WO2021075342A1

WO2021075342A1 - Actuator

Info

Publication number: WO2021075342A1
Application number: PCT/JP2020/038093
Authority: WO
Inventors: 圭一平野
Original assignee: ソニー株式会社
Priority date: 2019-10-16
Filing date: 2020-10-08
Publication date: 2021-04-22

Abstract

An actuator according to an embodiment of the present disclosure is provided with: a stator which has a concave surface; a rotor which has a convex surface that slides on the concave surface; an electromagnetic unit which is capable of controlling the generation of a magnetic field and in which at least three poles are arranged inside the stator and along the concave surface; and an acted-on part which is provided inside the rotor and which receives an interaction due to the magnetic field generated by the electromagnetic unit.

Description

Actuator

This disclosure relates to actuators.

Robot devices that imitate the movements of living things by mechanical or electromagnetic mechanisms are widespread in various fields. It is desirable that the joints of such a robot device be composed of a mechanism having two or more degrees of freedom (Degree of Freedom: DoF) in order to imitate the complicated movement of an organism.

As a mechanism having two or more degrees of freedom, a mechanism in which another gimbal is provided inside a ring-shaped gimbal (that is, a hanging frame) via a bearing can be exemplified. In such a mechanism, by providing a rotary motor on the rotary shaft of each gimbal, it is possible to secure a degree of freedom according to the number of gimbals.

However, if a rotary motor is provided for each rotary shaft, the mechanism will become large, and the load on the robot device on which the mechanism will be mounted will increase. Therefore, a multi-degree-of-freedom actuator that realizes two or more degrees of freedom without using a rotary motor has been studied (for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2017-22976

As described above, the multi-degree-of-freedom actuator tends to have a complicated structure, a large size, or a heavy weight. Therefore, a smaller and lighter multi-degree-of-freedom actuator is desired.

Therefore, it is desirable to provide an actuator that realizes two or more degrees of freedom with a simpler mechanism.

The actuator according to the embodiment of the present disclosure can control the generation of a magnetic field, a stator having a concave curved surface, a rotor having a convex curved surface sliding with the concave curved surface, and the said one along the concave curved surface. It includes an electromagnetic portion in which at least three poles are arranged inside the stator, and an actuator provided inside the rotor and interacted with by the magnetic field generated by the electromagnetic portion.

In the actuator according to the embodiment of the present disclosure, the electromagnetic portion in which at least three poles are arranged along the concave curved surface of the stator and the actuated element provided inside the rotor are magnetically interacted with each other. The rotor can be rotated. Thereby, the actuator according to the embodiment of the present disclosure can control the rotation of the rotor by controlling the generation of the magnetic field by each of the electromagnetic parts.

It is a schematic vertical sectional view which shows the structure of the actuator which concerns on 1st Embodiment of this disclosure. It is a schematic vertical sectional view explaining the rotation of a rotor by an electromagnetic part in the same embodiment. It is a schematic top view which shows the positional relationship between the electromagnetic part on the xy plane and the operator in the same embodiment. It is a vertical cross-sectional view which shows typically the structure of the actuator which concerns on the modification of this embodiment. It is a schematic vertical sectional view which shows the structure of the actuator which concerns on 2nd Embodiment of this disclosure. It is a schematic vertical sectional view explaining the rotation of a rotor in the same embodiment. It is a schematic vertical sectional view which shows the 1st structural example of the actuator which concerns on 3rd Embodiment of this disclosure. It is a schematic vertical sectional view which shows the 2nd structural example of the actuator which concerns on 3rd Embodiment of this disclosure. It is a top view which shows the structure of the electromagnetic part array in the same embodiment. It is a schematic top view which shows the structure of the electromagnetic part array which the actuator which concerns on 1st modification of the same Embodiment has. It is a vertical sectional view which shows the structure of the actuator which concerns on the 2nd modification of the same embodiment. It is a schematic top view which shows the structure of the electromagnetic part array which the actuator which concerns on 2nd modification of the same Embodiment has. It is a schematic vertical sectional view which shows the structure of the actuator which concerns on 4th Embodiment of this disclosure. It is explanatory drawing which shows typically an example of the object to which the actuator which concerns on 1st to 4th Embodiment of this disclosure is applied. It is explanatory drawing which shows typically an example of the object to which the actuator which concerns on 1st to 4th Embodiment of this disclosure is applied. It is explanatory drawing which shows typically an example of the object to which the actuator which concerns on 1st to 4th Embodiment of this disclosure is applied.

Hereinafter, the embodiments in the present disclosure will be described in detail with reference to the drawings. The embodiments described below are specific examples of the present disclosure, and the technique according to the present disclosure is not limited to the following aspects. Further, the arrangement, dimensions, dimensional ratio, etc. of each component shown in each figure of the present disclosure are not limited to those shown in each figure.

The explanation will be given in the following order.
1. 1. First Embodiment 1.1. Actuator configuration 1.2. Modification example 2. Second embodiment 3. Third Embodiment 3.1. Actuator configuration 3.2. Modification example 4. Fourth embodiment 5. Application example

<1. First Embodiment>
(1.1. Actuator configuration)
First, the configuration of the actuator according to the first embodiment of the present disclosure will be described with reference to FIGS. 1 to 3. FIG. 1 is a schematic vertical sectional view showing the configuration of the actuator 10 according to the present embodiment.

