrostrictive element 32BU to transmit the rotational force to the rotor SF.

[Voltage waveform for driving electrostrictive element]
Here, the voltage waveform of the drive signal for driving the electrostrictive element 32 will be described with reference to FIGS.
FIG. 8 shows that a pair of electrostrictive elements 32AU and electrostrictive elements 32BU included in the U-phase drive unit ACU are supplied to the electrostrictive element 32 when the transmission unit BTU is moved to rotate the rotor SF. The voltage waveform of the drive signal is shown. The electrostrictive element 32 of the present embodiment expands when the applied voltage increases and contracts when the applied voltage decreases. That is, the electrostrictive element 32 expands when the voltage waveform shown in FIG. 8 changes from the voltage V _L to the voltage V _H , and contracts when the voltage waveform changes from the voltage V _H to the voltage V _L. Since the same applies to the drive units AC of other phases, the description of the V phase and the W phase is omitted.
The drive unit ACU moves the transmission unit BTU by sequentially repeating the drive preparation operation, the drive operation, and the return operation, and transmits the rotational force to the rotor SF. Hereinafter, each operation will be described.

First, the drive preparation operation is an operation in which the drive unit ACU causes the transmission unit BT to change from a state where it does not transmit the rotational force to the rotor SF to a state where the rotational force is transmitted.
FIG. 9 shows a state in which the drive unit ACU is performing a drive preparation operation.
The drive preparation operation is started from a state where the transmission unit BTU is in a position where transmission of driving force is started (hereinafter referred to as “driving start position”) and is not transmitting rotational force to the rotor SF. The
As shown in FIG. 8A, the voltage waveform output from the control unit 50 to the electrostrictive element 32AU during the time t1a to t2a, which is the period during which the drive preparation operation is performed, is, for example, a voltage V V like the voltage waveform W1. monotonically increases to the voltage _{V H} from _L. The electrostrictive element 32AU is driven by this voltage waveform W1 so as to extend in the + X direction as shown in FIG. As a result, the first end portion 21 connected to the electrostrictive element 32AU moves in the + X direction. In this way, the drive unit ACU brings the transmission unit BTU into contact with the rotor SF so that a frictional force is generated between the transmission unit BTU and the rotor SF.

Next, the drive operation is an operation in which the drive unit ACU causes the transmission unit BT to transmit the rotational force to the rotor SF to rotate the rotor SF.
FIG. 10 shows a state where the drive unit ACU is performing a drive operation.
As shown in FIG. 8B, the voltage waveform output from the control unit 50 to the electrostrictive element 32AU during the time t1b to t2b, which is the period during which the driving operation is performed, is, for example, a voltage V _H like a voltage waveform W2. Decreases monotonically to voltage _VL . The electrostrictive element 32AU is driven by the voltage waveform W2 such that the electrostrictive element 32AU contracts in the −X direction as shown in FIG. At the same time, the voltage waveform outputted from the control unit 50 as shown in FIG. 8 (b) to the electrostrictive element 32BU, for example monotonously increases from the voltage V _L to the voltage V _H as the voltage waveform W3. By this voltage waveform W3, the electrostrictive element 32BU is driven to extend in the −X direction as shown in FIG. At this time, the electrostrictive element 32AU and the electrostrictive element 32BU are driven so as to keep the distance between the first end 21 and the second end 22 constant. Accordingly, the first end 21 and the second end 22 are moved in the + X direction while maintaining a certain distance. In this way, the drive unit ACU rotates the rotor SF by causing the transmission unit BTU to transmit the rotational force to the rotor SF.

Next, the return operation is an operation in which the transmission unit BT is set to a state where it does not transmit the rotational force to the rotor SF and is returned to the drive start position.
FIG. 11 shows a state where the drive unit ACU is performing a return operation.
As shown in FIG. 8C, the voltage waveform output from the control unit 50 to the electrostrictive element 32BU during the period from the time t1c to t2c during which the return operation is performed is, for example, from the voltage V _H like the voltage waveform W4. Monotonically decreases to voltage _VL . By this voltage waveform W4, the electrostrictive element 32BU is driven to contract in the + X direction as shown in FIG. As a result, the second end 22 is moved in the −X direction. In this way, the drive unit ACU causes the transmission unit BTU to be in a state where the rotational force is not transmitted to the rotor SF.

Next, the order of driving the driving units AC of the respective phases will be described.
FIG. 12 shows voltage waveforms supplied to a pair of electrostrictive elements 32 included in each drive unit AC, for each phase drive unit AC of the U phase, the V phase, and the W phase.
As described above, the pair of electrostrictive elements 32 included in the drive unit AC of each phase repeats the drive preparation operation, the drive operation, and the return operation, and rotates the rotor SF. At this time, the control unit 50 shifts the phase of the voltage waveform by 120 degrees and supplies it to the driving unit AC of each phase. That is, in the period from time t1 to time t2 shown in FIG. 12, the U-phase drive unit ACU performs the drive preparation operation, the V-phase drive unit ACV performs the return operation, and the W-phase drive unit ACW performs the drive operation. In the period from time t3 to t4 shown in FIG. 12, the U-phase drive unit ACU performs a drive operation, the V-phase drive unit ACV performs a drive preparation operation, and the W-phase drive unit ACW performs a return operation. In the period from time t5 to t6 shown in FIG. 12, the U-phase drive unit ACU performs a return operation, the V-phase drive unit ACV performs a drive operation, and the W-phase drive unit ACW performs a drive preparation operation. In this way, the control unit 50 expands and contracts the electrostrictive element 32 included in each drive unit AC according to the output voltage waveform, moves the transmission unit BT, and rotates the rotor SF.

