JP2014087170A - Electromechanical device and movable body and robot having the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a compact, highly rigid electromechanical device that has a transmission mechanism.SOLUTION: An electromechanical device includes: a first electromechanical mechanism section, a transmission mechanism section, a second electromechanical mechanism section, and a load connecting section for connecting load to the transmission mechanism section, that have an identical central shaft as the center of rotation; and a housing body that houses the sections. On a radially inner side of a first rotor included in the first electromechanical mechanism section, a first housing space is formed that opens at one side in an axial direction of the central shaft. On a radially inner side of a second rotor included in the second electromechanical mechanism section, a second housing space is formed that opens at both sides in the axial direction of the central shaft. The transmission mechanism section is housed in the first and second housing spaces. The transmission mechanism section has: a rotation input section that is formed integrally with the first rotor; a rotation output section that is formed integrally with the load connecting section; and a rotation control section that is formed integrally with the second rotor and that controls a relationship between the number of rotations of the rotation input section and the number of rotations of the rotation output section in a variable manner.

Description

  The present invention relates to an electromechanical device, and a moving body and a robot including the same.

  As a motor device having a speed change mechanism using a planetary gear mechanism, for example, one described in Patent Document 1 below is known.

JP-A-8-308178

  The conventional motor device includes a planetary gear mechanism as a speed change mechanism, a first motor connected to the sun gear of the planetary gear mechanism, and a second motor connected to the internal gear of the planetary gear mechanism. However, this is not sufficient in terms of downsizing the device. In order to reduce the size of the entire apparatus in which such a power generation apparatus is incorporated, an electromechanical apparatus that converts electric power and power, which is a power generation apparatus having a speed change mechanism such as a conventional motor apparatus, is more It is desirable to be compact. In addition, when the device in which the power generation device is incorporated is a robot, the arm faces in various directions, and therefore it is desirable that the motor for driving the arm has high rigidity that can withstand load loads in all directions.

  An object of the present invention is to provide a technique for reducing the size and increasing the rigidity of an electromechanical device having a speed change mechanism.

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

(1) According to one aspect of the present invention, an electromechanical device is provided. In the electromechanical device of this embodiment, a load is connected to the first electromechanical mechanism unit, the transmission mechanism unit, the second electromechanical mechanism unit, and the transmission mechanism unit having the same central axis as the center of rotation. A load connection portion; and a housing in which the first electric machine mechanism portion, the transmission mechanism portion, the second electromechanical mechanism portion, and the load connection portion are accommodated. On the inner peripheral side of the first rotor included in the first electromechanical mechanism portion, a first accommodating space that opens to one side in the axial direction of the central axis is formed. On the inner peripheral side of the second rotor included in the second electromechanical mechanism portion, a second accommodation space is formed that opens on both sides in the axial direction of the central axis. The transmission mechanism is accommodated in the first accommodation space and the second accommodation space. The transmission mechanism unit is formed integrally with the first rotor; a rotation input unit formed integrally with the load connection unit; and formed integrally with the second rotor; A rotation control unit that variably controls the relationship between the rotation number of the rotation input unit and the rotation number of the rotation output unit. A cross roller bearing is provided between the container and the load connecting portion. According to the electromechanical device of this aspect, the rotational motion input from the first electromechanical mechanism unit to the transmission mechanism unit is rotationally controlled by the control of the transmission mechanism unit by the second electromechanical mechanism unit. To the load connection. In addition, the speed change mechanism portion is provided on the inner circumference side of the first rotor and the second rotor of the second electric machine mechanism portion formed on the inner circumference side of the first rotor of the first electric machine mechanism portion. The first rotor of the first electromechanical mechanism unit, the second rotor of the second electromechanical mechanism unit, and the transmission mechanism unit are integrally configured in the formed second accommodating space. The As a result, the first housing space existing on the inner peripheral side of the first rotor of the first electric machine mechanism portion and the second outer periphery existing on the inner peripheral side of the second rotor of the second electric machine mechanism portion. Since the speed change mechanism portion can be arranged using the accommodation space, the electromechanical device having the first electromechanical mechanism portion, the speed change mechanism portion, and the second electromechanical mechanism portion for controlling the speed change mechanism portion. Can be miniaturized. Moreover, since the cross roller bearing is provided between the container in which the load connection portion is accommodated and the load connection portion, it is possible to increase the rigidity of the electromechanical device.

(2) In the electromechanical device according to the aspect described above, the speed change mechanism portion includes a sun gear disposed at a center portion of the speed change mechanism portion; a ring gear disposed at an outer peripheral portion of the speed change mechanism portion; A planetary gear disposed between the planetary gear and a planetary gear connected to the planetary gear, wherein the speed change mechanism includes the sun gear and the planetary carrier. One may be the rotation input unit, the other may be the rotation output unit, and the ring gear may be the rotation control unit. According to the electromechanical device of this aspect, the planetary gear mechanism as the speed change mechanism, the first rotor of the first electromechanical mechanism, and the second rotor of the second electromechanical mechanism are integrated. Therefore, the electromechanical device is reduced in size.

(3) In the electromechanical device of the above aspect, the speed change mechanism portion is a curved plate having an epitrochoid parallel curved shape at an outer edge, and the first hole formed in the center of the curved plate and the first A curved plate having a plurality of second holes formed around the holes; an outer pin disposed to contact the epitrochoid parallel curve of the curved plate; and disposed in the second holes A cyclomechanism having an inner pin; and an eccentric body disposed in the first hole, wherein one of the eccentric body and the inner pin is the rotation input portion, and the other is the rotation output portion. Yes, the outer pin may be the rotation control unit. According to the electromechanical device of this aspect, the cyclomechanism as the speed change mechanism, the first rotor of the first electromechanical mechanism, and the second rotor of the second electromechanical mechanism are integrated. As a result, the electromechanical device is reduced in size.

(4) In the electromechanical device of the above aspect, the speed change mechanism section includes a first magnetic speed change rotor having a first magnetic speed change rotor magnet arranged along an outer periphery of the central shaft; A second magnetic transmission rotor having a second magnetic transmission rotor magnet arranged to face the transmission rotor magnet; and arranged between the first magnetic transmission rotor and the second magnetic transmission rotor A magnetic transmission mechanism having a magnetic pole piece; and a carrier for supporting the magnetic pole piece, wherein one of the first magnetic transmission rotor and the carrier is the rotation input portion, and the other is the rotation output portion. The second magnetic speed change rotor may be the rotation control unit. According to the electromechanical device of this aspect, the magnetic speed change mechanism as the speed change mechanism portion, the first rotor of the first electromechanical mechanism portion, and the second rotor of the second electromechanical mechanism portion are integrated. Therefore, the electromechanical device is reduced in size.

(5) The electromechanical device of the above aspect includes a transmission mechanism control unit that controls the operation of the transmission mechanism unit by controlling the operation of the second electromechanical mechanism unit, and the transmission mechanism control unit includes: A drive control unit that controls the rotation of the rotation control unit by driving an electromagnetic coil disposed in the second stator and rotating the second rotor; and when the rotation of the rotation control unit is decelerated. A regenerative control unit that regenerates energy from the electromagnetic coil, and the regenerative control unit sets a first regenerative section centered on a zero-cross point of an induced voltage generated in the electromagnetic coil to regenerate. A first regeneration mode to be executed, and a second regeneration mode to execute regeneration by setting a second regeneration section centered on a maximum point of an induced voltage generated in the electromagnetic coil, and Regeneration of The width of the first regeneration section and the width of the second regeneration section may be set so that the amount of energy regenerated by the power is equal to or less than the amount of energy regenerated in the second regeneration mode. . According to the electromechanical device of this aspect, when the amount of regenerative energy is small, regeneration is performed in the first regeneration section centered on the zero cross point of the induced voltage generated in the electromagnetic coil, and when the amount of regenerative energy is large, Regeneration is executed in the second regeneration section centered on the maximum point of the induced voltage generated in the coil. Thereby, the change of the regeneration energy with respect to the amount of regeneration energy can be adjusted smoothly, and regeneration operation can be performed smoothly. As a result, it is possible to realize a speed change operation continuously and smoothly in a stepless manner, and accordingly, it is possible to change a torque transmission amount continuously and smoothly in a stepless manner.

(6) In the electromechanical device according to the aspect described above, the regeneration control unit may perform regeneration in the first regeneration mode when the width of the first or second regeneration section is equal to or less than a predetermined first value. And when the width of the first or second regeneration section is equal to or larger than a predetermined second value larger than the first value, regeneration in the second regeneration mode is performed. May be. According to the electromechanical device of this embodiment, when the regenerative section is short and the amount of energy to be regenerated is small, regeneration is performed in the first regenerative section centered on the zero cross point of the induced voltage generated in the electromagnetic coil, and the regenerative section is long. When the amount of regenerative energy is large, regeneration is performed in the second regenerative section centered on the maximum point of the induced voltage generated in the electromagnetic coil, so that it can be operated smoothly during regeneration.

(7) In the electromechanical device of the above aspect, the regeneration control unit performs switching from the first regeneration mode to the second regeneration mode when the amount of energy to be regenerated increases. The width of the second regeneration section after the switching may be set smaller than the width of the first regeneration section before the switching. According to the electromechanical device of this embodiment, when switching from the first regenerative mode to the second regenerative mode, the change in regenerative energy before and after switching can be reduced. Can do.

(8) In the electromechanical device of the above aspect, the regeneration control unit performs switching from the second regeneration mode to the first regeneration mode when the amount of energy to be regenerated decreases. The width of the first regeneration section after the switching may be set larger than the width of the second regeneration section before the switching. According to the electromechanical device of this aspect, when switching from the second regenerative mode to the first regenerative mode, the change in regenerative energy before and after switching can be reduced. Can do.

(9) In the electromechanical device of the above aspect, the regeneration control unit is configured to regenerate energy before switching and regeneration after switching at the time of switching between the first regeneration mode and the second regeneration mode. You may make it set the width | variety of the 1st regeneration area after switching, or the width | variety of a 2nd regeneration area so that energy amount may become the same value. According to the electromechanical device of this aspect, when switching between the first regeneration mode and the second regeneration mode, switching is performed so that the amount of energy regenerated before and after switching becomes the same value. The amount is continuous and can be operated smoothly during regeneration.

(10) In the electromechanical device according to the aspect described above, regeneration in the first regeneration mode may be performed at the start of deceleration of rotation of the rotation control unit. According to this electromechanical device, since the rate of change in regenerative energy with respect to the amount of regenerative energy can be reduced at the start of deceleration, the deceleration start operation can be smoothed.

(11) In the electromechanical device of the above aspect, the regeneration in the first regeneration mode may be executed at the end of the deceleration of the rotation of the rotation control unit. According to the electromechanical device of this aspect, since the rate of change of regenerative energy with respect to the amount of regenerative energy can be reduced at the end of deceleration, the end operation of deceleration can be made smooth.

  The present invention can be realized in various forms, for example, in various forms such as an electromechanical apparatus such as a power generation apparatus and a power generation apparatus, a moving body using the same, a robot, and a control method for the electromechanical apparatus. Can be realized.

It is a schematic sectional drawing which shows the internal structure of the motive power generator as a 1st reference form. It is a general | schematic exploded sectional view which decomposes | disassembles and shows each structure part of the motive power generator as a 1st reference form. It is a schematic diagram for demonstrating the mechanism in which rotational drive force is transmitted by the speed change mechanism part of the power generator of a 1st reference form. It is a block diagram shown about the control part which controls operation | movement of a motive power generator. It is explanatory drawing which shows the structure of the driver circuit of a transmission control motor control part. It is explanatory drawing which shows the internal structure and operation | movement of the drive control part of a transmission control motor control part. It is explanatory drawing which shows the correspondence of a sensor output waveform and a drive signal waveform. It is a block diagram which shows an example of an internal structure of a PWM part. It is a timing chart which shows operation | movement of the PWM part at the time of motor forward rotation. It is a timing chart which shows operation | movement of the PWM part at the time of motor reverse rotation. It is explanatory drawing which shows the internal structure and operation | movement of an excitation area setting part. It is explanatory drawing which shows the operation | movement of an encoding part, and a timing chart. It is explanatory drawing which shows the drive waveform of a transmission control motor part. It is explanatory drawing which shows the internal structure of the regeneration control part and rectifier circuit which are contained in a transmission control motor control part. It is explanatory drawing which shows the internal structure of the regeneration area setting part in an A phase PWM control part. It is explanatory drawing which shows the regeneration pattern of the energy in the regeneration mode performed when the width | variety of a regeneration area is large. It is explanatory drawing which shows the regeneration pattern of energy when the width | variety of a regeneration area is small. It is explanatory drawing which shows the variation of the recovery rate of the value of EPWM and regenerative energy. It is explanatory drawing which shows the variation of the recovery rate of the value of EPWM and regenerative energy. It is explanatory drawing which shows the variation of the recovery rate of the value of EPWM and regenerative energy. It is explanatory drawing which shows the variation of the recovery rate of the value of EPWM and regenerative energy. It is explanatory drawing which shows the relationship of the rotation speed of each gear which comprises a transmission mechanism part. It is a schematic sectional drawing which shows the structure of the motive power generator as another structural example of a 1st reference form. It is a schematic sectional drawing which shows the structure of the motive power generator as another structural example of a 1st reference form. It is a schematic sectional drawing which shows the internal structure of the motive power generator as a 2nd reference form. It is a general | schematic disassembled sectional view which decomposes | disassembles and shows each structure part of the power generator as a 2nd reference form. It is explanatory drawing which shows a cyclomechanism typically. It is a schematic sectional drawing which shows the structure of the power generator as a 3rd reference form. It is explanatory drawing which shows the structure of a permanent magnet and an electromagnetic coil group. It is a schematic sectional drawing which shows the structure of the motive power generator as a 4th reference form. It is explanatory drawing which shows an example of a structure of an encoder. It is a schematic sectional drawing which shows the internal structure of the power generator as a 5th reference form. It is explanatory drawing which shows a magnetic transmission mechanism typically. It is a schematic sectional drawing which shows the internal structure of the motive power generator as one Embodiment. It is explanatory drawing which shows the structure of a cross roller bearing. It is explanatory drawing which shows the electric bicycle (electrically assisted bicycle) which is an example of the moving body using a motive power generator. It is explanatory drawing which shows an example of the robot using a motive power generator. It is explanatory drawing which shows an example of the double-arm 7-axis robot using a motive power generator. It is explanatory drawing which shows an example of the vertical articulated robot using a motive power generator. It is explanatory drawing which shows an example of the robot with a double arm caster using a motive power generator. It is explanatory drawing which shows the rail vehicle using a motive power generator.

  In the following description, in order to facilitate the description of the embodiment of the present invention, the preferential reference embodiment will be described first, and then the embodiment of the present invention will be described.

A. First reference form:
A1. Configuration of power generator:
FIG. 1 is a schematic cross-sectional view showing an internal configuration of a power generation device 100 as a first reference embodiment, and FIG. 2 is an exploded schematic view showing components of the power generation device 100 as a first reference embodiment. It is sectional drawing. The power generation device 100 is housed in a casing 122, and includes a central shaft 110, a drive motor unit 120 as a drive mechanism, a transmission mechanism unit 130 as a transmission mechanism, and a transmission control motor unit 140 as a transmission control mechanism. And comprising.

