1. Technical Field
The present invention relates to a device for driving two driving force transmission members relative to each other using electrical energy.
2. Related Art
Various transmission systems are known as devices for driving two driving shafts relative to each other (for example, see JP-A-2001-124163).
However, transmission systems of the related art can transmit driving force in only one predetermined direction from one driving shaft (first driving shaft) to the other driving shaft (second driving shaft). Moreover, in order to recover electrical power by so-called regeneration, it is necessary to provide separate motors. Furthermore, since the rotation speed of a motor is generally determined by a driving voltage, it is necessary to increase the driving voltage in order to rotate the motor at a high speed.
An advantage of some aspects of the invention is that it provides a relative driving device employing a system that is different from that of the related art.
This application example of the invention is directed to a relative driving device including a first driving mechanism and a second driving mechanism, including: a stator; a first rotor; and a second rotor, wherein the stator includes a first electromagnetic coil and a first control unit that controls current supplied to the first electromagnetic coil, wherein the first rotor includes a first magnet and a second magnet, wherein the second rotor includes a second electromagnetic coil and a second control unit that controls current supplied to the second electromagnetic coil, wherein the first electromagnetic coil and the first magnet are disposed so as to face each other to form the first driving mechanism, and wherein the second electromagnetic coil and the second magnet are disposed so as to face each other to form the second driving mechanism.
According to this application example, a relative driving device can be configured so that one driving device includes the first and second driving mechanisms. Therefore, the rotor of the first driving mechanism can be used as a stator of the second driving mechanism. In order to obtain a high driving speed with a driving device having only one driving mechanism, a large driving voltage is required. However, according to the present embodiment, a high driving speed can be obtained as a whole even when the voltages for driving the rotor of the first driving mechanism and the second driving mechanism are decreased to suppress the driving speed of the individual driving mechanisms to a low value.
This application example of the invention is directed to a relative driving device including a first driving mechanism and a second driving mechanism, including: a stator; a first rotor; and a second rotor, wherein the stator includes a first electromagnetic coil and a first control unit that controls current supplied to the first electromagnetic coil, wherein the first rotor includes a magnet, wherein the second rotor includes a second electromagnetic coil and a second control unit that controls current supplied to the second electromagnetic coil, wherein the first electromagnetic coil is disposed so as to face one polarity side of the magnet, and the first electromagnetic coil and the magnet form the first driving mechanism, and wherein the second electromagnetic coil is disposed so as to face the other polarity side of the magnet, and the second electromagnetic coil and the magnet form the second driving mechanism.
According to this application example, a relative driving device can be configured so that one driving device includes the first and second driving mechanisms. Moreover, it is possible to decrease the size of the relative driving device. Furthermore, it is possible to obtain a high driving speed as a whole while suppressing the driving speed of the individual driving mechanisms to a low value.
This application example of the invention is directed to the relative driving device of Application Example 1 or 2, wherein the relative driving device has a same-speed drive mode in which current is supplied to the first electromagnetic coil to rotate the first rotor in a first direction, and holding current is supplied to the second electromagnetic coil to rotate the second rotor in the first direction in relation to the first stator at the same speed as the first rotor.
According to this configuration, the first and second rotors can be driven at the same speed.
This application example of the invention is directed to the relative driving device of Application Example 1 or 2, wherein the relative driving device has a high-speed drive mode in which current is supplied to the first electromagnetic coil to rotate the first rotor in a first direction, and current is supplied to the second electromagnetic coil to rotate the second rotor in the first direction in relation to the first stator at a higher speed than the first rotor.
According to this configuration, it is possible to drive the second rotor at a higher speed under the same driving voltage as compared to a driving device having only one driving mechanism.
This application example of the invention is directed to the relative driving device of Application Example 1 or 2, wherein the relative driving device has a low-speed drive mode in which current is supplied to the first electromagnetic coil to rotate the first rotor in a first direction, and current is regenerated from the second electromagnetic coil to rotate the second rotor in the first direction in relation to the first stator at a lower speed than the first rotor, or a stationary mode in which the second rotor is stopped in relation to the stator.
