JP2013070447A - Motor device, drive control device, method of driving rotor and robot device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a motor device capable of generating high torque, a drive control device, a method of driving a rotor and a robot device.SOLUTION: A motor device includes: a rotor; a transmission part which is suspended on at least a part of a peripheral surface of the rotor; a drive part which moves at least a first part and a second part of the transmission part; and a control part which makes the drive part perform preparation operation for making a state between the transmission part and the rotor a rotating force transmission state by putting the first part into a state in which it is suspended on the peripheral surface of the rotor after the second part, rotation operation for moving the transmission part by a given distance while the state between the transmission part and the rotor is in the rotating force transmission state and return operation for returning the transmission part to a predetermined position by canceling the rotating force transmission state.

Description

  The present invention relates to a motor device, a drive control device, a rotor driving method, and a robot device.

  For example, a motor device is used as an actuator for driving a turning machine or the like. As such a motor device, for example, a motor device capable of generating a high torque, such as an electric motor or an ultrasonic motor, is widely known (see, for example, Patent Document 1).

  In recent years, there has been a demand for a motor device that drives a precise part (eg, a joint part) of a humanoid robot. In addition, existing motor devices such as electric motors and ultrasonic motors are required to have a configuration capable of precise and high-precision driving such as downsizing and controllability of torque.

Japanese Patent Laid-Open No. 2-311237

  However, for example, in an electric motor or an ultrasonic motor, it is necessary to attach a speed reducer to generate a high torque, so there is a limit to downsizing and weight reduction. In addition, in an ultrasonic motor, it is difficult to control torque.

  The aspect which concerns on this invention aims at providing the motor apparatus which can generate a high torque, a drive control apparatus, the drive method of a rotor, and a robot apparatus.

  According to the first aspect of the present invention, the rotor, the transmission unit that is hung on at least a part of the circumferential surface of the rotor, and the drive unit that moves at least the first part and the second part of the transmission unit, A preparatory operation for making a rotational force transmission state between the transmission portion and the rotor by placing the first portion on the peripheral surface of the rotor after the second portion, and the transmission portion, A rotation operation for moving the transmission unit by a certain distance while maintaining the rotational force transmission state between the rotor and a return operation for canceling the rotational force transmission state and returning the transmission unit to a predetermined position; There is provided a motor device including a control unit to be performed by the driving unit.

  Further, according to the second aspect of the present invention, the rotor, the transmission portion that is hung on at least a part of the circumferential surface of the rotor, and the drive that moves at least the first portion and the second portion of the transmission portion. And a preparatory operation for transmitting a rotational force between the transmission unit and the rotor, and moving the transmission unit by a certain distance while maintaining the rotational force transmission state between the transmission unit and the rotor. The rotational force transmission state between the transmission unit and the rotor is canceled by setting the rotational operation and the first part not to be hung on the circumferential surface of the rotor after the second part. And a control unit that causes the drive unit to perform a return operation to return the transmission unit to a predetermined position.

  According to the third aspect of the present invention, a rotor, a transmission unit that is hung on at least a part of the circumferential surface of the rotor, and a drive unit that moves at least a first part and a second part of the transmission unit; A drive control device for driving a motor device comprising: the first portion being hung on a peripheral surface of the rotor after the second portion; and a space between the transmission portion and the rotor. Preparation operation for setting the rotational force transmission state, rotational operation for moving the transmission portion by a certain distance while keeping the rotational force transmission state between the transmission portion and the rotor, and canceling the rotational force transmission state There is provided a drive control device including a control unit that causes the drive unit to perform a return operation to return the transmission unit to a predetermined position.

  According to the fourth aspect of the present invention, the rotor, the transmission portion that is hung on at least a part of the circumferential surface of the rotor, and the drive that moves at least the first portion and the second portion of the transmission portion. A drive control device for driving a motor device comprising: a preparatory operation for transmitting a rotational force between the transmission unit and the rotor; and the rotational force between the transmission unit and the rotor. The transmission unit and the rotation by rotating the transmission unit in a certain distance while being in the transmission state, and making the first part not hung on the circumferential surface of the rotor after the second part There is provided a drive control device including a control unit that causes the drive unit to perform a return operation to cancel the rotational force transmission state with the child and return the transmission unit to a predetermined position.

  According to a fifth aspect of the present invention, there is provided a method for driving a rotor in which at least a first portion and a second portion of a transmission portion are hung on at least a portion of a circumferential surface of the rotor, wherein the first portion is A preparatory step in which a rotational force is transmitted between the transmission portion and the rotor by being put on a circumferential surface of the rotor after the second portion; and the transmission portion and the rotor A rotating step of moving the transmitting portion by a certain distance while maintaining the rotational force transmission state between and a return step of canceling the rotational force transmitting state and returning the transmitting portion to a predetermined position. A driving method is provided.

  According to a sixth aspect of the present invention, there is provided a method for driving a rotor in which at least a first portion and a second portion of a transmission portion are hung on at least a part of a circumferential surface of the rotor, A step of preparing a rotational force transmission state between a part and the rotor, and a rotating step of moving the transmission unit a predetermined distance while maintaining the rotational force transmission state between the transmission unit and the rotor; A step of returning the transmitting portion to a predetermined position by canceling the rotational force transmitting state by making the first portion not hooked on the circumferential surface of the rotor after the second portion. A method for driving a rotor is provided.

  According to a seventh aspect of the present invention, there is provided a robot apparatus including the drive control device according to the third aspect or the fourth aspect of the present invention.

  In addition, according to the eighth aspect of the present invention, the apparatus includes a rotating shaft member and a motor device that rotates the rotating shaft member, and the motor device includes the motor according to the first aspect or the second aspect of the present invention. A robotic device in which the device is used is provided.

  According to the present invention, high torque can be generated.

The perspective view which shows typically the structure of the motor apparatus which concerns on 1st embodiment of this invention. The graph which shows the characteristic of the motor apparatus which concerns on this embodiment. The graph which shows the drive timing of the motor apparatus which concerns on this embodiment. The figure which shows operation | movement of the motor apparatus which concerns on this embodiment. The figure which shows operation | movement of the motor apparatus which concerns on this embodiment. The figure which shows operation | movement of the motor apparatus which concerns on this embodiment. The figure which shows operation | movement of the motor apparatus which concerns on this embodiment. The figure which shows operation | movement of the motor apparatus which concerns on this embodiment. The figure which shows operation | movement of the motor apparatus which concerns on this embodiment. The figure which shows operation | movement of the motor apparatus which concerns on this embodiment. The figure which shows operation | movement of the motor apparatus which concerns on this embodiment. The perspective view which shows typically the structure of the motor apparatus which concerns on 2nd embodiment of this invention. The graph which shows the drive timing of the motor apparatus which concerns on this embodiment. The figure which shows operation | movement of the motor apparatus which concerns on 3rd embodiment of this invention. The figure which shows operation | movement of the motor apparatus which concerns on 3rd embodiment of this invention. The figure which shows operation | movement of the motor apparatus which concerns on 3rd embodiment of this invention. The figure which shows operation | movement of the motor apparatus which concerns on 3rd embodiment of this invention. The figure which shows operation | movement of the motor apparatus which concerns on 3rd embodiment of this invention. The figure which shows operation | movement of the motor apparatus which concerns on 3rd embodiment of this invention. The figure which shows the structure of the robot apparatus which concerns on 4th embodiment of this invention. The graph which shows the drive timing of the motor apparatus which concerns on the modification of this invention.