  As will be described later, the drive motor unit 120 and the transmission mechanism unit 130 are arranged so as to be fitted and integrated with each other, and the central shaft 110 is the center of the integrated drive motor unit 120 and the transmission mechanism unit 130. It arrange | positions so that it may penetrate. The central shaft 110 has a through-hole 111 extending in the axial direction (the direction indicated by the alternate long and short dash line in the figure). The through-hole 111 has a conductive wire for transmitting power and a control signal to the power generation device 100. A conductive wire bundle 25 that is a bundle is inserted.

  The casing 122 includes two casing portions 122a and 122b. One casing portion 122a can accommodate the drive motor portion 120 and the speed change mechanism portion 130, and has a surface (the right side in FIG. 1 and FIG. 2) opposite to the bottom surface (the right side in FIG. 1 and FIG. 2). It is an open substantially cylindrical hollow container, and a through hole 1221 for inserting the central shaft 110 is formed at the center of the bottom surface. The casing portion 122a and the central shaft 110 are fixedly attached to each other. The other casing part 122b is a lid for covering the open surface of the one casing part 122a, and an annular plate shape in which an opening 1222 into which a load connecting part 136 described later is inserted is formed in the center part. have. This casing part 122b is fixedly attached to one casing part 122a with fixing bolts 114. The casing 122 may be made of a resin material such as carbon fiber reinforced plastics (CFRP). As a result, the power generation device 100 can be reduced in weight.

  The drive motor unit 120 includes a rotor 121 and a stator 124. The drive motor unit 120 has a radial gap type configuration as described below. The main body portion of the rotor 121 has a substantially disk shape, and permanent magnets 123 are arranged in a cylindrical shape on the outer peripheral surface of the side wall of the main body portion. The direction of the magnetic flux of the permanent magnet 123 is the radial direction. A magnet back yoke 125 for improving the magnetic efficiency is arranged on the back surface of the permanent magnet 123 (the surface on the side wall of the rotor 121).

  The rotor 121 has a through hole 1211 through which the central shaft 110 is inserted at the center. A bearing portion 112 is disposed between the inner wall surface of the through hole 1211 and the outer peripheral surface of the central shaft 110 so that the rotor 121 can rotate around the central shaft 110. The bearing portion 112 can be constituted by, for example, a ball bearing.

  A concave portion 1212 formed as a substantially annular groove centering on the through hole 1211 is provided on the surface of the rotor 121 facing the speed change mechanism portion 130. Gear teeth 121 t are formed on the outer wall surface of the substantially cylindrical partition wall 1213 that separates the through hole 1211 and the recess 1212. Hereinafter, the partition wall 1213 having the gear teeth 121t provided in the center of the rotor 121 is also referred to as “rotor gear 1213”. As will be described later, the rotor gear 1213 in the present reference embodiment functions as a sun gear of a planetary gear mechanism described later. The rotor gear 1213 may be formed by integrally molding the gear teeth 121t on the partition wall 121, or may be formed integrally by connecting and fixing the gear teeth 121t to the partition wall 121. .

  An electromagnetic coil (hereinafter also referred to as “electromagnetic coil 124”) as a stator 124 is arranged in a cylindrical shape on the inner peripheral surface of the casing portion 122 a so as to face the permanent magnet 123 of the rotor 121 with a gap. ing. That is, in the drive motor unit 120, the electromagnetic coil 124 as a stator rotates the rotor 121 around the central axis 110. A coil back yoke 128 for improving the magnetic efficiency is disposed between the electromagnetic coil 124 and the casing portion 122a.

  A position detection unit 126 that detects the position of the permanent magnet 123 and a rotation control circuit 127 for controlling the rotation of the rotor 121 are provided on the bottom surface of the casing unit 122a. The position detection unit 126 is configured by a Hall IC using a Hall element, a temperature compensation circuit, and an amplifier circuit, for example, and is arranged so as to correspond to the position of the orbit of the permanent magnet 123. The position detection unit 126 is connected to the rotation control circuit 127 via a signal line.

  A conductive wire branched from the conductive wire bundle 25 is connected to the rotation control circuit 127. The rotation control circuit 127 is electrically connected to the electromagnetic coil 124. The rotation control circuit 127 transmits a detection signal output from the position detection unit 126 to a control unit (not shown) that controls driving of the power generation device 100. The rotation control circuit 127 supplies electric power to the electromagnetic coil 124 according to a control signal from the control unit to generate a magnetic field, and rotates the rotor 121. Further, the rotation control circuit 127 outputs the induced electric power generated in the electromagnetic coil 124 according to the rotation of the rotor 121 according to the control signal from the control unit, and decelerates the rotation of the rotor 121.

  The speed change mechanism 130 forms a planetary gear mechanism together with the rotor gear 1213 of the rotor 121. The planetary gear mechanism is composed of an external tooth sun gear, an internal ring gear arranged on the same central axis as the sun gear, and a plurality of external tooth planetary gears arranged between the sun gear and the ring gear. It is a mechanism to be done. The planetary gear mechanism is configured such that a plurality of planetary gears revolve while rotating along the outer periphery of the sun gear and the inner periphery of the ring gear, and a plurality of planetary gears are supported by a planetary carrier that supports the plurality of planetary gears. This mechanism has a structure for picking up the revolving motion. The transmission mechanism unit 130 includes a rotor gear 1213 as a sun gear, a ring gear 131, three planetary gears 132, and a planetary carrier 133 that supports the planetary gear 132. 1 and 2 show only two planetary gears 132 for convenience.

  The ring gear 131 is a substantially annular gear having gear teeth 131t provided on the inner wall surface, and is accommodated in the concave portion 1212 of the rotor 121. The ring gear 131 is disposed on the outside of the concave portion 1212 of the planetary carrier 133. It is integrally formed so that it may be supported by the substantially cylindrical ring carrier arrange | positioned on the outer periphery. Further, three planetary gears 132 are arranged at substantially equal intervals along the outer periphery of the rotor gear 1213 between the inner peripheral surface of the ring gear 131 and the outer peripheral surface of the rotor gear 1213. The gear teeth 132t of the planetary gear 132, the gear teeth 131t of the ring gear 131, and the gear teeth 121t of the rotor gear 1213 are engaged with each other, so that these three types of gears 1213, 132, and 1311 are connected.

  The planetary carrier 133 is a substantially cylindrical member that supports the three planetary gears 132. In the center of the bottom surface of the planetary carrier 133, a through hole 1331 through which the central shaft 110 is inserted is provided. Between the inner wall surface of the through-hole 1331 and the outer peripheral surface of the central shaft 110, a bearing portion 112 for allowing the planetary carrier 133 to rotate around the central shaft 110 is disposed. Note that a spacer 115 is disposed between the bearing portion 112 attached to the planetary carrier 133 and the bearing portion 112 attached to the rotor 121.

  Here, a substantially circular opening 1313 communicating with the inner circumferential space of the ring gear 131 is formed at the center of the ring carrier 1312, and the planetary carrier 133 is disposed in the opening 1313. On the bottom surface of the planetary carrier 133 on the drive motor unit 120 side (the right side in FIG. 3 and FIG. 4), the rotating shaft 132 s of the planetary gear 132 housed in the recess 1212 of the rotor 121 is rotatably held. A shaft hole 1332 is formed.

  To allow the planetary carrier 133 and the ring carrier 1312 to rotate independently of each other about the central axis 110 between the outer peripheral surface of the planetary carrier 133 and the side wall surface of the opening 1313 of the ring carrier 1312. The bearing portion 135 is disposed.

  On the bottom surface outside the planetary carrier 133 (the left side in FIG. 1 and FIG. 2), a load connecting portion 136 for holding and fixing the bearing portion 135 is integrated with the planetary carrier 133 by the fixing bolt 114. Connection is fixed. Note that a load shaft (not shown) is fixed to the load connecting portion 136 by a bolt (not shown). The load fixing bolt 114 may also be used as the load fixing bolt.

  The shift control motor unit 140 includes a rotor 141 and a stator 144. The shift control motor unit 140 also has a radial gap type configuration as described below. The rotor 141 is a ring carrier 1312 of the transmission mechanism unit 130, and permanent magnets 143 are arranged in a cylindrical shape on the outer peripheral surface of the ring carrier 1312. The direction of the magnetic flux of the permanent magnet 143 is a radial direction. A magnet back yoke 145 for improving the magnetic efficiency is disposed on the back surface of the permanent magnet 143 (the outer peripheral surface of the ring carrier 1312). The rotor 141 and the ring carrier 1312 may be formed by integral molding, or may be integrally formed by connecting and fixing the rotor 141 and the ring carrier 1312.

  On the inner peripheral surface of the casing portion 122 a, an electromagnetic coil (hereinafter also referred to as “electromagnetic coil 144”) as a stator 144, beside the electromagnetic coil 124 as a stator of the drive motor portion 120, is a permanent magnet of the ring carrier 1312. It is arranged in a cylindrical shape so as to face 143 with a gap. That is, in the shift control motor unit 140, like the drive motor unit 120, the electromagnetic coil 144 as a stator rotates the ring carrier 1312 and the ring gear 131 as the rotor 141 around the central axis 110. A coil back yoke 148 for improving magnetic efficiency is also disposed between the electromagnetic coil 144 and the casing portion 122a.

  The casing 122b is provided with a position detector 146 for detecting the position of the permanent magnet 143 and a rotation control circuit 147 for controlling the rotation of the ring carrier 1312 as the rotor 141. Similarly to the position detection unit 126 of the drive motor unit 120, the position detection unit 146 is configured by, for example, a Hall element, and is arranged so as to correspond to the position of the orbit of the permanent magnet 143. The position detection unit 146 is connected to the rotation control circuit 147 through a signal line.

  A conductive wire branched from the conductive wire bundle 25 is connected to the rotation control circuit 147. The rotation control circuit 147 is electrically connected to the electromagnetic coil 144. The rotation control circuit 147 transmits a detection signal output from the position detection unit 146 to a control unit (not shown) that controls driving of the power generation device 100 via the conductive wire bundle 25. Then, the rotation control circuit 147 supplies electric power to the electromagnetic coil 144 according to a control signal supplied from the control unit via the conductive wire bundle 25 to generate a magnetic field, and rotates the rotor 141. The rotation control circuit 147 regeneratively controls the induced voltage generated in the electromagnetic coil 144 by the rotation of the rotor 141 according to the control signal supplied from the control unit (not shown) via the conductive wire bundle 25. The rotation of the rotor 141 is braked. In the following description, “regeneration” includes “braking”. As described above, the rotation of the rotor 141 is controlled in the clockwise, stopped, counterclockwise and free rotation states by combining the drive control for supplying power to the electromagnetic coil 144 and the regeneration control for regenerating power. As will be described later, by controlling the operation of the speed change mechanism portion 130, the rotational movement from the drive motor portion 120 can be changed steplessly.

  A seal portion 150 is provided on the inner wall surface of the opening 1222 of the casing portion 122b so as to contact the outer peripheral surface of the inserted load connection portion 136. For example, when a brush seal portion is provided as the seal portion 150, entry of dust or dust into the casing 122 is suppressed. Thereby, deterioration of the power generation device 100 can be suppressed. Moreover, when the rubber seal part is provided, the inside of the casing 122 is sealed secretly. Thereby, the rotation loss of the gear and the rotor in the power generation device 100 due to the airflow can be reduced. The seal 150 is not always necessary and may be omitted.

  Further, a bearing ring for improving the holding ability of the central shaft 110 is provided outside the casing portion 122a (the right side in FIG. 1 and FIG. 2) and outside the planetary carrier 133 (the left side in FIG. 1 and FIG. 2). 113 is fitted.

  FIG. 3 is a schematic diagram for explaining a mechanism in which the rotational driving force is transmitted by the speed change mechanism 130 of the power generation device 100 according to the first reference embodiment. FIG. 3 shows a rotor gear 1213 as a sun gear, three planetary gears 132, and a planetary carrier 133 when the transmission mechanism unit 130 is viewed from the drive motor unit 120 side along the axial direction of the central shaft 110. A ring gear 131 and a ring carrier 1312 are schematically shown. In FIG. 3, the gear teeth of each gear are omitted for convenience.

  Here, in the power generation device 100, it is assumed that the rotor gear 1213, which is a sun gear, rotates in the direction illustrated by the one-dot chain line arrow (hereinafter referred to as “clockwise”) as the rotor 121 rotates. As described above, since the ring carrier 1312 functions as the rotor 141 of the speed change control motor unit 140, the ring gear 131 is rotated clockwise or counterclockwise as indicated by the broken arrow according to the driving state of the speed change control motor unit 140. Rotate or stop. As the rotor gear 1213 rotates, each planetary gear 132 rotates counterclockwise (also referred to as “spinning”) indicated by a solid line arrow about its own rotation shaft 132s. At this time, each planetary gear 132 rotates around the rotor gear 1213 clockwise or counterclockwise as indicated by a two-dot chain line arrow (also referred to as “revolution”) according to the rotation state of the ring gear 131. ) As the planetary gears 132 move around, the planetary carrier 133 rotates, and a load (not shown) connected to the planetary carrier 133 via the load connecting portion 136 rotates together with the planetary carrier 133. That is, the rotation of the load is controlled and the rotational driving force transmitted to the load is controlled according to the rotation state of the ring carrier 1312 and the ring gear 131 which are the rotor 141 controlled by the speed change control motor unit 140. Become. That is, in the transmission mechanism 130, the ring gear 131 is a rotation control unit, the rotor gear 1213 as a sun gear is a rotation input unit, and the planetary carrier 133 is a rotation output unit. The rotation of the rotor gear 1213 as a sun gear (also referred to as “input rotation”) and the rotation of the planetary carrier 133 (“ The relationship with “output rotation”) will be described in detail later.

A2. Configuration of power generator control unit:
FIG. 4 is a block diagram illustrating a control unit that controls the operation of the power generation device 100. The control unit 200 is connected to the rotation control circuit 127 of the drive motor unit 120 and the rotation control circuit 147 of the transmission control motor unit 140 via the conductive wire bundle 25 as described above, and the drive motor unit 120 and the transmission control motor. The operation of the unit 140 is controlled.

  The control unit 200 includes a CPU 210, a drive motor control unit 220, and a shift control motor control unit 230. The drive motor control unit 220 and the transmission control motor control unit 230 are connected to the CPU 210 via the bus 212.

  The drive motor control unit 220 includes a drive control unit 820 and a driver circuit 840, a regeneration control unit 830 and a rectifier circuit 850. The drive control unit 820 is connected via the driver circuit 840 based on a signal supplied from the magnetic sensor included in the position detection unit 126, in this example, the two-phase magnetic sensors 126A and 126B via the rotation control circuit 127. The rotation of the drive motor unit 120 is driven by generating a magnetic field in the electromagnetic coil 124, in this example, the two-phase electromagnetic coils 124A and 124B. In addition, the regeneration control unit 830 receives the induced power output from the two-phase electromagnetic coils 124 </ b> A and 124 </ b> B via the rotation control circuit 127 via the rectifier circuit 850 and regenerates power from the drive motor unit 120.

  Similarly to the drive motor control unit 220, the transmission control motor control unit 230 includes a drive control unit 420 and a driver circuit 440, a regeneration control unit 430, and a rectifier circuit 450. The drive control unit 420 is connected via the driver circuit 440 based on a signal supplied from the magnetic sensor included in the position detection unit 146, in this example, from the two-phase magnetic sensors 146A and 146B via the rotation control circuit 147. In this example, the rotation of the shift control motor unit 140 is driven by generating a magnetic field in the two-phase electromagnetic coils 144A and 144B. Further, the regeneration control unit 430 receives the induced power output from the two-phase electromagnetic coils 144A and 144B via the rotation control circuit 147 via the rectifier circuit 850, and regenerates power from the transmission control motor unit 140. .