According to this configuration, it is possible to regenerate electrical energy from the second driving mechanism.
This application example of the invention is directed to the relative driving device of any of Application Examples 1 to 5, wherein the stator further includes a first noncontact power transceiving unit that includes a first transceiving coil, the second rotor further includes a second noncontact power transceiving unit that includes a second transceiving coil, and between the first noncontact power transceiving unit and the second noncontact power transceiving unit, power for driving the second electromagnetic coil or electrical energy regenerated from the second electromagnetic coil is transmitted and received by electromagnetic coupling between the first and second transceiving coils.
When an electromagnetic coil is present in a rotor, driving power for the electromagnetic coil is transmitted by a brush and a commutator. In this case, abrasion may occur in the brush and the commutator due to mechanical friction between the brush and the commutator. In contrast, according to this configuration, since there is no mechanical contact, there is no fear of abrasion and durability can be improved.
This application example of the invention is directed to the relative driving device of Application Example 6, wherein the first noncontact power transceiving unit further includes a modulation circuit that modulates a control signal for controlling the magnitude and direction of current supplied to the second electromagnetic coil with power transmitted to the second noncontact power transceiving unit, and the second noncontact power transceiving unit further includes a demodulation circuit for demodulating the control signal modulated with the power.
According to this configuration, it is possible to omit wirings for transmitting the control signal.
This application example of the invention is directed to a moving vehicle including the relative driving device of any of Application Examples 1 to 7.
This application example of the invention is directed to a robot including the relative driving device of any of Application Examples 1 to 7.
The invention can be realized in various embodiments, and for example, in addition to the relative driving device, the invention can be embodied as a robot, a robot hand, and the like using the relative driving device.
The invention will be described with reference to the accompanying drawings, wherein like numbers reference like elements.
The stator 15 includes a cylindrical portion and a disk-shaped portion. A plurality of first electromagnetic coils 100 is disposed in the cylindrical portion of the stator 15 along the cylindrical surface as shown in
As shown in
The first permanent magnets 200 are disposed on the inner circumferential surface of the first rotor 20 so as to face an effective length of the first electromagnetic coils 100 of the stator 15 excluding the coil ends thereof. A number of first permanent magnets 200 are provided so as to correspond to the number of polarities, and the respective first permanent magnets 200 are arranged along the outer circumference of the first rotor 20. The directions of magnetic fluxes generated by the first permanent magnets 200 are the inner circumferential direction and the outer circumferential direction of the cylindrical shape, and the direction of magnetization may be a parallel direction or an axial direction. The directions of magnetic fluxes generated by the adjacent first permanent magnets 200 are opposite to each other. The first magnet back yoke 215 is disposed on the inner side of the first permanent magnet 200. The first magnet back yoke 215 has a cylindrical shape. Moreover, when the magnetization of the first permanent magnets 200 exhibits polar anisotropy, the first magnet back yoke 215 may not be provided.
A first driving mechanism includes the first electromagnetic coils 100 and the first permanent magnets 200 of the first rotor 20. The motor drive control unit 500 of the stator 15 controls the operation of the first driving mechanism by controlling the current flowing in the first electromagnetic coils 100.
The second magnet back yoke 1215 is disposed on the inner circumferential side of the first magnet back yoke 215 of the first rotor 20. The second magnet back yoke 1215 has a cylindrical shape. The second permanent magnet 1200 is disposed on the inner circumferential side of the second magnet back yoke 1215. A number of second permanent magnets 1200 are provided so as to correspond to the number of polarities, and the respective second permanent magnets 1200 are arranged along the inner circumference of the first rotor 20. The directions of magnetic fluxes generated by the second permanent magnets 1200 are the inner circumferential direction and the outer circumferential direction of the cylindrical shape, and the direction of magnetization may be a parallel direction or an axial direction. The directions of the magnetic fluxes generated by the adjacent second permanent magnets 1200 are opposite to each other.
