JP2014181726A - Electro-mechanical device, robot and moving body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To eliminate any large current at a starting time or acceleration time.SOLUTION: This electro-mechanical device comprises an electric motor, a flywheel connected to an output shaft of the electric motor, a mechanical output distribution device connected to the output shaft and mechanically distributing an output of the electrical motor to form two second output shafts or more, and a first electric stepless change speed gear connected to each of the two second output shafts or more. The first electric stepless change speed gear comprises a mechanical change speed mechanism including an input part to which an output from the mechanical output distribution device, an output part that becomes an output of the electro-mechanical device and a control part for controlling a change speed from the input part to the output part, and a change speed controlling electric motor connected to the control part for changing the number of revolutions of the control part.

Description

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

  As an electromechanical device having a speed change mechanism, for example, one described in Patent Document 1 below is known. The electromechanical device includes a planetary gear mechanism as a speed change mechanism, a first motor connected to a sun gear of the planetary gear mechanism, a second motor connected to an internal gear (outer gear) of the planetary gear mechanism, Each is prepared as a single unit and connected to each other.

JP-A-8-308178

  By the way, when this electromechanical device is used for a moving body or a robot, the movement of the moving body or the robot stops or moves. At the time of starting from the stop state or at the time of acceleration, a large current is required because a large torque is required for a short time due to the characteristics of the electromechanical device. In order to cope with the large current, the electromechanical device uses a large-current, large-capacity semiconductor in the control circuit. Moreover, in order to dissipate the heat generated by the copper loss of the electromechanical device at a large current, a large-volume heat dissipating member has been used. Moreover, since the cored motor has a large iron loss (eddy current loss) and consumes a large amount of power in an idle state when there is no load during high-speed rotation, it was unthinkable to use a flywheel as a power source. However, it has been found that the coreless motor has almost no iron loss (eddy current loss), and the power consumption is in the idle state with no load during high-speed rotation, and the power consumption is about a very small loss of mechanical loss (shaft loss). The present invention has been achieved as a power source using a flywheel.

  SUMMARY An advantage of some aspects of the invention is that it provides an electromechanical device that does not require a large current during startup or acceleration.

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

(1) According to one aspect of the present invention, an electromechanical device is provided. The electromechanical device includes an electric motor, a flywheel connected to the output shaft of the electric motor, and the output shaft connected mechanically to distribute the output of the electric motor to at least two second outputs A mechanical output distribution device that is used as a shaft, and a first electric continuously variable transmission that is connected to each of the two or more second output shafts. Mechanical shift having an input unit to which an output from a mechanical output distributor is input, an output unit to be an output of the electromechanical device, and a control unit for controlling a shift from the input unit to the output unit A mechanism, and a shift control electric motor connected to the control unit and configured to change the rotation speed of the control unit. When the output of the electric motor is connected to the output shaft of the electromechanical device, a large current flows through the electric motor, for example, when starting or accelerating, the electric motor starts from a state where the number of revolutions is zero. According to the electromechanical device of this aspect, since the flywheel and the mechanical output distribution device are provided, the output of the electric motor is distributed to a plurality of outputs while maintaining the rotation of the electric motor. The output from the electric continuously variable transmission can be started and accelerated from zero rotation, and a large current can be prevented from flowing through the electric motor.

(2) In the electromechanical device of the above aspect, the electric motor includes a second electric continuously variable transmission, and the second electric continuously variable transmission receives a second input from the electric motor. A mechanical transmission mechanism comprising: an input unit; a second output unit connected to the output shaft; and a second control unit that controls a shift from the second input unit to the second output unit. And a second gear change control motor that is connected to the second control unit and changes the rotational speed of the second control unit. According to the electromechanical device of this embodiment, since the electric motor includes the second electric stepless transmission, it is easier to maintain the rotation of the electric motor at the time of start-up and acceleration, and a large current is supplied to the electric motor. Flow can be suppressed.

(3) In the electromechanical device of the above aspect, the mechanical transmission mechanism is a planetary gear mechanism,
Any one of the sun gear, the planetary carrier, and the outer gear of the planetary gear mechanism is the input unit, and any one of the sun gear, the planetary carrier, and the outer gear of the planetary gear mechanism other than the input unit. One may be the output unit, and the remaining one other than the sun gear of the planetary gear mechanism, the planetary carrier, the input unit of the outer gear, and the output unit may be the control unit. According to the electromechanical device of this aspect, the rotation control motor controls the rotation of any one of the sun gear, planetary carrier, and outer gear of the planetary gear mechanism, and easily controls the rotation speed and torque of the output shaft. It becomes possible.

(4) In the electromechanical device of the above aspect, the mechanical speed change mechanism is a differential gear, and the differential gears are arranged so as to face each other so as to rotate around a virtual first axis. One gear and a second gear, and at least one arranged to mesh with the first gear and the second gear around a virtual second axis perpendicular to the first axis. Three third gears, a support shaft that is disposed along the second axis and rotatably supports the third gear, and is disposed along the first axis. A first rotating shaft connected to the gear and a second rotating shaft disposed along the first axis and connected to the support shaft through a through hole provided in a central portion of the second gear. And the first rotating shaft is the input unit. The second rotation shaft is the output portion, the second gear may be the control unit. According to the electromechanical device of this aspect, since the first and second rotating shafts serving as the input unit or the output unit can be disposed along the first axis, the first vertical shaft is perpendicular to the output shaft of the electromechanical device. The direction can be miniaturized.

(5) In the electromechanical device of the above aspect, the electric motor may have an air-core coreless configuration. According to the electromechanical device of this embodiment, since the electric motor has an air-core coreless configuration, it is possible to suppress heat generation due to copper loss at the time of start-up and acceleration.

(6) A robot provided with the electromechanical device according to any one of the above forms (1) to (5). It may be.

(7) A mobile object including the electromechanical device according to any one of the above forms (1) to (5) may be used.

  The present invention can be realized in various forms. For example, in addition to an electromechanical apparatus, the present invention can be realized in various forms such as a robot using the electromechanical apparatus and a moving body.

