JP6260914B2 - ELECTRIC MACHINE DEVICE HAVING TRANSMISSION DEVICE AND TRANSMISSION MECHANISM, AND MOBILE BODY AND ROBOT HAVING TRANSMISSION - Google Patents

Description

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

  As an example of a prior art transmission, an example is disclosed in which a differential mechanism is used to steplessly increase or decrease the rotational speed of an output with respect to the input of the transmission (see Patent Document 1). The conventional differential mechanism includes a drive gear, a ring gear meshed with the drive gear and rotated around an axis parallel to the rotation axis, and one side of the ring gear orthogonal to the rotation axis. Two pairs of first and second side gears rotatably attached to a provided shaft, and two pairs of third and fourth side gears meshing with the pair of first and second side gears ing. The drive gear is connected to the crankshaft of the engine, the third side gear is connected to the input shaft of the accessory driving device parallel to the crankshaft, and the fourth side gear is connected to the braking shaft of the braking unit.

JP 7-42799 A

Here, there is a demand to reduce the size in the axial direction perpendicular to the input shaft of the load corresponding to the output shaft of the transmission. In response to this demand, in the case of the prior art, the ring gear and the axial direction perpendicular to the input shaft of the accessory drive device as a load, that is, the direction of the shaft to which the first and second side gears are attached, Since the drive gear that meshes with the ring gear is provided, miniaturization in the axial direction perpendicular to the input shaft of the load is not sufficient. In addition, when the device in which the electromechanical device having the transmission is incorporated is a robot, the arm faces in various directions. Therefore, the transmission provided between the motor for driving the arm and the arm is in any direction. It is desirable to provide high rigidity that can withstand load.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a technology capable of downsizing a transmission using a differential mechanism, in particular, downsizing and increasing rigidity in a direction perpendicular to the output shaft of the transmission.

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.
According to the first aspect, there is provided a transmission that outputs a rotational motion input from an input shaft from an output shaft so that the rotational speed can be changed. The transmission includes a first gear to which a rotational motion input from the input shaft is input; a second gear that meshes with the first gear through at least an output gear connected to the output shaft; A first rotor connected to the second gear via a connecting gear or formed integrally with the second gear, and disposed along the outer peripheral surface of the first rotor; A first electromechanical mechanism comprising : a first stator; a second rotor formed integrally with the first gear ; and an outer peripheral surface of the second rotor. And a second stator having a second stator . The first electrical machine mechanism, by changing the rotation of said first of said second gear in accordance with the rotation of the rotor, to change the rotation of the output shaft with respect to rotation of said input shaft, said first The second electromechanical mechanism section changes the rotation transmitted to the first gear via the input shaft in accordance with the rotation of the second rotor, whereby the output shaft with respect to the rotation of the input shaft. In addition to the change by the first electromechanical mechanism, the change in the rotation of is further changed .
According to the transmission of the first embodiment, the rotation of the output shaft relative to the rotation of the input shaft can be easily changed by the first electromechanical mechanism. In addition, since the rotation transmitted to the first gear via the input shaft can be changed by the second electromechanical mechanism, the change in the rotation of the output shaft relative to the input shaft by the first electromechanical mechanism is performed. In addition to this, further changes can be made.
In the transmission according to the first aspect, the input shaft, the output shaft, the first gear, the second gear, and the first rotor are all centered on the same first axis. The output gear rotates about a second axis that is orthogonal to the first axis, and revolves about the first axis, and the revolution of the output gear causes the output shaft to rotate. It may be output from.
According to the transmission of the first aspect, the input shaft, the output shaft, the first gear, the second gear, and the first rotor all rotate around the same first axis, Since the output gear is configured to rotate about a second axis that is orthogonal to the first axis and revolves about the first axis, the transmission can be reduced in size. .
In the transmission according to the first aspect, the rotational speed of the rotational motion output from the output shaft includes the rotational speed of the rotational motion output from the output shaft and the rotational speed of the rotational motion input from the input shaft. And the relationship between the rotational speed of the first rotor of the first electromechanical mechanism unit and the rotational speed of the first rotor may be controlled to be a linear relationship .
According to the transmission of the first embodiment, the rotational speed of the rotational motion input from the input shaft is continuously changed by continuously changing the rotational speed of the first rotor of the first electromechanical mechanism unit. On the other hand, the rotational speed of the rotary motion output from the output shaft can be continuously changed in a stepless manner. As a result, it is possible to realize a speed change operation continuously and smoothly in a stepless manner, and accordingly, it is possible to change a torque transmission amount continuously and smoothly in a stepless manner.
In the transmission according to the first aspect, the first electromechanical mechanism unit variably controls the rotation of the output shaft relative to the rotation of the input shaft according to the rotation of the second gear. The energy of the rotation generated in the first rotor may be regenerated.
According to the transmission of the first embodiment, when the rotation of the output shaft relative to the rotation of the input shaft is variably controlled, the energy of the rotation generated in the first rotor according to the rotation of the second gear is regenerated. can do.
In the transmission according to the first aspect, further,
A regenerative control unit configured to regenerate the rotation energy by the first electromechanical mechanism unit, wherein the regenerative control unit makes the amount of the rotation energy regenerated by the first electromechanical mechanism unit variable; It may be controlled.
According to the transmission of the first embodiment, the operation of the transmission can be controlled by variably controlling the amount of rotation energy regenerated by the first electric machine mechanism.
In the transmission according to the first aspect, the regeneration control unit uses the first stator as energy of the rotation when decelerating the rotation of the second gear by decelerating the rotation of the first rotor. It is good also as outputting a regenerative current from the electromagnetic coil arrange | positioned.
According to the transmission of the first embodiment, when the rotation of the second gear is decelerated by decelerating the rotation of the first rotor, the regenerative energy is recovered from the electromagnetic coil disposed in the first stator. Current can be output.
In the transmission according to the first aspect, the regeneration control unit sets a first regeneration section centered on a zero-cross point of an induced voltage generated in the electromagnetic coil, and executes regeneration, A second regeneration mode in which a second regeneration section centered on the maximum point of the induced voltage generated in the electromagnetic coil is set to execute regeneration, and the amount of energy regenerated in the first regeneration mode The width of the first regeneration section and the width of the second regeneration section may be set so that is less than or equal to the amount of energy regenerated in the second regeneration mode.
According to the transmission of the first embodiment, when the amount of regenerative energy is small, regeneration is performed in the first regeneration section centered on the zero cross point of the induced voltage generated in the electromagnetic coil, and when the amount of regenerative energy is large. Then, regeneration is executed in the second regeneration section centered on the maximum point of the induced voltage generated in the electromagnetic coil. Thereby, the change of the regeneration energy with respect to the amount of regeneration energy can be adjusted smoothly, and regeneration operation can be performed smoothly. As a result, it is possible to realize a speed change operation continuously and smoothly in a stepless manner, and accordingly, it is possible to change a torque transmission amount continuously and smoothly in a stepless manner.
In the transmission according to the first aspect, the regeneration control unit performs regeneration in the first regeneration mode when the width of the first or second regeneration section is equal to or less than a predetermined first value. And when the width of the first or second regeneration section is equal to or larger than a predetermined second value larger than the first value, the regeneration in the second regeneration mode is performed. Good.
According to the transmission of the first embodiment, when the regeneration section is short and the amount of energy to be regenerated is small, regeneration is performed in the first regeneration section centered on the zero cross point of the induced voltage generated in the electromagnetic coil, and the regeneration section Is long and the amount of regenerative energy is large, the regeneration is performed in the second regeneration section centered on the maximum point of the induced voltage generated in the electromagnetic coil, so that it can be operated smoothly during regeneration.
In the transmission according to the first aspect,
The regeneration control unit performs switching from the first regeneration mode to the second regeneration mode when the amount of energy to be regenerated increases, and the first regeneration section before the switching. The width of the second regeneration section after the switching may be set smaller than the width.
According to the transmission of the first embodiment, when switching from the first regeneration mode to the second regeneration mode, the change in regenerative energy before and after the switching can be reduced, so that the operation smoothly during regeneration. Can be made.
In the transmission according to the first aspect,
The regenerative control unit performs switching from the second regenerative mode to the first regenerative mode when the amount of energy to be regenerated decreases, and the second regenerative section before the switching The width of the first regeneration section after the switching may be set larger than the width.
According to the transmission of the first embodiment, when switching from the second regenerative mode to the first regenerative mode, the change in regenerative energy before and after switching can be reduced, so that the operation smoothly during regenerative operation. Can be made.
In the transmission according to the first aspect, the regeneration control unit is configured to regenerate energy before switching and regenerated energy after switching at the time of switching between the first regeneration mode and the second regeneration mode. The width of the first regeneration section after switching or the width of the second regeneration section may be set so that the amount becomes continuous with the same value.
According to the transmission of the first embodiment, when switching between the first regeneration mode and the second regeneration mode, switching is performed so that the amount of energy regenerated before and after switching becomes the same value. The amount of regenerative energy is continuous and can be operated smoothly during regeneration.
In the transmission according to the first aspect, regeneration in the first regeneration mode may be performed at the start of deceleration of rotation of the second gear.
According to the transmission of the first embodiment, at the start of deceleration, the rate of change of regenerative energy with respect to the amount of regenerative energy can be reduced, so that the start operation of deceleration can be made smooth.
In the transmission according to the first aspect, the regeneration in the first regeneration mode may be further executed at the end of the deceleration of the rotation of the second gear.
According to the transmission of the first embodiment, the rate of change of regenerative energy with respect to the amount of regenerative energy can be reduced at the end of deceleration, so that the end operation of deceleration can be made smooth.
According to the electromechanical device of the second aspect, the transmission mechanism that outputs the input rotational motion from the output shaft so that the rotational speed can be changed, the first electromechanical mechanism, and the second electromechanical mechanism. An electromechanical device having a portion. In this electromechanical device, the speed change mechanism unit meshes with the first gear to which the input rotational motion is input; the first gear and at least an output gear connected to the output shaft. And two gears. The first electromechanical mechanism unit is connected to the second gear via a connection gear, or a first rotor formed integrally with the second gear; And a first stator disposed along the outer peripheral surface of the rotor. The second electromechanical mechanism includes a second rotor formed integrally with the first gear; and a second stator disposed along an outer peripheral surface of the second rotor. The second electromechanical mechanism unit inputs a rotational motion according to the rotation of the second rotor to the first gear. The first electromechanical mechanism unit changes the rotation of the second gear in accordance with the rotation of the first rotor, thereby rotating the second electromechanical mechanism unit with respect to the rotation of the second rotor. The rotation of the output shaft is changed.
According to the electric machine device of the second embodiment, the rotation of the output shaft with respect to the rotation of the second rotor of the second electric machine mechanism can be easily changed by the first electric machine mechanism.
In the electromechanical device of the second aspect, the output shaft, the first gear, the second gear, the first rotor, and the second rotor all have the same first axis. The output gear rotates about a second axis that is orthogonal to the first axis, revolves around the first axis, and the output gear revolves. It may be output from the output shaft.
According to the electromechanical device of the second embodiment, the output shaft, the first gear, the second gear, the first rotor, and the second rotor are all centered on the same first axis. The output gear rotates and rotates around a second axis perpendicular to the first axis, and revolves around the first axis, thereby reducing the size of the transmission. be able to.
In the electric machine device according to the second aspect, the first electric machine mechanism unit variably controls the rotation of the output shaft with respect to the rotation of the second rotor of the second electric machine mechanism unit. The rotation energy generated in the first rotor according to the rotation of the second gear may be regenerated.
According to the electromechanical device of the second aspect, when the rotation of the output shaft with respect to the rotation of the second rotor of the second electromechanical mechanism is variably controlled, the second machine is controlled according to the rotation of the second gear. The energy of rotation generated in one rotor can be regenerated.
In addition, the present invention can be realized as the following forms.

(1) According to one aspect of the present invention, a transmission is provided. The transmission includes a first gear and a second gear that are arranged to face each other so as to rotate around a virtual first axis; and a virtual first that is orthogonal to the first axis. At least one third gear arranged to mesh with the first gear and the second gear about a second axis; and arranged along the second axis, the third gear A support shaft that rotatably supports the gear; a first rotation shaft that is disposed along the first axis and connected to the first gear; and that is disposed along the first axis. And a second rotating shaft connected to the support shaft through a through hole provided in a central portion of the second gear. A cross roller bearing is provided as a bearing portion between the support shaft and the third gear, and the rotation shaft that is the output shaft among the first rotation shaft and the second rotation shaft; A cross roller bearing is provided as a bearing between the first gear, the second gear, and the casing that houses at least the third gear. According to the transmission of this aspect, the first and second rotating shafts that serve as the input shaft or the output shaft of the transmission mechanism section can be disposed along the first axis. Miniaturization in the vertical direction is possible. Further, when the first rotor of the first electric machine mechanism included in the shift control mechanism is formed integrally with the second gear, the first electric machine mechanism is changed to the speed change mechanism. As compared with the case where the second gear and the first rotor are connected via a connection gear, the apparatus can be further downsized. In addition, since a cross roller bearing is provided as a bearing portion between the rotating shaft as the output shaft and the housing body and as a bearing portion between the support shaft and the third gear, it is added to the output shaft. It is possible to increase the rigidity against load.

(2) In the transmission of the above aspect, the first rotor connected to the second gear via a connection gear or integrally formed with the second gear; A first stator disposed along a cylindrical outer peripheral surface of the first rotor, and the first electromechanical mechanism includes the first rotating shaft. And rotating the input shaft by changing the rotation of the second gear according to the rotation of the first rotor, with one of the second rotation shafts as the input shaft and the other as the output shaft. The rotation of the output shaft may be changed. According to the transmission of this aspect, the rotation of the output shaft relative to the rotation of the input shaft can be easily changed by the first electromechanical mechanism.