  The drive control unit and the driver circuit are collectively referred to as a “drive circuit”. Further, the regeneration control unit and the rectifier circuit are collectively referred to as a “regeneration circuit”. The drive control unit is also referred to as a “drive signal generation circuit”.

  Here, the internal configuration and operation of the drive motor control unit 220 and the internal configuration and operation of the transmission control motor control unit 230 are basically the same. As described above, the relationship between the rotation of the rotor gear 1213 as the sun gear and the rotation of the planetary carrier 133 in the speed change mechanism 130 is controlled in accordance with the state of rotation of the ring gear 131. Is controlled by the operation of the shift control motor unit 140. Therefore, in the following, the internal configuration and operation of the shift control motor control unit 230 that controls the operation of the shift control motor unit 140 will be described as an example.

(1) Configuration and Operation of Drive Circuit of Shift Control Motor Control Unit FIG. 5 is an explanatory diagram showing the configuration of the driver circuit 440 (FIG. 4) of the shift control motor control unit 230. The A-phase driver circuit 440A is an H-type bridge circuit for supplying AC drive signals DRVA1 and DRVA2 to the A-phase electromagnetic coil 144A. A white circle attached to the terminal portion of the block indicating the drive signal is negative logic and indicates that the signal is inverted. In addition, arrows with symbols IA1 and IA2 indicate the directions of currents flowing by the A1 drive signal DRVA1 and the A2 drive signal DRVA2, respectively. The configuration of the B phase driver circuit 440B is the same as the configuration of the A phase driver circuit 440A. If the negative logic that inverts the signal is eliminated and the P channel MOS-FET on the H side is changed to the same N channel MOS-FET as that on the L side, driving with excellent frequency characteristics can be realized.

  FIG. 6 is an explanatory diagram showing the internal configuration and operation of the drive control unit 420 (FIG. 4) of the speed change motor control unit 230. The drive control unit 420 includes a basic clock generation circuit 510, a 1 / N frequency divider 520, a PWM unit 530, a forward / reverse direction value register 540, a multiplier 550, an encoding unit 560, and an AD conversion unit. 570, a voltage command value register 580, and an excitation interval setting unit 590. The drive control unit 420 is a circuit that generates both the A-phase drive signal and the B-phase drive signal, and includes a basic clock generation circuit 510, a 1 / N frequency divider 520, and a forward / reverse direction instruction. The value register 540 is used in common for the A phase and the B phase. For the convenience of illustration, the other components existing in the A phase and the B phase are depicted only as the A phase circuit configuration in FIG. 6A. The same components as those for the phase are provided in the drive control unit 420. In the following description, the A phase will be described as an example.

  The basic clock generation circuit 510 is a circuit that generates a clock signal PCL having a predetermined frequency, and includes, for example, a frequency synthesizer including a PLL circuit. The 1 / N frequency divider 520 generates a clock signal SDC having a frequency 1 / N of the clock signal PCL. The value of N is set to a predetermined constant value. The value of N is set in the 1 / N frequency divider 520 by the CPU 210 in advance. The PWM unit 530 is supplied from the clock signals PCL and SDC, the multiplication value Ma supplied from the multiplier 550, the forward / reverse direction indication value RI supplied from the forward / reverse direction indication value register 540, and the encoding unit 560. Drive signals DRVA1 and DRVA2 (FIG. 5) are generated according to the positive / negative sign signal Pa and the excitation interval signal Ea supplied from the excitation interval setting unit 590. This operation will be described later.

  In the forward / reverse direction value register 540, a value RI indicating the rotation direction of the motor is set by the CPU 210. In this reference embodiment, the motor rotates forward when the forward / reverse direction instruction value RI is at L level, and reverses when it is at H level. Other signals Ma, Pa, and Ea supplied to the PWM unit 530 are determined as follows.

  The output SSA of the A-phase magnetic sensor 146A is supplied to the AD conversion unit 570. The range of the sensor output SSA is, for example, from GND (ground potential) to VDD (power supply voltage), and the middle point (= VDD / 2) is the middle point of the output waveform (point passing through the origin of the sine wave). It is. The AD conversion unit 570 performs AD conversion on the sensor output SSA to generate a digital value of the sensor output. The output range of the AD conversion unit 570 is, for example, FFh to 0h ("h" at the end indicates a hexadecimal number), and the median value 80h corresponds to the middle point of the sensor waveform.

  The encoding unit 560 converts the range of the sensor output value after AD conversion, and sets the value of the middle point of the sensor output value to 0. As a result, the sensor output value Xa generated by the encoding unit 560 takes values in a predetermined range on the positive side (for example, +127 to 0) and a predetermined range on the negative side (for example, 0 to −128). However, what is supplied from the encoding unit 560 to the multiplier 550 is the absolute value of the sensor output value Xa, and the positive / negative sign is supplied to the PWM unit 530 as a positive / negative code signal Pa.

  The voltage command value register 580 stores the voltage command value Ya set by the CPU 210. This voltage command value Ya functions as a value for setting the applied voltage of the motor together with an excitation interval signal Ea described later, and takes a value of 0 to 1.0, for example. If the excitation interval signal Ea is set so that the entire excitation interval is set without providing a non-excitation interval, Ya = 0 means that the applied voltage is zero, and Ya = 1.0 is This means that the applied voltage is the maximum value. Multiplier 550 multiplies sensor output value Xa output from encoding unit 560 and voltage command value Ya to produce an integer, and supplies the multiplied value Ma to PWM unit 530.

  6B to 6E show the operation of the PWM unit 530 when the multiplication value Ma takes various values. Here, it is assumed that the entire period is an excitation interval and there is no non-excitation interval. The PWM unit 530 is a circuit that generates one pulse with a duty of Ma / N during one cycle of the clock signal SDC. That is, as shown in FIGS. 6B to 6E, the duty of the pulses of the drive signals DRVA1 and DRVA2 increases as the multiplication value Ma increases. The first drive signal DRVA1 is a signal that generates a pulse only when the sensor output SSA is positive, and the second drive signal DRVA2 is a signal that generates a pulse only when the sensor output SSA is negative. However, in FIGS. 6B to 6E, these are described together. For convenience, the second drive signal DRVA2 is drawn as a negative pulse.

  FIGS. 7A to 7C are explanatory diagrams illustrating a correspondence relationship between the waveform of the sensor output and the waveform of the drive signal generated by the PWM unit 530. In the figure, “Hiz” means a high impedance state in which the electromagnetic coil is in an unexcited state. As described with reference to FIG. 6, the drive signals DRVA1 and DRVA2 are generated by PWM control using the analog waveform of the sensor output SSA as it is. Therefore, using these drive signals DRVA1 and DRVA2, it is possible to supply an effective voltage indicating a level change corresponding to the change of the sensor output SSA to each coil.

  Further, the PWM unit 530 outputs a drive signal only in the excitation interval indicated by the excitation interval signal Ea supplied from the excitation interval setting unit 590, and does not output a drive signal in intervals other than the excitation interval (non-excitation interval). It is configured. FIG. 7C shows drive signal waveforms when the excitation interval EP and the non-excitation interval NEP are set by the excitation interval signal Ea. In the excitation interval EP, the drive signal pulse of FIG. 7B is generated as it is, and no drive signal pulse is generated in the non-excitation interval NEP. Thus, if the excitation interval EP and the non-excitation interval NEP are set, no voltage is applied to the coil near the middle point of the back electromotive force waveform (that is, near the middle point of the sensor output). It is possible to further improve the efficiency. The excitation interval EP is preferably set to a symmetrical interval centered on the peak of the back electromotive force waveform, and the non-excitation interval NEP is centered on the middle point (center point) of the back electromotive force waveform. It is preferable to set to a symmetrical section.

  As described above, when the voltage command value Ya is set to a value less than 1, the multiplication value Ma becomes smaller in proportion to the voltage command value Ya. Therefore, the effective applied voltage can be adjusted also by the voltage command value Ya.

  As can be understood from the above description, in the motor of the present embodiment, the applied voltage can be adjusted using both the voltage command value Ya and the excitation interval signal Ea. The relationship between the desired applied voltage, the voltage command value Ya, and the excitation interval signal Ea is preferably stored in advance as a table in a memory (not shown) in the control unit 200. In this way, when the control unit 200 receives the target value of the desired applied voltage, the CPU 210 sets the voltage command value Ya and the excitation interval signal Ea in the drive control unit 420 according to the target value. Is possible. Note that it is not necessary to use both the voltage command value Ya and the excitation interval signal Ea to adjust the applied voltage, and only one of them may be used.

  FIG. 8 is a block diagram showing an example of the internal configuration of the PWM unit 530 (FIG. 6). The PWM unit 530 includes a counter 531, an EXOR circuit 533, and a drive waveform forming unit 535. These operate as follows.

  FIG. 9 is a timing chart showing the operation of the PWM unit 530 during normal rotation of the motor. In this figure, two clock signals PCL and SDC, forward / reverse direction instruction value RI, excitation interval signal Ea, multiplication value Ma, positive / negative sign signal Pa, count value CM1 in counter 531 and counter 531 The output S1, the output S2 of the EXOR circuit 533, and the output signals DRVA1 and DRVA2 of the drive waveform forming unit 535 are shown. The counter 531 repeats the operation of down-counting the count value CM1 to 0 in synchronization with the clock signal PCL every period of the clock signal SDC. The initial value of the count value CM1 is set to the multiplication value Ma. In FIG. 9, a negative value is also drawn as the multiplication value Ma for convenience of illustration, but the counter 531 uses the absolute value | Ma |. The output S1 of the counter 531 is set to H level when the count value CM1 is not 0, and falls to L level when the count value CM1 becomes 0.

  The EXOR circuit 533 outputs a signal S2 indicating an exclusive OR of the positive / negative sign signal Pa and the forward / reverse direction instruction value RI. When the motor rotates normally, the forward / reverse direction instruction value RI is at the L level. Therefore, the output S2 of the EXOR circuit 533 is the same signal as the positive / negative sign signal Pa. The drive waveform forming unit 535 generates drive signals DRVA1 and DRVA2 from the output S1 of the counter 531 and the output S2 of the EXOR circuit 533. That is, of the output S1 of the counter 531, the signal during the period when the output S2 of the EXOR circuit 533 is at the L level is output as the first drive signal DRVA1, and the signal during the period when the output S2 is at the H level is output as the second drive signal DRVA2. Output as. In the vicinity of the right end of FIG. 9, the excitation interval signal Ea falls to the L level, thereby setting the non-excitation interval NEP. Accordingly, in this non-excitation interval NEP, none of the drive signals DRVA1, DRVA2 is output and the high impedance state is maintained.

  FIG. 10 is a timing chart showing the operation of the PWM unit 530 during motor reverse rotation. During reverse rotation of the motor, the forward / reverse direction instruction value RI is set to the H level. As a result, the two drive signals DRVA1 and DRVA2 are interchanged from FIG. 9, and as a result, it can be understood that the motor reverses.

  In this reference embodiment, the forward rotation direction of the motor is the direction in which the ring gear 131 (FIGS. 1 to 3) is rotated clockwise, and the reverse rotation direction is the direction in which the ring gear 131 is rotated counterclockwise. .

  FIG. 11 is an explanatory diagram showing the internal configuration and operation of the excitation interval setting unit 590. As shown in FIG. 11A, the excitation interval setting unit 590 includes an electronic variable resistor 592, voltage comparators 594, 596, and an OR circuit 598. The resistance value Rv of the electronic variable resistor 592 is set by the CPU 210. Voltages V1 and V2 across the electronic variable resistor 592 are applied to one input terminal of a voltage comparator 594,596. A sensor output SSA is supplied to the other input terminal of the voltage comparators 594 and 596. Output signals Sp and Sn of the voltage comparators 594 and 596 are input to the OR circuit 598. The output of the OR circuit 598 is an excitation interval signal Ea for distinguishing between excitation intervals and non-excitation intervals.

  FIG. 11B shows the operation of the excitation interval setting unit 590. Both-end voltages V1 and V2 of the electronic variable resistor 592 are changed by adjusting the resistance value Rv. Specifically, both-end voltages V1 and V2 are set to values having the same difference from the median value (= VDD / 2) of the voltage range. When the sensor output SSA is higher than the first voltage V1, the output Sp of the first voltage comparator 594 becomes H level, whereas when the sensor output SSA is lower than the second voltage V2, the second voltage V2 is output. The output Sn of the voltage comparator 596 becomes H level. The excitation interval signal Ea is a signal obtained by taking the logical sum of these output signals Sp and Sn. Accordingly, as shown in the lower part of FIG. 11B, the excitation interval signal Ea can be used as a signal indicating the excitation interval EP and the non-excitation interval NEP. The excitation interval EP and the non-excitation interval NEP are set by the CPU 210 adjusting the variable resistance value Rv.

  FIG. 12 is an explanatory diagram illustrating an operation of the encoding unit and a timing chart. Here, a description will be given taking the A-phase encoding unit 560 (FIG. 6) as an example. The encoding unit 560 receives the ADC signal from the ADC unit 570 (FIG. 6), and generates the sensor output value Xa and the positive / negative code signal Pa. Here, the sensor output value Xa is a value obtained by shifting the ADC signal to +127 to −128 and taking the absolute value thereof. For the sign signal Pa, the sign signal Pa is H when the value of the ADC signal is smaller than 0, and the sign signal Pa is L when the value of the ADC signal is greater than 0. The sign of the sign signal Pa may be reversed.

  FIG. 13 is an explanatory diagram showing a drive waveform of the shift control motor unit. FIG. 13A shows the waveform of the sensor output SSA of the A-phase magnetic sensor 146A corresponding to the induced voltage waveform generated in the A-phase electromagnetic coil 144A as the shift control motor unit 140 rotates. FIG. 13B shows a waveform of an excitation interval signal Ea that defines an excitation interval EP for driving the shift control motor unit 140 (hereinafter also referred to as “WC control waveform”). FIG. 13C shows a PWM drive waveform (analog) applied to the shift control motor unit 140 when the WC control waveform is shown in FIG. FIG. 13D schematically shows a PWM drive waveform (digital) applied to the shift control motor unit 140 when the WC control waveform is shown in FIG. As shown in FIG. 13A, the sensor output waveform corresponding to the induced voltage waveform is substantially a sine wave. The center of the active period (excitation interval EP) of the WC control waveform is the same as the phase in which the induced voltage waveform shown in FIG. As shown in FIG. 13B, the WC control waveform is in an inactive period (non-excitation period NEP) in the phase where the induced voltage waveform in FIG. Therefore, the analog PWM drive waveform shown in FIG. 13C is substantially similar to the induced voltage waveform in the excitation interval EP, and is a non-excitation interval NEP, that is, a phase in which the induced voltage waveform in FIG. Then it is almost zero.

  FIG. 13E shows a waveform obtained by narrowing the active period of the WC control waveform shown in FIG. FIG. 13 (F) shows a PWM drive waveform (analog) applied to the shift control motor unit 140 when the WC control waveform is shown in FIG. 13 (E). FIG. 13 (G) schematically shows a PWM drive waveform (digital) applied to the shift control motor unit 140 when the WC control waveform is shown in FIG. 13 (E). The PWM drive waveform shown in FIG. 13F is zero when the WC control waveform is inactive (non-excitation interval NEP). As is clear from comparison between FIG. 13D and FIG. 13F, the shorter the active period (excitation interval EP) of the WC control waveform, the smaller the number of pulses.