As shown in FIG. 1, the actuator 10 according to the present embodiment includes, for example, a stator 100 provided with a plurality of electromagnetic portions 110, and a rotor 200 provided with an operator 210 and an imaging unit 220. ..

In the following, the direction in which the stator 100 places the rotor 200 is defined as the z direction, and the plane perpendicular to the z direction is defined as the xy plane. Further, the vertical direction is the y direction facing FIG. 1, and the depth direction of the paper surface orthogonal to the y direction is the x direction.

The stator 100 is a member having a concave curved surface and holding the rotor 200 on the concave curved surface, and the rotor 200 is a substantially spherical member having a convex curved surface sliding with the concave curved surface of the stator 100. is there. For example, the stator 100 may hold the rotor 200 slidably by the ball joint bearing structure. According to this, the stator 100 can rotatably hold the rotor 200.

The electromagnetic part 110 is an electromagnet that generates a magnetic field by energization, and is provided so that at least three poles or more are arranged inside the stator 100 along a concave curved surface. Specifically, the electromagnetic portion 110 is an electromagnet composed of a core 112 extending in the z direction toward a concave curved surface and a coil 111 wound around the core 112 along the extending direction of the core 112. May be good. For example, the core 112 may be made of an iron-based material such as silicon steel, and the coil 111 may be made of an electric wire made of copper, a copper alloy, or the like.

The electromagnetic unit 110 can generate a magnetic interaction with the operator 210 by generating a magnetic field by energizing the coil 111. As a result, the solenoid portion 110 provided with at least three poles exerts a magnetic interaction on the actuated element 210 provided in the rotor 200 rotatably held on the concave curved surface of the stator 100. Therefore, it is possible to generate a driving force for rotating the rotor 200.

The actuated element 210 is a member that receives magnetic interaction by the magnetic field generated by the electromagnetic unit 110, and is provided inside the rotor 200. Specifically, the operator 210 may be a member made of a soft magnetic material such as iron through which magnetic lines of force easily pass. As a result, a reluctance force acts on the operator 210 due to the magnetic field from the electromagnetic unit 110, so that an attractive force attracted to the electromagnetic unit 110 that generated the magnetic field acts. Therefore, the rotor 200 including the operator 210 can receive a driving force for rotating with respect to the stator 100 by the magnetic field from the electromagnetic unit 110.

The imaging unit 220 is a uniform state of the sensing unit, and is provided on the rotor 200 to sense the surrounding environment. Specifically, the imaging unit 220 may be provided so as to image the outside of the rotor 200 at a position facing the operator 210 inside the rotor 200. For example, the imaging unit 220 may be various cameras such as a visible light camera, an infrared camera, or a polarized camera that images the surrounding environment. Further, the imaging unit 220 may be a distance measuring sensor such as a ToF (Time of Flight) sensor, a radar, or an ultrasonic sensor.

The end of the electromagnetic portion 110 facing the concave curved surface of the core 112 may be, for example, a curved surface along the concave curved surface of the stator 100. According to this, the solenoid unit 110 efficiently guides the magnetic field lines of the generated magnetic field to the operator 210 by reducing the gap formed between the rotor 200 and the operator 210. Can be done. Further, the operator 210 may be provided in a shape that does not create a gap between the rotor 210 and the convex curved surface of the rotor 200. According to this, since the operator 210 can reduce the gap generated between the actuator 210 and the solenoid portion 110 provided in the stator 100, the magnetic field lines of the magnetic field generated in the solenoid portion 110 are efficiently taken in. be able to. That is, the electromagnetic unit 110 and the operator 210 are provided so that the gap generated between the solenoid unit 110 and the operator 210 is reduced, so that the magnetic interaction can be more efficiently applied to each other. it can.

The rotation of the rotor 200 via the operator 210 due to the magnetic field from the electromagnetic unit 110 will be described more specifically with reference to FIG. FIG. 2 is a schematic vertical sectional view illustrating the rotation of the rotor 200 via the operator 210 by the magnetic field from the electromagnetic unit 110. In FIG. 2, in order to distinguish each of the electromagnetic parts 110, the upper electromagnetic part 110 facing FIG. 2 is designated by the reference numeral 110A, and the lower electromagnetic part 110 facing FIG. 2 is designated by the reference numeral 110B. Is attached.

When both the

electromagnetic parts

110A and 110B are in a non-energized state, the operator 210 is assumed to exist at a neutral position between the

electromagnetic parts

110A and 110B (left figure in FIG. 2). When the electromagnetic part 110A is energized (lower right figure of FIG. 2), the reluctance force due to the magnetic field generated by the electromagnetic part 110A acts on the operator 210, so that the operator 210 acts on the electromagnetic part 110A. Gravitate. As a result, the rotor 200 rotates so as to face downward in FIG. 2. On the other hand, when the electromagnetic part 110B is energized (upper right figure of FIG. 2), the reluctance force due to the magnetic field generated by the electromagnetic part 110B acts on the operator 210, so that the operator 210 is the electromagnetic part. Attracted to 110B. As a result, the rotor 200 rotates so as to face upward with respect to FIG.