(3) In the transmission of the above aspect, the second rotor formed integrally with the first gear, and the second stator disposed along the cylindrical outer peripheral surface of the second rotor And the second electromechanical mechanism unit includes the first rotating shaft as an input shaft and the second rotating shaft as an output shaft. By changing the rotation transmitted to the first gear via the first rotation shaft in accordance with the rotation of the rotor, the change in the rotation of the output shaft with respect to the rotation of the input shaft can be changed. Further changes may be made in addition to the changes caused by the electromechanical mechanism. According to the transmission of this aspect, the second electromechanical mechanism unit can change the rotation transmitted to the first gear via the first rotation shaft that is the input shaft. In addition to the change in the rotation of the output shaft relative to the input shaft by the electromechanical mechanism, it can be further changed.

(4) In the transmission of the above aspect, the drive control further controls the rotation of the second gear by driving the electromagnetic coil disposed in the first stator to rotate the first rotor. And a regenerative control unit that regenerates energy from the electromagnetic coil when decelerating the rotation of the second gear, and the regenerative control unit is a zero cross point of an induced voltage generated in the electromagnetic coil A first regeneration mode in which the first regeneration section centered on the first is set to execute regeneration, and a second regeneration section centered on the maximum point of the induced voltage generated in the electromagnetic coil is set to perform the regeneration. A width of the first regeneration section so that an energy amount regenerated in the first regeneration mode is equal to or less than an energy amount regenerated in the second regeneration mode. And second It may be set and the width of the raw section. According to the transmission of this embodiment, when the regenerative energy amount is small, regeneration is performed in the first regenerative section centered on the zero cross point of the induced voltage generated in the electromagnetic coil, and when the regenerative energy amount is large, the electromagnetic coil The regeneration is executed in the second regeneration section centered on the maximum point of the induced voltage generated in the above. Thereby, the change of the regeneration energy with respect to the amount of regeneration energy can be adjusted smoothly, and regeneration operation can be performed smoothly. As a result, it is possible to realize a speed change operation continuously and smoothly in a stepless manner, and accordingly, it is possible to change a torque transmission amount continuously and smoothly in a stepless manner.

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

(6) In the transmission of the above aspect, the regeneration control unit performs switching from the first regeneration mode to the second regeneration mode when the amount of energy to be regenerated increases, and the switching The width of the second regeneration section after the switching may be set to be smaller than the width of the first regeneration section before. According to the transmission of this aspect, when switching from the first regenerative mode to the second regenerative mode, the change in regenerative energy before and after the switching can be reduced, so that it can be operated smoothly during regeneration. it can.

(7) In the transmission of the above aspect, the regeneration control unit performs switching from the second regeneration mode to the first regeneration mode when the amount of energy to be regenerated decreases, and the switching You may make it set the width | variety of the said 1st regeneration area after the said switching larger than the width | variety of the said 2nd regeneration area before. According to this transmission, when switching from the second regeneration mode to the first regeneration mode, it is possible to reduce the change in regenerative energy before and after switching, and thus it is possible to operate smoothly during regeneration.

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

(9) In the transmission according to the above aspect, regeneration in the first regeneration mode may be performed at the start of deceleration of the rotation of the second gear. According to this transmission, since the rate of change of regenerative energy with respect to the amount of regenerative energy can be reduced at the start of deceleration, the start operation of deceleration can be made smooth.

(10) In the transmission according to the above aspect, the regeneration in the first regeneration mode may be executed at the end of the deceleration of the rotation of the second gear. According to the transmission of this embodiment, at the end of deceleration, the rate of change of regenerative energy with respect to the amount of regenerative energy can be reduced, so that the deceleration end operation can be smoothed.

(11) According to another aspect of the present invention, an electromechanical device is provided. The electromechanical device of this embodiment includes a transmission mechanism, a first electromechanical mechanism, and a second electromechanical mechanism. The transmission mechanism includes a first gear and a second gear that are arranged to face each other so as to rotate around a virtual first axis; and a virtual first that is orthogonal to the first axis. At least one third gear arranged to mesh with the first gear and the second gear about a second axis; and arranged along the second axis, the third gear A support shaft that rotatably supports the gear; a first rotation shaft that is disposed along the first axis and connected to the first gear; and that is disposed along the first axis. And a second rotating shaft connected to the support shaft through a through hole provided in a central portion of the second gear. The first electromechanical mechanism unit is connected to the second gear via a connection gear, or a first rotor formed integrally with the second gear; And a first stator disposed along a cylindrical outer peripheral surface of the rotor. The second electromechanical mechanism includes a second rotor formed integrally with the first gear; a second stator disposed along a cylindrical outer peripheral surface of the second rotor; Is provided. The first electromechanical mechanism unit changes the rotation of the second rotation shaft and the rotation of the second rotation shaft by changing the rotation of the second gear according to the rotation of the first rotor. And the second electromechanical mechanism unit rotates the first rotor and the first rotation shaft by rotating the second rotor, or the first rotation. The energy of rotation generated in the second rotor is regenerated via the third gear and the first gear according to the rotation of the shaft. A cross roller bearing is provided as a bearing portion between the support shaft and the third gear, and the rotation shaft that is the output shaft among the first rotation shaft and the second rotation shaft; A cross roller bearing is provided as a bearing between the speed change mechanism and the housing that houses at least the second electric machine mechanism. According to the electromechanical device of this aspect, the first and second rotating shafts that serve as the input shaft or the output shaft of the transmission mechanism section can be arranged along the first axis, so that the output of the transmission mechanism section Miniaturization in the direction perpendicular to the axis is possible. Further, in the case where the first rotor of the first electric machine mechanism is formed integrally with the second gear, the first electric machine mechanism is configured integrally with the transmission mechanism. As compared with the case where the second gear and the first rotor are connected via a connection gear, the apparatus can be further downsized. Since the second rotor of the second electric tree machine mechanism is integrally formed with the first gear, the rotor of the second electric machine mechanism is connected to the first rotating shaft. In comparison, the apparatus can be further downsized. Further, since the cross roller bearing is provided as a bearing portion between the first rotating shaft and the casing as the output shaft and as a bearing portion between the support shaft and the third gear, the output shaft It is possible to increase the rigidity against the load applied to the.

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

It is a schematic sectional drawing which shows the transmission as 1st Embodiment . It is a schematic perspective view which expands and shows the transmission mechanism part of a transmission. It is a block diagram shown about the control part which controls operation | movement of the transmission control mechanism part of a transmission. It is explanatory drawing which shows the internal structure of the driver circuit contained in a control part. It is explanatory drawing which shows the internal structure and operation | movement of the drive control part contained in a control part. It is explanatory drawing which shows the correspondence of a sensor output waveform and a drive signal waveform. It is a block diagram which shows an example of an internal structure of the PWM part of a drive control part. It is a timing chart which shows operation | movement of the PWM part at the time of motor forward rotation. It is a timing chart which shows operation | movement of the PWM part at the time of motor reverse rotation. It is explanatory drawing which shows the internal structure and operation | movement of an excitation area setting part. It is explanatory drawing which shows the operation | movement of an encoding part, and a timing chart. It is explanatory drawing which shows the drive waveform of a transmission control mechanism part. It is explanatory drawing which shows the internal structure of the regeneration control part and rectifier circuit which are contained in a control part. It is explanatory drawing which shows the internal structure of the regeneration area setting part in an A phase PWM control part. It is explanatory drawing which shows the regeneration pattern of the energy in the regeneration mode performed when the width | variety of a regeneration area is large. It is explanatory drawing which shows the regeneration pattern of energy when the width | variety of a regeneration area is small. It is explanatory drawing which shows the variation of the recovery rate of the value of EPWM and regenerative energy. It is explanatory drawing which shows the variation of the recovery rate of the value of EPWM and regenerative energy. It is explanatory drawing which shows the variation of the recovery rate of the value of EPWM and regenerative energy. It is explanatory drawing which shows the variation of the recovery rate of the value of EPWM and regenerative energy. It is explanatory drawing which shows the relationship of the rotation speed of each gear of a transmission mechanism part. It is a schematic sectional drawing which shows the transmission as 2nd Embodiment . It is explanatory drawing which shows the relationship of the rotation speed of each gear of the transmission mechanism part in 2nd Embodiment . It is a schematic sectional drawing which shows the transmission as 3rd Embodiment . It is a schematic cross section which shows the transmission as 4th Embodiment . It is a schematic sectional drawing which shows the transmission as 5th Embodiment . It is a schematic sectional drawing which shows the motive power generator as 6th Embodiment . It is a schematic sectional drawing which shows the motive power generator as 7th Embodiment . It is a schematic sectional drawing which shows the motive power generator as 8th Embodiment . It is a schematic sectional drawing which shows the motive power generator as 9th Embodiment . It is a schematic sectional drawing which shows the motive power generator as 10th Embodiment . It is a schematic sectional drawing which shows the electric power generating apparatus as 11th Embodiment . It is a schematic sectional drawing which shows the modification of the 1st, 2nd side gear which comprises a transmission mechanism part. It is a schematic sectional drawing which shows the modification of the 1st, 2nd side gear which comprises a transmission mechanism part. It is a schematic sectional drawing which shows the transmission as 12th Embodiment . It is explanatory drawing which shows the structure of a cross roller bearing. It is a schematic sectional drawing which shows the transmission as 13th Embodiment . It is a schematic sectional drawing which shows the motive power generator as 14th Embodiment . It is a schematic sectional drawing which shows the motive power generator as 15th Embodiment . It is a schematic sectional drawing which shows the electric power generating apparatus as 16th Embodiment . It is explanatory drawing which shows the electric bicycle (electric assisted bicycle) which is an example of the mobile body using the motor with a transmission including the transmission of this invention. It is explanatory drawing which shows an example of the robot using the motor with a transmission including the transmission of this invention. It is explanatory drawing which shows an example of the double-arm 7-axis robot using the motor with a transmission including the transmission of this invention. It is explanatory drawing which shows an example of the vertical articulated robot using the motor with a transmission including the transmission of this invention. It is explanatory drawing which shows an example of the robot with a double arm caster using the motor with a transmission including the transmission of invention. It is explanatory drawing which shows the rail vehicle using the motor with a transmission including the transmission of this invention.

Below, the embodiment of the present invention is described in order.

A. First embodiment :
A1. Transmission configuration:
FIG. 1 is a schematic cross-sectional view showing a transmission as a first embodiment . The transmission 10 is housed in a casing 20, and includes a transmission mechanism unit 30, a transmission control mechanism unit 40, an input shaft 12 that transmits an output from the drive unit to the transmission mechanism unit 30, and the transmission mechanism unit 30. And an output shaft 14 for transmitting the output to the driven part. The input shaft 12 and the output shaft 14 are provided on the same axis Sx. FIG. 2 is an enlarged schematic perspective view showing the speed change mechanism 30.

  The transmission mechanism unit 30 is configured using a differential mechanism. Specifically, the speed change mechanism unit 30 includes a pair of first and second pairs 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. Side gears 320 and 330, and gear teeth 340t and 350t meshing with gear teeth 320t and 330t of the pair of first and second side gears 320 and 330, and two pairs of first gears centering on the axis Sx. 3 and fourth side gears 340 and 350. Between the opposing first and second side gears 320 and 330 and the pinion shaft 310, the first and second side gears 320 and 330 are rotatable about the axis Sy of the pinion shaft 310. The bearing portion 312 is arranged. The bearing part 312 can be comprised by a ball bearing, for example. The four side gears 320 to 350 are constituted by 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. The third and fourth side gears 340 and 350 correspond to the first and second gears of the present invention, and the first and second side gears 320 and 330 correspond to at least one third gear of the present invention. To do. The first and second side gears 320 and 330 have been described as two bevel gears as at least one third gear. However, it is also possible to configure a single gear or a plurality of three or more plural gears. It is also possible to configure with a gear. However, a plurality of gears are structurally more stable than a single gear. Further, by using a hypoid gear in addition to the bevel, more stable power transmission can be realized.

  The transmission control mechanism unit 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 speed change control mechanism 40, the electromagnetic coil 420 as a stator rotates the rotor 410 and the fourth side gear 350 connected thereto with the axis Sx as the center. 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.

  Since the fourth side gear 350 of the transmission mechanism unit 30 is integrally formed with the rotor 410 of the transmission control mechanism unit 40 as described above, the transmission control mechanism unit 40 changes speed according to the rotation of the rotor 410. The rotation of the fourth side gear 350 of the mechanism unit 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.

  The schematic operation of the speed change mechanism 30 will be described with reference to FIG. A description will be given on the assumption that the third side gear 340 rotates in the direction shown by the dashed arrow in accordance with the rotation transmitted from the drive unit via the input shaft 12. Hereinafter, the clockwise rotation direction as viewed from the input side is also referred to as “clockwise” or “forward rotation”, and the counterclockwise rotation direction is also referred to as “counterclockwise rotation” or “reverse rotation”. The gear teeth 320t and 330t of the first and second side gears 320 and 330 have the same number of teeth ms1 and ms2, and the gear teeth 340t and 350t of the third and fourth side gears 340 and 350 have a fraction ms3 and ms4. Is the same.

  The transmission mechanism unit 30 rotates the fourth side gear 350 as a control gear connected to the transmission control mechanism unit 40 (also referred to as “control rotation”) and the rotation of the third side gear 340 as an input gear (“ The first and second side gears 320 and 330 serving as output gears are each rotated around the axis Sy of the pinion shaft 310 (referred to as “rotation”). A clockwise rotation (referred to as “revolution”) that circulates around the third and fourth side gears 340 and 350 around the axis Sx of the output shaft 14 is generated, and this revolution is output as the output rotation. Is transmitted to the driven part. That is, by controlling the rotation of the fourth side gear 350 as the control gear, the rotation speed of the output rotation transmitted to the driven part via the output shaft 14 is controlled. The relationship among input rotation, output rotation, and control rotation will be described in detail later.

