JP4999176B2 - Drive device - Google Patents

Description

The present invention relates to a drive device including a member that can be relatively displaced, and more particularly, to a drive device including a transmission device that transmits an electric signal such as electric power or a signal between members that can be relatively displaced.

  In a drive device including a member that can be relatively displaced, such as a rotary joint portion of a so-called SCARA robot, it is necessary to transmit electric signals such as electric power and signals between the members that are relatively displaced. As a means for transmitting such an electric signal, a method of connecting members with a cable has been conventionally used. However, in the method of connecting with cables, it is necessary to bend the cables to such an extent that the movement of the members is not hindered, leading to an increase in the size of the apparatus as a whole, and troublesome cable wiring at the time of manufacture. It was.

  Therefore, for example, a movable transmission device as described in Patent Documents 1 to 3 has been proposed. Such a movable transmission device generally includes a pair of coil heads in which a coil member is provided inside a core member made of a magnetically permeable material, and these coil heads are respectively attached to members to be relatively displaced. Thus, the structure is configured to be opposed to each other with a predetermined gap. Then, it is possible to transmit electric signals by electromagnetically coupling both the coil members. If such a movable transmission device is used, the device can be made more compact than the cable wiring, and the labor of the cable wiring can be eliminated, so that the manufacturing efficiency can be improved.

  However, in the movable transmission device as described in Patent Document 1, in order to avoid the generation of noise in the electric signal transmitted due to interference between the magnetic paths, a core member that transmits power is connected to a signal. It is still difficult to realize a sufficiently compact size because it is necessary to make the core member large enough not to overlap in the axial direction with the core member that transmits the signal. Furthermore, the positioning of the power core member and the signal core member and the positioning of the other core member facing each other must be performed with high accuracy, resulting in an increase in the manufacturing process. there were.

  On the other hand, the movable transmission devices described in Patent Document 2 and Patent Document 3 use a common core member for the power coil member and the signal coil member. In this way, it is possible to further reduce the size of the movable transmission device, and thus the drive device including the movable transmission device. However, in the movable transmission device as described in Patent Documents 2 and 3, the generation of noise due to interference between the magnetic flux generated from the power coil member and the magnetic flux generated from the signal coil member is avoided. Therefore, since it is necessary to form a gap such as a groove for separating these magnetic paths between the power coil member and the signal coil member in the core member, it is difficult to realize sufficient compactness. It was. In addition, since special processing and a special mold are required to form the gap, the manufacturing is difficult and the manufacturing cost is increased.

JP-A-9-298121 Japanese Patent Laid-Open No. 7-66057 JP 11-354348 A

  Here, the present invention has been made in the background as described above, and the problem to be solved thereof is further simplification of the structure and compactness while suppressing noise generated during transmission of a plurality of electric signals. It is an object of the present invention to provide a drive device having a novel structure that can be realized.

  Hereinafter, embodiments of the present invention made to solve the above-described problems will be described. In addition, the component employ | adopted in each aspect as described below is employable by arbitrary combinations as much as possible.

That is, the first aspect of the present invention is a substantially annular shape in which the first member and the second member are disposed so as to be capable of relative rotation about the rotation axis, and have a through hole on the central axis. A pair of core members having a bottom wall portion, an inner peripheral wall portion, and an outer peripheral wall portion of the peripheral groove are used by forming a peripheral groove that opens at one end surface in the axial direction with respect to the magnetically permeable material. Each of the pair of core members is mounted on the first member and the second member on the same axis as the rotation shaft, so that the axial end surfaces on the opening side of the circumferential groove are opposed to each other. A pair of first coil members that use the inner peripheral wall portion as a magnetic path is assembled to the pair of core members and connected in an electromagnetically coupled state to the first member and the second member. A first transmission line for transmitting at least one of electric power and signals to and from the members of In addition, a pair of second coil members that use the outer peripheral wall portion as a magnetic path is assembled to the pair of core members and coupled in an electromagnetically coupled state, whereby the first member and the second member A second transmission path configured to transmit at least one of electric power or a signal to and from the member, and further, at least one of the pair of core members, a noise suppressing coil member extending in a circumferential direction of the core member There is provided a drive device characterized by comprising a movable transmission device provided with a

  In the drive device structured according to this aspect, the pair of core members constituting the movable transmission device are positioned to face each other, and the first and second coil members assembled to both core members are electromagnetically coupled to each other. Therefore, it is possible to transmit an electric signal between both members. As a result, it is possible to reduce the size of the driving device as compared with the cable connection and to eliminate the need for wiring and the like, so that the manufacturing efficiency can be improved. Furthermore, the possibility of poor energization or breakage due to repeated bending such as a cable can be reduced, and stable transmission quality can be ensured for a longer period of time.

And especially in this mode, the first coil member in the movable transmission device uses the inner peripheral wall portion of the core member as a magnetic path, while the second coil member uses the outer peripheral wall portion of the core member as a magnetic path. Has been. Thereby, generation | occurrence | production of the noise resulting from interference with the magnetic flux produced by the electricity supply to the 1st coil member and the magnetic flux produced by the electricity supply to the 2nd coil member can be suppressed. That is, since most of the magnetic flux generated from the first coil member passes through the inner peripheral wall portion of the core member, the magnetic flux passing through the outer peripheral wall portion of the core member is small. Therefore, by using the outer peripheral wall portion of the core member as the magnetic path of the second coil member, interference between the magnetic fluxes can be suppressed. Therefore, it is possible to transmit an electric signal through the first and second transmission lines without forming a gap such as a groove while using a common core member. As a result, the movable transmission device can be made compact, and the drive device can be made more compact. Further, in the drive device structured according to this aspect, a magnetic field that generates a back electromotive force in the transmission line that reduces noise electromotive force generated in the first transmission line or the second transmission line is used for noise suppression. By causing the coil to be energized, noise generated in the first transmission path and the second transmission path can be further reduced or eliminated with a simple configuration without using a complicated structure such as a filter circuit. I can do it. Here, the arrangement position and the number of turns of the noise suppression coil are appropriately set in consideration of the transmission path that is the target of noise suppression, the magnitude and frequency of noise to be suppressed, and the like. For example, the noise suppression coil may be disposed at the same position as the first coil member, or may be disposed at the same position as the second coil member. For example, the number of turns of the noise suppression coil may be the same as that of the first coil member or the second coil member, or may be more or less. Furthermore, the noise suppression coil does not necessarily have to be wound more than once, and may be wound only, for example, by a half turn.

  In this embodiment, the use of the inner peripheral wall portion of the core member as a magnetic path means that most of the magnetic lines of force generated by the coil member may pass through the inner peripheral wall portion, and only the inner peripheral wall portion is necessarily used. It is not limited to what is used as a magnetic path, but includes the case where some lines of magnetic force pass through the outer peripheral wall. The same applies to the case where the outer peripheral wall portion is used as a magnetic path, and some lines of magnetic force may pass through the inner peripheral wall portion.