  As described above, by controlling the width of the excitation interval EP, the PWM drive waveform applied to the shift control motor unit 140 can be controlled, and the drive state of the shift control motor unit 140 is controlled accordingly. Can do.

  FIG. 13 shows that the drive waveform applied to the speed change control motor unit 140 is controlled by controlling the width of the excitation interval EP. However, as described in FIG. 6, the multiplication value Ma is controlled. Thus, the PWM drive waveform can be controlled, and the drive state of the shift control motor unit 140 can be controlled accordingly. Further, by controlling both in combination, the driving state of the shift control motor unit 140 can be controlled more precisely.

(2) Configuration and Operation of Regeneration Circuit of Transmission Control Motor Control Unit FIG. 14 is an explanatory diagram showing the internal configuration of the regeneration control unit 430 and the rectification circuit 450 (FIG. 4) included in the transmission control motor control unit 230. The regeneration control unit 430 includes an A-phase regeneration control unit 430A and a B-phase regeneration control unit 450B. The rectifier circuit 450 includes an A-phase rectifier circuit unit 450A and a B-phase rectifier circuit unit 430B. Since the configurations of the A-phase regeneration control unit 430A and the A-phase rectifier circuit 450A are the same as the configurations of the B-phase regeneration control unit 430B and the B-phase rectifier circuit 450B, the following description will be given taking the A phase as an example.

  The A-phase regeneration control unit 430A includes an A-phase charge switching unit 432A connected to the bus 212, an A-phase PWM control unit 434A, and an A-phase NAND circuit 436A. The output of the A-phase charge switching unit 432A, the output MPa of the A-phase PWM control unit 434A, and the regeneration permission signal ER output from the CPU 210 are given to the three input terminals of the A-phase NAND circuit 436A.

  Phase A charge switching section 432A outputs a “1” level (H level) signal when recovering regenerative power from phase A electromagnetic coil 144A, and “0” level (L level) when not recovering. The signal is output.

  The A-phase PWM control unit 434A can use the same configuration except that the excitation interval setting unit 590 of the drive control unit 420 shown in FIG. 6 is replaced with a regeneration interval setting unit 590R. FIG. 15 is an explanatory diagram showing an internal configuration of the regenerative section setting unit 590R in the A-phase PWM control unit 434A. As shown in FIG. 15A, the regeneration interval setting unit 590R includes an EXOR circuit 599 in addition to the excitation interval setting unit 590 of FIG. An output (excitation section signal Ea) of the OR circuit 598 and a regeneration section switching signal INV from the CPU 210 are supplied to the input terminal of the EXOR circuit 599. The output of the EXOR circuit 599 is supplied as a regeneration period signal REa to the PWM unit 530 (FIG. 6) instead of the excitation interval signal Ea.

  As shown in FIG. 15B, when the regenerative section switching signal INV is at the L level (: 0), the regenerative period signal REa has a peak sensor output SSA as in the case shown in FIG. A period centered on the phase is a regeneration section REP as an active section of regeneration, and a period centered on a phase where the sensor output SSA is 0 is a non-regeneration section NREP as an inactive section of regeneration. On the other hand, when the regenerative section switching signal INV is at the H level (: 1), the period centered on the phase where the sensor output SSA is 0 becomes the regenerative section REP, and the phase where the sensor output SSA peaks. The center period is the non-regenerative section NREP.

  Therefore, in the A-phase PWM control unit 434A, the phases of the regenerative section REP and the non-regenerative section NEP are switched according to the regenerative section switching signal INV, and the output period of the A-phase PWM drive waveform MPa is switched, as will be described later. .

  As described above, the input of the A-phase NAND circuit 436A includes the output of the A-phase charge switching unit 432A, the regeneration permission signal ER, and the A-phase PWM drive waveform MPa that is the output of the A-phase PWM drive control unit 434A. Is given. Therefore, the A-phase NAND circuit 436A corresponds to the A-phase PWM drive waveform MPa when the regeneration permission signal ER and the output of the A-phase charge switching unit 432A are at the H level (: 1) and the recovery of the regenerative power is executed. A phase mask signal MSKA is output.

  The A-phase rectifier circuit 450A is a full-wave rectifier circuit 451 including a plurality of diodes, two gate transistors 461 and 462, a buffer circuit 471, and an inverter circuit 472 (NOT circuit) as a circuit for an A-phase electromagnetic coil. have. The same circuit is provided for the B phase. The gate transistors 461 and 462 are connected to a power supply wiring 480 for regeneration. Further, as the plurality of diodes, it is preferable to use Schottky diodes excellent in low Vf characteristics.

  The AC power generated by the A-phase electromagnetic coil 144A during power regeneration is rectified by the full-wave rectifier circuit 451. The gates of the gate transistors 461 and 462 are supplied with the A-phase mask signal MSKA for the A-phase electromagnetic coil and its inverted signal, and the gate transistors 461 and 462 are controlled to be turned on / off accordingly. Accordingly, the regenerative power is output to the power supply wiring 480 during the H level period of the A phase PWM drive waveform MPa output from the A phase PWM control unit 434A, while the power of the power is output during the L level period of the A phase PWM drive waveform MPa. Regeneration is prohibited.

  As can be understood from the above description, it is also possible to collect regenerative electric power in addition to braking by regeneration using the regenerative control unit 430 and the rectifier circuit 450. In addition, the regenerative control unit 430 and the rectifier circuit 450 generate regenerative power from the A phase electromagnetic coil 144A and the B phase electromagnetic coil 144B according to the mask signal MSKA for the A phase electromagnetic coil and the mask signal MSKB for the B phase electromagnetic coil. It is possible to limit the period during which the power is recovered and thereby adjust the amount of regenerative power. By adjusting the amount of this regenerative power, the rotational force can be limited and the rotation can be decelerated.

  As described above, the regeneration control is executed in the regeneration section REP, and this regeneration section REP is switched by the regeneration section switching signal INV. That is, two modes are provided for regenerative control. The CPU 210 generates a regeneration section switching signal INV and switches the regeneration control mode. When the regeneration interval switching signal INV is at L level, the excitation interval signal Ea and the regeneration interval signal REa have the same logic. At this time, the CPU 210 passes a regenerative current around a region where the induced voltage at the electrical angles π / 2 and 3π / 2 is large. On the other hand, when the regenerative interval switching signal INV is H, the logic of the excitation interval signal Ea and the regenerative interval REa is reversed, and the CPU 210 causes a regenerative current to flow around a region where the induced voltage at the electrical angles 0 and π is small. As described above, the CPU 210 generates the regeneration interval REP by maintaining or inverting the logic of the excitation interval signal Ea using the regeneration interval switching signal INV, and generates the electrical angles 0, π, 2π (zero cross points of the induced voltage waveform). ) And a regeneration section centered on electrical angles π / 2, 3π / 2 (maximum of induced voltage waveform) can be switched. The same applies to the B phase.

  FIG. 16A is an explanatory diagram showing an energy regeneration pattern in the regeneration mode that is executed when the width of the regeneration section REP is large. In FIG. 16A, the value of EPWM indicates the ratio of the size of the regeneration interval REP between the electrical angles 2π. When the width of the regeneration section REP is large, a regeneration period signal REa having a regeneration section centered on the peak of the induced voltage waveform is generated, and when the width of the regeneration section REP is small, the regeneration centering around the zero cross point of the induced voltage waveform is generated. A regeneration period signal REa having a section is generated, and energy is regenerated from the electromagnetic coil 144 (FIG. 14). The CPU 210 increases the EPWM in response to input rotation (rotation of the drive motor unit 120) and output rotation (rotation of the planetary carrier 133, that is, the load connected to the load connection unit) of the speed change mechanism unit 130, various requests, and the like. Switch between two regeneration modes and perform regeneration in various regeneration modes. Note that the magnitude of EPWM can be changed by the CPU 210 changing the magnitude of the electrical resistance of the electronic variable resistor 592 of the regeneration section setting unit 590R shown in FIG.

  FIG. 16A (A) shows an induced voltage waveform generated in the electromagnetic coil 144. This induced voltage waveform does not depend on the value of EPWM. FIG. 16A (B) shows the waveform of the regeneration period signal REa when the EPWM is 95% (hereinafter also referred to as “WC control waveform”). In the regeneration section REP (H level), energy regeneration can be performed. In this example, the regeneration section REP is a section centered on the peak (maximum value) of the induced voltage waveform (FIG. 16A (A)). This section is also referred to as a “second regeneration section”. FIG. 16A (C) shows a regenerative waveform in which the regenerative energy is indicated by an analog voltage. FIG. 16D shows a mask signal MSK including a PWM pulse applied to the gate transistors 461 and 462 for PWM regeneration. In the present embodiment, energy regeneration is performed using PWM pulses. FIG. 16E shows a PWM regeneration waveform when the regeneration waveform is a high voltage, and FIG. 16F shows a PWM regeneration waveform when the regeneration waveform is a low voltage.

  FIGS. 16A to 16K show a WC control waveform, a regeneration waveform, a mask signal, a PWM regeneration waveform (high voltage), and a PWM regeneration waveform (low voltage) when EPWM is 40% or more, respectively. When the regenerative section REP is shortened (EPWM value is decreased), the pulse disappears from the narrow pulse of the PWM regenerative waveform, as can be seen from comparison between FIG. 16A (E) and FIG. 16A (J). Thus, in the PWM regenerative waveform, when disappearing from the thin PWM pulse, even if the thin PWM pulse disappears, a large fluctuation of the regenerative energy hardly occurs. That is, the operation is difficult to jerky during regeneration.

  Here, when the value of EPWM is further reduced while maintaining the regenerative section REP in the section centered on the peak (maximum value) of the induced voltage waveform (FIG. 16A (A)), the induced voltage waveform (FIG. 16A (A) A large PWM pulse near the peak of)) disappears. In such a case, since the regenerative energy greatly fluctuates, the operation may be jerky during regeneration. Conversely, when the EPWM value is increased while maintaining the regenerative section REP with the section centered on the peak of the induced voltage waveform, even if the width of the regenerative section REP is slightly increased from 0, a large PWM Since a pulse is generated, and a large fluctuation of regenerative energy occurs, there are cases where the operation becomes jerky during regeneration. Therefore, when the value of EPWM is small and the width of the regeneration section REP is small, it is preferable to perform regeneration control as described below.

  FIG. 16B is an explanatory diagram showing an energy regeneration pattern when the width of the regeneration section REP is small. In FIG. 16B, the value of EPWM indicates the ratio of the size of the regenerative section REP between the electrical angles 2π, as in FIG. 16A. The induced voltage waveform in FIG. 16B (A) is the same as the induced voltage waveform in FIG. In this example, when the value of EPWM becomes a small value, the center of the regeneration interval REP is set as the zero cross point of the induced voltage waveform. Here, the regenerative section REP centered on the zero cross point is referred to as “first regenerative section” in the claims.

  FIGS. 16B (B) to 16 (F) respectively show a WC control waveform, a regenerative waveform, a mask signal, a PWM regenerative waveform (high voltage), and a PWM regenerative waveform (low voltage) when EPWM is 30%. As can be seen by comparing FIG. 16A (H) and FIG. 16B (C), when EPWM is 40% or more, a regenerative waveform is generated at the peak center of the induced voltage waveform, whereas EPWM is 30%. At times, a regenerative waveform is generated around the zero cross point of the induced voltage waveform. Next, as can be seen by comparing FIG. 16A (J) and FIG. 16B (E), when EPWM is 40% or more, a thin PWM pulse close to the zero cross point of the induced voltage waveform disappears. When EPWM is 30%, a thick PWM pulse near the peak center of the induced voltage waveform disappears.

  16B (G) to (K) show a WC control waveform, a regenerative waveform, a PWM regenerative waveform (high voltage), and a PWM regenerative waveform (low voltage) when EPWM is 5%, respectively. As can be seen by comparing FIG. 16B (E) and FIG. 16B (J), when EPWM decreases from 30% to 5%, a thick PWM pulse near the peak center of the induced voltage waveform and a zero cross point of the induced voltage waveform are close. The PWM pulse disappears from the PWM pulse having an intermediate size between that of the thin PWM pulse.

  In summary, when EPWM is 40% or more, as the EPWM value decreases, the PWM pulse disappears from the thin PWM pulse close to the zero-cross point of the induced voltage waveform to the PWM pulse having a substantially intermediate size in order. When EPWM is 30% or less, as the EPWM value becomes smaller, the PWM pulse disappears in the order of a narrow PWM pulse close to the zero cross point of the induced voltage waveform from the intermediate PWM pulse.

  As described above, when EPWM becomes small, from the thin PWM pulse to the intermediate PWM pulse in order, disappear, and after switching the active center of the WC control waveform, from the intermediate PWM pulse Since even narrower PWM pulses are lost in order, the change in regenerative energy when the magnitude of EPWM changes, and the change in load associated therewith can be reduced. As a result, it is possible to suppress the regenerative operation and the accompanying load fluctuations from becoming jerky. The same applies when EPWM is increased. That is, since PWM pulses from a thin PWM pulse to an intermediate magnitude are added, even in this case, the regenerative operation and the accompanying load fluctuation can be suppressed.

  FIG. 17A to FIG. 17D are explanatory diagrams showing variations of the EPWM value and the recovery rate of regenerative energy. The example shown in FIG. 17A is an example in which the CPU 210 is configured with a regenerative section (first regenerative section) of the WC control waveform centering on the zero-cross point in the entire region of the regenerative period. When EPWM is 100%, the regenerative section centered on the zero cross point and the regenerative section centered on the peak of the induced voltage waveform (second regenerative section) are the same. According to this example, when the regenerative energy is small, the change in the regenerative energy amount when the regenerative section changes is small, and when the regenerative energy amount is large, the change in the regenerative energy amount when the regenerative section changes is large. . That is, since the rate of change of regenerative energy with respect to the amount of regenerative energy (change rate) can be made substantially constant regardless of the regenerative section, the shift control motor unit 140 can be operated smoothly during regeneration.

  In the example shown in FIG. 17B, when the value of EPWM becomes x1, the CPU 210 switches between the first regeneration section and the second regeneration section. The recovery rate of the regenerative energy at the time of switching is y21 in the first regeneration section and y22 in the second regeneration section. The change in regenerative energy at the time of switching is | y21−y22 |. If the value of | y21−y22 | is small, even if the first regeneration section and the second regeneration section are switched, the regenerative operation is not jerky. In addition, the regeneration control unit 430 performs regeneration in the first regeneration section centered on the zero cross point of the induced voltage generated in the electromagnetic coil when the amount of regenerative energy is small, and when the amount of regenerative energy is large, Since regeneration is performed in the second regeneration section centered on the maximum point of the induced voltage generated, smooth operation can be performed during regeneration of the shift control motor unit 140.

  In the example shown in FIG. 17C, when EPWM is increased, when the value of EPWM becomes x2, the CPU 210 switches from the first regeneration section to the second regeneration section and decreases EPWM. Sometimes, when the value of EPWM becomes x1, the second regeneration section is switched to the first regeneration section. Here, at the time of switching between the first regeneration section and the second regeneration section, the recovery rate of the regeneration energy is y21, and the regeneration energy is continuous. Thus, if regeneration energy is made continuous, regeneration can be performed more smoothly.