A2. Configuration of transmission control unit:
FIG. 3 is a block diagram illustrating a control unit that controls the operation of the shift control mechanism unit of the transmission. As described above, the control unit 200 is connected to the circuit board 417 of the transmission control mechanism unit 40 and controls the operation of the transmission control mechanism unit 40.

  The control unit 200 includes a CPU 210, a drive control unit 220, a regeneration control unit 230, a driver circuit 240, and a rectifier circuit 250. The two control units 220 and 230 are connected to the CPU 210 via the bus 212.

  The drive control unit 220 is an electromagnetic sensor via a driver circuit 240 based on signals supplied from a magnetic sensor included in the position detection unit 416 of the transmission control mechanism unit 40, in this example, two-phase magnetic sensors 416A and 416B. By generating a magnetic field in the coil 420, in this example, the two-phase electromagnetic coils 420A and 420B, the rotation of the rotor 410 of the transmission control mechanism 40, that is, the rotation of the fourth side gear 350 as a control gear is driven. .

  Further, the regeneration control unit 230 receives the induced electric power output from the two-phase electromagnetic coils 420A and 420B via the rectifier circuit 250, regenerates electric power from the transmission control mechanism unit 40, and The rotation of the rotor 410, that is, the rotation of the fourth side gear 350 as a control gear is braked. The drive control unit 220 and the driver circuit 240 are collectively referred to as a “drive circuit”. Further, the regeneration control unit 230 and the rectifier circuit 250 are collectively referred to as a “regeneration circuit”. The drive control unit 220 is also referred to as a “drive signal generation circuit”.

(1) Configuration and Operation of Drive Circuit of Shift Control Mechanism FIG. 4 shows the configuration of A-phase driver circuit 240A and B-phase driver circuit 240B included in driver circuit 240 (FIG. 3). The A-phase driver circuit 240A is an H-type bridge circuit for supplying AC drive signals DRVA1 and DRVA2 to the A-phase electromagnetic coil 420A. A white circle attached to the terminal portion of the block indicating the drive signal is negative logic and indicates that the signal is inverted. In addition, arrows with symbols IA1 and IA2 indicate the directions of currents flowing by the A1 drive signal DRVA1 and the A2 drive signal DRVA2, respectively. The configuration of the B phase driver circuit 240B is the same as the configuration of the A phase driver circuit 240A. If the negative logic that inverts the signal is eliminated and the P channel MOS-FET on the H side is changed to the same N channel MOS-FET as that on the L side, driving with excellent frequency characteristics can be realized.

  FIG. 5 is an explanatory diagram showing the internal configuration and operation of the drive control unit 220 (FIG. 3). The drive control unit 220 includes a basic clock generation circuit 510, a 1 / N frequency divider 520, a PWM unit 530, a forward / reverse direction value register 540, a multiplier 550, an encoding unit 560, and an AD conversion unit. 570, a voltage command value register 580, and an excitation interval setting unit 590. The drive control unit 220 is a circuit that generates both an A-phase drive signal and a B-phase drive signal, and includes a basic clock generation circuit 510, a 1 / N frequency divider 520, and a forward / reverse direction instruction. The value register 540 is used in common for the A phase and the B phase. For the convenience of illustration, the other components existing in the A phase and the B phase are depicted only as a circuit configuration for the A phase in FIG. 5A. The same components as those for the phase are provided in the drive control unit 220. In the following description, the A phase will be described as an example.

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

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

  The output SSA of the A-phase magnetic sensor 416A is supplied to the AD conversion unit 570. The range of the sensor output SSA is, for example, from GND (ground potential) to VDD (power supply voltage), and the middle point (= VDD / 2) is the middle point of the output waveform (point passing through the origin of the sine wave). It is. The AD conversion unit 570 performs AD conversion on the sensor output SSA to generate a digital value of the sensor output. The output range of the AD conversion unit 570 is, for example, FFh to 0h ("h" at the end indicates a hexadecimal number), and the median value 80h corresponds to the middle point of the sensor waveform.

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

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

  5B to 5E show the operation of the PWM unit 530 when the multiplication value Ma takes various values. Here, it is assumed that the entire period is an excitation interval and there is no non-excitation interval. The PWM unit 530 is a circuit that generates one pulse with a duty of Ma / N during one cycle of the clock signal SDC. That is, as shown in FIGS. 5B to 5E, the duty of the pulses of the drive signals DRVA1 and DRVA2 increases as the multiplication value Ma increases. The first drive signal DRVA1 is a signal that generates a pulse only when the sensor output SSA is positive, and the second drive signal DRVA2 is a signal that generates a pulse only when the sensor output SSA is negative. However, in FIGS. 5B to 5E, these are described together. For convenience, the second drive signal DRVA2 is drawn as a negative pulse.

  6A to 6C are explanatory diagrams showing the correspondence between the waveform of the sensor output and the waveform of the drive signal generated by the PWM unit 530. FIG. In the figure, “Hiz” means a high impedance state in which the electromagnetic coil is in an unexcited state. As described in FIG. 5, the drive signals DRVA1 and DRVA2 are generated by PWM control using the analog waveform of the sensor output SSA as it is. Therefore, using these drive signals DRVA1 and DRVA2, it is possible to supply an effective voltage indicating a level change corresponding to the change of the sensor output SSA to each coil.

  Further, the PWM unit 530 outputs a drive signal only in the excitation interval indicated by the excitation interval signal Ea supplied from the excitation interval setting unit 590, and does not output a drive signal in intervals other than the excitation interval (non-excitation interval). It is configured. FIG. 6C shows drive signal waveforms when the excitation interval EP and the non-excitation interval NEP are set by the excitation interval signal Ea. In the excitation interval EP, the drive signal pulse of FIG. 6B is generated as it is, and no drive signal pulse is generated in the non-excitation interval NEP. Thus, if the excitation interval EP and the non-excitation interval NEP are set, no voltage is applied to the coil near the middle point of the back electromotive force waveform (that is, near the middle point of the sensor output). It is possible to further improve the efficiency. The excitation interval EP is preferably set to a symmetrical interval centered on the peak of the back electromotive force waveform, and the non-excitation interval NEP is centered on the middle point (center point) of the back electromotive force waveform. It is preferable to set to a symmetrical section.

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

As can be understood from the above description, in the motor of the present embodiment , it is possible to adjust the applied voltage using both the voltage command value Ya and the excitation interval signal Ea. The relationship between the desired applied voltage, the voltage command value Ya, and the excitation interval signal Ea is preferably stored in advance as a table in a memory (not shown) in the control unit 200 (FIG. 3). In this way, when the control unit 200 receives the target value of the desired applied voltage, the CPU 210 sets the voltage command value Ya and the excitation interval signal Ea in the drive control unit 220 according to the target value. Is possible. Note that it is not necessary to use both the voltage command value Ya and the excitation interval signal Ea to adjust the applied voltage, and only one of them may be used.

  FIG. 7 is a block diagram showing an example of the internal configuration of the PWM unit 530 (FIG. 5). The PWM unit 530 includes a counter 531, an EXOR circuit 533, and a drive waveform forming unit 535. These operate as follows.

  FIG. 8 is a timing chart showing the operation of the PWM unit 530 during normal rotation of the motor. In this figure, two clock signals PCL and SDC, forward / reverse direction instruction value RI, excitation interval signal Ea, multiplication value Ma, positive / negative sign signal Pa, count value CM1 in counter 531 and counter 531 The output S1, the output S2 of the EXOR circuit 533, and the output signals DRVA1 and DRVA2 of the drive waveform forming unit 535 are shown. The counter 531 repeats the operation of down-counting the count value CM1 to 0 in synchronization with the clock signal PCL every period of the clock signal SDC. The initial value of the count value CM1 is set to the multiplication value Ma. In FIG. 8, a negative value is also drawn as the multiplication value Ma for convenience of illustration, but the counter 531 uses the absolute value | Ma |. The output S1 of the counter 531 is set to H level when the count value CM1 is not 0, and falls to L level when the count value CM1 becomes 0.

  The EXOR circuit 533 outputs a signal S2 indicating an exclusive OR of the positive / negative sign signal Pa and the forward / reverse direction instruction value RI. When the motor rotates normally, the forward / reverse direction instruction value RI is at the L level. Therefore, the output S2 of the EXOR circuit 533 is the same signal as the positive / negative sign signal Pa. The drive waveform forming unit 535 generates drive signals DRVA1 and DRVA2 from the output S1 of the counter 531 and the output S2 of the EXOR circuit 533. That is, of the output S1 of the counter 531, the signal during the period when the output S2 of the EXOR circuit 533 is at the L level is output as the first drive signal DRVA1, and the signal during the period when the output S2 is at the H level is output as the second drive signal DRVA2. Output as. In the vicinity of the right end of FIG. 8, the excitation interval signal Ea falls to the L level, thereby setting the non-excitation interval NEP. Accordingly, in this non-excitation interval NEP, none of the drive signals DRVA1, DRVA2 is output and the high impedance state is maintained.

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

In this embodiment , the forward rotation direction of the motor is the direction in which the fourth side gear 350 as the control gear shown in FIG. 2 is rotated clockwise, and the reverse rotation direction is the fourth side gear in the counterclockwise direction. The direction to rotate.

  FIG. 10 is an explanatory diagram showing the internal configuration and operation of the excitation interval setting unit 590. As illustrated in FIG. 10A, the excitation interval setting unit 590 includes an electronic variable resistor 592, voltage comparators 594, 596, and an OR circuit 598. The resistance value Rv of the electronic variable resistor 592 is set by the CPU 210. Voltages V1 and V2 across the electronic variable resistor 592 are applied to one input terminal of a voltage comparator 594,596. A sensor output SSA is supplied to the other input terminal of the voltage comparators 594 and 596. Output signals Sp and Sn of the voltage comparators 594 and 596 are input to the OR circuit 598. The output of the OR circuit 598 is an excitation interval signal Ea for distinguishing between excitation intervals and non-excitation intervals.

  FIG. 10B shows the operation of the excitation interval setting unit 590. Both-end voltages V1 and V2 of the electronic variable resistor 592 are changed by adjusting the resistance value Rv. Specifically, both-end voltages V1 and V2 are set to values having the same difference from the median value (= VDD / 2) of the voltage range. When the sensor output SSA is higher than the first voltage V1, the output Sp of the first voltage comparator 594 becomes H level, whereas when the sensor output SSA is lower than the second voltage V2, the second voltage V2 is output. The output Sn of the voltage comparator 596 becomes H level. The excitation interval signal Ea is a signal obtained by taking the logical sum of these output signals Sp and Sn. Therefore, as shown in the lower part of FIG. 10B, the excitation interval signal Ea can be used as a signal indicating the excitation interval EP and the non-excitation interval NEP. The excitation interval EP and the non-excitation interval NEP are set by the CPU 210 adjusting the variable resistance value Rv.

  FIG. 11 is an explanatory diagram illustrating an operation of the encoding unit and a timing chart. Here, description will be given by taking the A-phase encoding unit 560 (FIG. 5) as an example. The encoding unit 560 receives the ADC signal from the ADC unit 570 (FIG. 6), and generates the sensor output value Xa and the positive / negative code signal Pa. Here, the sensor output value Xa is a value obtained by shifting the ADC signal to +127 to −128 and taking the absolute value thereof. For the sign signal Pa, the sign signal Pa is H when the value of the ADC signal is smaller than 0, and the sign signal Pa is L when the value of the ADC signal is greater than 0. The sign of the sign signal Pa may be reversed.

  FIG. 12 is an explanatory diagram showing a drive waveform of the shift control mechanism unit 40. FIG. 12A shows the waveform of the sensor output SSA of the A-phase magnetic sensor 416A corresponding to the induced voltage waveform generated in the A-phase electromagnetic coil 420A as the shift control mechanism 40 rotates. FIG. 12B shows a waveform of an excitation interval signal Ea that defines an excitation interval EP for driving the shift control mechanism 40 (hereinafter also referred to as “WC control waveform”). FIG. 12C shows a PWM drive waveform (analog) applied to the shift control mechanism 40 when the WC control waveform is shown in FIG. FIG. 12D schematically shows a PWM drive waveform (digital) applied to the transmission control mechanism 40 when the WC control waveform is shown in FIG. As shown in FIG. 12A, the sensor output waveform corresponding to the induced voltage waveform is substantially a sine wave. The center of the active period (excitation interval EP) of the WC control waveform is the same as the phase in which the induced voltage waveform shown in FIG. As shown in FIG. 12B, the WC control waveform is in an inactive period (non-excitation period NEP) in the phase in which the induced voltage waveform in FIG. Therefore, the analog PWM drive waveform shown in FIG. 12C is substantially similar to the induced voltage waveform in the excitation interval EP, and is a non-excitation interval NEP, that is, a phase in which the induced voltage waveform in FIG. Then it is almost zero.

  FIG. 12E shows a waveform in which the active period of the WC control waveform shown in FIG. FIG. 12F shows a PWM drive waveform (analog) applied to the shift control mechanism 40 when the WC control waveform is shown in FIG. FIG. 12 (G) schematically shows a PWM drive waveform (digital) applied to the shift control mechanism 40 when the WC control waveform is shown in FIG. 12 (E). The PWM drive waveform shown in FIG. 12F is zero when the WC control waveform is inactive (non-excitation section NEP). As is clear from comparison between FIG. 12D and FIG. 12F, the shorter the active period (excitation interval EP) of the WC control waveform, the smaller the number of pulses.