  Further, the first transmission path and the second transmission path may transmit power or may transmit a signal. For example, both the first and second transmission paths may be power transmission paths that transmit power, or both the first and second transmission paths may be signal transmission paths that transmit signals. . Preferably, as a second aspect of the present invention, in the drive device according to the first aspect, the first transmission path is a power transmission path for transmitting power, and the second transmission A mode is adopted in which the path is a signal transmission path for transmitting a signal.

  That is, since the first coil member uses the inner peripheral wall portion of the core member as a magnetic path, more magnetic flux can be linked to each other than the second coil member, and a relatively large induced electromotive force is generated. You can squeeze. Therefore, more stable transmission can be performed by using the first transmission path as a power transmission path that requires a larger induced electromotive force than the signal.

  According to a third aspect of the present invention, in the drive device according to the first or second aspect, the pair of core members are spaced apart from each other and face each other.

  In the drive device having the structure according to this aspect, it is possible to transmit power and signals in a state where both core members are not in contact with each other. As a result, wear due to rubbing accompanying relative displacement of both core members can be avoided, and more excellent durability can be obtained.

  According to a fourth aspect of the present invention, in the driving device according to any one of the first to third aspects, an electromagnetic shielding member is provided on an outer periphery of the core member in at least one of the pair of core members. It is characterized by being.

  In the drive device structured according to this aspect, the influence of electromagnetic waves generated from the coil head on other electronic components can be suppressed, and noise received from other electronic components can be reduced. Signal transmission can be performed more stably.

  According to a fifth aspect of the present invention, in the driving device according to any one of the first to fourth aspects, in at least one of the pair of core members, a low magnetic permeability member is provided on an outer periphery of the core member. It is characterized by that.

  In the drive device having the structure according to this aspect, the leakage magnetic flux from the core member can be suppressed and transmission efficiency can be further increased by sufficiently reducing the relative magnetic permeability outside the core member. Here, as the low magnetic permeability member, for example, a conventionally known member such as polytetrafluoroethylene or epoxy resin can be appropriately employed.

  In this aspect, in the drive device according to the fourth aspect, an aspect in which a low magnetic permeability member is interposed between the core member and the electromagnetic shielding member is suitably employed. In this way, the eddy current generated in the electromagnetic shielding member by the magnetic flux generated from the coil head can be suppressed, and the magnetic energy of the coil head can be prevented from being absorbed by the eddy current.

According to a sixth aspect of the present invention, in the drive device according to any one of the first to fifth aspects, the first transmission path is a power transmission path for transmitting power, and While the second transmission path is a signal transmission path for transmitting a signal, in response to noise electromotive force generated in the signal transmission path due to power transmission through the power transmission path, The present invention is characterized in that noise suppression power supply means is provided that causes a magnetic field sufficient to generate a back electromotive force in the signal transmission path to reduce noise electromotive force by energizing the noise suppression coil member. .

  In the drive device structured according to this aspect, noise generated in the signal transmission path is advantageously generated by generating in the signal transmission path a counter electromotive force corresponding to the noise electromotive force generated in the signal transmission path. It can be reduced. Here, as the noise suppression power supply means, a noise electromotive force that can be generated in the signal transmission path is measured in advance, and predetermined power may be supplied to the noise suppression coil based on the measured value. Alternatively, the energization amount to the noise suppression coil may be changed according to the noise electromotive force generated in the signal transmission path.

According to a seventh aspect of the present invention, in the drive device according to any one of the first to sixth aspects, the first coil member is disposed between the inner peripheral wall portion and the outer peripheral wall portion of the core member. The space between the surfaces is configured to extend in the circumferential direction along the circumferential groove, and the second coil member is configured to extend in the circumferential direction on the outer peripheral surface of the outer peripheral wall. .

  In the drive device having the structure according to this aspect, the first and second coil members can be suitably configured. That is, when the first coil member is disposed in the circumferential groove, the inner peripheral wall portion and the outer peripheral wall portion are disposed on both the inner and outer sides of the first coil member. Then, most of the magnetic flux generated by the first coil member passes through the inner peripheral wall portion, which is the shortest path that minimizes the magnetic resistance. On the other hand, since the second coil member is provided outside the core member, most of the magnetic flux generated by the second coil member passes through the outer peripheral wall. As a result, the interference of magnetic flux generated by the first and second coil members can be reduced as much as possible, and transmission with reduced noise can be performed. Moreover, in this aspect, since the 2nd coil member is provided in the exterior of the core member, the relative magnetic permeability of the outer side of the 2nd coil member is made small compared with the core member. Thereby, the possibility that the magnetic flux generated from the first coil member jumps out of the core member and circulates outside the second coil member is reduced, and the magnetic flux generated from the first coil member and the second coil member are reduced. Interference with the magnetic flux generated from the coil member can be further reduced.

According to an eighth aspect of the present invention, the first member and the second member are disposed so as to be capable of relative rotation around the rotation axis, while having a substantially annular shape with a through hole on the central axis. A pair of core members having a bottom wall portion, an inner peripheral wall portion, and an outer peripheral wall portion of the circumferential groove is formed by forming a circumferential groove that opens on one end face in the axial direction with respect to the magnetic material. Each of the core members is mounted coaxially with the rotation shaft with respect to the first member and the second member, so that the axial end surfaces on the opening side of the circumferential groove are positioned opposite to each other. The first member and the second member are assembled by assembling a pair of first coil members using the inner peripheral wall portion as a magnetic path to the pair of core members and connecting them in an electromagnetically coupled state. A first transmission path for transmitting at least one of power or signals to and from In addition, a pair of second coil members using the outer peripheral wall portion as a magnetic path is assembled to the pair of core members and connected in an electromagnetically coupled state, thereby the first member and the second member A second transmission path configured to transmit at least one of electric power or a signal between the first coil member and the opposing surface of the core member between the inner peripheral wall portion and the outer peripheral wall portion. The second coil member is inserted across the through holes of the pair of core members, and the outer peripheral walls of the pair of core members are configured to extend in the circumferential direction along the circumferential groove. in the driving device according to feature further comprising a movable type transmission apparatus configured tighten let outside part.

  In the drive device having the structure according to this aspect, the first and second coil members can be suitably configured. That is, when the first coil member is disposed in the circumferential groove, the inner peripheral wall portion and the outer peripheral wall portion are disposed on both the inner and outer sides of the first coil member. Then, most of the magnetic flux generated by the first coil member passes through the inner peripheral wall portion, which is the shortest path that minimizes the magnetic resistance. On the other hand, since the second coil member is extrapolated to the outer peripheral wall portion of the core member, most of the magnetic flux generated by the second coil member passes through the outer peripheral wall portion. As a result, the interference of magnetic flux generated by the first and second coil members can be reduced as much as possible, and transmission with reduced noise can be performed. Moreover, in this aspect, since the extending directions of the cores of the first coil member and the second coil member are substantially orthogonal to each other, the first coil member and the second coil member are generated from one of the first and second coil members. The possibility that the magnetic flux interlinks with the other coil member to generate a noise electromotive force is reduced. This also enables transmission with reduced noise.