  At this time, in the period of time t3 to t4 shown in FIG. 12, the voltage waveform W5 supplied to the electrostrictive element 32AU included in the U-phase drive unit ACU and the electrostrictive element 32AV included in the V-phase drive unit ACV are supplied. The voltage waveform W6 has the same voltage value and duration, and the slopes are opposite to each other.

[Operation of control unit 50]
The control unit 50 drives the drive unit AC based on the drive conditions of each drive unit AC stored in advance in the storage unit 55. Hereinafter, the operation of the control unit 50 will be described.

FIG. 13 is a flowchart illustrating an example of the operation of the control unit 50.
First, the acquisition unit 51 acquires the target angular velocity of the rotor SF from the host device (step S101). The target angular velocity includes the speed at which the rotor SF rotates and the rotation direction of the rotor SF. In this embodiment, when the angular velocity is a positive value, the positive rotation for rotating the rotor SF in the direction shown in FIG. 10 is performed. When the angular velocity is a negative value, the direction shown in FIG. This represents reverse rotation in which the rotor SF is rotated in the reverse direction.

  Next, the detection unit 58 detects the angular velocity of the rotor SF (step S102). As described above, the detection unit 58 detects the rotation speed of the rotor SF and the rotation direction of the rotor SF based on the period and phase difference between the two pulse waves output from the encoder 581.

  Next, the comparison unit 52 compares the target angular velocity of the rotor SF acquired by the acquisition unit 51 with the angular velocity of the rotor SF detected by the detection unit 58 (step S103). Here, the comparison unit 52 obtains a difference between the acquired target angular velocity of the rotor SF and the detected angular velocity of the rotor SF as a result of comparison.

  Next, the calculation unit 53 calculates the operation amount of the drive unit AC based on the difference between the acquired target angular velocity of the rotor SF obtained in step S103 and the detected angular velocity of the rotor SF (step S103). S104). As described above, the operation amount includes the speed at which the electrostrictive element 32 of the drive unit AC is driven and the period at which the electrostrictive element 32 is driven.

  Next, the reading unit 54 drives each electrostrictive element 32 with a driving condition associated with the calculated operation amount of the driving unit AC among the plurality of driving conditions stored in the storage unit 55. Read as drive conditions. Further, the reading unit 54 uses the switching timing information associated with the calculated operation amount of the driving unit AC from the plurality of switching timing information stored in the storage unit 55 as switching timing information for switching the switching unit 651. Read (step S105). Here, the plurality of driving conditions stored in advance in the storage unit 55 are associated with the speed for driving the electrostrictive element 32 and the cycle for driving the electrostrictive element 32 as described above. That is, the reading unit 54 reads from the storage unit 55 the driving condition associated with the speed for driving the electrostrictive element 32 of the drive unit AC calculated in step S104 and the cycle for driving the electrostrictive element 32. Thereby, the driving voltage and driving time of each electrostrictive element 32 and the switching timing information for switching the switching unit 651 are read from the storage unit 55.

  Next, the generation unit 56 generates a voltage waveform corresponding to each electrostrictive element 32 based on the driving condition of each electrostrictive element 32 read in step S105, and reads the switching timing information. Based on the control signal, a control signal for switching the switching unit 651 is generated (step S106). In the present embodiment, the generation unit 56 includes six electrostrictive elements including an electrostrictive element 32AU, an electrostrictive element 32BU, an electrostrictive element 32AV, an electrostrictive element 32BV, an electrostrictive element 32AW, and an electrostrictive element 32BW. For example, a voltage waveform W5 and a voltage waveform W8 shown in FIG. 14 are generated as voltage waveforms corresponding to the element 32, respectively. Moreover, in this embodiment, the production | generation part 56 produces | generates the voltage waveform W7 of the control signal shown, for example in FIG. 14 as a control signal which switches the switching part 651.

  Next, the output unit 57 amplifies the generated voltage waveform, outputs the amplified voltage waveform to the corresponding electrostrictive element 32, and outputs the control signal read in step S105 to the switching unit 651. (Step S107).