  Further, according to the example of FIG. 17C, when the regeneration period is short and the amount of energy to be regenerated is small, the regeneration control unit 430 performs regeneration in the first regeneration section centered on the zero cross point of the induced voltage generated in the electromagnetic coil 144. When the regeneration period is long and the amount of regenerative energy is large, regeneration is performed in the second regeneration section centered on the maximum point of the induced voltage generated in the electromagnetic coil 144. Can be operated. In addition, the regeneration control unit 430 performs switching so that the amount of energy regenerated before and after switching becomes the same value when switching between the first regeneration mode and the second regeneration mode. Can be operated smoothly during regeneration of the electromechanical device.

  The example illustrated in FIG. 17D is intermediate between the example illustrated in FIG. 17B and the example illustrated in FIG. 17C. In the example shown in FIG. 17D, when increasing the EPWM, the CPU 210 switches from the first regeneration section to the second regeneration section when the value of EPWM becomes x2. The steps so far are the same as those in FIGS. 17B and 17C. In the example shown in FIG. 17B, when switching from the first regeneration section to the second regeneration section, the CPU 210 increases the energy recovery rate from y21 to y22 without changing the magnitude of EPWM at x2. In the example illustrated in FIG. 17C, when the CPU 210 switches from the first regeneration section to the second regeneration section, the EPWM size is increased from x2 to x1 without changing the recovery rate of the regenerative energy to y21. doing. On the other hand, in the example shown in FIG. 17D, the CPU 210 decreases the EPWM size from x2 to x3 (x3> x1) and increases the recovery rate of regenerative energy from y21 to y32 (y32 <y22). . Even if it does in this way, since the difference of regenerative energy is small between the 1st regeneration section and the 2nd regeneration section, the operation of regeneration does not become jerky. In addition, when decreasing the value of EPWM, the CPU 210 switches from the second start soot section to the first regeneration section when the value of EPWM reaches x3. At this time, the new EPWM value is x2, and the recovery rate of regenerative energy is decreased from y32 to y21.

  According to the example of FIG. 17D, when the regeneration period is short and the amount of energy to be regenerated is small, regeneration is performed in the first regeneration section centered on the zero cross point of the induced voltage generated in the electromagnetic coil 144, and the regeneration period is long. When the amount of energy is large, regeneration is performed in the second regeneration section centered on the maximum point of the induced voltage generated in the electromagnetic coil 144, so that the shift control motor unit 140 can be operated smoothly during regeneration. Further, when switching from the first regeneration mode to the second regeneration mode, the change in regenerative energy before and after the switching can be reduced, so that the electromechanical device can be operated smoothly during regeneration.

  As shown in FIGS. 17A to 17D, various patterns can be employed between the EPWM and the recovery rate of regenerative energy. Note that switching between the first regeneration section and the second regeneration section can be performed by the value of the regeneration section switching signal INV. 17B and 17D, when the first regeneration section and the second regeneration section overlap, either the first or second regeneration mode or regeneration section may be used.

  In the above description, regeneration of regenerative energy is considered from the value of EPWM, but conversely, a value of EPWM that switches between the first regeneration section and the second regeneration section may be considered from regenerative energy. For example, the CPU 210 regenerates energy in the second regeneration section when the recovery rate of regenerative energy is 100% to 50%, and the first when the recovery rate of regenerative energy is 50% to 0%. You may regenerate energy in the regeneration section.

  As described above, when the value of EPWM is small or when the recovery rate of regenerative energy is small, energy is regenerated by the first regeneration section, and when the value of EPWM is large or the recovery rate of regenerative energy. When the regenerative energy is regenerated in the second regenerative section, the jerky operation can be suppressed during the regenerative energy. Specific values of EPWM and the recovery rate of regenerative energy are examples. In each motor, various values can be adopted according to the characteristics. Moreover, you may regenerate energy in the whole area | region by the 1st regeneration area.

A3. Shift control operation of the power generator:
FIG. 18 is an explanatory diagram showing the relationship between the rotational speeds of the respective gears constituting the speed change mechanism 130. As shown in FIG. 18, the rotational speed of the rotor gear 1213 (also referred to as “input rotational speed”) as the sun gear of the speed change mechanism 130 (FIGS. 1 and 3) and the rotational speed of the planetary carrier 133 (“output rotational speed”). And the rotation speed of the ring gear 131 (also referred to as “control rotation speed”) is represented by a so-called “collinear diagram” and is connected by a straight line. In this relationship, the rotational speed of the rotor gear 1213 is Ns, the rotational speed of the ring gear 131 is Nr, the rotational speed of the planetary carrier is Nc, the number of gear teeth 121t of the rotor gear 1213 is ms, and the gear of the ring gear 131 is When the number of teeth of the tooth 131t is mr, it is expressed by the following equations (1) and (2). Ns, Nr, and Nc do not particularly define the rotation direction. However, in the following description, in the case of defining the rotation direction, the sign “+” is added for the clockwise direction, and the sign “−” is added for the counterclockwise direction.
Nc = Ns · (ms / (mr + ms)) + Nr · (mr / (mr + ms)) (1)
Nr = ((mr + ms) / ms) · (Nc−Ns · (ms / (mr + ms)) (2)

  As can be seen from the above equation (1), the rotational speed Nc of the planetary carrier 133 is determined by the rotational speed Ns of the rotor gear 1213 (hereinafter also referred to as “sun gear 1213”) as the sun gear and the rotational speed Nr of the ring gear 131. , Ms: mr linearly interpolated. Therefore, as described below, if the rotation of the sun gear 1213 is constant at the rotation speed Ns, the rotation of the planetary carrier 133 is controlled steplessly according to the rotation state of the ring gear 131. .

  When the rotation of the ring gear 131 is in a stopped state (Nr = 0), the relationship between the rotational speeds of the respective gears of the transmission mechanism unit 130 is a linear relationship indicated by a two-dot chain line in FIG. At this time, the rotation speed Nc of the planetary carrier 133 is reduced by the reduction speed K0 (= output / input = ms / (mr + ms)) of the rotation speed obtained from the above equation (1), that is, the rotation speed Ns of the sun gear 1213. Rotate clockwise with the number of rotations + Nc0 (= Ns · ms / (mr + ms)). That is, in this case, the rotation of the rotor 121 of the drive motor unit 120 is decelerated by the speed reduction mechanism unit 130 at the reduction ratio K0 and transmitted to the load connected to the load connection unit 136.

  Here, the rotation stop state of the ring gear 131 of the transmission mechanism unit 130 is generated in the ring gear 131 according to the rotational force transmitted from the sun gear (rotor gear) 1213 to the ring gear 131 via the planetary gear 132. This is realized by driving and controlling the shift control motor unit 140 such that a clockwise rotational force for canceling the counterclockwise rotational force is applied to the ring gear 131. Note that the control of the shift control motor unit 140 is executed by the drive circuit and the regeneration circuit as described above.

  When the ring gear 131 rotates at a rotation speed Nr = −Nrf (Nrf = Ns · ms / mr) counterclockwise, which is opposite to that of the sun gear 1213, the relationship between the rotation speeds of the respective gears of the transmission mechanism unit 130. Is a straight line relationship indicated by a thick solid line in FIG. At this time, the ring gear 131 rotates counterclockwise at the rotational speed Nr = −Nrf (= −Ns · (ms / mr) with respect to the clockwise rotation of the sun gear 1213 (the rotational speed Ns), and the planetary carrier. The rotation of 133 is stopped at the rotation speed Nc = 0, and in this case, the rotation of the rotor 121 of the drive motor unit 120 is not transmitted to the load connected to the load connection unit 136. Transmission is interrupted by the speed change mechanism unit 130. The rotation state of the ring gear 131 in a state where the rotation (output rotation) of the planetary carrier 133 is stopped is also referred to as a “free rotation state.” This free rotation state is realized by setting the regenerative control and drive control by the shift control motor unit 140 to be not executed.

  When the rotation of the ring gear 131 is in the counter-clockwise rotation at an arbitrary rotation speed −Nr1 between the free rotation state and the stop state, the rotation of each gear of the transmission mechanism unit 130 is performed. The number relationship is a straight line relationship indicated by a one-dot chain line in FIG. At this time, the rotational speed Nc of the planetary carrier 1330 is + Nc1 (= Ns · ms / (mr + ms) −Nr1 · mr / (mr + ms)) from the above equation (1), and according to the magnitude of the rotational speed −Nr1. It is an arbitrary value between 0 and + Nc0. That is, in this case, the rotation of the rotor 121 of the drive motor unit 120 is rotated by the speed change mechanism unit 130 after being decelerated to the number of rotations + Nc1 represented by the above equation (1) and connected to the load connection unit 136. Transmitted to the load. In order to set the rotational speed Nc of the planetary carrier 133 to an arbitrary rotational speed + Nc1 between 0 and + Nc0, the rotational speed Nr = −Nr1 (= ( (Mr + ms) / ms) · (Nc1−Ns · ms / (mr + ms)))), more specifically, the ring gear 131 will rotate counterclockwise at Nr = −Nrf. Accordingly, the rotation of the speed change control motor unit 140 that attempts to rotate clockwise may be braked counterclockwise by regenerative control.

  In the state where the rotational speed Nr of the ring gear 131 is rotating clockwise at an arbitrary rotational speed + Nr2, the relationship between the rotational speeds of the gears of the transmission mechanism 130 is the relationship between the straight lines indicated by the broken lines in FIG. Become. At this time, the rotational speed Nc of the planetary carrier 133 is + Nc2 (= Ns · ms / (mr + ms) + Nr2 · mr / (mr + ms)) from the above equation (1), which is equal to the rotational speed of the ring gear 131 + Nr2. Accordingly, it becomes an arbitrary value of + Nc0 or more. In this case, the rotation of the rotor 121 of the drive motor unit 120 is changed to the rotation of the rotation speed reduced by the reduction gear ratio K0 by the transmission mechanism unit 130, and the rotation of the ring gear 131 controlled by the drive of the transmission control motor unit 140 is changed. The rotation of the number of rotations reduced by the reduction ratio K1 (= mr / (mr + ms)) by the mechanism unit 130 is superimposed and transmitted to the load connected to the load connection unit 136. In order to set the rotational speed Nc of the planetary carrier 133 to an arbitrary rotational speed + Nc2, the rotational speed Nr = + Nr2 (= ((mr + ms) / ms) · ( Nc2−Ns · ms / (mr + ms))) may be driven in a counterclockwise direction so as to rotate clockwise.

  In the case where the rotation speed Nr of the ring gear 131 is rotating counterclockwise at an arbitrary rotation speed −Nr3 larger than the rotation speed −Nrf in the free rotation state, the rotation speed of each gear of the speed change mechanism unit 130 Is a straight line relationship shown by a solid line in FIG. The rotational speed Nc of the planetary carrier 133 is −Nc3 (= Ns · ms / (mr + ms) −Nr3 · mr / (mr + ms)) obtained from the above equation (1), and the rotational speed of the ring gear 131 is a large value −Nr3. Accordingly, the motor rotates counterclockwise at an arbitrary rotational speed larger than the rotational speed -Nrf. In this case, the ring gear 131 controlled by the drive of the speed change control motor part 140 rather than the rotational speed of the clockwise rotation obtained by reducing the rotation of the rotor 121 of the drive motor part 120 by the speed change mechanism part 130 at the reduction ratio K0. The counterclockwise rotation of the ring gear 131 is decelerated with a reduction ratio K1 (= mr / (mr + ms)), and the rotation speed corresponding to the counterclockwise rotation of the ring gear 131 is connected to the load connecting portion 136. Transmitted to the load. In order to set the rotation speed Nc of the planetary carrier 133 to the counterclockwise rotation speed −Nc3, the ring gear 131 has a rotation speed Nr = −Nr3 (= ((mr + ms) / ms) · (−Nc3−Ns · ms / (mr + ms))), more specifically, according to the counterclockwise rotation of the ring gear 131 at Nr = −Nrf. What is necessary is just to drive-control the rotation of the speed change control motor unit 140 so as to rotate clockwise as compared with the clockwise rotation.

  In the transmission mechanism unit 130, as described above, the rotation of the ring gear 131 is controlled by the transmission control motor unit 140, whereby the rotation of the rotor 121 of the drive motor unit 120, that is, the rotation (input) of the rotor gear 1213 as a sun gear. Rotation), the rotation (output rotation) of the planetary carrier 133 transmitted to the load connected to the load connecting portion 136 can be continuously changed in a stepless manner. It can be changed continuously and continuously.

  Here, for example, when the rotational speed Nc of the planetary carrier 133 is changed from 0 to + Nc0, the shift control motor unit 140 is regeneratively controlled so that the rotational speed Nr of the ring gear 131 is decelerated from -Nrf to 0. That's fine. However, if the regeneration section is set to a size that provides a regeneration amount corresponding to the load corresponding to the degree of deceleration, and regeneration is performed, sudden movement fluctuations will cause sudden movement fluctuations. The operation becomes jerky. Therefore, in this example, the regeneration control operation (FIGS. 14 to 17) described above is used. Specifically, first, in the initial stage of regeneration, the first regeneration mode is set, and even if the width of the regeneration section REP is changed, the change in the regeneration amount is small, and the first regeneration centered on the zero cross point of the induced voltage. Regeneration is performed in the section, and the regeneration amount is increased by gradually changing the width of the regeneration section REP. Thereafter, as the second regeneration mode, the regeneration is performed in the second regeneration section centered on the peak point of the induced voltage, and the regeneration amount is increased by gradually changing the width of the regeneration section REP. Perform regeneration. In this case, the width of the second regeneration section immediately after the switching is set smaller than the width of the first regeneration section immediately before the switching so that the difference in the regeneration amount before and after the switching does not occur. preferable. In particular, it is preferable to set the width of the second regeneration section immediately after switching so that the amount of energy regenerated before and after switching becomes the same value and continues. In addition, when the regeneration amount gradually decreases during the regeneration in the second regeneration mode, switching from the second regeneration mode to the first regeneration mode is performed. Good. In this case, the width of the first regeneration section immediately after the switching is set to be larger than the width of the second regeneration section immediately before the switching so that the difference in the regeneration amount before and after the switching does not occur. preferable. In particular, it is preferable to set the width of the first regeneration section immediately after switching so that the amount of energy regenerated before and after switching becomes the same value and continues.

  In the above description, the case where the rotation is decelerated by regeneration has been described as an example. However, in the case where the rotation is accelerated, the width of the excitation interval is gradually changed and the acceleration is smoothly accelerated. Is preferred.

  As described above, smooth load fluctuations can be realized, smooth shifting operation and torque change can be realized, and the operation can be prevented from becoming jerky.

A4. effect:
In a normal motor, in order to improve the response of the motor, it is preferable to reduce the diameter of the rotor, reduce its inertia (motor inertia), and improve the inertia characteristics. On the other hand, in the drive motor unit 120 of the present embodiment, the diameter of the rotor 121 is enlarged to the extent that the speed change mechanism unit 130 can be accommodated, and the motor inertia is increased. However, even if the inventor of the present invention increases the diameter of the rotor 121 and increases the motor inertia as in the present embodiment, a decrease in transient response to the control of the power generation device 100 is suppressed. I found out. The reason for this is as follows.

  That is, in the power generation device 100 of the present embodiment, the torque generated in the drive motor unit 120 is increased with the increase in the diameter of the rotor 121. At the start of rotation of the rotor 121 and at the time of switching the rotation direction, The torque transmitted to the speed change mechanism 130 is increased. Therefore, in the power generation device 100, the speed change mechanism portion 130 can be made to immediately follow the change in the rotation of the drive motor portion 120, and a decrease in transient response of the power generation device 100 is suppressed. That is, in the power generation device 100, the decrease in the inertia characteristic in the drive motor unit 120 is compensated by the improvement in the torque characteristic accompanying the increase in the diameter of the rotor 121.