[First Embodiment]
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1A is a schematic configuration diagram illustrating an example of a motor device MTR according to the present embodiment. FIG.1 (b) is a figure which shows the structure along the AA 'cross section in Fig.1 (a).

  As shown in FIGS. 1A and 1B, the motor device MTR includes a base part BS, a rotor SF, a drive part AC, a transmission part BT, and a control part CONT. The motor device MTR rotates the rotor SF using the drive unit AC and the transmission unit BT under the control of the control unit CONT and adjusts the rotation state (eg, rotation direction, rotation speed, etc.) of the rotor SF. It is a possible configuration.

  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. A cylindrical axis direction of the rotor SF is defined as a Z-axis direction, and orthogonal directions on a plane perpendicular to the Z-axis direction are defined as an X-axis direction and a Y-axis direction, respectively. Further, the rotation (inclination) directions around the X axis, the Y axis, and the Z axis are the θX, θY, and θZ directions, respectively.

  Base part BS is a part formed in plate shape using materials, such as stainless steel, for example, and supports rotor SF, drive part AC, transmission part BT, and control part (drive control device) CONT. . The base portion BS in the present embodiment is formed in a plate shape, but may have other shapes (eg, a shape in which the base portion BS and the transmission portion BT are integrally formed) such as a housing. I do not care.

  The rotor SF is formed in a columnar shape, for example, and is rotatably supported by, for example, a bearing device (not shown). The bearing device is supported by, for example, the base portion BS. The rotor SF rotates in the θZ direction about the central axis C as a rotation axis.

  The drive part AC is attached to the base part BS, for example. The drive unit AC includes drive elements 31 and 32. As the driving elements 31 and 32, for example, electromechanical conversion elements such as piezoelectric elements are used. The drive element 31 and the drive element 32 are configured to expand and contract in the X direction when a voltage is applied to the electromechanical conversion element. The control unit CONT is connected to the drive unit AC, and can supply a control signal to the drive unit AC. For example, the drive elements 31 and 32 use electrostrictive elements such as piezo elements, magnetostrictive elements, electromagnets, and / or VCMs (voice coil motors).

  The positions of the driving elements 31 and 32 on the + X side are fixed by the base portion BS. For this reason, when the drive elements 31 and 32 expand and contract in the X direction, the position in the X direction of the end portion on the −X side changes along with the expansion and contraction.

  The transmission part BT has a first end part 21, a second end part 22 and a belt part 23. The first end portion 21 is connected to the end portion on the −X side of the drive element 31. The second end portion 22 is connected to the end portion on the −X side of the drive element 32. The first end 21 and the second end 22 are arranged with a reference position F (see FIG. 1B) on the outer periphery of the rotor SF interposed therebetween. In the present embodiment, the case where the + X side end of the rotor SF is set as the reference position F will be described as an example. The first end portion 21 and the second end portion 22 are arranged at symmetrical positions with respect to the reference position F.

  The belt portion 23 is a portion that is formed in, for example, a belt shape and is hung on at least a part of a curved peripheral surface (eg, inner peripheral surface, outer peripheral surface, etc.) of the rotor SF. The belt portion 23 is connected to, for example, the first end portion 21 and the second end portion 22, and is wound around, for example, the −X side of the rotor SF.

  When the driving elements 31 and 32 are contracted, the first end 21 and the second end 22 move in the + X direction. For this reason, the belt portion 23 is wound around the rotor SF, and tension is applied to the belt portion 23. When the drive elements 31 and 32 extend, the first end 21 and the second end 22 move in the −X direction. For this reason, the belt part 23 moves away from the rotor SF and relaxes. As described above, the belt portion 23 is tensioned or relaxed in conjunction with driving of the drive elements 31 and 32 (eg, displacement, deformation, expansion and contraction, etc.).

Here, the principle of applying torque to the rotor SF in the motor device MTR according to the present embodiment will be described.
When driving the rotor SF, an effective tension is generated in the transmission part BT wound around the rotor SF, and torque is transmitted to the rotor SF by the effective tension.

  According to Euler's friction belt theory, the tension (T1) on the first end portion 21 side and the tension (T2) on the second end portion 22 side of the transmission portion BT wound around the rotor SF satisfy the following [Equation 1]. At this time, a frictional force is generated between the transmission unit BT and the rotor SF, and the transmission unit BT moves together with the rotor SF in a state where the transmission unit BT does not slip with respect to the rotor SF (rotational force transmission state). By this movement, torque is transmitted to the rotor SF. However, in [Equation 1], μ is an apparent friction coefficient between the transmission unit BT and the rotor SF, and θ is an effective winding angle of the transmission unit BT.

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

From the above [Equation 2], it can be seen that the torque transmitted to the rotor SF is uniquely determined by the tension T1 of the drive element 31. The coefficient part of T1 on the right side of [Formula 2] depends on the friction coefficient μ between the transmission part BT and the rotor SF and the effective winding angle θ of the transmission part BT, respectively.
FIG. 2 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. 2, for example, when the friction coefficient μ is 0.3, the value of the coefficient portion is 0.8 or more when the effective winding angle θ is 300 ° or more. From this, when the friction coefficient μ is 0.3, by setting the effective winding angle θ to 300 ° or more, a force of 80% or more of the tension T1 by the drive element 31 contributes to the torque of the rotor SF. I understand that. In addition to the winding angle, it is estimated from the graph of FIG. 2 that, for example, the value of the coefficient portion increases as the friction coefficient between the transmission unit BT and the rotor SF increases.

  In this way, the magnitude of the torque is uniquely determined by the tension T1 of the drive element 31, and it can be seen that it is independent of, for example, the moving distance of the transmission unit BT. Therefore, for example, the piezo element used for the drive element 31 and the drive element 32 can give a force of several hundred newtons or more even if it is a small element of about several millimeters, and therefore gives a very large rotational force. Can do. Thus, the belt part 23 and the drive elements 31 and 32 cooperate to transmit torque to the rotor SF. In the motor device MTR, the driving element 31 and the driving element 32 are cooperatively (or interactively) driven, so that the force applied to the transmission unit BT by the driving element 31 (for example, tension or pressing force) Since the contact state of the belt portion 23 with respect to the rotor SF can be adjusted based on the force (for example, tension or pressing force) applied to the transmission portion BT by the drive element 32, torque is applied to the rotor SF via the belt portion 23. To communicate. In the motor device MTR, the driving element 31 and the driving element 32 are driven cooperatively (or interactively), whereby the belt for the rotor SF based on the winding angle θ of the belt portion 23 with respect to the rotor SF. Since the contact state of the portion 23 can be adjusted, torque is transmitted to the rotor SF via the belt portion 23. As described above, the motor device MTR according to the present embodiment has the transmission unit BT in a state where the force is applied to at least a part of the transmission unit BT in the radial direction of the rotor SF by the drive unit AC (rotational force transmission state). Torque is transmitted to the rotor SF.