FIG. 14 shows an example of a voltage waveform supplied to each electrostrictive element 32 and a voltage waveform output from the control unit 50 as a result of the control unit 50 executing the steps described above. In the present embodiment, for example, as shown in FIG. 14, the voltage of the control signal output from the control unit 50 becomes the voltage Von at time t3 to t4 (voltage waveform W7). By the voltage waveform W7 of this control signal, the switching unit 651 is turned on from time t3 to t4. Therefore, at the time t3 to t4, it corresponds to the electric charge accumulated in the electrostrictive element 32AU as described above based on the control signal output in synchronization with the voltage waveform of the drive signal supplied to the electrostrictive element 32. The electric charge to be supplied is supplied to the electrostrictive element 32AV through the transformer 63.
As described above, the control unit 50 transfers the charge corresponding to the energy lost due to the loss of the transformer unit 63 among the energy accumulated in the electrostrictive element 32AU from the amplification unit 571AV via the diode 572AV. , And supplied to the electrostrictive element 32AV. As a result, the voltage waveform output from the control unit 50 to the electrostrictive element 32AV becomes a waveform that monotonously increases from time t3 to t3.1 (voltage waveform W81), for example, as shown in FIG. Further, the voltage waveform output from the control unit 50 to the electrostrictive element 32AV is a waveform that monotonously decreases at time t3.1 to t3.2 (voltage waveform W82). Further, the voltage waveform outputted from the control unit 50 to the electrostrictive element 32AV is a constant voltage _{V L} at time T3.2～T6 (voltage waveform W83~W86). Here, the energy supplied to the electrostrictive element 32AV by the voltage waveforms W81 to W82 at times t3 to t3.2 is the energy lost due to the loss of the transformer unit 63 or the like among the energy accumulated in the electrostrictive element 32AU. It corresponds to.
On the other hand, the voltage waveform supplied to the electrostrictive element 32AV at times t3 to t4 is a voltage waveform W61 shown in FIG. The voltage waveform supplied to the electrostrictive element 32AV from time t4 to t5 is a voltage waveform W62 shown in FIG. The voltage waveform supplied to the electrostrictive element 32AV at times t5 to t6 is a voltage waveform W63 shown in FIG. That is, the control unit 50 supplies the electrostrictive element 32AV with the voltage waveforms W81 to W86 having less energy than the voltage waveforms W61 to W63, and drives the electrostrictive element 32AV.

As described above, the motor device MTR of the present embodiment has the transmission unit BT that is hung on at least a part of the rotor SF and at least a plurality of electrostrictive elements 32, and the electrostrictive element 32 moves the transmission unit BT. A drive unit AC is provided. In addition, the motor device MTR has a driving operation for moving the transmission unit BT in a rotational force transmission state between the rotor SF and the transmission unit BT, and a rotational force non-transmission state between the rotor SF and the transmission unit BT. Then, the control unit 50 is provided that causes the drive unit AC to perform a return operation to return the transmission unit BT to a predetermined position. In addition, the motor device MTR includes a charge transfer unit 60 that supplies the charge discharged to at least one of the plurality of electrostrictive elements 32 to the electrostrictive element 32.
As a result, the motor device MTR of the present embodiment can drive the electrostrictive element 32 by moving the electric charge of the electrostrictive element 32 to another electrostrictive element 32, so that the use efficiency of the supplied power can be increased. Can be high. That is, the motor device MTR of the present embodiment can reduce power consumption.

In addition, the charge transfer unit 60 included in the motor device MTR of the present embodiment is connected to the first electrostrictive element 32AU and the second electrostrictive element 32AV, and the charge accumulated in the first electrostrictive element 32AU is used. The electric charge corresponding to the electric charge discharged and discharged from the first electrostrictive element 32AU is supplied to the second electrostrictive element 32AV.
As a result, the motor device MTR of the present embodiment can drive the electrostrictive element 32 by moving the electric charge of the electrostrictive element 32 to another electrostrictive element 32, so that the use efficiency of the supplied power can be increased. Can be high. That is, the motor device MTR of the present embodiment can reduce power consumption.

In addition, the charge transfer unit 60 included in the motor device MTR of the present embodiment generates energy generated by discharging the charge accumulated in the first electrostrictive element 32AU to supply the charge to the second electrostrictive element 32AV. A transformer unit 63 for converting to electric power is provided.
Thereby, the motor device MTR of the present embodiment can supply the electric charge of the electrostrictive element 32 to another electrostrictive element 32 by using the energy of the electric charge of the electrostrictive element 32. For this reason, the use efficiency of the supplied electric power can be further increased. That is, the motor device MTR of the present embodiment can reduce power consumption.

In addition, the control unit 50 included in the motor device MTR of the present embodiment outputs a control signal that causes the electrostrictive element 32 to release charges to the charge transfer unit 60 in the driving operation.
Thereby, the motor apparatus MTR of this embodiment can supply the electric charge which the electrostrictive element 32 has to the other electrostrictive element 32 by the timing which the control part 50 determines. For this reason, the use efficiency of the supplied electric power can be increased according to the driving conditions of the electrostrictive element 32. That is, the motor device MTR of the present embodiment can reduce power consumption.

  In addition, the control unit 50 included in the motor device MTR of the present embodiment outputs a control signal for releasing the charge from the electrostrictive element 32 to the charge transfer unit 60 at least in synchronization with the drive signal in the drive operation. Thereby, the motor device MTR of the present embodiment can supply the electric charge of the electrostrictive element 32 to another electrostrictive element 32 in synchronization with the timing at which the control unit 50 drives the electrostrictive element 32. For this reason, the use efficiency of the supplied electric power can be increased according to the driving conditions of the electrostrictive element 32. That is, the motor device MTR of the present embodiment can reduce power consumption.

In addition, the charge transfer unit 60 included in the motor device MTR of the present embodiment includes a switching unit 651 for supplying charges to the electrostrictive element 32 based on the control signal.
Thereby, the motor apparatus MTR of the present embodiment can select whether or not the controller 50 supplies the other electrostrictive element 32 with the electric charge of the electrostrictive element 32. For this reason, the motor device MTR can supply the electric charge of the electrostrictive element 32 to another electrostrictive element 32 in accordance with the drive timing of the electrostrictive element 32, so that the power use efficiency can be increased. it can. That is, the motor device MTR of the present embodiment can reduce power consumption. Further, the motor device MTR of the present embodiment can apply a high torque to the rotor SF according to Euler's friction belt theory.