A number of second electromagnetic coils 1100 corresponding to the number of polarities of the second permanent magnets 1200 are arranged on the outer circumferential surface of the second rotor 1020 along the outer circumferential direction of the second rotor 1020 so as to face the second permanent magnets 1200 of the first rotor 20. Similarly to the first electromagnetic coil 100, the second electromagnetic coils 1100 include A-phase electromagnetic coils 1100A and B-phase electromagnetic coils 1100B, and will be simply referred to as “electromagnetic coils 1100” when they are not distinguished from each other. Each of the plurality of second electromagnetic coils 1100 is wound around a line normal to the cylindrical surface. That is, the direction of magnetic flux generated when current flows in the second electromagnetic coils 1100 is the inner circumferential direction or the outer circumferential direction. The second coil back yoke 1115 is disposed in a cylindrical shape on the inner side of a cylindrical surface formed by the second electromagnetic coils 1100. The second coil back yoke 1115 is preferably disposed so as to overlap the second electromagnetic coils 1100 excluding the coil ends thereof. Moreover, when the magnetization of the second permanent magnets 1200 exhibits polar anisotropy, the second magnet back yoke 1215 may not be provided.
The second magnetic sensor 1300, the second circuit substrate 1310, the motor drive and regeneration control unit 1500, and the output unit 232 are disposed on the disk-shaped portion of the second rotor 1020. The second magnetic sensor 1300 is disposed next to the second permanent magnets 1200 so as to output a sensor signal corresponding to the magnetic fluxes from the second permanent magnets 1200. The second magnetic sensor 1300 is preferably disposed so that the sensor signal at that time has a waveform similar to a waveform that is normalized based on the induced voltage from the second electromagnetic coils 1100. As the second magnetic sensor 1300, a hall sensor can be used, for example, similarly to the first magnetic sensor 300. The second magnetic sensor 1300 may have a temperature compensation circuit capable of compensating a change in the output of the sensor signal in relation to a change in the temperature of the second magnetic sensor 1300. The second magnetic sensor 1300 is disposed on the second circuit substrate 1310. Although the second magnetic sensor 1300 also includes two kinds of magnetic sensors which is an A-phase magnetic sensor and a B-phase magnetic sensor, they are not distinguished from each other in this example. The motor drive and regeneration control unit 1500 is also disposed on the second circuit substrate 1310. The output unit 232 serves as the output of the driving device 10 and includes an attachment bolt 2017 for connecting a load.
A second driving mechanism includes the second electromagnetic coils 1100 and the second permanent magnets 1200 of the first rotor 20. The motor drive and regeneration control unit 1500 of the second rotor 1020 controls the operation of the second driving mechanism by controlling the current flowing in the second electromagnetic coils 1100 as a driving or regeneration current. Moreover, the motor drive and regeneration control unit 1500 operates the second driving mechanism as a power generator, and a first rotational motion (P1=ω1×τ1) of the first rotor 20 obtained by the first driving mechanism can be transmitted to the output unit 232 as a rotational motion (P2=ω2×τ2) through the second permanent magnets 1200 and the second electromagnetic coils 1100. Moreover, the electrical energy regenerated from the second electromagnetic coils 1100 can be regenerated by the motor drive and regeneration control unit 1500.
The commutator 1180 is formed in the output unit 232. The commutator 1180 is in contact with the brush 1170 formed in the stator 15. Current flowing in the second electromagnetic coils 1100 is supplied to the commutator 1180, and during the regeneration operation, the commutator 1180 is used for taking out the regeneration current serving as the electrical energy from the second electromagnetic coils 1100. Since the direction of current applied to the electromagnetic coils is generally changed in a motor in which the electromagnetic coils rotate, the commutator has the function of a rectifier, and a notch is formed in two positions of the commutator. In contrast, the commutator 1180 of the present embodiment is formed to be continuous along the circumference of the output unit 232, and a notch for switching the polarity of the current is not formed. The direction of current flowing in the second electromagnetic coils 1100 is switched by the motor drive and regeneration control unit 1500 based on the sensor signal from the second magnetic sensor 1300.