  As described above, in the power generation device 100 according to the present embodiment, the sun gear (rotor gear 1213) is integrally provided on the rotor 121, and the planetary gear 132, the ring gear 131, and the recess 1212 provided on the rotor 121 are provided. Is housed. Further, the permanent magnet 143 is provided on the outer periphery of the ring carrier 1312 provided integrally with the ring gear 131, the ring carrier 1312 is used as the rotor 141, and the electromagnetic coil 144 disposed on the outer periphery thereof is used as the stator. A shift control motor unit 140 for controlling the rotation is integrally provided in the ring gear 131. That is, the power generation device 100 has a configuration in which a drive mechanism, a transmission mechanism, and a transmission control mechanism are integrated in a compact manner. Therefore, when this power generation device 100 is used, the entire device can be reduced in size and weight. Further, in the power generation device 100 according to the present embodiment, it is possible to continuously and smoothly realize a speed change operation in a stepless manner, and accordingly, a torque transmission amount is continuously and smoothly changed in a stepless manner. It is possible.

A5. Other configuration examples:
FIG. 19 is a schematic cross-sectional view showing a configuration of a power generation device 100A as another configuration example of the first reference embodiment. This power generation device 100A is substantially the same as FIG. 1 except that heat exchange fins 160 are provided. The heat exchange fins 160 are provided on the outer surface of the casing part 122 a that covers the drive motor part 120 and the transmission control motor part 140. Accordingly, heat generated by the coil current in the electromagnetic coil 124 of the drive motor unit 120 and the electromagnetic coil 144 of the transmission control motor unit 140 can be efficiently cooled, and the output torque of the drive motor unit 120 and the transmission control motor unit 140 can be reduced. Can be increased. The heat exchange fin 160 and the coil back yokes 128 and 148 for the electromagnetic coils 124 and 144 may be disposed so as to be in direct contact with each other. Thereby, the heat dissipation effect with respect to the heat_generation | fever of the electromagnetic coils 124 and 144 can be improved. Instead of the heat exchange fin 160, a refrigerant jacket may be attached to the outer periphery of the casing portion 122a.

  FIG. 20 is a schematic cross-sectional view showing a configuration of a power generation device 100B as another configuration example of the first reference embodiment. This power generation device 100B includes a control circuit 200B including a control unit 200 (FIG. 4) provided outside, and a communication unit (not shown) that performs communication between the CPU 210 of the control unit 200 and the outside. 1 is substantially the same as FIG. 1 except that the casing portion 122aB is provided inside the casing portion 122aB. In this configuration example, the power generation device 100B can be driven by the control circuit 200B in accordance with a command command transmitted from the outside.

B. Second reference form:
FIG. 21 is a schematic cross-sectional view showing an internal configuration of a power generating device 100D as a second reference embodiment, and FIG. 22 is a schematic disassembling showing each component of the power generating device 100D as a second reference embodiment. It is sectional drawing. The power generation device 100D has a configuration in which a speed change mechanism using a cyclo mechanism, a drive mechanism, and a speed change control mechanism for controlling the speed change mechanism are integrated. The power generation device 100D is different from the power generation device 100 (FIGS. 1 and 2) of the first reference embodiment in the following points. That is, the power generation device 100D includes a cyclo mechanism as the speed change mechanism portion 130D in the recess 1212 of the rotor 121. The cyclomechanism combines two mechanisms: an internal planetary gear mechanism that uses an arc tooth profile for the internal gear and an epitrochoid parallel curve for the planetary gear, and a constant speed internal gear mechanism that uses an internal gear with an arc tooth profile. A transmission mechanism.

  FIG. 23 is an explanatory view schematically showing a cyclo mechanism. The cyclomechanism includes eccentric bodies 180 and 185, a curved plate (equivalent to the planetary gear of the inscribed planetary gear mechanism and the planetary gear of the constant speed internal gear mechanism) 181 and the outer pin (the inner gear of the inscribed planetary gear mechanism). 182), an internal pin (corresponding to an internal gear of a constant speed internal gear mechanism) 183, and a bearing 1814. The curved plate 181 has a substantially disk shape, has a center hole 1810 at the center, and has eight inner pin holes 1811 around the center hole 1810. The inner pin holes 1811 are arranged at intervals of 45 degrees on the circumference. The outer periphery of the curved plate 181 has an epitrochoid parallel line shape. In this reference embodiment, the number of peaks of the epitrochoid parallel line shape is nine, and the epitrochoid parallel line shape overlaps when rotated 40 degrees. In this reference embodiment, as shown in FIG. 21, the cyclo mechanism includes two curved plates 181 that are shifted by 180 degrees. As a result, the epitrochoid parallel line-shaped convex part of one curved plate 181 is located in the epitrochoid parallel line-shaped concave part of the other curved plate 181. In FIG. 23, only one curved plate 181 is shown because the drawing is difficult to see.

  The outer pin 182 is a member having a substantially circular shape on the curved plate 181 side. The outer pin 182 may be a cylindrical bar. In the present embodiment, there are ten outer pins 182 that are arranged on the circumference at intervals of 36 degrees. Further, the outer pin 182 is disposed so as to be in contact with the outer periphery of the curved plate 181. Here, when the outer pin 1821 of the outer pins 182 is in contact with the apex of the convex portion of the epitrochoid parallel line shape of the curved plate 181, the outer pin 1822 at the symmetrical position of the outer pin 1821 is It is in contact with the bottom of the recess of the epitrochoid parallel line shape. 20 and 21, the outer pin 1822 and the curved plate 181 are illustrated as contact with each other as unevenness of gear teeth.

  The inner pin 183 is a cylindrical bar. The inner pins 183 have the same number (eight) as the number of inner pin holes 1811, and are arranged at intervals of 45 degrees on the circumference. The inner pin 183 is thinner than the inner pin hole 1811, and the inner pin 183 is inserted into the inner pin hole 1811. The circumference where the inner pin 183 is arranged and the circumference where the inner pin hole 1811 is arranged are the same size.

  The eccentric bodies 180 and 185 each have a cylindrical shape. The center 1801 of the eccentric body 180 is shifted from the rotation center 1802 of the eccentric body 180. The center 1851 of the eccentric body 185 is offset from the rotation center 1852 of the eccentric body 185. The rotation center 1802 of the eccentric body 180 and the rotation center 1852 of the eccentric body 185 are the same point (axis). The rotational center 1802 of the eccentric body 180 (the rotational center 1852 of the eccentric body 185) is located at the center of gravity of the center 1801 of the eccentric body 180 and the center 1851 of the eccentric body 185. The thicknesses of the eccentric bodies 180 and 185 are formed thinner than the size of the center hole 1810 and are inserted into the center hole 1810. Between the center hole 1810 and the eccentric bodies 180 and 185, a bearing 1814 for smoothing the contact between the center hole 1810 and the eccentric bodies 180 and 185 is disposed. The eccentric bodies 180 and 185 are in contact with a bearing 1814 disposed in the center hole 1810 on the side opposite to the rotation centers 1802 and 1852 when viewed from the center 1801. This point is called contact point 1803, 1853.

  Returning to FIG. 21, the connection relationship of the cyclo mechanism in the second reference embodiment will be described. In the second reference form, the eccentric bodies 180 and 185 are formed integrally with the rotor 121. The outer pin 182 is formed integrally with a substantially cylindrical outer pin carrier 1822. The inner pin 183 is formed integrally with the substantially cylindrical inner pin carrier 133D. That is, the eccentric body 180 is a rotation input unit, the outer pin 182 is a rotation control unit, and the inner pin 183 is a rotation output unit. More specifically, the outer pin as the rotation control unit may include an outer pin carrier. Similarly, the inner pin as the rotation output unit may include an inner pin carrier. The outer pin carrier 1822 is arranged on the outer periphery of the inner pin carrier 133D.

  A bearing portion 135 is arranged between the outer peripheral surface of the inner pin carrier 133D and the inner peripheral surface of the outer pin carrier 1822, as in the power generation device 100 (FIGS. 1 and 2) of the first reference embodiment. The load connecting portion 136 is held and fixed. In addition, a permanent magnet 143 and a magnet back yoke 145 are arranged on the outer peripheral surface of the outer pin carrier 1822 in the same manner as the ring carrier 1312 of the power generation device 100 of the first reference embodiment. That is, the outer pin carrier 1822 becomes the rotor 141D of the transmission control motor unit 140D in the second reference form.

  Hereinafter, the operation of the transmission mechanism unit 130D will be described. First, for ease of explanation, it is assumed that the rotor 141D of the shift control motor unit 140D is stopped without rotating. When the rotor 121 (FIG. 21) rotates, the eccentric body 180 also rotates. At this time, the eccentric body 180 rotates around the rotation center 1802. For example, it is assumed that the eccentric body 180 rotates clockwise as shown in FIG. At this time, the position of the contact point 1803 also rotates clockwise. Then, the curved plate 181 receives a force from the eccentric body 180 via the bearing 1814, revolves counterclockwise along the circumference where the outer pin 182 is disposed, and rotates. When the curved plate 181 rotates, the position of the inner pin hole 1811 revolves. When the inner pin hole 1811 revolves, the inner pin 183 pushes the inner pin 183, so that the inner pin 183 revolves along the circumference where the inner pin 183 is arranged, and the inner pin carrier 133D is centered on the central axis 110 corresponding to this. Will rotate. When the rotor 141D, that is, the outer pin carrier 1822 stops and the outer pin 182 does not rotate, the curved plate 181 rotates 1/9 when the eccentric body 180 rotates once. For example, assuming that the number of projections of the epitrochoid parallel line shape of the curved plate 181 is n and the number of outer pins is (n + 1), the curved plate 181 rotates 1 / n when the eccentric body 180 makes one revolution. Therefore, a very large reduction ratio can be obtained. Further, since the sliding contact is converted into the rolling contact by the outer pin 182, the mechanical loss is very small, and extremely high gear efficiency can be obtained.

  In the above description, the rotor 141D of the speed change control motor 140D has been described as being stopped without rotating, but the rotor 141D can be rotated by drivingly controlling the speed change control motor 140D. Here, since the outer pin 182 is fixed to the outer pin carrier 1822 which is the rotor 141D, the outer pin 182 is rotated around the central axis 110 according to the drive control of the speed change control motor unit 140D. When the outer pin 182 rotates, the amount of rotation of the curved plate 181 is controlled. Therefore, the revolution of the inner pin 183, that is, the rotation of the inner pin carrier 133D is also controlled. That is, the speed change mechanism part 130D of the second reference form is also continuously and continuously rotating (output rotation) of the inner pin carrier 133D by the speed change control motor part 140D, similarly to the speed change mechanism part 130 of the first reference form. The torque can be changed smoothly, and accordingly, the torque with respect to the load can be changed continuously and smoothly.

  As described above, in the power generation device 100D of the second reference embodiment, similarly to the power generation device 100 of the first reference embodiment, the drive mechanism, the transmission mechanism, and the transmission control mechanism are integrated in a compact manner. have. Therefore, when this power generation device 100D is used, the entire device can be reduced in size and weight. In addition, it is possible to continuously and smoothly realize a speed change operation in a stepless manner, and accordingly, it is possible to change a torque transmission amount continuously and smoothly in a stepless manner.

C. Third reference form:
FIG. 24 is a schematic cross-sectional view showing a configuration of a power generation device 100E as a third reference embodiment. In the power generation device 100 described in the first reference embodiment, the drive motor unit 120 and the speed change control motor unit 140 are configured by a radial gap type motor. However, in the power generation device 100E of the third reference mode, the drive motor unit 120E. The transmission control motor unit 140E is different from that of the axial gap type motor. The drive motor unit 120E includes a permanent magnet 123 and an electromagnetic coil group 1240. Similarly, the shift control motor unit 140E includes a permanent magnet 143 and an electromagnetic coil group 1440. Since the configuration and operation of the drive motor unit 120E and the shift control motor unit 140E are basically the same, the drive motor unit 120E will be described below as an example.

  FIG. 25 is an explanatory diagram showing a configuration of a permanent magnet and an electromagnetic coil group. FIG. 25A is an explanatory diagram showing a configuration of a permanent magnet. The permanent magnet 123 is configured by arranging a plurality of sector-shaped permanent magnets 1231 in a disk shape. The direction of the magnetic flux of each permanent magnet 1231 is the normal direction of the disk shape. There are two permanent magnets 123 and sandwich the electromagnetic coil group 1240.

  FIG. 25B is an explanatory diagram illustrating a part of a cross-sectional view of the electromagnetic coil group. The electromagnetic coil group 1240 includes an A-phase electromagnetic coil 1240A, a B-phase electromagnetic coil 1240B, and a circuit board 1241. The circuit board 1241 is disposed so as to be sandwiched between the A-phase electromagnetic coil 1240A and the B-phase electromagnetic coil 1240B. The A-phase electromagnetic coil 1240A and the B-phase electromagnetic coil 1240B are arranged so as to face the permanent magnet 123, respectively.

  FIG. 25C is an explanatory diagram showing a part of a plan view of the A-phase electromagnetic coil. FIG. 25D is an explanatory diagram showing a part of a plan view of the B-phase electromagnetic coil. Since the A-phase electromagnetic coil 1240A and the B-phase electromagnetic coil 1240B have the same structure, the A-phase electromagnetic coil 1240A will be described as an example. The A-phase electromagnetic coil 1240A includes a plurality of electromagnetic coils 1242A. Each electromagnetic coil 1242A is wound in a fan shape and arranged in a disk shape. The electromagnetic coil 1242A and the B-phase electromagnetic coil 1242B are arranged so as to be shifted by an electrical angle of π / 2. A magnetic sensor 126B for detecting the magnetic flux of the permanent magnet 123 is disposed in one of the electromagnetic coils 1242A. The output of the magnetic sensor 126B is used to drive and control the electromagnetic coil 1242A. Similarly, a magnetic sensor 126A for detecting the magnetic flux of the permanent magnet 123 is disposed in one of the electromagnetic coils 1242B, and the output of the magnetic sensor 126A is used to drive and control the electromagnetic coil 1242B. It is done.

  Thus, the power generation device can use an axial gap type motor as well as a radial gap type motor as the drive motor unit and the shift control motor unit. In addition, either the drive motor unit or the shift control motor unit may be a radial gap type motor, and the other may be an axial gap type motor. Further, the power generation device 100E of the third reference embodiment includes the speed change mechanism unit 130 using the planetary gear mechanism, as in the power generation device 100 of the first reference embodiment. You may make it provide the transmission mechanism part 130D which employ | adopted the mechanism.

D. Fourth reference form:
FIG. 26 is a schematic cross-sectional view showing a configuration of a power generation device 100F as a fourth reference embodiment. FIG. 27 is an explanatory diagram showing an example of the configuration of the encoder. The power generation device 100F of the fourth reference form includes an encoder 190 in addition to the power generation device 100 of the first reference form. The encoder 190 includes a light emitting unit 191, a light receiving unit 192, a reflecting plate 193, and an encoder circuit 194. The light emitting unit 191, the light receiving unit 192, and the encoder circuit 194 are arranged on the stator (casing unit 122 a F), and the reflecting plate 193 is arranged on the rotor 121. The light emitted from the light emitting unit 191 is reflected by the reflecting plate 193 and detected by the light receiving unit 192. Here, the encoder 190 includes a plurality of rows of reflection plates 193 along the circumference in the rotation direction, and the reflected light from the reflection plates 193 in each row indicates a binary number. The decimal number is configured to increase or decrease. By configuring the reflector 193 in this way, the encoder circuit 194 can accurately determine the rotational position of the rotor 121.