In this way, in the actuator 10, since the rotor 200 is rotatably held by the concave curved surface of the stator 100, the actuated element 210 provided inside the rotor 200 is moved along the concave curved surface. As a result, the rotor 200 can be rotated along the concave curved surface.

Here, in the actuator 10 according to the present embodiment, the rotor 200 can be rotated with two degrees of freedom by arranging the electromagnetic portions 110 along the concave curved surface at least three poles or more. Specifically, the x-axis extending in the depth direction of the paper surface facing FIG. 1 with the center point of the sphere when the convex curved surface of the rotor 200 is a spherical surface as the origin, and upward facing FIG. The y-axis to be stretched is defined. At this time, the actuator 10 arranges the electromagnetic portions 110 having three or more poles two-dimensionally along the concave curved surface in the rotation angle direction centered on the x-axis and the rotation angle direction centered on the y-axis. A force can be applied from the electromagnetic part 110 to the actuated element 210. Therefore, the actuator 10 can rotate the rotor 200 with two degrees of freedom, that is, a rotation angle centered on the x-axis and a rotation angle centered on the y-axis.

Here, the positional relationship between the electromagnetic unit 110 and the operator 210 will be described with reference to FIG. FIG. 3 is a schematic top view showing the positional relationship between the electromagnetic portion 110 and the operator 210 in the xy plane. The position of the operator 210 in FIG. 3 is a position when the rotor 200 is not rotating.

As shown in FIG. 3, the rotor 200 and the actuated element 210 may be provided so that the actuated element 210 is arranged between each of the electromagnetic portions 110 arranged regularly. Specifically, each of the electromagnetic portions 110 may be isotropically arranged with respect to the operator 210 provided in the rotor 200. For example, each of the electromagnetic portions 110 may be arranged at the position of the apex of an equilateral triangle having the operator 210 provided in the rotor 200 as the center of gravity. According to this, each of the electromagnetic portions 110 can generate an isotropic attractive force with respect to the operator 210.

According to the above configuration, the actuator 10 rotates by the magnetic interaction between the two-dimensionally arranged electromagnetic portions 110 having three or more poles and the actuated element 210 without providing a driving unit such as a rotary motor. The child 200 can be rotated with two degrees of freedom. Therefore, the actuator 10 according to the present embodiment can rotate the rotor 200 with two degrees of freedom with a simpler configuration.

Further, in the actuator 10 according to the present embodiment, since the rotor 200 has a simpler and lighter structure, the rotor 200 can be rotated with higher response and higher speed. Therefore, the actuator 10 according to the present embodiment can be suitably used for a sensing application that changes the observation field of view at high speed and with high response. For example, the actuator 10 according to the present embodiment can be suitably used for rotating a camera that imitates the eyeball of a human or an animal, or stabilizing the posture of a camera that is exposed to frequent shaking.

(1.2. Modification example)
Subsequently, a modified example of the actuator 10 according to the present embodiment will be described with reference to FIG. FIG. 4 is a vertical cross-sectional view schematically showing the configuration of the actuator 10A according to the present modification.

As shown in FIG. 4, the actuator 10A according to this modification includes, for example, a stator 100 provided with a plurality of electromagnetic portions 110, and a rotor 200A provided with an operator 210 and a mirror 230.

The actuator 10A according to this modification is different from the actuator 10 shown in FIG. 1 in that the rotor 200A has a substantially hemispherical shape and a mirror 230 is provided in place of the imaging unit 220. Regarding the configurations other than the above, the actuator 10A according to this modification is the same as the actuator 10 shown in FIG. 1, and therefore the description thereof will be omitted here.

The rotor 200A is provided, for example, in a substantially hemispherical shape having a convex curved surface that fits with the stator 100 on a part of the surface. In the rotor 200A, the surface opposite to the convex curved surface may be formed of either a curved surface or a flat surface as long as the region in contact with the stator 100 is formed of a convex curved surface.

The mirror 230 is a uniform state of the sensing unit, and is provided to guide the light of the surrounding environment to an external imaging device. Specifically, the mirror 230 is provided on a plane opposite to the convex curved surface of the rotor 200, and reflects light incident from the outside of the rotor 200A. The light reflected by the mirror 230 is guided to various cameras such as a visible light camera, an infrared camera, or a polarized camera provided outside the rotor 200A, and is used for sensing the surrounding environment.

In the actuator 10A according to this modification, the size of the rotor 200A is reduced to about half as compared with the actuator 10 shown in FIG. 1, and the sensing unit mounted on the rotor 200A is lighter than the imaging unit 220. It becomes the mirror 230 of. As a result, the actuator 10A according to the present modification can further reduce the mass of the rotor 200A. Therefore, the actuator 10A according to the present modification can rotate the rotor 200A with a higher response and a higher speed than the actuator 10 shown in FIG.

<2. Second embodiment>
Next, the configuration of the actuator according to the second embodiment of the present disclosure will be described with reference to FIGS. 5 and 6. FIG. 5 is a schematic vertical sectional view showing the configuration of the actuator 20 according to the present embodiment.