  Hereinafter, in order to clarify the present invention more specifically, embodiments of the present invention will be described in detail with reference to the drawings.

  First, FIG. 1 shows a drive device 10 as a first embodiment of the present invention. The driving device 10 includes a rotating plate 14 having a substantially rectangular plate shape with respect to a base 12, which is assembled to be rotatable about a shaft 16 serving as a rotation shaft, and has a substantially rectangular plate shape at both ends of the rotating plate 14. The arm members 18 and 20 having the above are assembled so as to be rotatable around the shafts 22 and 24 as rotation shafts.

  Since the connecting portion between the base 12 and the rotating plate 14 and the connecting portion between the rotating plate 14 and the arm members 18 and 20 have substantially the same structure, the following is the relationship between the base 12 and the rotating plate 14. The connection portion will be described as an example. In FIG. 2, the connection part of the base 12 and the rotating plate 14 is shown. An electric motor 26 is provided on the base 12, and a central portion of the rotating plate 14 is attached to a drive shaft 28 of the electric motor 26 that protrudes from the base 12. Thus, the rotating plate 14 can be rotated around the driving shaft 28 by the driving force of the electric motor 26, and the driving shaft 28 of the electric motor 26 is the shaft 16 that serves as the rotation center of the rotating plate 14.

  A movable transformer 30 as a movable transmission device is disposed so as to be coaxially extrapolated to the drive shaft 28. 3 and 4 show the movable transformer 30. The movable transformer 30 includes a coil head 38 a configured by assembling a power coil 34 a as a first coil member and a signal coil 36 a as a second coil member to a core member 32, and a first coil member 38 a. The power coil 34b as one coil member and the signal coil 36b as a second coil member are assembled in a pair so as to face each other.

  The core member 32 constituting the coil head 38a is a so-called pot-type core made of a ferromagnetic material such as ferrite, and has a substantially annular shape as a whole with a through hole 40 penetrating on the central axis. Has been. Furthermore, a lead groove 42 is formed in the core member 32 as a circumferential groove that opens to one end surface in the axial direction (vertical direction in FIG. 4) and extends over the entire circumference. A bottom wall portion 44, an inner peripheral wall portion 46 extending over the entire circumference of the lead groove 42, and an outer peripheral wall portion 48 extending over the entire periphery of the lead groove 42 are formed.

  A power wire 34a is formed by winding a lead wire formed of copper or the like in the lead groove 42 a predetermined number of times. Accordingly, as shown in FIG. 5, the power coil 34 a is assembled to the core member 32 so as to extend in the circumferential direction of the core member 32 along the lead groove 42 between the inner peripheral wall portion 46 and the outer peripheral wall portion 48. It has been. In the present embodiment, the lead wire constituting the power coil 34a is wound directly around the core member 32. For example, the lead wire is wound around a bobbin prepared separately from the core member 32. Thus, the power coil 34a may be formed, and the power coil 34a may be assembled to the core member 32 by attaching the bobbin including the power coil 34a into the lead groove 42.

  A signal coil 36a is formed on the outer peripheral surface 50 of the outer peripheral wall portion 48 constituting the outer peripheral surface of the core member 32 by winding a lead wire made of copper or the like a predetermined number of times. . Thereby, as shown in FIG. 5, the signal coil 36 a is assembled on the outer peripheral surface 50 of the core member 32 so as to extend in the circumferential direction of the core member 32.

  FIG. 5 shows a model in order to clarify the extending direction of the power coil 34a and the signal coil 36a, and the number of turns of the power coil 34a and the signal coil 36a is required. It can be appropriately set in consideration of transmission characteristics and the like. For example, the power coil 34a and the signal coil 36a may be wound only around a half circumference of the core member 32, or the power coil 34a is wound in layers in the lead groove 42 so that there is almost no gap. It may be turned.

  Next, the coil head 38b will be described. Since the coil head 38b has substantially the same structure as the above-described coil head 38a, members and parts having substantially the same structure as the coil head 38a are denoted by the same reference numerals in the drawing. Detailed description thereof will be omitted.

  In the coil head 38 b, a power coil 34 b having substantially the same structure as the power coil 34 a in the coil head 38 a is assembled in the lead groove 42 of the core member 32, and on the outer peripheral surface 50 of the core member 32. In addition, a signal coil 36b having a structure substantially similar to that of the signal coil 36a in the coil head 38a is assembled. The number of turns of the power coil 34b and the signal coil 36b can be appropriately set in consideration of required transmission characteristics and the like, and is not limited at all, and is provided in the coil head 38a. The number of turns may be the same as or different from the power coil 34a and the signal coil 36a.

  Further, a cancel coil 52 as a noise suppression coil is assembled to the outer peripheral surface 50 of the core member 32 of the coil head 38b. The cancel coil 52 is formed by winding a lead wire made of copper or the like a predetermined number of times, substantially the same as the signal coil 36b, whereby the cancel coil 52 is formed on the outer peripheral surface of the core member 32. 50 is assembled so as to extend in the circumferential direction of the core member 32. Here, the number of turns of the cancel coil 52 is appropriately set in consideration of a noise electromotive force that may be generated in the signal coil 36b. For example, only a half circumference of the core member 32 may be wound. Then, the core member 32 may be overlapped and wound a plurality of times.

  In the coil heads 38 a and 38 b having such a structure, one coil head 38 a is assembled to the base 12, while the other coil head 38 b is assembled to the rotating plate 14. Here, the coil head 38a assembled to the base 12 has the drive shaft 28 inserted through the through hole 40 with a gap around the entire circumference, and is extrapolated on the concentric shaft with respect to the drive shaft 28. In addition, the lead groove 42 is assembled to the base 12 with the axially open end face thereof facing the rotating plate 14. On the other hand, the coil head 38b assembled to the rotating plate 14 has the drive shaft 28 inserted through the through hole 40 with a gap around the entire circumference, and is extrapolated on the drive shaft 28 on a concentric shaft. At the same time, the lead groove 42 is assembled to the rotating plate 14 with the axially open end face facing the base 12. As a result, the coil heads 38a and 38b are arranged coaxially with the end surfaces on the opening side of the lead grooves 42 facing each other at a predetermined distance, and as shown in FIG. 38b is a non-contact state in which end surfaces 54, 54 on the opening side of the inner peripheral wall portions 46, 46 and end surfaces 56, 56 on the opening side of the outer peripheral wall portions 48, 48 are separated from each other by a predetermined distance in the axial direction of the coil heads 38a, 38b. It is made to oppose.

  In the movable transformer 30 according to the present embodiment, for example, as shown in FIG. 6, the lead wire forming the power coil 34 a in the coil head 38 a is electrically connected to the inverter 58 provided on the base 12. In addition, the lead wire forming the signal coil 36 a is electrically connected to the communication circuit 60 provided on the base 12. On the other hand, the lead wire forming the power coil 34b in the coil head 38b is electrically connected to the rectification stabilization circuit 62 provided on the rotating plate 14, and the lead wire forming the signal coil 36b is rotated. It is electrically connected to a communication circuit 64 provided on the plate 14. Further, the lead wire forming the cancel coil 52 provided in the coil head 38 b is electrically connected to the noise removing circuit 66 provided in the rotating plate 14. Thereby, transmission of electric power and a signal is attained between the coil head 38a and the coil head 38b.