  Hereinafter, the operation of the motor device MTR in the present embodiment will be described with reference to FIGS. FIG. 3 is a graph showing the time change of the voltage applied to the drive elements 31 and 32 during the operation of the motor apparatus MTR. The vertical axis in FIG. 3 indicates the voltage value (unit: V). The horizontal axis in FIG. 3 indicates time. 4 to 11 are diagrams showing the state of the motor device MTR during operation. Here, in FIGS. 4 to 11, when the rotation direction of the rotor SF (rotation direction of the rotor SF) is the θZ direction as the rotation state of the rotor SF, the first end 21 side of the belt portion 23 is The driving side (load end side) is set, and the second end 22 side of the belt portion 23 is set as the counter driving side (control end side). The drive side includes a side that transmits torque to the rotor SF or a side that has a large frictional force between the rotor SF and the belt portion 23. The rotation direction of the rotor SF is detected using a rotation direction detector (rotation direction detection unit) such as an encoder provided in the motor device MTR. For example, when the rotational direction detector is an encoder, the rotational direction detector can also detect the rotational position.

  As shown in FIG. 3, the operation of the motor device MTR includes an engagement operation (preparation operation), a drive operation (rotation operation), and a release operation (return operation). The engagement operation is an operation for setting a rotational force transmission state between the belt portion 23 and the rotor SF. The drive operation is an operation of moving the belt portion 23 by a certain distance while maintaining a rotational force transmission state between the belt portion 23 and the rotor SF. The return operation is an operation that cancels the rotational force transmission state and returns the belt portion 23 to a predetermined position. The motor device MTR continuously applies a rotational force (torque) to the rotor SF by repeatedly performing an engagement operation, a drive operation, and a release operation. The rotational force transmission state is, for example, a state in which the transmission unit BT does not slip with respect to the rotor SF, a state in which the slip between the rotor SF and the belt portion 23 in the drive operation is reduced, including.

First, the engagement operation will be described.
As shown in FIG. 3, the engagement operation is performed between time t1 and time t3.
As shown in FIG. 3, the control unit CONT sets the voltages supplied to the drive elements 31 and 32 as the pre-engagement operation at the reference time (time 0) to 0 V (a state in which no voltage is applied). By this pre-operation, as shown in FIG. 4, the first end portion 21 and the second end portion 22 are both disposed at the reference position X0 in the X direction. The belt portion 23 of the transmission portion BT is loosened around the rotor SF, and the entire surface of the belt portion 23 is not hung on the outer peripheral surface of the rotor SF.

  When the engagement operation is started in this state (time t1), as shown in FIG. 3, the control unit CONT supplies a voltage to the drive element 32 on the counter drive side based on the direction θZ in which the rotor SF is rotated. To start. By supplying a voltage to the drive element 32, the drive element 32 contracts in the X direction. Since the drive element 32 is fixed to the base portion BS, the second end portion 22 of the belt portion 23 starts moving to the + X side due to contraction of the drive element 32 as shown in FIG.

  The control unit CONT gradually increases the voltage of the drive element 32 until the voltage of the drive element 32 reaches 100 V, for example, during the period from time t1 to time t2. As a result, as shown in FIG. 5, the second end portion 22 reaches the position X2 in the X direction (position where the distance from the reference position X0 is 2d) at the time t2. When the second end portion 22 reaches the position X2, the second end portion 22 side (reverse drive side) portion (second portion) 23b of the belt portion 23 is hung on the circumferential surface of the rotor SF. It becomes.

  After the second portion 23b is hung on the peripheral surface of the rotor SF, the control unit CONT maintains the voltage of the drive element 32 during the period from time t2 to time t3, and the voltage of the drive element 31 on the drive side. Increase gradually. In this case, the control unit CONT adjusts so that the voltage of the drive element 31 becomes 50 V, which is half of the voltage (100 V) of the drive element 32, for example, at time t3. By this operation, as shown in FIG. 6, the contraction amount of the drive element 31 gradually increases, and the first end portion 21 moves in the + X direction.

  Since the voltage (50 V) of the drive element 31 at time t3 is half of the voltage (100 V) of the drive element 32, the contraction amount of the drive element 31 is half of the contraction amount of the drive element 32. Therefore, the amount of movement of the first end 21 in the + X direction is half the amount of movement of the second end 22 in the + X direction. For this reason, the first end portion 21 reaches a position X1 that is an intermediate position between the reference position X0 and the position X2.

  When the first end portion 21 reaches the position X1, a portion (first portion) 23a on the first end portion 21 side (drive side) of the belt portion 23 is hung on the circumferential surface of the rotor SF, and the first portion 23a. The tension T1 is generated in the second portion 23b, and the tension T2 is generated in the second portion 23b. Therefore, in the motor device MTR, an effective tension (T1-T2) is generated in the belt portion 23, and a rotational force transmission state is established between the belt portion 23 and the rotor SF.

  As described above, in the engagement operation according to the present embodiment, first, the control unit CONT sets the counter drive side set based on the rotation direction θZ of the rotor SF in a state where the first portion 23a is not hung on the rotor SF. The second portion 23b disposed on the rotor SF is hung on the rotor SF. Next, the control unit CONT sets the first portion 23a arranged on the drive side set based on the rotation direction θZ of the rotor SF to be hung on the rotor SF, so that the belt unit 23 and the rotor SF are placed. Between the two and the rotational force transmission state. Therefore, in the engagement operation in the present embodiment, the control unit CONT places the first portion 23a on the rotor SF after the second portion 23b (the second portion 23b is placed on the rotor before the first portion 23a). By setting the state to be applied to the SF, the rotational force transmission state is set between the belt portion 23 and the rotor SF.

Next, the drive operation will be described.
As shown in FIG. 3, the drive operation is performed between time t3 and time t4.
As shown in FIG. 3, the control unit CONT increases the voltage supplied to the drive element 31 from 50V to 100V from time t3 to time t4. At the same time, the control unit CONT decreases the voltage supplied to the drive element 32 from 100V to 50V from time t3 to time t4.