As shown in FIG. 5, the actuator 20 according to the present embodiment includes, for example, a stator 100 provided with a plurality of electromagnetic portions 110, and a rotor 200 provided with an operator 211 and an imaging unit 220. ..

In the following, the direction in which the stator 100 places the rotor 200 is defined as the z direction, and the plane perpendicular to the z direction is defined as the xy plane. Further, the vertical direction is defined as the y direction facing FIG. 5, and the depth direction of the paper surface orthogonal to the y direction is defined as the x direction.

The actuator 20 according to the first embodiment is different from the actuator 10 according to the first embodiment in that the operator 211 is made of a hard magnetic material instead of a soft magnetic material. Regarding the configurations other than the above, the actuator 20 according to the present embodiment is the same as the actuator 10 according to the first embodiment, and thus the description thereof will be omitted here.

The operator 211 is made of a hard magnetic material as described above. Specifically, the actuated element 211 may be a permanent magnet such as an alnico magnet, a neodymium magnet, or a ferrite magnet in which one of the magnetic poles is directed toward the convex curved surface of the rotor 200. According to this, an attractive force or a repulsive force (that is, Lorentz force) acts on the operator 211 due to the magnetic field from the electromagnetic part 110. Therefore, the actuator 20 can rotate the rotor 200 provided with the actuated element 211 with respect to the stator 100 by the Lorentz force.

FIG. 5 shows an example in which the operator 211 is provided so that the north pole faces the convex curved surface of the rotor 200, but the actuator 20 according to the present embodiment is not limited to such an example. The operator 211 may be provided so that the S pole faces a convex curved surface.

In the actuator 20 according to the present embodiment, since the operator 211 is made of a hard magnetic material instead of a soft magnetic material, not only an attractive force but also a repulsive force is generated between the electromagnetic portion 110 and the operator 211. be able to. According to this, since the actuator 20 according to the present embodiment can apply a complicated force from the electromagnetic unit 110 to the operator 211, the position of the operator 211 can be controlled more highly. Further, the actuator 20 according to the present embodiment prevents the actuated element 211 from rotating to a position where it is difficult for the magnetic interaction from the electromagnetic unit 110 to act (that is, a position where a deadlock state occurs). can do.

Further, in the actuator 20 according to the present embodiment, since a magnetic field is constantly generated from the actuated element 211, the actuated element 211 and the core 112 of the electromagnetic unit 110 are connected even when the electromagnetic part 110 is in a non-energized state. Magnetic interactions can occur between them. According to this, in the actuator 20 according to the present embodiment, the position of the rotor 200 can be fixed even when the electromagnetic portion 110 is in a non-energized state, so that the rotor 200 unintentionally rotates. Can be prevented.

The rotation of the rotor 200 in this embodiment will be described more specifically with reference to FIG. FIG. 6 is a schematic vertical sectional view illustrating the rotation of the rotor 200 in the present embodiment. In FIG. 6, in order to distinguish each of the electromagnetic parts 110, the upper electromagnetic part 110 faces FIG. 6 with a reference numeral 110A, and the lower electromagnetic part 110 facing FIG. 6 is designated with a 110B reference numeral. Is attached. It is assumed that the operator 211 is provided with the N pole facing the convex curved surface of the rotor 200.

When both the

electromagnetic parts

110A and 110B are in a non-energized state, the operator 211 is assumed to exist at a neutral position between the

electromagnetic parts

110A and 110B (left figure in FIG. 6). When a magnetic field is generated in the solenoid portion 110A so that the end on the concave curved surface side becomes the S pole (lower right figure in FIG. 6), the operator 211 is acted on because an attractive force acts on the solenoid portion 110A. The child 211 is attracted to the electromagnetic unit 110A. As a result, the rotor 200 rotates so as to face downward with reference to FIG. At this time, the solenoid portion 110B supports the rotation of the rotor 200 by generating a magnetic field in which the end portion on the concave curved surface side becomes an N pole and applying a repulsive force to the solenoid portion 110B on the operator 211. May be good. On the other hand, when a magnetic field is generated in the solenoid portion 110B so that the end portion on the concave curved surface side becomes the S pole (upper right figure in FIG. 6), an attractive force acts on the operator 211 on the solenoid portion 110B. The operator 211 is attracted to the electromagnetic part 110B. As a result, the rotor 200 rotates so as to face upward with respect to FIG. At this time, the solenoid portion 110A supports the rotation of the rotor 200 by generating a magnetic field in which the end portion on the concave curved surface side becomes the S pole and applying a repulsive force to the solenoid portion 110A on the operator 211. May be good.

As described above, the actuator 20 according to the present embodiment can rotate the rotor 200 in the same manner as the actuator 10 according to the first embodiment even when a hard magnetic material is used for the operator 211. is there.

<3. Third Embodiment>
(3.1. Actuator configuration)
Subsequently, the configuration of the actuator according to the third embodiment of the present disclosure will be described with reference to FIGS. 7 and 8. FIG. 7 is a schematic vertical sectional view showing a first configuration example of the actuator 31 according to the present embodiment. FIG. 8 is a schematic vertical sectional view showing a second configuration example of the actuator 32 according to the present embodiment.