  First, a transmission path of power supplied from the coil head 38a to the coil head 38b will be described. As the inverter 58 to which the power coil 34a of the coil head 38a is connected, for example, a conventionally known inverter of CVCF type or VVVF type can be appropriately employed. A DC voltage supplied from a power supply circuit (not shown) provided on the base 12 is converted into a high-frequency voltage by the inverter 58. Here, the frequency (output frequency) of the high-frequency voltage converted by the inverter 58 differs depending on the power to be supplied, the usage environment, etc., but in this embodiment, it is set appropriately within a range of about 100 Hz to 500 MHz. Has been.

  The high-frequency voltage converted by the inverter 58 is fed to the power coil 34a, thereby generating a magnetic flux BP (see FIG. 4) that passes through the power coil 34a and changes according to the output frequency. The magnetic flux BP penetrating through the power coil 34a passes through the inner peripheral wall portion 46, the bottom wall portion 44, and the outer peripheral wall portion 48 of the core member 32, and the end surfaces of the inner peripheral wall portions 46 that are opposed to each other. 54 and 54 and the end surfaces 56 and 56 of the outer peripheral wall portion 48 enter and exit, and are linked to the power coil 34b provided on the opposing coil head 38b. Thus, in the present embodiment, the end surface 54 on the opening side of the inner peripheral wall portion 46 and the end surface 56 on the opening side of the outer peripheral wall portion 48 in the core member 32 are used as the transmitting and receiving surfaces.

  As a result, the power coils 34a and 34b are electromagnetically coupled, and an induced electromotive force is generated in the power coil 34b due to the mutual inductive action, and the high frequency voltage supplied to the power coil 34a is converted into the power coil. 34b. In this way, power is transmitted from the power coil 34a to the power coil 34b in a non-contact state. The high-frequency voltage extracted from the power coil 34b is converted into a DC voltage by the rectifying and stabilizing circuit 62 and then supplied to the communication circuit 64, the noise removal circuit 66, and the like. Thus, in the present embodiment, a pair of first coil members is configured by the power coils 34a and 34b, and the first transmission path configured by the power coils 34a and 34b supplies power. The transmission line for power transmission is used.

  Next, transmission paths for signals transmitted and received between the coil head 38a and the coil head 38b will be described. First, after a signal generated by a control circuit (not shown) provided on the base 12 is superimposed on a high frequency voltage by the communication circuit 60 to which the signal coil 36a of the coil head 38a is connected, the signal coil 36a. The high-frequency voltage on which the signal is superimposed is generated by the communication circuit 60, and the frequency varies depending on the data size of the signal, the usage environment, etc. It is appropriately set within a range of about 100 Hz to 10 GHz.

  When a high frequency voltage is supplied to the signal coil 36a, a magnetic flux BS (see FIG. 4) that passes through the signal coil 36a and changes according to the output frequency is generated. The magnetic flux BS penetrating the signal coil 36a passes through the outer side wall portion 48 of the core member 32 and the outside of the core member 32, and the end surfaces 56, 56 and the outer periphery of the outer wall portion 48 that are opposed to each other. The surface 50 enters and exits and interlinks with the signal coil 36b provided on the opposing coil head 38b.

  As a result, the signal coils 36a and 36b are electromagnetically coupled, and an induced electromotive force is generated in the signal coil 36b due to the mutual induction action. The high-frequency voltage supplied to the signal coil 36a is converted into the signal coil. It is taken out from 36b. In this way, power is transmitted from the signal coil 36a to the signal coil 36b in a non-contact state. The signal superimposed on the high-frequency voltage extracted from the signal coil 36 b is extracted by the communication circuit 64 and then transmitted to various control circuits (not shown) provided on the rotating plate 14. Thus, in the present embodiment, a pair of second coil members is configured by the signal coils 36a and 36b, and the second transmission path configured by the signal coils 36a and 36b transmits signals. It is a transmission path for signals to be transmitted.

  Further, particularly in the present embodiment, the cancel coil 52 provided in the coil head 38 b is electrically connected to a noise removal circuit 66 as a noise suppression power supply means provided in the rotating plate 14. The noise removal circuit 66 supplies a predetermined high-frequency voltage having a preset frequency and voltage to the cancel coil 52. Here, the predetermined high-frequency voltage supplied by the noise removal circuit 66 is a back electromotive force that reduces the noise electromotive force generated in the signal coil 36b due to the magnetic flux BP generated by the power coil 34a. A high-frequency voltage that can cause the magnetic flux BC generated in the signal coil 36 b to be generated by energizing the cancel coil 52 is employed. Further, as the back electromotive force for reducing the noise electromotive force, a high frequency voltage having the same voltage in the opposite phase to the noise electromotive force or a high frequency voltage close to it is desirable. The frequency of the high-frequency voltage supplied to the cancel coil 52 and the preferred value of the voltage are, for example, the frequency of the high-frequency voltage supplied to the cancel coil 52 while measuring the amount of noise mixed in the electrical signal extracted from the signal coil 36b. Further, by gradually changing the voltage and measuring the increase or decrease of the noise amount, it is possible to tune to a suitable value.

  As a result, a predetermined high-frequency voltage is fed from the noise removal circuit 66 to the cancel coil 52, and a magnetic flux BC (see FIG. 4) that passes through the cancel coil 52 and changes according to the output frequency is generated. The magnetic flux BC generated from the cancel coil 52 is linked to the signal coil 36b, so that the signal electromotive force is reduced or reduced in the signal coil 36b due to the magnetic flux BP generated from the power coil 34a. Causes an induced electromotive force to be eliminated. As a result, it is possible to reduce or eliminate noise mixed in the signal extracted from the signal coil 36b.

  For example, a signal can be transmitted from the rotating plate 14 to the base 12. In such a case, in contrast to the case where a signal is transmitted from the base 12 to the rotating plate 14 as described above, a signal generated by a control circuit (not shown) provided on the rotating plate 14 is a communication circuit. After being superposed on the high frequency voltage at 64 and transmitted from the signal coil 36 b to the signal coil 36 a through the core members 32, 32 in a non-contact state, it is extracted from the high frequency voltage by the communication circuit 60.