  As described above, by controlling the width of the excitation interval EP, the PWM drive waveform applied to the shift control mechanism unit 40 can be controlled, and the drive state of the shift control mechanism unit 40 is controlled accordingly. Can do.

  FIG. 12 shows that the drive waveform applied to the shift control mechanism 40 is controlled by controlling the width of the excitation interval EP. However, as described in FIG. 5, the multiplication value Ma is controlled. Thus, the PWM drive waveform can be controlled, and the drive state of the shift control mechanism 40 can be controlled accordingly. Moreover, it is also possible to control the drive state of the shift control mechanism 40 more precisely by controlling both in combination.

(2) Configuration and Operation of Regeneration Circuit FIG. 13 is an explanatory diagram showing the internal configuration of the regeneration control unit 230 and the rectifier circuit 250 shown in FIG. The regeneration control unit 230 includes an A-phase regeneration control unit 230A and a B-phase regeneration control unit 230B. The rectifier circuit 250 includes an A-phase rectifier circuit 250A and a B-phase rectifier circuit 250B. Since the configurations of the A-phase regeneration control unit 230A and the A-phase rectification circuit 250A are the same as the configurations of the B-phase regeneration control unit 230B and the B-phase rectification circuit 250B, the following description will be given taking the A phase as an example.

  The A-phase regeneration control unit 230A includes an A-phase charge switching unit 432A connected to the bus 212, an A-phase PWM control unit 434A, and an A-phase NAND circuit 436A. The output of the A-phase charge switching unit 432A, the output MPa of the A-phase PWM control unit 434A, and the regeneration permission signal ER output from the CPU 210 are given to the three input terminals of the A-phase NAND circuit 436A.

  Phase A charge switching unit 432A outputs a “1” level (H level) signal when recovering regenerative power from phase A electromagnetic coil 420A, and “0” level (L level) when not recovering. The signal is output.

  The A-phase PWM control unit 434A can use the same configuration except that the excitation interval setting unit 590 of the drive control unit 220 shown in FIG. 5 is replaced with a regeneration interval setting unit 590R. FIG. 14 is an explanatory diagram showing an internal configuration of the regenerative section setting unit 590R in the A-phase PWM control unit 434A. As shown in FIG. 14A, the regenerative interval setting unit 590R includes an EXOR circuit 599 in addition to the excitation interval setting unit 590 of FIG. An output (excitation section signal Ea) of the OR circuit 598 and a regeneration section switching signal INV from the CPU 210 are supplied to the input terminal of the EXOR circuit 599. The output of the EXOR circuit 599 is given as a regeneration period signal REa to the PWM unit 530 (FIG. 5) instead of the excitation interval signal Ea.

  As shown in FIG. 14B, when the regenerative section switching signal INV is at the L level (: 0), the regenerative period signal REa has a peak sensor output SSA as in the case shown in FIG. A period centered on the phase is a regeneration section REP as an active section of regeneration, and a period centered on a phase where the sensor output SSA is 0 is a non-regeneration section NREP as an inactive section of regeneration. On the other hand, when the regenerative section switching signal INV is at the H level (: 1), the period centered on the phase where the sensor output SSA is 0 becomes the regenerative section REP, and the phase where the sensor output SSA peaks. The center period is the non-regenerative section NREP.

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

As described above, the input of the A-phase NAND circuit 436A is supplied with the output of the A-phase charge switching unit 432A, the regeneration permission signal ER, and the A-phase PWM drive waveform MPa that is the output of the A-phase PWM control unit 434A. It has been. Therefore, the A-phase NAND circuit 436A has the regeneration permission signal ER and the output of the A-phase charge switching unit 432A at the H level (INV: 1), collects the regenerative power, and brakes the rotation of the transmission control mechanism unit 40. In this case, an A-phase mask signal MSKA corresponding to the A-phase PWM drive waveform MPa is output.

  The A-phase rectifier circuit 250A is a full-wave rectifier circuit 451 including a plurality of diodes, two gate transistors 461 and 462, a buffer circuit 471, and an inverter circuit 472 (NOT circuit) as a circuit for an A-phase electromagnetic coil. have. The same circuit is provided for the B phase. The gate transistors 461 and 462 are connected to a power supply wiring 480 for regeneration. Further, as the plurality of diodes, it is preferable to use Schottky diodes excellent in low Vf characteristics.

  The AC power generated by the A-phase electromagnetic coil 420A during power regeneration is rectified by the full-wave rectifier circuit 451. The gates of the gate transistors 461 and 462 are supplied with the A-phase mask signal MSKA for the A-phase electromagnetic coil and its inverted signal, and the gate transistors 461 and 462 are controlled to be turned on / off accordingly. Accordingly, the regenerative power is output to the power supply wiring 480 during the H level period of the A phase PWM drive waveform MPa output from the A phase PWM control unit 434A, while the power of the power is output during the L level period of the A phase PWM drive waveform MPa. Regeneration is prohibited.

As can be understood from the above description, it is possible to recover the regenerative power and brake the operation of the shift control mechanism unit 40 by using the regenerative control unit 230 and the rectifier circuit 250. In addition, the regenerative control unit 230 and the rectifier circuit 250 generate regenerative power from the A phase electromagnetic coil 420A and the B phase electromagnetic coil 420B in response to the mask signal MSKA for the A phase electromagnetic coil and the mask signal MSKB for the B phase electromagnetic coil. It is possible to limit the period during which the power is recovered and thereby adjust the amount of regenerative power. By adjusting the amount of regenerative power, it is possible to adjust the amount of braking of rotation of the transmission control mechanism 40.

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

  FIG. 15A is an explanatory diagram showing an energy regeneration pattern in the regeneration mode that is executed when the width of the regeneration section REP is large. In FIG. 15A, the value of EPWM indicates the ratio of the size of the regeneration section REP between the electrical angles 2π. When the width of the regeneration section REP is large, a regeneration period signal REa having a regeneration section centered on the peak of the induced voltage waveform is generated, and when the width of the regeneration section REP is small, the regeneration centering around the zero cross point of the induced voltage waveform is generated. A regeneration period signal REa having a section is generated, and energy is regenerated from the electromagnetic coil 420 (FIG. 13). The CPU 210 switches the magnitude of the EPWM and the two regeneration modes according to the input rotational speed, the output rotational speed, various requests, etc. of the transmission 10 and executes regeneration in various regeneration modes. The magnitude of EPWM can be changed by the CPU 210 changing the magnitude of the electrical resistance of the electronic variable resistor 592 of the regeneration section setting unit 590R shown in FIG.

FIG. 15A (A) shows an induced voltage waveform generated in the electromagnetic coil 420. This induced voltage waveform does not depend on the value of EPWM. FIG. 15A (B) shows the waveform of the regeneration period signal REa (hereinafter also referred to as “WC control waveform”) when EPWM is 95%. In the regeneration section REP (H level), energy regeneration can be performed. In this example, the regenerative section REP is a section centered on the peak (maximum value) of the induced voltage waveform (FIG. 15A (A)). This section is also referred to as a “second regeneration section”. FIG. 15A (C) shows a regenerative waveform in which the regenerative energy is indicated by an analog voltage. FIG. 15D shows a mask signal MSK including a PWM pulse supplied to the gate transistors 461 and 462 for PWM regeneration. In the present embodiment , energy regeneration is performed using PWM pulses. FIG. 15E shows a PWM regeneration waveform when the regeneration waveform is a high voltage, and FIG. 15F shows a PWM regeneration waveform regeneration waveform when the regeneration waveform is a low voltage.

  FIGS. 15A to 15K show a WC control waveform, a regeneration waveform, a mask signal, a PWM regeneration waveform (high voltage), and a PWM regeneration waveform (low voltage) when EPWM is 40% or more, respectively. When the regenerative section REP is shortened (EPWM value is reduced), the pulse disappears from the narrow pulse of the PWM regenerative waveform, as can be seen from the comparison between FIG. 15A (E) and FIG. 15A (J). Thus, in the PWM regenerative waveform, when disappearing from the thin PWM pulse, even if the thin PWM pulse disappears, a large fluctuation of the regenerative energy hardly occurs. That is, the operation is difficult to jerky during regeneration.

  Here, when the value of EPWM is further reduced while maintaining the regenerative section REP in the section centered on the peak (maximum value) of the induced voltage waveform (FIG. 15A (A)), the induced voltage waveform (FIG. 15A (A A large PWM pulse near the peak of)) disappears. In such a case, since the regenerative energy greatly fluctuates, the operation may become jerky during regeneration. Conversely, when the EPWM value is increased while maintaining the regenerative section REP with the section centered on the peak of the induced voltage waveform, even if the width of the regenerative section REP is slightly increased from 0, a large PWM Since a pulse is generated, and the regenerative energy greatly fluctuates, there is a case where the operation becomes jerky during regeneration. Therefore, when the value of EPWM is small and the width of the regeneration section REP is small, it is preferable to perform regeneration control as described below.

  FIG. 15B is an explanatory diagram showing an energy regeneration pattern when the width of the regeneration section REP is small. In FIG. 15B, the value of EPWM indicates the ratio of the size of the regenerative section REP between the electrical angles 2π, as in FIG. 15A. The induced voltage waveform in FIG. 15B (A) is the same as the induced voltage waveform in FIG. In this example, when the value of EPWM becomes a small value, the center of the regeneration interval REP is set as the zero cross point of the induced voltage waveform. Here, the regenerative section REP centered on the zero cross point is referred to as “first regenerative section” in the claims.

  FIGS. 15B to 15F show a WC control waveform, a regenerative waveform, a mask signal, a PWM regenerative waveform (high voltage), and a PWM regenerative waveform (low voltage) when EPWM is 30%, respectively. As can be seen by comparing FIG. 15A (H) and FIG. 15B (C), when EPWM is 40% or more, a regenerative waveform is generated at the peak center of the induced voltage waveform, whereas EPWM is 30%. At times, a regenerative waveform is generated around the zero cross point of the induced voltage waveform. Next, as can be seen by comparing FIG. 15A (J) and FIG. 15B (E), when EPWM is 40% or more, a thin PWM pulse close to the zero cross point of the induced voltage waveform disappears. When EPWM is 30%, a thick PWM pulse near the peak center of the induced voltage waveform disappears.

  15B (G) to (K) show a WC control waveform, a regenerative waveform, a PWM regenerative waveform (high voltage), and a PWM regenerative waveform (low voltage) when EPWM is 5%, respectively. As can be seen by comparing FIG. 15B (E) and FIG. 15B (J), when EPWM decreases from 30% to 5%, a thick PWM pulse near the peak center of the induced voltage waveform and a zero cross point of the induced voltage waveform are close. The PWM pulse disappears from the PWM pulse having an intermediate size between that of the thin PWM pulse.

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

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

  FIG. 16A to FIG. 16D are explanatory views showing variations of the EPWM value and the recovery rate of regenerative energy. The example illustrated in FIG. 16A is an example in which the CPU 210 configures the entire regenerative period as a regenerative section (first regenerative section) of the WC control waveform centered on the zero cross point. When EPWM is 100%, the regenerative section centered on the zero cross point and the regenerative section centered on the peak of the induced voltage waveform (second regenerative section) are the same. According to this example, when the regenerative energy is small, the change in the regenerative energy amount when the regenerative section changes is small, and when the regenerative energy amount is large, the change in the regenerative energy amount when the regenerative section changes is large. . In other words, the rate of change of regenerative energy with respect to the amount of regenerative energy (change rate) can be made substantially constant regardless of the size of the regenerative section, so that the shift control mechanism 40 can be operated smoothly during regeneration. it can.

  In the example illustrated in FIG. 16B, the CPU 210 switches between the first regeneration section and the second regeneration section when the value of EPWM becomes x1. The recovery rate of the regenerative energy at the time of switching is y21 in the first regeneration section and y22 in the second regeneration section. The change in regenerative energy at the time of switching is | y21−y22 |. If the value of | y21−y22 | is small, even if the first regeneration section and the second regeneration section are switched, the regenerative operation is not jerky. Further, the regeneration control unit 230 performs regeneration in the first regeneration section centered on the zero cross point of the induced voltage generated in the electromagnetic coil when the amount of regenerative energy is small, and when the amount of regenerative energy is large, Since regeneration is performed in the second regeneration section centered on the maximum point of the induced voltage that is generated, the shift control mechanism 40 can be operated smoothly during regeneration.

  In the example shown in FIG. 16C, when EPWM is increased, when the value of EPWM becomes x2, the CPU 210 switches from the first regeneration section to the second regeneration section and decreases EPWM. Sometimes, when the value of EPWM becomes x1, the second regeneration section is switched to the first regeneration section. Here, at the time of switching between the first regeneration section and the second regeneration section, the recovery rate of the regeneration energy is y21, and the regeneration energy is continuous. Thus, if regeneration energy is made continuous, regeneration can be performed more smoothly.

  Further, according to the example of FIG. 16C, when the regeneration period is short and the amount of energy to be regenerated is small, the regeneration control unit 230 regenerates in the first regeneration section centered on the zero cross point of the induced voltage generated in the electromagnetic coil 420. When the regeneration period is long and the amount of regenerative energy is large, the regeneration is performed in the second regeneration section centered on the maximum point of the induced voltage generated in the electromagnetic coil 420. Can be operated. Further, the regeneration control unit 230 switches so that the amount of energy regenerated before and after switching becomes the same value when switching between the first regeneration mode and the second regeneration mode. Can be operated smoothly during regeneration of the electromechanical device.