  The motor device MTR of the first embodiment has been described above, but the number of drive units AC is not limited to three illustrated. For example, the motor device MTR may include six drive units AC. In this case, the configuration of the motor device MTR can be changed due to restrictions such as the torque of the rotor SF required for the motor device MTR.

[Second Embodiment]
Next, a second embodiment of the present invention will be described.
FIG. 15 is a schematic configuration diagram illustrating an example of a motor device MTR according to the present embodiment. Note that description of the same configuration and operation as in the first embodiment is omitted.
The motor device MTR of the present embodiment moves the electric charge from the electrostrictive element 32AU described in the first embodiment to the electrostrictive element (capacitive drive element) AV, and in addition to the electrostrictive element 32AV. Thus, the charge can be transferred to the surface. Hereinafter, the configuration will be described.

The motor device MTR of the present embodiment includes a control unit 50-2 and a charge transfer unit 60-2.
The control unit 50-2 includes an output unit 57-2.
The output unit 57-2 is connected to the switching unit 651-2 of the charge discharging unit 65-2 provided in the charge transfer unit 60-2 described later, and a control signal for switching the switching unit 651-2 is switched to the switching unit 651. Output to -2.
The charge transfer unit 60-2 includes a charge release unit 65-2 and a charge supply unit 66-2.
The charge discharging unit 65-2 includes a switching unit 651-2 that discharges the charge accumulated in the electrostrictive element 32AV based on the control signal output from the control unit 50-2.
The switching unit 651-2 is, for example, a semiconductor switch, similar to the switching unit 651, and is connected to the first terminal TM 1-2 connected to the electrostrictive element 32 AV and the secondary side winding 63 B. Between the two terminals TM <b> 2-2, the control terminal TM <b> 3-2 connected to the control unit 50-2 is brought into a conductive state or a non-conductive state.
The charge supply unit 66-2 includes, for example, a diode 661-2 that allows current to flow only in one direction.
The diode 661-2 allows current to flow only from the first terminal TM4-2 connected to the electrostrictive element 32AU to the second terminal TM5-2 connected to the primary winding 63A.

With the configuration described above, the control unit 50-2 supplies the electric charge to the electrostrictive element 32AV by setting the switching unit 651 in a non-conduction state by a control signal and setting the switching unit 651-2 in a non-conduction state by a control signal. . Thereby, the control unit 50-2 expands the electrostrictive element 32AV. Next, the control part 50-2 makes the switching part 651-2 into a conduction | electrical_connection state with a control signal. As a result, the control unit 50-2 supplies electric charges to the secondary winding 63B. In this manner, the control unit 50-2 supplies a charge corresponding to the charge accumulated in the electrostrictive element 32AV to the electrostrictive element 32AU via the transformer unit 63. Further, the control unit 50-2 supplies, to the electrostrictive element 32AU, the charge corresponding to the energy lost due to the loss of the transformer unit 63 among the energy accumulated in the electrostrictive element 32AV. At this time, the charge discharging unit 65-2 prevents the charge from flowing into the primary winding 63A by the diode 661-2.
In this manner, the control unit 50-2 and the charge transfer unit 60-2 are based on the control signal that is output in synchronization with the voltage waveform of the drive signal supplied to the electrostrictive element 32. The electric charge corresponding to the electric charge stored in is supplied to the electrostrictive element 32AU to deform the electrostrictive element 32AV and to deform the electrostrictive element 32AU. That is, the motor device MTR of the present embodiment can move the charge from the electrostrictive element 32AU to the electrostrictive element 32AV, and can move the charge from the electrostrictive element 32AV to the electrostrictive element 32AU. is there.

  As described above, in the charge transfer unit 60 provided in the motor device MTR of the present embodiment, the primary side winding (primary side) 63A and the secondary side winding (secondary side) 63B are magnetized by mutual inductance. A transformer section 63 is provided. In addition, one end of the primary side winding (primary side) 63A is connected to one end of the first electrostrictive element (capacitive drive element) 32AU, and the transformer 63 has a secondary side winding (secondary side). One end of 63B is connected to one end of the second electrostrictive element (capacitive drive element) 32AV, and the energy generated by releasing the charge accumulated in the first electrostrictive element 32AU is converted into the second electrostrictive. The electromotive force is supplied to supply electric charge to the element 32AV. The charge transfer unit 60 is connected to the other end of the first electrostrictive element 32AU and the other end of the primary side winding (primary side) 63A of the transformer unit 63, and accumulates in the first electrostrictive element 32AU. The first charge discharging unit 65 is provided to discharge the generated charge and supply the released charge to the transformer unit 63. The charge transfer unit 60 is connected to the other end of the second electrostrictive element 32AV and the other end of the secondary side winding (secondary side) 63B of the transformer unit 63, and the second electrostrictive element 32AV. The second charge discharging unit 65B is provided for discharging the charges accumulated in the power supply and supplying the discharged charges to the transformer unit 63. The charge transfer section 60 is connected to the other end of the primary side winding (primary side) 63A of the transformer section 63 and the other end of the first electrostrictive element 32AU, and is charged by the second charge discharge section 65B. The first electric charge emitting unit 65 is provided that supplies electric energy to the first electrostrictive element 32AU by the electromotive force converted through the transformer unit 63. The charge transfer section 60 is connected to the other end of the secondary side winding (secondary side) 63B of the transformer section 63 and the other end of the second electrostrictive element 32AV, and the first charge discharge section 65. The second charge supply unit 66-2 supplies the second electrostrictive element 32 </ b> AV with charge by the electromotive force converted through the transformer unit 63 using the energy generated by discharging the charge.