  By this operation, as shown in FIG. 7, the first end 21 moves in the + X direction from the position X1 to the position X2, and the second end 22 moves in the −X direction from the position X2 to the position X1. Further, since the voltage to be raised in the drive element 31 is equal to the voltage to be lowered in the drive element 32, the moving distance of the first end 21 and the moving distance of the second end 22 are equal. As a result, the tension applied to the belt portion 23 does not change, and the belt portion 23 is in the θZ direction (counterclockwise direction in FIG. 7) while maintaining the rotational force transmission state between the belt portion 23 and the rotor SF. In order to move, the rotor SF rotates in the θZ direction (rotational direction) as the belt portion 23 moves.

  Thus, in the drive operation, the rotor SF is rotated in the θZ direction by moving the belt portion 23 by a certain distance while the rotational force is transmitted between the belt portion 23 and the rotor SF. In this rotation operation, the first portion 23a pulls the circumferential surface of the rotor SF, whereby torque is transmitted to the rotor SF. Accordingly, the first portion 23a is a drive side that transmits torque to the rotor SF. The second portion 23b is a non-driving side provided corresponding to the first portion 23a on the driving side. Moreover, the control part CONT synchronizes the movement of the 1st part 23a and the movement of the 2nd part 23b in this rotation operation.

Next, the release operation will be described.
As shown in FIG. 3, the release operation is performed between time t4 and time t6.
As shown in FIG. 3, the control unit CONT starts to reduce the voltage supplied to the driving element 32 on the counter driving side at time t4. By this operation, the contraction of the driving element 32 is gradually eliminated. Since the drive element 32 is fixed to the base portion BS, the second end portion 22 moves to the −X side by eliminating the contraction of the drive element 32 as shown in FIG.

  The control unit CONT gradually decreases the voltage of the drive element 32 until it reaches 0V during the period from time t4 to time t5. As a result, the second end portion 22 reaches the reference position X0 as shown in FIG. 8 at time t5. When the second end portion 22 reaches the reference position X0, the second portion 23b of the belt portion 23 is in a state of being detached from the circumferential surface of the rotor SF.

  After the second portion 23b is disengaged from the circumferential surface of the rotor SF (at time t5), the control unit CONT supplies the drive element 32 to the drive element 31 while maintaining the voltage of the drive element 32 at 0V. Start to decrease the voltage. By this operation, the contraction of the drive element 31 is gradually eliminated, and the first end portion 21 moves to the −X side as shown in FIG.

  The control unit CONT gradually decreases the voltage of the driving element 31 until it reaches 0V during the period from time t5 to time t6. As a result, the first end portion 21 reaches the reference position X0 as shown in FIG. 9 at time t6. When the first end portion 21 reaches the reference position X0, the first portion 23a of the belt portion 23 is in a state of being detached from the circumferential surface of the rotor SF. Therefore, the effective tension (T1-T2) generated in the belt portion 23 disappears, and the rotational force transmission state between the belt portion 23 and the rotor SF is canceled.

  As described above, in the release operation according to the present embodiment, the control unit CONT is disposed on the non-driving side set based on the rotation direction θZ of the rotor SF in a state where the belt unit 23 is hooked on the rotor SF. The second portion 23b to be removed from the rotor SF (non-contact state). Next, the control unit CONT sets the first portion 23a disposed on the driving side set based on the rotation direction θZ of the rotor SF to be in a state where it is removed from the rotor SF, whereby the belt unit 23, the rotor SF, and The state of rotational force transmission during the period is eliminated. Therefore, in the release operation in the present embodiment, the control unit CONT sets the first portion 23a not to be hung on the rotor SF after the second portion 23b (the second portion 23b is rotated before the first portion 23a). The state of not being hung on the child SF) cancels the rotational force transmission state between the belt portion 23 and the rotor SF.

  In the release operation, when the first portion 23a and the second portion 23b deviate from the circumferential surface of the rotor SF, the first portion 23a and the second portion 23b move in the −X direction as shown in FIGS. For this reason, when the 1st part 23a remove | deviates from the surrounding surface of the rotor SF, the frictional force of the direction (-(theta) Z direction) opposite to a rotation direction ((theta) Z direction) acts on the rotor SF. In addition, when the second portion 23b deviates from the circumferential surface of the rotor SF, a frictional force in the same direction as the rotation direction acts on the rotor SF.

  Here, when the first portion 23a is removed from the circumferential surface of the rotor SF with the second portion 23b hung on the circumferential surface of the rotor SF, the effective winding angle θ of the belt portion 23 with respect to the rotor SF is at least the first portion. Since it is based on 23a and the second portion 23b, in addition to the friction force in the -θZ direction due to the movement of the first portion 23a, the friction force in the -θZ direction due to the contact between the rotor SF and the second portion 23b acts on the rotor SF. . The rotation of the rotor SF is weakened by the two frictional forces. This may reduce the torque generation of the rotor SF.

  On the other hand, when the second portion 23b on the counter driving side is removed from the circumferential surface of the rotor SF before the first portion 23a on the driving side based on the rotation direction of the rotor SF as in the present embodiment, When the portion 23a is removed from the circumferential surface of the rotor SF, the effective winding angle θ of the belt portion 23 with respect to the rotor SF is based on the first portion 23a, so that the frictional force generated between the rotor SF and the belt portion 23 is relatively Becomes smaller. For this reason, when the second portion 23b is first removed from the circumferential surface of the rotor SF, compared to the case where the first portion 23a is first removed from the circumferential surface of the rotor SF, the second portion 23b is in the −θZ direction with respect to the rotor SF. The frictional force is reduced. As a result, in the motor device MTR of the present embodiment, the suppression of the rotation of the rotor SF is relaxed, the rotation efficiency of the rotor SF is increased, and a high torque can be generated.

  Further, after the release operation, the control unit CONT repeatedly performs the engagement operation, the drive operation, and the release operation on the rotor SF that is rotating in the θZ direction. In this case, the control unit CONT applies a voltage to the drive elements 31 and 32 so as to have the same behavior as the graph shown in FIG.

  For example, when the engagement operation is performed on the rotor SF that is rotating in the θZ direction, the control unit CONT, first, in the state where the first portion 23a is not hung on the rotor SF as described above, A voltage is applied to the driving element 32 to cause the second end 22 to reach the position X2. When the second end portion 22 reaches the position X2, as shown in FIG. 10, the second portion 23b of the belt portion 23 is hung on the peripheral surface of the rotating rotor SF. Thereafter, the control unit CONT applies a voltage to the driving element 31 on the driving side to cause the first end 21 to reach the position X2. When the first end 21 reaches the position X2, as shown in FIG. 11, the first portion 23a is hung on the rotor SF.

  As described above, the control unit CONT according to the present embodiment rotates the first portion 23a based on the rotation state of the rotor SF even when the engagement operation is performed on the rotor SF that is rotating in the θZ direction. A state in which the second portion 23b arranged on the non-driving side set based on the rotation direction θZ of the rotor SF is hung on the rotor SF without being hung on the child SF. Thereafter, the control unit CONT of the present embodiment sets the first portion 23a disposed on the driving side set based on the rotation direction θZ of the rotor SF to be in a state where it is hung on the rotor SF, A rotational force transmission state is established between the rotor SF.