  In this reference embodiment, the case where the encoder 190 is provided to determine the rotational position of the rotor 121 of the drive motor unit 120 has been described as an example. Similarly, the rotational position of the rotor 141 of the transmission control motor unit 140 is determined. For this purpose, an encoder may be provided.

E. 5th reference form:
FIG. 28 is a schematic cross-sectional view showing an internal configuration of a power generation device 100G as a fifth reference embodiment. The power generation device 100G has a configuration in which a magnetic transmission mechanism using a magnetic reduction mechanism, a drive mechanism, and a transmission control mechanism that controls the transmission mechanism are integrated. The power generating device 100G is different from the power generating device 100 (FIG. 1) of the first reference embodiment in the following points. That is, this power generation device 100G includes a magnetic speed change mechanism using a magnetic speed reduction mechanism as the speed change mechanism portion 130G in the recess 1212 of the rotor 121 of the drive motor portion 120.

  FIG. 29 is an explanatory view schematically showing a magnetic transmission mechanism. The magnetic speed change mechanism includes a cylindrical first magnetic speed change rotor 1213 provided around the central shaft 110, and a cylindrical second magnetic speed change rotor 131G provided on the outer periphery of the first magnetic speed change rotor 1213. . The first magnetic transmission rotor 1213 is a partition wall of the rotor 121 of the drive motor unit 120, and the rotational motion by the drive motor unit 120 is directly transmitted. The second magnetic transmission rotor 131G is formed integrally with the rotor 141 of the transmission control motor unit 140 on the side surface side, and the rotational motion of the transmission control motor unit 140 is transmitted thereto.

  The first magnetic transmission rotor 1213 is magnetized in the radial direction on the outer peripheral surface thereof, and the permanent magnets 177 (N) having N poles on the outer peripheral side and the permanent magnets 177 (S) having S poles on the outer peripheral side are alternately arranged. SPM type rotor. Similarly, the second magnetic transmission rotor 131G is magnetized radially on its inner peripheral surface, with an N-pole permanent magnet 171 (N) on the inner peripheral side and an S-pole permanent magnet 171 (S) on the outer peripheral side. Are SPM type rotors arranged alternately. The number of poles of the permanent magnets arranged on the rotor is defined as one pole of N poles and S poles, and the pole number N1 of the first magnetic transmission rotor 1213 is N1 = 2 is set. Similarly, the number of poles N2 of the permanent magnets arranged on the second roller 131G is set to N2 = 20.

Between the permanent magnets 177 (177S, 177N) arranged on the outer circumference of the first magnetic transmission rotor 1213 and the permanent magnets 171 (171S, 171N) arranged on the inner circumference of the second magnetic transmission rotor 131G The magnetic pole pieces 175 are arranged in a cylindrical shape at regular intervals, and are fixed to the carrier 133G. The carrier 133G is disposed on the inner periphery of the rotor 141 of the transmission control motor unit 140 so as to be rotatable around the central shaft 110 via the bearing unit 112. A load connection unit 136 is connected to the carrier 133G.
The pole piece 175 is formed of a soft steel laminated steel plate. The number Np of the pole pieces 175 is set to Np = N2 ± N1. In the case of + N1, in the basic operation described later, the rotation direction of the second magnetic transmission rotor is the same as the rotation direction of the first magnetic transmission rotor. In the case of −N1, the reverse direction is set. Is the case. In this example, Np = 22 is set, and the rotation is set in the same direction in the basic operation.

  As can be seen from the above description, in the transmission mechanism unit 130G, the first magnetic transmission rotor 1213 is a rotation input unit, the second magnetic transmission rotor 131G is a rotation control unit, and the magnetic poles designated by the carrier 133G. A piece 175 is a rotation output unit. Hereinafter, the carrier 133G will be described as a rotation output unit.

  First, as a premise for explaining the operation of the magnetic speed change mechanism in the present embodiment, as shown in FIG. 29A, the magnetic speed reduction mechanism in the case where the carrier 133G is fixed and the positions of the plurality of magnetic pole pieces 75 are fixed. Will be described. In this case, the magnetic pole piece 175 is magnetized in accordance with the magnetic poles of the permanent magnets 177 arranged in the first magnetic transmission rotor 1213 as the input rotor. For example, the pole piece 175 adjacent to the N-pole permanent magnet 177 (N) is magnetized N → S in the radial direction, and the pole piece 175 adjacent to the S-pole permanent magnet 177 (S) is It is magnetized S → N in the radial direction. An attractive action and a repulsive action are generated between the magnetic field generated by the magnetized magnetic pole pieces 175 and the permanent magnets 171 arranged in the second magnetic transmission rotor 131G, and torque is applied to the second magnetic transmission rotor 131G. Occurs, and the second magnetic transmission rotor 131G rotates. Since the first magnetic transmission rotor 1213 is rotating, the magnetization state of the pole piece 175 changes accordingly, and the rotation amount of the second magnetic transmission rotor 131G is controlled accordingly. Will be. As a result, the rotation amount of the second magnetic transmission rotor 131G as the output rotor is subjected to deceleration control with respect to the rotation amount of the first magnetic transmission rotor 1213 as the input rotor. In this case, the ratio (reduction ratio) G of the rotational speed of the second magnetic transmission rotor 131G as the output rotor to the rotational speed of the first magnetic transmission rotor 1213 as the input rotor is the same as that of the first magnetic transmission rotor. It is represented by the ratio of the number of poles N2 of the second magnetic transmission rotor to the number of poles N1. In this example, since N1 = 2 and N2 = 20, the reduction ratio G is 10.

  In the speed change mechanism 130G of the present embodiment using the magnetic speed change mechanism, as shown in FIG. 29B, the second magnetic speed change is performed by controlling the rotation of the rotor 141 (1312) of the speed change control motor section 140. The rotation of the rotor 131G can be changed. At this time, as described above, the control rotor (rotation control unit) is set so that the rotation speed is reduced by the reduction ratio G with respect to the rotation speed of the first magnetic transmission rotor 1213 as the input rotor (rotation input unit). When the rotation of the second magnetic transmission rotor 131G is controlled, the carrier 133G as an output rotor (rotation output unit) is fixed without rotating. On the other hand, by increasing / decreasing the rotation speed of the control rotor 131G, the carrier 133G as the output rotor can change the first rotation speed as the input rotor according to the increase / decrease in the rotation speed of the second magnetic transmission rotor 131G as the control rotor. The amount of rotation can be changed while rotating in the same direction or in the opposite direction to that of one magnetic transmission rotor 1213. Therefore, by controlling the rotation of the second magnetic speed change rotor 131G as the control rotor, the rotation speed of the carrier 133G as the output rotor is set to the rotation speed of the first magnetic speed change rotor 1213 as the input rotor. It is possible to change the speed step by step, that is, to change the speed steplessly.

  In the present embodiment, the magnetic speed change mechanism using the SPM type rotor has been described as an example. However, a magnetic speed change mechanism using an HB type (Hybrid Type) rotor may be used. The HB type rotor uses a magnet magnetized in the axial direction, and the magnetic pole side is sandwiched between two gear iron cores so that the concavity and convexity of the teeth on the N pole side and the teeth on the S pole side are reversed. It is a rotor of structure.

F. Embodiment:
FIG. 30 is a schematic cross-sectional view showing an internal configuration of a power generation device 100H as an embodiment. The power generation device 100H of the present embodiment has the same configuration as that of the power generation device 100 (FIG. 1) of the first reference embodiment except for the following points. That is, in the power generation device 100H, the cross roller bearing 137 is disposed between the inner wall surface of the opening 1222 of the casing portion 122b and the load connection portion 136. The cross roller bearing 137 includes an outer ring 1371, an inner ring 1372, and a cylindrical roller 1373. The outer ring 1371 of the cross roller bearing 137 is fixed to the casing part 122 b, and the inner ring 1372 is fixed to the load connection part 136.

  FIG. 31 is an explanatory view showing a configuration of a cross roller bearing. The cross roller bearing 137 includes an outer ring 1371, an inner ring 1372, and a cylindrical roller (corresponding to a roller) 1373. The outer ring 1371 and the inner ring 1372 have 90 ° V-grooves 1371a and 1372a, respectively. Cylindrical rollers 1373 have a cylindrical shape with the same diameter and height, and are alternately arranged at 90 ° in the V-grooves 1371a and 1372a. By adopting such a configuration, the contact between the outer ring 1371, the inner ring 1372, and the cylindrical roller 1373 is not a point but a line, so that a strong rotational force can be transmitted and a large load can be endured. Become. In addition, it is strong against any of the bending force of the shaft (bending moment load), the radial force of the shaft (radial load), and the axial thrust force (load in the longitudinal direction of the shaft), and realizes high rigidity. Is possible.

  As can be seen from the above description, the cross roller bearing is provided with rollers between the inner ring (inner ring) and the outer ring (outer ring), and each roller is in line contact with the surface of the raceway (race). In addition, the bearings are arranged so as to cross each other at an angle of 90 ° C., and have a structure having high rigidity against loads from various directions such as a radial direction, a thrust direction, and a moment.

  Also in the power generation device 100H of the present embodiment, similarly to the power generation device 100 of the first reference embodiment, it is possible to reduce the size and weight of the entire device to which this is applied. In addition, it is possible to continuously and smoothly realize a speed change operation in a stepless manner, and accordingly, it is possible to change a torque transmission amount continuously and smoothly in a stepless manner.

  In addition, the power generation device 100 </ b> H of the present embodiment includes a cross roller bearing 137 between the inner wall surface of the opening 1222 and the load connection portion 133. Therefore, the power generation device 100H of the present embodiment can withstand a large load. Furthermore, high rigidity can be realized in any of the bending force of the shaft (bending moment load), the radial force of the shaft (radial load), and the axial thrust force (load in the longitudinal direction of the shaft). It becomes possible.

  In addition, although this embodiment demonstrates to the structure provided with the cross roller bearing 137 between the inner wall surface of the opening 1222 of the power generator 100 of 1st reference form, and the load connection part 133 as an example, Similarly, the power generation apparatuses 100B to 100G of other reference forms can be configured to include cross roller bearings.

G. Variations:
(1) Modification 1
In the reference form and the embodiment, in the initial stage of regeneration, the first regeneration mode is set, and the first variation centering on the zero-cross point of the induced voltage, in which the variation in the regeneration amount is small even when the width of the regeneration section REP is changed. Regeneration is performed in the regeneration section and the regeneration amount is gradually increased, and then regeneration is performed in the second regeneration section so that regeneration is performed in the second regeneration section centered on the peak point of the induced voltage. Although the case has been described as an example, in the first regeneration mode, the regeneration amount is changed by changing the width of the regeneration interval REP between 0 to 100% in the first regeneration mode without switching to the second regeneration mode. May be.

(2) Modification 2
In the above reference embodiment and embodiment, the sun gear of the planetary gear mechanism, the eccentric body of the cyclomechanism, and the first magnetic transmission rotor of the magnetic transmission mechanism are connected to the rotor of the drive motor unit as the rotation input unit, and the planetary gear mechanism planetary The carrier, the inner pin carrier of the cyclomechanism, and the carrier on which the magnetic pole piece of the magnetic speed change mechanism is supported are connected to the load connecting portion as the rotation output portion. .

(3) Modification 3
In the reference embodiment and the embodiment described above, the power generation device transmits the rotational driving force generated by the drive motor unit to the external load. However, the power generation device may function as a power generation device that generates electric power in the drive motor unit by the rotational driving force transmitted from the external load. Thus, the present invention is not limited to the power generation device having the drive mechanism, the transmission mechanism, and the transmission control mechanism, and may be applied to a power generation device having the power generation mechanism, the transmission mechanism, and the transmission control mechanism. The present invention can be applied to an electromechanical device having an electromechanical mechanism that converts power and electric power, a transmission mechanism, and a transmission control mechanism.

(4) Modification 4
The power generation device of the present invention described in the above reference embodiment and embodiment can be applied as an electric mobile body, an electric mobile robot, or a drive device for a medical device as described below.

  FIG. 32 is an explanatory diagram showing an electric bicycle (electric assist bicycle) that is an example of a moving body using a power generation device. In this bicycle 3300, the power generation device 3310 of the present invention is provided on the front wheel, and a control circuit 3320 and a rechargeable battery 3330 are provided on a frame below the saddle. The power generation device 3310 assists traveling by driving the front wheels using the electric power from the rechargeable battery 3330. In addition, the electric power regenerated by the power generation device 3310 is charged to the rechargeable battery 3330 during braking. The control circuit 3320 is a circuit that controls the speed change of the speed change mechanism by controlling the drive and regeneration of the drive motor unit of the power generation device 3310 and the drive and regeneration of the speed change control motor unit.

  FIG. 33 is an explanatory diagram showing an example of a robot using a power generation device. The robot 3400 includes first and second arms 3410 and 3420 and a power generation device 3430. The power generation device 3430 is used when the second arm 3420 as a driven member is rotated horizontally.

  FIG. 34 is an explanatory diagram showing an example of a double-armed seven-axis robot using a power generation device. The double-arm 7-axis robot 3450 includes a joint motor 3460, a gripper motor 3470, an arm 3480, and a gripper 3490. The joint motor 3460 is disposed at a position corresponding to a shoulder joint, an elbow joint, and a wrist joint. The joint motor 3460 includes two motors for each joint in order to move the arm 3480 and the grip portion 3490 in a three-dimensional manner. In addition, the gripper motor 3470 opens and closes the gripper 3490 and causes the gripper 3490 to grip an object. In the double-arm 7-axis robot 3450, the above-described power generation device can be used as the joint motor 3460 or the gripping motor 3470.

  FIG. 35 is an explanatory diagram illustrating an example of a vertical articulated robot using a power generation device. As shown in FIG. 35, the vertical articulated robot 3640 includes a main body portion 3641, an arm portion 3642, a robot hand 3645, and the like. The main body 3641 is fixed on, for example, a floor, a wall, a ceiling, or a movable carriage. The arm portion 3642 is provided movably with respect to the main body portion 3641. The main body portion 3641 has a drive unit (not shown) that generates power for rotating the arm unit 3642, and a control unit that controls the drive unit. Etc. are built-in. As the drive unit, the power generation device described above can be used.

  The arm portion 3642 includes a first frame 3642a, a second frame 3642b, a third frame 3642c, a fourth frame 3642d, and a fifth frame 3642e. The first frame 3642a is connected to the main body 3641 so as to be rotatable or refractable via a rotational refraction axis. The second frame 3642b is connected to the first frame 3642a and the third frame 3642c via a rotational refraction axis. The third frame 3642c is connected to the second frame 3642b and the fourth frame 3642d via a rotational refraction axis. The fourth frame 3642d is connected to the third frame 3642c and the fifth frame 3642e via the rotational refraction axis. The fifth frame 3642e is connected to the fourth frame 3642d via the rotational refraction axis. The arm portion 3642 is configured such that each frame 3642a to 3642e moves by being rotated or refracted around each rotational refraction axis under the control of a control portion (not shown).

  A hand connection portion 3634 is connected to the side of the arm portion 3642 opposite to the side on which the fourth frame 3642d is provided in the fifth frame 3642e, and a robot hand 3645 is attached to the hand connection portion 3634.