  The example illustrated in FIG. 16D is intermediate between the example illustrated in FIG. 16B and the example illustrated in FIG. 16C. In the example illustrated in FIG. 16D, when the EPWM is increased, the CPU 210 switches from the first regeneration section to the second regeneration section when the EPWM value becomes x2. The steps so far are the same as those in FIGS. 16B and 16C. In the example shown in FIG. 16B, when switching from the first regeneration section to the second regeneration section, the CPU 210 increases the energy recovery rate from y21 to y22 without changing the magnitude of EPWM as x2. In the example shown in FIG. 16C, when the CPU 210 switches from the first regeneration section to the second regeneration section, the EPWM size is increased from x2 to x1 without changing the recovery rate of the regenerative energy to y21. doing. On the other hand, in the example shown in FIG. 16D, the CPU 210 decreases the magnitude of EPWM from x2 to x3 (x3> x1) and increases the recovery rate of regenerative energy from y21 to y32 (y32 <y22). . Even if it does in this way, since the difference of regenerative energy is small between the 1st regeneration section and the 2nd regeneration section, the operation of regeneration does not become jerky. In addition, when decreasing the value of EPWM, the CPU 210 switches from the second regeneration section to the first regeneration section when the value of EPWM reaches x3. At this time, the new EPWM value is x2, and the recovery rate of regenerative energy is decreased from y32 to y21.

  According to the example of FIG. 16D, when the regeneration period is short and the amount of energy to be regenerated is small, regeneration is performed in the first regeneration section centered on the zero cross point of the induced voltage generated in the electromagnetic coil 420, and the regeneration period is long. When the amount of energy is large, regeneration is performed in the second regeneration section centered on the maximum point of the induced voltage generated in the electromagnetic coil 420, so that the transmission control mechanism 40 can be operated smoothly during regeneration. Further, when switching from the first regeneration mode to the second regeneration mode, the change in regenerative energy before and after the switching can be reduced, so that the shift control mechanism 40 can be operated smoothly during regeneration. .

  As shown in FIGS. 16A to 16D, various patterns can be employed between the EPWM and the recovery rate of regenerative energy. Note that switching between the first regeneration section and the second regeneration section can be performed by the value of the regeneration section switching signal INV. In FIGS. 16B and 16D, when the first regeneration section and the second regeneration section overlap, either the first regeneration mode or the second regeneration section may be used.

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

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

  In the above description, the control unit 200 is provided outside the transmission 10. However, the control unit 200 is provided on the circuit board 417 of the transmission 10 or on a circuit board different from the circuit board 417. In addition, it may be mounted together with a communication unit that performs communication between the CPU 210 of the control unit 200 and the outside so as to be provided in the casing 20. In this case, the transmission can be operated according to a command command transmitted from the outside.

A3. Shift control operation:
FIG. 17 is an explanatory diagram showing the relationship between the rotational speeds of the gears of the speed change mechanism 30. First, the rotation (control rotation) of the fourth side gear 350 (hereinafter also referred to as “control gear 350”) as the control gear is changed to the third side gear 340 (hereinafter referred to as “input gear 340” as the input gear). It is assumed that the rotation is clockwise at the same rotational speed as the rotation (input rotation). In this case, the first and second side gears 320 and 330 (hereinafter also referred to as “output gears 320 and 330”) serving as output gears do not rotate around the axis Sy of the pinion shaft 310, respectively. It is considered that the rotation of the input gear 340 and the control gear 350 does not occur, and a clockwise revolution around the input gear 340 and the control gear 350 occurs around the axis Sx of the output shaft 14. . For example, as shown by the dotted line in FIG. 17, if the input rotational speed Ns = + N1 and the control rotational speed Nr = + N1, the output rotational speed Nc = + N1. The sign + means clockwise rotation as viewed from the input side, and the sign-means counterclockwise rotation as viewed from the input side.

  Similarly, it is assumed that the control rotation of the control gear 350 is counterclockwise at the same rotation speed as the input rotation of the input gear 340. In this case, it is considered that only the rotations in opposite directions occur in the output gears 320 and 330, and the revolution, that is, the output rotation becomes zero. For example, as shown by the thick solid line in FIG. 17, if the input rotational speed Ns = + N1 and the control rotational speed Nr = −Nr1, the output rotational speed Nc = 0.

From the above operation, it is considered that the number of teeth of the output gears 320 and 330 is not related to the output rotation corresponding to the revolution of the output gears 320 and 330. The relationship between the input rotation speed Ns, the output rotation speed Nc, and the control rotation speed Nr is as follows: the number of teeth ms of the input gear 340 and the number of teeth mr of the control gear 350 having the same number of teeth as the input gear 340. , Are considered to be represented by the following formulas (1) and (2).
Nc = Ns · (ms / (mr + ms)) + Nr · (mr / (mr + ms)) = (Ns + Nr) / 2 (1)
Nr = ((mr + ms) / ms). (Nc-Ns.ms/(mr+ms))=2.Nc-Ns.(2)

  As can be seen from the above equation (1), the output rotation speed Nc is the average rotation speed of the input rotation speed Ns of the input gear 340 and the control rotation speed Nr of the control gear 350, and the input rotation speed Ns of the input gear 340 is obtained. Is constant (Ns = + N1), it is possible to perform control steplessly according to the control rotational speed Nr of the control gear 350, that is, the rotational state of the control gear 350 by the transmission control mechanism unit 40.

  Here, when the rotation of the control gear 350 is not controlled at all by the speed change control mechanism 40, the control gear 350 is in a free rotation state, and the rotation of the control gear 350 is the same as the input rotation speed Ns. With counterclockwise rotation. In this case, the relationship between the rotation speeds of the respective gears in the transmission mechanism unit 30 is, for example, a straight line relationship indicated by a thick solid line in FIG. That is, the control gear 350 has the same control rotation speed Nr as the input rotation speed Ns = + N1, but rotates counterclockwise in the reverse direction (Nr = −N1). At this time, revolution does not occur in the output gears 320 and 330 but only rotation occurs, and the output rotation speed Nc becomes 0 from the above equation (1).

  When the control rotational speed Nr of the control gear 350 is Nr = 0 and the engine is in a stopped state, the relationship between the rotational speeds of the gears in the transmission mechanism 30 is a linear relationship indicated by a broken line in FIG. In this case, the output rotation speed Nc of the output gears 320 and 330 is the rotation speed + N1 / 2 (Ns = + N1, Nr = 0) obtained from the above equation (1), that is, the input rotation speed Ns = + N1 is 1/2. The number of rotations decelerated to.

  Here, the rotation stop state of the control gear 350 cancels the counterclockwise rotational force generated in the control gear 350 according to the rotational force transmitted from the input gear 340 via the output gears 320 and 330. This is realized by regeneratively or drivingly controlling the shift control mechanism 40 so that the braking force is applied to the control gear 350.

  When the control gear 350 is rotating counterclockwise from the free rotation state (Nr = −N1) to the stop state (Nr = 0), the rotation speed of each gear in the transmission mechanism 30 is determined. The relationship is, for example, a linear relationship indicated by a one-dot chain line in FIG. If the control rotation speed Nr of the control gear 350 is Nr = −Nr1 (0 <Nr1 <N1), the output rotation speed Nc is + Nc1 (= (N1−Nr1) / 2) from the above equation (1), and the control rotation The number Nr = any value between 0 and + N1 / 2 depending on the magnitude of -Nr1. In order to set the output rotational speed Nc to an arbitrary rotational speed + Nc1 between 0 and + N1 / 2, the control rotational speed Nr of the control gear 350 is the rotational speed −Nr1 (= 2) obtained from the above equation (2). -In order to rotate counterclockwise at Nc1-N1), specifically, control gear 350 will rotate counterclockwise as it attempts to rotate counterclockwise at control rotational speed Nr = -N1. The rotation of the speed change control mechanism 40 may be braked by regenerative control.

When the control gear 350 rotates clockwise at an arbitrary control rotation speed Nr = + Nr2, the relationship between the rotation speeds of the gears in the speed change mechanism 30 is, for example, a straight line indicated by a two-dot chain line in FIG. It becomes a relationship. In this case, the output rotation speed Nc is + Nc2 (= (N1 + Nr2) / 2) from the above equation (1), and the input rotation speed Ns = + N1 is arbitrarily rotated according to the control rotation speed Nr = + Nr2. A clockwise rotation shifted by a number. When the control rotation speed Nr is Nr = + N1, the relationship between the rotation speeds of the gears in the transmission mechanism 30 is a linear relationship indicated by a dotted line in FIG. 17, and the output rotation speed Nc is Nc = + N1. Further, when the control rotation speed Nr is Nr = + 2 · N1, the relationship between the rotation speeds of the gears in the transmission mechanism 30 is a linear relationship indicated by a two-dot chain line in FIG. 17, and the output rotation speed Nc is Nc = + N · 3/2. In order to set the output rotational speed Nc to an arbitrary rotational speed + Nc2 of + N1 / 2 or more, the control rotational speed Nr of the control gear 350 is the rotational speed obtained from the above equation (2) + Nr2 (= 2 · Nc2−N1). ), The rotation control of the speed change control mechanism unit 40 may be driven and controlled clockwise.

  When the control gear 350 rotates counterclockwise at an arbitrary rotation speed −Nr3 larger than the rotation speed Nr = −N1 in the free rotation state, the rotation of each gear in the transmission mechanism section 30 in the transmission mechanism section 30 is performed. The number relationship is, for example, a linear relationship indicated by a solid line in FIG. In this case, the output rotation speed Nc is −Nc3 (= (N1−Nr3) / 2) from the above equation (1), and the control rotation speed Nr is an input rotation according to the magnitude of Nr = rotation speed −Nr3. Is the counterclockwise rotation speed obtained by shifting the rotation speed + N1 to an arbitrary rotation speed of 0 or more. In order to set the rotation speed NC of the output rotation to an arbitrary counterclockwise rotation speed −Nc3, the rotation speed Nr of the control gear 350 is determined by the rotation speed −Nr3 (= −2 · It is only necessary to drive and control the rotation of the shift control mechanism unit 40 counterclockwise so as to rotate counterclockwise at Nc3-N1).

  Here, when the output rotation speed Nc is changed from 0 to + N1 / 2, as described above, the speed change control mechanism unit is configured so that the control rotation speed Nr of the control gear 350 is decelerated (brake) from −N1 to 0. 40 may be regeneratively controlled. However, if the width of the regenerative section is set to such a size that a regenerative amount corresponding to the degree of deceleration (braking degree) can be obtained, and regenerative operation is executed, a sudden fluctuation in operation occurs due to a sudden load fluctuation. As a result, the operation becomes jerky. Therefore, in this example, the regeneration control operation (FIGS. 13 to 16) described above is used. Specifically, first, in the initial stage of regeneration, the first regeneration mode is set, and even if the width of the regeneration section REP is changed, the change in the regeneration amount is small, and the first regeneration centered on the zero cross point of the induced voltage. Regeneration is performed in the section, and the regeneration amount is increased by gradually changing the width of the regeneration section REP. Thereafter, as the second regeneration mode, the regeneration is performed in the second regeneration section centered on the peak point of the induced voltage, and the regeneration amount is increased by gradually changing the width of the regeneration section REP. Perform regeneration. In this case, the width of the second regeneration section immediately after the switching is set smaller than the width of the first regeneration section immediately before the switching so that the difference in the regeneration amount before and after the switching does not occur. preferable. In particular, it is preferable to set the width of the second regeneration section immediately after switching so that the amount of energy regenerated before and after switching becomes the same value and continues. In addition, when the regeneration amount gradually decreases during the regeneration in the second regeneration mode, switching from the second regeneration mode to the first regeneration mode is performed. Good. In this case, the width of the first regeneration section immediately after the switching is set to be larger than the width of the second regeneration section immediately before the switching so that the difference in the regeneration amount before and after the switching does not occur. preferable. In particular, it is preferable to set the width of the first regeneration section immediately after switching so that the amount of energy regenerated before and after switching becomes the same value and continues.

  In the above description, in order to change the output rotation speed Nc from 0 to + N1 / 2, the control rotation speed Nr of the control gear 350 is decelerated (brake) from −N1 to 0, but the output is described as an example. Similarly, when the control rotation speed Nr of the control gear 350 is decelerated, such as when the control rotation speed Nr of the control gear 350 is decelerated from + Nr2 to 0 in order to change the rotation speed Nc from + Nc2 to + N1 / 2, the same control is performed. do it.

  In the above description, the case of decelerating (braking) the rotation by regeneration has been described as an example. Similarly, in the case of increasing the rotation, the width of the excitation section is gradually changed to accelerate smoothly. It is preferable to continue.

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

A4. effect:
In the transmission 10 of the present embodiment , the input shaft 12 and the output shaft 14 are arranged on the same axis Sx, and the output shaft 14 connected to the pinion shaft 310 of the first and second side gears 320 and 330 is provided. The configuration is such that the output is made to the outside of the speed change mechanism 30 through a through hole 352 provided in the center of the fourth side gear 350. Thereby, it is possible to reduce the size in the direction of the axis Sy orthogonal to the axis Sx. Further, in the transmission 10 of the present embodiment , it is possible to continuously and smoothly realize a speed change operation in a stepless manner, and accordingly, a torque transmission amount can be changed continuously and smoothly in a stepless manner. Is possible.

  The shape of the first and second side gears 320 and 330 has been described on the premise of a bevel gear, but the present invention is not limited to this, and a helical gear, a helical gear, a spiral bevel gear, Various shapes such as a bevel gear, a miter gear, and an internal gear can be used. The shapes of the third and fourth side gears 340 and 350 are made to correspond to the shapes of the first and second side gears 320 and 330 so as to mesh with the first and second side gears 320 and 330, respectively. That's fine.