  Here, in the case of an engagement operation that rotates in the θZ direction, for example, unlike the above description, after the first portion 23a on the driving side is hung on the circumferential surface of the rotor SF, the second portion 23b on the non-driving side becomes the rotor SF. The frictional force generated based on the effective winding angle θ by the first portion 23a and the second portion 23b acts on the rotor SF. For this reason, rotation of the rotor SF is suppressed.

  On the other hand, in the present embodiment, when the second portion 23b on the counter drive side is applied to the circumferential surface of the rotor SF, the frictional force generated based on the effective winding angle θ by only the second portion 23b acts on the rotor SF. To do. Therefore, when the first portion 23a is hung on the circumferential surface of the rotor SF after the second portion 23b is first hung on the circumferential surface of the rotor SF as in the present embodiment, the first portion 23a is rotated first. The frictional force in the -θZ direction is reduced with respect to the rotor SF as compared with the case where it is applied to the circumferential surface of the child SF. As a result, the suppression of the rotation of the rotor SF is alleviated and the rotation efficiency of the rotor SF is increased.

  As described above, according to the present embodiment, the second portion 23b is moved in a state where the first portion 23a is not hung on the circumferential surface of the rotor SF, and at least the second portion 23b is moved to the circumferential surface of the rotor SF. The belt portion 23 and the rotor are brought into a state where they are hung and by moving the first portion 23a after the movement of the second portion 23b so that at least the first portion 23a is hung on the circumferential surface of the rotor SF. An engagement operation for transmitting torque between the belt portion 23 and the SF, a drive operation for moving the belt portion 23 by a certain distance while maintaining the rotation force transmission state between the belt portion 23 and the rotor SF, and a torque transmission state. Since the drive elements 31 and 32 perform the release operation to cancel the belt portion 23 to the predetermined position, the frictional force generated between the belt portion 23 and the rotor SF is relatively small. It is possible to move the second portion 23b of the non-drive side have state. Thereby, the motor device MTR of the present embodiment can reduce the disturbance to the rotor SF, thereby increasing the rotation efficiency of the rotor SF and generating a high torque. Further, the motor device MTR in the present embodiment can efficiently use the displacement of the drive unit AC by the above-described operation, and can generate a high torque.

[Second Embodiment]
Next, a second embodiment of the present invention will be described.
In the present embodiment, a configuration in which a plurality of sets of drive units and transmission units are provided for one rotor SF will be described as an example.
FIG. 12 is a perspective view showing the configuration of the motor device MTR2 according to the present embodiment.
As shown in FIG. 12, the motor device MTR2 includes a rotor SF, a base part BS, a drive part AC, a second drive part AC2, a transmission part BT, a second transmission part BT2, and a control part CONT. The second drive unit AC2 includes a drive element 131 and a drive element 132. The second transmission part BT2 has a first end part 121, a second end part 122, and a belt part 123. The belt portion 123 has a first portion 123a on the first end portion 121 side and a second portion 123b on the second end portion 122 side. The configuration of the second drive unit AC2 is the same as the configuration of the drive unit AC, and the configuration of the second transmission unit BT2 is the same as the configuration of the transmission unit BT. Other configurations are the same as those in the first embodiment.

  The motor device MTR2 rotates the rotor SF using the drive unit AC and the transmission unit BT, and the second drive unit AC2 and the second transmission unit BT2. FIG. 13 is a graph showing a change in voltage of the drive unit AC (drive elements 31 and 32) and a change in voltage of the second drive unit AC2 (drive elements 131 and 132) when the motor apparatus MTR2 is operated. . Each vertical axis in FIG. 13 represents a voltage value (unit: V). Each horizontal axis in FIG. 13 indicates time. In FIG. 13, the horizontal axis (time) is shown in a state where the driving unit AC and the second driving unit AC2 are easily compared.

  As shown in FIG. 13, in the operation of the motor device MTR2, the control unit CONT performs an engagement operation (preparation operation) on the drive unit AC and the transmission unit BT, and the second drive unit AC2 and the second transmission unit BT2, respectively. Drive operation (rotation operation) and release operation (return operation) are performed. The motor device MTR2 is configured such that the drive unit AC and the transmission unit BT, and the second drive unit AC2 and the second transmission unit BT2 alternately perform the engagement operation, the drive operation, and the release operation, so that the rotor SF A rotational force is continuously applied. Note that the rotor SF rotates counterclockwise as viewed from the + Z side, as in the first embodiment.

  The operation of the drive unit AC and the transmission unit BT will be described. As illustrated in FIG. 13, the control unit CONT causes the drive unit AC and the transmission unit BT to perform an engagement operation from time t11 to time t13. Thereafter, the control unit CONT causes the drive unit AC and the transmission unit BT to perform a drive operation from time t13 to time t16. Thereafter, the control unit CONT causes the drive unit AC and the transmission unit BT to perform a release operation from time t16 to time t18. The control unit CONT performs the same control as the first embodiment as an engagement operation, a drive operation, and a release operation.

  Next, operations of the second drive unit AC2 and the second transmission unit BT2 will be described. As illustrated in FIG. 13, the control unit CONT causes the second drive unit AC2 and the second transmission unit BT2 to perform an engagement operation from time t14 to t16. Thereafter, the control unit CONT causes the second drive unit AC2 and the second transmission unit BT2 to perform a drive operation from time t16 to time t21. Thereafter, the control unit CONT causes the second drive unit AC2 and the second transmission unit BT2 to perform a release operation from time t21 to time t23. The control unit CONT performs the same control as each operation by the drive unit AC and the transmission unit BT as an engagement operation, a drive operation, and a release operation by the second drive unit AC2 and the second transmission unit BT2.

  With such an operation, the engagement operation by the second drive unit AC2 and the second transmission unit BT2 is performed during the drive operation by the drive unit AC and the transmission unit BT. After the drive operation by the drive unit AC and the transmission unit BT is completed, the drive operation by the second drive unit AC2 and the second transmission unit BT2 is performed. For this reason, the drive operation for the rotor SF is continuously performed from the drive unit AC and the transmission unit BT to the second drive unit AC2 and the second transmission unit BT2.

  Further, the control unit CONT causes the drive unit AC and the transmission unit BT to perform an engagement operation during the drive operation by the second drive unit AC2 and the second transmission unit BT2 (t19 to t21). The control unit CONT causes the drive operation by the drive unit AC and the transmission unit BT to be performed after the drive operation by the second drive unit AC2 and the second transmission unit BT2 is completed (from t21). For this reason, the drive operation for the rotor SF is continuously performed from the second drive unit AC2 and the second transmission unit BT2 to the drive unit AC and the transmission unit BT. As described above, the motor device MTR2 is continuously driven between the driving unit AC and the transmission unit BT and the second driving unit AC2 and the second transmission unit BT2.