It is explanatory drawing which shows the structure of the electromechanical device of 1st Embodiment. It is explanatory drawing which shows the structure of a mechanical output distribution apparatus. It is explanatory drawing which expands and shows the meshing | engagement part of a gear at the time of using a magnet gear about a center gear and a side gear. It is explanatory drawing which shows the internal structure of an electric continuously variable transmission. It is explanatory drawing which shows the relationship of the rotation speed of each gear which comprises a mechanical transmission mechanism. It is a schematic sectional drawing which shows the internal structure of the electric continuously variable transmission which has a magnetic transmission mechanism. It is explanatory drawing which shows a magnetic transmission mechanism typically. It is explanatory drawing which shows the electric continuously variable transmission of 3rd Embodiment. It is a schematic sectional drawing which shows the electric continuously variable transmission as 4th Embodiment. It is explanatory drawing which shows the structure of the electric motor used in 5th Embodiment. This is an example in which the electromechanical device of the above embodiment is applied to an automobile. This is an example in which the above-described electromechanical device is applied to a hybrid vehicle. It is explanatory drawing which shows the electric bicycle (electric assisted bicycle) which is an example of the mobile body using the electric machine apparatus of this embodiment. It is explanatory drawing which shows an example of the robot using the electromechanical device of this embodiment. It is explanatory drawing which shows an example of the double-arm 7-axis robot using the electromechanical device of this embodiment. It is explanatory drawing which shows an example of the vertical articulated robot using the electromechanical device of this embodiment. It is explanatory drawing which shows an example of the robot with a double arm caster using the electromechanical apparatus demonstrated in this embodiment. It is explanatory drawing which shows the rail vehicle using the electric machine apparatus of this embodiment.

First embodiment:
FIG. 1 is an explanatory diagram illustrating a configuration of an electromechanical device 10 according to the first embodiment. The electromechanical device 10 includes an electric motor 80, an encoder 82, a flywheel 83, a mechanical output distributor 90, electric continuously variable transmissions 100A, 100B, and 100C, an electric continuously variable transmission control unit 500, A motor control unit 600, a power storage circuit 700, a power storage unit 750, and a system control unit 800 are provided. The electric continuously variable transmissions 100A, 100B, and 100C correspond to the first electric continuously variable transmission of the claims.

  In the present embodiment, the configuration of the electric motor 80 is not particularly limited, and various types of electric motors such as a two-phase motor, a three-phase motor, a motor with a core, a coreless motor, an axial gap motor, and a radial gap motor. Can be used. Considering copper loss, the electric motor 80 is preferably a coreless motor. An encoder 82, a flywheel 83, and a mechanical output distributor 90 are connected to the drive shaft 81 of the electric motor 80. The flywheel 83 is made of a material having a large moment of inertia. For example, the moment of inertia of the flywheel 83 may be larger than the moment of inertia of a rotor (not shown) around the drive shaft 81 of the electric motor 80. As a result, the rotational speed of the electric motor 80 can be maintained by the inertial force of the flywheel 83 even when a strong load is applied to the mechanical output distributor 90 such as at the time of start-up or sudden acceleration. As a result, it is possible to suppress a large current from flowing through the electric motor 80. The encoder 82 is used for acquiring the mechanical angle of the electric motor 80 and further acquiring the rotation speed and the rotation direction of the electric motor 80 from the change in the mechanical angle.

  The mechanical output distributor 90 distributes the output torque from the electric motor 80 into a plurality of parts. In the example shown in FIG. 1, the mechanical output distribution device 90 includes three output shafts 94A, 94B, and 94C, and distributes output torque from the electric motor 80 into three. The number of distributions is not limited to three and may be two or more. The configuration of the mechanical output distributor 90 will be described later.

  The electric continuously variable transmissions 100A, 100B, and 100C are connected to the output shafts 94A, 94B, and 94C of the mechanical output distributor 90, respectively. The electric continuously variable transmission 100A includes a mechanical transmission mechanism 130A and a shift control motor 140A. An output shaft 94A of the mechanical output distributor 90 is connected to an input portion of the electric continuously variable transmission 100A to the mechanical transmission mechanism 130A, and an output portion of the electric continuously variable transmission 100 from the A mechanical transmission mechanism 130A. Is connected to a load connecting portion 136A. The shift control electric motor 140A is connected to the mechanical transmission mechanism 130A and shifts the mechanical transmission mechanism 130A steplessly. The other electric continuously variable transmissions 100B and 100C have the same configuration. The detailed internal configuration of the electric continuously variable transmission 100A, 100B, 100C will be described later. In the present embodiment, when it is not necessary to distinguish between the three electric continuously variable transmissions 100A, 100B, and 100C, such as when describing the internal configuration of the electric continuously variable transmission, the electric continuously variable transmission 100 is simply used. Call it.

  Electric continuously variable transmission control unit 500 controls the operation of transmission control motors 140A, 140B, and 140C in accordance with instructions from system control unit 800. Specifically, the electric continuously variable transmission control unit 500 changes the rotation speed of the load connecting units 136A, 136B, and 136C in a stepless manner by driving or regenerating the transmission control motors 140A, 140B, and 140C. Let This specific control content will be described later. The electric continuously variable transmission control unit 500 can independently control the operations of the shift control motors 140A, 140B, and 140C. For example, the electric continuously variable transmission control unit 500 may drive-control the shift control motors 140A and 140B and regeneratively control the shift control motor 140C.

  The power storage circuit 700 rectifies the regenerative power and sends it to the power storage unit 750 when any of the shift control motors 140A, 140B, 140C is regeneratively controlled. The power storage unit 750 is a secondary battery and stores the regenerated power. The stored electric power is used to drive the electric motor 80 or the shift control motors 140A, 140B, 140C.

  The system control unit 800 controls operations of the electric continuously variable transmission control unit 500 and the motor control unit 600. The motor control unit 600 controls the operation of the electric motor 80.

  FIG. 2 is an explanatory diagram showing the configuration of the mechanical output distributor 90. The mechanical output distributor 90 includes a center gear 91 and four side gears 93A, 93B, 93C, 93D. The center gear 91 has gear teeth 91t, and the side gears 93A, 93B, 93C, and 93D include gear teeth 93At, 93Bt, 93Ct, and 93Dt, respectively. In the present embodiment, the center gear 91 is disposed at the center, and the four side gears 93A, 93B, 93C, and 93D are disposed so as to surround the center gear 91. The gear teeth 91t of the center gear 91 are engaged with the gear teeth 93At, 93Bt, 93Ct, and 93Dt of the four side gears 93A, 93B, 93C, and 93D, respectively. An input shaft 92 is provided at the center of the center gear 91, and the input shaft 92 is connected to the drive shaft 81 of the electric motor 80 shown in FIG. Output shafts 94A, 94B, 94C, and 94D are provided at the centers of the four side gears 93A, 93B, 93C, and 93D, respectively.

  In FIG. 2, the output of the mechanical output distributor 90 is four, but in FIG. 1, the output of the mechanical output distributor 90 is three and there is no output shaft 94D. The configuration in which the output of the mechanical output distributor 90 is three can be realized by a configuration in which the length of the output shaft 94D is shortened and not taken out of the mechanical output distributor 90. Further, the configuration in which the mechanical output distributor 90 has three outputs can be realized by surrounding the center gear 91 with the three side gears 93A, 93B, and 93C.