  As a result, the motor device MTR according to the present embodiment uses the electric charge of the first electrostrictive element (capacitive drive element) 32AU to the second electrostrictive element 32AU by using the energy of the electric charge of the first electrostrictive element 32AU. The distortion element (capacitive drive element) 32AV can be supplied. Further, the motor device MTR of the present embodiment causes the electric charge of the second electrostrictive element 32AV to be supplied to the first electrostrictive element 32AU by using the energy of the electric charge of the second electrostrictive element 32AV. Can do. For this reason, even when the rotor SF is rotated in the direction opposite to the rotation direction described in the first embodiment, the use efficiency of the supplied power can be increased. That is, the motor device MTR of the present embodiment can reduce power consumption regardless of the rotation direction of the rotor SF.

[Third Embodiment]
Next, a third embodiment of the present invention will be described.
FIG. 16 is a schematic configuration diagram illustrating an example of a motor device MTR according to the present embodiment. Note that description of the same configuration and operation as those of the above-described embodiment is omitted.
The motor device MTR of the present embodiment moves charges between the electrostrictive element 32 of the drive unit ACU and the electrostrictive element (capacitive drive element) 32 of the drive unit ACV described in the second embodiment. In addition, the charge can be moved between the electrostrictive element 32 of the drive unit ACV and the electrostrictive element 32 of the drive unit ACW. In addition, the motor device MTR is configured to be able to move charges between the electrostrictive element 32 of the drive unit ACU and the electrostrictive element 32 of the drive unit ACW. Hereinafter, the configuration will be described.

The motor device MTR of the present embodiment includes a control unit 50-3 and a plurality of charge transfer units 60-2 corresponding to the number of drive units AC. In the present embodiment, the motor device MTR includes a first charge transfer unit 60-2-1, a second charge transfer unit 60-2-2, and a third charge transfer unit 60-2-3. I have.
The control unit 50-3 is connected to each electrostrictive element 32 and is provided with a switching unit 651 (in this embodiment, switching units 651-1, 651-2, 651-) provided in each charge transfer unit 60-2. 3) and the switching unit 651-2 (in this embodiment, the switching units 651-2-1, 651-2-2, and 651-2-3).
The secondary winding 63B-1 included in the first charge transfer section 60-2-1 is similar to the primary winding 63A-2 included in the second charge transfer section 60-2-2. Are connected to the switching unit 651-2 and the diode 661-2-2. The secondary winding 63B-2 included in the second charge transfer section 60-2-2 is similar to the primary winding 63A-3 included in the third charge transfer section 60-2-3. The switching unit 651-3 and the diode 661-2-3 are connected. The secondary winding 63B-3 included in the third charge transfer unit 60-2-3 is different from the primary winding 63A-1 included in the first charge transfer unit 60-2-1. , The switching unit 651-1 and the diode 661-2-1. That is, the three charge transfer units 60-2 are continuously connected in a ring shape.
The control unit 50-3 outputs a control signal in a predetermined order (switching order) to each switching unit included in each charge transfer unit 60-2 according to the driving condition of each driving unit AC. As an example, this switching order will be described below with reference to FIGS. In FIG. 12, during the period from time t2 to t3, the electrostrictive element 32AU is in a state where electric charge is accumulated, and the electrostrictive elements 32AV and 32AW are in a discharged state. Next, in the period from time t3 to t4, the control unit 50-3 outputs a control signal to the switching unit 651-1 and moves the charge accumulated in the electrostrictive element 32AU to the electrostrictive element 32AV. Let In the period from time t4 to time t5, only the electrostrictive element 32AV is in a state of storing electric charge, and the electrostrictive elements 32AW and AU are in a state of discharging electric charge. Subsequently, in a period from time t5 to t6, the control unit 50-3 outputs a control signal to the switching unit 651-2, and moves the charge accumulated in the electrostrictive element 32AV to the electrostrictive element 32AW. Similarly, in the period from t1 to t2 of the next cycle, the control unit 50-3 outputs a control signal to the switching unit 651-3, and the charge accumulated in the electrostrictive element 32AW is supplied to the electrostrictive element 32AU. Move. In this way, the electric charge is sequentially moved from the electrostrictive element 32AU to the electrostrictive elements 32AV, 32AW.
As described above, the motor device MTR of the present embodiment moves charges between the electrostrictive elements 32.

As described above, in the motor device MTR of the present embodiment, the plurality of electrostrictive elements 32 are connected to at least two different charge transfer units 60-2, and the control unit 50-3 includes the charge transfer unit 60-2. Among them, the charge supplied via any one of the charge transfer units 60-2 is discharged to another charge transfer unit 60-2 different from the charge transfer unit 60-2 to which the charges are supplied.
As a result, the motor device MTR of the present embodiment supplies the electric charge of the electrostrictive element 32 to another electrostrictive element 32, and then the electric charge of the electrostrictive element 32 supplied with the electric charge is changed to a predetermined value. The other electrostrictive elements 32 can be supplied in order. For this reason, electric charges can be continuously circulated and delivered in a predetermined order (switching order) between the plurality of electrostrictive elements 32, and the usage efficiency of the supplied power can be further increased. That is, the motor device MTR of the present embodiment can reduce power consumption.