  In the engagement operation by the drive unit AC and the transmission unit BT, the control unit CONT of the present embodiment is in a state where the first portion 23a on the drive side is not first hung on the rotor SF, as in the first embodiment. Thus, the second portion 23b arranged on the counter-driving side set based on the rotation direction θZ of the rotor SF is in a state of being hooked on the rotor SF. Thereafter, the control unit CONT of the present embodiment sets the first portion 23a disposed on the driving side set based on the rotation direction θZ of the rotor SF to be in a state where it is hung on the rotor SF, A rotational force transmission state is established between the rotor SF.

  Similarly, in the engagement operation by the second drive unit AC2 and the second transmission unit BT2, the control unit CONT according to the present embodiment is configured such that the rotation direction θZ of the rotor SF with the first portion 123a not hung on the rotor SF. The second portion 123b arranged on the non-driving side set based on the above is set in a state of being hung on the rotor SF. Thereafter, the control unit CONT of the present embodiment sets the first portion 123a arranged on the driving side set based on the rotation direction θZ of the rotor SF to be in a state of being hooked on the rotor SF, A rotational force transmission state is established between the rotor SF.

  Further, in the release operation by the drive unit AC and the transmission unit BT, the control unit CONT of the present embodiment is the same as the first embodiment in that the rotor 23 is first put on the rotor SF while the belt unit 23 is hung on the rotor SF. The second portion 23b arranged on the non-driving side set based on the rotation direction θZ of SF is in a state of being detached from the rotor SF. Thereafter, the control unit CONT of the present embodiment rotates with the belt unit 23 by setting the first portion 23a disposed on the driving side set based on the rotation direction θZ of the rotor SF to be out of the rotor SF. The state of transmission of rotational force with the child SF is eliminated.

  Similarly, also in the release operation by the second drive unit AC2 and the second transmission unit BT2, the control unit CONT of the present embodiment is configured so that the rotor 123 is initially placed on the rotor SF while the belt unit 123 is hung on the rotor SF. The second portion 123b arranged on the non-driving side that is set based on the rotation direction θZ of SF is in a state of being detached from the rotor SF. Thereafter, the control unit CONT of the present embodiment rotates with the belt unit 123 by setting the first portion 123a arranged on the drive side set based on the rotation direction θZ of the rotor SF to be out of the rotor SF. The state of transmission of rotational force with the child SF is eliminated.

  As described above, the motor device MTR2 of the present embodiment includes a plurality of sets (units) of the transmission unit BT and the drive unit AC, and the control unit CONT causes the drive unit AC to perform a rotation operation. Since the second drive unit AC2 is engaged while the transmission unit BT is in the state of transmitting the rotational force to the rotor SF, the rotational force is continuously transmitted to the rotor SF. can do.

  In addition, the motor device MTR2 of the present embodiment causes the second drive unit AC2 to perform an engagement operation, then causes the drive unit AC to perform a release operation, and causes the drive unit AC to perform a release operation. After that, since the drive operation is performed on the second drive unit AC2, the rotational force can be continuously transmitted to the rotor SF.

[Third embodiment]
Next, a third embodiment of the present invention will be described.
In the present embodiment, the case where the engagement operation and the release operation are performed based on the drive torque acting on the rotor SF will be described as an example.

The driving torque is a torque generated when the rotor SF rotates. For example, the drive torque is represented by the sum of acceleration torque (acceleration / deceleration torque) and load torque. That is,
(Drive torque) = (Acceleration torque) + (Load torque)
It is.

Further, the acceleration torque is represented by the product of the moment of inertia of the rotor SF and the angular acceleration. That is,
(Acceleration torque) = (moment of inertia) x (angular acceleration)
It is.
The load torque is a load applied to the rotor SF.

  14 to 18 are diagrams schematically showing the operation of the motor device MTR in the present embodiment. The configuration of the motor device MTR is the same as that in the above embodiment. In each figure, the load torque is schematically shown in a state where a heavy object is hung from one end of the rotor SF (a state where a load is applied from one end of the rotor SF). Therefore, the direction of the load torque is opposite to the direction in which the heavy object is hung at one end of the rotor SF (for example, the X direction in FIG. 14).

First, the operation of the motor device MTR when the direction of the acceleration torque and the direction of the load torque are equal will be described with reference to FIGS.
When the direction of the acceleration torque is equal to the direction of the load torque, the control unit CONT sets the first portion 23a as the driving side and the second portion 23b as the non-driving side.

  When performing the engagement operation, as shown in FIG. 14A, the control unit CONT first has the first portion 23a on the driving side not hung on the rotor SF, and the second portion on the non-driving side. 23b is put on the rotor SF. After that, as shown in FIG. 14B, the first portion 23a is put on the rotor SF, so that the rotational force is transmitted between the belt portion 23 and the rotor SF.

  Further, when the release operation is performed, as shown in FIG. 15A, first, the second portion 23b on the counter drive side is placed on the rotor SF while the belt portion 23 is hung on the rotor SF. It is assumed that it is out of the range. Thereafter, as shown in FIG. 15B, the rotational force transmission state between the belt portion 23 and the rotor SF is canceled by setting the first portion 23a on the driving side to be out of the rotor SF. .

Next, the operation of the motor apparatus MTR when the direction of the acceleration torque and the direction of the load torque are opposite will be described.
When the direction of the acceleration torque and the direction of the load torque are opposite, the motor depends on the magnitude relationship between the angular acceleration of the rotor SF (indicated by θ two dots in the figure) and the acceleration by the load (indicated by g in the figure). The operation of the device MTR is different.

  First, referring to FIGS. 16 and 17, the direction of the acceleration torque and the direction of the load torque are opposite, and the angular acceleration of the rotor SF (indicated by θ-two dots in the figure) is the acceleration due to the load (in the figure). The operation of the motor device MTR in the following case will be described.

  When the direction of the acceleration torque and the direction of the load torque are opposite and the angular acceleration of the rotor SF is equal to or lower than the acceleration due to the load, the control unit CONT sets the first portion 23a as the driving side and the second portion 23b as the reverse drive. Let it be the side.

  When the engagement operation is performed in this state, as shown in FIG. 16A, the control unit CONT first sets the first portion 23a on the driving side not on the rotor SF, and then on the counter driving side. A certain second portion 23b is put on the rotor SF. After that, as shown in FIG. 16 (b), the first portion 23a is put on the rotor SF, so that the rotational force is transmitted between the belt portion 23 and the rotor SF.

  Further, when the release operation is performed, as shown in FIG. 17A, first, the second portion 23b on the counter drive side is placed on the rotor SF while the belt portion 23 is hooked on the rotor SF. It is assumed that it is out of the range. Thereafter, as shown in FIG. 17B, the rotational force transmission state between the belt portion 23 and the rotor SF is eliminated by setting the first portion 23a on the driving side to be out of the rotor SF. .