In the drive device 10 according to the present embodiment, the movable transformer 30 and the electric motor 26 as described above are also disposed at the connection portion between the rotating plate 14 and the arm members 18 and 20. The connecting portion between the rotating plate 14 and the arm members 18 and 20 has substantially the same structure as the connecting portion between the base 12 and the rotating plate 14, so detailed description will be omitted, but the outline will be described by taking the arm member 18 as an example. Then, the electric motor 26 is disposed at the end of the rotating plate 14, and the drive shaft 28 of the electric motor 26 projected from the rotating plate 14 is assembled to the end of the arm member 18. One coil head 38a is assembled to the rotating plate 14 while being extrapolated on the concentric shaft with respect to the drive shaft 28, and the other coil head 38b is assembled to the arm member 18 . The coil heads 38a and 38b are opposed to each other with a predetermined distance in the axial direction. As a result, the arm members 18 and 20 can rotate about the shafts 22 and 24, respectively, with respect to the rotating plate 14, and power and signals can be transmitted between the rotating plate 14 and the arm members 18 and 20, respectively. It is said that. Thus, in the present embodiment, between the base 12 and the rotating plate 14, the base 12 is a first member, the rotating plate 14 is a second member, and the rotating plate 14. And the arm members 18 and 20, the rotating plate 14 is a first member, and the arm members 18 and 20 are a second member.

  In the driving apparatus 10 having such a structure, the movable transformer 30 is provided between the base 12 and the rotating plate 14 and between the rotating plate 14 and the arm members 18 and 20, so that It is possible to transmit electric power and signals between the members that are rotated.

  In particular, the movable transformer 30 provided in the driving device 10 in the present embodiment can transmit electrical signals by positioning the coil heads 38a and 38b facing each other without being fixed to each other. Infinite number of rotations are allowed between the base 12 and the rotating plate 14 and between the rotating plate 14 and the arm members 18 and 20. Furthermore, since it is possible to transmit an electrical signal in a state where the coil heads 38a and 38b are not in contact with each other, there is no risk of wear due to friction between both the coil heads 38a and 38b, and repeated connection such as cable connection. It is also possible to avoid the risk of disconnection due to bending of the wire.

  Further, since it is not necessary to provide a bend that allows relative displacement of each member as in the case of cable connection, the movable transformer 30 can be configured in a compact manner, and thus the drive device 10 can be made compact. I can do it. In particular, in the movable transformer 30 according to the present embodiment, the core member 32 is not provided outside the signal coils 36 a and 36 b, so that the relative permeability around the signal coils 36 a and 36 b is increased. The magnetic permeability BP generated from the power coil 34a is almost equal to the core member 32 in cooperation with the magnetic field lines taking the shortest path that minimizes the magnetic resistance. The magnetic flux BS generated from the signal coil 36a passes through the outer portion of the outer peripheral wall 48 while passing through the inner peripheral wall 46 and the inner portion of the outer peripheral wall 48 without passing through the outer portion of the outer peripheral wall 48. It becomes. Thereby, in the movable transformer 30 according to the present embodiment, a gap such as a groove that separates the magnetic path formed by the power coil 34a and the magnetic path formed by the signal coil 36a is not formed in the core member 32. In both cases, it is possible to reduce the interference between the magnetic flux BP that transmits power and the magnetic flux BS that transmits signals as much as possible, and to transmit power and signals while suppressing the generation of noise. As a result, the movable transformer 30 can be configured more compactly, and further the drive device 10 can be made more compact.

  Further, in the present embodiment, the power coils 34a and 34b forming the power transmission path are disposed in the lead groove 42 of the core member 32, so that the cores are formed on both the inner and outer sides of the power coils 34a and 34b. An inner peripheral wall portion 46 and an outer peripheral wall portion 48 of the member 32 are disposed. As a result, almost the entire power transmission path that requires a larger magnetic flux than the signal transmission is formed in the core member 32, and a large amount of magnetic flux can be stably secured. The power transmission can be performed stably.

  Furthermore, in the present embodiment, the cancel coil 52 is provided in the coil head 38b, and the magnetic flux generated from the power coil 34a by the high frequency voltage supplied from the noise removal circuit 66 to the cancel coil 52 is used. As a result, the noise electromotive force generated in the signal coil 36b can be reduced. As a result, it is possible to more effectively reduce or eliminate noise mixed in a signal extracted from the signal coil 36b with a simple configuration without using a complicated configuration such as a filter circuit. Even when signals are transmitted simultaneously, stable signal transmission / reception can be performed.

  Next, FIG. 7 shows a movable transformer 70 as a movable transmission device provided in the drive device according to the second embodiment of the present invention. In the following description, members and parts that are substantially the same as those in the first embodiment described above are denoted by the same reference numerals as those in the first embodiment, and detailed description thereof is omitted.

  The movable transformer 70 includes coil heads 38a and 38b having substantially the same structure as that of the first embodiment. In particular, in the present embodiment, the entire outer peripheral portion of the core member 32 of each of the coil heads 38a and 38b excluding the end surfaces 54 and 56 serving as the transmitting and receiving surfaces has a substantially bottomed cylindrical shape that opens in one axial direction. It is covered with a gap member 72 as a magnetic permeability member. Thus, the signal coils 36 a and 36 b and the cancel coil 52 provided on the outer peripheral surface 50 of the core member 32 are covered with the gap member 72. A through hole 73 is provided in the center of the bottom of the gap member 72 in the thickness direction, and the through hole 73 and the through hole 40 communicate with each other in the assembled state to the core member 32. Here, as the gap member 72, a conventionally known member having a small relative magnetic permeability can be appropriately employed, and specific examples thereof include polytetrafluoroethylene and epoxy resin. More preferably, a non-conductive member is employed as the gap member 72. In the present embodiment, polytetrafluoroethylene is used as the gap member 72.

  Further, in each of the coil heads 38a and 38b, a shield member 74 as an electromagnetic shielding member having a substantially bottomed cylindrical shape opening in one axial direction is provided outside the gap member 72. The shield member 74 is made of a nonmagnetic material such as aluminum or copper. The outer side of the gap member 72 is covered with the shield member 74, so that the outer peripheral part excluding the end faces 54 and 56 serving as the transmitting and receiving surfaces of the core member 32, the outer peripheral part of the signal coils 36 a and 36 b and the outer peripheral part of the cancel coil 52. Is covered with a shield member 74. A through hole 75 is provided in the center of the bottom of the shield member 74 in the thickness direction. When the shield member 74 is assembled to the core member 32, the through hole 75, the through hole 73 of the gap member 72, and the core member are provided. Thirty-two through holes 40 are communicated.

  In the movable transformer 70 having such a structure, the drive shaft 28 of the electric motor 26 provided on the base 12 has both the coil heads 38a and 38b, like the movable transformer 30 in the first embodiment described above. The one coil head 38a is assembled to the base 12 while the other coil head 38b is assembled to the rotating plate 14 with a predetermined distance in the axial direction. It is made to oppose.

  According to the movable transformer 70 in the present embodiment, an electromagnetic shielding structure is configured by the shield member 74, and the lines of magnetic force leaking from the core member 32 affect electronic components and the like provided outside the shield member 74. The possibility that the lines of magnetic force from the electronic components or the like provided outside the shield member 74 affect the electromagnetic induction effects of the power coils 34a and 34b and the signal coils 36a and 36b is reduced.

  Further, by providing the gap member 72 having a low magnetic permeability on the outer peripheral surface 50 of the core member 32, it is more advantageous that the magnetic flux generated from the power coil 34a jumps out of the core member 32. It can be suppressed. Thereby, it can suppress more effectively that the magnetic flux produced from the power coil 34a interferes with the magnetic flux produced from the signal coil 36a, and more stable transmission can be performed.