B. Second embodiment :
FIG. 18 is a schematic cross-sectional view showing a transmission as a second embodiment . In the transmission 10B, the input shaft 12 of the transmission 10 according to the first embodiment is connected to a driven part as an output shaft (referred to as “output shaft 12” in this example), and the output shaft 14 is connected to an input shaft (main shaft). In the example, the first embodiment is different except that it is configured to be connected to the drive unit as “input shaft 14”, and the relationship between the rotational speeds of the respective gears differs accordingly. This is the same as the transmission 10 of FIG.

FIG. 19 is an explanatory diagram showing the relationship between the rotational speeds of the respective gears of the speed change mechanism 30 in the second embodiment . First, the rotation (control rotation) of the fourth side gear 350 (hereinafter also referred to as “control gear 350”) as the control gear is changed to the first and second side gears 320 and 330 (hereinafter referred to as “here”) as input gears. Then, it is assumed that the rotation is clockwise at the same rotational speed as the revolution (input rotation) of “input gears 320 and 330”. In this case, the rotation of the input gears 320 and 330 does not occur, and the third side gear 340 (hereinafter, also referred to as “output gear 340”) rotates as the input gears 320 and 330 revolve. It is considered that clockwise rotation (output rotation) occurs at the same rotation speed as. For example, as shown by the solid line in FIG. 19, if the input rotational speed Ns = + N1 and the control rotational speed Nr = + N1, the output rotational speed Nc = + N1. The sign + means clockwise rotation as viewed from the output side, and the sign-means counterclockwise rotation as viewed from the output side.

  Similarly, when the control rotation of the control gear 350 is in a stopped state, the input gears 320 and 330 undergo revolutions equal to the number of rotations of the input rotation and rotate in opposite directions, and the output gear 340 It is considered that the same clockwise output rotation occurs at twice the input rotation number. For example, as shown by the thick solid line in FIG. 19, if the input rotation speed Ns = + N1 and the control rotation speed Nr = 0, the output rotation speed Nc = + 2 · N1.

From the above operation, it is considered that the number of teeth of the input gears 320 and 330 is not related to the output rotation of the output gear 340. The relationship between the input rotation speed Ns, the output rotation speed Nc, and the control rotation speed Nr is as follows: the number of teeth mc of the output gear 340 and the number of teeth mr of the control gear 350 having the same number of teeth as that of the output gear 340. , Are considered to be represented by the following formulas (3) and (4).
Nc = ((mr + mc) / mc) · (Ns−Nr · (mr / (mr + ms)) = 2 · (Ns−Nr / 2) · (3)
Nr = ((mr + mc) / mc) · (Nc−Ns · (mc / (mr + mc)) = (2 · Ns−Nc) · (4)

  As can be seen from the above equation (3), the output rotational speed Nc is an input rotational speed Ns corresponding to the revolution of the input gears 320 and 330 and a rotational speed Nr / 2 that is 1/2 of the control rotational speed Nr of the control gear 350. If the input rotational speed Ns of the input gear 340 is constant (Ns = + N1), the control rotational speed Nr of the control gear 350, that is, the control gear 350 by the transmission control mechanism section 40 is assumed. It can be controlled in a stepless manner according to the rotation state.

  Here, when the rotation of the control gear 350 is not controlled at all by the transmission control mechanism 40, the control gear 350 is in a free rotation state, and the rotation of the control gear 350 is the input rotation speed Ns of the input gears 320 and 330. The rotation is clockwise at the same control rotation speed Nr. In this case, the relationship between the rotation speeds of the respective gears in the transmission mechanism unit 30 is, for example, a straight line relationship indicated by a solid line in FIG. In this case, the control gear 350 has the same control rotation speed Nr as the input rotation speed Ns = + N1 and rotates clockwise in the same direction (Nr = + N1). At this time, no rotation occurs in the input gears 320 and 330, and the output rotation speed Nc of the output gear 340 is the same as the rotation speed + N1 obtained from the above equation (1), that is, the same clockwise rotation as the input rotation. This is the number of rotations.

  When the control rotation speed Nr of the control gear 350 is Nr = 0 and in a stopped state, the relationship between the rotation speeds of the gears in the transmission mechanism unit 30 is, for example, a linear relationship shown by a thick solid line in FIG. In this case, the output rotation speed Nc of the output gear 340 is the rotation speed + 2 · N1 (Ns = + N1, Nr = 0) obtained from the above equation (1), that is, the input rotation speed Ns in the same clockwise direction as the input rotation. = Rotational speed twice as large as + N1.

  Here, when the rotation of the control gear 350 is stopped, the braking force for canceling the clockwise rotational force generated in the control gear 350 according to the rotational force transmitted from the input gears 320 and 330 is controlled by the control gear 350. In addition, the shift control mechanism 40 is realized by regenerative or drive control.

  When the control gear 350 rotates clockwise at the control rotation speed Nr = + 2 · N1, the relationship between the rotation speeds of the gears in the transmission mechanism 30 is, for example, the linear relationship indicated by the broken line in FIG. Become. In this case, the output rotation speed Nc of the output gear 340 is Nc = 0 (Ns = + N1, Nr = + 2 · N1) from the above equation (1). In order to set the output rotation speed Nc to 0, the control rotation speed Nr of the control gear 350 is rotated clockwise by + 2 · N1, which is larger than + N1 in the free rotation state obtained from the above equation (2). The drive of the rotation of the transmission control mechanism 40 may be controlled.

  When the control gear 350 rotates clockwise at the control rotation speed Nr = + 3 · N1, the relationship between the rotation speeds of the gears in the transmission mechanism unit 30 is, for example, a straight line indicated by a two-dot chain line in FIG. It becomes a relationship. In this case, the output rotation speed Nc of the output gear 340 is Nc = −N1 (Ns = + N1, Nr = + 3 · N1) from the above equation (1). In order to set the output rotation speed Nc to the counterclockwise rotation speed −N1, the control rotation speed Nr of the control gear 350 is + 3 · N1 which is larger than + N1 in the free rotation state obtained from the above equation (2). What is necessary is just to drive-control rotation of the speed change control mechanism part 40 so that it may rotate clockwise.

  When the control gear 350 rotates counterclockwise at the control rotation speed Nr = −N1, the relationship between the rotation speeds of the gears in the transmission mechanism 30 is, for example, the linear relationship indicated by the one-dot chain line in FIG. It becomes. In this case, the output rotation speed Nc of the output gear 340 is Nc = + 3 · N1 (Ns = + N1, Nr = −N1) from the equation (1). In order to set the output rotation speed Nc to + 3 · N1, the speed change control mechanism is configured so that the control rotation speed Nr of the control gear 350 rotates counterclockwise at the rotation speed −N1 obtained from the above equation (2). What is necessary is just to drive-control the rotation of the part 40. FIG.

In order to change the output rotational speed Nc to a desired rotational speed, it is preferable to execute the regeneration control and the drive control of the transmission control mechanism unit 40 as described in the first embodiment . As a result, smooth load fluctuations can be realized, smooth shifting operation and torque change can be realized, and the operation can be prevented from becoming jerky.

C. Third embodiment :
FIG. 20 is a schematic cross-sectional view showing a transmission as a third embodiment . The transmission 10C is different in that the substantially cylindrical rotor 410 of the transmission control mechanism 40 (FIG. 1) of the transmission 10 of the first embodiment is replaced with a rotor 410C. This rotor 410C has a disk-shaped main body part, a permanent magnet 413 and a magnet back yoke 415 arranged on the outer peripheral surface of the side wall of the main body part, and a fourth side gear 350C integrally formed at the end of the side wall of the main body part. It has the structure formed in. The transmission 10C is different in that the third side gear 340 of the transmission mechanism 30 (FIG. 1) of the transmission 10 of the first embodiment is replaced with a third side gear 340C. The third side gear 340C has a disk-shaped main body portion and a structure in which gear teeth 340t are provided at the end of the side wall of the main body portion. Moreover, it has the structure which made the casing 20 (FIG. 1) the casing 20C matched with the said change. The other structures and functions of the transmission 10C according to the third embodiment are the same as those of the transmission 10 (FIG. 1) according to the first embodiment .

D. Fourth embodiment :
FIG. 21 is a schematic cross section showing a transmission as a fourth embodiment . The transmission 10D is configured so that the gear teeth 320t and 330t of the first and second side gears 320 and 330 face each other as in the first to third embodiments (FIGS. 1, 18, and 20). The gear teeth 340Dt and 350Dt of the third and fourth side gears 340D and 350D are used as the gears of the first and second side gears 320 and 330, respectively, instead of being arranged inwardly. An example of a speed change mechanism 30D that is an internal gear that meshes with the teeth 320t and 330t is shown.

  In the case of this configuration, the position variation generated in the first and second side gears 320 and 330 by the centrifugal force along the axial center Sy direction due to the revolution of the first and second side gears 320 and 330 is changed to the third. , And the fourth side gears 340D and 350D have an advantage that the first and second side gears 320 and 330 are excellent in meshing with the third and fourth side gears 340D and 350D.

E. Fifth embodiment :
FIG. 22 is a schematic cross-sectional view showing a transmission as a fifth embodiment . This transmission 10E includes a permanent magnet 613 and a magnet back yoke 615 arranged on the outer peripheral surface of the side wall of the disk-shaped main body of the third side gear 340D of the transmission 10D (FIG. 21) of the fourth embodiment . The third side gear 340D is a rotor 610, the electromagnetic coil 620 is disposed as a stator on the inner peripheral surface of the casing 20E covering the rotor 610 via a coil back yoke 628, and the assist motor unit 60 is integrated with the third side gear 340D. The example which formed automatically is shown.

  Similar to the transmission control mechanism 40C (FIG. 21) and the transmission control mechanism 40 (FIG. 1), the casing 20E is provided with a position detection unit 616 for detecting the position of the permanent magnet 613 and a position detection unit 616. A circuit board 617 is provided. Similarly to the position detection unit 416 of the transmission control mechanism unit 40C, the position detection unit 616 is configured by a Hall element and is disposed so as to correspond to the position of the orbit of the permanent magnet 613. The circuit board 617 is electrically connected not only to the position detector 616 but also to the electromagnetic coil 620. The circuit board 617 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 616 to the control unit. Further, the circuit board 617 supplies electric power to the electromagnetic coil 620 according to a control signal from the control unit to generate a magnetic field, and rotates the rotor 610. In addition, the circuit board 617 outputs the induced power generated in the electromagnetic coil 620 according to the rotation of the rotor 610 according to the control signal from the control unit, and brakes the rotation of the rotor 610. The configuration and operation of the control unit are the same as those of the transmission control mechanism unit 40.

  In this configuration, by controlling the assist motor unit 60, the input rotation transmitted from the drive unit to the third side gear 330 as the input gear via the input shaft 12 can be decelerated or increased. Therefore, in addition to the speed change by the speed change mechanism unit 30, the speed can be further reduced or increased.

  Except for the input shaft 12, the assist motor unit 60 may be a drive motor unit to be a power generation device.

F. Sixth embodiment :
FIG. 23 is a schematic cross-sectional view showing a power generation device as a sixth embodiment . This power generation device 10F has a configuration in which the assist motor unit 60 of the transmission 10E of FIG. 22 is a drive motor unit (hereinafter also referred to as “drive motor unit 60”) except that the heat exchange fins 24 are provided. Is almost the same. The heat exchange fins 24 are provided on the outer surface of the casing 20 </ b> F that covers the transmission control mechanism unit 40 </ b> D and the drive motor unit 60. As a result, heat generated by the coil current in the electromagnetic coil 420 of the shift control mechanism unit 40D and the electromagnetic coil 620 of the drive motor unit 60 can be efficiently cooled, and the output torque of the shift control mechanism unit 40D and the drive motor unit 60 can be reduced. Can be increased. The heat exchange fin 24 and the coil back yokes 428 and 628 for the electromagnetic coils 420 and 620 may be arranged so as to be in direct contact with each other. Thereby, the heat dissipation effect with respect to the heat_generation | fever of the electromagnetic coils 420 and 620 can be improved. Instead of the heat exchange fins 24, a refrigerant jacket may be attached to the outer periphery of the casing 20F.

In the present embodiment , the power generation device has been described as an example. However, the heat exchange fin can also be applied to the shift control mechanism unit and the assist motor unit of the transmission of the first to fifth embodiments .

G. Seventh embodiment :
FIG. 24 is a schematic cross-sectional view showing a power generation device as a seventh embodiment . This power generation device 10G is an example in which a bevel gear 16 is provided on the output shaft 14 of the transmission 10E as the power generation device shown in FIG. It is possible to facilitate transmission to the driven part by the bevel gear 16. The shape of the gear is not limited to the bevel gear, and various shapes such as a spur gear, a helical gear, a helical gear, a spiral bevel gear, a bevel gear, a miter gear, etc. may be used. it can.

In the present embodiment , the power generation device has been described as an example. However, various shapes of gears can be applied to the output shaft of the transmission of the first to fifth embodiments .

H. Eighth embodiment :
FIG. 25 is a schematic cross-sectional view showing a power generation device as an eighth embodiment . This power generation device 10H is provided with a hollow central shaft 11, and a rotor 610H (third side gear 340H) of the drive motor unit 60H, an output shaft 14H, and a pinion shaft 310H formed integrally with the output shaft 14H. Are arranged so as to be rotatable around the central axis 11 via a bearing portion 19.

  In the case of this configuration, the control shaft and the power line bundle 18 can be routed in the hollow of the central shaft 11. The design of the apparatus can be improved. In addition, it is possible to suppress the deterioration of the wiring.

In the present embodiment , the power generation device has been described as an example, but the structure of the present embodiment can be similarly applied to the transmissions of the first to fifth embodiments .