  As shown in FIG. 17, the motor device MTR may include, for example, six charge transfer units 60-2. In this case, for example, the motor device MTR can transfer charges in a predetermined order between all the electrostrictive elements 32 included in the three drive units AC, and further improves the use efficiency of the supplied power. Can be high. As an example, this switching order will be described below with reference to FIGS. 12 and 17. For example, as in the example of FIG. 16, for the combination of the electrostrictive elements 32AU, 32AV, and 32AW, the control unit 50-4 moves the charge in the order of the electrostrictive element 32AU → the electrostrictive element 32AV → the electrostrictive element 32AW. . At the same time, for the combination of the electrostrictive elements 32BU, 32BV, and 32BW, the control unit 50-4 moves the charge in the order of the electrostrictive element 32BW → the electrostrictive element 32BU → the electrostrictive element 32BV. Accordingly, the sequence shown in FIG. 12 can be realized even in the configuration of the motor apparatus MTR as shown in FIG. That is, the motor device MTR of the present embodiment can reduce the drive power consumption of all the electrostrictive elements (capacitive drive elements).

[Fourth Embodiment]
Next, a fourth embodiment of the present invention will be described.
FIG. 18 is a schematic configuration diagram illustrating an example of a motor device MTR according to the present embodiment. Note that description of the same configuration and operation as those of the above-described embodiment is omitted.
The motor device MTR of the present embodiment has a configuration different from the configuration for moving charges in the two electrostrictive elements 32 described in the above embodiment. That is, the motor device MTR of the present embodiment can move charges between the electrostrictive element (capacitive drive element) 32 provided in the drive unit AC and the capacitive element 71 provided in the charge transfer unit 60-4. It is configured. Hereinafter, the configuration will be described.

The motor device MTR of the present embodiment includes a control unit 50-4 and a charge transfer unit 60-4.
The control unit 50-4 is connected to each electrostrictive element 32 and is connected to the switching unit 651 and the switching unit 651-4 provided in the charge transfer unit 60-4.
The charge transfer unit 60-4 includes a charge discharge unit 65, a charge discharge unit 65-4, a charge supply unit 66-2, a charge supply unit 66-4, and a capacitor unit 70.
The capacitor unit 70 includes a capacitor element 71 such as a capacitor and stores the supplied charge.
The charge discharge unit 65-4 includes a switching unit 651-4 that discharges the charge accumulated in the capacitive element 71 based on the control signal output from the control unit 50-4.
The switching unit 651-4 is, for example, a semiconductor switch like the switching unit 651, and is connected to the first terminal TM1-4 connected to the capacitive element 71 and the secondary winding 63B. The terminal TM2-4 is turned on or off by the voltage of the control terminal TM3-4 connected to the control unit 50-4.
The charge supply unit 66-4 includes, for example, a diode 661-4 that allows current to flow only in one direction.
The diode 661-4 allows a current to flow only from the first terminal TM4-4 connected to the capacitive element 71 to the second terminal TM5-4 connected to the secondary winding 63B.

FIG. 19 shows a configuration of the charge transfer unit 60-4.
The electrostrictive element 32AU is supplied with electric charge from the amplifying unit 571AU provided in the output unit 57-4 of the control unit 50-4 via the diode 572AU. When the switching unit 651-2 is turned on by the control unit 50-4, the charge discharging unit 65-2 transfers the charge accumulated in the electrostrictive element 32AU via the primary side winding 63A of the transformer unit 63. To release. The charge supply unit 66-4 supplies charge to the capacitive element 71 via the secondary winding 63B by electromotive force generated by the charge flowing through the primary winding 63A. In this manner, the charge corresponding to the charge accumulated in the electrostrictive element 32AU is supplied to the capacitive element 71, and the charge is accumulated in the capacitive element 71.
In addition, when the switching unit 651-4 is turned on by the control unit 50-4, the charge discharging unit 65-4 transfers the charge accumulated in the capacitive element 71 to the secondary winding 63B of the transformer unit 63. To release. The charge supply unit 66-2 supplies charge to the electrostrictive element 32AU through the primary winding 63A by electromotive force generated by the charge flowing through the secondary winding 63B. In this way, a charge corresponding to the charge accumulated in the capacitive element 71 is supplied to the electrostrictive element 32AU, and the charge is accumulated in the electrostrictive element 32AU.
Thus, the motor device MTR of the present embodiment can move charges between the electrostrictive element 32 included in the drive unit AC and the capacitive element 71 included in the charge transfer unit 60-4.

As described above, the motor device MTR of the present embodiment includes the transmission unit BT that is hung on at least a part of the rotor SF and at least the electrostrictive element (capacitive drive element) 32. The drive part AC which moves the transmission part BT is provided. In addition, the motor device MTR has a driving operation for moving the transmission unit BT in a rotational force transmission state between the rotor SF and the transmission unit BT, and a rotational force non-transmission state between the rotor SF and the transmission unit BT. Then, the controller 50-4 is provided that causes the drive unit AC to perform the return operation for returning the transmission unit BT to a predetermined position. In addition, the motor device MTR includes a charge transfer unit 60-4 that discharges electric charge from the electrostrictive element 32 and accumulates the electric charge in the capacitive element 71 and supplies the electric charge accumulated in the capacitive element 71 to the electrostrictive element 32. Yes.
That is, the motor device MTR of the present embodiment includes the capacitive element 71 that accumulates charges. In the motor device MTR, the charge transfer section 60 releases the charge accumulated in one of the electrostrictive element 32 and the capacitive element 71, and the other includes energy including energy generated by releasing the charge. A charge is supplied to the device.
As a result, the motor device MTR of the present embodiment can supply the electric charge corresponding to the electric charge of the electrostrictive element 32 to the capacitive element 71 via the transformer unit 63. Furthermore, the electric charge possessed by the capacitive element 71 can be supplied to the electrostrictive element 32 through the transformer unit 63. For this reason, since the charge can be transferred back and forth between the electrostrictive element 32 and the capacitive element 71 regardless of the driving conditions of the other electrostrictive elements 32, the use efficiency of the supplied power is increased. be able to. That is, the motor device MTR of the present embodiment can reduce power consumption.