  Next, referring to FIG. 18 and FIG. 19, the direction of the acceleration torque and the direction of the load torque are opposite, and the angular acceleration (indicated by θ-two dots in the figure) of the rotor SF is the acceleration due to the load (see FIG. The operation of the motor device MTR in the case of larger than (indicated by middle g) will be described.

  When the direction of the acceleration torque and the direction of the load torque are opposite and the angular acceleration of the rotor SF is greater than the acceleration due to the load, the control unit CONT sets the second portion 23b as the driving side and the first portion 23a as the reverse drive. Let it be the side.

  In this state, when the engagement operation is performed, the control unit CONT first, as shown in FIG. 18 (a), in the state where the second portion 23b on the driving side is not hung on the rotor SF, The first portion 23a is a state in which it is hung on the rotor SF. Thereafter, as shown in FIG. 18 (b), the second portion 23b is put on the rotor SF, so that the belt 23 and the rotor SF are in a rotational force transmission state.

  Further, when the release operation is performed, as shown in FIG. 19A, the first portion 23a on the non-driving side is first moved from the rotor SF while the belt portion 23 is hung on the rotor SF. It shall be in a disconnected state. Thereafter, as shown in FIG. 19B, the second portion 23b on the driving side is removed from the rotor SF, thereby eliminating the rotational force transmission state between the belt portion 23 and the rotor SF. To do.

  As described above, the motor device MTR of the present embodiment determines the driving side and the non-driving side of the first portion 23a and the second portion 23b using the driving torque, and performs the engaging operation and the releasing operation. Therefore, since the disturbance to the rotor SF can be reduced, the rotation efficiency of the rotor SF can be increased and high torque can be generated. In addition, the motor device MTR of the present embodiment can make the rotation operation of the rotor SF smoother.

[Fourth embodiment]
Next, a fourth embodiment of the present invention will be described.
FIG. 20 is a diagram illustrating a configuration of a part (eg, the tip of a finger portion) of a robot apparatus RBT including the motor apparatus MTR according to any of the above embodiments. The motor device MTR described in the above embodiment may be used as a drive unit that drives the arm unit of the robot device RBT.

  As shown in the figure, the robot apparatus RBT includes a distal node portion 101, a middle node portion 102, and a joint portion 103, and the distal node portion 101 and the middle node portion 102 are connected via the joint portion 103. It has become. The joint portion 103 is provided with a shaft support portion 103a and a shaft portion 103b. The shaft support portion 103 a is fixed to the middle joint portion 102. The shaft portion 103b is supported in a state of being fixed by the shaft support portion 103a.

  The end node portion 101 includes a connecting portion 101a and a gear 101b. The shaft portion 103b of the joint portion 103 is penetrated through the connecting portion 101a, and the end node portion 101 is rotatable with the shaft portion 103b as a rotation axis. The gear 101b is a bevel gear fixed to the connecting portion 101a. The connecting portion 101a rotates integrally with the gear 101b.

  The middle joint portion 102 includes a housing 102a and a driving device ACT. As the drive device ACT, the motor device MTR and the motor device MTR2 described in the above embodiment can be used. The driving device ACT is provided in the housing 102a. A rotating shaft member 104a is attached to the driving device ACT. A gear 104b is provided at the tip of the rotating shaft member 104a. The gear 104b is a bevel gear fixed to the rotating shaft member 104a. The gear 104b is in mesh with the gear 101b.

In the robot apparatus RBT configured as described above, the rotation shaft member 104a is rotated by the drive of the drive device ACT, and the gear 104b is rotated integrally with the rotation shaft member 104a.
The rotation of the gear 104b is transmitted to the gear 101b meshed with the gear 104b, and the gear 101b rotates. As the gear 101b rotates, the connecting portion 101a also rotates, whereby the end node portion 101 rotates about the shaft portion 103b.

  Thus, according to the present embodiment, it is possible to output a low-speed and high-torque rotation by mounting the drive device ACT capable of increasing the rotation efficiency. Thereby, for example, the end node part 101 can be directly rotated without using a speed reducer. In addition, when the driving device ACT of the present embodiment is configured to be driven non-resonant, the driving device ACT can be configured mostly by a light material such as resin. 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.

The technical scope of the present invention is not limited to the above-described embodiment, and appropriate modifications can be made without departing from the spirit of the present invention.
In the above-described embodiment, in the engage operation and the release operation of the motor device MTR, the mode of starting the other movement after the movement of one of the first end 21 and the second end 22 is described as an example. However, it is not limited to this.

  FIG. 21 is a graph showing temporal changes in the voltages applied to the drive elements 31 and 32 during the operation of the motor apparatus MTR. The vertical axis in FIG. 21 indicates the voltage value (unit: V). The horizontal axis in FIG. 21 indicates time.

  As shown in FIG. 21, when the engagement operation is performed, an increase in the voltage of the drive element 31 may be started during the increase of the voltage of the drive element 32 from time t1 to time t3, for example, at time t2. . Further, when performing the release operation, the voltage of both the drive element 31 and the drive element 32 may start to decrease at time t4. In this case, by equalizing the voltage to be reduced per unit time between the drive element 31 and the drive element 32, the voltage of the drive element 32 that was 50 V at time t4 becomes 0 at time t5, and time t4 The voltage of the drive element 31 that was 100 V at time 0 becomes 0 at time t6.

  Thus, in the engagement operation and the release operation, “after the movement of the second end portion 22” includes the meaning “after the movement of the second end portion 22 is started”. Therefore, for example, the controller CONT may move the first end 21 on the driving side at any timing as long as the movement of the second end 22 on the counter driving side is started.

  Moreover, in the said embodiment, although demonstrated taking the example of the structure which rotates the rotor SF in the state which hung the belt part 23 on the outer peripheral surface of the rotor SF, it is not restricted to this. For example, the configuration may be such that the rotating shaft is rotated with the belt in contact with the inner peripheral surface of the cylindrical rotating shaft. In addition, the control unit CONT in the embodiment may perform each operation (eg, engage operation, drive operation, and release operation) by extending the drive element 31 and the drive element 32. Therefore, the control part CONT in this embodiment performs each operation | movement by the expansion / contraction of the drive element 31 and the drive element 32. FIG.