The actuator according to the present embodiment further enhances the degree of freedom and controllability of rotation of the rotor 200 by giving the

operator

212 and 213 multiple polarities in the in-plane direction of the concave curved surface of the rotor 200. It is a thing.

In the following, the direction in which the stator 100 places the rotor 200 is defined as the z direction, and the plane perpendicular to the z direction is defined as the xy plane. Further, the vertical direction is defined as the y direction facing FIG. 7 or FIG. 8, and the depth direction of the paper surface orthogonal to the y direction is defined as the x direction. Further, with the center point of the sphere when the convex curved surface of the rotor 200 is a spherical surface as the origin, the x-axis extending in the depth direction of the paper surface facing FIG. 7 or FIG. A y-axis extending upward is defined. Further, with the center point of the sphere when the convex curved surface of the rotor 200 is a spherical surface, the origin is perpendicular to the xy plane including the x-axis and the y-axis, and the rotor 200 extends in the direction from the stator 100 toward the rotor 200. Define the z-axis.

First, a first configuration example of the actuator according to the present embodiment will be described with reference to FIG. 7. As shown in FIG. 7, the actuator 31 of the first configuration example includes, for example, a stator 100 provided with an electromagnetic unit array 120 in which a plurality of electromagnetic units 110 are arranged in an array, an operator 212, and an imaging unit. It includes a rotor 200 provided with 220.

The actuated element 212 is a member that receives magnetic interaction by the magnetic field generated by the electromagnetic part array 120, and is provided inside the rotor 200. Specifically, the operator 212 may be a member made of a soft magnetic material such as iron through which magnetic lines of force easily pass. In the actuator 31 according to the present embodiment, the operator 212 is provided in a shape having two or more salient poles that are convex toward the convex curved surface of the rotor 200. According to this, the solenoid unit array 120 can also apply attractive forces in different directions or magnitudes in the plane of the convex curved surface of the rotor 200 to each of the salient poles of the operator 212. Therefore, the rotor 200 provided with the actuated element 212 can not only rotate in two degrees of rotation centered on the x-axis and a rotation angle centered on the y-axis, but also rotates on the z-axis. It can also rotate in the direction of the center of rotation. Therefore, the actuator 10 can rotate the rotor 200 with three degrees of freedom: a rotation angle centered on the x-axis, a rotation angle centered on the y-axis, and a rotation angle centered on the z-axis.

Further, since the operator 212 can receive a magnetic interaction from the solenoid part array 120 at each of the salient poles, it is possible to apply a complicated force from the electromagnetic part array 120 to the operator 212. it can. As a result, the actuator 31 according to the present embodiment can cause the rotor 200 to perform more complicated rotation.

Next, a second configuration example of the actuator according to the present embodiment will be described with reference to FIG. As shown in FIG. 8, the actuator 32 of the second configuration example includes, for example, a stator 100 provided with an electromagnetic unit array 120 in which a plurality of electromagnetic units 110 are arranged in an array, an operator 213, and an imaging unit. It includes a rotor 200 provided with 220.

The actuated element 213 is provided with a hard magnetic material that functions as a permanent magnet such as an alnico magnet, a ferrite magnet, or a neodymium magnet. In the actuator 32 according to the present embodiment, the operator 213 is provided so that both magnetic poles face each other in parallel toward the convex curved surface of the rotor 200. According to this, the solenoid unit array 120 can also apply attractive or repulsive forces in different directions or magnitudes in the plane of the convex curved surface of the rotor 200 to each of the magnetic poles of the actuated element 213. Therefore, the rotor 200 provided with the actuated element 213 can not only rotate with two degrees of rotation centered on the x-axis and a rotation angle centered on the y-axis, but also rotates on the z-axis. It can also rotate in the direction of the center of rotation. Therefore, the actuator 10 can rotate the rotor 200 with three degrees of freedom: a rotation angle centered on the x-axis, a rotation angle centered on the y-axis, and a rotation angle centered on the z-axis.

Further, since the operator 213 can receive an attractive force or a repulsive force due to the Lorentz force from the electromagnetic part array 120 at each of the magnetic poles, it is possible to apply a complicated force from the electromagnetic part array 120 to the operator 213. it can. As a result, the actuator 32 according to the present embodiment can perform more complicated rotation with respect to the rotor 200.

The solenoid section array 120 shown in FIGS. 7 and 8 will be described more specifically with reference to FIG. FIG. 9 is a top view showing the configuration of the solenoid section array 120.

As shown in FIG. 9, the solenoid section array 120 may be configured by regularly arranging a plurality of solenoid sections 110. For example, the solenoid section array 120 may be configured by arranging a plurality of solenoid sections 110 in a hexagonal close-packed arrangement. According to this, since the actuator according to the present embodiment can control the rotation of the rotor 200 by each of the electromagnetic units 110 arranged in the electromagnetic unit array 120, the rotation of the rotor 200 is highly advanced. Can be controlled to.