A bearing 240 is disposed between the first rotor 20 and the central shaft 230 and between the second rotor 1020 and the central shaft 230. That is, in the present embodiment, the central shaft 230 does not receive torque from the first rotor 20 or the second rotor 1020. Moreover, a thread is formed on an end portion of the central shaft 230, and a bearing ring 241 for improving the holding properties of the central shaft 230 is attached to the outer side of the stator 15 by screwing. Furthermore, a hollow 231 is formed inside the central shaft 230, and wirings for supplying power to the motor drive control unit 500 and wirings 25 used as input/output wirings of a control signal pass through the hollow 231.
The driving device 10 can execute three operation modes of a same-speed mode, a high-speed mode, and a regeneration mode in accordance with the instructions from the CPU unit 400. In the same-speed mode, the driving device 10 rotates the first and second rotors 20 and 1020 at the same speed in relation to the stator 15. In the high-speed mode, the driving device 10 rotates the first rotor 20 in a first direction in relation to the stator 15 and rotates the second rotor 1020 in a first direction in relation to the first rotor 20. That is, the rotation speed of the second rotor 1020 in relation to the first rotor 20 is added to the rotation speed of the first rotor 20, whereby the second rotor 1020 is rotated at a high speed in relation to the stator 15. In the regeneration mode, the driving device 10 rotates the first rotor 20 in a first direction in relation to the stator 15 and rotates the second rotor 1020 in a first direction in relation to the stator 15 at a lower speed than the rotation speed of the first rotor 20, so that at least a part of the energy applied to the first rotor 20 is regenerated. The respective operation modes will be described.
When the motor drive control unit 500 applies driving current to the first electromagnetic coils 100 based on the sensor signal of the first magnetic sensor 300, the first rotor 20 rotates in relation to the stator 15 and the second rotor 1020. In this case, since the second permanent magnets 1200 of the first rotor 20 moves in relation to the second electromagnetic coil 1100 of the second rotor 1020, induced electromotive force is generated in the second electromagnetic coils 1100. The motor drive and regeneration control unit 1500 drives the second electromagnetic coils 1100 based on the sensor signal of the second magnetic sensor 1300 so as to cancel the induced electromotive force, whereby the second rotor 1020 starts rotating from a non-rotating state to the rotation speed N1 following the first rotor 20. If no loss occurs, the second rotor 1020 rotates at the same speed as the first rotor 20. However, a Joule heat loss associated with a copper loss, an iron loss, and a mechanical loss occurs in the second electromagnetic coils 1100. Thus, by supplying current corresponding to the Joule heat loss of the second electromagnetic coil 1100 to the second electromagnetic coils 1100, it is possible to rotate the first and second rotors 20 and 1020 at the same rotation speed in relation to the stator 15. Current supplied in order to compensate for the electrical energy corresponding to the Joule heat loss of the second electromagnetic coils 1100 will be referred to as holding current. The holding current depends on the rotation speeds of the first and second rotors 20 and 1020.
First, the neutral mode is realized by causing the motor drive and regeneration control unit 1500 so as not to supply current with respect to the induced electromotive force generated between the second electromagnetic coils 1100 in a state where the rotation speed of the first rotor 20 has no effect on the second rotor 1020.
The low-speed mode is realized by causing the motor drive and regeneration control unit 1500 so as to supply current with respect to the induced electromotive force generated between the second electromagnetic coils 1100 in a state where the torque corresponding to a part of the first rotational motion is transmitted to the second rotor 1020 as a rotational motion at a lower rotation speed than the rotation speed of the first rotor 20. By linearly controlling the amount of supplied current, the amount of torque corresponding to the amount of current can be changed linearly, and mechanical transmission can be realized easily. The current supplied at that time can also be stored at the outside as electrical energy and used as regeneration power (by a power generator).
The stationary mode is realized by causing the motor drive and regeneration control unit 1500 to supply as much current as possible with respect to the induced electromotive force generated between the second electromagnetic coils 1100 in the low-speed mode. This state is realized by causing the motor drive and regeneration control unit 1500 to supply short-circuit current with respect to the induced electromotive force generated between the second electromagnetic coils 1100 in a state where the torque corresponding to the entire part of the first rotational motion of the first rotor 20 is transmitted to the second rotor 1020 as a rotational motion. The transmission of max torque can be performed easily with the amount of supplied current. The current supplied at that time can also be stored at the outside as electrical energy and used as regeneration power (by a power generator).