I. Ninth embodiment :
FIG. 26 is a schematic cross-sectional view showing a power generation device as a ninth embodiment . In the transmissions of the first to fifth embodiments and the power generation devices of the sixth to eighth embodiments, a configuration in which the shift control mechanism units 40 and 40C are integrally formed with the third side gears 350, 350C, and 350D is an example. As shown in FIG. 26, as in the power generation device 10I shown in FIG. 26, a shift control mechanism 40I is provided outside, and a spur gear is attached to the rotary shaft 418 formed integrally with the rotor 410I of the shift control mechanism 40I. A first control gear 419 may be provided, and a spur gear second control gear 354 that meshes with the first control gear 419 may be provided on the side wall of the fourth side gear 350I.

  As in the case of the shift control mechanisms 40 and 40C (FIGS. 1, 20, and 21), the shift control mechanism 40I includes a rotor 410I in which permanent magnets 413I are arranged on the outer peripheral surface, and an inner peripheral surface of the casing 42. , And an electromagnetic coil 420I as a stator arranged so as to face the permanent magnet 413I with a gap. This shift control mechanism 40I can also be controlled in the same manner as the shift control mechanism 40.

In the present embodiment , the power generation device has been described as an example, but the structure of the present embodiment can be similarly applied to the transmissions of the first to fifth embodiments .

J. et al. Tenth embodiment :
FIG. 27 is a schematic cross-sectional view showing a power generation device as a tenth embodiment . The power generation device 10J of the tenth embodiment includes the first and second control gears 419 and 354 of the spur gear of the power generation device 10I of the ninth embodiment , and the first and second control gears 419J of the bevel gear. This is an example of replacement with 354J. The first and second control gears are not limited to spur gears and bevel gears, but are gears of various shapes such as helical gears, helical gears, spiral bevel gears, immediate bevel gears, miter gears, and the like. Can be used.

In the present embodiment , the power generation device has been described as an example, but the structure of the present embodiment can be similarly applied to the transmissions of the first to fifth embodiments .

K. Eleventh embodiment :
FIG. 28 is a schematic cross-sectional view showing a power generation device as an eleventh embodiment . The power generation device 10K of the eleventh embodiment is an example in which an impeller 70 is provided on the output shaft 14 of the transmission 10E (FIG. 22) and the assist motor unit 60 is a power generation unit (hereinafter also referred to as “power generation unit 60”). is there.

  In the case of this configuration, even if the rotation of the impeller 70 fluctuates, the shift control can be performed so that the rotation of the rotor 610 of the power generation unit 60 becomes constant by the control by the shift control mechanism unit 40C. It is possible to generate electricity with a simple rotation.

L. Modification of transmission mechanism:
FIG. 29A and FIG. 29B are schematic cross-sectional views showing modifications of the first and second side gears 320 and 330 constituting the speed change mechanism. As shown in FIG. 29A, the first side gear 320 includes a gear portion 320L1 that meshes with the third side gear 340 and a gear portion 320L2 that meshes with the fourth side gear 350, and similarly, the second side gear 330 is formed. The gear portion 330L1 meshing with the third side gear 340 and the gear portion 330L2 meshing with the fourth side gear 350 may be used. In this case, the rotation direction for control by the fourth side gear 350 as the control gear can be set in the opposite direction to that described in the first embodiment .

  FIG. 29B shows a configuration in which the gear ratio between the first side gear portions 320L1 and 330L1 and the second side gear portions 320L2 and 330L2 is changed instead of 1: 1 in the case of FIG. 29A.

M.M. Twelfth embodiment :
FIG. 30 is a schematic sectional view showing a transmission as a twelfth embodiment . The transmission 10M of the present embodiment is the same as the configuration of the transmission 10 (FIG. 1) of the first embodiment except for the following points. That is, in the transmission 10M, a cross roller bearing 22M is used as the bearing portion 22 between the output shaft 14 and the casing 20. Further, the cross roller bearing 312M is also used for the bearing portion 312 between the pinion shaft 310 and the first side gear 320 and the bearing portion 312 between the pinion shaft 310 and the second side gear 330. The cross roller bearings 22M and 312M include an outer ring 1371, an inner ring 1372, and a cylindrical roller 1373. An outer ring 1371 of a cross roller bearing 22M provided on the output shaft 14 is fixed to the casing 20, and an inner ring 1372 is fixed to the output shaft 14. The outer ring 1371 of the cross roller bearing 312M provided on the first side gear 320 is fixed to the first side gear 320, and the inner ring 1372 is fixed to the pinion shaft 310. Similarly, the outer ring 1371 of the cross roller bearing 312M provided in the second side gear 330 is fixed to the first side gear 320, and the inner ring 1372 is fixed to the pinion shaft 310.

  FIG. 31 is an explanatory view showing a configuration of a cross roller bearing. The cross roller bearing 137 has the same structure as the cross roller bearings 22M and 312M described above, and includes an outer ring 1371, an inner ring 1372, and a cylindrical roller (corresponding to a roller) 1373. The outer ring 1371 and the inner ring 1372 have 90 V grooves 1371a and 1372a, respectively. The cylindrical rollers 1373 have a cylindrical shape with the same diameter and height, and are arranged in 90 V alternately in the V grooves 1371a and 1372a. By adopting such a configuration, the contact between the outer ring 1371, the inner ring 1372, and the cylindrical roller 1373 is not a point but a line, so that a strong rotational force can be transmitted and a large load can be endured. Become. In addition, it is strong against any of the bending force of the shaft (bending moment load), the radial force of the shaft (radial load), and the axial thrust force (load in the longitudinal direction of the shaft), and realizes high rigidity. Is possible.

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

Also in the transmission 10M of the present embodiment, the size in the direction of the axis Sy perpendicular to the axis Sx can be reduced as in the transmission 10 of the first embodiment . In addition, it is possible to continuously and smoothly realize a speed change operation in a stepless manner, and accordingly, it is possible to change a torque transmission amount continuously and smoothly in a stepless manner.

  Further, the transmission 10M of the present embodiment uses a cross roller bearing 312M as a bearing portion of the first and second side gears 320 and 330 attached to the pinion shaft 310. Further, a cross roller bearing 22M is used as a bearing portion of the output shaft 14. Therefore, the transmission 10M according to the present embodiment can withstand a large load applied to the output shaft. Furthermore, it must be strong against any of the bending force of the shaft (bending moment load), the radial force of the shaft (radial load), and the axial thrust force (load in the longitudinal direction of the shaft) and realize high rigidity. Is possible.

N. Thirteenth embodiment :
FIG. 32 is a schematic cross-sectional view showing a transmission as a thirteenth embodiment . The transmission 10N of this embodiment is different from the transmission 10B (FIG. 18) of the second embodiment in that the bearing 22 between the output shaft 12 and the casing 20 is a cross roller bearing 22N, and the pinion shaft 310 and the This is an example in which the bearing portion 312 between the first side gear 320 and the bearing portion 312 between the pinion shaft 310 and the second side gear 330 are cross roller bearings 312M.

Also in the transmission device 10N of the present embodiment, the size in the direction of the axis Sy orthogonal to the axis Sx can be reduced as in the transmission 10B of the second embodiment . In addition, it is possible to continuously and smoothly realize a speed change operation in a stepless manner, and accordingly, it is possible to change a torque transmission amount continuously and smoothly in a stepless manner. It is also possible to withstand a large load applied to the output shaft. Furthermore, high rigidity can be realized in any of the bending force of the shaft (bending moment load), the radial force of the shaft (radial load), and the axial thrust force (load in the longitudinal direction of the shaft). It becomes possible.

Note that the transmissions 10C to 10E (FIGS. 20 to 22) of the other third to sixth embodiments can also be configured to include cross roller bearings as in the twelfth and thirteenth embodiments .

O. Fourteenth embodiment :
FIG. 33 is a schematic cross-sectional view showing a power generation device as a fourteenth embodiment . The power generation device 10O of the present embodiment crosses the bearing portion 22 between the output shaft 14 and the casing 20F in the same manner as the twelfth and thirteenth embodiments with respect to the power generation device 10F as the sixth embodiment. In this example, the roller bearing 22O is used, and the bearing portion 312 between the pinion shaft 310 and the first and second side gears 320 and 330 is a cross roller bearing 312O.

Also in the power generation device 10O of the present embodiment, the size in the direction of the axis Sy orthogonal to the axis Sx can be reduced as in the power generation device 10F of the sixth embodiment . In addition, it is possible to continuously and smoothly realize a speed change operation in a stepless manner, and accordingly, it is possible to change a torque transmission amount continuously and smoothly in a stepless manner. It is also possible to withstand a large load applied to the output shaft. Furthermore, high rigidity can be realized in any of the bending force of the shaft (bending moment load), the radial force of the shaft (radial load), and the axial thrust force (load in the longitudinal direction of the shaft). It becomes possible.

P. Fifteenth embodiment :
FIG. 34 is a schematic cross-sectional view showing a power generation device as a fifteenth embodiment . In contrast to the power generation device 10P of the present embodiment and the power generation device 10H of the eighth embodiment (FIG. 25), the bearing 22 between the output shaft 14H and the casing 20H is cross-rolled similarly to the fourteenth embodiment. A bearing portion 312 between the pinion shaft 310H and the first and second side gears 320 and 330 is a cross roller bearing 312P, and a bearing portion 19 between the center shaft 11 and the output shaft 14H is crossed. This is an example of a roller bearing 19P.

Also in the power generation device 10P of the present embodiment, the size in the direction of the axis Sy perpendicular to the axis Sx can be reduced as in the power generation device 10H of the eighth embodiment . In addition, it is possible to continuously and smoothly realize a speed change operation in a stepless manner, and accordingly, it is possible to change a torque transmission amount continuously and smoothly in a stepless manner. It is also possible to withstand a large load applied to the output shaft. Furthermore, high rigidity can be realized in any of the bending force of the shaft (bending moment load), the radial force of the shaft (radial load), and the axial thrust force (load in the longitudinal direction of the shaft). It becomes possible.

The power generators 10G, 10I, and 10J (FIGS. 24, 26, and 27) of the other seventh, ninth, and tenth embodiments also include cross roller bearings as in the fourteenth and fifteenth embodiments . It can be configured.

Q. Sixteenth embodiment :
FIG. 35 is a schematic cross-sectional view showing a power generator as a sixteenth embodiment . The power generation apparatus 10Q of the present embodiment is provided with an impeller 70 on the output shaft 14, and the output provided with the impeller 70 is similar to the fourteenth embodiment with respect to the power generation apparatus 10K (FIG. 28) of the eleventh embodiment . This is an example in which the bearing portion 22 between the shaft 14 and the casing 20K is a cross roller bearing 22Q, and the bearing portion 312 between the pinion shaft 310 and the first and second side gears 320 and 330 is a cross roller bearing 312Q. .

Also in the power generation device 10Q of the present embodiment, the size in the direction of the axis Sy perpendicular to the axis Sx can be reduced as in the power generation device 10K of the eleventh embodiment . In addition, it is possible to continuously and smoothly realize a speed change operation in a stepless manner, and accordingly, it is possible to change a torque transmission amount continuously and smoothly in a stepless manner. It is also possible to withstand a large load applied to the output shaft by the impeller. Furthermore, high rigidity can be realized in any of the bending force of the shaft (bending moment load), the radial force of the shaft (radial load), and the axial thrust force (load in the longitudinal direction of the shaft). It becomes possible.

R. Variations:
(1) Modification 1
In the above embodiment , in the initial stage of regeneration, the first regeneration mode is set, and even when the width of the regeneration section REP is changed, the change in the regeneration amount is small, and the first regeneration section centered on the zero-cross point of the induced voltage. Example of performing regeneration to gradually increase the amount of regeneration, and then performing regeneration to perform regeneration in the second regeneration section centered on the peak point of the induced voltage as the second regeneration mode. As described above, in the first regeneration mode, the regeneration amount may be changed by changing the width of the regeneration section REP between 0 to 100% in the first regeneration mode without switching to the second regeneration mode. .

(2) Modification 2
The transmission device and power generation device of the present invention described in the above embodiment are applied as a transmission device and a power generation device connected to a driving device of an electric vehicle, an electric mobile robot, or a medical device as shown below. Is possible.

  FIG. 36 is an explanatory view showing an electric bicycle (electrically assisted bicycle) which is an example of a moving body using a transmission-equipped motor including the transmission of the present invention. This bicycle 3300 is provided with a transmission-equipped motor 3310 in which a transmission of the present invention is connected to an output of a motor as a driving unit on a front wheel. A control circuit 3320 and a rechargeable battery 3330 are provided on a frame below a saddle. 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. The transmission-equipped motor 3310 may be configured by the above-described transmission and the motor of the drive unit, or may be configured by the above-described power generation device.

  FIG. 37 is an explanatory view showing an example of a robot using a motor with a transmission including the transmission of the present invention. The robot 3400 includes first and second arms 3410 and 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. The transmission-equipped motor 3430 may be composed of the above-described transmission and the motor of the drive unit, or may be composed of the above-described power generation device.

  FIG. 38 is an explanatory diagram showing an example of a double-armed seven-axis robot using a transmission-equipped motor including the transmission of the present invention. The double-arm 7-axis robot 3450 includes a joint motor 3460, a gripper motor 3470, an arm 3480, and a gripper 3490. The joint motor 3460 is disposed at a position corresponding to a shoulder joint, an elbow joint, and a wrist joint. The joint motor 3460 includes two motors for each joint in order to move the arm 3480 and the grip portion 3490 in a three-dimensional manner. In addition, the gripper motor 3470 opens and closes the gripper 3490 and causes the gripper 3490 to grip an object. In the double-armed seven-axis robot 3450, the joint motor 3460 or the gripper motor 3470 may be configured by the above-described transmission and the motor of the driving unit, or may be configured by the above-described power generation device.