However, the arrangement pattern of the electromagnetic parts 110 in the electromagnetic part array 120 is not limited to the hexagonal close-packed arrangement shown in FIG. The arrangement pattern of the electromagnetic unit 110 may be, for example, a four-way grid pattern, or a pattern in which adjacent rows are shifted by half a pitch from the four-way grid pattern.

(3.2. Modification example)
Next, first and second modification examples of the actuator according to the present embodiment will be described with reference to FIGS. 10 to 12.

(First modification)
FIG. 10 is a schematic top view showing the configuration of the electromagnetic part array 121 included in the actuator according to the first modification.

As shown in FIG. 10, in the electromagnetic part array 121 according to the present modification, the electromagnetic part 110 may be configured by winding the core 112 with a plurality of coils 111. Specifically, the solenoid unit 110 may be configured by winding the cores 112 in an overlapping manner with a plurality of coils 111 that wind the plurality of adjacent cores 112 together. For example, the solenoid portion 110 is configured by overlapping one core 112 with three different coils 111 wound along the outer circumference of the three cores 112 arranged at the positions of the vertices of a triangle. May be done.

That is, in the electromagnetic unit array 121 according to this modification, the electromagnetic unit 110 does not have to be provided so that the core 112 and the coil 111 have a one-to-one correspondence. For example, the core 112 may be wound around a plurality of coils 111. Further, the coil 111 may wind a plurality of cores 112. If it is established as an electromagnet, the winding method of the coil 111 with respect to the core 112 can take various variations.

According to this, in the actuator according to this modification, a magnetic field can be generated all at once in a plurality of cores 112 wound by the same coil 111. Therefore, in the actuator according to this modification, the rate of change of the magnetic field in the in-plane direction of the concave curved surface of the stator 100 can be moderated, so that the

actuators

212 and 213 are suppressed from excessively reacting to the magnetic field. can do.

Further, in the actuator according to this modification, since one core 112 is wound by a plurality of coils 111, the strength of the magnetic field generated in the core 112 is controlled stepwise by each of the winding coils 111. Can be done. According to this, since the actuator according to the present modification can generate a more complicated magnetic field, the rotation of the rotor 200 can be controlled to a higher degree.

(Second modification)
FIG. 11 is a vertical cross-sectional view showing the configuration of the actuator according to the second modification. FIG. 12 is a schematic top view showing the configuration of the

electromagnetic parts arrays

122 and 123 included in the actuator according to the second modification.

As shown in FIG. 11, the actuator 33 includes, for example, a stator 100 provided with

electromagnetic unit arrays

122 and 123 in which a plurality of electromagnetic unit 110s are arranged, and a rotor provided with an operator 210 and an imaging unit 220. It includes 200 and a maintenance unit 300.

As shown in FIG. 12, the

electromagnetic unit arrays

122 and 123 are configured by regularly arranging a plurality of electromagnetic unit 110s in different regions.

The solenoid unit array 122 is configured by arranging a plurality of solenoid units 110 in a two-dimensional manner in a periodic arrangement, and is used, for example, to rotate the rotor 200 when the field of view of the imaging unit 220 is changed. Further, the electromagnetic unit array 123 is configured by arranging a plurality of electromagnetic units 110 in a predetermined direction, and is used, for example, to rotate the imaging unit 220 to a position corresponding to the maintenance unit 300.

The maintenance unit 300 performs maintenance-related operations such as removing stains on the lens of the imaging unit 220, for example. The maintenance unit 300 is provided, for example, at a position outside the target field of view of sensing by the imaging unit 220.

That is, as shown in the actuator according to the present modification, the region where the

electromagnetic unit arrays

122 and 123 are provided does not have to be isotropic and can be arbitrarily set. For example, when the rotor 200 is rotated at a specific angle, the electromagnetic unit array 123 may be provided in which the electromagnetic unit 110 is extended in one direction and arranged so as to correspond to the specific angle.

<4. Fourth Embodiment>
Next, the configuration of the actuator according to the fourth embodiment of the present disclosure will be described with reference to FIG. FIG. 13 is a schematic vertical sectional view showing the configuration of the actuator 40 according to the present embodiment.

As shown in FIG. 13, the actuator 40 according to the present embodiment includes, for example, a stator 100 provided with a plurality of electromagnetic portions 110, a rotor 200 provided with an operator 210 and an imaging unit 220, and an encoder. It is equipped with 400. As shown in the first and second embodiments, the actuator 40 according to the present embodiment may be an actuator in which the rotor 200 rotates with two degrees of freedom, as shown in the third embodiment. In addition, the rotor 200 may be an actuator capable of rotating with three degrees of freedom.

In the following, the direction in which the stator 100 places the rotor 200 is defined as the z direction, and the plane perpendicular to the z direction is defined as the xy plane. Further, the vertical direction is defined as the y direction facing FIG. 13, and the depth direction of the paper surface orthogonal to the y direction is defined as the x direction.

The actuator 40 according to the present embodiment is different from the actuators according to the first to third embodiments in that it further includes an encoder 400 that detects the direction and angle of rotation of the rotor 200. Regarding the configurations other than the above, the actuator 40 according to the present embodiment is the same as the actuator 40 according to the first to third embodiments, and thus the description thereof will be omitted here.