In a single driving device in which there is only one driving mechanism, it is necessary to increase the voltage applied to electromagnetic coils in order to increase the rotation speed with respect to the same load torque. In contrast, according to the driving device of the present embodiment, since the rotation speed N3 of the driving device in the high-speed mode becomes a rotation speed which is an addition of the rotation speed N2 of the second driving mechanism to the rotation speed N1 of the first driving mechanism, a higher rotation speed can be achieved with the same driving voltage. Moreover, since it is possible to decrease the voltage applied to the electromagnetic coils 100 and 1100, it is possible to decrease the charge and discharge current of a parasitic capacitor of the electromagnetic coils 100 and 1100 and suppress a loss associated with the charge and discharge current.
Moreover, in the present embodiment, as described in the regeneration mode, it is possible to regenerate electrical energy using the second driving mechanism as a power generator. Moreover, when there is only one driving mechanism, since a high torque is applied when starting the driving device, abrupt acceleration is likely to occur. In the present embodiment, since the second driving mechanism gradually transitions from the regeneration mode to the same-speed mode and the high-speed mode by operating the first driving mechanism, the output unit 232 can start smoothly and accelerate smoothly. That is, by more finely controlling the neutral mode, the low-speed mode, and the stationary mode, it is possible to use the driving device as a noncontact and continuously variable transmission system in which the rotational motion can be transmitted from the first driving mechanism to the second driving mechanism in a noncontact and continuously variable manner. Moreover, by connecting the output unit 232 to a load such as a wheel, and a propeller, it is possible to greatly develop an electric vehicle.
In the second embodiment, the driving device can execute the same-speed mode, the high-speed mode, and the regeneration mode similarly to the first embodiment. Moreover, in the second embodiment, since the first permanent magnets 200 are integrated with the second permanent magnets 1200, it is possible to realize a further reduction in the size and weight of the driving device than that of the first embodiment. Furthermore, in the second embodiment, the magnet back yokes 215 and 1215 can be omitted.
In the third embodiment, the driving device can execute the same-speed mode, the high-speed mode, and the regeneration mode similarly to the first embodiment. Moreover, in the third embodiment, it is easy to ensure that the first and second permanent magnets 200 and 1200 have the same shape and to ensure the first and second electromagnetic coils 100 and 1100 have the same shape. That is, it is easy to ensure the first and second driving mechanisms have the same properties.
According to the fourth embodiment, since the permanent magnets 201 of the first rotor 20 are integrated with the permanent magnets of the second rotor 1020, it is possible to realize a reduction in size and weight. Moreover, it is possible to ensure the first and second driving mechanisms have the same properties.
The stator 15 of the fifth embodiment includes a power transmission coil 1410 in place of the brush 1170, and the second rotor 1020 includes a power reception coil 1420 in place of the commutator 1180 and also includes an electromagnetic wave shielding plate 1450. That is, in the fifth embodiment, power that drives the second electromagnetic coils 1100 is transmitted using electromagnetic coupling between the power transmission coil 1410 and the power reception coil 1420. The electromagnetic wave shielding plate 1450 is disposed so that electromagnetic waves between the power transmission coil 1410 and the power reception coil 1420 do not have any adverse effect on the first and second electromagnetic coils 100 and 1100 and the first and second permanent magnets 200 and 1200.
In the power transmission method using the brush 1170 and the commutator 1180 shown in
The fundamental clock generation circuit 510 is a circuit that generates a clock signal PCL having a predetermined frequency, and is configured by a PLL circuit, for example. The frequency divider 520 generates a clock signal SDC having a frequency corresponding to 1/N of the clock signal PCL. The value of N is set to a predetermined constant value. The value of N is set to the frequency divider 520 in advance by the CPU unit 400. The PWM unit 530 generates driving signals DRVA1, DRVA2, DRVB1, and DRVB2 based on the clock signals PCL and SDC, multiplication values Ma and Mb supplied from the multipliers 550 and 552, a normal/reverse direction indicator value RI supplied from the normal/reverse direction indicator value register 540, positive/negative sign signals Pa and Pb supplied from the encoding units 560 and 562, excitation period signals Ea and Eb supplied from the excitation period setting unit 590. This operation will be described later.