  Further, particularly in the present embodiment, a gap member 72 is interposed between the core member 32 and the shield member 74, and the gap member 72 is formed of a nonconductive material. As a result, it is possible to suppress the generation of eddy currents in the shield member 74 due to the influence of the lines of magnetic force, and to reduce the possibility that the magnetic energy of the power coils 34a and 34b and the signal coils 36a and 36b may be reduced by the eddy currents. Has been.

  The gap member 72 and the shield member 74 are not necessarily provided in both the coil heads 38a and 38b, and may be provided in only one of the coil heads 38a and 38b. Further, it is possible to provide only one of the gap member 72 and the shield member 74. In addition, although the gap member 72 and the shield member 74 in the present embodiment are both in the shape of a bottomed cylinder, the bottom portion is not necessarily required, and the gap member 72 and the shield member 74 are opened to both sides in the axial direction. You may make it a shape.

  Next, FIG. 8 shows a connection portion between the base 12 and the rotating plate 14 of the driving device 80 as the third embodiment of the present invention. A movable transformer 82 as a movable transmission device is disposed at a connection portion between the base 12 and the rotating plate 14 of the driving device 80. 9 and 10 show the movable transformer 82. In the movable transformer 82, a pair of coil heads 38 a and 38 b that are substantially the same as those in the first embodiment in which the power coils 34 a and 34 b are assembled to the pair of core members 32 and 32 are provided on the base 12 and the rotating plate 14. Each structure is assembled so as to face each other.

  In the movable transformer 82 according to the present embodiment, a lead wire formed of copper or the like is inserted across the through holes 40 and 40 of the core members 32 and 32 in the coil heads 38a and 38b opposed to each other. Thus, the pair of signal coils 84a and 84b as the second coil members are assembled by being wound around the outer peripheral wall 48 a predetermined number of times in an extrapolated state. Accordingly, the pair of signal coils 84a and 84b are connected to each other by the core members 32 and 32 of the coil heads 38a and 38b. For example, one of the signal coils 84 a and 84 b is fixedly attached to the base 12 and the other signal coil 84 b is fixedly attached to the rotating plate 14. Along with the relative rotation of the rotating plate 14, it can be relatively rotated around the shaft 16. In FIGS. 8 to 10, the number of turns of the signal coils 84a and 84b is less than one turn for easy understanding, but the number of turns of the signal coils 84a and 84b is required. It can be set as appropriate in consideration of transmission characteristics and the like. For example, it is possible to wrap a plurality of times in multiple layers.

  In particular, in the present embodiment, the signal coils 84a and 84b are wound without contacting the core member 32. For example, one of the signal coils 84a is integrally formed therewith. It may be fixed only to the core member 32 of the coil head 38a to be displaced, and the other signal coil 84b may be fixed only to the core member 32 of the coil head 38b to be displaced integrally therewith. Even in this case, the coil head 38a and the signal coil 84a can be rotated around the central axes of the coil heads 38a and 38b with respect to the coil head 38b and the signal coil 84b.

  As shown in FIG. 11, for example, the movable transformer 82 in the present embodiment has a lead wire that forms the power coil 34 a in the coil head 38 a in the same manner as in the first embodiment described above. The lead wire forming the power coil 34 b in the coil head 38 b is electrically connected to the rectifying and stabilizing circuit 62 provided in the rotating plate 14. Thereby, similarly to the movable transformer 30 in the first embodiment, power is transmitted between the base 12 and the rotating plate 14 via the power coils 34a and 34b.

  At the same time, in the present embodiment, the lead wire forming the signal coil 84 a fixed to the base 12 is electrically connected to the communication circuit 60 provided on the base 12, while the rotating plate 14. The lead wire forming the signal coil 84 b fixed to the wire is electrically connected to the communication circuit 64 provided on the rotating plate 14. As in the first embodiment, the communication circuit 60 superimposes a signal generated by a control circuit or the like (not shown) provided on the base 12 on the high frequency voltage and then supplies the signal to the signal coil 84a. The When a high frequency voltage is supplied to the signal coil 84a, a magnetic flux that passes through the signal coil 84a and changes according to the output frequency is generated. Here, in the present embodiment, the core members 32 and 32 are inserted into the signal coil 84 a so that substantially all of the magnetic flux passing through the signal coil 84 a passes through the core members 32 and 32. Has been. A closed magnetic path is formed by the core members 32 and 32, and the magnetic flux generated in the signal coil 84 a extends in the circumferential direction of the core members 32 and 32 and is extrapolated to the core members 32 and 32. It is linked to the signal coil 84b. As a result, the signal coils 84a and 84b are electromagnetically coupled, and an induced electromotive force is generated in the signal coil 84b due to the mutual induction action, and the high frequency voltage supplied to the signal coil 84a is converted into the signal coil 84b. Taken from. As in the first embodiment, the signal superimposed on the high-frequency voltage extracted from the signal coil 84 b is extracted by the communication circuit 64. Thus, in the present embodiment, a pair of second coil members is configured by the signal coils 84a and 84b, and the second transmission path configured by the signal coils 84a and 84b transmits signals. It is a transmission path for signals to be transmitted. In this embodiment, it is of course possible to transmit a signal from the rotating plate 14 to the base 12 in substantially the same manner as in the first embodiment.

  In the movable transformer 82 having such a structure, as in the movable transformer 30 in the first embodiment, most of the magnetic flux generated from the power coil 34 a is the inner peripheral wall portion 46 of the core member 32. And is linked to the other power coil 34b. On the other hand, the magnetic flux generated from the signal coil 84 a passes through the outer peripheral wall 48 of the core member 32 and is linked to the signal coil 84 b. Thus, the magnetic flux and signal for transmitting power can be transmitted without forming a gap such as a groove in the core member 32 that separates the magnetic path formed by the power coil 34a and the magnetic path formed by the signal coil 84a. It is possible to reduce the interference with the magnetic flux to be transmitted as much as possible, and to transmit power and signals while suppressing the generation of noise. As a result, the movable transformer 82 can be configured more compactly, and further the drive device 80 can be further downsized.

  Further, in the present embodiment, the extending direction of the cores of the power coils 34 a and 34 b is the axial direction of the core member 32, while the extending direction of the cores of the signal coils 84 a and 84 b is the circumference of the core member 32. It is considered to be a direction. As a result, the magnetic flux generated from the power coil 34a is linked to the signal coil 84b to generate noise electromotive force in the signal coil 84b, or the magnetic flux generated from the signal coil 84a is generated from the power coil. The risk of generating a noise electromotive force in the power coil 34b in association with the power supply 34b is reduced or avoided. As a result, it is possible to further reduce noise contamination caused by the interference of magnetic flux generated from both the coils 34a and 84a.

