JP2016025670A5 - - Google Patents

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JP2016025670A5
JP2016025670A5 JP2014145780A JP2014145780A JP2016025670A5 JP 2016025670 A5 JP2016025670 A5 JP 2016025670A5 JP 2014145780 A JP2014145780 A JP 2014145780A JP 2014145780 A JP2014145780 A JP 2014145780A JP 2016025670 A5 JP2016025670 A5 JP 2016025670A5
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case
vibrating body
rotary drive
drive device
type actuator
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JP2016025670A (en
JP6448239B2 (en
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Priority to PCT/JP2015/067810 priority patent/WO2016009785A1/en
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本発明に係る回転駆動装置は、振動型アクチュエータと、前記振動型アクチュエータが内部に設けられているケースと、前記振動型アクチュエータの回転力を前記ケースの外部に取り出す出力部材と、を有する回転駆動装置であって、前記振動型アクチュエータは、加圧接触して相対的に回転移動する振動体および被駆動体と、前記振動体と接合され、駆動電圧が印加されることによって前記振動体と前記被駆動体とを相対的に回転移動させるための振動を前記振動体に励起する電気−機械エネルギ変換素子とを有し、前記ケースは、吸気口と、負圧が供給される排気口とを有し、前記排気口は、回転軸に平行な方向において前記振動体と前記被駆動体との加圧接触部と対向する前記ケースの一方の端面に設けられており、前記ケースの内部に形成される前記吸気口から前記排気口への空気の流路の間に前記加圧接触部が位置することを特徴とする。 Rotary driving device according to the present invention, a vibration-type actuator, wherein a case vibration-type actuator is provided et al is in the inner portion, an output member to eject the rotational force of the vibration-type actuator to the outside of the case The vibration type actuator includes a vibrating body and a driven body that are relatively rotated and moved in pressure contact with each other, and is joined to the vibrating body and applied with a driving voltage. An electro-mechanical energy conversion element that excites vibration for rotating the vibrating body and the driven body relative to each other; the case is supplied with an intake port and a negative pressure; The exhaust port is provided on one end surface of the case facing the pressure contact portion between the vibrating body and the driven body in a direction parallel to the rotation axis, Inside the case The pressure contact zone between the air flow path from the intake port formed to the exhaust port, characterized in that position.

Claims (14)