Note that the motor device MTR may include a plurality of charge transfer units 60-4 according to the number of drive units AC. For example, as illustrated in FIG. 20, the motor device MTR may include six charge transfer units 60-4, and the charge transfer units 60-4 may be connected to the six drive units AC, respectively.
As a result, the motor device MTR according to the present embodiment reciprocates charges between the electrostrictive element 32 and the capacitive element 71 regardless of the driving conditions of the electrostrictive elements 32 included in the plurality of drive units AC. Therefore, the usage efficiency of the supplied power can be further increased. That is, the motor device MTR of the present embodiment can reduce power consumption.

The motor device MTR may include the charge transfer unit described in each of the above embodiments in addition to the charge transfer unit 60-4.
As a result, the motor device MTR according to the present embodiment reciprocates charges between the electrostrictive element 32 and the capacitive element 71 regardless of the driving conditions of the electrostrictive elements 32 included in the plurality of drive units AC. Can be handed over. Furthermore, the motor device MTR can drive the electrostrictive element 32 by moving the electric charge of the electrostrictive element 32 to another electrostrictive element 32. For this reason, the motor device MTR selects whether to supply the charge to the capacitive element 71 or the other electrostrictive element 32 in accordance with the driving conditions of the electrostrictive element 32, and sets the electrostrictive element 32 to Can be driven. For this reason, the use efficiency of the supplied electric power can be further increased. That is, the motor device MTR of the present embodiment can reduce power consumption.

[Fifth Embodiment]
Next, as a fifth embodiment of the present invention, an application example to a robot apparatus RBT including the motor apparatus MTR will be described.
FIG. 15 is a diagram illustrating a configuration in which the motor device MTR is applied to, for example, a robot arm ARM. The robot apparatus RBT of this embodiment includes the motor apparatus MTR described in the above embodiments.

  As shown in FIG. 21, the motor device MTR is connected to the robot arm ARM through a coupling CPL. Since the motor device MTR of the above embodiment drives the drive unit AC by the control unit and the charge transfer unit described above, it is possible to reduce power consumption when driving the robot arm ARM. The motor device MTR of the above embodiment can also be applied to a joint portion of a robot, a drive unit AC of a machine tool, and the like. Thus, the motor device MTR can reduce power consumption when driving the robot device RBT. The robot apparatus RBT may be an arm robot or a hand robot used for industrial purposes, or may be a robot used for a service robot.

  As mentioned above, although embodiment of this invention has been explained in full detail with reference to drawings, a concrete structure is not restricted to this embodiment and can be suitably changed in the range which does not deviate from the meaning of this invention. .

  In the above-described embodiment, the electrostrictive element 32 has been described by taking the configuration of, for example, a piezo element as an example. However, the electrostrictive element 32 is not limited to this, and a configuration using other actuators such as a capacitive element that can store charges, for example. It does not matter. For example, the electrostrictive element (capacitive drive element) 32 may be a composite element in which a magnetostrictive material and a piezoelectric material are combined as a capacitive drive element.

Hereinafter, the control unit 50, the control unit 50-2, the control unit 50-3, and the control unit 50-4 described in the above embodiments will be collectively described as the control unit CONT.
In the above embodiment, the motor device MTR generates a voltage waveform for driving the electrostrictive element 32 based on the drive conditions of the electrostrictive element 32 stored in the storage unit 55 in advance. Not limited. For example, the control unit CONT may generate a driving condition for the electrostrictive element 32 by real-time processing, and generate a voltage waveform for driving the electrostrictive element 32 based on the generated driving condition. Thereby, even when the load torque applied to the rotor SF fluctuates, the control unit CONT can generate a voltage waveform for driving the electrostrictive element 32 and a control signal. That is, even when a disturbance occurs, the motor device MTR can reduce power consumption.

  Note that the control unit CONT in each of the above embodiments or each unit included in the control unit CONT may be realized by dedicated hardware, or realized by a memory and a microprocessor. Also good.

  The control unit CONT or each unit included in the control unit CONT may be realized by dedicated hardware. The control unit CONT or each unit included in the control unit CONT includes a memory and Even if it is configured by a CPU (Central Processing Unit), the function is realized by loading the control unit CONT or a program for realizing the function of each unit included in the control unit CONT into a memory and executing it. Good.

  Also, the control unit CONT or a program for realizing the functions of each unit included in the control unit CONT is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read into a computer system and executed. By doing so, you may perform the process by the control part CONT or each part with which this control part CONT is provided. Here, the “computer system” includes an OS and hardware such as peripheral devices.