The encoder 400 is a sensor that specifies the coordinates on the convex curved surface of the rotor 200. Specifically, the encoder 400 may be a sensor that acquires information for specifying the absolute coordinates on the convex curved surface of the rotor 200 by sensing the convex curved surface of the rotor 200. Therefore, the actuator 40 according to the present embodiment can feedback control the rotation of the rotor 200 based on the coordinates on the convex curved surface specified by the encoder 400. Further, the actuator 40 according to the present embodiment can grasp the rotation direction and rotation angle of the rotor 200 with higher accuracy based on the coordinates on the convex curved surface specified by the encoder 400. become. Therefore, the actuator 40 according to the present embodiment can control the rotation of the rotor 200 with higher accuracy.

The following method can be exemplified as a method for detecting the absolute coordinates on the convex curved surface of the rotor 200. For example, the hue corresponding to an arbitrary color space (for example, CIELAB color space) is arranged on the convex curved surface of the substantially spherical rotor 200, and the hue of the rotor 200 is detected by the encoder 400 to detect the rotor. Absolute coordinates on 200 convex surfaces can be detected.

It should be noted that other known methods can also be used as a method for detecting the absolute coordinates on the convex curved surface of the rotor 200. For example, the absolute coordinates of the convex curved surface of the rotor 200 can be detected by rotating the rotor 200 using a gimbal mechanism and providing an absolute rotary encoder on each rotation axis.

Further, the encoder 400 may be a sensor that acquires information for specifying relative coordinates on the convex curved surface of the rotor 200 by sensing the convex curved surface of the rotor 200. Specifically, the encoder 400 may be a sensor that detects the rotation direction and rotation angle of the rotor 200 from the initial state. Even in such a case, since the actuator 40 according to the present embodiment can feedback-control the rotation of the rotor 200, it is possible to control the rotation of the rotor 200 with higher accuracy. ..

<5. Application example>
Further, an application example of the actuator according to the first to fourth embodiments of the present disclosure will be described with reference to FIGS. 14 to 16. 14 to 16 are explanatory views schematically showing an object to which the actuator according to the first to fourth embodiments of the present disclosure is applied.

As shown in FIG. 14, the actuators according to the first to fourth embodiments of the present disclosure can be used to control the camera 2 mounted on the eyeball of the humanoid robot 1.

The actuators according to the first to fourth embodiments of the present disclosure can operate the camera 2 mounted on the eyeball of the humanoid robot 1 with high response and high speed, similarly to the human eyeball. For example, the actuators according to the first to fourth embodiments of the present disclosure are used to control the camera 2 corresponding to the eyeball, so that the line of sight is directed to an arbitrary position from a wide-angle field of view with respect to the camera 2. It is possible to perform behaviors such as zooming at high speed.

Further, in the humanoid robot 1, by mounting the camera 2 at a position corresponding to the eyeball, it becomes possible to easily perform stereoscopic recognition of an object by a stereo camera. In the humanoid robot 1, when the head is tilted, the camera 2 mounted at a position corresponding to the eyeball can also be tilted, as in the case of a human.

As shown in FIG. 15, the actuators according to the first to fourth embodiments of the present disclosure can be used for controlling the object recognition camera 4 mounted on the flying object 3 such as a drone.

The actuators according to the first to fourth embodiments of the present disclosure make the object recognition camera 4 highly responsive and high-speed so as to offset the shaking of the flying object 3 due to wind or the like or the body tilt of the flying object 3 during flight. It can be rotated. Therefore, according to the actuators according to the first to fourth embodiments of the present disclosure, the object recognition camera 4 mounted on the flying object 3 can perform more stable imaging and object recognition.

As shown in FIG. 16, the actuators according to the first to fourth embodiments of the present disclosure can be used for rotating the object recognition camera mounted on the quadruped walking robot 5.

The actuator according to the first to fourth embodiments of the present disclosure can rotate the object recognition camera with high response and high speed so as to offset the shaking of the quadruped walking robot 5. Therefore, according to the actuators according to the first to fourth embodiments of the present disclosure, the object recognition camera mounted on the quadruped walking robot 5 can perform more stable imaging and object recognition. Therefore, the quadruped walking robot 5 can stably walk on rough terrain and the like.

The techniques related to the present disclosure have been described above with reference to the first to fourth embodiments and modified examples. However, the technique according to the present disclosure is not limited to the above-described embodiment and the like, and various modifications can be made.

Further, the above-mentioned first to fourth embodiments and modifications can be combined with each other.

Furthermore, not all of the configurations and operations described in each embodiment are essential as the configurations and operations of the present disclosure. For example, among the components in each embodiment, the components not described in the independent claims indicating the highest level concept of the present disclosure should be understood as arbitrary components.

The terms used throughout this specification and the appended claims should be construed as "non-limiting" terms. For example, the term "contains" or "contains" should be construed as "not limited to what is described as being included." The term "have" should be construed as "not limited to what is described as having."