  The robot hand 3645 includes a base 3645a and a finger 3645b connected to the base 3645a. The various power generation devices described above are incorporated in the connection portion between the base portion 3645a and the finger portion 3645b and each joint portion of the finger portion 3645b. When the power generation device is driven, the finger portion 3645b is bent and the object can be gripped. This power generation device is an ultra-small motor, and can realize a robot hand 3645 that reliably holds an object while being small. Accordingly, it is possible to provide a highly versatile robot that can perform a complex operation using the small and lightweight robot hand 3645.

  FIG. 36 is an explanatory diagram showing an example of a robot with a double-arm caster using a power generation device. As shown in FIG. 36, the robot 3762 with a double-arm caster includes a vehicle body portion 3763. The vehicle body portion 3763 includes a vehicle body main body 3763a, and four wheels 3763b are installed on the ground side of the vehicle body main body 3763a. The vehicle body 3763a has a built-in rotation mechanism that drives the wheels 3763b. Further, a control unit 3764 for controlling the posture and operation of the robot 3762 is built in the vehicle body 3766a.

  A main body rotating portion 3765 and a main body portion 3766 are stacked on the vehicle body main body 3766a in this order. The main body rotation unit 3765 is provided with a rotation mechanism that rotates the main body unit 3766. The main body 3766 rotates about the vertical direction as the center of rotation. A pair of imaging devices 3767 is installed on the main body 3766, and the imaging device 3767 images the periphery of the robot 3762 with a double-arm caster. Then, the distance between the photographed object and the imaging device 3767 can be detected.

  A left arm portion 3768 and a right arm portion 3769 are installed on two opposing surfaces of the side surface of the main body portion 3766. Each of the left arm portion 3768 and the right arm portion 3769 includes an upper arm portion 3770, a lower arm portion 3771, and a hand portion 3772 as movable portions. The upper arm portion 3770, the lower arm portion 3771, and the hand portion 3772 are connected so as to be rotatable or bendable. The main body 3766 includes a rotation mechanism 3773 that rotates the upper arm 3770 with respect to the main body 3766. The upper arm portion 3770 includes a rotation mechanism 3773 that rotates the lower arm portion 3771 with respect to the upper arm portion 3770. The lower arm portion 3771 includes a rotation mechanism 3773 that rotates the hand portion 3772 with respect to the lower arm portion 3771. Further, the lower arm portion 3771 incorporates a rotation mechanism 3773 that twists with the longitudinal direction of the lower arm portion 3771 as the rotation axis.

  The hand portion 3772 includes a hand main body 3772a and a gripping portion 3772b as a pair of plate-like movable portions located at the tip of the hand main body 3772a. The hand main body 3772a incorporates a linear motion mechanism 3774 that moves the gripping portion 3772b to change the interval between the gripping portions 3772b. The hand portion 3772 can grip an object to be gripped by opening and closing the grip portion 3772b.

  The rotation mechanism 3773 and the linear motion mechanism 3774 are provided with the power generation device described above. Therefore, the rotation mechanism 3773 can smoothly change the rotation direction without rattling even when the rotation direction is reversed. The linear motion mechanism 3774 can smoothly change the movement direction without rattling even when the movement direction is reversed. Therefore, the robot 3762 with a double arm caster can move the left arm portion 3768 and the right arm portion 3769 with high positional accuracy.

  Further, the rotating mechanism that rotates the wheel 3763b and the rotating mechanism that rotates the main body 3766 include the power generation device described above. Therefore, the robot 3762 with a two-arm caster can be rotated without rattling even when the traveling direction is changed. And the robot 3762 with a double-arm caster can be rotated without rattling even when the rotation direction of the main body 3766 is changed.

  FIG. 37 is an explanatory diagram showing a railway vehicle using a power generation device. The railway vehicle 3500 includes a power generation device 3510 and wheels 3520. This power generation device 3510 drives wheels 3520. Furthermore, the power generation device 3510 is used as a generator when the railway vehicle 3500 is braked, and electric power is regenerated.

  The present invention is not limited to the above-described embodiments, reference forms, examples, and modifications, and can be realized with various configurations without departing from the spirit thereof. For example, the technical features in the embodiments, examples, and modifications corresponding to the technical features in each embodiment described in the summary section of the invention are to solve some or all of the above-described problems, or In order to achieve part or all of the above-described effects, replacement or combination can be performed as appropriate. Further, if the technical feature is not described as essential in the present specification, it can be deleted as appropriate.

25 ... conductive wire bundle 100 ... power generator 100A ... power generator 100B ... power generator 100D ... power generator 100E ... power generator 100F ... power generator 100G ... power generator 100H ... power generator 110 ... central shaft 111 ... Through hole 112 ... Bearing portion 113 ... Bearing ring 114 ... Fixing bolt 115 ... Spacer 120 ... Drive motor portion 120E ... Drive motor portion 121 ... Rotor 121t ... Gear teeth 122 ... Casing 122a, 122b ... Casing portion 122aB ... Casing portion 122aF ... Casing part 123 ... Permanent magnet 124 ... Electromagnetic coil (stator)
124A, 124B ... Electromagnetic coil 125 ... Magnet back yoke 126 ... Position detection unit 126A, 126B ... Magnetic sensor 127 ... Rotation control circuit 128 ... Coil back yoke 130 ... Transmission mechanism unit 130D ... Transmission mechanism unit 131 ... Ring gear 131t ... Gear teeth 132 ... Planetary gear 132s ... Rotating shaft 132t ... Gear teeth 133 ... Planetary carrier 133D ... Inner pin carrier 135 ... Sealing part 136 ... Load connection part 137 ... Cross roller bearing 1371 ... Outer ring 1372 ... Inner ring 1373 ... Cylindrical roller 140 ... Speed change Control motor part 140D ... Transmission control motor part 140E ... Transmission control motor part 141 ... Rotor 141D ... Rotor 143 ... Permanent magnet 144 ... Electromagnetic coil (stator)
144A, 144B ... Electromagnetic coil 145 ... Magnet back yoke 146 ... Position detection unit 146A, 146B ... Magnetic sensor 147 ... Rotation control circuit 148 ... Coil back yoke 150 ... Sealing part 160 ... Heat exchange fin 131G ... Magnetic variable speed rotor 133G ... Carrier 171 ... permanent magnet 175 ... magnetic pole piece 177 ... permanent magnet 180, 185 ... eccentric body 181 ... curved plate 182 ... outer pin 183 ... inner pin 190 ... encoder 191 ... light emitting part 192 ... light receiving part 193 ... reflector 194 ... encoder circuit 195 ... Hole 200 ... Control unit 200B ... Control circuit 210 ... CPU
212 ... Bus 220 ... Drive motor control unit 230 ... Shift control motor control unit 420 ... Drive control unit 430 ... Regeneration control unit 432A ... A phase charge switching unit 434A ... A phase PWM control unit 432B ... B phase charge switching unit 434B ... B Phase PWM controller 440 ... Driver circuit 440A ... A phase driver circuit 440B ... B phase driver circuit 450 ... Rectifier circuit 451 ... Full wave rectifier circuit 461 ... Gate transistor 471 ... Buffer circuit 472 ... Inverter circuit 480 ... Power supply wiring 510 ... Basic clock Generating circuit 520... 1 / N frequency divider 531... Counter 535... Drive waveform forming unit 540... Forward / reverse direction instruction value register 550 ... Multiplier 560 ... Encoding unit 580 ... Voltage command value register 590 ... Excitation interval setting unit 590R ... Regenerative section setting section 592 ... Electronic variable resistor 594, 596 ... Voltage comparator 820 ... Drive control unit 830 ... Regeneration control unit 840 ... Driver circuit 850 ... Rectifier circuit 1211 ... Through hole 1212 ... Recess 1213 ... Bulkhead (rotor gear, sun gear, magnetic transmission rotor)
1221 ... Through-hole 1222 ... Opening 1231 ... Permanent magnets 1240, 1440 ... Electromagnetic coil group 1241 ... Circuit board 1242A ... Electromagnetic coil 1242B ... Electromagnetic coil 1312 ... Ring carrier 1312D ... Outer pin carrier 1313 ... Opening 1330 ... Planetary carrier 1331 ... Through-hole 1332 ... shaft hole 1821, 1822 ... outer pin 1801,1851 ... center 1802,1852 ... rotation center 1803 ... contact point 1810 ... center hole 1811 ... inner pin hole 1814 ... bearing 3300 ... bicycle 3310 ... power generation device 3320 ... control Circuit 3330 ... Rechargeable battery 3400 ... Robot 3410 ... First arm 3420 ... Second arm 3430 ... Power generation device 3450 ... Dual-arm 7-axis robot 3460 ... Joint motor 3470 ... Grip motor 3 480 ... arm 3490 ... grip part 3500 ... railway vehicle 3510 ... power generator 3520 ... wheel 3640 ... vertical articulated robot 3641 ... main body part 3642 ... arm part 3642a ... first frame 3642b ... second frame 3642c ... third frame 3642d ... Fourth frame 3642e ... Fifth frame 3643 ... Hand connection part 3645 ... Robot hand 3645a ... Base part 3645b ... Finger part 3762 ... Robot with double-arm casters 3663 ... Body part 3763a ... Body part 3763b ... Wheel 3764 ... Control part 3765 ... Body rotation Part 3766 ... main body part 3767 ... imaging device 3768 ... left arm part 3769 ... right arm part 3770 ... upper arm part 3771 ... lower arm part 3772 ... hand part 3772a ... hand main body 3772b ... grip part 3773 ... rotation mechanism 37 4 ... Linear motion mechanism DRVA1, DRVA2 ... Drive signal MSK ... Mask signal MSKA ... Mask signal MSKB ... Mask signal V1, V2 ... Voltage K0 ... Reduction ratio K1 ... Reduction ratio S1, S2 ... Output RI ... Forward / reverse direction value ER ... Regeneration permission signal Ma ... multiplication value Pa ... positive / negative sign signal Xa ... sensor output value Ya ... voltage command value Sn, Sp ... output (output signal)
Rv ... Variable resistance value IA1 ... Symbol CM1 ... Count value SDC ... Clock signal PCL ... Clock signal SSA ... Sensor output EP ... Excitation section NEP ... Non-excitation section REP ... Regeneration section (active section)
NREP ... Non-regenerative section (inactive section)
INV: Regenerative section switching signal (regenerative mode switching signal)
REa ... Regeneration period signal

Claims (13)

An electromechanical device,
A first electric machine mechanism part, a transmission mechanism part, a second electric machine mechanism part, and a load connection part for connecting a load to the transmission mechanism part, with the same central axis as the center of rotation;
A housing in which the first electric machine mechanism, the speed change mechanism, the second electromechanical mechanism, and the load connection are housed;
With
On the inner peripheral side of the first rotor included in the first electromechanical mechanism portion, a first accommodating space that opens to one of the axial directions of the central axis is formed,
A second housing space that is open on both sides in the axial direction of the central axis is formed on the inner peripheral side of the second rotor included in the second electromechanical mechanism unit,
The transmission mechanism is
While accommodated in the first accommodation space and the second accommodation space,
A rotation input unit formed integrally with the first rotor;
A rotation output unit formed integrally with the load connection unit;
A rotation control unit that is integrally formed with the second rotor and that variably controls the relationship between the rotation speed of the rotation input unit and the rotation speed of the rotation output unit;
With
A cross roller bearing is provided between the container and the load connection portion,
Electromechanical equipment. The electromechanical device according to claim 1,
The transmission mechanism is
A sun gear disposed in the center of the speed change mechanism,
A ring gear disposed on the outer periphery of the transmission mechanism,
A planetary gear disposed between the sun gear and the ring gear;
A planetary carrier connected to the planetary gear;
Including a planetary gear mechanism having
The transmission mechanism unit is an electromechanical device in which one of the sun gear and the planetary carrier is the rotation input unit, the other is the rotation output unit, and the ring gear is the rotation control unit. The electromechanical device according to claim 1,
The transmission mechanism is
A curved plate having an epitrochoid parallel curved shape at the outer edge, the curved plate having a first hole formed at the center of the curved plate and a plurality of second holes formed around the first hole The board,
An outer pin disposed to contact the epitrochoid parallel curve of the curved plate;
An inner pin disposed in the second hole;
An eccentric disposed in the first hole;
Including a cyclomechanism having
One of the eccentric body and the inner pin is the rotation input unit, the other is the rotation output unit, and the outer pin is the rotation control unit. The electromechanical device according to claim 1,
The transmission mechanism is
A first magnetic transmission rotor having a first magnetic transmission rotor magnet arranged along the outer periphery of the central axis;
A second magnetic transmission rotor having a second magnetic transmission rotor magnet arranged to face the first magnetic transmission rotor magnet;
A pole piece arranged between the first magnetic transmission rotor and the second magnetic transmission rotor;
A carrier that supports the pole piece;
A magnetic transmission mechanism having
One of the first magnetic transmission rotor and the carrier is the rotation input unit, the other is the rotation output unit, and the second magnetic transmission rotor is the rotation control unit. An electromechanical device according to any one of claims 1 to 4,
A transmission mechanism control unit that controls the operation of the transmission mechanism unit by controlling the operation of the second electromechanical mechanism unit;
The transmission mechanism control unit
A drive control unit that controls rotation of the rotation control unit by driving an electromagnetic coil disposed in the second stator to rotate the second rotor;
When decelerating the rotation of the rotation control unit, a regeneration control unit that regenerates energy from the electromagnetic coil;
With
The regeneration controller is
A first regenerative mode for setting the first regenerative section centered on the zero-cross point of the induced voltage generated in the electromagnetic coil and executing regeneration, and a second centered on the maximum point of the induced voltage generated in the electromagnetic coil. A second regeneration mode in which the regeneration section is set and the regeneration is performed, and the amount of energy regenerated in the first regeneration mode is equal to or less than the amount of energy regenerated in the second regeneration mode. An electromechanical device that sets the width of the first regeneration section and the width of the second regeneration section as described above. The electromechanical device according to claim 5,
The regeneration control unit executes regeneration in the first regeneration mode when the width of the first or second regeneration section is equal to or less than a predetermined first value, and performs the first or second regeneration. An electromechanical device that performs regeneration in the second regeneration mode when the width of the regeneration section is equal to or greater than a predetermined second value that is greater than the first value. The electromechanical device according to claim 6,
The regeneration control unit performs switching from the first regeneration mode to the second regeneration mode when the amount of energy to be regenerated increases, and the first regeneration section before the switching. An electrical apparatus device that sets a width of the second regeneration section after the switching to be smaller than a width. The electromechanical device according to claim 6 or 7,
The regenerative control unit performs switching from the second regenerative mode to the first regenerative mode when the amount of energy to be regenerated decreases, and the second regenerative section before the switching An electromechanical device that sets a width of the first regeneration section after the switching to be larger than a width. An electromechanical device according to claim 7 or claim 8,
The regenerative control unit continuously switches the regenerative energy amount before switching and the regenerative energy amount after switching to the same value when switching between the first regeneration mode and the second regeneration mode. Thus, the electromechanical device that sets the width of the first regeneration section or the width of the second regeneration section after switching. An electromechanical device according to any one of claims 6 to 9,
An electromechanical device in which regeneration in the first regeneration mode is executed at the start of deceleration of rotation of the rotation control unit. The electromechanical device according to claim 10, further comprising:
An electromechanical device in which regeneration in the first regeneration mode is executed at the end of deceleration of rotation of the rotation control unit.   A moving body comprising the electromechanical device according to any one of claims 1 to 11.   A robot comprising the electromechanical device according to any one of claims 1 to 11.

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