  FIG. 39 is an explanatory view showing an example of a vertical articulated robot using a transmission-equipped motor including the transmission of the present invention. As shown in FIG. 39, 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 this drive unit, it is possible to use a power generation device including the above-described transmission and a motor of the drive unit, or the above-described power generation device.

  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. A power generation device including the above-described transmission and a motor of the drive unit, and the above-described power generation device are 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 the power generation device is driven, the finger portion 3645b is bent and the object can be gripped. This power generation device is an ultra-small motor, and can realize a robot hand 3645 that reliably holds an object while being small. Accordingly, it is possible to provide a highly versatile robot that can perform a complex operation using the small and lightweight robot hand 3645.

  FIG. 40 is an explanatory view showing an example of a robot with a double-arm caster using a motor with a transmission including the transmission of the present invention. As shown in FIG. 40, the robot 3762 with a double-arm caster includes a vehicle body portion 3763. The vehicle body portion 3763 includes a vehicle body main body 3763a, and four wheels 3763b are installed on the ground side of the vehicle body main body 3763a. The vehicle body 3763a has a built-in rotation mechanism that drives the wheels 3763b. Further, a control unit 3764 for controlling the posture and operation of the robot 3762 is built in the vehicle body 3766a.

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

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

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

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

  Furthermore, the rotation mechanism that rotates the wheel 3763b and the rotation mechanism that rotates the main body 3766 incorporate the power generation device constituted by the transmission and the motor of the drive unit, and the power generation device described above. Ko. Therefore, the robot 3762 with a two-arm caster can be rotated without rattling even when the traveling direction is changed. And the robot 3762 with a double-arm caster can be rotated without rattling even when the rotation direction of the main body 3766 is changed.

  FIG. 41 is an explanatory view showing a railway vehicle using a transmission-equipped motor including the transmission of the present invention. 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 electricity generation during braking of the railway vehicle 3500 to regenerate electric power. The transmission-equipped motor 3510 may be composed of the above-described transmission and the motor of the drive unit, or may be composed of the above-described power generation device.

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

DESCRIPTION OF SYMBOLS 10 ... Transmission device 10B ... Transmission device 10C ... Transmission device 10D ... Transmission device 10E ... Transmission device (power generation device)
DESCRIPTION OF SYMBOLS 10F ... Power generation device 10G ... Power generation device 10H ... Power generation device 10I ... Power generation device 10J ... Power generation device 10K ... Power generation device 10M ... Transmission device 10N ... Transmission device 10O ... Power generation device 10P ... Power generation device 10Q ... Power generation Device 11 ... Center shaft 12 ... Input shaft 14 ... Output shaft 14H ... Output shaft 16 ... Gear 18 ... Bundle 19 ... Bearing 20 ... Casing 20C ... Casing 20E ... Casing 20F ... Casing 22 ... Bearing 19P, 22M, 22N, 22O , 22P, 22Q ... Cross roller bearings 312M, 312N, 312O, 312P, 312Q ... Cross roller bearings 1371 ... Outer ring 1372 ... Inner ring 1373 ... Cylindrical roller 24 ... Heat exchange fin 30 ... Transmission mechanism unit 30D ... Transmission mechanism unit 40 ... Transmission control Mechanical part 40C ... strange The control mechanism section 40D ... transmission control mechanism 40I ... transmission control mechanism unit 42 ... casing 60 ... assist motor unit (driving motor unit, the power generation unit)
60H: Drive motor unit 70 ... Impeller 200 ... Control unit 210 ... Bus 220 ... Drive control unit 230 ... Regeneration control unit 240 ... Driver circuit 240A ... A phase driver circuit 240B ... B phase driver circuit 250 ... Rectifier circuit 310 ... Pinion shaft 310H ... pinion shaft 312 ... bearing portion 320 ... first side gear (input gear, output gear)
320t ... gear teeth 320L1 ... gear part 320L2 ... gear part 330 ... second side gear (input gear, output gear)
330L1 ... Gear part 330L2 ... Gear part 340 ... Third side gear (output gear, input gear)
340C ... Third side gear 340D ... Third side gear 340H ... Third side gear 340t ... Gear teeth 340Dt ... Gear teeth 350 ... Fourth side gear (control gear)
350C ... 4th side gear 350I ... 4th side gear 352 ... Through-hole 354 ... 2nd control gear 354J ... 2nd control gear 410 ... Rotor 410C ... Rotor 410I ... Rotor 411 ... Through-hole 412 ... Bearing part 413 ... Permanent Magnet 413I ... Permanent magnet 415 ... Magnet back yoke 416 ... Position detector 416A, 416B ... Magnetic sensor 417 ... Circuit board 418 ... Rotating shaft 419 ... First control gear 419J ... First control gear 420 ... Electromagnetic coil (stator)
420A ... Electromagnetic coil 420I ... Electromagnetic coil 428 ... Coil back yoke 432A ... A phase charge switching unit 434A ... A phase PWM control unit 461 ... Gate transistor 471 ... Buffer circuit 472 ... Inverter circuit 480 ... Power supply wiring 510 ... Basic clock generation circuit 520 ... 1 / N frequency divider 531 ... Counter 535 ... Drive waveform forming section 540 ... Forward / reverse direction instruction value register 550 ... Multiplier 560 ... Encoding section 580 ... Voltage command value register 590 ... Excitation section setting section 590R ... Regeneration section setting Unit 592: Electronic variable resistor 594: First voltage comparator 596 ... Second voltage comparator 610 ... Rotor 610H ... Rotor 613 ... Permanent magnet 615 ... Magnet back yoke 616 ... Position detection unit 617 ... Circuit board 620 ... Electromagnetic Coil (stator)
626: Position detecting unit 628 ... Coil back yoke 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 ... Gripping part motor 3480 ... Arm 3490 ... Gripping part 3500 ... Railway vehicle 3510 ... Motor with transmission 3520 ... Wheel 3590 ... Gripping part 3640 ... Vertical articulated robot 3641 ... Main body part 3642 ... Arm part 3642a ... First frame 3642b ... 2nd frame 3642c ... 3rd frame 3642d ... 4th frame 3642e ... 5th frame 3643 ... Hand connection part 3645 ... Robot hand 3645a ... Base 3645b ... Finger part 3762 ... Double arm cast -Robot 3963 ... Car body part 3763a ... Car body body 3763b ... Wheel 3764 ... Control part 3765 ... Main body rotating part 3766 ... Main body part 3767 ... Imaging device 3768 ... Left arm part 3769 ... Right arm part 3770 ... Upper arm part 3771 ... Lower arm part 3772 ... Hand unit 3772a ... Hand body 3772b ... Holding unit 3773 ... Rotating mechanism 3774 ... Direct acting mechanism DRVA1, DRVA2 ... Drive signal MSK ... Mask signal MSKA ... Mask signal MSKB ... Mask signal V1, V2 ... Voltage S1, S2 ... Output RI ... Positive Reverse direction indication value ER ... Regeneration permission signal Ma ... Multiplication value Pa ... Signal signal Xa ... Sensor output value Ya ... Voltage command value Sn, Sp ... Output (output signal)
Rv ... Variable resistance value IA1 ... Symbol CM1 ... Count value SDC ... Clock signal PCL ... Clock signal SSA ... Sensor output EP ... Excitation section NEP ... Non-excitation section REP ... Regeneration section (active section)
NREP ... Non-regenerative section (inactive section)
INV: Regenerative section switching signal (regenerative mode switching signal)
REa ... Regeneration period signal

Claims (18)

A transmission that outputs a rotational motion input from an input shaft from an output shaft such that the rotational speed can be changed,
A first gear to which a rotational motion input from the input shaft is input;
A second gear meshing with the first gear via at least an output gear connected to the output shaft;
A first rotor connected to the second gear via a connection gear or formed integrally with the second gear, and disposed along the outer peripheral surface of the first rotor. A first stator, and a first electromechanical mechanism comprising:
A second electromechanical mechanism having a second rotor formed integrally with the first gear, and a second stator disposed along an outer peripheral surface of the second rotor;
With
The first electromechanical mechanism is
By changing the rotation of the second gear according to the rotation of the first rotor, the rotation of the output shaft relative to the rotation of the input shaft is changed ,
The second electromechanical mechanism is
By changing the rotation transmitted to the first gear via the input shaft in accordance with the rotation of the second rotor, the change in the rotation of the output shaft with respect to the rotation of the input shaft can be changed. The transmission is further changed in addition to the change by the electromechanical mechanism . The transmission according to claim 1,
The input shaft, the output shaft, the first gear, the second gear, and the first rotor are all rotated around the same first axis,
The output gear rotates around a second axis perpendicular to the first axis, and revolves around the first axis,
A transmission in which revolution of the output gear is output from the output shaft. The transmission according to claim 1 or 2,
The rotational speed of the rotational motion output from the output shaft includes the rotational speed of the rotational motion output from the output shaft , the rotational speed of the rotational motion input from the input shaft, and the first electromechanical mechanism unit. The transmission is controlled such that the relationship between the rotational speed of the first rotor and the rotational speed of the first rotor is a linear relationship . The transmission according to any one of claims 1 to 3 ,
When the first electromechanical mechanism variably controls the rotation of the output shaft relative to the rotation of the input shaft, the rotation energy generated in the first rotor according to the rotation of the second gear A transmission that regenerates. The transmission according to claim 4 , further comprising:
A regenerative control unit for regenerating the energy of the rotation by the first electromechanical mechanism unit;
The regenerative control unit variably controls the amount of rotation energy regenerated by the first electromechanical mechanism unit. The transmission according to claim 5 , wherein
When the regenerative control unit decelerates the rotation of the second gear by decelerating the rotation of the first rotor, a regenerative current is generated from the electromagnetic coil arranged in the first stator as the energy of the rotation. A transmission that outputs. The transmission according to claim 6 , wherein
The regenerative control unit sets a first regenerative section centered on a zero cross point of an induced voltage generated in the electromagnetic coil and executes regeneration, and a maximum point of the induced voltage generated in the electromagnetic coil A second regeneration mode in which a second regeneration section centering on the second is set to execute regeneration, and the amount of energy regenerated in the first regeneration mode is regenerated in the second regeneration mode. A transmission device that sets a width of the first regeneration section and a width of the second regeneration section so that the amount of energy is less than or equal to a predetermined energy amount. The transmission according to claim 7 , wherein
The regeneration control unit executes regeneration in the first regeneration mode when the width of the first or second regeneration section is equal to or less than a predetermined first value, and performs the first or second regeneration. A transmission that performs regeneration in the second regeneration mode when the width of the regeneration section is equal to or greater than a predetermined second value that is greater than the first value. The transmission according to claim 8 , wherein
The regeneration control unit performs switching from the first regeneration mode to the second regeneration mode when the amount of energy to be regenerated increases, and the first regeneration section before the switching. A transmission that sets a width of the second regeneration section after the switching to be smaller than a width. The transmission according to claim 7 or 8 , wherein
The regenerative control unit performs switching from the second regenerative mode to the first regenerative mode when the amount of energy to be regenerated decreases, and the second regenerative section before the switching A transmission that sets a width of the first regeneration section after the switching to be larger than a width. The transmission according to claim 9 or 10 ,
The regenerative control unit continuously switches the regenerative energy amount before switching and the regenerative energy amount after switching to the same value when switching between the first regeneration mode and the second regeneration mode. Thus, the transmission which sets the width | variety of the 1st regeneration area after switching, or the width | variety of a 2nd regeneration area. A transmission according to any one of claims 7 to 11,
The transmission is configured to perform regeneration in the first regeneration mode at the start of deceleration of rotation of the second gear. The transmission according to claim 12 , further comprising:
The transmission is configured to perform regeneration in the first regeneration mode at the end of the deceleration of the rotation of the second gear. An electromechanical device having a transmission mechanism that outputs an input rotational motion from an output shaft so that the number of rotations can be changed, a first electromechanical mechanism, and a second electromechanical mechanism,
The transmission mechanism is
A first gear to which the input rotational motion is input;
A second gear meshing with the first gear via at least an output gear connected to the output shaft;
With
The first electromechanical mechanism is
A first rotor connected to the second gear via a connection gear or formed integrally with the second gear;
A first stator disposed along an outer peripheral surface of the first rotor;
With
The second electromechanical mechanism is
A second rotor formed integrally with the first gear;
A second stator disposed along the outer peripheral surface of the second rotor;
With
The second electromechanical mechanism unit inputs a rotational movement according to the rotation of the second rotor to the first gear,
The first electromechanical mechanism unit changes the rotation of the second gear in accordance with the rotation of the first rotor, thereby rotating the second electromechanical mechanism unit with respect to the rotation of the second rotor. An electromechanical device that changes the rotation of the output shaft. The electromechanical device according to claim 14 ,
The output shaft, the first gear, the second gear, the first rotor, and the second rotor are all rotated around the same first axis, respectively.
The output gear rotates around a second axis perpendicular to the first axis, and revolves around the first axis,
An electromechanical device in which revolution of the output gear is output from the output shaft. The electromechanical device according to claim 14 or 15 ,
When the first electric machine mechanism unit variably controls the rotation of the output shaft with respect to the rotation of the second rotor of the second electric machine mechanism unit, the first electric machine mechanism unit is responsive to the rotation of the second gear. An electromechanical device that regenerates energy of rotation generated in the first rotor. A moving body comprising the transmission according to any one of claims 1 to 13 or the electromechanical device according to any one of claims 14 to 16 . A robot comprising the transmission according to any one of claims 1 to 13 or the electromechanical device according to any one of claims 14 to 16 .

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