  In the example shown in FIG. 2, the four side gears 93A, 93B, 93C, and 93D have the same size, and the gear teeth 93At, 93Bt, 93Ct, and 93Dt have the same number of teeth. However, the sizes of the four side gears 93A, 93B, 93C, and 93D may be changed depending on the application. In this case, since the pitch of the gear teeth is determined by the pitch of the gear teeth 91t of the center gear 91, the number of gear teeth 93At, 93Bt, 93Ct, and 93Dt varies depending on the size of the side gears 93A, 93B, 93C, and 93D. Note that when the four side gears 93A, 93B, 93C, and 93D have the same size and the four side gears 93A, 93B, 93C, and 93D need not be distinguished as in the present embodiment, the side gear and The gear teeth are referred to as a side gear 93 and a gear tooth 93t, respectively.

  FIG. 3 is an explanatory view showing, in an enlarged manner, a gear meshing portion when a magnet gear is used for the center gear and the side gear. As the gear teeth 91t of the center gear 91 and the gear teeth 93t of the side gear 93, a spur gear or a bevel gear can be used, but a magnet gear can also be used. In the magnet gear, the gear teeth 91t and 93t are magnets. The direction of magnetization may be a radial direction as shown in FIG. 3 (A) or a circumferential direction as shown in FIG. 3 (B). In the case of a magnet gear, the gear teeth 91t of the center gear 91 and the gear teeth 93t of the side gear 93 are unlikely to come into contact with each other due to repulsion between the same poles, so that the gear teeth 91t and the gear teeth 93t are difficult to wear out.

  FIG. 4 is an explanatory diagram showing the internal configuration of the electric continuously variable transmission 100. Since the electric continuously variable transmissions 100A, 100B, and 100C have the same configuration, the electric continuously variable transmission 100A will be described as an example. Further, in describing the configuration of the electric continuously variable transmission 100A, it is not necessary to distinguish the three electric continuously variable transmissions 100A, 100B, and 100C. , C will be used for the description, and each component of the electric continuously variable transmission 100 will be described using the same reference numerals without the letters A, B, and C.

  The electric continuously variable transmission 100 is housed in a casing 122 and includes a mechanical transmission mechanism 130, a shift control motor 140, and an input gear 160 in the casing 122. The casing 122 includes two casing portions 122a and 122b. The casing portion 122a is a substantially cylindrical hollow container that can accommodate the mechanical transmission mechanism 130, the transmission control electric motor 140, and the input gear 160 therein. The surface (the left side of the paper in FIG. 4) opposite to the bottom surface (the right side of the paper in FIG. 4) of the casing part 122a is open. A through hole 1221 for inserting the central shaft 110 is formed at the center of the bottom surface of the casing portion 122a. The casing portion 122a and the central shaft 110 are fixedly attached to each other. Therefore, the central shaft 110 itself does not rotate. The other casing part 122b is a lid for covering the open surface of the one casing part 122a. An opening 1222 into which a load connecting portion 136 described later is inserted is formed at the center of the casing portion 122a, and the casing portion 122b has an annular plate shape. 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). Thereby, the electric continuously variable transmission 100 can be reduced in weight.

  The central axis 110 is disposed along an axis O (shown by a one-dot chain line in the drawing) passing through the center of the substantially cylindrical casing 122. The central shaft 110 has a through hole 111 extending in the direction of the axis O, and the conductive wire bundle 25 that is a bundle of conductive wires for transmitting electric power and a control signal to the electric continuously variable transmission 100 is provided in the through hole 111. Is inserted.

  In addition, a bearing ring 113 for improving the holding ability of the central shaft 110 is fitted on the outside of the casing portion 122a (the right side in FIG. 4) and the outside of the planetary carrier 133 (the left side in FIG. 4). It is attached.

  The input gear 160 is a member for inputting power to the electric continuously variable transmission 100 from the outside. An input shaft 162 is connected to the center of the input gear 160. The input shaft 162 passes through the bottom surface of the casing portion 122a. A bearing portion 117 is provided between the input shaft 162 and the casing portion 122a. The input shaft 162 is connected to one end of the power transmission shaft 164 by a universal joint 166. The other end of the power transmission shaft 164 is connected to the output shaft 94 (for example, the output shaft 94A) of the mechanical output distributor 90 through the universal joint 166.

  The rotor 121 is a member disposed around the central axis 110, and is a member having a substantially cylindrical partition wall 1213 and a flange portion 121f. Gear teeth 121t are formed on the partition wall 1213, and gear teeth 121ft are formed on the outer periphery of the flange portion 121f. The input gear 160 has gear teeth 160t, and the gear teeth 160t are engaged with the gear teeth 121ft of the flange portion 121f 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.

  As described above, the gear teeth 121t are formed on the outer wall surface of the substantially cylindrical partition wall 1213 of the rotor 121. Hereinafter, the partition 1213 having the gear teeth 121t 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 rotor 121, or may be formed integrally by connecting and fixing the gear teeth 121t to the rotor 121. .

  The mechanical speed change mechanism 130 constitutes a planetary gear mechanism together with the rotor gear 1213 of the rotor 121. The planetary gear mechanism is a mechanism including an external tooth sun gear, an internal tooth ring gear, and a plurality of external tooth planetary gears arranged between the sun gear and the ring gear. The center of rotation of the sun gear and the center of rotation of the ring gear are on the same line. 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 mechanical transmission mechanism 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. In FIG. 4, two planetary gears 132 are schematically shown for convenience.

  The ring gear 131 is a substantially annular gear having an inner wall surface provided with gear teeth 131t. The ring gear 131 is integrally formed so as to be supported by a substantially cylindrical ring carrier arranged on the outer periphery of the planetary carrier 133. 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 131 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. A shaft hole 1332 for rotatably holding the rotation shaft 132s of the planetary gear 132 is formed on the bottom surface of the planetary carrier 133 on the input gear 160 side.

  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. The bearing part 135 may be configured by a cross roller bearing. The cross roller bearing has any one of a force in the bending direction of the central shaft 110 (bending moment load), a radial force in the central shaft 110 axis (radial load), and a thrust force in the central shaft 110 (load in the longitudinal direction of the shaft). Since it is strong against directional force, high rigidity can be realized.

  A load connecting portion 136 for holding and fixing the bearing portion 135 is connected and fixed to the planetary carrier 133 so as to be integrated with the bottom surface (left side in FIG. 4) of the planetary carrier 133 by a fixing bolt 114. ing. 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 140 includes a rotor 141 and a stator 144. The shift control electric motor 140 has a radial gap type configuration as will be described below. The rotor 141 is a ring carrier 1312 of the mechanical transmission mechanism 130, and permanent magnets 143 are arranged in a cylindrical shape on the outer peripheral surface of the ring carrier 1312. The direction of magnetization 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.