The terms used in this specification include those used only for convenience of explanation and not limiting the configuration and operation. For example, the terms "right", "left", "top", and "bottom" only indicate the direction on the referenced drawing. Further, the terms "inside" and "outside" indicate a direction toward the center of the attention element and a direction away from the center of the attention element, respectively. The same applies to terms similar to these and terms having a similar purpose.

The technology according to the present disclosure can also have the following configuration. According to the technique according to the present disclosure having the following configuration, actuators provided inside the rotor 200 from electromagnetic portions 110 having three or more poles arranged in an xy plane along a concave curved surface of the stator 100. Each 210 can be made to interact magnetically. Therefore, according to the technique according to the present disclosure, it is possible to provide an actuator that realizes two or more degrees of freedom with a simpler mechanism. The effects produced by the techniques according to the present disclosure are not necessarily limited to the effects described herein, and may be any of the effects described in the present disclosure.
(1)
A stator with a concave curved surface and
A rotor having a convex curved surface that slides on the concave curved surface,
A solenoid portion that can control the generation of a magnetic field and has at least three poles arranged inside the stator along the concave curved surface, and
An actuator provided inside the rotor and provided with an actuator that is interacted with by the magnetic field generated by the electromagnetic part.
(2)
The actuator according to (1) above, wherein the rotor has a substantially spherical shape or a substantially hemispherical shape.
(3)
The actuator according to (1) or (2) above, wherein the operator is made of a soft magnetic material.
(4)
The actuator according to (3) above, wherein the operator is provided in a shape having two or more salient poles that are convex toward the convex curved surface.
(5)
The actuator according to (1) or (2) above, wherein the operator is a hard magnetic material.
(6)
The actuator according to (5) above, wherein the operator is arranged so that one of the magnetic poles faces the convex curved surface.
(7)
The actuator according to (5) above, wherein the operator is arranged on the convex curved surface so that both magnetic poles face each other in parallel.
(8)
The actuator according to any one of (1) to (7) above, wherein each of the electromagnetic portions includes an electromagnet having one of the magnetic poles directed to the concave curved surface.
(9)
The actuator according to (8) above, wherein each core of the electromagnet has a shape along the curved surface shape of the concave curved surface.
(10)
The actuator according to (8) or (9) above, wherein the core of the electromagnetic part is wound by one coil at a time.
(11)
The actuator according to any one of (8) to (10) above, wherein each of the cores of the electromagnetic part is wound by a plurality of coils.
(12)
The actuator according to any one of (1) to (11) above, wherein each of the electromagnetic portions is arranged in a hexagonal close-packed arrangement.
(13)
The actuator according to any one of (1) to (12) above, further comprising an encoder for detecting the coordinates of the rotor on the convex curved surface.
(14)
The actuator according to any one of (1) to (13) above, wherein the rotor is further provided with a sensing unit for sensing the surrounding environment.
(15)
The actuator according to (14) above, wherein the sensing unit is a camera that images the surrounding environment or a mirror that guides the light of the surrounding environment to an external camera.

"This application claims priority on the basis of Japanese Patent Application No. 2019-189363 filed on October 16, 2019 at the Japan Patent Office, by reference to all the contents of this application. Incorporated in this application. "

One of ordinary skill in the art can conceive of various modifications, combinations, sub-combinations, and changes, depending on design requirements and other factors, which are included in the appended claims and their equivalents. It is understood that it is something to be done.

Claims

A stator with a concave curved surface and
A rotor having a convex curved surface that slides on the concave curved surface,
A solenoid portion that can control the generation of a magnetic field and has at least three poles arranged inside the stator along the concave curved surface, and
An actuator provided inside the rotor and provided with an actuator that is interacted with by the magnetic field generated by the electromagnetic part.
The actuator according to claim 1, wherein the rotor has a substantially spherical shape or a substantially hemispherical shape.
The actuator according to claim 1, wherein the operator is made of a soft magnetic material.
The actuator according to claim 3, wherein the operator is provided in a shape having two or more salient poles that are convex toward the convex curved surface.
The actuator according to claim 1, wherein the operator is a hard magnetic material.
The actuator according to claim 5, wherein the operator is arranged so that one of the magnetic poles faces the convex curved surface.
The actuator according to claim 5, wherein the operator is arranged on the convex curved surface so that both magnetic poles face each other in parallel.
The actuator according to claim 1, wherein each of the electromagnetic portions includes an electromagnet having one of the magnetic poles directed to the concave curved surface.
The actuator according to claim 8, wherein each core of the electromagnet has a shape along the curved surface shape of the concave curved surface.
The actuator according to claim 8, wherein a plurality of cores of the electromagnetic part are wound by one coil.
The actuator according to claim 8, wherein each of the cores of the electromagnetic part is wound by a plurality of coils.
The actuator according to claim 1, wherein each of the electromagnetic parts is arranged in a hexagonal close-packed arrangement.
The actuator according to claim 1, further comprising an encoder that detects the coordinates of the rotor on the convex curved surface.
The actuator according to claim 1, wherein the rotor is further provided with a sensing unit for sensing the surrounding environment.
The actuator according to claim 14, wherein the sensing unit is a camera that images the surrounding environment or a mirror that guides the light of the surrounding environment to an external camera.