振動型アクチュエータと、前記振動型アクチュエータが内部に設けられているケースと、前記振動型アクチュエータの回転力を前記ケースの外部に取り出す出力部材と、を有する回転駆動装置であって、
前記振動型アクチュエータは、
加圧接触して相対的に回転移動する振動体および被駆動体と、
前記振動体と接合され、駆動電圧が印加されることによって前記振動体と前記被駆動体とを相対的に回転移動させるための振動を前記振動体に励起する電気−機械エネルギ変換素子とを有し、
前記ケースは、吸気口と、負圧が供給される排気口とを有し、
前記排気口は、回転軸に平行な方向において前記振動体と前記被駆動体との加圧接触部と対向する前記ケースの一方の端面に設けられており、前記ケースの内部に形成される前記吸気口から前記排気口への空気の流路の間に前記加圧接触部が位置することを特徴とする回転駆動装置。 A vibration-type actuator, wherein a case vibration-type actuator is provided et al is in the inner part, a rotary drive device and an output member to eject the rotational force of the vibration-type actuator to the outside of the case ,
The vibration type actuator is
A vibrating body and a driven body that relatively rotate and move under pressure, and
An electro-mechanical energy conversion element that is bonded to the vibrating body and excites vibrations to relatively rotate and move the vibrating body and the driven body when a driving voltage is applied to the vibrating body; And
The case has an intake port and an exhaust port to which negative pressure is supplied,
The exhaust port is provided on one end surface of the case facing the pressure contact portion between the vibrating body and the driven body in a direction parallel to the rotation axis, and is formed inside the case. The rotary driving device , wherein the pressurizing contact portion is located between air flow paths from an intake port to the exhaust port. 前記吸気口は、前記回転軸に平行な方向において前記加圧接触部と対向する前記ケースの他方の端面に設けられていることを特徴とする請求項１に記載の回転駆動装置。The rotary drive device according to claim 1, wherein the intake port is provided on the other end surface of the case facing the pressure contact portion in a direction parallel to the rotation axis. 前記加圧接触部と前記ケースの内周側の壁面との隙間が、その前後の流路よりも狭くなるように構成されていることを特徴とする請求項１又は２に記載の回転駆動装置。The rotary drive device according to claim 1 or 2, wherein a gap between the pressure contact portion and a wall surface on the inner peripheral side of the case is configured to be narrower than a flow path before and after the pressure contact portion. . 前記振動体は前記ケースの内部で固定されて、前記被駆動体が前記振動体に対して回転し、The vibrating body is fixed inside the case, and the driven body rotates with respect to the vibrating body,
前記出力部材は前記ケースに対して回転自在に支持され、前記被駆動体の回転出力が前記出力部材に伝達されることを特徴とする請求項１乃至３のいずれか１項に記載の回転駆動装置。4. The rotational drive according to claim 1, wherein the output member is rotatably supported with respect to the case, and a rotational output of the driven body is transmitted to the output member. 5. apparatus. 前記振動体は、円板状であることを特徴とする請求項１乃至４のいずれか１項に記載の回転駆動装置。 The vibrating body, the rotary drive apparatus according to any one of claims 1 to 4, characterized in that a disc-shaped. 前記振動体は、中心部に対して肉厚に形成された外周部を有することを特徴とする請求項１乃至５のいずれか１項に記載の回転駆動装置。 The rotary drive device according to claim 1 , wherein the vibrating body has an outer peripheral portion formed thick with respect to a central portion . 前記振動体は、前記外周部の上面側に周方向に間隔を空けて設けられたスリット部を有することを特徴とする請求項６に記載の回転駆動装置。 The vibrating body, the rotation driving device according to claim 6, characterized in that it comprises a slit portion provided at an interval on the upper surface of the outer peripheral portion in a circumferential direction. 前記振動体は、隣接する前記スリット部の間に形成される凸部の上面で前記被駆動体と加圧接触することを特徴とする請求項７に記載の回転駆動装置。 The rotary drive device according to claim 7, wherein the vibrating body is in pressure contact with the driven body on an upper surface of a convex portion formed between the adjacent slit portions . 前記スリット部が前記ケースの内部において形成される空気の流路の一部となっていることを特徴とする請求項７又は８に記載の回転駆動装置。 The rotary drive device according to claim 7 or 8, wherein the slit portion is a part of an air flow path formed inside the case . 前記被駆動体の回転位置を検出するエンコーダを有し、
前記エンコーダは、前記ケースの内部での空気の流路の中で、前記振動体と前記被駆動体との加圧接触部よりも上流側に設けられていることを特徴とする請求項１乃至９のいずれか１項に記載の回転駆動装置。 An encoder that detects a rotational position of the driven body;
The encoder, in the air flow path inside of the case, to claim 1, characterized in that provided upstream of the pressure contact portion between the vibrator and the driven member 10. The rotation drive device according to any one of 9 above. 振動型アクチュエータと、前記振動型アクチュエータが内部に設けられているケースと、前記振動型アクチュエータの回転力を前記ケースの外部に取り出す出力部材と、を有する回転駆動装置であって、
前記振動型アクチュエータは、
加圧接触して相対的に回転移動する振動体および被駆動体と、
前記振動体と接合され、駆動電圧が印加されることによって前記振動体と前記被駆動体とを相対的に回転移動させるための振動を前記振動体に励起する電気−機械エネルギ変換素子とを有し、
前記ケースは、吸気口と、負圧が供給される排気口とを有し、
前記ケースの内部に形成される前記吸気口から前記排気口への空気の流路の間に前記振動体と前記被駆動体との加圧接触部が位置し、
前記ケースの内周側の壁面において前記加圧接触部と対向する位置に突起部が設けられていることを特徴とする回転駆動装置。 A rotary drive device comprising: a vibration type actuator; a case in which the vibration type actuator is provided; and an output member that extracts the rotational force of the vibration type actuator to the outside of the case,
The vibration type actuator is
A vibrating body and a driven body that relatively rotate and move under pressure, and
An electro-mechanical energy conversion element that is bonded to the vibrating body and excites vibrations to relatively rotate and move the vibrating body and the driven body when a driving voltage is applied to the vibrating body; And
The case has an intake port and an exhaust port to which negative pressure is supplied,
A pressurizing contact portion between the vibrating body and the driven body is located between air flow paths from the intake port to the exhaust port formed inside the case,
Rotary drive you characterized in that collision raised portion is provided at a position facing the front Symbol pressure contact zone in the wall of the inner peripheral side of the case. 前記突起部の内周側に螺旋状の溝部が形成されていることを特徴とする請求項１１に記載の回転駆動装置。 The rotation driving device according to claim 11 , wherein a spiral groove is formed on an inner peripheral side of the protrusion. 前記被駆動体は特定の方向に回転駆動され、
前記螺旋状の溝部は、前記被駆動体の回転方向とは逆の方向に渦流状の気流が生じるように前記突起部に形成されていることを特徴とする請求項１２に記載の回転駆動装置。 The driven body is rotationally driven in a specific direction,
It said spiral groove, according to claim 12, characterized in that it is made form the prior SL projections as reverse swirl-like air flow in the direction of the results to the rotational direction of the driven body Rotation drive device. 請求項１乃至１３のいずれか１項に記載の回転駆動装置を備えることを特徴とする関節形ロボット。 Articulated robot, characterized in that it comprises a rotary drive apparatus according to any one of claims 1 to 13.
JP2014145780A 2014-07-16 2014-07-16 Rotation drive device and articulated robot Active JP6448239B2 (en)

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JP2014145780A JP6448239B2 (en) 2014-07-16 2014-07-16 Rotation drive device and articulated robot
PCT/JP2015/067810 WO2016009785A1 (en) 2014-07-16 2015-06-15 Rotary drive device and articulated robot equipped with the same

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