  An electromagnetic coil (hereinafter also referred to as “electromagnetic coil 144”) as the stator 144 is arranged in a cylindrical shape on the inner peripheral surface of the casing portion 122a so as to face the permanent magnet 143 of the ring carrier 1312 with a gap. Has been. That is, in the shift control motor 140, 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 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 shift control motor controller 147 for controlling the rotation of the ring carrier 1312 as the rotor 141. The position detection unit 146 is configured by, for example, a Hall IC using a Hall element, a temperature compensation circuit, and an amplifier circuit, 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 shift control motor control unit 147 via a signal line.

  The transmission control motor control unit 147 is connected to a conductive wire branched from a conductive wire bundle 25 in which a power line and a control line (communication line) are combined. The shift control motor control unit 147 is electrically connected to the electromagnetic coil 144. The shift control motor control unit 147 sends the detection signal output from the position detection unit 146 to the electric continuously variable transmission control unit 500 (FIG. 1) that controls the driving of the electric continuously variable transmission 100 via the conductive wire bundle 25. Send. Then, the shift control motor control unit 147 supplies electric power to the electromagnetic coil 144 according to a control signal supplied from the electric continuously variable transmission control unit 500 via the conductive wire bundle 25 to generate a magnetic field, and causes the rotor 141 to move. Rotate. Further, the shift control motor control unit 147 is supplied with the induced voltage generated in the electromagnetic coil 144 by the rotation of the rotor 141 from the electric continuously variable transmission control unit 500 (FIG. 1) via the conductive wire bundle 25. By performing regenerative control according to the control signal, the rotation of the rotor 141 is braked. In the following description, “regeneration” includes “braking”. As described above, by combining the drive control for supplying electric power to the electromagnetic coil 144 and the regenerative control for regenerating electric power, the operation of the shift control electric motor 140, that is, the rotation of the rotor 141 is stopped clockwise, It can be controlled in a counterclockwise and free-rotation state, and the operation of the mechanical transmission mechanism 130 is controlled by controlling the operation of the shift control motor 140, and the rotational movement from the mechanical output distributor 90 is steplessly performed. It can be shifted.

  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 electric continuously variable transmission 100 can be suppressed. Further, when the rubber seal portion is provided, the inside of the casing 122 is hermetically sealed. Thereby, the rotation loss of the gear and the rotor in the electric continuously variable transmission 100 due to the airflow can be reduced. The seal 150 is not always necessary and may be omitted.

FIG. 5 is an explanatory diagram showing the relationship between the rotational speeds of the respective gears constituting the mechanical transmission mechanism 130. As shown in FIG. 5, the rotational speed of the rotor gear 1213 (also referred to as “input rotational speed”) as the sun gear of the mechanical transmission mechanism 130 and the rotational speed of the planetary carrier 133 (also referred to as “output rotational speed”). The relationship with 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 mechanical transmission mechanism 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)). In other words, in this case, the rotation of the rotor 121 is decelerated by the reduction ratio K0 by the mechanical transmission mechanism 130 and transmitted to the load connected to the load connecting portion 136.

  Here, the rotation stop state of the ring gear 131 of the mechanical transmission mechanism 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 140 so that a clockwise rotational force for canceling the counterclockwise rotational force is applied to the ring gear 131. The shift control motor 140 is controlled by the drive circuit and the regenerative circuit as described above.

  When the ring gear 131 rotates at the rotation speed Nr = −Nrf (Nrf = Ns · ms / mr) in the counterclockwise direction opposite to the sun gear 1213, the rotation speed of each gear of the mechanical transmission mechanism 130 is The relationship 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 is not transmitted to the load connected to the load connecting portion 136, and the mechanical transmission mechanism 130 is stopped. Note that 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.” The free rotation state of the ring gear 220 Is realized by setting a state in which the regeneration control and drive control by the shift control motor 140 are not executed.

  When the rotation of the ring gear 131 is rotating from the free rotation state to the stop state and the rotation speed Nr is rotating counterclockwise at an arbitrary rotation speed −Nr1, each gear of the mechanical transmission mechanism 130 is rotated. The rotational speed 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 is rotated by the mechanical transmission mechanism 130 after being decelerated to the rotation speed + Nc1 expressed in accordance with the above equation (1) and connected to the load connecting portion 136. Communicated. 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. Therefore, the rotation of the speed change control motor 140 that attempts to rotate clockwise may be braked counterclockwise by regenerative control.

  When 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 mechanical transmission mechanism 130 is a linear relationship indicated by a broken line in FIG. It becomes. 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), and the magnitude of 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 is rotated to the rotation speed reduced by the reduction ratio K0 by the mechanical transmission mechanism 130, and the rotation of the ring gear 131 controlled by the drive of the transmission control motor 140 is changed to the mechanical transmission mechanism 130. Thus, the rotations of the number of rotations decelerated at the reduction ratio K1 (= mr / (mr + ms)) are 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 in a clockwise direction.

  When 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 of each gear of the mechanical transmission mechanism 130 is performed. The number relationship is a straight line relationship indicated 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 large—Nr3. Accordingly, the motor rotates counterclockwise at an arbitrary rotational speed larger than the rotational speed -Nrf. In this case, counterclockwise rotation of the ring gear 131 controlled by the drive of the speed change control motor 140 rather than the rotational speed of the clockwise rotation in which the rotation of the rotor 121 is reduced by the mechanical transmission mechanism 130 at the reduction ratio K0. , And the rotation speed corresponding to the counterclockwise rotation of the ring gear 131 is applied to the load connected to the load connecting portion 136. Communicated. 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 shift control electric motor 140 so as to rotate clockwise more rapidly than the clockwise rotation.

  In the mechanical transmission mechanism 130, as described above, the rotation of the ring gear 131 is controlled by the transmission control motor 140, whereby the rotation of the rotor 121, that is, the rotation of the rotor gear 1213 as the sun gear (input rotation) is controlled. Thus, 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, and the torque with respect to the load is continuously stepped along with this. Can be changed.

  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.

  As described above, according to the first embodiment, the electromechanical device 10 includes the electric motor 80, the flywheel 83, the mechanical output distributor 90, and the electric continuously variable transmissions 100A, 100B, and 100C. Therefore, the torque of the electric motor 80 can be distributed to the load connection portions 136A, 136B, and 136C of the electric continuously variable transmissions 100A, 100B, and 100C in an arbitrary size.

  In addition, the electromechanical device 10 includes a flywheel 83 and is controlled to rotate at a constant rotational speed before a load is applied. When the load connecting portion 136 increases speed from the rotational speed 0, or rapidly accelerates. Even so, it is not a start from zero rotation, and a large decrease in the number of rotations is unlikely to occur, so that a large current does not flow through the electric motor 80. Further, by controlling the shift control motor 140, it is possible to rotate the load connection portion 136 at a higher speed than the rotation speed M of the load connection portion 136 when there is no shift control motor 140.