Further, the “computer system” includes a homepage providing environment (or display environment) if a WWW system is used.
The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. Furthermore, the “computer-readable recording medium” dynamically holds a program for a short time like a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line. In this case, a volatile memory in a computer system serving as a server or a client in that case, and a program that holds a program for a certain period of time are also included. The program may be a program for realizing a part of the functions described above, and may be a program capable of realizing the functions described above in combination with a program already recorded in a computer system.

  MTR ... motor device, SF ... rotor, AC ... drive unit, BT ... transmission unit, RBT ... robot device, 32 ... electrostrictive element (capacitive drive element), 50 ... control unit, 50-2 ... control unit, 50 -3 ... Control unit, 50-4 ... Control unit, 60 ... Charge delivery unit, 60-2 ... Charge delivery unit, 60-3 ... Charge delivery unit, 60-4 ... Charge delivery unit, 63 ... Transformer unit, 63A ... Primary side winding (primary side), 63B ... Secondary side winding (secondary side), 65 ... Charge emission part (first charge emission part), 65-2 ... Charge emission part (second charge) Emission unit) 66... Charge supply unit (first charge supply unit) 66-2. Charge supply unit (second charge supply unit) 70... Capacitor unit 71. -2 ... Switching unit, 651-3 ... Switching unit

Claims (11)

A transmission unit hung on at least a part of the rotor;
A drive unit having at least a plurality of capacitive drive elements and moving the transmission unit by the capacitive drive elements;
A drive operation for moving the transmission unit with a rotational force transmission state between the rotor and the transmission unit, and a non-rotation force transmission state between the rotor and the transmission unit to set the transmission unit to a predetermined value A control unit that causes the drive unit to perform a return operation to return to the position;
A motor device, comprising: a charge transfer unit configured to supply the charge released to at least one of the plurality of capacitive drive elements to the capacitive drive element. The plurality of capacitive drive elements include a first capacitive drive element and a second capacitive drive element;
The charge transfer unit is connected to the first capacitive drive element and the second capacitive drive element, and discharges the charge accumulated in the first capacitive drive element, so that the first capacitor The motor device according to claim 1, wherein a charge corresponding to the charge discharged from the capacitive drive element is supplied to the second capacitive drive element. The charge transfer unit includes a transformer unit that converts energy generated by releasing the charge accumulated in the first capacitive drive element into an electromotive force for supplying the charge to the second capacitive drive element. The motor device according to claim 2. The charge transfer section is
A transformer part in which a primary side and a secondary side are magnetically coupled by mutual inductance, wherein one end of the primary side is connected to one end of the first capacitive drive element, and one end of the secondary side is Energy that is connected to one end of the second capacitive drive element and releases the charge accumulated in the first capacitive drive element is supplied to the second capacitive drive element. A transformer section for converting to electric power;
Connected to the other end of the first capacitive drive element and the other end of the primary side of the transformer unit, the charge accumulated in the first capacitive drive element is discharged, and the discharged charge A first charge discharging portion for supplying the transformer portion with
Connected to the other end of the second capacitive drive element and the other end on the secondary side of the transformer unit, the electric charge accumulated in the second capacitive drive element is discharged, and the discharge is performed. A second charge discharging unit for supplying electric charge to the transformer unit;
Energy generated by discharging electric charges by the second electric charge discharging unit connected to the other end of the primary side of the transformer unit and the other end of the first capacitive driving element is passed through the transformer unit. A first charge supply unit for supplying charges to the first capacitive drive element by the electromotive force converted in
Energy generated by discharging electric charges by the first electric charge discharging unit connected to the other end of the secondary side of the transformer unit and the other end of the second capacitive driving element is transferred to the transformer unit. A second charge supply unit for supplying charge to the second capacitive drive element by the electromotive force converted through
The motor device according to claim 2, comprising: The said control part outputs the control signal which makes the said capacitive drive element discharge | release the said electric charge to the said charge delivery part in the said drive operation | movement. The Claim 1 characterized by the above-mentioned. Motor device. The said control part outputs the control signal which discharges | releases the said charge from the said capacitive drive element to the said charge delivery part at least synchronizing with the drive signal in the said drive operation | movement. The motor apparatus as described in any one of these. The motor device according to claim 5, wherein the charge transfer unit includes a switching unit for supplying the charge to the capacitive drive element based on the control signal. The plurality of capacitive driving elements are:
The charge transfer unit connected to at least two different charge transfer units, and the charge transfer unit different from the charge transfer unit discharges the charge supplied through any one of the charge transfer units. The motor device according to claim 1, wherein: A capacitor element for storing the charge;
The charge transfer unit releases the charge accumulated in one of the capacitive drive element and the capacitive element, and transfers energy to the other element by energy including energy generated by releasing the charge. Charge is supplied. The motor apparatus as described in any one of Claims 1-8 characterized by the above-mentioned. A transmission unit hung on at least a part of the rotor;
A drive unit having at least a capacitive drive element, and moving the transmission unit by the capacitive drive element;
A drive operation for moving the transmission unit with a rotational force transmission state between the rotor and the transmission unit, and a non-rotation force transmission state between the rotor and the transmission unit to set the transmission unit to a predetermined value A control unit that causes the drive unit to perform a return operation to return to the position;
A motor device comprising: a charge transfer unit that discharges electric charge from the capacitive drive element and accumulates the electric charge in the capacitive element, and supplies the electric charge accumulated in the capacitive element to the capacitive drive element.   A robot apparatus comprising the motor device according to any one of claims 1 to 10.

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