The value RI representing the rotation direction of the first driving mechanism is set by the CPU unit 400 in the normal/reverse direction indicator value register 540. In the present embodiment, the first driving mechanism rotates in a normal direction when the normal/reverse direction indicator value RI is in the L level and rotates in a reverse direction when the normal/reverse direction indicator value RI is in the H level.
The other signals Ma, Mb, Pa, Pb, Ea, and Eb supplied to the PWM unit 530 are determined as follows. The multiplier 550, the encoding unit 560, and the AD converter 570 are A-phase circuits, and the multiplier 552, the encoding unit 562, and the AD converter 572 are B-phase circuits. The operations of these circuit groups are the same, and in the following description, the operations of the A-phase circuits will be mainly described. In the following description, although the parameters (for example, an excitation period described later) of the A and B phases are described to have the same values, different values may be set to the parameters of the A and B phases.
In the present specification, when the A and B phases are illustrated without any discrimination, the letters “a” and “b” (representing the A and B phases) at the end of reference numerals are omitted. For example, when the multiplication values Ma and Mb of the A and B phases do not need to be distinguished, they will be collectively referred to as “multiplication value M”. The same is applied to the other reference numerals.
The output SSA of the magnetic sensor 300A is supplied to the AD converter 570. The output SSA of the magnetic sensor 300A ranges from GND (ground potential) to VDD (power supply voltage), and the intermediate point (=VDD/2) thereof is an intermediate point (point that passes the origin of a sinusoidal wave) of the output waveform. The AD converter 570 converts the sensor output SSA into a digital value to generate the digital value of the sensor output. The output of the AD converter 570 ranges from FFh to 0h (the suffix “h” represent that these values are hexadecimal values), for example, and the positive-side central value and the negative-side central value are set to 80h and 7Fh, respectively, so as to correspond to the intermediate points of the waveform.
The encoding unit 560 converts the range of sensor output values after AD conversion and set the value of the intermediate point of the sensor output values to “0”. As a result, the sensor output value Xa generated by the encoding unit 560 takes values in a predetermined positive-side range (for example, +127 to 0) and a predetermined negative-side range (for example, 0 to −127). However, the values supplied from the encoding unit 560 to the multiplier 550 are the absolute values of the sensor output value Xa, and the positive/negative signs thereof are supplied to the PWM unit 530 as a positive/negative sign signal Pa.
The voltage command value register 580 stores a voltage command value Ya set by the CPU unit 400. The voltage command value Ya functions as the value that sets the voltage applied to the first driving mechanism together with an excitation period signal Ea described later. Although the voltage command value Ya typically takes a value of 0 to 1.0, the voltage command value Ya may take a value greater than 1.0. However, in the following description, it is assumed that the voltage command value Ya takes a value in the range of 0 to 1.0. In this case, if a non-excitation period is not provided but the excitation period signal Ea is set so that the entire period is used as an excitation period, Ya=0 means that an applied voltage is zero, and Ya=1.0 means that an applied voltage is increased to its maximum. The multiplier 550 multiplies the sensor output value Xa output from the encoding unit 560 and the voltage command value Ya to obtain an integer sum and supplies the multiplication value Ma to the PWM unit 530.
The EXOR circuit 533 outputs a signal S2 representing an exclusive logical sum between the positive/negative sign signal Pa and the normal/reverse direction indicator value RI. The normal/reverse direction indicator value RI is in the L level when the first driving mechanism rotates in the normal direction. Thus, the output S2 of the EXOR circuit 533 becomes the same signal as the positive/negative sign signal Pa. The driving waveform forming unit 535 generates the driving signals DRVA1 and DRVA2 from the output S1 of the counter 531 and the output S2 of the EXOR circuit 533. That is, the output S1 of the counter 531 when the output S2 of the EXOR circuit 533 is in the L level is output as the first driving signal DRVA1, and the output S1 of the counter 531 when the output S2 is in the H level is output as the second driving signal DRVA2. When the excitation period signal Ea changes to the L level near the right end of
As can be understood from the above description, the counter 531 functions as a PWM signal generation circuit that generates a PWM signal based on the multiplication value Ma. Moreover, the driving waveform forming unit 535 functions as a mask circuit that masks the PWM signal in accordance with the excitation period signal Ea.