  Further, according to the first embodiment, the three electric continuously variable transmissions 100A, 100B, and 100C include the planetary gear mechanism and the shift control motors 140A, 140B, and 140C as the mechanical transmission mechanisms 130A, 130B, and 130C, respectively. And. In each of the electric continuously variable transmissions 100A, 100B, and 100C, a rotor gear 1213 as a sun gear is formed on the rotor 121, and the load connecting portion 136 is connected to the planetary carrier 133, and the transmission control motors 140A, 140B, and 140C The outer gear (ring gear 131) of the planetary gear mechanism is formed in the rotor 141, and by independently controlling the rotation of the transmission control motors 140A, 140B, 140C, the three load connecting portions 136A, 136B, It becomes possible to easily control the rotation speed and torque of 136C independently.

  In the first embodiment, a planetary gear mechanism is used as the mechanical transmission mechanism 130, but instead of the planetary gear mechanism, a harmonic drive mechanism (harmonic drive is a registered trademark), a cyclo mechanism, or a magnetic transmission mechanism. May be used.

Second embodiment:
FIG. 6 is a schematic cross-sectional view showing an internal configuration of an electric continuously variable transmission 100G having a magnetic transmission mechanism. The second embodiment is different from the first embodiment in that the electric continuously variable transmission 100G includes a magnetic transmission mechanism 130G using a magnetic reduction mechanism as a mechanical transmission mechanism. The configuration other than the electric continuously variable transmission of the second embodiment may be the same as the configuration of the first example.

  FIG. 7 is an explanatory view schematically showing a magnetic transmission mechanism. The magnetic transmission mechanism 130G includes a cylindrical first magnetic transmission rotor 1213G provided around the central shaft 110, and a cylindrical second magnetic transmission rotor 131G provided on the outer periphery of the first magnetic transmission rotor 1213G. And comprising. The first magnetic transmission rotor 1213G is a partition wall of the rotor 121, and the rotational motion by the drive motor unit 120 is directly transmitted thereto. The second magnetic transmission rotor 131G is integrally formed on the side surface side with the rotor 141 of the transmission control motor 140, and the rotational motion of the transmission control motor 140 is transmitted thereto.

  The first magnetic transmission rotor 1213G 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. Note that the number of poles of the permanent magnets arranged in the rotor is defined as a pole number of one pair of N poles and S poles, and the pole number N1 of the first magnetic transmission rotor 1213G is N1 = 2 is set. Similarly, the number of poles N2 of the permanent magnets arranged in the second magnetic transmission rotor 131G is set to N2 = 20.

  Between the permanent magnets 177 (177S, 177N) arranged on the outer periphery of the first magnetic transmission rotor 1213G and the permanent magnets 171 (171S, 171N) arranged on the inner periphery 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 140 so as to be rotatable around the central shaft 110 via the bearing portion 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 mechanical speed change mechanism 130G, the first magnetic speed change rotor 1213G is connected to the input gear 160 and is a rotation input section, and the second magnetic speed change rotor 131G is a rotation control section. The magnetic pole piece 175 indicated by the carrier 133G 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. 7A, 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 1213G 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 1213G 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 controlled to be decelerated with respect to the rotation amount of the first magnetic transmission rotor 1213G 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 1213G 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 mechanical speed change mechanism 130G of the present embodiment using the magnetic speed change mechanism, as shown in FIG. 7B, the second magnetism is controlled by controlling the rotation of the rotor 141 (1312) of the speed change control motor 140. The rotation of the transmission 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 1213G 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 second magnetic transmission rotor 131G, the carrier 133G as the output rotor is input in accordance with the increase / decrease of 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 the first magnetic transmission rotor 1213G as a rotor. 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 1213G as the input rotor. It is possible to change the speed step by step, that is, to change the speed steplessly.

  In this embodiment, the magnetic speed change mechanism using the SPM type rotor has been described as an example, but 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.

Third embodiment:
FIG. 8 is an explanatory diagram showing an electric continuously variable transmission 100H according to the third embodiment. The electric continuously variable transmission 100H according to the third embodiment is different from the electric continuously variable transmission 100 according to the first embodiment in the configuration of the input gear 160H. In the electric continuously variable transmission 100 according to the first embodiment, the input shaft 162 of the input gear 160 is parallel to the central shaft 110. However, the input gear 160H of the electric continuously variable transmission 100H according to the third embodiment is not illustrated. The input shaft 162H is a direction orthogonal to the central axis 110. The gear teeth 121 ft are bevel gears on the outer periphery of the flange 121 f of the rotor 121. According to the electric continuously variable transmission 100H of the third embodiment, the rotation direction of the input to the electric continuously variable transmission 100H and the rotation direction of the output from the electric continuously variable transmission 100H are rotated by 90 degrees. Is possible. Further, in the electric continuously variable transmission 100H of the third embodiment, even if the diameter of the flange portion 121f of the rotor 121 (the number of teeth of the gear teeth 121ft) is changed, it can be handled only by changing the length of the input shaft 162H. . As a result, it becomes possible to easily change the ratio between the rotational speed of the input gear 160H and the rotational speed of the rotor 121.

Fourth embodiment:
FIG. 9 is a schematic cross-sectional view showing an electric continuously variable transmission 100J as the fourth embodiment. This electric continuously variable transmission 100J is accommodated in the casing 20, and transmits the output from the mechanical transmission mechanism 30, the transmission control motor 40, the input shaft 12, and the mechanical transmission mechanism 30 to the driven part. And an output shaft 14 to be operated. The input shaft 12 and the output shaft 14 are provided on the same axis Sx.

  The mechanical transmission mechanism 30 is configured using a so-called differential mechanism. The differential mechanism is also referred to as “differential gear” and corresponds to the differential gear in the claims. Specifically, the mechanical speed change mechanism 30 using the differential mechanism includes two pairs of second gears rotatably attached to both sides of the pinion shaft 310 of the shaft center Sy provided so as to be orthogonal to the shaft center Sx. 1 side gear 320, second side gear 330, and a pair of first side gear 320, gear teeth 320t, 350t meshing with gear teeth 320t, 330t of the second side gear 330, and centering on the axis Sx And a pair of third side gear 340 and fourth side gear 350. Between the first side gear 320 and the second side gear 330 facing each other and the pinion shaft 310, the first side gear 320 and the second side gear 330 can rotate around the axis Sy of the pinion shaft 310. A bearing portion 312 is disposed. The bearing part 312 can be comprised by a ball bearing, for example. The four side gears 320, 330, 340, and 350 are configured with bevel gears, for example. The input shaft 12 is fixedly connected or integrally formed with the third side gear 340. Hereinafter, the description “fixed connection or integrally formed” will be simply referred to as “integratedly formed”. The fourth side gear 350 is formed with a through hole 352 for inserting the output shaft 14 at the center thereof. The output shaft 14 inserted through the through hole 352 is integrally formed at the midpoint of the pinion shaft 310. In the present embodiment, gears other than bevel teeth, such as hypoid gears, can be used, and more stable power transmission can be realized by using hypoid gears.