  Next, FIG. 12 shows a movable transformer 90 as a movable transmission device provided in a drive device as a fourth embodiment of the present invention. The movable transformer 90 has a structure in which the movable transformer 30 provided in the driving device 10 in the first embodiment described above and the movable transformer 82 provided in the driving device 80 in the third embodiment are combined. ing.

  That is, the movable transformer 90 includes a pair of coil heads 38a and 38b having the same structure as that of the first embodiment. The movable transformer 90 is formed on the outer peripheral surface 50 of the coil head 38a with the first embodiment. Similarly, the signal coil 36a is assembled, while the signal coil 36b and the cancel coil 52 are assembled on the outer peripheral surface 50 of the coil head 38b as in the first embodiment. At the same time, signal coils 84a and 84b are wound around the through-holes 40 and 40 around the coil heads 38a and 38b as in the third embodiment.

  For example, one coil head 38a and the signal coil 84a are fixed to the base 12, while the other coil head 38b and the signal coil 84b are fixed to the rotating plate 14 so as to be rotated relative to each other. It has become.

  For example, as shown in FIG. 13, the movable transformer 90 having such a structure has a lead wire and a signal coil 36a that form a power coil 34a in the coil head 38a, as in the first embodiment described above. Are respectively electrically connected to the inverter 58 and the communication circuit 60 provided on the base 12, and the lead wire and the signal coil 36b that form the power coil 34b in the coil head 38b. Are electrically connected to the rectifying and stabilizing circuit 62 and the communication circuit 64 provided on the rotating plate 14, respectively. Further, the lead wire forming the cancel coil 52 in the coil head 38 b is electrically connected to the noise removal circuit 66 provided on the rotating plate 14. Furthermore, in the present embodiment, the lead wire forming the signal coil 84a displaced integrally with the base 12 is electrically connected to the communication circuit 92 provided on the base 12, while rotating. A lead wire forming a signal coil 84 b that is displaced integrally with the plate 14 is electrically connected to a communication circuit 94 provided on the rotary plate 14. The communication circuits 92 and 94 have substantially the same structure as the communication circuits 60 and 64 in the first embodiment described above.

  When such a movable transformer 90 is used, power is transmitted between the power coils 34a and 34b and the signal is transmitted between the signal coils 36a and 36b as in the first embodiment. Transmission / reception is performed. Further, as in the third embodiment, signals can be transmitted and received between the signal coils 84a and 84b. Accordingly, in the present embodiment, the core members 32 having the first to third transmission lines common to the power coils 34a and 34b, the signal coils 36a and 36b, and the signal coils 84a and 84b are used. Thus, the power transmission path by the first transmission path and the 2ch signal transmission path by the second and third transmission paths can be formed compactly. As a result, the drive device can be further reduced in size.

  Next, FIG. 14 shows a movable transformer 100 as a movable transmission device provided in a drive device according to a fifth embodiment of the present invention. In the movable transformer 100, in addition to the movable transformer 82 (see FIG. 9) in the third embodiment described above, another signal coil 102 is provided as a second coil member in the through holes of the coil heads 38a and 38b. It is wound over 40 and 40. In this way, signals can be transmitted and received between the three signal coils 84a, 84b, and 102. Here, the coil for transmitting an electric signal and the coil for receiving an electric signal may be any of the signal coils 84a, 84b, and 102. Further, any one of these signal coils 84a, 84b, 102 may be used as a transmission coil and received by the remaining two. Thus, the number of the second coil members in the present invention is not particularly limited, and more second coil members may be provided.

  FIG. 15 shows a movable transformer 110 as a movable transmission device provided in a drive device according to a sixth embodiment of the present invention. In the movable transformer 110, signal coils 112a and 112b as second coil members are wound around two sets of the coil heads 38a and 38b similar to those in the third embodiment. In this way, power can be transmitted between the one coil head 38a, 38b, and power can be transmitted between the other coil head 38a, 38b. As is apparent from this embodiment, the set of coil heads around which the second coil member is wound is not necessarily limited to one set, and may be wound across a plurality of sets of coil heads. .

  Further, FIG. 16 shows a movable transformer 120 as a movable transmission device provided in a drive device as a seventh embodiment of the present invention. The movable transformer 120 includes two sets of coil heads 38a and 38b having the same structure as that of the third embodiment described above, and straddles the through holes 40 and 40 of the set of these coil heads 38a and 38b. A connecting coil 126 as a connecting coil member is inserted, and a set of these coil heads 38 a and 38 b is connected by the connecting coil 126. Then, the signal coil 128a is inserted into the through holes 40, 40 of the set of one coil head 38a, 38b, while the signal coil 128b is inserted into the through holes 40, 40 of the set of the other coil head 38a, 38b. Is inserted. Accordingly, one signal coil 128a and the connecting coil 126 constitute a pair of one second coil member, and the other signal coil 128b and the connecting coil 126 constitute the other second coil member. A pair is configured.

  According to the present embodiment, for example, an induced electromotive force is generated in the connection coil 126 from one signal coil 128a via one coil head 38a, 38b around which the signal coil 128a is wound. Then, the induced electromotive force generated in the coupling coil 126 is transmitted to the other signal coil 128b through the other coil heads 38a and 38b. In this way, the degree of freedom of relative displacement of the signal coils 128a and 128b can be further increased.

  It should be noted that a larger number of sets of coil heads 38a and 38b may be provided between the signal coils 128a and 128b by using a larger number of the connecting coils 126 as described above. In addition, the above-described coupling coil 126 is an annular coil. However, like the movable transformer 130 shown in FIG. 17, for example, the lead wire forming the coupling coil 126 is connected to a power supply circuit or communication circuit (not shown). Thus, power or a signal may be taken out from the connection coil 126, or power or a signal may be transmitted from the connection coil 126.

  FIG. 18 shows a movable transformer 140 provided in the driving apparatus according to the eighth embodiment of the present invention. The movable transformer 140 includes two sets of coil heads 38a and 38b having the same structure as that of the third embodiment described above, and the axial directions of the sets of the coil heads 38a and 38b are orthogonal to each other. Yes. The sets of the coil heads 38a and 38b are connected to each other by inserting the connecting coil 142 through the respective through holes 40 and 40, and the through holes 40 of the set of the one coil head 38a and 38b. 40, the signal coil 144a is inserted, and the signal coil 144b is inserted into the through holes 40, 40 of the other coil heads 38a, 38b. Thus, one signal coil 144a and the connecting coil 142 constitute a pair of one second coil member, and the other signal coil 144b and the connecting coil 142 constitute the other second coil member. A pair is formed, and the extending directions of the cores of the signal coils 144a and 144b are made substantially orthogonal to each other. According to the present embodiment, the degree of freedom of relative displacement of the signal coils 144a and 144b can be increased. As is clear from this embodiment, when a plurality of sets of coil heads are provided, the axial directions of the sets of coil heads do not necessarily have to be equal.

  As mentioned above, although several embodiment of this invention has been explained in full detail, these are illustrations to the last, Comprising: This invention is not limited at all by the specific description in this embodiment. .