The function of setting the excitation period EP and the non-excitation period NEP may be realized by other circuits other than the CPU unit 400. Moreover, the same is applied to the function of an adjustment unit that adjusts the values of both the voltage command value Ya and the excitation period signal Ea in accordance with an external request (for example, an output request from a motor) to thereby realize an output corresponding to the request.
However, when starting the driving device 10, it is preferable to set the excitation period EP as long as possible and set the non-excitation period NEP as short as possible. This is because if the driving device 10 is stopped at such a position that the phase thereof corresponds to the inside of the non-excitation period NEP, the driving device 10 may not be started since the PWM signal is masked by the driving waveform forming unit 535 (see
The A-phase driving unit 250A receives the driving signals DRVA1 and DRVA2 from the PWM unit 530 (see
When a regeneration signal Ka from the CPU unit 400 is turned on, the output of the A-phase charge switching unit 1810a is turned on. When the A-phase charge switching unit 1810a is turned on, the output of the inverter circuit 1820a is in the L state, and the switching transistor 1850a is turned on. On the other hand, since the output of the buffer circuit 1830a is in the H state, the switching transistor 1860a is turned off. In this case, the first driving mechanism can charge the secondary battery 1700 by regenerating the power generated by the A-phase electromagnetic coil 1100A through the switching transistor 1850a. Conversely, when the A-phase charge switching unit 1810a is in the off (=0=L) state, the switching transistor 1860a is turned on by the buffer circuit 1830a. On the other hand, the output of the inverter circuit 1820a is in the H state, and the switching transistor 1850a is turned off. In this case, it is possible to supply current from the secondary battery 1700 to the A-phase electromagnetic coil 1100a. There are two regeneration modes, which are switched in accordance with a regeneration mode switching signal ModeSel. As shown in
As above, according to the present embodiment, it is possible to transmit first motion energy obtained by the first driving mechanism to the output unit 232 in a noncontact and linear manner as second motion energy using the second driving mechanism. Moreover, it is possible to regenerate electrical energy. The roles of the first and second driving mechanisms may be reversed, and the electrical energy can be regenerated from the first driving mechanism by driving the second driving mechanism. That is, an induced voltage is generated between the second electromagnetic coils 1100 by Fleming's right hand rule by the second permanent magnets 1200 rotated by the first rotor 20. By linearly controlling the amount of current in the coils caused by the induced voltage generated in the second electromagnetic coils 1100, it is possible to linearly transmit torque corresponding to the current to the output unit 232.
Moreover, when the motor drive and regeneration control unit 1500 supplies a voltage exceeding an induced voltage generated by the second electromagnetic coils 1100 between the second electromagnetic coils 1100 based on the output (Fleming's left hand rule) of the sensor signal of the second magnetic sensor 1300 so that the second electromagnetic coils 1100 rotate in the same direction as the second permanent magnets 1200 rotated by the first rotor 20, a rotation speed exceeding that of the first rotor 20 can be supplied to the output unit 232.
Furthermore, second motion energy obtained from the output unit 232 can be braked by a regeneration braking control (Fleming's right hand rule) of the first and second driving mechanisms and can be regenerated as electrical energy. Therefore, it is possible to provide an actuator structure in which an electric motor is integrated with a noncontact and continuously variable transmission system.
Although embodiments of the invention have been described based on several embodiments, these embodiments are given not for limiting the invention but only for easy understanding of the invention. Various modifications and improvements may be made without departing from the scope and spirit of the invention, and equivalents thereof are thus encompassed by the invention.
The present application claims priority based on Japanese Patent Application No. 2011-024584 filed on Feb. 8, 2011, the disclosure of which is hereby incorporated by reference in its entirety.
Number | Date | Country | Kind |
---|---|---|---|
2011-024584 | Feb 2011 | JP | national |