  The shift control electric motor 40 is a radial gap type motor, and includes a rotor 410 and a stator 420. The rotor 410 has a substantially cylindrical shape formed integrally with the fourth side gear 350, and a through-hole for allowing the output shaft 14 to be inserted in the center thereof, similarly to the fourth side gear 350. 411. Between the wall surface of the through hole 411 of the rotor 410 and the output shaft 14, a bearing portion 412 for rotating the output shaft 14 and the rotor 410 independently of each other is disposed. This bearing part 412 can also be comprised, for example with a ball bearing.

  Permanent magnets (rotor magnets) 413 are arranged in a cylindrical shape on the outer peripheral surface of the rotor 410. The direction of the magnetic flux of the permanent magnet 413 is a radial direction. A magnet back yoke 415 for improving the magnetic efficiency is disposed on the back surface of the permanent magnet 413 (the surface on the side wall of the rotor 410).

  On the inner peripheral surface of the casing 20 that covers the rotor 410, an electromagnetic coil (hereinafter also referred to as “electromagnetic coil 420”) as the stator 420 is cylindrical so as to face the permanent magnet 413 of the rotor 410 with a gap. Is arranged. That is, in the shift control electric motor 40, the electromagnetic coil 420 as a stator rotates the rotor 410 and the fourth side gear 350 connected thereto around the axis Sx. A coil back yoke 428 for improving magnetic efficiency is also disposed between the electromagnetic coil 420 and the casing 20.

  The casing 20 is provided with a position detection unit 416 that detects the position of the permanent magnet 413 and a circuit board 417 on which the position detection unit 416 is mounted. The position detection unit 416 is configured by, for example, a Hall IC that incorporates a Hall element, a temperature compensation circuit, and an amplifier circuit and that can output analog or digital, and is disposed so as to correspond to the position of the orbit of the permanent magnet 413. Yes.

  The circuit board 417 is electrically connected not only to the position detector 416 but also to the electromagnetic coil 420. The circuit board 417 is electrically connected to a control unit (not shown) provided outside via a conductive wire, and transmits a detection signal output from the position detection unit 416 to the control unit. In addition, the circuit board 417 supplies electric power to the electromagnetic coil 420 according to a control signal from the control unit to generate a magnetic field, and rotates the rotor 410. Further, the circuit board 417 outputs the induced power generated in the electromagnetic coil 420 according to the rotation of the rotor 410 according to the control signal from the control unit, and brakes the rotation of the rotor 410.

  In the shift control motor 40, the fourth side gear 350 of the mechanical transmission mechanism 30 is formed integrally with the rotor 410 of the shift control motor 40 as described above, and accordingly, according to the rotation of the rotor 410. The rotation of the fourth side gear 350 of the mechanical transmission mechanism 30 can be controlled.

  Between the casing 20 and the input shaft 12, and between the casing 20 and the output shaft 14, a bearing portion 22 for rotatably supporting the input shaft 12 and the output shaft 14 is disposed. The bearing part 22 can also be comprised, for example using a ball bearing.

  As described above, according to the fourth embodiment, since the input shaft 12 or the output shaft 14 can be arranged along the axis Sx, the electric continuously variable transmission 100J can be downsized in the direction perpendicular to the output shaft 14. It becomes possible.

Fifth embodiment:
The electromechanical devices of the second to fourth embodiments are obtained by changing the configuration of the electric continuously variable transmission 100 of the electromechanical device 10 of the first embodiment, but the fifth embodiment is an electric motor. 80 is an electric motor 80A provided with an electric continuously variable transmission mechanism.

  FIG. 10 is an explanatory diagram showing a configuration of an electric motor 80A used in the fifth embodiment. The electric motor 80A includes an electric continuously variable transmission mechanism. Compared with the electric continuously variable transmission 100 used in the first embodiment, the electric motor 80A includes a rotor 121 having a function as a flywheel instead of the input gear 160. The difference is that the drive motor unit 120 is provided. Therefore, the description of the same configuration as that of the electric continuously variable transmission 100 will be omitted by using the same reference numerals, and different points from the electric continuously variable transmission 100 will be described. The electric continuously variable transmission mechanism shown in FIG. 10 corresponds to the second electric continuously variable transmission mechanism in the claims.

  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 flange portion 121 f of the rotor 121. 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 (side wall of the flange portion 121f of the rotor 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. In order to prevent iron loss caused by rotation of the permanent magnet 123, the electromagnetic coil 124 preferably has an air-core coreless structure.

  On the bottom surface of the casing part 122a, a position detection part 126 for detecting the positions of the N pole and the S pole of the permanent magnet 123 and a drive motor control part 127 for controlling the rotation of the rotor 121 are provided. 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 drive motor control unit 127 via a signal line.

  A conductive wire branched from the conductive wire bundle 25 is connected to the drive motor control unit 127. The drive motor controller 127 is electrically connected to the electromagnetic coil 124. The drive motor control unit 127 transmits a detection signal output from the position detection unit 126 to the motor control unit 600 (FIG. 1). Further, the drive motor control unit 127 supplies power to the electromagnetic coil 124 according to a control signal from the motor control unit 600 to generate a magnetic field, and rotates the rotor 121. Further, the drive motor control unit 127 outputs the induced power generated in the electromagnetic coil 124 according to the rotation of the rotor 121 according to the control signal from the motor control unit 600, and decelerates the rotation of the rotor 121. In the fifth embodiment, the shift control motor 140 of the electric motor 80A is also controlled according to the control signal from the motor control unit 600.

  Further, a load connection portion 136 for holding and fixing the bearing portion 135 is connected to the bottom surface (left side in FIG. 10) of the planetary carrier 133 so as to be integrated with the planetary carrier 133 by a fixing bolt 114. It is fixed. The fixing bolt 114 is used to fix the drive shaft 81 of the electric motor 80A at the same time.

  As described above, as in the fifth embodiment, instead of the electric motor 80, the electric motor 80A including the electric continuously variable transmission mechanism may be used. Since the flywheel 83 is connected to the drive shaft 81 of the electric motor 80A, even if a load from the mechanical output distributor 90 is applied, the drive shaft is driven by the mechanical speed change mechanism 130 and the shift control motor 140 of the electric motor 80A. Since it is easy to maintain the rotation speed of 81 constant, it is easy to maintain the rotation speed of the drive motor part 120, and to suppress that a big electric current flows into the drive motor part 120.