  For example, the core members 32 and 32 that are opposed to each other have the same structure and have substantially the same inner and outer diameter dimensions, but these dimensions do not necessarily have to be equal to each other. Therefore, it may be made different to such an extent that transmission is not hindered.

  Further, for example, the cancel coil 52 in the first embodiment described above is not necessarily required, but a cancel coil may be provided in the lead groove 42, for example. The above-described noise removing circuit 66 supplies a predetermined high-frequency voltage to the canceling coil 52. For example, the noise removing circuit 66 detects the noise electromotive force generated in the signal coil 36b and detects the noise electromotive force. Depending on the result, the frequency or voltage of the high-frequency voltage supplied to the cancel coil 52 may be changed.

  Furthermore, the core members in the above-described embodiments are all so-called pot-type cores, but the core members used in the present invention are not necessarily limited to pot-type cores, and are conventionally known various shapes. These core members can be appropriately employed.

  In addition, although not enumerated one by one, the present invention can be carried out in a mode to which various changes, modifications, improvements and the like are added based on the knowledge of those skilled in the art. It goes without saying that all are included in the scope of the present invention without departing from the spirit of the present invention.

Explanatory drawing for demonstrating the drive device as 1st embodiment of this invention. The principal part expanded sectional explanatory drawing for demonstrating the drive device. Explanatory drawing for demonstrating the movable transmission apparatus with which the drive device is equipped. Cross-sectional explanatory drawing of the movable transmission device. Explanatory drawing for demonstrating one side of the coil head which comprises the movable transmission apparatus. FIG. 2 is a block diagram schematically illustrating the movable transmission device. Cross-sectional explanatory drawing for demonstrating the movable transmission apparatus with which the drive device as 2nd embodiment of this invention is equipped. The principal part expanded sectional explanatory drawing for demonstrating the drive device as 3rd embodiment of this invention. Explanatory drawing for demonstrating the movable transmission apparatus with which the drive device is equipped. Cross-sectional explanatory drawing of the movable transmission device. FIG. 2 is a block diagram schematically illustrating the movable transmission device. Explanatory drawing for demonstrating the movable transmission apparatus with which the drive device as 4th embodiment of this invention is equipped. FIG. 2 is a block diagram schematically illustrating the movable transmission device. Explanatory drawing for demonstrating the movable transmission apparatus with which the drive device as 5th embodiment of this invention is equipped. Explanatory drawing for demonstrating the movable transmission apparatus with which the drive device as the 6th embodiment of this invention is equipped. Explanatory drawing for demonstrating the movable transmission apparatus with which the drive device as the 7th embodiment of this invention is equipped. Explanatory drawing for demonstrating the different aspect of the movable transmission apparatus. Explanatory drawing for demonstrating the movable transmission apparatus with which the drive device as 8th embodiment of this invention is equipped.

Explanation of symbols

10: driving device, 12: base, 14: rotating plate, 18: arm member, 20: arm member, 30: movable transformer, 32: core member, 34a, b: power coil, 36a, b: signal Coil, 38a, b: Coil head, 40: Through hole, 42: Lead groove, 44: Bottom wall portion, 46: Inner peripheral wall portion, 48: Outer peripheral wall portion, 50: Outer peripheral surface, 52: Cancel coil

Claims (8)

While the first member and the second member are disposed so as to be relatively rotatable around the rotation axis, the first member and the second member are arranged in one axial direction with respect to the substantially annular magnetic permeable material having a through hole on the central axis. A pair of core members having a bottom wall portion, an inner peripheral wall portion, and an outer peripheral wall portion of the peripheral groove is used by forming the peripheral groove that opens at the end surface, and each of the pair of core members is the first core member. The axial end surfaces on the opening side of the circumferential groove are positioned opposite to each other by being mounted coaxially with the rotating shaft with respect to the member and the second member, and the pair of core members are A pair of first coil members using the inner peripheral wall portion as a magnetic path are assembled and connected in an electromagnetically coupled state, whereby at least electric power or a signal is transmitted between the first member and the second member. A first transmission path for transmitting one is configured and the pair of cores A pair of second coil members that use the outer peripheral wall portion as a magnetic path is assembled to a material and connected in an electromagnetically coupled state, whereby electric power or a signal is transmitted between the first member and the second member. of which is constituted a second transmission path for transmitting at least one further,
A drive device comprising a movable transmission device in which at least one of the pair of core members is provided with a noise suppressing coil member extending in a circumferential direction of the core member . The first transmission path is a power transmission path for transmitting power, and the second transmission path is a signal transmission path for transmitting a signal, while the power through the power transmission path Corresponding to the noise electromotive force generated in the signal transmission path as a result of transmission, the noise suppression coil generates a magnetic field sufficient to generate a back electromotive force in the signal transmission path that reduces the noise electromotive force. The drive device according to claim 1 , further comprising a noise suppression power supply unit that is caused by energization of the member. The first coil member is configured to extend in the circumferential direction along the circumferential groove between the opposing surfaces of the inner peripheral wall portion and the outer peripheral wall portion of the core member, and the second coil member is drive device according to claim 1 or 2 configured so as to extend over the outer peripheral surface of the outer peripheral wall portion in the circumferential direction. While the first member and the second member are disposed so as to be relatively rotatable around the rotation axis, the first member and the second member are arranged in one axial direction with respect to the substantially annular magnetic permeable material having a through hole on the central axis. A pair of core members having a bottom wall portion, an inner peripheral wall portion, and an outer peripheral wall portion of the peripheral groove is used by forming the peripheral groove that opens at the end surface, and each of the pair of core members is the first core member. The axial end surfaces on the opening side of the circumferential groove are positioned opposite to each other by being mounted coaxially with the rotating shaft with respect to the member and the second member, and the pair of core members are A pair of first coil members using the inner peripheral wall portion as a magnetic path are assembled and connected in an electromagnetically coupled state, whereby at least electric power or a signal is transmitted between the first member and the second member. A first transmission path for transmitting one is configured and the pair of cores A pair of second coil members that use the outer peripheral wall portion as a magnetic path is assembled to a material and connected in an electromagnetically coupled state, whereby electric power or a signal is transmitted between the first member and the second member. A second transmission path for transmitting at least one of
The first coil member is configured to extend in the circumferential direction along the circumferential groove between the opposing surfaces of the inner peripheral wall portion and the outer peripheral wall portion of the core member, and the second coil member is A drive apparatus comprising a movable transmission device configured to be inserted over the through holes of the pair of core members and to be externally inserted into the outer peripheral wall portions of the pair of core members. Together with the first transmission path is a power transmission path for transmitting power, the second transmission line is any one of claims 1 to 4 is a signal transmission line for transmitting a signal The drive device described in 1. The drive device according to any one of claims 1 to 5, wherein the pair of core members are spaced apart from each other and opposed to each other. The drive device according to any one of claims 1 to 6 , wherein an electromagnetic shielding member is provided on an outer periphery of the core member in at least one of the pair of core members. The drive device according to any one of claims 1 to 7 , wherein a low magnetic permeability member is provided on an outer periphery of the core member in at least one of the pair of core members.

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