MTR, MTR2 ... Motor device BS ... Base portion SF ... Rotor AC ... Drive portion BT ... Transmission portion CONT ... Control portion C ... Central axis RBT ... Robot device ACT ... Drive device AC2 ... Second drive portion BT2 ... Second transmission portion 21, 121 ... first end part 22, 122 ... second end part 23, 123 ... belt part 23 a, 123 a ... first part 23 b, 123 b ... second part 31, 32, 131, 132 ... drive element

Claims (26)

A rotor,
A transmission portion hung on at least a part of the circumferential surface of the rotor;
A drive unit for moving at least the first part and the second part of the transmission unit;
A preparatory operation for setting the first portion to be in a state where the transmission portion and the rotor are in a rotational force transmission state by placing the first portion on the peripheral surface of the rotor after the second portion, the transmission portion and the A rotational operation for moving the transmission unit by a certain distance while maintaining the rotational force transmission state between the rotor and a return operation for canceling the rotational force transmission state and returning the transmission unit to a predetermined position. A motor device comprising: a control unit that causes the drive unit to perform. The said control part cancels the said rotational force transmission state by making the said 1st part into the state which is not hung on the surrounding surface of the said rotor after the said 2nd part, when performing the said return operation | movement. The motor device according to 1. When the controller performs the preparatory operation, the controller moves the second part in a state where the first part is not hung on the circumferential surface of the rotor and rotates at least a part of the second part. And at least a part of the first part is hung on the circumferential surface of the rotor by moving the first part after the movement of at least a part of the second part. The motor device according to claim 1, wherein the rotational force transmission state is achieved by setting the state to a closed state. When the controller performs the return operation, the controller moves the second part in a state where the first part is hung on the circumferential surface of the rotor, and at least a part of the second part is moved to the rotor. The first part is moved after at least a part of the second part is moved, and at least a part of the first part is hung on the peripheral surface of the rotor. The motor device according to any one of claims 1 to 3, wherein the rotational force transmission state is canceled by setting the state to a non-operating state. A plurality of sets of the transmission unit and the driving unit are provided,
The motor apparatus as described in any one of Claims 1-4. The said control part makes the said drive part which concerns on a 2nd group perform the said preparatory operation, while the said drive part which concerns on a 1st group is performing the said rotation operation | movement or the said reset operation | movement. Motor device. The motor device according to any one of claims 1 to 6, wherein the control unit sets the first part and the second part based on a rotation state of the rotor. The first part is a drive side that transmits torque to the rotor;
The motor device according to any one of claims 1 to 7, wherein the second portion is a non-driving side provided corresponding to the driving side. The motor device according to any one of claims 1 to 8, wherein the control unit sets the first part and the second part based on a rotation direction in which the rotor is rotated. A rotation direction detection unit for detecting the rotation direction of the rotor;
The motor device according to claim 9, wherein the control unit controls the drive unit according to a detection result of the rotation direction detection unit. The motor device according to any one of claims 1 to 10, wherein the control unit sets the first part and the second part according to a driving torque generated in the rotor during rotation. The motor device according to any one of claims 1 to 11, wherein the control unit synchronizes the movement of the first part and the movement of the second part when the rotation operation is performed. The driving unit includes at least two driving elements,
The said control part rotates the said rotor via the said transmission part by driving the said at least 2 drive element cooperatively at least in the said rotation operation. The motor device according to item. The motor device according to any one of claims 1 to 13, wherein the control unit rotates the rotor by adjusting a contact state of the transmission unit with respect to the rotor at least in the rotation operation. . A rotor,
A transmission portion hung on at least a part of the circumferential surface of the rotor;
A drive unit for moving at least the first part and the second part of the transmission unit;
A preparatory operation for transmitting a rotational force between the transmission unit and the rotor; a rotational operation for moving the transmission unit by a certain distance while maintaining the rotational force transmission state between the transmission unit and the rotor; In addition, the transmission of the rotational force between the transmission unit and the rotor is canceled by setting the first part not to be hung on the circumferential surface of the rotor after the second part. A control unit that causes the drive unit to perform a return operation to return the unit to a predetermined position. A rotor,
A transmission portion hung on at least a part of the circumferential surface of the rotor;
A drive control device for driving a motor device comprising: a drive unit that moves at least a first part and a second part of the transmission unit;
A preparatory operation for setting the first portion to be in a state where the transmission portion and the rotor are in a rotational force transmission state by placing the first portion on the peripheral surface of the rotor after the second portion, the transmission portion and the A rotational operation for moving the transmission unit by a certain distance while maintaining the rotational force transmission state between the rotor and a return operation for canceling the rotational force transmission state and returning the transmission unit to a predetermined position. A drive control device including a control unit to be performed by the drive unit. A rotor,
A transmission portion hung on at least a part of the circumferential surface of the rotor;
A drive control device for driving a motor device comprising: a drive unit that moves at least a first part and a second part of the transmission unit;
A preparatory operation for transmitting a rotational force between the transmission unit and the rotor; a rotational operation for moving the transmission unit by a certain distance while maintaining the rotational force transmission state between the transmission unit and the rotor; In addition, the transmission of the rotational force between the transmission unit and the rotor is canceled by setting the first part not to be hung on the circumferential surface of the rotor after the second part. A drive control device comprising: a control unit that causes the drive unit to perform a return operation to return the unit to a predetermined position. The drive control device according to claim 16 or 17, wherein the control unit sets the first part and the second part based on a rotation state of the rotor. The first part is a drive side that transmits torque to the rotor;
The drive control device according to any one of claims 16 to 18, wherein the second portion is a counter drive side provided corresponding to the drive side. The drive control device according to any one of claims 16 to 19, wherein the control unit sets the first part and the second part according to a drive torque generated in the rotor during rotation. A method for driving a rotor in which at least a first portion and a second portion of a transmission portion are hung on at least a part of a circumferential surface of the rotor,
A preparatory step in which a rotational force is transmitted between the transmission portion and the rotor by placing the first portion on the circumferential surface of the rotor after the second portion;
A rotation step for moving the transmission unit by a certain distance while maintaining the rotational force transmission state between the transmission unit and the rotor;
A return step for canceling the rotational force transmission state and returning the transmission unit to a predetermined position. A method for driving a rotor in which at least a first portion and a second portion of a transmission portion are hung on at least a part of a circumferential surface of the rotor,
A preparatory step for transmitting a rotational force between the transmission unit and the rotor;
A rotation step for moving the transmission unit by a certain distance while maintaining the rotational force transmission state between the transmission unit and the rotor;
A rotation step including a step of returning the transmitting portion to a predetermined position by canceling the rotational force transmitting state by bringing the first portion into a state where it is not hung on the circumferential surface of the rotor after the second portion. Child drive method. The first part is a drive side that transmits torque to the rotor;
The rotor driving method according to claim 21, wherein the second portion is a counter driving side provided corresponding to the driving side. The driving of the rotor according to any one of claims 21 to 23, wherein the rotating step includes rotating the rotor by adjusting a contact state of the transmission unit with respect to the rotor. Method. A robot apparatus comprising the drive control device according to any one of claims 16 to 20. A rotating shaft member;
A motor device for rotating the rotating shaft member,
The robot apparatus in which the motor apparatus according to any one of claims 1 to 15 is used as the motor apparatus.

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