Sixth embodiment:
FIG. 11 shows an example in which the above-described electromechanical device is applied to an automobile 1000. The automobile 1000 includes a body 1010, an electric motor 1080, a mechanical output distributor 1090, an electric continuously variable transmission 1100R, 1100L, wheels 1030RF, 1030LF, 1030RR, 1030LR, a drive shaft 1040R, 1040L, and an axle 1050. And comprising. The output of the electric motor 1080 is connected to a mechanical output distributor 1090 and is distributed to two outputs by the mechanical output distributor 1090. The two outputs are transmitted to the electric continuously variable transmissions 1100R and 1100L, respectively. The electric continuously variable transmission 1100R is fixed to the right front portion of the body 1010, and drives the right front wheel 1030RF via the drive shaft 1040R. Electric continuously variable transmission 1100L is fixed to the left front portion of body 1010, and drives left front wheel 1030LF via drive shaft 1040L. Compared to the first embodiment, the electric motor 1080 corresponds to the electric motor 80, the mechanical output distributor 1090 corresponds to the mechanical output distributor 90, and the electric continuously variable transmissions 1100R and 1100L are electrically This corresponds to the step transmissions 100A and 100B. Thus, the electromechanical device 10 described in the embodiment can be applied to the automobile 1000.

  According to this form of automobile 1000, the output of one electric motor 1080 is distributed to two using a mechanical output distributor 1090, and the left and right front wheels are mounted using electric continuously variable transmissions 1100R and 1100L. It can be driven independently. Further, by using electric continuously variable transmissions 1100R and 1100L, it is possible to easily mitigate the rotational speed difference between left and right wheels 1030RF and 1030LF.

  FIG. 12 shows an example in which the above-described electromechanical device is applied to a hybrid vehicle 1001. Here, a configuration different from the automobile 1000 of the sixth embodiment will be described. The hybrid vehicle 1001 is different from the vehicle 1000 of the sixth embodiment in that it includes an internal combustion engine 1070 and an electric motor 1081 instead of the electric motor 1080. As the electric motor 1081, the electric motor 80A described in the fifth embodiment can be used. The internal combustion engine 1070 is connected to the drive motor unit 120 of the electric motor 80A and serves as a power source for the hybrid vehicle 1001. The drive motor unit 120 assists driving by the internal combustion engine 1070. Thus, the electromechanical device 10 described in the above embodiment can be applied to a hybrid vehicle.

  The electromechanical device described in the above embodiment can be applied as a transmission or a power generation device connected to an electric mobile body, an electric mobile robot, or a medical device drive device, as described below.

  FIG. 13 is an explanatory diagram showing an electric bicycle (electric assist bicycle) that is an example of a moving body using the electric machine device of the present embodiment. In this bicycle 3300, a motor 3310 with a speed changer constituted by the electromechanical device 10 described in the present embodiment is provided on the front wheel at the output of a motor as a driving unit, and a control circuit 3320 and a frame below the saddle are provided. A rechargeable battery 3330 is provided. The transmission-equipped motor 3310 assists running by driving the front wheels using the electric power from the rechargeable battery 3330. In addition, the rechargeable battery 3330 is charged with the electric power regenerated by the motor of the transmission-equipped motor 3310 during braking. The control circuit 3320 is a circuit that controls driving and regeneration of the motor portion of the transmission-equipped motor 3310 and shifting of the transmission portion.

  FIG. 14 is an explanatory diagram showing an example of a robot using the electromechanical device of the present embodiment. The robot 3400 includes a first arm 3410, a second arm 3420, and a motor 3430 with a transmission. This motor 3430 with a transmission is used when the second arm 3420 as a driven member is rotated horizontally. Note that the electromechanical device 10 described in the present embodiment may be used as the transmission-equipped motor 3430.

  FIG. 15 is an explanatory diagram showing an example of a double-armed seven-axis robot using the electromechanical device of the present embodiment. 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 each joint portion such as a shoulder, an elbow, and a wrist. 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 electromechanical device 10 described in the present embodiment may be used as the joint motor 3460 or the gripper motor 3470.

  FIG. 16 is an explanatory diagram showing an example of a vertical articulated robot using the electromechanical device of the present embodiment. As shown in FIG. 16, 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 electromechanical device 10 described in the present embodiment may 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 electromechanical device 10 described in the present embodiment is incorporated in a connection portion between the base portion 3645a and the finger portion 3645b and each joint portion of the finger portion 3645b. When these electromechanical devices 10 are driven, the finger portion 3645b is bent and an object can be gripped. These electromechanical devices 10 are ultra-small motors, 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. 17 is an explanatory diagram illustrating an example of a robot with a double-arm caster using the electromechanical device described in the present embodiment. As shown in FIG. 17, 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 with a double-arm caster is built in the vehicle body 3763a.

  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 with 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 rotating mechanism 3773 and the linear motion mechanism 3774 are provided with the electromechanical device 10 described in the present embodiment. 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 incorporate the electromechanical device 10 described in the present embodiment. Therefore, the robot 3762 with two-arm casters can rotate without rattling even when the traveling direction is changed. Then, the robot 3762 with double-arm casters can rotate without rattling even when the rotation direction of the main body 3766 is changed.

  FIG. 18 is an explanatory diagram showing a railway vehicle using the electric machine device of the present embodiment. The railway vehicle 3500 includes a transmission-equipped motor 3510 and wheels 3520. The transmission-equipped motor 3510 drives the wheel 3520. Further, the transmission-equipped motor 3510 is used as a generator when the railway vehicle 3500 is braked to regenerate electric power. In addition, as the motor 3510 with a transmission, the electromechanical device 10 described in this embodiment may be used.

  In each of the above embodiments, the electric motor 80 used in the electromechanical device 10 may have a two-phase independent connection structure in which two phases are independent, or a three-phase independent connection, a three-phase star connection, and a three-phase delta connection structure. There may be.

  The embodiments of the present invention have been described above based on some embodiments. However, the embodiments of the present invention described above are for facilitating the understanding of the present invention and limit the present invention. It is not a thing. The present invention can be changed and improved without departing from the spirit and scope of the claims, and it is needless to say that the present invention includes equivalents thereof.

    DESCRIPTION OF SYMBOLS 10 ... Electromechanical device 12 ... Input shaft 14 ... Output shaft 20 ... Casing 22 ... Bearing part 25 ... Conductive wire bundle 30 ... Mechanical transmission mechanism 40 ... Electric motor for transmission control 75 ... Magnetic pole piece 80, 80A ... Electric motor 81 ... Drive shaft 82 ... Encoder 83 ... Flywheel 90 ... Mechanical output distributor 91 ... Center gear 91t ... Gear teeth 92 ... Input shafts 93, 93A, 93B, 93C, 93D ... Side gears 93t, 93At, 93Bt, 93Ct, 93Dt ... Gear teeth 94 ... output shafts 94A, 94B, 94C, 94D ... output shafts 100, 100A, 100B, 100C, 100G, 100H, 100J ... electric stepless transmission 110 ... center shaft 111 ... through hole 112 ... bearing portion 113 ... ring 114 ... fixed Bo G 115 ... Spacer 117 ... Bearing part 120 ... Drive motor part 121 ... Rotor 121f ... Flange part 121t ... Gear tooth 121ft ... Gear tooth 122 ... Casing 122a ... Casing part 122b ... Casing part 123 ... Permanent magnet 124 ... Electromagnetic coil (stator) 125 ... Magnetic back yoke 126 ... Position detector 127 ... Drive motor controller 128 ... Coil back yoke 130 ... Mechanical transmission mechanism 130A, 130B, 130C ... Mechanical transmission mechanism 130G ... Magnetic transmission mechanism 131 ... Ring gear 131G ... 2 magnetic transmission rotor 131t ... gear teeth 132 ... planetary gear 132s ... rotating shaft 132t ... gear teeth 133 ... planetary carrier 133G ... carrier 35 ... Bearing portion 136 ... Load connecting portion 136A ... Load connecting portion 140 ... Electric motors for shift control 140A, 140B, 140C ... Electric motor for shift control 141 ... Rotor 143 ... Permanent magnet 144 ... Electromagnetic coil (stator) 145 ... Magnet back yoke 146 ... Position detector 147 ... Motor controller for shift control 148 ... Coil back yoke 150 ... Sealing part 160, 160H ... Input gear 160t ... Gear teeth 162, 162H ... Input shaft 164 ... Power transmission shaft 166 ... Universal joint 171 ... Permanent magnet 175 ... Magnetic pole piece 177 ... Permanent magnet 220 ... Ring gear 310 ... Pinion shaft 312 ... Bearing portion 320 ... First side gear 320t ... Gear teeth 330 ... Second side gear 340 ... Third die Gear 340t ... gear tooth 350 ... fourth side gear 352 ... through hole 410 ... rotor 411 ... through hole 412 ... bearing part 413 ... permanent magnet 415 ... magnet back yoke 416 ... position detection part 417 ... circuit board 420 ... stator (electromagnetic coil) 428 ... Coil back yoke 500 ... Electric continuously variable transmission control unit 600 ... Motor control unit 700 ... Power storage circuit 750 ... Power storage unit 800 ... System control unit 1000 ... Automobile 1001 ... Hybrid vehicle 1010 ... Body 1030LF, 1030RF, 1030LR, 1030RR ... Wheels 1040L, 1040R ... Drive shaft 1050 ... Axle 1070 ... Internal combustion engine 1080, 1081 ... Electric motor 1090 ... Mechanical output distributor 1100 DESCRIPTION OF SYMBOLS 1100R ... Electric continuously variable transmission 1211 ... Through-hole 1213 ... Sun gear (rotor gear) 1213G ... 1st magnetic transmission rotor 1221 ... Through-hole 1222 ... Opening 1312 ... Ring carrier 1313 ... Opening 1330 ... Planetary carrier 1331 ... Through Hole 1332 ... Shaft hole 3300 ... Bicycle 3310 ... Motor with transmission 3320 ... Control circuit 3330 ... Rechargeable battery 3400 ... Robot 3410 ... First arm 3420 ... Second arm 3430 ... Motor with transmission 3460 ... Joint motor 3470 ... Grip Motor 3480 ... arm 3490 ... gripping part 3500 ... railway vehicle 3510 ... motor with transmission 3520 ... wheel 3640 ... vertical articulated robot 3641 ... book 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 ... Dual arms Robot with casters 3763 ... body part 3763a ... body body 3763b ... wheel 3764 ... control part 3765 ... body rotation part 3766 ... 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 body 3772b ... Grip part 3773 ... Rotation mechanism 3774 ... Linear motion mechanism

Claims (7)

An electromechanical device,
An electric motor,
A flywheel connected to the output shaft of the electric motor;
A mechanical output distributor connected to the output shaft and mechanically distributing the output of the electric motor into two or more second output shafts;
A first electric continuously variable transmission connected to each of the two or more second output shafts;
With
The first electric continuously variable transmission is
A mechanical type having an input unit to which an output from the mechanical output distributor is input, an output unit to be an output of the electromechanical device, and a control unit for controlling a shift from the input unit to the output unit. A transmission mechanism;
A shift control electric motor connected to the control unit and changing a rotation speed of the control unit;
An electromechanical device comprising: The electromechanical device according to claim 1,
The electric motor includes a second electric continuously variable transmission,
The second electric continuously variable transmission includes:
A second input unit to which an output from the electric motor is input, a second output unit connected to the output shaft, and a shift from the second input unit to the second output unit are controlled. A mechanical transmission mechanism having a second control unit;
A second shift control motor connected to the second control unit and changing a rotation speed of the second control unit;
Comprising
Electromechanical equipment. The electromechanical device according to claim 1 or 2,
The mechanical transmission mechanism is a planetary gear mechanism,
Any one of the sun gear, planetary carrier, and outer gear of the planetary gear mechanism is the input unit,
Of the planetary gear mechanism, any one of the sun gear, planetary carrier, and outer gear other than the input unit is the output unit.
The remaining one other than the input unit and the output unit among the sun gear, planetary carrier, and outer gear of the planetary gear mechanism is the control unit.
Electromechanical equipment. The electromechanical device according to claim 1 or 2,
The mechanical transmission mechanism is a differential gear,
The differential gear is
A first gear and a second gear arranged opposite to each other so as to rotate about a virtual first axis;
At least one third gear arranged to mesh with the first gear and the second gear about a virtual second axis perpendicular to the first axis;
A support shaft arranged along the second axis and rotatably supporting the third gear;
A first rotating shaft disposed along the first axis and connected to the first gear;
A second rotating shaft disposed along the first axis and connected to the support shaft through a through hole provided in a central portion of the second gear;
With
The first rotating shaft is the input unit;
The second rotating shaft is the output unit;
An electromechanical device, wherein the second gear is the control unit. In the electromechanical device according to any one of claims 1 to 4,
The electric motor is an electromechanical device having an air-core coreless configuration.   A robot comprising the electromechanical device according to any one of claims 1 to 5.   A moving body comprising the electromechanical device according to claim 1.

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